MSI-P600 USER MANUAL - Microcomputer Systems, Inc.
Contents
1. MSI P600 GPS Global Positioning System amp Digital I O Card USER MANUAL PC 104 Embedded Industrial Analog I O Series Microcomputer Systems Inc 1814 Ryder Drive Baton Rouge LA 70808 Ph 225 769 2154 Fax 225 769 2155 Email staff microcomputersystems com http Awww microcomputersystems com CONTENTS I INTRODUCTION Il HARDWARE DESCRIPTION A QmmoUOW Card Configuration Card Addressing Interrupt Connections Digital I O Registers and Connections GPS Module Reset 3 0V Battery ET 102 GPS Module Interface Connection Interface Description II GPS SOFTWARE COMMANDS A NMEA Output Commands GGA Global Positioning System Fixed Data GGL Geographic Position Latitude Longitude GSA GNSS DOP and Active Satellites GVS GNSS Satellites in View RMC Recommended Minimum Specific GNSS Data VTG Course over Ground and Ground Speed B NMEA Input Commands Set Serial Port ID 100 Navigation Initiation ID 101 Set DGPS Port ID 102 Query Rate Control ID 103 LLA Navigation Initialization ID 104 Development Data On Off ID 105 IV SAMPLE BASIC LANGUAGE TEST PROGRAM 15 16 16 16 17 18 19 20 21 V SPECIFICATIONS APPENDIX Schematic Diagram of the MSI P600 25 27 l INTRODUCTION The MSI P600 is alow cost high performance global positioning system with NMEA 0183 and SiRF binary protocols Software selectable NMEA protoc2. PRINT 7 Set OUT1_BUFFERED 1 PRINT 8 Display IN1 thru IN4 PRINT 9 Exit PRINT INPUT Enter selection GP IF GP 9 THEN END exit the program IF GP OR VAL GP gt 9 THEN GOTO again branch on error IF GP 6 THEN set OUT1_BUFFERED J1 1 0 Page 21 MSI P600 User Manual z 0 GOSUB setDOutput GOTO again END IF IF GP 7 THEN set OUT1_BUFFERED 1 z 1 GOSUB setDOutput GOTO again END IF IF GP 8 THEN display digital inputs GOSUB getDInputs GOTO again END IF FOR k 0TO5 GPS PSRF103 CHR 48 k 00 00 01 reset SetRate mode GOSUB sendGPS send GPS to primary UART NEXT k GPS PSRF103 GP 01 00 01 set Query mode GOSUB sendGPS send GPS to primary UART start CLS clear display screen repeat C INKEY IF C lt gt THEN GOTO again GOSUB getchar GOTO repeat initUART1 initialize GPS primary UART baddr primary OUT baddr 3 amp H80 set DLAB 1 OUT baddr 24 BAUD 4800 OUT baddr 1 0 OUT baddr 3 3 8 data bits 1 stop bit no parity x INP badadr x INP badadr RETURN initUART2 initialize GPS secondary UART baddr2 secondary OUT baddr2 3 amp H80 set DLAB 1 OUT baddr2 24 BAUD 4800 Page 22 MSI P600 User Manual OUT baddr2 1 0 OUT baddr2 3 3 8 data bits 1 stop bit no parity x INP
3. and The hexadecimal value of the most significant and least significant 4 bits of the result are convertted to two ASCII characters 0 9 A F for transmission The most significant character is transmitted first lt CR gt lt LF gt Hex 0D 0A 4 Query Rate Control ID 103 This command is used to control the output of standard NMEA messages GGA GLL GSA GSV RMC and VTG Using this command a standard NMEA message may be polled once or setup for periodic output Checksums may also be enabled or disabled depending on the needs of the receiving program NMEA message settings are saved in battery backed memory for each entry when the message is accepted Format PSRF103 lt msg gt lt mode gt lt rate gt lt cksumEnable gt CKSUM lt CR gt lt LF gt lt msg gt 0 GGA 1 GLL 2 GSA 3 GSV 4 RMC 5 VTG lt mode gt 0 SetRate 1 Query lt rate gt Output every lt rate gt seconds off 0 max 255 lt cksumEnable gt O disable Checksum 1 Enable checksum for message Example 1 Query the GGA message with checksum enabled PSRF103 00 01 00 01 25 Example 2 Enable VTG message for a 1Hz constant output with checksum enabled Page 18 MSI P600 User Manual PSRF103 05 00 01 01 20 Example 3 Disable VTG message PSRF103 05 00 00 01 21 Note Checksum Field The absolute value calculated by exclusive OR the 8 data bits of each character in the Sentence between but excluding and The hexadecimal
4. baddr2 dummy reads x INP baddr2 RETURN getchar get GPS character from the primary UART IF INP baddr 5 AND 1 1 THEN test DATA READY status z INP baddr input character PRINT CHR z display character END IF RETURN getDInputs get digital inputs from CTS amp DSR of UARTS z INP baddr 6 AND amp H30 get CTS amp DTR of primary UART z1 INP baddr2 6 AND amp H30 get CTS amp DTR of secondary UART CLS clear screen PRINT PRINT Digital Inputs from J1 PRINT IF z AND amp H10 amp H10 gt 0 THENq O ELSE q 1 invert CTS bit PRINT IN1 J1 9 5q display IN1 IF Z AND amp H20 amp H20 gt 0 THENq OELSEq 1 invert DSR bit PRINT IN2 J1 9 q display IN2 IF z1 AND amp H10 amp H10 gt 0 THEN q 0 ELSE q 1_ invert CTS bit PRINT IN3 J1 9 q display IN3 IF z1 AND amp H20 amp H20 gt 0 THEN q 0 ELSE q 1 invert CTS bit PRINT IN4 J1 9 q display IN4 WHILE INKEY WEND delay until keyboard character entry RETURN sendchar send a string character to primary UART WHILE INP baddr 5 AND amp H40 lt gt amp H40 WEND check xmitter empty OUT baddr ASC C transmit character RETURN sendchar1 send a numeric constant to primary UART WHILE INP baddr 5 AND amp H40 lt gt amp H40 WEND OUT baddr cc RETURN setDOutput set OUT1_BUFFERE
5. offset errors result in no adjustments being required for these functions Typical total conversion times of 12 us gives a sample rate of 83 ksps for each group times of 12 us gives a sample rate of 83 ksps for each group of eight channels yielding rates up to 166 ksps for 16 input channels The card is I O mapped using 16 bit addressing to select the input channels and device status Option jumpers are provided by JP1 for specifying the card address A4 A15 and interrupt processing is provided for IRQ4 thru IRQ7 and IRQ9 using options jumpers as described in the next section Four TTL level digital inputs are provided by status lines CTS and DSR of the primary and secondary UARTs Four TTL level outputs are provided by OUT1 and OUT2 of these UARTs The card is supplied with an active antenna having a 5 meter 16 5 ft cable and a spacer kit A sample BASIC program is supplied that illustrates programming of the UART s for various NMEA protocols Page 5 MSI P600 User Manual ll HARDWARE DESCRIPTION A Card Configuration The MSI P600 card is a CMOS design using through hole and surface mounted devices The card configuration is shown in Figure 2 and a circuit diagram of the network is given in Appendix B The card contains two UARTS U4 and U5 that commnucate with the GPS module Connector J1 provides for the digital I O connections and J2 is the mating connector for the GPS module Jumper block JP1 is used for add
6. selections are given in Table I It should be noted that for a base address of zero the addresses of the UARTs are the standard serial port addresses for the IBM PC CAUTION Make sure that the addresses you select for the MSI P600 are not in conflict with the serial ports of your CPU card For example if your CPU uses COM1 and or COM2 N S QO gS eS lt lt t lt tatq lt at lt 0 n rat a Figure 3 Jumper block JP1 configuration Page 7 MSI P600 User Manual do not install JP1 13 so that COM3 and COM4 are selected for the primary and secondary serial ports If your CPU contains COM1 thru COM4 ports and you are only using COM1 and COM2 then disable COM3 and COM4 of the CPU card If this is not permissible then you will have to select a base address other than O by using jumpers for JP1 1 thru JP1 11 UART addresses in this case are given in Table 1 Table 1 Card UART Addresses for JP1 13 Selection Jumper JP1 13 Primary UART U4 Secondary UART U5 Installed base address COM1 base address COM2 Uninstalled base address COM3 base address COM4 COM1 3F8H COM2 2F8H COM3 3E8H COM4 2E8H where H denotes hexadecimal notational C Interrupt Connections Interrupt connections are implemented by jumpers JP2 1 thru JP2 12 The steps in the procedure are as follows 1 Even numbered pins JP2 4 thru JP2 10 are connecte
7. value of the most significant and least significant 4 bits of the result are convertted to two ASCII characters 0 9 A F for transmission The most significant character is transmitted first lt CR gt lt LF gt Hex 0D 0A 5 LLA Navigation Initialization ID 104 Parameters required to start using Lat Lon Alt This command is used to initialize the module for a warm start by providing current position in Latitude Longitude Altitude coordinates clock offset and time This enables the receiver to search for the correct satellite signals at the correct signal parameters Correct initialization parameters will enable the receiver to acquire signals more quickly and will produce a faster navigational soution When a valid LLA Navigation Initialization command is received the receiver will restart using the input parameters as a basis for satellite selection and acquisition Format PSRF104 lt Lat gt lt Lon gt lt Alt gt lt ClkOffset gt lt TimeOfWeek gt lt WeekNo gt lt ChannelCount gt lt ResetCfg gt CKSUM lt CR gt lt LF gt lt Lat gt Latitude position assumed positive north of equator and negative south of equator float possibly signed lt Lon gt Longitude position it is assumed positive east of Greenwich and negative west of Greenwich Floating point number possibly signed lt Alt gt Altitude position Floating point number possibly signed lt ClkOffset gt Clock Offset of the receiver in Hz use 0 fo
8. D J1 1 Hi or Lo IF z 0 THEN set OUT1_BUFFERED J1 1 0 z INP baddr 4 get MODEM control register contents Page 23 MSI P600 User Manual z zOR4 set corresponding OUT1 bit in z OUT baddr 4 z output to Modem control register ELSEIF z 1 THEN set OUT1_BUFFERED J1 1 1 z INP baddr 4 get MODEM control register contents z z AND NOT 4 reset corresponding OUT1 bit in z OUT baddr 4 z output to Modem control register END IF RETURN sendGPSs send command string of GPS to primary UART checksum 0 determine checksum value FOR i 1 TO LEN GPS checksum checksum XOR ASC MID GPS i 1 NEXT i GPS GPS RIGHT HEX checksum 2 FOR i 1 TO LEN GPS send command string C MID GPS i 1 GOSUB sendchar NEXT i cc 13 send carriage return GOSUB sendchar1 cc 10 send line feed GOSUB sendchar1 RETURN Page 24 MSI P600 User Manual V SPECIFICATIONS PC 104 8 bit stackthrough GPS Receiver Frequency L1 1575 42 MHz C A Code 1 023 MHz rate Channels 12 Sensitivity 170 bBW GPS Accuracy Position 15m 2d RMS SA off 10m 2d RMS WAAS SA off 1 5m DGPS corrected Velocity 0 1m sec 95 SA off Time 1 usec sync ed to GPS time GPS Datum WGS 84 GPS Acquisition Rate Re acquisition 0 1 sec average recovery time for being interrupted Hot Start 8 sec average with ephe meris and almanac valid Warm Start 38
9. SPS Mode fix valid GPS PPS Mode fix valid 2 GLL Geographic Position Latitude Longitude Table 6 contains the values for the following example GPGLL 3723 2475 N 12158 3416 W 161229 487 A 2C Page 12 MSI P600 User Manual Table 6 GLL Data Format Name Example Units Description Message ID GPGLL GLL protocol header Latitude 3723 2475 ddmm mmmm N S Indicator N N north or S south Longitude 12158 3416 dddmm mmmm E W Indicator Ww E east or W west UTC Position 161229 487 hhmmss sss Status A A data valid or V data not valid Checksum 2C lt CR gt lt LF gt End of message termination 3 GSA GNSS DOP and Active Satellites Table 7 contains the values for the following example GPGSA A 3 07 02 26 27 09 04 15 1 8 1 0 1 5 33 Table 7 GSA Data Format Name Example Units Description Message ID GPGSA GSA protocol header Mode1 A See Table 8 Mode2 3 See Table 9 Satellite Used 07 Sv on Channel 1 Satellite Used 02 Sv on Channel 2 Satellite Used Sv on Channel 12 PDOP 1 8 Position dilution of Precision HDOP 1 0 Horizontal dilution of Precision VDOP 1 5 Vertical dilution of Precision Checksum 33 lt CR gt lt LF gt End of message termination Satellite used in solution EE EEE A EEA MONG ra V Derenin eira Eam o A a tL M Manual forced to operate in 2D or 3D mode A 2D automatic allowed to automatically switch 2D 3D Page 13 MSI P600 User Manual Table 9 Mode 2 Value Descript
10. ch character in the Sentence between but excluding and The hexadecimal value of the most significant and least significant 4 bits of the result are convertted to two ASCII characters 0 9 A F for transmission The most significant character is transmitted first lt CR gt lt LF gt Hex 0D 0A 3 Set DGPS Port ID 102 This command is used to set PORT B parameters for DGPS input Serial Port B that is an input only serial port used to receive RTCM differential corrections Differential receivers may output corrections using different communication parameters The default communication parameters for PORT B are 9600 Baud 8 data bits Page 17 MSI P600 User Manual O stop bits and no parity If a DGPS receiver is used which has different communication parameters use this command to allow the receiver to correctly decode the data When a valid message is received the parameters will be stored in battery backed SRAM and then the receiver will restart using the saved parameters Format PSRF102 lt Baud gt lt DataBits gt lt StopBits gt lt Parity gt CKSUM lt CR gt lt LF gt lt baud gt 1200 2400 4800 9600 19200 38400 lt DataBits gt 8 lt StopBits gt 0 1 lt Parity gt 0 None Odd 1 Even 2 Example Set DGPS Port to be 9600 8 N 1 PSRF102 9600 8 1 0 12 Note Checksum Field The absolute value calculated by exclusive OR the 8 data bits of each character in the Sentence between but excluding
11. d to the interrupt request signal of the primary UART U4 This can jumpered to a desired interrupt IRQ4 thru IRQ9 of JP2 as shown in Figure 4 Note If IRQ9 is desired a wire wrap type connection will be required 2 JP2 2 is connected to the 1 PULSE SEC output of the GPS module for use in sychronizing data acquisitions This can jumpered to a desired interrupt IRQ4 thru IRQ9 of JP2 as shown in Figure 4 Note If IRQ3 thru IRQ7 is desired a wire wrap type connection will be required D Digital I O Registers and Connections Four digital TTL inputs and four digital TTL outputs are Page 8 MSI P600 User Manual 2 I1PPS IRQ9 1 IRQ7 3 IRQ4 9 IRQ3 11 lo Figure 4 Interrupt jumper block JP2 configuration provided by the modem status and modem control registers of UARTs U4 and US These I O are connected to the card via J1 using a 16 pin flat cable connector Register designations and connector J1 pin assignments are given in Table 2 The inputs and outputs on connector J1 are the inverted values of those read or written in the modem status and control registers For example a 1 written to OUT1 of U4 results in a O at J1 1 OUT1_BUFFERED Similarly a 1 applied to J1 9 IN1 Table 2 Digital I O Register Designations and J1 Pin Assignments Name O UART Register J Pin OUT1_BUFFERED Output U4 Primary OUT1 1 OUT2_BUFFERED Output U4 Primary OUT2 3 OUT3 Ou
12. e a faster navigational solution When a valid Navigation Initialization command is received the receiver will Page 16 MSI P600 User Manual restart using the input parameters as a basis for satellite selection and acquisition Format PSRF101 lt X gt lt Y gt lt Z gt lt ClkOffset gt lt TimeOfWeek gt lt WeekNo gt lt chniCount gt lt ResetCig gt CKSUM lt CR gt lt LF gt lt X gt X coordinate position 32 bit integer lt Y gt Y coordinate position 32 bit integer lt Z gt Z coordinate position 32 bit integer lt ClkOffset gt Clock offset of the receiver in Hz Use 0 for last saved value if available If this is unavailable a default value of 75000 for GSP1 95000 for GSP 1 LX will be used 32 bit integer lt TimeOf Week gt GPS Time Of Week unsigned 32 bit integer lt WeekNo gt GPS Week Number unsigned 16 bit integer Week No and Time Of Week calculation from UTC time lt chniCount gt Number of channels to use 1 12 If your CPU throughput is not high enough you could decrease needed throughput by reducing the number of active channels Unsigned Byte lt ResetCfg gt bit mask 0x01 Data Valid warm hotstarts 1 0x02 clear ephemeris warm start 1 0x04 clear memory Cold start 1 Unsigned Byte Example Start using known position and time PSRF101 2686700 4304200 3851624 96000 497260 921 12 3 7F Note Checksum Field The absolute value calculated by exclusive OR the 8 data bits of ea
13. gnificant 4 bits of the result are convertted to two ASCII characters 0 9 A F for transmission The most significant character is transmitted first lt CR gt lt LF gt Hex 0D 0A Page 20 MSI P600 User Manual IV SAMPLE BASIC LANGUAGE TEST PROGRAM The BASIC language program below illustrates software sequences for issuing commands to the GPS engine for NMEA protocols that are displayed on a video monitor Command strings for the Query Mode of operation with checksum generation are given Also provided are simple routines for inputting the IN1 thru IN4 digital inputs and writing to the OUT1_BUFFERED output The program can be run under DOS using a BASIC interpreter such as QBASIC by Microsoft Corporation An interpreter can be provided at no charge upon request TEST PROGRAM LISTING MSI P600 BASIC test program 01 30 04 primary amp H3E8 Default value for Primary Uart is COMS3 Change if other address is desired secondary primary amp H100 Default value for secondary Uart is COM4 again CLS GOSUB initUART1 init primary UART GOSUB initUART2 init secondary UART PRINT PRINT Present Card Status PRINT PRINT Primary Secondary UART address HEX primary PRINT HEX secondary PRINT PRINT 0 GGA PRINT 1 GLL PRINT 2 GSA PRINT 3 GSV PRINT 4 RMC PRINT 5 VTG PRINT 6 Set OUT1_BUFFERED 0
14. ion il Fix Not Available 2 2D 3 3D 4 GSV GNSS Satellites in View Table 10 contains the values for the following example GPGSV 2 1 07 07 79 048 42 02 51 062 43 26 36 256 42 27 27 138 42 71 GPGSV 2 2 07 09 23 313 42 04 19 159 41 15 12 041 42 41 Table 10 GSV Data Format Name a EL example Units z Description s ylm cet Message ID GPGSV GSV protocol header No of Messages 2 Range 1 to 3 Message Number 1 Range 1 to 3 Satellites in View 07 Satellite ID 07 Channel 1 Range 1 to 32 Elevation 79 degrees Channel 1 Maximum 90 Azimuth 048 degrees Channel 1 True Range 0 to 359 SNR C No 42 dBHz Range 0 to 99 null when not tracking Satellite ID 27 Channel 4 Range 1 to 32 Elevation 27 degrees Channel 4 Maximum 90 Azimuth 138 degrees Channel 4 True Range 0 to 359 SNR C No 42 dBHz Range 0 to 99 null when not tracking Checksum 71 lt CR gt lt LF gt End of message termination Depending on the number of satellites tracked multiple messages of GSV data may be required 5 RMC Recommended Minimum Specific GNSS Data Table 11 contains the values for the following example GPRMC 161229 487 A 3723 2475 N 12158 3416 W 0 13 309 62 120598 10 Page 14 MSI P600 User Manual Table 11 RMC Data Format Name Example Units Description Message ID GPRMC RMC protocol header UTC Time 161229 487 hhmmss sss Status A A data valid or V data not valid Latitude 3723 2475 ddmm mmmm N S Indicator N N north o
15. ols using the primary serial port are GGA GSA GSV and RMC with optional VTG and GLL GPS data is selectable at programmable repetitive rates from 1 to 255 seconds or on demand only Baud rates are selectable from 1200 to 38 400 with a default rate of 4800 The DGPS protocol is RTCM SC 104 version 2 00 types 1 2 and 4 DPGS control data is entered through the secondary serial port The serial ports are standard IBM PC compatible UARTs The primary port is jumper selectable for COM1 COMS3 or an offset address Similarly the secondary port is selectable at COM2 COM4 or an offset address A time mark of 1 PPS is available as an interrupt or as input into modem status line DCD of the secondary UART for synchronizing events The primary UART interrupt is also provided for allowing interrupt processing of GPS data Interrupts are jumper selectable for IRQ3 thru IRQ7 and IRQ9 ADDRESS 3 0V JUMPERS BATTERY x GPS 8 MODULE fe Sone UART 1 amp ANTENNA ES INTERFACE GPS DATA O 5 NETWORK VO 5 z MSI P600 H Tg PC 104 UART 2 BOS DIFFERENTIAL st INTERRUPT GPS CONTROL NETWORK DIGITAL I O 9 4TTL INPUTS 4 TTL OUTPUTS INTERRUPT JUMPERS Figure 1 Block Diagram of the MSI P600 Page 4 MSI P600 User Manual convert the analog signal of each channel into a 12 bit digital signal Low span and
16. or receiving software commands to the GPS module TXB Reserved Do not connect RXB Secondary receive channel for inputting differential corrections to the engine board to enable DGPS navigation Time mark Provides one pulse per second output from the engine board that is synchronized to GPS time GND GND provides the system ground for the engine board Page 11 MSI P600 User Manual lil GPS SOFTWARE COMMANDS A NMEA Output Commands 1 GGA Global Positioning System Fixed Data Table 4 contains the values for the following example GPGGA 161229 487 3723 2475 N 12158 3416 W 1 07 1 0 9 0 M 0000 18 Table 4 GGA Data Format Message ID UTC Time Latitude N S Indicator Longitude E W Indicator Position Fix Indicator Satellites Used HDOP MSL Altitude Units Geoid Separation Units Age of Diff Corr Diff Ref Station ID Checksum lt CR gt lt LF gt GPGGA 161229 487 3723 2475 N 12158 3416 W 1 07 1 0 9 0 meters meters meters meters second GGA protocol header hhmmss sss ddmm mmmm N north or S south dddmm mmmm E east or W west See Table 5 Range 0 to 12 Horizontal Dilution of Precision Null fields when DGPS is not used End of message termination SIRF Technology Inc does not support geoid corrections Values are WGS84 ellipsoid heights Table 5 Position Fix Indicator Fix not available or invalid GPS SPS Mode fix valid Differential GPS
17. r S south Longitude 12158 3416 dddmm mmmm E W Indicator W E east or W west knots Speed Over Ground 0 13 Course Over Ground 309 62 Date 120598 ddmmyy degrees True Magnetic Variation 2 degrees E east or W west Checksum 10 lt CR gt lt LF gt End of message termination SIRF Technology Inc does not support magnetic declination All course over ground data are geodetic WGS48 directions 6 VTG Course Over Ground and Ground Speed Table 12 contains the values for the following example GPVTG 309 62 T M 0 13 N 0 2 K 6E Table 12 VTG Data Format Name Example Units Description Message ID GPVTG VTG protocol header Course 309 62 degrees Measured heading Reference T True Course degrees Measured heading Reference M Magnetic Speed 0 13 knots Measured horizontal speed Units N knots Speed 0 2 Km hr Measured horizontal speed Units K Kilometers per hour Checksum 6E lt CR gt lt LF gt End of message termination Page 15 MSI P600 User Manual A NMEA Input Commands 1 Set Serial Port ID 100 This command message is used to set the protocol SiRF Binary NMEA or USER1 and or the communication parameters baud data bits stop bits parity for PORTA Generally this command would be used to switch the module back to SiRF Binary protocol mode where a more extensive command message set is available For example to change navigation parameters When a valid message is received the parameters
18. r last saved value if available If this is unavailable a default value of 75000 for GSP1 95000 for GSP1 LX will be used 32 bit integer lt TimeOfWeek gt GPS Time Of Week unsigned 32 bit integer lt WeekNo gt GPS Week Number unsigned 16 bit integer lt ChannelCount gt Number of channels to use 1 12 unsigned Byte lt ResetCfg gt bit mask 0x01 Data Valid warm hot starts 1 0x02 clear ephemeris warm start 1 0x04 clear memory Cold start 1 Unsignd Byte Page 19 MSI P600 User Manual Example Start using known position and time PSRF104 37 38751 11 121 97232 0 96000 237759 922 12 3 37 F Development Data On Off ID 105 Switch Development Data Messages On Off Use this command to enable development debug information if you are having trouble getting commands accepted Invalid commands will generate debug information that should enable the user to determine the source of the command rejection Common reasons for input command rejection are invalid checksum or parameter out of specified range This setting is not preserved across a module reset Format PSRF105 lt debug gt CKSUM lt CR gt lt LF gt lt debug gt 0 Off 1 On Example Debug On PSRF105 1 3E Example Debug Off PSRF105 0 3F Note Checksum Field The absolute value calculated by exclusive OR the 8 data bits of each character in the Sentence between but excluding and The hexadecimal value of the most significant and least si
19. ress selection Pins 1 thru 14 and JP2 for interrupt configuration Pins 1 thru 12 as described below C5 Jpg 3 0V BATTERY US MB po O AGA TEN N gh Ee B a S Ey WE St Bg RS eae A ae ee Mees ahs 16C550 i T S Sa pa E r ua an X tke BATTERY ah UE op leet 100000 ER ve B 16C550 TONIDIUUN GPS MODULE S2 oo000000008 m eeen E SMooo0co 0 C7 c1 c2 er MSI P R m mm ALN a e ca LM wreaks D 74HcT245 gt 74HcT688 a8 Sc IS 8 82 52 Mooo o a OE Dooi N1000 AR S D Mlo o o mo i MICROCOMPUTER SYSTEMS Nc Figure 2 MSI P600 card outline Page 6 MSI P600 User Manual B Card Addressing The card address is set by installing appropriate jumper pairs on JP1 pins 1 thru 13 as shown in Fig 3 An installed jumper for a given address bit sets the bit to 1 true and an uninstalled jumper sets the bit equal to O false Addresses A15 thru A10 JP1 1 thru 11 are jumper selectable for defining the base address of the card from 0000H to FCOOH on integral 10H boundaries where H denotes a hexadecimal number Examples are as follow Example 1 Set a base address of OOOOH No jumpers are installed for JP1 1 thru 11 Example 2 Set a base address of 3800H Intall jumpers JP1 5 JP1 7 and JP1 9 Jumper JP1 13 is used to select the port addresses of the primary and secondary UARTs respectively The card addresses for these
20. sec average with al manac but not ephemeris Cold Start 48 sec average neither almanac nor ephemeris GPS Dynamic Condition Altitude 18 000 m 60 000 ft max Velocity 515 m sec 1000 knots max GPS Code Type ASCII GPS Protocol NMEA 0183 GGA GSA GSV RMC VGT and GLL optional SiRF Binary Position velocity altitude status and control Page 25 MSI P600 User Manual DGPS Protocol RTCM SC 01 Ver 2 00 types 1 2 and 9 GPS Time Mark 1 PPS Pulse Duration 100ms Time Reference Positive Transition Edge Synchronization To GPS seconds 1us GPS Antenna Active with 5m 16 5 ft cable Connector Type MSI P600 MCX MSI P600 SMA SMA Digital I O Port 4 Input TTL level Inverted 4 Output TTL level Inverted Serial Ports Primary NMEA 0183 I O data jumper selectable as COM1 COM3 or offset Secondary DGPS control data jumper selectable as COM2 COM4 or offset Option Jumpers 025 square posts 0 1 grid Digital O Connector 3M 30316 5002 Electrical amp Environmental 5V 70 mA typical continuous mode 5V 45 mA typical power save mode 40 to 80 C Page 26 MSI P600 User Manual APPENDIX Schematic Diagrams of the MSI P600 1 P600 1 sch Schematic sheet 1 of 2 See p600 1 pdf 2 P600 1 sch Schematic sheet 2 of 2 See p600 2 pdf Page 27 MSI P600 User Manual
21. tput U5 Secondary OUT1 5 OUT4 Output U5 Secondary OUT2 7 IN1 Input U4 Primary CTS 9 IN2 Input U4 Primary DSR 11 IN3 Input U5 Secondary CTS 13 IN4 Input U5 Secondary DSR 15 J1 even numbered pins 2 thru 16 are ground Page 9 MSI P600 User Manual results in a O being read in CTS of U4 E GPS Module Reset A software reset for the GPS module is provided by DTR of the secondary UART US FOr this function to be enabled jumper JP3 must be installed In this case a 1 followed by a O write to DTR will reset the GPS module F 3 0V Battery A 3 0V battery is included for enhancing GPS data acquisition time by maintaining memory during no power periods The battery is enabled to the module when jumper JP4 is in the ON position The unit is shipped with this jumper in the OFF position to conserve battery power G ET 102 GPS Module The ET 102 GPS module connects to the MSI P600 PC 104 card using the 20 pin connector J2 as described in Table 3 1 Interface Connection Table 3 Pin out of the 20 pin Interface Connector J1 bch LOE SRO Description ED a 1 VANT Antenna DC Voltage Input 2 VDC 3 8V 6 5V DC Power Input Input 3 VBAT Backup Battery Input 4 VDC Shorted with pin 2 Input 5 PBRES Push Button Reset Active Low Input 6 RESERVED Reserved 7 SELECT Down load data from RS232 to flashROM Reserved RESERVED Reserved 9 RESERVED Reserved 10 GND Ground 11 TXA Serial Data Output A GPS Data O
22. utput 12 RXA Serial Data Input A Command Input 13 GND Ground 14 TXB Serial Data Output B No Used Output 15 RXB Serial Data Input B DGPS Data Input 16 GND Ground Page 10 MSI P600 User Manual Table 3 Pin out of the 20 pin Interface Connector J1 Con t gein e Name tone DOS CHPMOMS ose Seine eee aoas Type 17 RESERVED Reserved 18 GND Ground 19 TIMEMARK1PPS Time Mark Output Output 20 RESERVED Reserved 2 Interface Description VANT antenna DC power input DC voltage for active antenna VDC DC power input Main DC supply for a 3 8V 6 5V power module board VBAT Backup battery Battery backup input that powers the SRAM and RTC when main power is removed Typical current draw is 10uA Without an external backup battery or Gold capacitor the module engine board will execute a cold star after every turn on To achieve the faster start up offered by a hot or warm start either a battery backup must be connected or a Gold capacitor should be installed To maximize battery lifetime the battery voltage should not exceed the supply voltage and should be between 2 5v and 3 6v PBRES Push button reset Provides an active low reset input to the engine board It causes the engine board to reset and start searching for satellites SELECT Do not connect TXA Primary transmit channel for outputting navigation and measurement data to user s navigation software RXA Primary receive channel f
23. will be stored in battery backed SRAM and then the receiver will restart using the saved parameters Format PSRF100 lt protocol gt lt baud gt lt DataBits gt lt StopBits gt lt Parity gt CKSUM lt CR gt lt LF gt lt protocol gt 0 SiRF Binary 1 NMEA 4 USER1 lt baud gt 1200 2400 4800 9600 19200 38400 lt DataBits gt 8 7 Note that SiRF protocol is only valid for 8 Data bits lt StopBits gt 0 1 lt Parity gt 0 None 1 Odd 2 Even Example 1 Switch to SiRF Binary protocol at 9600 8 N 1 PSRF100 0 9600 8 1 0 O0C lt CR gt lt LF gt Example 2 Switch to User1 protocol at 38400 8 N 1 PSRF100 4 38400 8 1 0 38 lt CR gt lt LF gt Note Checksum Field The absolute value calculated by exclusive OR the 8 data bits of each character in the Sentence between but excluding and The hexadecimal value of the most significant and least significant 4 bits of the result are convertted to two ASCII characters 0 9 A F for transmission The most significant character is transmitted first lt CR gt lt LF gt Hex 0D 0A 2 Navigation Initialization ID 101 This command is used to initialize the module for a warm start by providing current position in X Y Z coordinates clock offset and time This enables the receiver to search for the correct satellite signals at the correct signal parameters Correct initialization parameters will enable the receiver to acquire signals more quickly and thus produc
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