GPS6160HR 12 Channel GPS Receiver Module User`s Manual
Contents
1. BASE Base Addresses 2E8 6E8 IRQ Host interrupts 1141 5 G jumper closed Fig 2 1 GPS6160HR Board layout showing jumper locations GPS6160HR 10 RTD Finland Oy User s Manual Base address jumpers Factory setting 2E8h 6E amp h The GPS6160HR is I O mapped into the memory space of your host XT AT The board occupies a memory window of 8 bytes starting from the base address for UART communication and 4 consecutive bytes starting from BASE 400h for the board control and status registers As an example if your base address is set to be 2E8h for the serial port the onboard control registers will start from 6E8h The most common cause of failure when you are first setting up your module is address contention some of your computers I O space is already occupied by other devices and memory resident programs When the GPS6160HR attempts to use it s own reserved memory addresses which are being already used by another peripheral device erratic performance can occur and the data read from the board may be corrupted To avoid this problem make sure you set up the base address by using the six jumpers on the right side of the board this allows you to choose from a number of different addresses in your host computer s I O map Should the factory installed settings be incompatible to your system configuration you may change this setting to another using the options illustrated in Table 2 2 overleaf The table shows the j2. Chapter 4 Hardware description The boards installation is described in Chapter 2 Board Installation GPS receiver Integrated on your GPS6160HR is a fast fix 12 channel low power iTrax02 GPS receiver from Fastrax This new receiver will work reliably in a variety of installations The receiver will work with either 3 3V or 5 0V active or with passive antennas The power consumption of the GPS receiver is 125mW fully operational A fast 1 to 4Hz updating rate is achieved using the binary iTalk protocol Two output formats are available the NMEA 0183 ASCII protocol or the iTalk proprietary binary protocol Swiching between these protocols is controlled with one bit in the internal board registers 16C550 compatible UART Communication to the GPS6160HR board is performed through a standard 16C550 compatible UART This onboard serial port leaves other system serial ports free for the user All operating systems will recognize and support this standard UART and therefore no special communication drivers are needed to receive data from your GPS6160HR board The GPS6160HR 6 RTD Finland Oy User s Manual address and interrupt of your serial channels can be individually set with the onboard jumper fields VO interfaces The GPS6160HR can be controlled and monitored from the software through two dedicated I O registers A special I O connector is available for the user to connect to the general purpose TTL level digital I O Mechani
3. F ooo amp DIG OUT EA NMEA Ea LED V Fig 4 1 Block diagram of the GPS6160HR GPS6160HR 18 RTD Finland Oy User s Manual GPS receiver Intergarated on the GPS6160HR is an iTrax02 low power fast fix 12 channel GPS receiver from Fastrax This GPS receiver is especially designed for portable and mobile applications This version of the GPS does not support differential operation RTD Finland can also provide solutions for indoor navigation using pseudolites Pseudo Satellite instead of satellites in the sky for positioning In this case the standard GPS receiver can be subsitituted by a pseudolite receiver Application areas include warehouse navigation The iTrax02 sensitivity provides continuous tracking and navigation down to a signal level of 145 dBm and a cold start TTFF of 50 seconds no initialisation 30 seconds for warm start almanac and one second for quick start Even with this performance the power consumption is approximately 100mW with a 1s update rate This figure does not include the active antenna power consumption A complete GPS configuration program for the iTrax02 GPS Workbench is available from the manufacturers website at http www fastrax fi This program allows you to completely reconfigure the operation of the GPS receive To use this program you must configure the GPS to operate in iTalk protocol using the RTD GPS diagnostics program GPS data is output only when the receiver has a fix The GPS6160H
4. GPS6160HR 12 Channel GPS Receiver Module User s Manual Hardware revision 1 1 VILLA Real Time Devices Inc Accessing the Analog World g User s Manual GPS6160HR 12 Channel GPS Receiver Module User s Manual REAL TIME DEVICES FINLAND OY LEPOLANTIE 14 FIN O0660 HELSINKI FINLAND Phone 358 9 346 4538 FAX 358 9 346 4539 EMail sales rtdfinland fi techsupport rtdfinland fi Websites http www rtdfinland fi http www rtdusa com GPS6160HR 2 RTD Finland Oy User s Manual WARNING LIFE SUPPORT APPLICATIONS This product is not designed for use in life support appliances devices or systems where malfunctioning of these products can reasonably be expected to result in personal injury RTD customers using or selling this product for use in these applications do so at their own risk and fully agree to indemnify RTD for any damages resulting from such improper use or sale Revision History 02 05 2002 HW Release 1 1 Preliminary version released Notice We have attempted to verify all information in this manual as of the publication date Information in this manual may change without prior notice from RTD Finland Oy Published by Real Time Devices Finland Oy Lepolantie 14 FIN OO0660 Helsinki Finland Copyright 2002 Real Time Devices Finland Oy All rights reserved Printed in Finland PC XT PC AT are registered trademarks of IBM Corporation PC 104 is a registered trademar
5. LIMITED TO THE DURATION OF THIS WARRANTY IN THE EVENT THE PRODUCT IS NOT FREE FROM DEFECTS AS WARRANTED ABOVE THE PURCHASER S SOLE REMEDY SHALL BE REPAIR OR REPLACEMENT AS PROVIDED ABOVE UNDER NO CIRCUMSTANCES WILL REAL TIME DEVICES BE LIABLE TO THE PURCHASER OR ANY USER FOR ANY DAMAGES INCLUDING ANY INCIDENTAL OR CONSEQUENTIAL DAMAGES EXPENSES LOST PROFITS LOST SAVINGS OR OTHER DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE PRODUCT SOME STATES DO NOT ALLOW THE EXCLUSION OR LIMITATION OF INCIDENTAL OR CONSEQUENTIAL DAMAGES FOR CONSUMER PRODUCTS AND SOME STATES DO NOT ALLOW LIMITATIONS ON HOW LONG AN IMPLIED WARRANTY LASTS SO THE ABOVE LIMITATIONS OR EXCLUSIONS MAY NOT APPLY TO YOU THIS WARRANTY GIVES YOU SPECIFIC LEGAL RIGHTS AND YOU MAY ALSO HAVE OTHER RIGHTS WHICH VARY FROM STATE TO STATE GPS6160HR 32 RTD Finland Oy
6. PC 104 cpuModule stack This chapter tells you step by step how to install your GPS6160HR into your system Board installation Keep your board in its antistatic bag until you are ready to install it to your system When removing it from the bag hold the board at the edges and do not touch the components or connectors Please handle the board in an antistatic environment and use a grounded workbench for testing and handling of your hardware Before installing the board in your computer check the power cabling Failure to do so may cause the power supply unit to malfunction or even cause permanent damage General installation guidelines e Touch the grounded metal housing of your computer to discharge any antistatic buildup and then remove the board from its antistatic bag e Hold the board by the edges and install it in an enclosure or place it on the table on an antistatic surface e Install your board in your system and wire the power supply correctly Failure to do so may cause the power supply unit to malfunction or even cause permanent damage to the device Check all wiring connections once and then once more again Check the antenna bias voltage and jumper correctly Connect the GPS antenna to the OSX connectors on the GPS6160HR Apply power to your system GPS6160HR 15 RTD Finland Oy User s Manual GPS receiver EE MUN ee A A re HN laaa morl T ibolbolbo IT wose i 77 EE I cumieseecxs00 32 Fig 3 1 G
7. PS6160HR integrated in a RTD PC 104 cpuModule stack together with a HPWR104HR power supply module and a CMM series cpuModule General purpose digital I O connector The Table 3 1 below shows the pin outs of the GPS6160HR digital I O interface The signals in this geader connector can be used as general purpose TTL level I O lines to interface to LCD displays LED s push buttons or relays Note that Figure 3 2 shows two connectors together The connector J16 carries all inputs and J2 carries all the outputs PIN J2 Description PIN J2 Description 1 GND 2 Outo 3 Out1 4 Out2 5 Out3 6 Out4 7 Out5 8 Out6 9 Out7 10 5V PIN J16 Description PIN J16 Description 1 GND 2 Ind 3 In1 4 In2 5 In3 6 In4 7 In5 8 In6 9 In7 10 5V Table 3 1 Pin outs of the GPS6160HR digital I O interface connector GPS6160HR 16 RTD Finland Oy User s Manual O O Q 6 O O O 0000000900 O QO Fig 3 2 Digital I O connector layout of the GPS6160HR GPS6160HR 17 RTD Finland Oy User s Manual Chapter 4 HARDWARE DESCRIPTION This chapter describes the major hardware building blocks of the GPS6160HR e GPS receiver module e GPS antenna considerations e UART serial port circuitry e Digital I O e Status LED s 5 5V 3 3V A REG REG 12 CHANNEL ITRAXO2 GPS DATA BUFFER RECEIVER ANTENNA H z EN 3 3V ral g 5V 3 3V lt x 5 ACTIVE m ANTENNA QO m iz POWER S o 16C550 UART v GPS LED A
8. R is configured to output NMEA 0183 Ver 3 0 data after reset and can be changed to binary protocol through a bit in the control register GPS Antenna considerations GPS active antennas are mostly active today The GPS6160HR accepts either 5V or 3 3V active GPS antennas A three terminal header is used to select the oprating voltage of the antenna The internal gain of the GPS receiver can be programmably adjusted to low output signals or even to interface to passive antennas This operation is normally not needed but it can be done using the Fastrax GPS Workbench program GPS6160HR 19 RTD Finland Oy User s Manual 3 3V 5V Fig 4 2 GPS antenna bias voltage A 90 degree 50 Ohm OSX connector should be selected to directly plug into the antenna connector on the board High quality low loss antenna cable should be used Try to reduce the number of connectors on the cable to minimise signal reflections Signal reflections on the antenna line may cause incorrect readings for altitude information UART serial port circuitry GPS data is sent and received through a standard 16C550 compatible UART All today s operating systems will recognize and support this serial communication device The GPS6160HR uses its own onboard serial port and will not reserve serial port resources from the system The I O base address and interrupts for the serial port can be flexibly set as has been described in previous chapters of this manual This u
9. anual interrupts the processor The current code segment CS instruction pointer IP and flags are pushed onto the system stack and a new set if CS and IP are loaded from the lowest 1024 bytes of memory This table is referred to as the interrupt vector table and each entry to this table is called an interrupt vector Once the new CS and IP are loaded from the interrupt vector table the processor starts to execute code from the new Code Segment CS and from the new Instruction Pointer IP When the interrupt routine is completed the old CS and IP are popped from the system stack and the program execution continues from the point where interruption occurred Using Interrupts in your Program Adding interrupt support to your program is not as difficult as it may seem especially when programming under DOS The following discussion will cover programming under DOS Note that even the smallest mistake in your interrupt program may cause the computer to hang up and will only restart after a reboot This can be frustrating and time consuming Writing an Interrupt Service Routine ISR The first step in adding interrupts to your software is to write an interrupt service routine ISR This is the routine that will be executed automatically each time an interrupt request occurs for the specified IRQ An ISR is different from other sub routines or procedures First on entrance the processor registers must be pushed onto the stack_before any
10. cal description The GPS6160HR is designed on a PC 104 form factor An easy mechanical interface to both PC 104 and RTD IDAN systems can be achieved Stack your GPS6160HR directly on a PC 104 compatible CPU module using the onboard mounting holes and standoffs Connector description The GPS antenna interface uses an OSX type miniature coaxial connector Connect your antenna directly to the GPS6160HR antenna connectors or use a short cable inside your enclosure to connect to a feed through connector to allow connection of the antennas to the wall of your enclosure All I O connections are made using header type terminals What comes with your board Your GPS6160HR package contains the following items e GPS6160HR board e User s manual Note Device drivers and example software available on our website If any item is missing or damaged please send an EMAIL to Real Time Devices Finland sales service department at Internet address lt sales rtdfinland fi gt Note that RTD Finland also can offer a GPS6160HR starter kit that will include an active antenna with ready cables for direct evaluation and testing of this module The part number for this starter kit is SK GPS6160HR GPS6160HR 7 RTD Finland Oy User s Manual Using this manual This manual is intended to help you install your new GPS6160HR module and get it working quickly while also providing enough detail about the board and it s functions so that you can enjoy ma
11. e Authorization RMA number 3 On a sheet of paper write the name phone number and fax number of a technically competent person who can answer questions about the problem 4 On the paper write a detailed description of the problem with the product Answer the following questions Did the product ever work in your application What other devices were connected to the product How was power supplied to the product What features did and did not work What was being done when the product failed What were environmental conditions when the product failed 5 Indicate the method we should use to ship the product back to you e We will return warranty repairs by UPS Ground at our expense e Warranty repairs may be returned by a faster service at your expense e Non warranty repairs will be returned by UPS Ground or the method you select and will be billed to you 6 Clearly specify the address to which we should return the product when repaired 7 Enclose the paper with the product being returned 8 Carefully package the product to be returned using anti static packaging We will not be responsible for products damaged in transit for repair 7 Write the RMA number on the outside of the package 8 Ship the package to Real Time Devices Finland Oy Lepolantie 14 FIN O00660 Helsinki FINLAND 31 RTD Finland Oy User s Manual Limited Warranty Real Time Devices Inc warrants the hardware and software products
12. f your interrupts do that next For example if you are using transmitted or received messages as an interrupt source program it to do that Finally clear the mask bit for your IRQ in the IMR This will enable your IRQ Common Interrupt mistakes Remember hardware interrupts are from 8 15 XT IRQ s are numbered 0 7 Do not forget to clear the IRQ mask bit in the IMR Forgetting to send the EOI command after ISR code Disables further interrupts Example on Interrupt vector table setup in C code void far interrupt new_IRQ1_handler void ISR function define IRQ1_VECTOR 3 Name for IRQ void interrupt far old_IRQ1_dispatcher es ds di si bp sp bx dx cx ax ip cs flags Variable to store old IRQ_Vector void far _interrupt new_IRQ1_handler void Function init_irq_ handlers Inputs Nothing Returns Nothing Purpose Set the pointers in the interrupt table to point to our funtions ie setup for ISR s void init_irq_handlers void _disable old_IRQ1_handler _dos_getvect IRQ1_ VECTOR 8 _dos_setvect IRQ1_VECTOR 8 new_IRQ1_handler Gi_old_mask inp 0x21 outp 0x21 Gi_old_mask amp 1 lt lt IRQ1_VECTOR _enable GPS6160HR 28 RTD Finland Oy User s Manual GPS6160HR Function restore do this before exiting program Inputs Nothing Returns Nothing Purpose Restore the interrupt vector table void restore void Restore the old vectors _disab
13. it manufactures and produces to be free from defects in materials and workmanship for one year following the date of shipment from REAL TIME DEVICES This warranty is limited to the original purchaser of product and is not transferable During the one year warranty period REAL TIME DEVICES will repair or replace at its option any defective products or parts at no additional charge provided that the product is returned shipping prepaid to REAL TIME DEVICES All replaced parts and products become the property of REAL TIME DEVICES Before returning any product for repair customers are required to contact the factory for an RMA number THIS LIMITED WARRANTY DOES NOT EXTEND TO ANY PRODUCTS WHICH HAVE BEEN DAMAGED AS A RESULT OF ACCIDENT MISUSE ABUSE such as use of incorrect input voltages improper or insufficient ventilation failure to follow the operating instructions that are provided by REAL TIME DEVICES acts of God or other contingencies beyond the control of REAL TIME DEVICES OR AS A RESULT OF SERVICE OR MODIFICATION BY ANYONE OTHER THAN REAL TIME DEVICES EXCEPT AS EXPRESSLY SET FORTH ABOVE NO OTHER WARRANTIES ARE EXPRESSED OR IMPLIED INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE AND REAL TIME DEVICES EXPRESSLY DISCLAIMS ALL WARRANTIES NOT STATED HEREIN ALL IMPLIED WARRANTIES INCLUDING IMPLIED WARRANTIES FOR MECHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
14. k of the PC 104 Consortium The Real Time Devices Logo is a registered trademark of Real Time Devices utilityModule is a trademark of Real Time Devices All other trademarks appearing in this document are the property of their respective owners GPS6160HR 3 RTD Finland Oy User s Manual Table of Contents List of illustrations and tables 5 Chapter 1 Introduction ccccceeeeseesssteeeeseeseeeeeeeeees 6 F CALUOS noiire cncdavedancdauadincdunedanddawad amdduwed ayddanedawddubedaudusuedsudaweganduencdanduameddne 6 GPS receiver scx teat co enetialseerhet hata ee leah te oeah abet eben table 6 160550 compatible UART Sis rcs ccsice eccece veneieseeesernet Sebetewn sees nnesenbedeeeseeet 6 WOMIMCH ACES ae ee he Meditate dat hed hehe theche ne ihe ahah et heck ihe hs 7 Me chanical description innri aa a a 7 Connector description ssseeeeeeeoeeeeerntetteeeeetttttnrrtreeeerrttntnnntnseerreene nnee 7 What comes with your board ssssssssesseeessserrrrrrrrersserrrnrnnnrnnseerrrrennn n 7 Using this MANUAL nates ii ite ns lct inact imtsta tenet atte aem dirt tect hma tale 8 Whenyo need NGI raroninarananinironarnin raui deer ete cutie 8 Chapter 2 Board settings ccccccceeeeeeeseeeteeeeeeeees 9 Factory configured jumper settings cceeeeceeeeeeeeeeeeeeeneeeeeeeeeeeeeees 10 BaSe OOo SS JUNO CUS es ets ceed cots ces toluene Oud ewes tee cyt e a ENE A 11 Host interrupts Sassi arisen th tesenis teers Geil
15. le _dos_setvect IRQ1_VECTOR 8 old_IRQ1_handler outp 0x21 Gi_old_mask _enable 29 RTD Finland Oy User s Manual Chapter 6 GPS6160HR SPECIFICATIONS Host interface 16 bit PC 104 bus XT bus used for data GPS specifications General L1 frequency C A code SPS 12 independent tracking channels Separate search and acquisition engines Update rate 1fix s or configurable Accuracy Position 10m CEP 50 0 2 m s 50 Sensitivity 145dBm Status indicator 1 LED Antenna Interface External Passive or active 3 3V or 5 0V BIAS Connector OSX PCB mount UART and I O UART compatibility 16C550 Oscillator frequency 1 8432MHz Connection TX and RX only Base addresses 32 Interrupts 2 5 7 10 11 12 14 and 15 Digital I O 8 TTL outputs 8 TTL inputs w 10K pull down GPS6160HR Electromechanical Operating temperature range 40 to 85C Humidity RH up to 95 non condensing Altitude 1000 to 60 000 ft Vibration Survival 10G peak Power consumption 1 3W min GPS6160HR 30 RTD Finland Oy User s Manual Chapter 7 RETURN POLICY AND WARRANTY Return Policy If the module requires repair you may return it to us by following the procedure listed below Caution Failure to follow this return procedure will almost always delay repair Please help GPS6160HR us expedite your repair by following this procedure 1 Read the limited warranty which follows 2 Contact the factory and request a Returned Merchandis
16. ontrol reg Bit 7 1 Only if control reg Bit 7 0 IRQ ID Line control Modem control Line status BASE 400 BASE 401 RESERVED GPS6160HR Modem status Digital I O GPS status Digital I O port Configuration registers Table 5 1 General I O map of the GPS6160HR GPS UART 22 RTD Finland Oy User s Manual BASE 400 Digitall O R W This address is used to interface to the digital I O port of the GPS6160HR writing to this address will transfer the data out of the output port while reading from this address will return the data from the digital inputs BASE 401 GPS Status R W 0x00 after reset Write Bit 0 CH_SEL 0 NMEA mode 1 iTalk protocol Bit 1 GPS_RESET 1 Hard reset of GPS receiver 0 active Bit 2 RESERVED Bit 3 EN_INT 0 GPS interrupt enabled 1 disabled Read Bit 0 CH_SEL state Bit 1 GPS_RESET state Bit 2 GPIO8 of GPS state Reserved for future use and testing Bit 3 EN_INT state INTERRUPTS What is an interrupt An interrupt is an event that causes the processor in your computer to temporarily halt its current process and execute another routine Upon completion of the new routine control is returned to the original routine at the point where its execution was interrupted Interrupts are a very flexible way of dealing with asynchronous events Keyboard activity is a good example your computer cannot predict when you might press a key and i
17. ortant is do not use any DOS functions or functions that call DOS functions from an interrupt routine DOS is not re entrant that is a DOS function cannot call itself In typical programming this will not happen because of the way DOS is written But what about using interrupts Consider then the following situation in your program If DOS function X is being executed when an interrupt occurs and the interrupt routine makes a call to the same DOS function X then function X is essentially being called while active Such cases will cause the computer to crash DOS does not support such operations The general rule is that do not call any functions that use the screen read keyboard input or any file I O routines these should not be used in ISR s The same problem of re entrancy also exists for many floating point emulators This effectively means that you should also avoid floating point mathematical operations in your ISR Note that the problem of reentrancy exists no matter what programming language you use Even if you are writing your ISR in Assembly language DOS and many floating point emulators are not re entrant Of course there are ways to avoid this problem such as those which activate when your ISR is called Such solutions are however beyond the scope of this manual The second major concern when writing ISR s is to make them as short as possible in term of execution time Spending long times in interrupt service routines ma
18. ou can read this value directly but it is better practice to use DOS function 35h get interrupt vector to do this Most C compilers have a special function available for doing this The vectors for the hardware interrupts on the XT bus are vectors 8 15 where IRQO uses vector 8 and IRQ7 uses vector 15 Thus if your GPS6160HR is using IRQ5 it corresponds to vector number 13 Before you install your ISR temporarily mask out the IRQ you will be using This prevents the IRQ from requesting an interrupt while you are installing and initializing your ISR To mask the IRQ read the current IMR at I O port 21h and set the bit that corresponds to the IRQ The IMR is arranged so that bit O is for IRQO and bit 7 is for IRQ7 See the paragraph entitled Interrupt Mask Register IMR earlier in this discussion for help in determining your IRQ s bit After setting the bit write the new value to I O port 21h With the startup IMR saved and the interrupts temporarily disabled you can assign the interrupt vector to point to your ISR Again you can overwrite the appropriate entry in the vector table with a direct memory write but this is not recommended Instead use the DOS function 25h Set Interrupt Vector or if your compiler provides it the library routine for setting up interrupt vectors Remember that interrupt vector 8 corresponds to IRQO vector 9 for IRQ1 etc GPS6160HR 27 RTD Finland Oy User s Manual If you need to program the source o
19. provided for easy system status detection One LED shows the selected protocol The other LED indicates the GPS tracking status Figure 4 3 below shows the location of the two LEDs NMEA On gt NMEA protocol currently selected Off gt iTalk protocol currently selected GPS Blinking gt GPS receives signal and is tracking satellites Off gt GPS fix tacking and all coordinates are valid GPS6160HR 21 RTD Finland Oy User s Manual Chapter5 BOARD OPERATION AND PROGRAMMING ADDR hex This chapter shows you how to program and use your GPS6160HR It provides a general description of the I O map Detailed serial port programming tips are not within the scope of this manual Defining the Memory Map The memory map of the GPS6160HR occupies a group of eight bytes of host PC I O space This window is freely selectable by the user as described in Chapter 2 Table 2 2 After setting the base address you have access to the internal resources of the GPS6160HR control logic These resources are not described in detail since they are mapped as a standard PC serial port For more details on the EXAR ST16C5501J44 UART chip programming please download the component specific data from the website http www exar com products st16c550 html REGISTER COMMENTS BASE TXD RXD BAUD div Low Only if control reg Bit 7 0 Only if control reg Bit 7 0 Only if control reg Bit 7 1 BAUD div High IRQ enable Only if c
20. re free for the user 8259 Programmable Interrupt Controller The chip responsible for handling interrupt requests in a PC is the 8259 Interrupt Controller To use interrupts you will need to know how to read and set the 8259 s internal interrupt mask register IMR and how to send the end of interrupt EOI command to acknowledge the 8259 interrupt controller Interrupt Mask Register IMR Each bit in the interrupt mask register IMR contains the mask status of the interrupt line If a bit is set equal to 1 then the corresponding IRQ is masked and it will not generate an interrupt If a bit is cleared equal to 0 then the corresponding IRQ is not masked and it can then generate an interrupt The interrupt mask register is programmed through port 21h End of Interrupt EOI Command After an interrupt service routine is complete the 8259 Interrupt Controller must be acknowledged by writing the value 20h to port 20h What exactly happens when an interrupt occurs Understanding the sequence of events when an interrupt is triggered is necessary to correctly write interrupt handlers When an interrupt request line is driven high by a peripheral device such as the GPS6160HR the interrupt controller checks to see if interrupts are enabled for that IRQ It then checks to see if other interrupts are active or requested and determines which interrupt has priority The interrupt controller then GPS6160HR 24 RTD Finland Oy User s M
21. right IRQ 2 5 6 7 10 11 12 15 and G Fig 2 4 Antenna bias selection jumper Fig 3 1 GPS6160HR integrated in a RTD PC 104 cpuModule stack together with a HPWR104HR and a CMM series cpuModule Fig 3 2 Digital I O connector layout of the GPS6160HR Fig 4 1 Block diagram of the GPS6160HR Fig 4 2 GPS antenna bias voltage Fi g 4 3 GPS Status LEDs Table 2 1 Factory configured jumper settings Table 2 2 Base address jumper settings GPS6160HR Table 3 1 Pin outs of the GPS6160HR digital I O interface connector Table 5 1 General I O map of the GPS6160HR GPS UART GPS6160HR 5 RTD Finland Oy User s Manual Chapter 1 INTRODUCTION This user s manual describes the operation of the RTD GPS6160HR integrated low power fast fix GPS module designed for mobile marine and automotive applications Features Some of the key features of the GPS6160HR include 12 channel low power Fastrax iTrax02 GPS receiver NMEA and binary protocols 3 3V and 5V active GPS antenna support 16C550 UART interface to host computer Supports COM1 COM2 COM3 COM4 or COMx Available IRQ s 2 5 6 7 10 11 12 14 15 Status LED s indicating GPS activity and status 16 TTL I O s 8 outputs 8 inputs 5V only operation 1 3W typical Wide operating temperature range 40 to 85C guaranteed Fully PC 104 compliant IDAN versions available The following paragraphs briefly describe the major features of the GPS6160HR A more detailed discussion is included in
22. s jumper settings for the GPS6160HR the default jumper settings are highlighted GPS6160HR 12 RTD Finland Oy User s Manual A3 GrO AB Fig 2 2 Base address jumpers illustrating address 2E8 A8 is to the bottom A3 is located to the top of the jumper block Host interrupts Factory setting IRQ5 G closed The header connector shown in Figure 2 3 below lets you connect the onboard control logic interrupt outputs to one of the interrupt channels available on the host computer XT AT bus 5 G25 6 7 1011 12 1415 Fig 2 3 Interrupt jumpers from left to right IRQ2 5 6 7 10 11 12 14 15 and G Note The GPS6160HR hardware supports interrupt sharing Jumper G must be closed on one module per used interrupt For example if two boards share interrupt number 7 only one board may have the G jumper closed The G jumper connects a 1KOhm resistor to ground while the shared interrupts are 3 stated pulling the line to an inactive level GPS6160HR 13 RTD Finland Oy User s Manual GPS6160HR Antenna Bias Factory setting 5V The three terminal jumper header connector shown in Figure 2 4 below lets you connect either 5V or 3 3V to the GPS antenna This bias voltage is fused with an 80mA quick blow fuse 3 3V ov Fig 2 4 Antenna bias voltage selection jumper 14 RTD Finland Oy User s Manual Chapter 3 BOARD INSTALLATION The GPS6160HR GPS module is designed to directly mount on top or under your RTD
23. s retain sees 13 Ante na Biase eien iiai teh atc lta oli iE ode ai he othe 14 Chapter 3 Board installation 0 seee 15 Board IMSTANAH OM oi rceeis2c2 2ccsetepeetpnsnsddcden hedyoiee Spend wbemeaeeiesedeersehed 15 General purpose digital I O connector ceeeeeeeeeeeeeeeeeeeeenneeeeeeeees 16 Chapter 4 Hardware description ccccccceceeees 18 GPS receiver is 5s5 ttre hdd seacoast tea Siete Ohad nett teliesd UA oats 19 GPS antenna Considerations eeeceeeeeceeeeeeeeeeeeeeeaaeeeeeeeeeeeeeeeenaeees 19 UART serial port circuitry caetnc ites eset he eee eh k ee he N Ae ake hte 20 Digital V O eee pe ntenere pers eerer ee a Sore tar ennn armen errr r 21 DIGIUGIPEDS tage N sete wens Geer wets eee ee eet 21 GPS6160HR 4 RTD Finland Oy User s Manual Chapter 5 Board operation and programming 22 Defining the memory Map ccc ceecceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeseeeaeeeeeeeeeeeeees 22 GPS BASE 400h Digital VO eiiie iiae a a aE 23 GPS BASE 401h status register c cccceeeeeeeeeeseeeeeeeeeeeeeeeeeeeeneaeees 23 NPIRGTRUNDES Sas tAcnhars ts be on atc N as Ch alas ila Ca elas Cela De 23 Chapter 6 GPS6160HR Specifications 30 Chapter 7 Return policy and warranty 0 31 List of illustrations and tables Fig 2 1 GPS6160HR Board layout showing jumper locations Fig 2 2 Base address jumpers illustrating address 2E8h Fig 2 3 Interrupt jumpers from left to
24. sers manual will not wade into details of serial port programming This information is commonly available today You can use any communication software package or terminal program to connect to your GPS6160HR UART Just make sure you set up the I O and IRQ right The UART on the board is specified for full operation from 40 to 85C The oscillator frequency is set to be 1 8432MHz Note that the UART interrupt can be disabled or enabled from software by writing to bit 01 in address BASE 0x402 The GPS receiver has two available protocols You may select to use either the NMEA protocol or alternatively the iTalk binary protocol The GPS receiver has two internal serial ports that operate in parallel These outputs are multiplexed into the 16C550 UART channel on the GPS6160HR board You may change between protocols by writing to a control bit in the internal registers of the board This will be described in the later chapters of this manual GPS6160HR 20 RTD Finland Oy User s Manual Digital I O For general purpose digital I O interfacing a 16 bit digital I O port is provided This port includes 8 TTL level digital outputs that are cleared to 0 after system reset Also are included 8 digital inputs with 10K Ohm pull down resistors These I O s are located on the left side of the board These I O s are ideal to be used to interface to LCD displays LED s push buttons or other low power controls Status LEDs Two status LEDs are
25. t would be a waste of processor time to do nothing whilst waiting for a keystroke to occur Thus the interrupt scheme is used and the processor proceeds with other tasks When a keystroke finally occurs the keyboard then interrupts the processor so that it can get the keyboard data It then places it into the memory and then returns to what it was doing before the interrupt occurred Other common devices that use interrupts are A D boards network boards other used serial ports etc GPS6160HR 23 RTD Finland Oy User s Manual Interrupt request lines To allow different peripheral devices to generate interrupts on the same computer the PC AT bus has interrupt request channels IRQ s A rising edge transition on one of these lines will be latched into the interrupt controller The interrupt controller checks to see if the interrupts are to be acknowledged from that IRQ and if another interrupt is being processed it decides if the new request should supercede the one in progress or if it has to wait until the one in progress has been completed The priority level of the interrupt is determined by the number of the IRQ as follows IRQO has the highest priority whilst IRQ15 has the lowest Many of the IRQ s are already used by the standard system resources IRQO is dedicated to the internal timer IRQ1 is dedicated to the keyboard input IRQ3 for the serial port COM2 and IRQ4 for the serial port COM1 Often interrupts 2 5 7 10 11 and 15 a
26. thing else Second just before exiting the routine you must clear the interrupt on the GPS6160HR by writing to the Status register and write the EOI command to the interrupt controller Finally when exiting the interrupt routine the processor registers must be popped from the system stack and you must execute the IRET assembly instruction This instruction pops the CS IP and processor flags from the system stack These were pushed onto the stack when entering the ISR Most compilers allow you to identify a function as an interrupt type and will automatically add these instructions to your ISR with one exception most compilers do not automatically add the EOI command to the function you must do it yourself Other than this and a few exceptions discussed below you can write your ISR as any code routine It can call other functions and procedures in your program and it can access global data If you are writing your first ISR we recommend you stick to the basics just something that enables you to verify you have entered the ISR and executed it successfully For example set a flag in your ISR and in your main program check for the flag GPS6160HR 25 RTD Finland Oy User s Manual Note If you choose to write your ISR in in line Assembly you must push and pop registers correctly and exit the routine with the IRET instruction instead of the RET instruction There are a few precautions you must consider when writing ISR s The most imp
27. umper settings and their corresponding values in hexadecimal form Ensure that you verify the correct location of the base address jumpers When the jumper is removed it corresponds to a logical 0 connecting the jumper to a 1 When you set the base address of the module record the setting inside the back cover of this manual GPS6160HR 11 RTD Finland Oy User s Manual GPS6160HR Base address configuration BASE A8 A7 A6 A5 A4 A3 BASE A8 A7 A6 A5 A4 A3 200 00 0 0 3B8 CO DO oO OO AH AH OO MA AH oo O O O O O O O O O OO O O SH O O oloi O O O O O ear 3 sacar 3C8 3E8 0 JUMPER OFF 1 JUMPER CLOSED ee ty Sf el Ol Ol Ol O Ol OlOl O O O O O O O O ay st OL OlOlOlOLO OJ Oy mf Af Sy Af A Ay tl ey Ol OlO Ol o o o C ojo _ _ A10fololo ala alojoloso alja a ojololo a ja alojojo oO m 0 0 k 3 OC O O O S S olol olo olol olol o olo OI OIOI OI OIOI OI OI OIOI OI OI OIOIO lolololololololo lololololololo 1 1 oO oO 200 2F8 0O o O O O H CO OC o CO CO CO H o HH OC O oj 1 1 oO _ _h Table 2 2 Base addres
28. ximum use of it s features even in the most demanding applications When you need help This manual and all the example programs will provide you with enough information to fully utilize all the features on this board If you have any problems installing or using this board contact our Technical support department at lt techsupport rtdfinland fi gt When sending us an Email request please include the following information Your company s name and address your name your telephone number and a brief description of the problem GPS6160HR 8 RTD Finland Oy User s Manual Chapter 2 BOARD SETTINGS The GPS6160HR board has jumper settings which can be changed to suit your application and host computer configuration The factory settings are listed and shown in the diagram at the beginning of this chapter Make sure you completely study and understand this chapter before making changes to these settings GPS6160HR 9 RTD Finland Oy User s Manual Factory Configured Jumper Settings Table 2 1 below illustrates the factory jumper setting for the GPS6160HR Figure 2 1 shows the board layout of the GPS6160HR and the locations of the jumpers The following paragraphs explain how to change the factory jumper settings to suit your specific application Table 2 1 Factory configured jumper settings Please see figure 2 1 below for more detailed locations JUMPER NAME DESCRIPTION NUMBER OF JUMPERS FACTORY SETTING
29. y mean that other important interrupts are not serviced Also if you spend too long in your ISR it may be called again before you have exited This will lead to your computer hanging up and will require a reboot Your ISR should have the following structure Push any processor registers used in your ISR Put the body of your routine here Clear the interrupt bit by reading GPS6160HR RXD register Issue the EOI command to the 8259 by writing 20h to 20h Pop all registers Most C compilers do this automatically GPS6160HR 26 RTD Finland Oy User s Manual The following C example shows what the shell of your ISR should be like Function new_IRQ_handler Inputs Nothing Returns Nothing void interrupt far new_IRQ_handler void IRQ_flag 1 Indicate to process interrupt has occurred Your program code to read UART read to a data buffer for example Guc_buffer Gi_bufpos inp gi_SERIAL_DATA outp 0x20 0x20 Acknowledge the interrupt controller Saving the Startup Interrupt Mask Register IMR and interrupt vector The next step after writing the ISR is to save the startup state of the interrupt mask register IMR and the original interrupt vector you are using The IMR is located in address 21h The interrupt vector you will be using is located in the interrupt vector table which is an array of pointers addresses and it is locate din the first 1024 bytes of the memory Segment 0 offset 0 Y
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