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PG-31 GPS Engine Board

1. Software Version String Response to Poll Message I D 6 28 Response Clock Status Data Message I D 7 28 50 BPS Data Message I D 8 28 CPU Throughput Message D 9 29 Command Acknowledgment Message I D 11 29 Command Acknowledgment Message I D 12 30 Misible List Message D 13 30 Almanac Data Message I D 14 31 Ephemeris Data Response to Poll Message I D 15 31 Ok To Send Message I D 18 31 Navigation Parameters Response to Poll Message I D 19 32 Nav Lib Measurement Data Message D 28 33 Nav Lib DGPS Data Message D 29 35 Nav Lib SV State Data Message D 30 36 Nav Lib Initialization Data Message D 31 37 Development Data Message I D 255 37 Additional Information 38 TricklePower Operation in DGPS Mode 38 GPS Week Reporting 38 NMEA Protocol in TricklePower Mode 38 5 NMEA I nput Output Messages 39 NMEA Output Messages 39 GGA Global Positioning System Fixed Data 39 GLL Geographic Position Latitude Longitude 39 GSA GNSS DOP and Active Satellites 40 GSV GNSS Satellites in View Al RMC Recommended Minimum Specific GNSS Data 41 MTG Course Over Ground and Ground Speed 42 SiRF Proprietary NMEA Input Messages 42 Transport Message 42 SiRF NMEA Input Messages 43 Set Serial Port 43 Navigation Initialization 43 Set DGPS Port 44 Query Rate Control 44 LLA Navigation Initialization 45 Development
2. Switch Operating Modes Message I D 150 Table 4 28 contains the input values for the following example Sets the receiver to track a single satellite on all channels Example A0A20007 Start Sequence and Payload Length 961E510006001E Payload 0129BOB3 Message Checksum and End Sequence Table 4 28 Switch Operating Mode D 150 Binary Hex Name Bytes Scale Example Units Description Message ID I1 96 ASCII 150 Mode 2 1E51 O normal 1E51 Testmodel 1E52 Testmode2 1E53 not supported SvID 2 0006 Satellite to Track Period 2 OO1E Seconds Duration of Track Payload Length 7 bytes 2005 by Laipac Technology Inc All Rights Reserved Page 20of 46 PG 31 GPS Engine Board User s Manual amp Reference Guide Set TricklePower Parameters Message I D 151 Table 4 29 contains the input values for the following example Sets the receiver into low power Mode Example Set receiver into TricklePower at 1 hz update and 200 ms On Time A0A20009 Start Sequence and Payload Length 97000000C8000000C8 Payload 0227BOB3 Message Checksum and End Sequence Table 4 29 Set TricklePower Parameters D 151 Name Bytes Binary Hex Units Description Scale Example Message ID 1 97 ASCII 151 Push To Fix Mode 2 0000 ON 1 OFF 0 Duty Cycle 2 10 00C8 Time ON JA duty cycle of 1000 100 mean
3. 1024 this information is available through the Clock Status Message 007 under the Poll menu NMEA Protocol in TricklePower Mode The NMEA standard is generally used in continuous update mode at some predefined rate This mode is perfectly compatible with all SiRF TricklePower and Push to Fix modes of operation There is no mechanism in NMEA that indicates to a host application when the receiver is on or in standby mode If the receiver is in standby mode chip set OFF CPU in standby then no serial communication is possible for output of NMEA data or receiving SiRF proprietary NMEA input commands To establish reliable communication the user must re power the receiver and send commands while the unit is in full power mode during start up and prior to reverting to TricklePower operation Alternatively the host application could send commands i e poll for position repeatedly until the request has been completed In TricklePower mode the user is required to select an update rate seconds between data output and On Time milliseconds the chipset is on When the user changes to NMEA mode the option to set the output rate for each of the selected NMEA messages is also required These values are multiplied by the TricklePower update rate value as shown in Table 4 58 Table 4 60 NMEA Data Rates Under TricklePower Operation Power Mode Continuous TricklePower TricklePower TricklePower Update Rate 1 ev
4. In Protocol 1 05 For UART 3 Out Protocol 1 05 For UART 3 Baud Rate 4 00000000 For UART 3 Data Bits 1 00 For UART 3 Stop Bits 1 00 For UART 3 Parity 1 00 For UART 3 Reserved 1 00 For UART 3 Reserved 1 00 For UART 3 Payload Length 49 bytes 1 0 SiRF Binary 1 NMEA 2 ASCII 3 RTCM 4 User1 5 No Protocol 2 Valid values are 1200 2400 4800 9600 19200 38400 and 57600 3 Valid values are 7 and 8 4 Valid values are 1 and 2 5 0 None 1 Odd 2 Even Set Message Rate Message I D 166 Table 4 34 contains the input values for the following example Set message ID 2 to output every 5 seconds starting immediately Example A0A20008 Start Sequence and Payload Length A601020500000000 Payload OOAEBOB3 Message Checksum and End Sequence Table 4 34 Set Message Rate Name Bytes Binary Hex Units Description Scale Example Message ID 1 A6 ASCII 166 Send Now 1 01 Poll message MID to be set 1 02 Update Rate 1 05 Sec Range 1 30 Reserved 1 00 Not used Reserved 1 00 Not used 2005 by Laipac Technology Inc All Rights Reserved Page 23o0f 46 PG 31 GPS Engine Board User s Manual amp Reference Guide Reserved 1 00 Not used Reserved 1 00 Not used Payload Length 8 bytes 1 0 No 1 Yes if no update rate the message will be polled Low Power Acquisition Parameter s Message I D 167 Table 4 35
5. 13 Output Rate Updated approximately every 2 minutes Note This is a variable length message Only the number of visible satellites is reported as defined by Visible Svs in Table 4 48 Maximum is 12 satellites Example A0A2002A Start Sequence and Payload Length 0D080700290038090133002C xxxxxxXxXXXXXXXXXxx Payload xxxxBOB3 Message Checksum and End Sequence Table 4 48 Visible List Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 OD 13 Misible Svs 1 08 8 CH 1 Sv 1 10 16 I D CH 1 Sv 2 002A degrees 42 Azimuth CH 1 Sv 2 0038 degrees 56 Elevation CH 2 Sv 1 09 9 I D CH 2 Sv 2 0133 degrees 307 Azimuth CH 2 Sv 2 002C degrees 44 Elevation Payload Length Variable 2005 by Laipac Technology Inc All Rights Reserved Page 300of 46 PG 31 GPS Engine Board User s Manual amp Reference Guide Almanac Data Message D 14 Output Rate Response to poll Example AOA203A1 _ Start Sequence and Payload Length OEOL KK KKK Payload BOB3 Message Checksum and End Sequence Table 4 49 Almanac Data Name Bytes Binary Hex Scale Example Message D 1 OE Sv I D 1 01 Satellite PRN Number Almanac week and 2 1101 First 10 bits is the Status Almanac week Next 5 bits have a zero value Last bit is 1 Almanac data 24 aa This information
6. Data On Off 46 2005 by Laipac Technology Inc All Rights Reserved Page 3of 46 PG 31 GPS Engine Board User s Manual amp Reference Guide Chapter 1 Introduction to PG 31 GPS Receiver PG 31 GPS Receiver Module Features SIRF Star II LP low power chipset with embedded ARM7TDMI CPU available for customized applications through firmware 12 parallel satellite tracking channels for fast acquisition and re acquisition Compact size only 30 6 26 9 8mm includes RF shield and connector High speed signal acquisition using 1920 time frequency search channels Built in WAAS EGNOS demodulator Low power consumption with Advanced TricklePower and Push To Fix mode Optional Rechargeable battery for memory and RTC backup as well as fast Time to First Fix TTFF Support NMEA 0183 v2 2 data protocol and SiRF binary code Enhanced algorithms such as SnapLock and SnapStart provide superior navigation performance in urban canyon and foliage covered environments For Car Navigation Marine Navigation Fleet Management AVL and Location Based Services Auto Pilot Personal Navigation Touring Devices and general tracking devices systems and Mapping applications Specification overview Snap Start lt 3 sec at lt 25 minutes off period Hot Start 8 sec typical Warm Start 38 sec typical Cold Start 45 sec typical Satellite Re acquisition 100 ms Time Accuracy 1 us Channels 12 satellites Position Accuracy 25m CEP without SA
7. Every measurement cycle full power continuous 1Hz Example A0A2001A Start Sequence and Payload Length 1D000F00B501BFC97C673CAAAAAB3FBFFE1240A0000040A00000 Payload 0956BOB3 Message Checksum and End Sequence 2005 by Laipac Technology Inc All Rights Reserved Page 35of 46 PG 31 GPS Engine Board User s Manual amp Reference Guide Table 4 56 Measurement Data Binary Hex ASCII Name Bytes Units Decimal Scale Example Scale Example Message D 1 OOOF Satellite ID 2 00B5 LOD 2 01 Source 1 BFC97C67 ms Pseudo range Correction 4 3CAAAAAB m s Pseudo range rate 4 Correction Correction Age 4 3FBFFE12 s Reserved 4 Reserved 4 Payload Length 26 bytes 1 O0 Use no corrections 1 Use WAAS channel 2 Use external source 3 Use Internal Beacon 4 Set DGPS Corrections Navigation Library SV State Data Message I D 30 Output Rate Every measurement cycle full power continuous 1Hz Example A0A20053 Start Sequence and Payload Length 1E15 2C64E99D01 408906C8 Payload 2360B0B3 Message Checksum and End Sequence Table 4 57 SV State Data Binary Hex ASCII Name Bytes Units Decimal Scale Example Scale Example Message D 1 1E Satellite ID 1 15 GPS Time 8 S Position X 8 m Position Y 8 m Position Z 8 m Velocity X 8 m s Vel
8. Receiver L1 C A code Protocol NMEA 0183 V2 2 4800 8 N 1 GGA GSA GSV MC VTG GLL RMS option or SiRF Binary Maximum Altitude lt 18 000 m 60 000 feet Maximum Velocity lt 515 m s 1000knots Max Update Rate 1 Hz RF Connector MMCX Interface Interface connector 20 pin 2X10 low profile socket 1mm Dimension 30 6mm L x26mm W x9 8mm H Weight 8g Firmware Upgrade Flash memory for programming software available Time Mark Output 1 pulse sec aligned with GPS time 0 1 usec Operating Temperature 40 C to 852C Storage Temperature 45 C to 1002C Operating Humidity 5 to 95 No Condensing Electrical specifications Less than 70mA without antenna Output terminal and definition Interface connector 20 pin 2X10 low profile socket Imm 2005 by Laipac Technology Inc All Rights Reserved Page 4of 46 PG 31 GPS Engine Board User s Manual amp Reference Guide Chapter 2 Specifications PG 31 1 Electrical Characteristics 1 1 General 1 2 Accuracy 1 3 DGPS Accuracy 1 4 Datum 1 5 Acquisition Rate 1 6 Dynamic Condition 1 7 Power 1 8 External Reset 1 9 Serial Port 1 10 Time 1PPS Pulse Frequency C A code Channels Position Velocity Time Position Velocity WGS 84 Re acquisition Cold start Warm start Hot start Altitude Velocity Acceleration Jerk Main Power L1 1575 42MHz 1 023 MHz chip rate 12 25 meters CEP without SA 0 1 meters second without SA 1 m
9. contains the input values for the following example Set maximum off and search times for re acquisition while receiver is in low power Example A0A20019 Start Sequence and Payload Length A7000075300001D4C000000000000000000000000000000000 Payload 02E1BOB3 Message Checksum and End Sequence Table 4 35 Set Low Power Acquisition Parameters Name Bytes Binary Hex Units Description Scale Example Message ID 1 A7 ASCII 167 Max Off Time 4 00007530 ms Maximum time for sleep mode Max Search 4 0001D4C ms Max satellite search time Time 0 Push To Fix 4 0000003C sec Push To Fix cycle period period Output Messages for SiRF Binary Protocol Note All output messages are received in BI NARY format SiRFdemo interprets the binary data and saves it to the log file in ASCII format Table 4 36 lists the message list for the SiRF output messages Table 4 36 SiRF Messages Output Message List Hex ASCII Name Description O x 02 2 Measured Navigation Data Position velocity and time 0x03 3 True Tracker Data Not Implemented O x 04 4 Measured Tracking Data Satellite and C No information 0x05 5 Raw Track Data PG 31 not supported O x 06 6 SW Version Receiver software 0x07 7 Clock Status Current clock status 0x08 8 50 BPS Subframe Data Standard ICD format O x 09 9 hroughput Navigation complete data 0 x OA 10 E
10. exact format of this representation and packing method can be extracted from the ICD GPS 2000 document The ICD GPS 2000 document describes the data format of each GPS navigation sub frame and is available on the web at http www arinc com gps Software Version Message I D 132 Table 4 6 contains the input values for the following example Poll the software version example A0A20002 Start Sequence and Payload Length 8400 Payload 0084BOB3 Message Checksum and End Sequence Table 4 6 Set Almanac message Name Bytes Binary Hex Units Description Scale Example Message ID 1 84 ACSII 132 TBD 1 00 Not used Payload Length 2 bytes Set DGPS Source Message l D 133 This command allows the user to select the source for DGPS corrections Options available are External RTCM Data any serial port WAAS subject to WAAS satellite availability Internal DGPS beacon receiver Example 1 Set the DGPS source to external RTCM Data A0A200007 Start Sequence and Payload Length 8502000000000 0 Payload 0087B0 B3 Checksum and End Sequence Table 4 7 Set DGPS Source Name Bytes Binary Hex Units Description Scale Example Message ID 1 85 decimal 133 DGPS Source 1 02 See Table 4 9 DGPS Source Selections Internal Beacon 4 00000000 Hz Internal Beacon Search Frequency Settings Internal Beacon 1 00 BPS InternalBeacon Search Bit
11. is taken from the 50BPS navigation message broadcast by the satellite This information is the last 8 words in the 5th subframe but with the parity removed Package checksum 2 4CA1 This is the checksum of The preceding data in the payload It is calculated by Arranging the previous 26 bytes as 13 half words and then Summing them Payload Length 30 bytes 1 Each satellite almanac entry is output as a single message 2 There are 25 possible pages in subframe 5 Pages 1 through 24 contain satellite specific almanac information which is output as part of the almanac data Page 25 contains health status flags and the almanac week number 3 This checksum is not used for serial I O data integrity It is used internally for ensuring that the almanac information is valid Note The data is actually packed and the exact format of this representation and packing method can be extracted from the ICD GPS 2000 document The CD GPS 2000 document describes the data format of each GPS navigation subframe and is available on the web at http www arinc com gps Ephemeris Data Response to Poll Message I D 15 The ephemeris data that is polled from the receiver is in a special SiRF format based on the ICD GPS 2000 format for ephemeris data OkToSend Message I D 18 Output Rate TricklePower CPU on off indicator Example A0A20002 Start Sequence and Payload Length 1200 Payload 0012BOB3 Mes
12. scanning of all frequencies and bit rates are performed Full Frequency Scan O None Zero Auto scanning of all frequencies and specified bit rate are performed Full Bit Rate Scan None Zero 0 Auto scanning of all bit rates and specified frequency are performed Specific Search Scan None Zero None Zero Only the specified frequency and bit rate search are performed 2005 by Laipac Technology Inc All Rights Reserved Page 14of 46 PG 31 GPS Engine Board User s Manual amp Reference Guide Set Main Serial Port Message D 134 Table 4 11 contains the input values for the following example Set Main Serial port to 9600 n 8 1 Example A0A20009 Start Sequence and Payload Length 860000258008010000 Payload 0134BOB3 Message Checksum and End Sequence Table 4 11 Set Main Serial Port Name Bytes Binary Hex Units Description Scale Example Baud 4 88 Data Bits 1 01 8 7 Stop Bit 1 01 0 1 Parity 1 01 None 0 Odd 1 Even 2 Pad 1 01 Reserved Payload Length 9 bytes Mode Control Message I D 136 Table 4 12 contains the input values for the following example 3D Mode Always Alt Constraining Yes Degraded Mode clock then direction TBD 1 DR Mode Yes Altitude 0 Alt Hold Mode Auto Alt Source Last Computed Coast Time Out 20 Degraded Time Out 5 DR Time Out 2 Track Smoothing Yes Example A0A2000E Start Sequence and Payload L
13. to NMEA Protocol O x 82 130 Set Almanac upload 0 x 84 132 Software Version Poll O x 85 133 Set DGPS Source Control O x 86 134 Set Main Serial Port 0 x 88 136 Mode Control O x 89 137 DOP Mask Control O x BA 138 DGPS Mode O x 8B 139 Elevation Mask O x 8C 140 Power Mask O x 8D 141 Editing Residual Not implemented O x 8E 142 Steady State Detection Not implemented O x 8F 143 Static Navigation 0 x 90 144 Poll Clock Status Ox 91 145 Set DGPS Serial Port O x 92 146 Poll Almanac 0 x 93 147 Poll Ephemeris O x 94 148 Flash Update 0x95 149 Set Ephemeris upload O x 96 150 Switch Operating Mode 0 x 97 151 Set TricklePower Parameters 2005 by Laipac Technology Inc All Rights Reserved Page 10of 46 PG 31 GPS Engine Board User s Manual amp Reference Guide 0 x 98 152 Poll Navigation Parameters O x A5 165 Set UART Configuration O x A6 166 Set Message Rate 0O x A7 167 Low Power Acquisition Parameters Initialize Data Source Message I D 128 Table 4 2 contains the input values for the following example Warm start the receiver with the following initialization data ECEF XYZ 2686727 m 4304282 m 3851642 m Clock Offset 75 000 Hz Time of Week 86 400 s Week Number 924 and Channels 12 Raw track data enabled Debug data enabled Example A0A20019 Start Sequence and Payload Length 80FFD700F9FFBE5266003AC5 7A000124F80083D600039C0C33 Payload 0A91BOB3 Messag
14. 2 A value of 0x00 implies the checksum NOT transmitted with the message not recommended A value of 0x01 will have a checksum calculated and transmitted as part of the message recommended Note In TricklePower mode the update rate is specified by the user When you switch to NMEA protocol the message update rate will be required again The resulting update rate is the product of the TricklePower Update rate AND the NMEA update rate i e TricklePower update rate 2 seconds NMEA update rate 5 seconds resulting update rate is every 10 seconds 2 X 5 10 Set Almanac Message I D 130 This command enables the user to upload an almanac PG 31 example A0A20380 Start Sequence and Payload Length B2XX ee ee eee eee eee eee Payload XxxxBOB3 Message Checksum and End Sequence 2005 by Laipac Technology Inc All Rights Reserved Page 12of 46 PG 31 GPS Engine Board User s Manual amp Reference Guide Table 4 5 Set Almanac message Name Bytes Binary Hex Units Description Scale Example Message ID 1 82 ACSII 130 Almanac 396 00 Reserved Payload Length 897 bytes The almanac data is stored in the code as a 448 element array of INT16 values These 448 elements are partitioned as 32 x 14 elements where the 32 represents the satellite number minus 1 and the 14 represents the number of INT16 values associated with this satellite The data is actually packed and the
15. 5 12 041 42 41 Table 5 8 GSV Data Format Name Example Units Description Message ID GPGSV GSV protocol header Number of 2 Range lto3 Messages Message 1 Range 1to3 Number 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 O 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 O to 99 null when not tracking Checksum 71 lt CR gt lt LF gt End of message termination 1 Depending on the number of satellites tracked multiple messages of GSV data may be required RMC Recommended Minimum Specific GNSS Data Table 5 9 contains the values for the following example GPRMC 161229 487 A 3723 2475 N 12158 3416 W 0 13 309 62 120598 10 Table 5 9 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 or S south Longitude 12158 3416 dddmm mmmm E W Indicator wW E east or W west Speed Over 0 13 knots Ground Course Over 309 62 degrees True Ground Date 120598 Ddmmyy Magnetic degrees E east or W west
16. 7TDMI Software CPU core amp 1M DRAM memory 90 CPU throughput available for user tasks 5 RF Interference Assembled with fully shielded case design to withstand the most interference Chapter 3 Inter face and Options This chapter describes the pin definitions of the interface connector and flexible options of the PG 31 Physical Diagram Pin Definition of the Digital I nterface Connector PG 31 Table 3 1 Pin List of the 20 pin Digital Interface Connector for the PG 31 Pin Name Description 1 VCC 3 3V 10 DC Power Input 2 TXA Host Serial Data Output A 3 RXA Host Serial Data Input A 4 TXB Aux Serial Data Output B 5 RXB Aux Serial Data Input B DGPS 6 TI MEMARK 1PPS Time Mark Output 7 BAT Battery Backup Power Input 8 GPIOA General Purpose Input Output 9 RESET Reset Active Low 10 RESERVED Reserved 2005 by Laipac Technology Inc All Rights Reserved Page 6of 46 PG 31 GPS Engine Board User s Manual amp Reference Guide 11 GROUND Ground 12 BOOTSEL Internal External Boot selective 13 GPI OB General Purpose Input Output 14 GPIOC General Purpose Input Output 15 GPIOD General Purpose Input Output 16 GPIOE General Purpose Input Output 17 GPI OF General Purpose Input Output 18 GPIOG General Purpose Input Output 19 GPIOH General Purpose Input Output 20 GROUND Ground The Host Serial Data I O is normally a CMOS logical h
17. B Hz 43 Delta Range Interval 03E801F4 m 1000 Mean Delta Range Time O1F4 ms 500 Extrapolation Time 0000 ms Phase Error Count 00 0 Low Power Count 00 0 Payload Length 56 bytes 2005 by Laipac Technology Inc All Rights Reserved Page 33o0f 46 PG 31 GPS Engine Board User s Manual amp Reference Guide Table 4 53 Sync Flag Fields Bit Fields Description 0 Coherent Integration Time 0 2ms 1 10ms 2 1 Synch State 00 Not aligned 01 Consistent code epoch alignment 10 Consistent data bit alignment 11 No millisecond errors 0 Coherent Integration Time 0 2ms 1 10ms 2 1 Synch State 00 Not aligned 01 Consistent code epoch alignment 10 Consistent data bit alignment 11 No millisecond errors Table 4 54 Detailed Description of the Measurement Data Name Description Message D Message D number Channel Receiver channel number for a given satellite being searched or tracked Time Tag This is the Time Tag in milliseconds of the measurement block in the receiver software time Satellite ID Satellite or Space Vehicle SV I D number or Pseudo random Noise PRN number GPS Software This is GPS Time or Time of Week TOW estimated by the software in Time milliseconds Pseudo range This is the generated pseudo range measurement for a particular SV Carrier This is can be interpreted in t
18. MODE Position mode 0 No navigation solution 1 1 satellite solution 2 2 satellite solution 3 satellite solution gt 3 satellite solution 3 4 5 2D point solution Least square 6 3D point solution Least square 7 0 1 Dead reckoning TTPMODE TricklePower mode Full power position TricklePower position ALTMODE Altitude mode 0 1 Altitude used from filter 2 Altitude used from user 3 Forced altitude from user DOPMASK DOP mask status 0 DOP mask not exceeded 1 DOP mask exceeded DGPS DGPS status 0 No DGPS position 1 DGPS position No altitude hold Table 4 39 Mode 2 Mode 2 Hex ASCII Description O x 00 0 Solution not validated 0x01 1 DR sensor data O x 02 2 Validated 1 Unvalidated 0 O x 04 4 If set Dead Reckoning Time Out 0 x 08 8 If set Output Edited by UI i e DOP Mask exceeded 0x10 16 Reserved 0x20 32 Reserved 0x40 64 Reserved 0x80 128 Reserved Measured Tracker Data Out Message I D 4 Output Rate 1 Hz Table 4 38 lists the binary and ASCII message data format for the measured tracker data Example AOA200BC Start Sequence and Payload Length 04036C0000937FOCOEAB46003F1A1E1D1D191D1A1A1D1F1D59423F1A1A Payload BOB3 Message Checksum and End Sequence 2005 by Laipac Technology Inc All R
19. Navigation Mask to 15 5 degrees Tracking Mask is defaulted to 5 degrees Example A0A20005 Start Sequence and Payload Length 8B0032009B Payload 0158BOB3 Message Checksum and End Sequence Table 4 18 Elevation Mask Binary Hex Name Bytes Scale Example Units Description Message ID 1 8B ASCII 139 Tracking Mask 2 10 0032 degrees Not currently used Navigation Mask 2 10 009B degrees Range 20 0 to 90 0 Payload Length 5 bytes Power Mask Message I D 140 Table 4 19 contains the input values for the following example Navigation mask to 33 dB Hz tracking default value of 28 Example A0A2000 3 Start Sequence and Payload Length 8C1C21 Payload O0OC9BOB3 Message Checksum and End Sequence Table 4 19 Power Mask Binary Hex Name Bytes Scale Example Units Description Message ID 1 8c ASCII 140 Tracking Mask 1 1C DBHz Not currently implemented Navigation Mask 1 21 DBHz Range 20 to 50 Payload Length 3 bytes Editing Residual Message I D 141 Note Not currently implemented Steady State Detection Message D 142 Note Not currently implemented Static Navigation Message I D 143 This command allows the user to enable or disable navigation on the PG 31 Example A0A20002 Start Sequence and Payload Length 8F01 Payload xXxxxBOB3 Message Checksum and End Sequence 2005 by Laipac Technology Inc All Rights Reserve
20. PG 31 GPS Engine Board User s Manual amp Reference Guide LAIPAC TECH www laipac com Laipac Technology nc 55 West Beaver Creek Rd Unit 1 Richmond Hill Ontario L4B 1K5 Canada Tel 1 905 762 1228 Fax 1 905 763 1737 2005 by Laipac Technology Inc All rights reserved The Specifications and information regarding the products in this manual are subjected to change without notice All statements information and recommendations in this manual are believed to be accurate but are represented without warranty of any kind express or implied users must take full responsibility for their applications of any Products Reproduction of the contents of this manual in whole or in part without written permission of Laipac Technology Inc is prohibited PG 31 GPS Engine Board User s Manual amp Reference Guide 1 Introduction to PG GPS series 4 PG 31 GPS Receiver 4 Quick View on Specifications 4 2 Specifications 5 PG 31 5 3 Interface Description and Options 6 Physical Diagram 6 Digital Interface Connector pin description 6 PG 31 6 Option Descriptions 8 TricklePower Option 8 RS 232 I O Option 9 4 SiRF Binary Protocol Specification 9 Protocol Layers 9 Transport Message 9 Transport 9 Message Validation 9 Payload Length 9 Payload Data 10 Checksum 10 Input Messag
21. Rate Settings Payload Length 7 bytes 2005 by Laipac Technology Inc All Rights Reserved Page 13of 46 PG 31 GPS Engine Board User s Manual amp Reference Guide Example2 Set the DGPS source to Internal DGPS Beacon Receiver Currently PG 31 is not supported Search Frequency 310000 Bit Rate 200 A0A200007 Start Sequence and Payload Length 85030004BAF0C802 Payload O2FEBOB3 Checksum and End Sequence Table 4 8 DGPS Source Selection Example 2 Name Bytes Scale Hex Units DecimalDescription Message D 1 85 133 Message Identification DGPS Source 1 03 3 See Table 4 9 DGPS Source Selections Internal Beacon 4 OOO4BAFO HZ 310000 See Table 4 9 Internal Frequency Beacon Search Settings Internal Beacon 1 C8 BPS 200 See Table 4 10 Internal Bit Rate Beacon Search Settings Table 4 9 Set DGPS Source Selections DGPS Hex Decimal Description None 0 0 DGPS corrections will not be Used even if available WAAS 1 1 Uses WAAS Satellite subject to availability External 2 2 External RTCM input source i e Coast Guard RTCM Beacon Data Internal 3 3 Internal DGPS beacon receiver DGPS Beacon Receiver User 4 4 Corrections provided using an interface module Software routine in a user application Table 4 10 Internal Beacon Search Settings Search Type Frequency Bit Rate Description Auto Scan 0 0 Auto
22. Table 4 45 CPU Throughput Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 09 9 SegStatMax 2 186 003B millisec 186 3172 SegStatLat 2 186 60011 millisec 186 0914 AveTrkTime 2 186 60016 millisec 186 1183 Last MS 2 O1E5 millisec 485 Payload Length 9 bytes Command Acknowledgment Message I D 11 Output Rate Response to successful input message This is a successful almanac message ID 0x92 request example A0A20002 Start Sequence and Payload Length 0B92 Payload 009DB0B3 Message Checksum and End Sequence Table 4 46 Command Acknowledgment Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 OB 11 Ack D 1 92 146 Payload Length 2 bytes 2005 by Laipac Technology Inc All Rights Reserved Page 29of 46 PG 31 GPS Engine Board User s Manual amp Reference Guide Command Acknowledgment Message I D 12 Output Rate Response to rejected input message This is an unsuccessful almanac message ID 0x92 request example A0A20002 Start Sequence and Payload Length 0C92 Payload 009EB0B3 Message Checksum and End Sequence Table 4 47 Command Acknowledgment Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 oC 12 Nack I D 1 92 146 Payload Length 2 bytes Visible List Message I D
23. Variation Checksum 10 lt CR gt lt LF gt End of message termination 1 All course over ground data are geodetic WGS84 directions 2005 by Laipac Technology Inc All Rights Reserved Page 4lof 46 PG 31 GPS Engine Board User s Manual amp Reference Guide VTG Course Over Ground and Ground Speed Table 5 10 contains the values for the following example GPVTG 309 62 T M 0 13 N 0 2 K 6E Table 5 10 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 1 All course over ground data are geodetic WGS84 directions SiRF Proprietary NMEA Input Messages NMEA input messages are provided to allow you to control the Evaluation Unit while in NMEA protocol mode The Evaluation Unit may be put into NMEA mode by sending the SiRF Binary protocol message Switch To NMEA Protocol Message I D 129 using a user program or using Sirfdemo exe and selecting Switch to NMEA Protocol from the Action menu If the receiver is in SiRF Binary mode all NMEA input messages are ignored Once the receiver is put into NMEA
24. age with checksum enabled PSRF103 00 01 00 01 25 2 Enable VTG message for a 1 Hz constant output with checksum enabled PSRF103 05 00 01 01 20 3 Disable VTG message PSRF103 05 00 00 01 21 Table 5 15 Query Rate Control Data Format See example 1 Name Example Units Description Message ID PSRF103 PSRF103 protocol header Msg 00 See Table 5 16 Mode 01 O SetRate 1 Query Rate 00 Seconds Output off 0 max 255 CksumEnabe 01 0 Disable Checksum 1 Enable Checksum Checksum 25 lt CR gt lt LF gt End of message termination Table 5 16 Messages Malue Description GGA GLL GSA GSV RMC VTG OBRlWINIR oO Note In TricklePower mode update rate is specified by the user When you switch to NMEA protocol the message update rate is also required The resulting update rate is the product of the TricklePower Update rate AND the NMEA update rate i e TricklePower update rate 2 seconds NMEA update rate 5 seconds resulting update rate is every 10 seconds 2 X 5 10 LLANaviagtionI nitialization This command is used to initialize the module for a warm start by providing current position in latitude longitude and 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 enable the receiver to acquire signal
25. ary amp ASCII Message Data Format Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 02 2 X position 4 FFD6F78C m 2689140 Y position 4 FFBE536E m 4304018 Z position 4 003AC004 m 3850244 X velocity 2 8 00 m s Vx 8 0 Y velocity 2 8 03 m s Vy 8 0 375 Z velocity 2 8 01 m s Vz 8 0 125 Mode 1 1 04 Bitmap 4 DOP 1 5 A 5 2 0 Mode 2 1 00 Bitmap 0 GPS Week 2 036B 875 GPS TOW 4 100 039780E3 __ seconds 100 602605 79 SVs in Fix 1 06 6 CH 1 1 12 18 CH 2 1 19 25 CH 3 1 OE 14 CH 4 1 16 22 CH 5 1 OF 15 CH 6 1 04 4 CH 7 1 00 0 CH 8 1 00 0 CH 9 1 00 0 CH 10 1 00 0 CH 11 1 00 0 CH 12 1 00 0 Payload Length 41 bytes 1 For further information go to Table 4 38 2 Dilution of precision DOP field contains value of PDOP when position is obtained using 3D solution and HDOP in all other cases 3 For further information go to Table 4 39 Note The measurement of GPS Week item is expressed with ICD GPS week format between 0 and 1023 2005 by Laipac Technology Inc All Rights Reserved Page 25of 46 PG 31 GPS Engine Board User s Manual amp Reference Guide Note Binary units scaled to integer values need to be divided by the scale value to receive true decimal value i e decimal X vel binary X g Table 4 38 Mode 1 Bit 7 6 5 4 3 2 1 o Bit s Name DGPS DOP ALTMODE TPMODE PMODE Mask P
26. atus Data Message Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 07 7 GPS Week 2 03BD 957 GPS TOW 4 100 002154924 Js 100 349494 12 Svs 1 08 8 Clock Drift 4 2231 Hz 74289 Clock Bias 4 7923 nanosec 128743715 Estimated GPS 4 DAEF millisec 349493999 Time Payload Length 20 bytes Note The measurement of GPS week item is with Extended GPS week ICD GPS week 1024 2005 by Laipac Technology Inc All Rights Reserved Page 280f 46 PG 31 GPS Engine Board User s Manual amp Reference Guide 50 BPS Data Message I D 8 Output Rate As available 12 5 minute download time Example A0A2002B Start Sequence and Payload Length 08xxxxxx Payload xXxxxBOB3 Message Checksum and End Sequence Table 4 44 50 BPS Data Name Bytes Binary Hex Units ASCII Decimal Scale Example Scale Example Message ID 1 08 3 Channel 1 Sv I D 1 Word 10 40 Payload Length 43 bytes per subframe 5 subframes per page Note Data is logged in ICD format available from www navcen uscg gov The ICD specification is 30 bit words The output above has been stripped of parity to give a 240 bit frame instead of 300 bits CPU Throughput Message I D 9 Output Rate 1Hz Example A0A20009 Start Sequence and Payload Length 09003B0011001601E5 Payload 0151BOB3 Message Checksum and End Sequence
27. ble 5 2 GGA Data Format Name Example Units Description Message ID GPGGA GGA protocol header UTC Time 161229 487 hhmmss sss 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 Position Fix Indicator 1 See Table 5 3 Satellites Used 07 Range 0 to 12 HDOP 1 0 Horizontal Dilution of Precision MSL Altitude t 9 0 meters Units M meters Geoid Separation meters Units M meters Age of Diff Corr second Null fields when DGPS is not used Diff Ref Station ID 0000 Checksum 18 lt CR gt lt LF gt End of message termination 1 Values are WGS84 ellipsoid heights Table 5 3 Position Fix Indicator Value Description 0 Fix not available or invalid 1 GPS SPS Mode fix valid 2 Differential GPS SPS Mode fix valid 3 GPS PPS Mode fix valid GLL Geographic Position Latitude Longitude Table 5 4 contains the values for the following example GPGLL 3723 2475 N 12158 3416 W 161229 487 A 2C 2005 by Laipac Technology Inc All Rights Reserved Page 39o0f 46 PG 31 GPS Engine Board User s Manual amp Reference Guide Table 5 4 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 W E east or W west UTC Position 161229 487 hhmmss sss Sta
28. d Page 17of 46 PG 31 GPS Engine Board User s Manual amp Reference Guide Table 4 20 Static Navigation Binary Hex Name Bytes Scale Example Units Description Message ID 1 SF SCII 143 Static Navigation Flag 1 01 SCII 1 Payload Length 2 bytes Table 4 21Message ID 143 Description Name Description Message ID Message ID number Static Navigation Flag Valid values 1 enable static navigation 0 disable static navigation Poll Clock Status Message I D 144 Table 4 22 contains the input values for the following example Poll the clock status Example A0A20002 Start Sequence and Payload Length 9000 Payload 0090BOB3 Message Checksum and End Sequence Table 4 22 Clock Status Binary Hex Name Bytes Scale Example Units Description Message ID 1 90 ACSII 144 TBD 1 00 Not used Payload Length 2 bytes Set DGPS Serial Port Message I D 145 Table 4 23 contains the input values for the following example Set DGPS Serial port to 9600 n 8 1 Example A0A20009 Start Sequence and Payload Length 910000258008010000 Payload 013FBOB3 Message Checksum and End Sequence Tab e 4 23 Set DGPS Serial Port Name Binary Hex Units Description Bytes Scale Exampl e Message 1 91 ASCII 145 ID Baud 4 0000258 38400 19200 9600 4800 2400 120 0 Data B
29. data bits 1 stop bit no parity Do not configure ports 2 and 3 Example A0A20031 Start Sequence and Payload Length A50001010000258008010000000100000000E1000801000000FF05050000000000000000 00FF0505000000000000000000 Payload 0452BOB3 Message Checksum and End Sequence Table 4 33 Set UART Configuration Name Bytes Binary Hex Units Description Scale Example Message ID 1 A5 ASCII 165 Port 1 00 For UART 0 In Protocol 1 01 For UART 0 Out Protocol 1 01 For UART 0 Set to in protocol Baud Rate 4 00002580 For UART 0 Data Bits 1 08 For UART 0 Stop Bits 1 01 For UART 0 Parity gt 1 00 For UART 0 Reserved 1 00 For UART 0 2005 by Laipac Technology Inc All Rights Reserved Page 22of 46 PG 31 GPS Engine Board User s Manual amp Reference Guide Reserved 1 00 For UART 0 Port 1 01 For UART 1 In Protocol 1 00 For UART 1 Out Protocol 1 00 For UART 1 Baud Rate 4 0000E100 For UART 1 Data Bits 1 08 For UART 1 Stop Bits 1 01 For UART 1 Parity 1 00 For UART 1 Reserved 1 00 For UART 1 Reserved 1 00 For UART 1 Port 1 FF For UART 2 In Protocol 1 05 For UART 2 Out Protocol 1 05 For UART 2 Baud Rate 4 00000000 For UART 2 Data Bits 1 00 For UART 2 Stop Bits 1 00 For UART 2 Parity 1 00 For UART 2 Reserved 1 00 For UART 2 Reserved 1 For UART 2 Port 1 FF For UART 3
30. e Checksum and End Sequence Table 4 2 nitialize Data Source Binary Hex Name Bytes Scale Example Units Description Message ID 1 80 ASCII 128 ECEF X 4 FFD700F meters ECEF Y 4 FFBE5266 meters ECEF Z 4 003AC57A meters Clock Offset 4 000124F8 Hz Time of Week 4 100 0083D600 seconds Week Number 2 039C Channels 1 OC Range 1 12 Reset Config 1 33 See table Table 4 3 Payload Length 25 bytes Table 4 3 Reset Configuration Bitmap Bit Description 0 Data valid flag set warm hot start 1 Clear ephemeris set warm start 2 Clear memory set cold start 3 Factory Reset 4 Enable raw track data YES 1 NO 0 5 Enable debug data for SiRF binary protocol YES 1 NO 0 6 Enable debug data for NMEA protocol YES 1 NO 0 7 Reserved must be 0 Note If Nav Lib data is ENABLED then the resulting messages are enabled Clock Status MID 7 50 BPS MID 8 Raw DGPS 17 NL Measurement Data MID 28 DGPS Data MID 29 SV State Data MID 30 and NL Initialize Data MID 31 All messages are sent at 1 Hz and the baud rate will be automatically set to 57600 Switch to NMEA Protocol Message I D 129 Table 4 4 contains the input values for the following example Request the following NMEA data at 4800 baud GGA ON at 1 sec GLL OFF GSA ON at 5 sec GSV ON at 5 sec RMC OFF VTG OFF 2005 by Laipac Technology Inc All Ri
31. e actual size to something less than this maximum 2005 by Laipac Technology Inc All Rights Reserved Page 9of 46 PG 31 GPS Engine Board User s Manual amp Reference Guide Payload Data The payload data follows the payload length It contains the number of bytes specified by the payload length The payload data may contain any 8 bit value Where multi byte values are in the payload data neither the alignment nor the byte order are defined as part of the transport although SiRF payloads will use the big endian convention Checksum The checksum is transmitted high order byte first followed by the low byte This is the so called big endian convention High Byte Low Byte lt Ox7F Any value The checksum is a 15 bit checksum of the bytes in the payload data The following pseudo code defines the algorithm used Let message be the array of bytes to be sent Let msgLen be the number of bytes in the message array to be transmitted index first checkSum 0 while index lt msgLen checkSum checkSum message index checkSum checkSum AND 2 1 Input Messages for SiRF Binary Protocol Note All input messages are sent in BINARY format Table 4 1 lists the message list for the SIRF input messages Table 4 1 SiRF Messages Input Message List Hex ASCII Name 0x80 128 Initialize Data Source 0 x 81 129 Switch
32. e battery voltage should not exceed the supply voltage and should be between 2 5V and 3 1V GPIOA GPIOH These pins are connected to the digital interface connector for custom applications RESET This pin provides an active low reset input to the PG 31 board It causes the PG 31 board to reset and start searching for satellites If not utilized it may be left open GND GND provides the ground for the PG 31 board BOOTSEL Internal External Boot select For normal internal boot mode this pin is High For normal operation the user must leave this pin disconnected Option Descriptions TricklePower Option The design of the PG 31 includes all the functionality necessary to implement the TricklePower mode In this mode the lowest average power dissipation is achieved by powering down the board after a position is determined in such a manner that when it is turned back on it can re compute a position fix in the shortest amount of time The standard TricklePower operates in three states 1 Tracking State In this state the board is fully powered tracking satellites and gathering data The time in this state is selectable via the SIRF demo software from 200 900ms After this time the measurements to calculate a position are ready 2 CPU State In this state the GRF1 LX RF IC has been turned off by the control signal removing the clock to the GSP1 LX Baseband ASIC Without a clock the GSP1 LX is effectively powered down a
33. ength 88010101010100000002140501 Payload OOA9BOB3 Message Checksum and End Sequence Table 4 12 Mode Control Name Bytes Binary Hex Units Description Scale Example Message ID 1 88 SCII 136 3D Mode 1 01 1 always true 1 Alt Constraint 1 01 ES 1 NO 0 Degraded Mode 1 01 See Table 4 13 TBD 1 01 Reserved DR Mode 1 01 ES 1 NO 0 Altitude 2 0000 meters range 1 000 to 10 000 Alt Hold Mode 1 00 Auto 0 Always 1 Disable 2 Alt Source 1 02 Last Computed 0 Fixed to 1 Coast Time Out 1 14 Seconds 0 to 120 Degraded Time 1 05 Seconds O to 120 Out DR Time Out 1 01 Seconds 0 to 120 Track 1 ol ES 1 NO 0 Smoothing Payload Length 14 bytes Table 4 13 Degraded Mode Byte Value 2005 by Laipac Technology Inc All Rights Reserved Page 15of 46 PG 31 GPS Engine Board User s Manual amp Reference Guide Byte Value Description Use Direction then Clock Hold Use Clock then Direction Hold Direction Curb Hold Only Clock Time Hold Only Disable Degraded Modes BIWINIR TO DOP Mask Control Message I D 137 Table 4 14 contains the input values for the following example Auto Pdop Hdop Gdop 8 default Pdop 8 Hdop 8 Example A0A20005 Start Sequence and Payload Length 8900080808 Payload 00A1B0B3 Message Checksum and End Sequence Table 4 14 DOP Mask Control Name B
34. ery second 1 every second 1 every 5 1 every 8 seconds Seconds On Time 1000 2000 4000 6000 NMEA Update 1 every second Jl every 5 1 every 2 1 every 5 seconds Rate Seconds Seconds Message 1 every second 1 every 5 1 every 10 1 every 40 Output Rate Seconds Seconds Seconds Note The On Time of the chip set has no effect on the output data rates 2005 by Laipac Technology Inc All Rights Reserved Page 380f 46 PG 31 GPS Engine Board User s Manual amp Reference Guide Chapter 5 NMEA I nput Output Messages The PG 31 may also output data in NMEA 0183 format as defined by the National Marine Electronics Association NMEA standard for interfacing marine electronic devices version 2 20 January 1 1997 Refer to Chapter 4 for detailed instructions NMEA Output Messages PG 31 outputs the following messages as shown in Table 5 1 Table 5 1 NMEA 0183 Output Messages NMEA Record Description GGA Global positioning system fixed data GLL Geographic position latitude longitude GSA GNSS DOP and active satellites GSV GNSS satellites in view RMC Recommended minimum specific GNSS data MTG Course over ground and ground speed GGA Global Positioning System Fixed Data Table 5 2 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 Ta
35. es for SiRF Binary Protocol 10 Initialize Data Source Message D 128 11 Switch To NMEA Protocol Message I D 129 11 Set Almanac Message 1 D 130 12 Software Version Message I D 132 13 Set DGPS Source Message D 133 13 Set Main Serial Port Message I D 134 15 Mode Control Message D 136 15 DOP Mask Control Message I D 137 16 DGPS Control Message I D 138 16 Elevation Mask Message D 139 17 Power Mask Message I D 140 17 Editing Residual Message I D 141 17 Steady State Detection Message I D 142 17 Static Navigation Message 1 D 143 17 Poll Clock Status Message I D 144 18 Set DGPS Serial Port Message I D 145 18 Poll Almanac Message I D 146 18 Poll Ephemeris Message D 147 19 Flash Update Message I D 148 19 Set Ephemeris Message D 149 20 Switch Operating Modes Message I D 150 20 Set TricklePower Parameters Message I D 151 21 Computation of Duty Cycle and On Time 21 Push to Fix 22 Poll Navigation Parameters Message D 152 22 Set UART Configuration Message D 165 22 Low Power Acquisition parameters Message D 167 24 Output Messages for SiRF Binary Protocol 24 Measure Navigation Data Out Message D 2 25 Measured Tracker Data Out Message I D 4 26 Raw Tracker Data Out Message I D 5 29 2005 by Laipac Technology Inc All Rights Reserved Page 2of 46 PG 31 GPS Engine Board User s Manual amp Reference Guide
36. fault communication parameters for PORT B are 9600 baud 8 data bits 1 stop bit 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 are stored in battery backed SRAM and then the receiver restarts using the saved parameters Table 5 14 contains the input values for the following example Set DGPS Port to be 9600 8 N 1 PSRF102 9600 8 1 0 12 Table 5 14 Set DGPS Port Data Format Name Example Units Description Message ID PSRF102 PSRF102 protocol header Baud 9600 4800 9600 19200 38400 DataBits 8 8 7 StopBits 1 0 1 Parity 0 O None 1 Odd 2 Even Checksum 12 lt CR gt lt LF gt End of message termination Query Rate Control This command is used to control the output of the standard NMEA messages GGA GLL GSA GSV RMC and VTG Using this command message standard NMEA messages 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 2005 by Laipac Technology Inc All Rights Reserved Page 44of 46 PG 31 GPS Engine Board User s Manual amp Reference Guide Table 5 15 contains the input values for the following examples Lig Query the GGA mess
37. ghts Reserved Page 1 lof 46 PG 31 GPS Engine Board User s Manual amp Reference Guide Example A0A20018 Start Sequence and Payload Length 8102010100010501050100010001000100010001000112C0 Payload 016ABOB3 Message Checksum and End Sequence Table 4 4 Switch To NMEA Protocol Name Bytes Binary Hex Units Description Scale Example Message ID 1 81 ASCII 129 Mode 1 02 GGA Message 1 1 01 1 s See Chapter 5 for format Checksum 2 1 01 GLL Message 1 00 1 s Se Chapter 5 for format Checksum 1 01 GSA Message 1 05 1 s See Chapter 5 for format Checksum 1 01 GSV Message 1 05 1 s See Chapter 5 for format Checksum 1 01 RMC Message 1 00 l s See Chapter 5 for format Checksum 1 01 MTG Message 1 00 l s See Chapter 5 for format Checksum 1 01 Unused Field 1 00 Recommended value Unused Field 1 01 Recommended value Unused Field 1 00 Recommended value Unused Field 1 01 Recommended value Unused Field 1 00 Recommended value Unused Field 1 01 Recommended value Unused Field 1 00 Recommended value Unused Field 1 01 Recommended value Baud Rate 2 12C0 38400 19200 9600 4800 2400 Payload Length 24 bytes 1 A value of 0x00 implies NOT to send message otherwise data is sent at 1 message every X seconds requested i e to request a message to be sent every 5 seconds request the message using a value of 0x05 Maximum rate is 1 255s
38. icrosecond synchronized to GPS time 1 to 5 meters typical 0 05 meters second typical 0 1 sec average 45 sec average 38 sec average 8 sec average 18 000 meters 60 000 Feet max 515 meters sec 1000 Knots max 4 g max 20 meters sec max 3 3 Vdc 10 Supply Current continuous Supply Current TricklePower mode Backup Power Backup Current Active low input Electrical interface Protocol NMEA output DGPS protocol Level Pulse duration Time reference Measurements 2 Environmental Characteristics 2 1 Temperature 2 2 Physical characteristics 2005 by Laipac Technology Inc All Rights Reserved Operating range Storage range Dimension 70 mA 10 mA 2 5V to 3 1V 10A typical Two full duplex serial communication TTL level or EIA RS 232 level optional Design in binary and NMEA 0183 Version 2 20 with a baud rate selection GGA GLL GSA GSV RMC and VTG on customer request Default six NMEA Baud Rate 4800 RTCM SC 104 version 2 00 type 1 2 and 9 WAAS Supported TTL 100 ms positive edge Aligned to GPS second 1u sec 402C to 852C 452C to 1002C 30 6mm L x26mm w x9 8mm H Page Sof 46 PG 31 GPS Engine Board User s Manual amp Reference Guide Antenna connector MMCX type Interface connector 20 pin 2X10 low profile socket 1mm 3 Antenna Passive or Active Antenna 4 CPU Throughput GPS Signal Processor amp Integrated 16 bit 50 MHz ARM
39. igh 3 3VDC The Host Serial Data Input A Pin 3 should be set to high ex 100KQserial to Vcc when not being used VCC 3 3 Vdc 10 with a continuous Supply Current of 70 mA Supply Current TricklePower mode 10 mA undetermined TXA This is the main transmit channel and is used to output navigation and measurement data The Output is a TTL Level Voh 2 4V Vol 0 4V loh lol 2mA RXA This is the main receiver channel and is used by the PG 31 to receive software commands Receiver is TTL Level Vih 0 7 VCC Vil 0 3 VCC TXB For user s application not currently used RXB This is the auxiliary receive channel and is used to input differential corrections to the PG 31 board to enable DGPS navigation Receiver is TTL Level Vih 0 7 VCC Vil 0 3 VCC TIMEMARK This pin provides a one pulse per second output from the TMP board which is synchronized to GPS time This is not available in TricklePower mode 2005 by Laipac Technology Inc All Rights Reserved Page 7of 46 PG 31 GPS Engine Board User s Manual amp Reference Guide BAT This is the battery backup input that powers the SRAM and RTC when the main power is removed Typical current draw is 10uA Without an external backup battery or supercap PG 31 will execute a cold start after every power on To achieve the faster start up offered by a hot or warm start either a battery backup must be connected or a supercap installed To maximize battery life th
40. ights Reserved Page 26o0f 46 PG 31 GPS Engine Board User s Manual amp Reference Guide Table 4 40 Measured Tracker Data Out Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 04 None 4 GPS Week 2 036C 876 GPS TOW 4 s 100 0000937F js s 100 37759 Chans 1 OC 12 1st Svid 1 OE 14 Azimuth 1 Az 2 AB deg 2 3 256 5 3 Elev 1 El 2 46 deg 2 35 State 2 003F Bitmap 1 O x BF C No 1 1 1A 26 C No 2 1 1E 30 C No 3 1 1D 29 C No 4 1 1D 29 C No 5 1 19 25 C No 6 1 1D 29 C No 7 1 1A 26 C No 8 1 1A 26 C No 9 1 1D 29 C No 10 1 1F 31 2nd SVid 1 1D 29 Azimuth 1 Az 2 59 deg 2 3 89 3 Elev 1 El 2 42 deg 2 66 State 2 3F Bitmap 1 63 C No 1 1 1A 26 C No 2 1 1A 63 Payload Length 188 bytes 1 For further information go to Table 4 41 Note The measurement of GPS Week item is expressed with ICD GPS week format between 0 and 1023 Note Message length is fixed to 188 bytes with non tracking channels reporting Zero values Table 4 41 TrktoNAVStruct trk status Field Definition Field Definition Hex Description Value ACQ SUCCESS Ox0001 Set if acq reacq is done Successfully DELTA_CARPHASE_ VALI Ox0002 Set Integrated carrier phase is valid D BIT_SYNC_DONE 0x0004 Set Bit sync completed flag SUBFRAME_SYNC_DONE 0x0008 Set Subframe
41. its 1 08 8 7 Stop Bit 1 O01 0 1 Parity 1 00 Non e 0 Odd 1 Even 2 Pad 1 00 Reserved Payload Length 9 bytes 2005 by Laipac Technology Inc All Rights Reserved Page 18o0f 46 PG 31 GPS Engine Board User s Manual amp Reference Guide Note Setting the DGPS serial port using MID 145 will effect Com B only regardless of the port being used to communicate with the PG 31 Table 4 24 Almanac Binary Hex Name Bytes Scale Example Units Description Message ID 1 92 ASCII 146 TBD 1 00 Reserved Payload Length 2 bytes Poll Ephemeris Message I D 147 Table 4 25 contains the input values for the following example Poll for Ephemeris Data from all satellites Example A0A20003 Start Sequence and Payload Length 930000 Payload 0092BOB3 Message Checksum and End Sequence Table 4 25 Ephemeris Message D Binary Hex Name Bytes Scale Example Units Description Message ID 1 93 ASCII 147 Sv 1 D 1 00 Range 0 to 32 TBD 1 00 Not used Payload Length 3 bytes 1 A value of O requests all available ephemeris records otherwise thel ephemeris of the Sv I D is requested Flash Update Message I D 148 This command allows the user to tell the Evaluation Receiver to go into internal boot mode without setting the boot switch Internal boot mode allows the user to re flash the embedded code in the
42. lthough the RTC keeps running The CPU is kept running to process the GPS data until a position fix is determined and the result has been transmitted by the serial communication interface 3 Trickle State In this state the CPU is in a low power standby state and the receiver clocks are off with only the RTC clock active After a set amount of time the RTC generates an NMI signal to wakeup the Hitachi microprocessor and set the receiver back to the tracking state The default time for each TricklePower state and the approximate current consumed is shown below in Table 3 3 For example with the TricklePower duty cycle at 20 the average receiver power dissipation is approximately l65mW 50mA 3 3v while maintaining a one second update rate 2005 by Laipac Technology Inc All Rights Reserved Page 80f 46 PG 31 GPS Engine Board User s Manual amp Reference Guide Table 3 2 TricklePower Consumption State Time 3 3V Current Tracking 220mS 145mA CPU 360mS 40mA Trickle 420mS 0 5mA Note Table 3 2 does not include the external antenna power consumption RS 232 I O Option PG 31 allows for the populating of an RS 232 driver Customers can request the I O to be TTL 5V or RS 232 12V Chapter 4 SiRF Binary Protocol Specification The serial communication protocol is designed to include e Reliable transport of messages e Ease of implementation e Efficient implementation e independent fro
43. m payload Protocol Layers Transport Message Start Payload Message End Sequence Length Payload Payload Checksum Sequence OxA0 Two bytes Up to 2 1 Two bytes _0xBO OxA2 15 bits lt 1023 15 bits OxB3 1 OxYY denotes a hexadecimal byte value OxAO equals 160 Transport The transport layer of the protocol encapsulates a GPS message in two start characters and two stop characters The values are chosen to be easily identifiable and unlikely to occur frequently in the data In addition the transport layer prefixes the message with a two byte 15 bit message length and a two byte 15 bit checksum The values of the start and stop characters and the choice of a 15 bit value for length and checksum are designed such that both message length and checksum can not alias with either the stop or start codes Message Validation The validation layer is a part of the transport layer but operates independently The byte count refers to the payload byte length Likewise the checksum is a sum on the payload Payload Length The payload length is transmitted high byte first followed by the low byte High Byte Low Byte lt Ox7F Any value Even though the protocol has a maximum length of 2 1 bytes practical considerations require the SiRF GPS module implementation to limit this value to a smaller number Likewise the SiRF receiving programs e g SiRFdemo may also limit th
44. mode the following messages may be used to command the module Transport Message Start Sequence Payload Checksum End Sequence PSRF lt MID gt Data CKSUM 3 lt CR gt lt LF gt 1 Message Identifier consisting of three numeric characters Input messages begin at MID 100 2 Message specific data Refer to a specific message section for lt data gt lt data gt definition 3 CKSUM is a two hex character checksum as defined in the NMEA specification Use of checksums is required on all input messages 4 Each message is terminated using Carriage Return CR Line Feed LF which is r n which is hex OD OA Because r n are not printable ASCII characters they are omitted from the example strings but must be sent to terminate the message and cause the receiver to process that input message Note All fields in all proprietary NMEA messages are required none are optional All NMEA messages are comma delimited 2005 by Laipac Technology Inc All Rights Reserved Page 42of 46 PG 31 GPS Engine Board User s Manual amp Reference Guide SiRF NMEA Input Messages Message MID Description Set Serial Port 100 Set PORT A parameters and protocol Navigation Initialization 101 Parameters required for start using X Y Z Set DGPS Port 102 Set PORT B parameters for DGPS input Query Rate Control 103 Query standard NMEA message and or set output rate LLA Navigation 104 Parameters required for start usi
45. ms or parameters out of specified Invalid commands generate debug information that range Table 5 19 contains the input values for the following examples 1 Debug On PSRF105 1 3E 2 Debug Off PSRF105 0 3F Table 5 19 Development Data On Off Data Format Name Example Units Description Message ID PSRF105 PSRF105 protocol header Debug 1 O Off 1 On Checksum 3E lt CR gt lt LF gt End of message termination 2005 by Laipac Technology Inc All Rights Reserved Page 460f 46
46. ng Lat Lon Alt Initialization Development Data 105 Development Data messages On Off On Off 1 Message Identification MID 2 Input coordinates must be WGS84 SetSerialPort This command message is used to set the protocol SiRF Binary or NMEA and or the communication parameters baud data bits stop bits parity Generally this command is used to switch the module back to SiRF Binary protocol mode where a more extensive command message set is available When a valid message is received the parameters are stored in battery backed SRAM and then the Evaluation Unit restarts using the saved parameters Table 5 11 contains the input values for the following example Switch to SiRF Binary protocol at 9600 8 N 1 PSRF100 0 9600 8 1 0 0C Table 5 11 Set Serial Port Data Format Name Example Units Description Message ID PSRF100 PSRF100 protocol header Protocol 0 O SiRF Binary 1 NMEA Baud 9600 4800 9600 19200 38400 DataBits 8 8 77 StopBits 1 0 1 Parity 0 O None 1 Odd 2 Even Checksum KOC End of message termination lt CR gt lt LF gt 1 Only valid for 8 data bits 1 stop bit and no parity Navigationl nitialization 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 PG 31 to search for the correct satellite signals at the correct signal parame
47. ocity Y 8 m s elocity Z 8 m s Clock Bias 8 s Clock Drift 4 2C64E99D_ fs 744810909 Ephemeris Flag 1 01 1 Reserved 8 lonospheric Delay 4 408906C8 m 1082721992 Payload Length 83 bytes 1 0O no valid SV state 1 SV state calculated from ephemeris 2 Satellite state calculated from almanac 2005 by Laipac Technology Inc All Rights Reserved Page 360f 46 PG 31 GPS Engine Board User s Manual amp Reference Guide Navigation Library Initialization Data Message I D 31 Output Rate Every measurement cycle full power continuous 1Hz Example A0A20054 Start Sequence and Payload Length 1F 00000000000001001E000F 00 000000000F 00 02 043402 02 Payload 0E27B0B3 Message Checksum and End Sequence Table 4 58 Measurement Data Name Bytes Binary Hex Units ASCII Decimal Scale Example Scale Example Message D 1 1E Reserved 1 Altitude Mode 1 00 0 Altitude Source 1 00 0 Altitude 4 00000000 0 Degraded Mode 1 01 1 Degraded Timeout 2 001E 30 Dead reckoning Timeout 2 OOOF 15 Reserved 2 Track Smoothing Mode 1 00 0 Reserved 1 Reserved 2 Reserved 2 Reserved 2 DGPS Selection 4 1 00 0 DGPS Timeout 2 Elevation Nav Mask 2 Reserved 2 Reserved 1 Reserved 2 Reserved 1 Reserved 2 Static Nav Mode 1 Reserved 2 Position X 8 Positi
48. on Y 8 Position Z 8 Position Init Source 1 02 2 GPS Time 8 Development Data Message I D 255 Output Rate Receiver generated Example AOA2 Start Sequence and Payload Length F FK K k KK KKK KK KK __ Payload BOB3 Message Checksum and End Sequence 2005 by Laipac Technology Inc All Rights Reserved Page 37of 46 PG 31 GPS Engine Board User s Manual amp Reference Guide Table 4 59 Development Data Binary Hex Scale Example FF ASCII Decimal Scale Example 255 Name Bytes Units Message ID 1 Payload Length Variable Note MID 255 is output when SiRF binary is selected and development data is enabled The data output using MID 255 is essential for SiRF assisted troubleshooting support Additional I nformation TricklePower Operation in DGPS Mode When in TricklePower mode the serial port DGPS corrections are supported The CPU goes into sleep mode but will wake up in response to any interrupt including UARTs Any messages received during the TricklePower off period are buffered and processed when the receiver awakens for the next TricklePower cycle GPS Week Reporting Since Aug 22 1999 the GPS week roll from 1023 weeks to 0 weeks is in accordance with the CD GPS 2000 specification To maintain roll over compliance SiRF reports the ICD GPS week between 0 and 1023 If the user needs to have access to the Extended GPS week ICD GPS week
49. p Reference Guide Push to Fix In this mode the receiver will turn on every 30 minutes to perform a system update consisting of an RTC calibration and satellite ephemeris data collection if required i e a new Satellite has become visible as well as all software tasks to support SnapStart in the event of an NMI Ephemeris collection time in general takes 18 to 30 seconds If ephemeris data is not required then the system will re calibrate and shut down In either case the amount of time the receiver remains off will be in proportion to how long it stays on Off period On Period 1 Duty Cycle Duty Cycle The off period has a possible range between 10 and 7200 seconds The default is 1800 seconds Poll Navigation Parameters Message 1 D 152 Table 4 32 contains the input values for the following example Example Poll receiver for current navigation parameters A0A20002 Start Sequence and Payload Length 9800 Payload 0098BOB3 Message Checksum and End Sequence Table 4 32 Poll Receiver for Navigation Parameters Binary Hex Name Bytes Scale Example Units Description Message ID _ 1 98 ASCII 152 Reserved 1 00 Reserved Payload Length 2 bytes Set UART Configuration Message I D 165 Table 4 33 contains the input values for the following example Example Set port 0 to NMEA with 9600 baud 8 data bits 1 stop bit no parity Set port 1 to SiRF binary with 57600 baud 8
50. power in dB Hz for each of the 100 millisecond intervals in the previous second or last epoch for each particular SV being tracked in a channel First 100 millisecond measurement C No 2 Second 100 millisecond measurement C No 3 Third 100 millisecond measurement C No 4 Fourth 100 millisecond measurement C No 5 Fifth 100 millisecond measurement C No 6 Sixth 100 millisecond measurement C No 7 Seventh 100 millisecond measurement C No 8 Eighth 100 millisecond measurement C No 9 Ninth 100 millisecond measurement C No 10 Tenth 100 millisecond measurement Delta Range This is the delta pseudo range measurement interval for the Interval preceding second A value of zero indicates that the receiver has lan AFC measurement or no measurement in the Carrier Frequency field for a particular channel Mean Delta Range Time This is the mean calculated time of the delta pseudo range interval in milliseconds measured from the end of the interval backwards Extrapolation Time This is the pseudo range extrapolation time in milliseconds to reach the common Time tag value Phase Error Count This is the count of the phase errors greater than 60 Degrees measured in the preceding second as defined for a particular channel Low Power Count This is the low power measurements for signals less than 28 dB Hz in the preceding second as defined for a particular channel Navigation Library DGPS Data Message I D 29 Output Rate
51. q Search Time LP Max Off Time Reserved Reserved 4 00 0 1E Seconds 30 A eI AE eleele epe A B S 2005 by Laipac Technology Inc All Rights Reserved Page 32of 46 PG 31 GPS Engine Board User s Manual amp Reference Guide Payload Length 65 bytes 1 See Table 4 13 2 See Table 4 14 3 See Table 4 15 Navigation Library Measurement Data Message I D 28 Output Rate Every measurement cycle full power continuous 1Hz Example A0A20038 Start Sequence and Payload Length 1C00000660D015F143F62C4113F42FF3FBE95E417B235C468C6964B8FBC5 82415CF1C375301734 03E801F400000000 Payload 1533BOB3 Message Checksum and End Sequence Table 4 52 Measurement Data Binary Hex ASCII Name Bytes Units Decimal Scale Example Scale Example Message I D 1C Channel 00 Time Tag 000660D0 ms Satellite ID 15 GPS Software Time F143F62C ms 2 4921113 4113F42F 696e 005 Pseudo range F3FBE95E m 2 1016756 417B235C 638e 007 Carrier Frequency 468C6964 1 6756767 578e 004 Carrier Phase B8FBC582 4 4345542 415CF1C3 262e 004 Time in Track 7530 ms 10600 Sync Flags 17 23 C No 1 34 dB Hz 43 C No 2 dB Hz 43 C No 3 dB Hz 43 C No 4 dB Hz 43 C No 5 dB Hz 43 C No 6 dB Hz 43 C No 7 dB Hz 43 C No 8 dB Hz 43 C No 9 dB Hz 43 C No 10 d
52. receiver Note It is highly recommended that all hardware designs should still provide access to the boot pin in the event of a failed flash upload Example A0A20001 Start Sequence and Payload Length 94 Payload 0094B0B3 Message Checksum and End Sequence Table 4 26 Flash update Binary Hex Name Bytes Scale Example Units Description Message ID 1 94 ASCII 148 Payload Length 1 bytes 2005 by Laipac Technology Inc All Rights Reserved Page 19of 46 PG 31 GPS Engine Board User s Manual amp Reference Guide Set Ephemeris Message I D 149 This command enables the user to upload an ephemeris file to the Evaluation Receiver Example AOA2005B Start Sequence and Payload Length 95 acces eee eee eee Payload XxxxBOB3 Message Checksum and End Sequence Table 4 27 Ephemeris Binary Hex Name Bytes Scale Example Units Description Message ID 1 95 ASCII 149 Ephemeris Data 90 00 Reserved Payload Length 91 bytes The ephemeris data for each satellite is stored as a two dimensional array of 3 15 UNIT16 elements The 3 represents three separate sub frames The data is actually packed and the exact format of this representation and packing method can be extracted from the ICD GPS 2000 document The ICD GPS 2000 document describes the data format of each GPS navigation sub frame and is available on the web at http www arinc com gps
53. rror ID Error coding for message failure Ox OB 11 Command Acknowledgment Successful request O x OC 12 Command acknowledgment Unsuccessful request O x OD 13 Nisible List Auto Output O x OE 14 Almanac Data Response to Poll O x OF 15 Ephemeris Data Response to Poll O x 10 16 est Mode 1 For use with SiRFtest Test mode 1 Ox 11 17 Differential Corrections Received from DGPS broadcast O x 12 18 OkToSend CPU ON OFF TricklePower 0x13 19 Navigation Parameters Response to Poll Ox 14 20 Test Mode 2 Additional test data Test mode 2 Ox 1C 28 Nav Lib Measurement Data Measurement Data Ox 1D 29 Nav Lib DGPS Data Differential GPS Data 2005 by Laipac Technology Inc All Rights Reserved Page 24o0f 46 PG 31 GPS Engine Board User s Manual amp Reference Guide Ox 1E 30 Nav Lib SV State Data Satellite State Data Ox 1F 31 Nav Lib Initialization Data Initialization Data O x FF 255 Development Data Various status messages Measure Navigation Data Out Message I D 2 Output Rate 1 Hz Table 4 37 lists the binary and ASCII message data format for the measured navigation data Example A0A20029 Start Sequence and Payload Length O2FFD6F78CFFBE536E003AC00400030104A00036B0397 80E3 0612190E160F04000000000000 Payload O9BBBOB3 Message Checksum and End Sequence Table 4 37 Measured Navigation Data Out Bin
54. s quickly Table 5 17 contains the input values for the following example Start using known position and time PSRF104 37 3875111 121 97232 0 96000 237759 922 12 3 37 2005 by Laipac Technology Inc All Rights Reserved Page 45of 46 PG 31 GPS Engine Board User s Manual amp Reference Guide Table 5 17 LLA Navigation Initialization Data Format Name Example Units Description Message ID PSRF104 PSRF104 protocol header Lat 37 3875111 degrees Latitude position Range 90 to 90 Lon 121 97232 degrees Longitude position Range 180 to 180 Alt 0 meters Altitude position ClkOffset 95000 Hz Clock Offset of the Evaluation Unit 1 TimeOfWeek 237759 Seconds GPS Time Of Week WeekNo 922 GPS Week Number ChannelCount 12 Range 1 to 12 ResetCfg 3 See Table 5 18 Checksum 37 lt CR gt lt LF gt End of message termination 1 Use O for last saved value if available If this is unavailable a default value of 96 000 will be used Table 5 18 Reset Configuration Hex Description 0x01 Data Valid Warm Hot Starts 1 0x02 Clear Ephemeris Warm Start 1 0x04 Clear Memory Cold Start 1 Development Data On Off Use this command to enable development data information if you are having trouble getting commands accepted enables the user to determine the source of the command rejection Common reasons for input command rejection are invalid checksu
55. s continuous operation Milli Seconds On 4 000000C8 msec range 200 500 ms Time Payload Length 9 bytes Note On time of 700 800 900 msec are invalid if update rate of 1 second is selected Computation of Duty Cycle and On Time The Duty Cycle is the desired time to be spent tracking The On Time is the duration of each tracking period range is 200 900 ms To calculate the TricklePower update rate as a function of Duty cycle and On Time use the following formula Off Time On Time Duty Cycle On Time Duty Cycle Update rate Off Time On Time Note It is impossible to enter an On Time of 900 ms The following are some examples Table 4 30 Example of Selections for TricklePower Mode Mode On Time ms Duty Cycle Update Rate 1 Hz Continuous 1000 100 1 TricklePower 200 20 1 TricklePower 200 10 2 TricklePower 300 10 3 TricklePower 500 5 10 Table 4 31 TricklePower Mode Settings On Time Update Rate sec ms 1 2 3 4 5 6 7 8 9 10 200 es Y Y Y Y Y YY Y Y 300 Y Y Y Y NY Y Y Y Y Y 400 Y Y Y Y NY Y Y Y Y Y 500 Y Y Y Y NY Y Y Y Y Y 600 Y Y Y Y NY Y Y Y Y Y 700 N Y Y Y NY Y Y Y Y Y 800 N Y Y Y WN Y Y Y Y Y 900 N Y Y Y NY Y Y Y Y Y 1 Y Yes Mode supported 2 N No Mode NOT supported 2005 by Laipac Technology Inc All Rights Reserved Page 2lof 46 PG 31 GPS Engine Board User s Manual am
56. sage Checksum and End Sequence 2005 by Laipac Technology Inc All Rights Reserved Page 3 lof 46 PG 31 GPS Engine Board User s Manual amp Reference Guide Table 4 50 Ephemeris Data Binary Hex ASCII Decimal Name Bytes Scale Example _ Units Scale Example Message I D 1 12 12 Send Indicator 1 00 00 Payload Length 2 bytes 1 0 implies that CPU is about to go OFF OkToSend NO 1 implies CPU has just come ON OkToSend YES Navigation Parameters Response to Poll Message I D 19 Output Rate 1 Response to Poll Example A0A20018 Start Sequence and Payload Length 130100000000011E3C0104001E004B1E00000500016400C8 Payload 022DBOB3 Message Checksum and End Sequence Table 4 51 Navigation Parameters Binary Hex Units ASCII Name Bytes Decimal Scale Example Scale Example Message ID 1 13 19 Reserved 4 Altitude Hold Mode 1 00 0 Altitude Hold Source 1 00 0 Altitude Source Input 2 0000 meters 0 Degraded Mode 1 01 1 Degraded Timeout 1 1E seconds 30 DR Timeout 1 3C Seconds 60 Track Smooth Mode 1 01 1 Static Navigation 1 3SV Least Squares 1 Reserved 4 DOP Mask Mode 1 04 4 Navigation Elevation 2 Mask Navigation Power Mask Reserved DGPS Source DGPS Mode DGPS Timeout Reserved LP Push to Fix LP On time LP Interval LP User Tasks Enabled LP User Task Interval LP Power Cycling Enabled LP Max Ac
57. sync has been done ICARRIER_PULLIN_ DONE 0x0010 Set Carrier pullin done CODE_LOCKED Ox0020 Set Code locked ACQ_FAILED 0x0040 Set Failed to acquire S V GOT_EPHEMERIS Ox0080 Set Ephemeris data available Note When a channel is fully locked and all data is valid the status shown is O x BF 2005 by Laipac Technology Inc All Rights Reserved Page 27of 46 PG 31 GPS Engine Board User s Manual amp Reference Guide Raw Tracker Data Out Message I D 5 Not implemented for PG 31 Software Version String Response to Poll Message I D 6 Output Rate Response to polling message Example A0A20015 Start Sequence and Payload Length 0606312E322E30444B495431313920534D0000000000 Payload 0382BOB3 Message Checksum and End Sequence Table 4 42 Software Version String Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 06 6 Character 20 1 Payload Length 21 bytes 1 06312E322E30444B495431313920534D0000000000 Note Convert to symbol to assemble message i e 0 x 4E is N These are low priority tasks and are not necessarily output at constant intervals Response Clock Status Data Message I D 7 Output Rate 1 Hz or response to polling message Example A0A20014 Start Sequence and Payload length 0703BD021549240822317923DAEF Payload 0598BOB3 Message Checksum and End Sequence Table 4 43 Clock St
58. ters Correct initialization parameters enable PG 31 to acquire signals quickly Table 5 12 contains the input values for the following example Start using known position and time PSRF101 2686700 4304200 3851624 96000 497260 921 12 3 7F 2005 by Laipac Technology Inc All Rights Reserved Page 43o0f 46 PG 31 GPS Engine Board User s Manual amp Reference Guide Table 5 12 Navigation Initialization Data Format Name Example Units Description Message ID PSRF101 PSRF101 protocol header ECEF X 2686700 meters X coordinate position ECEF Y 4304200 meters Y coordinate position ECEF Z 3851624 meters __Z coordinate position ClkOffset 96000 Hz Clock Offset of PG 31 TimeOfWeek 497260 Seconds GPS Time Of Week WeekNo 921 GPS Week Number ChannelCount 12 Range 1 to 12 ResetCfg 3 See Table 5 13 Checksum 7F lt CR gt lt LF gt End of message termination 1 Use 0 for last saved value if available If this is unavailable a default value of 96 000 will be used Table 5 13 Reset Configuration Hex Description 0x01 Data Valid Warm Hot Starts 1 0x02 Clear Ephemeris Warm Start 1 0x04 Clear Memory Cold Start 1 SetDGPSPor t This command is used to control Serial Port B which is an input only serial port used to receive RTCM differential corrections Differential receivers may output corrections using different communication parameters The de
59. tus A A data valid or V data not valid Checksum 2C lt CR gt lt LF gt End of message termination GSA GNSS DOP and Active Satellites Table 5 5 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 5 5 GSA Data Format Name Example Units Description Message ID GPGSA GSA protocol header Mode 1 A See Table 5 6 Mode 2 3 See Table 5 7 Satellite Used 1 07 Sv on Channel 1 Satellite Used t 02 Sv on Channel 2 Satellite Used t Sv on Channel 12 PDOP 1 8 Position Dilution of Precision HDOP 1 0 Horizontal Dilution of Precision MDOP 1 5 Vertical Dilution of Precision Checksum 33 lt CR gt lt LF gt End of message termination 1 Satellite used in solution Table 5 6 Mode 1 Malue Description M Manual forced to operate in 2D or 3D mode A 2Dautomatic allowed to automatically switch 2D 3D Table 5 7 Mode 2 Value Description 1 Fix Not Available 2 2D 3 3D 2005 by Laipac Technology Inc All Rights Reserved Page 40of 46 PG 31 GPS Engine Board User s Manual amp Reference Guide GSV GNSS Satellites in View Table 5 8 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 07 0 GPGSV 2 2 07 09 23 313 42 04 19 159 41 1
60. wo ways Frequency 1 The delta pseudo range normalized by the reciprocal of the delta pseudo range measurement interval 2 The frequency from the AFC loop If for example the delta pseudo range interval computation for a particular channel is zero then it can be the AFC measurement otherwise it is a delta pseudo range computation Carrier Phase This is the integrated carrier phase given in meters Time in Track The Time in Track counts how long a particular SV has been in track For any count greater than zero 0 a generated pseudo range is present for a particular channel The length of time in track is a measure of how large the pull in error may be 2005 by Laipac Technology Inc All Rights Reserved Page 34o0f 46 PG 31 GPS Engine Board User s Manual amp Reference Guide Sync Flags This byte contains two 2 bit fields that report the integration interval land sync value achieved for a particular channel 1 Bit O Coherent Integration Interval 0 2 milliseconds 1 10 milli seconds 2 Bits 1 2 Synchronization 3 Bit 2 1 Value 0 0 Not Aligned Value 0 1 Consistent Code Epoch Alignment Value 1 0 Consistent Data Bit Alignment Value 1 1 No Millisecond Errors Table 4 55 Detailed Description of the Measurement Data Continued Name Description C No 1 This array of Carrier To Noise Ratios is the average signal
61. ytes Binary Hex Units Description Scale Example Message ID 1 89 ASCII 137 DOP Selection 1 00 See Table 4 15 GDOP Value 1 08 Range 1 to 50 PDOP Value 1 08 Range 1 to 50 HDOP Value 1 08 Range 1 to 50 Payload Length 5 bytes Table 4 15 DOP Selection Byte Value Description 0 Auto PDOP HDOP 1 PDOP 2 HDOP 3 GDOP 4 Do Not Use DGPS Control Message I D 138 Table 4 16 contains the input values for the following example Set DGPS to exclusive with a time out of 30 seconds Example A0A20003 Start Sequence and Payload Length 8A011E Payload OOA9BOB3 Message Checksum and End Sequence Table 4 16 DGPS Control Binary Hex Name Bytes Scale ExampleUnits Description Message ID 1 8A ASCII 138 DGPS Selection 1 01 See Table 4 17 DGPS Time Out 1 1E seconds Range 0 to 255 Payload Length 3 bytes Table 4 17DGPS Selection Byte Value Description 0 Auto 1 Exclusive 2 Never Use 2005 by Laipac Technology Inc All Rights Reserved Page 16of 46 PG 31 GPS Engine Board User s Manual amp Reference Guide Note Configuration of the DGPS mode using MID 138 only applies to RTCM corrections received from an external RTCM source or internal or external beacon It does not apply to WAAS operation Elevation Mask Message I D 139 Table 4 18 contains the input values for the following example Set

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