USER`S MANUAL Datalogging Option V2.0 for µ-blox
Contents
1. Bit Bit 8 7 wooo x oom S SSS SS n KIT Table 35 Storage Type GPIO_INC 5 5 4 ESCAPE Type Storage Records ESCAPE type storage records are defined for future use of the logging firmware They have a flexible format Its size can be determined by the second byte SIZE field For example diagnostics strings may be written to the flash memory as ESCAPE TYPE Ox1F with a string as the payload The following table lists the layout of the escape storage records in the memory qu mmm o e 7 6lstalalalato Wordo o o escam SEn Words Word 1 Payload Lo Word ife SSS S Word ff SSS Wodn pss oS S Table 36 Storage Type ESCAPE 5 6 Decompressing a downloaded memory block The algorithm decompresses a previously downloaded memory block Download the data from the GPS receiver flash Use the logging protocol extension Get the first storage record into Data Decompress all storage records while we have Data WHILE Data reserved GPS G1 X 00011 Page 23 Datalogging Option User s Manual Now decode the storage record Get the Type bits of the storage record ELSE ELSE END Type EMPTY THEN No data just skip this word IF Type FIX FULL THEN Save WNO and DTOW fields as the position fix logging time stamp Save the position speed and the other mode flags IF Type FIX INCL OR Type FIX2. This message requests information on a specific sector of the flash memory The receiver returns a message of type LogSectorlnfo 0x74 Feld Type Descipion O Z O MID Payload 2 Byte Table 6 LogPollSectorInfo Message 5 4 1 4 LogPollinfo This message requests information on flash memory and logging space The receiver returns a message of type Loginfo Ox7C Field Type Description 0xBB Payload 1 Byte Table 7 LogPolllnfo Message 5 4 1 5 LogSetConfig This message sets the general logging configuration Held Type Description Table 8 LogSetConfig Message Bit Meanng Parameters Bit O Logging Control 0 Disabled Bit 1 Logging Debug Messages 0 Disabled WENN NEN Bit 2 Logging Diagnostics Strings 0 Disabled WENN NEN Bit 7 Flash 1PPS LED when logging 0 Disabled et i Penabad O Table 9 LogSetConfig Flags Bitmap 5 4 1 6 LogPollConfig This message requests the general logging configuration The receiver returns a message of type LogConfig 0x7D Description 0xBD Payload 1 Byte Table 10 LogPollConfig Message 5 4 1 7 LogFixSetConfig This message sets the position fix logging configuration The lower bounds min of the filter parameters are AND ed the higher bounds are OR ed GPS G1 X 00011 Page 15 Datalogging Option User s Manual u blox ag Feld Type Description O O U8 Fix Logging Flags See Table 12 for mea
3. allocate the required memory to store the data Data MEMALLOC Size now download all the data Address A Start WHILE Address lt A Start Size now download the block from address Address send the message LogRead and receive the message LogData copy the received block to its position in Data calculate the starting address of the next block to download Address Address 512 END WHILE decompress Data use the algorithm given in charter Decompressing a downloaded memory block GPS G1 X 00011 u blox ag Page 20 Datalogging Option User s Manual u blox ag 5 5 Storage Format The logged data is stored in the flash memory in different storage records The logging algorithms automatically choose the type of the storage record The data compression may be switched off by setting the store FULL records only flag Separate chapters describe the logging algorithms and the decompressing The three most significant bits bits 15 to 13 determine the type of the storage record In addition to the basic types a flexible storage record the so called escape type storage record is defined for future logging applications Type Size Description WORDS NONE HX FULL 9 Position Fix data Full storage format FX INCL Position fix data Large incremental Storage format 000 HXINCM 4 Position fix data Medium incremental Storage format _ Position fix d
4. Datalogging Option User s Manual 5 4 2 4 Loginfo This message is sent as a response to a LogPolllnfo message Feld _ Type Description MID 0x7C rit Ug Index of first sector of the available logging space zerobased cad Index of last sector of the available logging space zerobased A_First First address in the logging space A_Last Last address in the logging space A_Start Start address of the used logging space Size Size of the used logging space Payload 19 Bytes Table 21 LogInfo Message 5 4 2 5 LogConfig This message is sent as a response to a LogPollConfig message Field Type _ Description gt Z See LogSetConfig message Payload 3 Bytes Table 22 LogConfig Message 5 4 2 6 LogFixConfig This message is sent as a response to a LogFixPollConfig message MID Flags U16 T min si T max s D min m 16 D max m V min m s V max m s U16 Table 23 LogFixConfig Message 5 4 2 7 LogGPlOConfig This message is sent as a response to a LogGPIOPollConfig message MID Flags T_min 1 _ UT6 Pra Direction UT6 Value Chek U16 Table 24 LogGPIO Config Message Mask See LogGPlOSetConfig message GPS G1 X 00011 u blox ag Page 19 Datalogging Option User s Manual 5 4 3 Transferring logged data using the extended protocol get information on the flash structure send the message LogPollInfo and receive the message LogiInfo
5. 28 1 31 4278715 26 2 28 1278689 28 3 29 1278661 35 3 28 1278626 3d 0 20 1278595 16 34 17 4278611 18 18 19 1278629 14 23 18 1278643 12 33 16 1278655 12 31 14 4278667 12 26 15 4278679 11 29 18 4278690 10 29 16 4278700 11 29 15 4278711 Ecef Y Ecef Z 643178 643174 643173 643169 643166 643164 643165 643163 643166 643163 643163 643197 643215 643238 643271 643302 643328 643357 643386 643415 4670897 4670927 4670959 4670992 4671024 4671054 4671085 4671113 4671142 4671170 4671190 4671173 4671154 4671136 4671120 4671106 4671091 4671073 4671057 4671042 Speed Longitude 8 548363 548415 548421 548445 548478 548546 518571 548666 548695 548756 549170 549370 549644 550052 550435 050752 551110 551470 551828 49 54 53 54 51 56 16 40 25 44 22 36 33 19 22 30 39 39 36 24 CO 0 0 08 0 08 CO O O O ao CO m CO CO CO co CO CO 548354 u blox ag Latitude 47 380770 47 381159 47 381571 47 381972 47 382380 47 382761 47 383132 47 383474 47 383831 17 384234 47 384558 47 384317 47 384065 17 383842 47 383633 47 383439 47 383243 47 383033 47 382842 17 382650 Altitude 418 419 420 424 426 427 432 435 237 434 428 430 430 428 428 429 428 425 423 422 Third party software can be used to overlay decoded logging data onto a map Figure 12 shows an example of such overlaying techniques Figure 12 Short ride represented on a map G
6. Fix Filter Figure 4 Position fix filter 5 2 2 1 Position Fix filter Algorithm in pseudo code The algorithm stores according to the following pseudo code which is called whenever a position fix is done j Current Time Last Fix ime Calculate the difference between now and the last storage time Calculate the difference between here and the last stored position i Diff ABS Current Position GEL the current speed V Current Speed GPS G1 X 00011 Last Position Page 12 Datalogging Option User s Manual u blox ag Only store if the filter checks are ok The u bounds are anded the higher bounds are ored IF iff gt T Min AND D Diff gt D Min AND V gt V Min OR T Di gt T Max OR D Diff gt D Max OR V gt V Max THEN IF D Diff gt 327607 OR T Diff gt 699099 THEN Store a FIX FULL record to the flash ELSE IF Diff gt 511 THEN Store a FIX INCL record to the flash ELSE IF Diff gt 15 THEN Store a FIX INCM record to the flash ELSE E SGOREe a FIX INCS record to Ehe flash END IF Backup 39390 time and position Last FlxTime Cur
7. have selected the appropriate file format suitable for your application File format NMEA Save as D ST emp u Lagg lag m IW Automatically erase the logged data after download cose Ready nm LOMS 19200 Figure 10 Download Erase Data Window Figure 10 shows the download and erase window The following settings are possible e Selection of appropriate file format Please note that the NMEA formats contain only information of the Position Fix storage records e Selection of path and filename where you want to store the File You can press the button next to the edit box to select the path and filename e f you want to automatically erase the logged data after download tick the check box e Click the Download button to download and store the data on the disk e Note The Erase button deletes the flash area reserved for data logging The following table describes the possible file formats in which the data can be stored on you PC GPS G1 X 00011 Page 30 Datalogging Option User s Manual u blox ag Text FIX Decompressed data saved as tabular ASCII text Fix data only Text GPIO Decompressed data saved as tabular ASCII text GPIO data only Table 37 Download file formats 6 5 Conversion of logged data The logged data is transmitted within SIRF binary message only The logged data is stored into a file on PC with the defined format The u logger offers the possibility to convert binary download files into all
8. resp It is possible to up grade a Datalogging enabled receiver to the latest version of the datalogger using the update utility available on our homepage http www u blox com See the Update Manual for details on the up date procedure Due to the different HW setups of the two GPS receivers there are some differences in the specification of the datalogger Feature GPS MSIEDL GPS PSTE DL FLASH Memory available Max Number of Logs 100 000 20 000 GPIO Yes 12 Pins Table 1 HW specifics GPS G1 X 00011 Page 5 Datalogging Option User s Manual u blox ag 3 INSTALLATION GUIDE The Logging Option is a special firmware Firmware 1341283 s3 contains the data logger This firmware can be used on GPS MS1 DL GPS MS1E DL GPS PS1 DL or GPS PSTE DL modules only It will not work in combination with any other module The firmware may be updated with the standard gpsxs dl exe update utility The additional program u logger exe is a standalone application for the PC It requires Windows 95 98 or Microsoft Windows NT 4 GPS G1 X 00011 Page 6 Datalogging Option User s Manual u blox ag 4 SYSTEM OVERVIEW The Software is optimized for maximum stored data and maximum flexibility A differential storage technology is used to store data in the flash memory There are two main logging functionalities position fix and GPIO logging Both can be configured separately and are totally independent from each other In addition to the traditi
9. Byte Table 13 LogFixPoll Config Message 5 4 1 9 LogGPlOSetConfig This message sets the GPIO logging configuration The lower bound min of the time filter is AND ed with the gpio filter the higher bound is OR ed GPS G1 X 00011 Page 16 Datalogging Option User s Manual u blox ag Field Type MD U8 U16 GPIO Logging Flags See Table 15 for meaning Time difference filter This Field sets the minimum time difference with which a record T_min s U16 maybe stored O disabled Time difference filter This Field sets the maximum time difference with which a record is T_max s U16 stored regardless from the gpio filter parameters 0 disabled l Pin Mask Any modification applies to the here Mask U16 masked pins only 1 Change O Leave 5 Direction Bitmask J Value Bitmask 2 Check Bitmask xii 1 Log if Pin changes Payload 15 Bytes Table 14 LogGPlOSetConfig Message Bit Meaning Parameters Bit O GPIO Logging Control 0 Disabled 1 Enabled Bit 7 Store FULL records only 0 Compressed 1 Uncompressed Table 15 LogGPIOSetConfig Flags Bitmap 5 4 1 10 LogGPIOPollConfig This message requests the GPIO logging configuration The receiver returns a message of type LogGPlOConfig 0x7F Field Type Description 0xC1 Payload 1 Byte Table 16 LogGPIOPollConfig Message 5 4 2 Output Messages MID Message Description O 0x79 0x C LogInfo response to
10. GPIO logging is more difficult to configure since it interacts with the hardware connected to the GPIO pins The GPS has no knowledge of what components are connected and therefore has no way to find out which signals are driven by external components and which can be driven by the GPS itself Note You have to make sure that the GPS module and its surrounding electronics don t drive signal lines at the same time Improper use can lead to permanent damage to the system The GPS is configured by bit masks which are represented by the checkboxes in the dialog box UN u logger Download Convert Configure Connection Configure the p blos GPS for logging ou can read aut the parameters currently stored in the module using the Get configuration button or store your parameters with the Set configuration button GPIO logging enabled Store full fises only D l Minimum MM aximum Time difference Filter off 2 a 0 GFIO pin 012345678 91011 Apply to pin ES i Log changes TT TTTTTTTTTIT Fin is output ES S S PS ES US US RSS S S ES Output is high Jg pe pe peso d e e e re ref Set configuration Get configuration Ready nm LOMS 19200 Figure 8 GPIO Logging Configuration Window SPIO Position Fix General Figure 8 shows the GPIO Logging Configuration Window This window contains general GPIO settings and GPIO logging settings The GPIO logging settings control the GPIO logging The GPIO logg
11. INCM OR Type FIX INCS THEN Add the DTOW field to the last position fix logging time stamp Add the DECEF to the last position Save the speed and the other mode flags IF Type GPIO FULL THEN Save WNO and DTOW fields as the GPIO logging time stamp Save the GPIO values IF Type GPIO INC THEN Add the DTOW field to the last GPIO logging time stamp Save the gpio values IF Type ESCAPE THEN Handle the additional ESCAPE type storage records IF The size of each storage record can be determined from the type and if it is an escape type from the additional size field Get the next storage record into Data END WHILE GPS G1 X 00011 u blox ag Page 24 Datalogging Option User s Manual u blox ag 6 TRANSFERRING LOGGED DATA USING U LOGGER EXE The u logger is a simple program to demonstrate and evaluate the logging capabilities of the u blox GPS logging firmware and the protocol extension It allows to configure the module and to download or erase the logged data The logged data may be stored in various formats that can be post processed by using third party programs The program runs on IBM compatible PCs running Microsoft Windows 95 98 or Microsoft Windows NT 4 It needs an unused serial port where the u blox GPS receiver is connected The status b
12. LogPolllnfo Contains information about flash architecture and logging space LogConfig response to LogPollConfig Contains the general logging configuration Ox7E LogFixConfig response to LogFixPollConfig Contains the position fix logging configuration LogGPlOConfig response to LogGPIOPollConfig Contains the GPIO logging configuration Table 17 Output messages Bitmask the bit X represents GPIO X bits 12 to 15 are not used GPS G1 X 00011 Page 17 Datalogging Option User s Manual 5 4 2 1 LogData This message is sent as a response to a LogRead message Feld Type Description Z y O MID 0479 Start Start address of this 512 Byte Block 256 x Compressed Data Data 256 See chapter Storage Format for a description of U16 the compressed data structures Payload 517 Bytes Table 18 LogData Message 5 4 2 2 LogSectorlnfo This message is sent as a response to a LogPollSectorlnfo message Feld Type Description O Z O MID 0x7A Sector sector number Flags reserved Size Start address of this sector To be used with Base U32 LogRead Free Number of bytes available in this sector Payload 16 Bytes Table 19 LogSectorInfo Message 5 4 2 3 LogSectorEraseEnd This message is sent as a response to a LogSectorErase message Feld Type Descipion O O 8 Payload 2 Bytes Table 20 LogSectorEraseEnd Message GPS G1 X 00011 u blox ag Page 18
13. PS G1 X 00011 OM Vollenzo Cd Page 33 Datalogging Option User s Manual 7 RELATED DOCUMENTS GPS G1 MS1 00002 GPS MS1E Datasheet GPS G1 PS1 00002 GPS PS1E Datasheet GPS G1 X 00005 GPS MS1E GPS PS1E Protocol Specification GPS G1 X 00002 Update Manual All these documents are available on our homepage http www u blox com GPS G1 X 00011 u blox ag Page 34 Datalogging Option User s Manual A GLOSSARY DGPS Differential GPS FLASH No Volatile Memory Chip GPIO General Purpose Input Output GPS Global Positioning System NMEA Special GPS Protocol Format MID Message Identifier of a Protocol PC Personal Computer SV Space Vehicle Satellite TOW Time of Week GPS Time UART Asynchronous Serial Interface GPS G1 X 00011 u blox ag Page 35 Datalogging Option User s Manual u blox ag B CONTACT For further information contact Technical Support Headquarter u blox ag u blox ag Z rcherstrasse 68 Z rcherstrasse 68 CH 8800 Thalwil Switzerland CH 8800 Thalwil Switzerland Phone 41 1 722 74 74 Phone 41 1 722 74 44 FAX 441 1 722 74 47 FAX 41 1 722 74 47 E mail support u blox ch E mail sales u blox ch WWW httpz www u blox com WWW httpz www u blox com GPS G1 X 00011 Page 36 Datalogging Option User s Manual u blox ag REVISION HISTORY Revision Date Name Status Comments Index P1 18 10 00 PE Initial Version P2 30 10 00 JR Release Candidate 02 11 00 JR MA Public Release A
14. USER S MANUAL Datalogging Option V2 0 for u blox GPS Receiver Modules fem MR CH 8800 Thalwil Switzerland GPS G1 X 0001 1 April 3 2001 Phone 41 1 722 7444 Fax 4411722 7447 For most current data sheets please visit www u blox com http www u blox com GPS Receiver with integrated Datalogger We reserve all rights in this document and in the information contained therein Reproduction use cr disclosure tc third parties without express authority is strictly torbidden 2001 blox ag GPS G1 X 00011 Page 1 Datalogging Option User s Manual u blox ag CONTENTS i ROGUES a IE 4 2 WEEE OCU CU OM WIERBEERRRERACKREUFENGERIUFE NER EEE TETTE UMS 5 3 Installation GUI textes cana a sale ead dw ER ia C AS Rau Sa an AN S ra SER EN DUE 6 d Syvstem OVelVIeW Lui 7 5 Using the Logge ne ee ri 9 5 1 ominubialonmwittte Logge suscip srl 9 o Werder 9 52 1 GPIO PIG acs ars tar RR a 10 2979 ME rose REI DERE 14 o JDera isertungsxor N00 assiettes ee 13 SA IPPOIOCOREXENSION arl 14 5 4 1 J81018 RII OS IE NER M cR 14 5 4 2 OUTPUT MESS IOCS ae TELLER ee 17 5 4 3 Transferring logged data using the extended protocol ee eeee ee eeeeeeeeeteeeeeeeneeeeenns 20 25 SOR 21 9459s EMO VES LOL a MING GO tease c cl pM DIM D MM EIL KU CD MEE 21 5 5 2 Position PIX Storage RECO OS an ee 21 B9 ario SOJE eC OFS irritante ME elated CR 23 5 5 4 ESCAPE TYPE STOFQOe RECOS sie le 23 5 6 Decompressing a downloaded memory blo
15. al u blox ag 5 2 1 1 GPIO Filter Algorithm in Pseudocode The algorithm stores according to the following pseudo code which is called once every second j Current Time Last GPIOTime Calculate the difference between now and the last storage time Only store if the filter checks are ok The lower bounds are anded the higher bounds are ored IF Current GPIOValue amp Mask lt gt Last GPIOValue amp Mask AND T Diff T Min OR T Diff T Max THEN IF T Diff gt 65535 THEN Store a GPIO FULL record to the flash ELSE Store a GPIO INC record to the flash END IF Backup the storage time and GPIO values ast GPIOTime Current Time Last GPIOValue Current GPIOValue END IF 5 2 2 Position Fix Filter This filter is active only if a new and valid position fix has been calculated The position fix logging algorithm stores the following information Timestamp of stored position Resolution 1 s Velocity Range O 1023 km h Resolution 1 kmzh Position Full ECEF Position Resolution 1 ml Number of SVs lt 3 3 4 or gt 4 SVs DGPS used GPS G1 X 00011 Page 11 Datalogging Option User s Manual New and valid Navigation Solution u blox ag Position
16. al u blox ag event trigger New Navigation Solution every second Figure 1 Functionality of Datalogger GPS G1 X 00011 Page 8 Datalogging Option User s Manual u blox ag 5 USING THE LOGGER 5 1 Communication with the Logger The controlling of the Logger takes place using SIRF binary Protocol via serial port UART Additional SIRF binary commands proprietary allow to adjust logger options and to download stored data Eum UART Ar Figure 2 Model of Data Stream Figure 2 shows the communication process with the data logger The process is initiated by an incoming message The content of the message is evaluated and processed After processing a response is created and transmitted via UART The Logging Option defines a new set of SIRF binary protocol messages The messages can be used for configuring the filter parameters This enables user defined position time and velocity logging in the onboard memory Download and erasing of the flash is also supported by this protocol extension Although the logging option is designed as an extension to the SIRF binary protocol data is also stored while in NMEA mode However to configure the logger and download data SIRF binary protocol is needed 5 2 Filter Settings In addition to the data compression performed during the storage of a data record the datalogger offers the possibility to further reduce the number of stored data records by configuring special fil
17. ar shows the actual connection and its current status It also indicates the step and progress of the current operation The user may abort any operation by pressing the Cancel button Note All programs settings are stored in the File u blox ini under the section logger in your windows directory 6 1 Setup the communication For changing settings and downloading logged data a communication between the GPS receiver and host PC with u logger has to be created The window Connection is used to set up a connection Download Convert Configure Connection Configure the connection between the PC and the p blox GPS The Autadetect button sets up the parameters for you Make sure that the cables are connected and the GPS ts in SIRF binary mode Serial port COME Baud rate bps 13200 Timeout m 2000 Refresh port list Autodetect Ready n COMS 19200 Figure 5 Setup Communication Window Figure 5 shows the possibilities of settings for the serial interface The communications port can be selected from the Serial Port pulldown menu If a port is not in the port list another program is still connected with your GPS Close the connection and then press the Refresh port list button The port should now appear in the port list The appropriate baud rate may be selected by the Baud rate bps pull down menu The default baud rate is 19200 The u logger expects a response from the GPS receiver
18. ata small incremental storage format Hoi GRO FUL 3 GPIO data Full storage format co ie GPIO data Incremental storage format A ESCAPE Used for Future logging Applications Table 25 Storage Types 5 5 1 Empty Storage Record If the first three bits are all 1 then the word is considered as unwritten data and is skipped therefore The following table lists the layout of an empty storage record in memory BA cc ssi ss cc c LT JH qp T qoe qoe 9 96 pe De De e TRE de e Table 26 Storage Type None 5 5 2 Position Fix Storage Records The logging option has different kinds of position fix storage records The following parameters are stored Field name Size Description nit Week Number in GPS notation Difference between last and current TOW SV 2Bit Number of satellites See table 4 formeaning lt Differential GPS 1 used 0 not used DL Table 27 Position Fix Logging Parameters Reserved Signed Integer size depends on storage format Signed Integer absolute speed or speed over ground depending on the flags in the configuration GPS G1 X 00011 Page 21 Datalogging Option User s Manual u blox ag SV 1 0 Symbol Description 00 1D less than 3 satellites used or Dead Reckoning 01 2D 3 satellites used 4 or more satellites used 5 or more satellites used and fix is validated Table 28 SV bits description The following ta
19. bles list the layout of the position fix storage records in memory Bit Bit 8 7 woro o svnoi Pers en veo Wordt woe ressa Word Weg o T Words eea Words t Xi TTT Words E Words ews T Table 29 Storage Type FIX FULL Bit Bit 8 7 Wordo o 0 Swrol DGPS vol DTOWI15 0 Word 2 DECEF X 15 0 Word3 DECEF Y 15 0 Word 4 DECEF 7 15 0 Table 30 Storage Type FIX INCL o sialis im w js lo es la 2 12 dolo Wordo o o o sviiol DGPS vi9 0 DTOWI15 0 Word 2 DECEF 7 5 0 DECEF X 9 0 Word3 x DECEF 7 9 6 DECEF Y 9 0 Table 31 Storage Type FIX INCM Bit Bit 8 7 IWodo o wa focrs vey S WOW OC DTOW 15 0 Word 2 x DECEF 7 4 0 DECEF Y 4 0 DECEF X 4 0 Table 32 Storage Type FIX INCS reserved reserved reserved GPS G1 X 00011 Page 22 Datalogging Option User s Manual u blox ag 5 5 3 GPIO Storage Records The logging option has different kinds of GPIO storage records The following parameters are stored Field name Size Description unit Week Number in GPS notation Time of Week in GPS notation DTOW Difference between last and current TOW GPIO Values of the GPIO Pins 11 to O FCC l Table 33 GPIO logging parameters The following tables list the layout of the GPIO storage recods in memory Bit Bit 8 7 Oe Hs ee Ge Table 34 Storage Type GPIO_FULL
20. ck en 23 6 Transferring logged data using u logger exe eeeeeeeeeeeeeeseee 25 Gal Setup THE MMUNCA rennen 25 6 2 gt Eonllauretne GpSloggNG Paramelers cases ee nei 26 0 9 Generalioggino Configura Narzole ee 26 6 3 1 Positiomt IOGGING CONFIGUFATION a u 26 59 2 GPIOd99giid CON AO ee ila e 28 Ou Downoad OF erase die logge a Wanne 30 6 5 ConVversion orJogged Aal aa er zn ln 31 Co EX509gIN9 PEro MAPS EA Mr 32 6 6 1 Glen 32 7 Relat d DOCUlTIG Ite oiii curioso ae oes a sue Oe ue ssa Orca rev or oe evt oct c ees 34 DWECCCCIR ES Eo o E 35 GPS G1 X 00011 Page 2 Datalogging Option User s Manual u blox ag B CONAC ERREUR UTERNE rp 36 Revision HISTO ya 37 GPS G1 X 00011 Page 3 Datalogging Option User s Manual 1 FEATURES SW Enhancement for the u blox GPS MS1E and GPS PS1E Integrated Datalogger Fully compatible to standard receivers Configuration through the serial interface no additional external circuitry required Data compression GPS MSTE DL stores up to 100 000 positions GPS PS1E DL stores up to 20 000 positions Intelligent Logging algorithm triggered by GPS events Various configurable filter parameters Time Distance Velocity General purpose Input Output GPIO Logging 12 independent pins Pins are configurable as Inputs or Outputs he logger observes Inputs and Outputs Outputs may be configured high or low External requir
21. ements Power supply for GPS Backup battery for real time clock and SRAM Serial interface for NMEA or SIRF binary data Passive or active Antenna GPS G1 X 00011 u blox ag Page 4 Datalogging Option User s Manual u blox ag 2 INTRODUCTION u blox offers Software Enhancements to standard GPS receivers An integrated datalogger enables the receiver to store position time and events in the onboard flash memory A datalogging enabled GPS receiver fulfils the specification of a standard receiver For a description of the hardware please refer to the datasheet of the respective receiver This document is intended to explain the concept of the logging implementation the protocol to configure the receiver and a real world example The datalogger opens up a wide range of applications Vehicle tracking Road pricing systems Automatic project accounting for field personnel Behavioural studies of animals Time table analysis for public transport systems u blox offers a PC utility that enables you to easily configure the datalogger and read out stored data This PC utility named u Logger exe is described in a separate chapter The Datalogging FW is available for the GPS MS1E as well as for the GPS PS1E In order to get a Datalogging enabled GPS receiver the modules has to be ordered in the Datalogging version The ordering numbers are GPS MS1E DL and GPS PS1E DL for the GPS MS1E and GPS PS1E with integrated datalogger
22. g record in FIX FULL format every second The logging time will be around 2 days 10 hours if the T min filter is not active Let s assume that we are constantly traveling with 50 km h 14 m s The time between storage will be 11 seconds Since we moved about 150 meters the data is most probably stored in the FIX INCM storage record format The calculated logging time is more than 8 days 6 6 1 Real Example This example shows a short ride with a car Table 38 lists the configuration used in this example No differential GPS was connected 360015 50 m Table 38 Module fix logging configuration The following lines show an extract of a hexadecimal dump of the file saved in binary format ODDOUDISUtT s SS 000003 Se OS 9536 10 003 561 0OO000 bU 03 1832 0003 SS4r OSE 636 DOOS 3 fez QOUDUIGUs 03 T833 0005 ASSE USAd L033 3003 7582 0909001002 OS Lore 0003 Frei 000 18928 0003 7386 000001le0 03 18 9 0002 Yes 8003 1228 9002 add 000001f0 1816 0004 53e1 0000 1824 0006 bc10 000002005 STAZ 0003 b412 3c12 1813 0004 b80e 00000210 361 1816 0006 GOOG 3c21 18le 0005 c80c 00000220 34 1 827 0003040 Sela 1027 00037 bob 00000230 SE 1824 0003 c00a 3cld 1818 0004 c40b 00000240 Sel h Fh Fh Fh Q OL ph NC DD A CO N A oO W The following lines show an extract of the data saved as a tabular text GPS PS1E 512 kBy
23. ing enable checkbox allows an On Off switch of the GPIO Logger By default it is disabled The Store full fixes only checkbox disables the incremental storage technology The chapters GPIO Filter and Default settings of the datalogger contain a detailed description of these settings The general GPIO settings allow the user to adjust the pin function according to the application requirements GPS G1 X 00011 Page 28 Datalogging Option User s Manual u blox ag Figure 9 General GPIO settings Figure 9 describes dependencies on the checkboxes for configuring a GPIO pin This applies to all 12 GPIO pins Note The checkbox Apply to pin has to be enabled for each GPIO in order to the change a pin s settings and enables its pin logging capability GPS G1 X 00011 Page 29 Datalogging Option User s Manual u blox ag 6 4 Download or erase the logged data During GPS processing data is stored in the flash memory of the GPS module This Window allows you to download or erase the logged data You can choose the file formats in which the data is stored on your PC The data logger works only if the flash memory has free space Thus it has to be possible to erase the flash memory on the GPS module Erasing takes place after download of logged data or separately EE Mn E Download Convert Configure Connection Download or erase the previously logged data from the flash of your u blox GPS Make sure that vau
24. ll trademarks mentioned in this document are property of their respective owners Copyright 2000 u blox ag This data sheet contains information on u blox products in the sampling and initial production phases of development The specifications in this data sheet are subject to change at u BLOX discretion u blox assumes no responsibility for any claims or damages arising out of the use of this document or from the use of modules based on this document including but not limited to claims or damages based on infringement of patents copyrights or other intellectual property rights u blox makes no warranties either expressed or implied with respect to the information and specifications contained in this document Performance characteristics listed in this document are estimates only and do not constitute a warranty or guarantee of product performance GPS G1 X 00011 Page 37
25. nfo Requests information about flash memory and logging space Table 3 Input Messages 5 4 1 1 LogSectorErase This message causes the receiver to erase a specific flash sector The receiver disables flash writing After erasing the receiver returns a message of type LogSectorEraseEnd 0x7B After erasing sectors you must reset the receiver Send the Navigation Initialization Message MID 0x80 There are two special sector numbers that erase all sectors in a row If you send the message with OxFF as Sector Number the module will erase all used sectors then it replies with the LogSectorEraseEnd Message and performs a reset If you send the message with OxFE as Sector Number the module will erase all sectors regardless of the usage then it replies with the LogSectorEraseEnd Message and performs a reset Keep in mind that the erase command may take several seconds to complete During this time no communication is possible Held Type Description Table 4 LogSectorErase Message 5 4 1 2 LogRead This message requests 512 bytes of stored and compressed log data The module returns a message of type LogData 0x79 Feld Type Descipion Z Address from which data should be returned Payload 5 Byte Table 5 LogRead Message Input as seen from the receiver i e from the Host PC to the u blox receiver GPS G1 X 00011 Page 14 Datalogging Option User s Manual u blox ag 5 4 1 3 LogPollSectorlnfo
26. ning Time difference filter This Field sets the minimum time difference with which a record maybe stored 0 disabled omes us Time difference filter This Field sets the maximum T max s U16 time difference with which a record is stored regardless from the other parameters O2disabled Distance filter This Field sets the minimum D min m U16 distance with which a record may be stored O disabled owe uns Distance filter This Field sets the maximum D_max m U16 distance with which a record is stored regardless from the other parameters O disabled Velocity filter This Field sets the minimum speed m s with which a record may be stored 0 disabled TEN Velocity filter This Field sets the maximum speed Im s U16 with which a record is stored regardless from the other parameters 0 disabled Payload 15 Byte Table 11 LogFixSetConfig Message Bit Parameters Bit O Position Fix Logging Control 0 Disabled 1 Enabled Bit 2 Output Measured Navigation on Serial Port SiRF Binary O Output Message 2 2 while Logging 1 Don t Output EDS if valid navigation solution Bit 6 Speed Format 0 3D Speed un Per Bit 7 Store FULL records only 0 Compressed que ere imas 00 Table 12 LogFixSetConfig Flags Bitmap 5 4 1 8 LogFixPollConfig This message requests the position fix logging configuration The receiver returns a message of type LogFixConfig Ox7E Feld Type Descipion O Z o Payload 1
27. onal position fix logging it can also be configured to store changes on the GPIO Pins For example a temperature sensor or an event e g ignition on off could be logged The information stored includes GPS Timestamp WNO TOW not UTC corrected resolution 1 s Position ECEF resolution 1 m Velocity range 0 1023 km h resolution 1 km h Number of satellites used for navigation DGPS used GPIO signal levels GPIO pins 0 to 11 Figure 1 describes the software structure of the datalogger There are the two main logging functionalities position fix and GPIO logging In case of position fix logging the GPS receivers stores data in the onboard flash memory in addition to the transmission over the serial port Basically every position fix may be stored in the FLASH But in most applications filters are used These prevent the datalogger from storing all the positions into the Flash memory and lengthen total logging time Chapter 5 2 describes these filters The user may configure the filter parameters to suit his application In case of GPIO logging the GPS receiver stores data on the basis of an event which recurs every second In addition to logging it is possible to control the GPIO s A GPIO may be used as input or output It is also possible to set the output level to High VCC or Low Gnd Controlling the GPIOs is independent on the logging functionality GPS G1 X 00011 Page Datalogging Option User s Manu
28. other described download formats BI a II logger Download Convert Configure Connection Convert a previuozly downloaded file The file must be in the binary file format and may be converted in any other format Convert file D AT emphu Logg El File format Text Cave as D AT emp Convert log El Ready nm LOMS 19200 Figure 11 Convert Window This picture shows the Convert Window The file to be converted has to be filled into the field Convert File The File Format describes the format of the resulting file The field Save as describes the destination file to hold the converted data Note This enables you to convert the downloaded data of a binary file into the different formats The Data Logger does not need to be connected while converting GPS G1 X 00011 Page 31 Datalogging Option User s Manual u blox ag 6 6 Fix Logging Performance Example Assume that the Fix logging parameters are T min 5 s T max 3600 s Delta 150 m The logging time depends on the memory available for logging and on how the receiver is moved The p blox GPS receivers have 1 024 kBytes 8 MBits of flash memory of which 640 kBytes may be used for logging The following equation calculates how long data can be logged free flash memory logging time time between storage size per storage record The worst case is that we would have to store a loggin
29. rent Time Last Position Ourrtenct Postt loon END IF 5 3 Default settings of the datalogger The logging firmware has the following default settings Position Fix Filter MID OxBE Min Time ss GPIO Filter MID OxCA 0x000 Not Set Table 2 Datalogger Default settings Table 2 describes the default settings of the Logger The column Protocol refers to these messages which can change the settings These messages are used to control the datalogger e g switch it on off change the settings The logger starts automatically during the first system start Only the Filters with above described settings will be active GPS G1 X 00011 Page 13 Datalogging Option User s Manual u blox ag 5 4 Protocol Extension The logging protocol extension can be used with SIRF Binary protocol only Please refer to the u blox protocol documentation for a specification of the transport and verification layer This document describes the payload portion of the extended SiRF binary protocol only The following Input and Output messages are supported 5 4 1 Input Messages MD Ms age _ _ Descipio OxB6 LogSectorErase responses with LogSectorEraseEnd Erases all sectors or a specified sector in the Flash memory LogRead responses with LogData Initiates data download from a specified address LogPollSectorInfo responses with LogSectorlnfo Requests flash sector information OxBB LogPolllnto responses with LoglI
30. solution filter Store full fises only Suppress message 2 Y Speed over ground Minimum Maz mum Time difference filter off s 5 2600 Distance filter off m U 150 Speed filter D aff m s 0 0 Set configuration Get configuration Ready nm LOMS 19200 Figure 7 Position Fix Logging Configuration Window GPIO Position Fix General The Position Fix logging enable checkbox allows an On Off switch of the Position Fix Logger By default it is enabled The Datalogger allows different storage formats The Store full fixes only checkbox disables the incremental storage technology It is not useful for small storage resources By default the flag Store full fixes only is disabled If you only want to log the speed over ground as velocity instead of the absolute speed of all three dimensions the flag Speed over ground has to be enabled By default this flag is disabled The message 2 Navigation Measurement Data Out of the SIRF binary protocol can be suppressed by the checkbox By default this message is sent If you only want to log when 3D position fixes are calculated the 4SV solution filter has to be enabled By default it is enabled The time distance and speed filter values are described in chapters Position Fix Filter and Default settings of the datalogger GPS G1 X 00011 Page 27 Datalogging Option User s Manual u blox ag 6 3 2 GPIO logging configuration
31. ters These filters prevent the logger from storing unnecessary data e g if a vehicle is not moving However these filters have to be set according to the requirement of the final application The configuration is done using the additional SIRF binary commands Basically one can distinguish two different types of filters Minimum filters prevent a data record from being stored maximum filters in contrary bypass the minimum filters if exceed Therefore maximum filters can be used to make sure that data is stored e g after maximum 10h This chapter describes the possible filter settings An easy way to set these filters is by connecting the GPS receivers to a PC and to use the u Logger exe for the configuration In an embedded environment the configuration could be set by a controller which sends the according SiRF binary message to the GPS receiver GPS G1 X 00011 Page 9 Datalogging Option User s Manual 5 2 1 GPIO Filter The GPIO logger is invoked every second During storage all Pin states will be saved See chapter 5 5 3 for the definition of the storage format The GPIO logging algorithm stores the following information Timestamp of stored position Resolution 1 s Values of all GPIO pins O to 11 The filter sets a time and event mask which control the storage event trigger every second GPIO Filter Figure 3 GPIO filter GPS G1 X 00011 u blox ag Page 10 Datalogging Option User s Manu
32. tes 4 MBits of flash memory of which 128 kBytes are free GPS G1 X 00011 Page 32 Datalogging Option User s Manual FIX Type FIX FIX_INCM 3D FIX_INCM 3D FIX_INCM 3D FIX INCM 3D FIX_INCM 3D FIX INCM 3D FIX INCM 3D FIX INCM 3D FIX INCM 3D FIX INCM 3D FIX INCM 3D FIX INCM 3D FIX INCM 3D FIX INCM 3D FIX INCM 3D FIX INCM 3D FIX INCM 3D FIX INCM 3D FIX INCM 3D FIX INCM 3D DGPS WNO No 999 No 999 No 999 No 999 No 999 No 999 No 999 No 999 No 999 No 999 No 999 No 999 No 999 No 999 No 999 No 999 No 999 No 999 No 999 No 999 TOW 120495 120498 120501 120504 120507 120510 120513 120516 120521 120525 120529 120535 120538 120542 120548 120553 120556 120559 120562 120566 DTOW Time 09 09 09 09 09 09 09 09 09 09 09 09 09 09 09 09 09 09 09 09 28 28 28 28 28 28 29 29 E C0 W WU QV 4 WO fF HP OW WW CO CO CO CO CO 28 S287 21 24 S2 28 S2 Dus 28 41 45 49 28 28 22072 nar 129 129 129 222 226 1 5 18 30 33 36 59 58 02 08 13 16 19 Date 03 01 1999 03 01 1999 03 01 1999 03 01 1999 03 01 1999 03 01 1999 03 01 1999 03 01 1999 03 01 1999 03 01 1999 03 01 1999 03 01 1999 03 01 1999 03 01 1999 03 01 1999 03 01 1999 03 01 1999 03 01 1999 03 01 1999 03 01 1999 Decet X Decef Y Decet Z Ecef X 29 2 28 4278899 31 4 30 4278868 33 1 32 1278835 30 4 33 1278805 32 3 32 4278773 30 2 30 4278743
33. when logging Log diagnostics strings as escape type 0x1F GPIO Position Fix General Set configuration Get configuration Ready ae COMS 19200 Figure 6 General Logging Configure The Logging enabled checkbox allows an On Off switch of the whole Datalogger By default the Datalogger is enabled If the Logging debug messages flag is set the GPS receiver transmits the logging debug messages within the SIRF binary Protocols That means additional messages are output By default it is disabled If the Flash 1 PPS LED when logging flag is set the LED indicates a logging cycle By default it is disabled and the LED flashes at the measurement cycle Log diagnostic strings is useful to store important events like Reset into the flash By default it is disabled Note If the Logging isn t enabled the GPS receiver will not store any records regardless of other flags 6 3 1 Position fix logging configuration The Position fix logging window contains the Position Fix Filter settings The chapter Position Fix Filter explains this in depth GPS G1 X 00011 Page 26 Datalogging Option User s Manual u blox ag Download Convert Lonfigure Connection Configure the p blos GPS for logging You can read aut the parameters currently stored in the module using the Get configuration button or store your parameters with the Set configuration button Iv Position Fix logging enabled MW 45
34. within the timeout value The default is 2000 ms it should be suitable for most applications Note The Auto detect button checks all serial ports and baud rates for a connected GPS If this does not detect the GPS make sure that it uses the SIRF binary mode protocol and that the cables are properly connected GPS G1 X 00011 Page 25 Datalogging Option User s Manual u blox ag 6 2 Configure the GPS logging parameters For an optimised storage several different parameters may be adjusted Therefore the window with the different sub pages serves for this purpose For additional information please consult the System Overview chapter The Set configuration button stores the parameters selected in the dialog box to the module The Get configuration button reads out the configuration parameters from the module and fills them into the dialog box Note You must set or get the configuration for each sub tab separately 6 3 General logging configuration The Datalogger contains two main logging functionalities position fix and GPIO logging The general logging configurations affects both functionalities LN MONET DI Download Convert Configure Connection Configure the p blox GPS for logging ou can read aut the parameters currently stored in the module using the Get configuration button or store your parameters with the Set configuration button W Logging enabled Logging debug messages Flash 1 PPS LED
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