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SiRFstarIIeLP Evaluation Kit User's Guide

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1. 85 1 3 Table 1 5 GLE Data Formate CERES GE AER 1 4 Table 1 6 GSA Data Format cep RR RR RE REPE EG 1 4 Table 1 7 Mode uci dace epe i EN PH P ed pe x 1 5 Table 1 8 Mode ed bor a Mad ch tone pecie 1 5 Table 1 9 GSV Data Form ts ce eeni a eee 1 5 Table 1 10 MSS Data Format apre RE E ARKE AE 1 6 Table 1 11 Data Format 8 1 6 Table 1 12 Data Format sells pr p d 1 7 Table 1 13 ZDA Data Format 1 7 Table 1 14 OkToSend Message Data 1 8 Table 1 15 GPS Data and Ephemeris Mask Message 151 1 8 Table 1 16 Extended Ephemeris Integrity Message 152 1 9 Table 1 17 Extended Ephemeris ACK Message 154 1 10 Table 2 1 Transport Message 2 1 Table 2 2 NMEA Input Messages 2 2 Table 2 3 Supported NMEA Input 2 2 Table 2 4 Set Serial Port Data 2 3 Table 2 5 Navigation Initialization Data 2 3 Table 2 6 Reset Configuration Non SiRFLoc Platforms 2 4 vi Table 2 7 Table 2 8 Table 2 9 Table 2 10 Table 2 11 Table 2 12 Table 2 13 Table 2 14 Table 2 15 Table 2 16 Table 2 17 Table 2 18 Table 2 19 Table 2 20 Reset Configur
2. Nav New Config Status Config 4 Config 3 Config 2 Config 1 UARTA NMEA v2 2 NMEA v2 2 SiRF Binary NMEA v2 2 UARTB RTCM RTCM NMEA v2 2 SiRF Binary Build GSWXx2 4 0 and GSWx2 4 0 and GSWx2 4 0 and GSWx2 4 0 and greater greater greater greater Adaptive Trickle Power 300 1 UARTA Baud 4800n 8 1 19200n 8 1 57600 n 8 1 4800 n 8 1 UARTB Baud 9600 n 8 1 9600 n 8 1 115200n 8 1 38400 n 8 1 SiRF Binary 2 4 9 13 2 4 9 13 2 4 9 13 2 4 9 13 Output 18 27 41 52 18 27 41 52 18 27 41 52 18 27 41 52 Messages NMEA RMC GGA GGA GLL GGA GLL GGA GLL GSA Messages VTG GSA GSA GSV GSA GSV GSV RMC VTG GSV 1 5Hz RMC VTG RMC VTG ZDA ZDA ZDA ZDA GPIO A No Nav On On On On GPIO 1 Nav 100ms on 1Hz 100ms 1Hz 100ms on 1Hz 100ms on 1Hz GPIO B No Nav Off Off Off Off GPIO 3 Nav 100ms on 1Hz 100ms on 1Hz 100ms on 1Hz 100ms on 1Hz GPIO C No Nav On On On On GPIO 13 Nav 1s on 1s off 1s on 1s off 1s on 1s off 1s on 1s off GPIO D No Nav Off Off Off Off GPIO 2 Nav On On On On Static Filter Off Off Off Off Track On On On On Smoothing WAAS Disabled Enabled Enabled Disabled DR Off Off Off Off 1 SiRF Binary Messages 2 Measured Nav Data 4 Measured Track Data 9 Through Put 13 Visible List 18 OK to Send 27 DGPS Status 41 Geodetic Nav Data 52 1 PPS Time Message NMEA Reference Manual August 2006 lll M
3. 00 00000 1 invalid clock found 0 valid clock SVID 1 validity flag is in LSB and subsequent bits will have validity flags for SVIDs in increasing order up to SVID 32 whose validity flag will be in MSB SAT_HEALTH_FLAG 0x10000041 N A This is a 10 character field representing the debug flag in hex with lead in 0x e g 0 00 00000 1 unhealthy satellite 0 healthy satellite SVID 1 health flag is in the LSB and subsequent bits will have health flags for SVIDs in increasing order up to SVID 32 whose validity flag will be in MSB CR lt LF gt End of message termination 154 Extended Ephemeris ACK Message ID 154 is used by GS W2 2 5 or above SiRFXTrac 2 3 or above and GSW3 3 2 0 or above and GSW3LT software This message is returned when Messages ID 107 108 or 110 input messages is received Refer to Chapter 2 Input Messages for more details on Messages ID 107 108 and 110 An example of the message is provided below Note that the parentheses and are NOT part of the message they are used to delimit description of a field The field of checksum consists of two hex digits representing the exclusive or of all characters between but not including the and PSRF154 ACK Message ID checksum lt CR gt lt LF gt Output Messages 1 9 11 Table 1 17 contains the parameter definitions and example values Table 1 17 Extended Ephemeris ACK Messag
4. Input Messages 2 5 104 LLA Navigationlnitialization 2 6 Table 2 10 Messages Value Description 0 GGA GLL GSA GSV RMC VTG MSS If internal beacon is supported Not defined ZDA if IPPS output is supported NIA NM um e Not defined Note In TricklePower mode update rate is specified by the user When switching 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 1 TricklePower update rate 2 seconds NMEA update rate 5 seconds resulting update rate is every 10 seconds 2 X 5 10 This command is used to initialize the Evaluation Receiver 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 signals quickly For GSW3 GSW3LT and SiRFXTrac software position and time inputs are not possible and consequently warm start init is ignored Table 2 11 contains the input values for the following example Start using known position and time PSRF104 37 3875111 121 97232 0 96000 237759 1946 12 1 07 Table 2 11 LLA Navigation Initialization Data Format
5. 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 96000 Hz Clock Offset of the Evaluation Receiver TimeOfWeek 237759 seconds GPS Time Of Week WeekNo 1946 Extended GPS Week Number 1024 added ChannelCount 12 Range 1 to 12 ResetCfg 1 See Table 2 12 Checksum 07 NMEA Reference Manual August 2006 N lll Table 2 11 LLA Navigation Initialization Data Format Name Example Units Description 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 is used Table 2 12 Reset Configuration Hex Description 0x01 Hot Start data valid 0x02 Warm Start Ephemeris cleared 0x03 Warm Start with Init Ephemeris cleared initialization data loaded 0x04 Cold Start Clears all data in memory 0x08 Clear Memory Clears all data in memory and resets receiver back to factory defaults 105 Development Data On Off Use this command to enable development data information if you are having trouble getting commands accepted Invalid commands generate debug information that enables the you to determine the source of the command rejection Common reasons for input command rejection are inval
6. 1 Output Messages defines SiRF developed NMEA output messages Chapter 2 Input Messages defines SiRF developed NMEA input messages Related Manuals You can refer to the following document for more information NMEA 0163 Standard For Interfacing Marine Electronic Devices SiRF Binary Protocol Reference Manual SiRF Evaluation Kit User Guide SiRF System Development Kit User Guide Contacting SiRF Technical Support Address SiRF Technology Inc 217 Devcon Drive San Jose CA 95112 U S A SiRF Technical Support Phone 1 408 467 0410 9 am to 5 pm Pacific Standard Time E mail support sirf com General enquiries Phone 1 408 467 0410 9 am to 5 pm Pacific Standard Time E mail gpsGsirf com viii NMEA Reference Manual August 2006 Output Messages MM Ii Table 1 1 lists each of the NMEA output messages specifically developed and defined by SiRF for use within SiRF products Table 1 1 NMEA Output Messages Option Description GGA Time position and fix type data GLL Latitude longitude UTC time of position fix and status GSA GPS receiver operating mode satellites used in the position solution and DOP values GSV The number of GPS satellites in view satellite ID numbers elevation azimuth and SNR values MSS Signal to noise ratio signal strength frequency and bit rate from a radio beacon receiver RMC Time date position course and speed data VTG Course and sp
7. 662 107 6 665 612 6 671 620 6 675 003 6 680 695 6 680 703 6 684 158 6 691 066 6 703 971 6 707 423 6 707 843 6 714 158 6 724 342 6 724 811 6 738 013 6 747 596 6 748 015 6 757 324 6 757 610 6 760 364 6 775 319 6 778 136 6 788 655 6 788 735 6 804 290 6 836 241 6 839 020 6 850 557 6 853 338 6 856 794 6 885 940 6 888 497 6 900 758 6 915 208 6 917 331 6 917 644 6 930 634 6 931 055 6 931 233 6 933 886 6 950 058 6 952 440 6 961 019 6 961 660 6 985 811 7 002 514 7 002 516 69714581 6 0 731 339 1 114 524 60022901 7 08 NI 180674 NI 197510 156573 163591 178370 178371 240329 459834 468265 729697 0895599 1238485 2548853 3 754 672 and 1 316 228 Other United States and foreign patents are issued or pending SiRF SiRFstar SiRFLoc SiRFDRive SiRF XTrac and the SiRF logo are registered trademarks of SiRF Technology Inc SIRF Powered SnapLock FoliageLock TrickleP ower SingleS at SnapStart Push to Fix SiRF Nav SiRFstarll SiRFstarlll SiRFSoft SiRFFlash SiRFView SoftGPS Multimode Location Engine UrbanGPS SiRFLink and WinSiRF are trademarks of SiRF Technology Inc Other trademarks are property of their respective companies This document contains information about SiRF products SiRF reserves the right to make changes in its products specifications and other information at any time without notice SIRF assumes no liability or responsibility for any claims or damages arising from the use of this doc
8. 7 Reset Configuration SiRFLoc Specific Hex Description 0x00 Perform a hot start using internal RAM data No initialization data is used 0x01 Use initialization data and begin in start mode Uncertainties are 5 seconds time accuracy and 300 km position accuracy Ephemeris data in SRAM is used 0x02 No initialization data is used ephemeris data is cleared and warm start performed using remaining data in RAM 0x03 Initialization data is used ephemeris data is cleared and warm start performed using remaining data in RAM 0x04 No initialization data is used Position time and ephemeris are cleared and a cold start is performed 0x08 No initialization data is used Internal RAM is cleared and a factory reset is performed This command is used to control the serial port used to receive RTCM differential corrections Differential receivers may output corrections using different communication parameters If a DGPS receiver is used that 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 the receiver restarts using the saved parameters For GSW3 and GSW3LT software this message does not provide DGPS parameter Table 2 8 contains the input values for the following example Set DGPS Port to be 9600 8 N 1 PSRF102 9600 8 1 0 12 NMEA Reference Manu
9. SiRF binary or NMEA and or the communication parameters Baud data bits stop bits and 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 the Evaluation Receiver restarts using the saved parameters Table 2 4 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 2 4 Set Serial Port Data Format Name Example Units Description Message ID PSRF100 PSRF100 protocol header Protocol 0 0 SiRF binary IZNMEA Baud 9600 1200 2400 4800 9600 19200 38400 57600 and 115200 DataBits 8 8 7 StopBits 1 0 1 Parity 0 OzNone 1 Odd 2 Even Checksum 0C CR lt LF gt End of message termination SiRF protocol is only valid for 8 data bits I stop bit and no parity 101 Navigationlnitialization Input Messages This command is used to initialize the Evaluation Receiver by providing current position in X Y Z coordinates clock offset and time This enables the Evaluation Receiver to search for the correct satellite signals at the correct signal parameters Correct initialization parameters enable the Evaluation Receiver to acquire signals quickly For GSW3 GSW3LT and SiRFXTrac software position and time inputs are not possib
10. italic red apply only to NMEA version 2 3 and later in this NMEA message description Table 1 5 contains the values for the following example GPGLL 3723 2475 N 12158 3416 W 161229 487 A A 41 Table 1 5 GLL Data Format Name Example Units Description Message ID GPGLL GLL protocol header Latitude 3723 2475 ddmm mmmm N S Indicator N Nznorth or S south Longitude 12158 3416 dddmm mmmm E W Indicator W E east or W west UTC Time 161229 487 hhmmss sss Status A A data valid or V data not valid Mode A A Autonomous D DGPS E DR Only present in NMEA version 3 00 Checksum 4 CR lt LF gt End of message termination Note Fields marked in italic red apply only to NMEA version 2 3 and later in this NMEA message description Table 1 6 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 1 6 GSA Data Format Name Example Units Description Message ID GPGSA GSA protocol header Mode 1 A See Table 1 7 Mode 2 3 See Table 1 8 Satellite Used 07 Sv on Channel 1 Satellite Used 02 Sv on Channel 2 Satellite Used Sv on Channel 12 PDOP 1 8 Position Dilution of Precision HDOP 1 0 Horizontal Dilution of Precision VDOP 1 5 Vertical Dilution of Precision Checksum 33 CR lt LF gt End of message termination 1 Satellite used in solution NMEA Reference Manual A
11. J apan Tel 81 44829 2186 Fax 81 44829 2187 Email nogino sirf com SiRF France Tel 33 6 0717 7862 Fax 44 1344 668157 Email rocky sirf com SiRF Germany Tel 49 81 529932 90 Fax 49 81 529931 70 Email peterz sirf com SiRF Taiwan Tel 886 2 8789 6566 Fax 886 2 8789 6567 Email sirf_taiwan sirf com SiRF India Tel 91 120 251 0256 Fax 91 120 251 0584 Email Salesindia sirf com NMEA Reference Manual 2006 SiRF Technology Inc All rights reserved Products made sold or licensed by SiRF Technology Inc are protected by one or more of the following United States patents 5 148 452 5 175 557 5 436 840 5 488 378 5 504 482 5 552 794 5 592 382 5 638 077 5 663 735 5 745 741 5 883 595 5 897 605 5 901 171 5 917 383 5 920 283 6 018 704 6 037 900 6 041 280 6 044 105 6 047 017 6 081 228 6 114 992 6 121 923 6 125 325 6 198 765 6 236 937 6 249 542 6 278 403 6 282 231 6 292 749 6 295 024 6 297 771 6 300 899 6 301 545 6 304 216 6 351 486 6 351 711 6 366 250 6 389 291 6 393 046 6 400 753 6 421 609 6 427 120 6 427 121 6 448 925 6 453 238 6 462 708 6 466 161 6 466 612 6 480 150 6 496 145 6 512 479 6 519 277 6 519 466 6 522 682 6 525 687 6 525 688 6 526 322 6 529 829 6 531 982 6 532 251 6 535 163 6 539 304 6 542 116 6 542 823 6 574 558 6 577 271 6 583 758 6 593 897 6 597 988 6 606 349 6 611 757 6 618 670 6 633 814 6 636 178 6 643 587 6 646 595 6 650 879 6
12. NMEA version 2 3 and later in this NMEA message description 1 2 NMEA Reference Manual August 2006 Output Messages Table 1 3 contains the values for the following example GPGGA 161229 487 3723 24775 N 12158 3416 W 1 07 1 0 9 0 M 0000 18 Table 1 3 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 W E east or W west Position Fix Indicator 1 See Table 1 4 Satellites Used 07 Range 0 to 12 HDOP 1 0 Horizontal Dilution of Precision MSL Altitude 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 CR lt LF gt End of message termination Table 1 4 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 5 Not supported 6 Dead Reckoning Mode fix valid Note A valid position fix indicator is derived from the SiRF Binary M I D 2 position mode 1 See the SiRF Binary Protocol Reference Manual 1 3 GLL Geographic Position Latitude Longitude GSA GNSS DOP and Active Satellites 1 4 Note Fields marked in
13. SA un J Tj NMEA Reference Manual SiRF Technology Inc 217 Devcon Drive San Jose CA 95112 U S A Phone 1 408 467 0410 Fax 1 408 467 0420 www SiRF com Part Number 1050 0042 Revision 1 7 August 2006 SiRF SiRFstar and SiRF plus orbit design are registered in the U S Patent and Trademark Office This document contains information on a product under development at SiRF The information is intended to help you evaluate this product SiRF reserves the right to change or discontinue work on this product without notice NMEA Reference Manual Copyright 1996 2006 SiRF Technology Inc All rights reserved No part of this work may be reproduced or transmitted in any form or by any means electronic or mechanical including photocopying and recording or by any information storage or retrieval system without the prior written permission of SiRF Technology Inc unless such copying is expressly permitted by United States copyright law Address inquiries to Legal Department SiRF Technology Inc 217 Devcon Drive San Jose California 95112 United States of America About This Document This document contains information on SiRF products SiRF Technology Inc reserves the right to make changes in its products specifications and other information at any time without notice SiRF assumes no liability or responsibility for any claims or damages arising out of the use of this document or from the use of integrated circuits
14. SK MSK Receiver Interface Table 2 20 contains the values for the following example GPMSK 318 0 A 100 M 2 45 Input Messages Table 2 20 RMC Data Format Name Example Units Description Message ID GPMSK MSK protocol header Beacon Frequency 318 0 kHz Frequency to use Auto Manual Frequency A A Auto M Manual Beacon Bit Rate 100 Bits per second Auto Manual Bit Rate M A Auto M Manual Interval for Sending MSS 2 sec Sending of MSS messages for status 1 If Auto is specified the previous field val 2 When status data is not to be transmitted this field is null ue is ignored Note The NMEA messages supported by the Evaluation Receiver does not provide the ability to change the DGPS source If you need to change the DGPS source to internal beacon use the SiRF binary protocol and then switch to NMEA 2 11 2 12 NMEA Reference Manual August 2006 ADDITIONAL AVAILABLE PRODUCT INFORMATION Part Number Description 1050 0042 NMEA Reference Manual 1050 0041 SiRF Binary Protocol Reference Manual SiRF Technology Inc 217 Devcon Drive San J ose CA 95112 Tel 1 408 467 0410 Fax 1 408 467 0420 Email gps sirf com Website http www sirf com SiRF Texas Tel 1 972 239 6988 Fax 1 972 239 0372 Email jdaniels sirf com SiRF United Kingdom Tel 44 1344 668390 Fax 44 1344 668157 Email aellis sirf com SiRF
15. a gt lt data gt definition CKSUM is a two hex character checksum as defined in the NMEA specification NMEA 0183 Standard For Interfacing Marine Electronic Devices Use of checksums is required on all input messages w Each message is terminated using Carriage Return CR Line Feed LF which is r n which is hex 0D 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 2 1 2 NMEA Input Messages 2 2 Table 2 2 describes the NMEA input messages Table 2 2 NMEA Input Messages Message MID Description SetSerialPort 100 Set PORT A parameters and protocol NavigationInitialization 101 Parameters required for start using QU YT SetDGPSPort 102 Set PORT B parameters for DGPS input Query Rate Control 103 Query standard NMEA message and or set output rate LLANavigationlInitialization 104 Parameters required for start using Lat Lon Alt Development Data On Off 105 Development Data messages On Off Select Datum 106 Selection of datum to be used for coordinate transformations Extended Ephemeris Proprietary 1 107 Extended Ephemeris Proprietary message Extended Ephemeris Proprietary 2 108 Extended Ep
16. al August 2006 No lll Table 2 8 Set DGPS Port Data Format Name Example Units Description Message ID PSRF102 PSRF102 protocol header Baud 9600 1200 2400 4800 9600 19200 38400 57600 and 115200 DataBits 8 8 7 StopBits 1 0 1 Parity 0 OzNone 1 Odd 2 Even Checksum 12 CR lt LF gt End of message termination 103 Query Rate Control This command is used to control the output of 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 Table 2 9 contains the input values for the following examples 1 Query the GGA message 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 2 9 Query Rate Control Data Format See example 1 Name Example Units Description Message ID PSRF103 PSRF103 protocol header Msg 00 See Table 2 10 Mode 01 OzSetRate 1 Query Rate 00 seconds Output off 0 max 255 CksumEnable 01 0 Checksum 1 Enable Checksum Checksum 25 CR lt LF gt End of message termination
17. ation SiRFLoc Specific 2 4 Set DGPS Port Data 2 5 Query Rate Control Data Format See example 1 2 5 Messages EIE Red 2 6 LLA Navigation Initialization Data Format 2 6 Reset Configuration 2 cece eee eee n 2 7 Development Data On Off Data Format 2 7 Select Datum Data 2 8 Extended Ephemeris Proprietary 1 2 8 Extended Ephemeris Proprietary 2 2 8 Extended Ephemeris 2 9 GSC2xr Marketing Software Configuration 2 10 GSC2xr Marketing Software Configurations 2 10 Data Format riie eee 2 11 Reference Manual August 2006 Preface All SiRF products support a subset of the NMEA 0183 standard for interfacing marine electronic devices as defined by the National Marine Electronics Association NMEA The NMEA Reference Manual provides details of NMEA messages developed and defined by SiRF It does not provide information about the complete NMEA 0183 interface standard Who Should Use This Guide This manual was written assuming the user has a basic understanding of interface protocols and their use How This Guide Is Organized This manual contains the following chapters Chapter
18. based on this document including but not limited to claims or damages based on infringement of patents copyrights or other intellectual property rights SiRF makes no warranties either express or implied with respect to the information and specifications contained in this document Performance characteristics listed in this data sheet do not constitute a warranty or guarantee of product performance All terms and conditions of sale are governed by the SiRF Terms and Conditions of Sale a copy of which you may obtain from your authorized SiRF sales representative Getting Help If you have any problems contact your SiRF representative or call or send an e mail to the SiRF Technology support group phone 1 408 467 0410 e mail support sirf com NMEA Reference Manual August 2006 Contents Preface oco Ex IRR CA IRURE ER CER vii 1 Output 1 1 GGA Global Positioning System Fixed Data 1 2 GLL Geographic Position Latitude Longitude 1 4 GSA GNSS DOP and Active 1 4 GSV GNSS Satellites in 1 5 MSS MSK Receiver 1 1 1 5 RMC Recommended Minimum Specific GNSS Data 1 6 VTG Course Over Ground and Ground Speed 1 7 ZDA SiRF Timing Message 1 7 TSO OKR TOS CNS se
19. e 154 Name Example Units Description Message ID PSRF154 PSRF154 protocol header ACK ID 110 N A Message ID of the message to ACK 107 108 110 CR lt LF gt End of message termination Reserved Message ID 225 This output message is SiRF proprietary except for sub ID 6 1 10 NMEA Reference Manual August 2006 Transport Message Input Messages 2 input messages enable you to control the Evaluation Receiver while in NMEA protocol mode The Evaluation Receiver may be put into NMEA mode by sending the SiRF binary protocol message Switch to NMEA Protocol Message I D 129 see the SiRF Binary Protocol Reference Manual This can be done by using a user program or by using the SiRFSDemo software and selecting Switch to NMEA Protocol from the Action menu see the SiRF Evaluation Kit User Guide or the SiRFDemo User Guide If the receiver is in SiRF binary mode all NMEA input messages are ignored Once the receiver is put into NMEA mode the following messages may be used to command the module Table 2 1 describes the transport message parameters Table 2 1 Transport Message Parameters Start Sequence Payload Checksum End Sequence PSRF lt MID gt Data CKSUM CR Lr ja Message Identifier consisting of three numeric characters Input messages begin at MID 100 N Message specific data Refer to a specific message section for lt dat
20. eed information relative to the ground ZDA PPS timing message synchronized to PPS 150 OK to send message 151 GPS Data and Extended Ephemeris Mask 152 Extended Ephemeris Integrity 154 Extended Ephemeris ACK A full description of the listed NMEA messages are provided in the following sections 1 1 lll Table 1 2 provides summary of 51 NMEA output messages supported by the specific SiRF platforms Table 1 2 Supported NMEA Output Messages SiRF Software Options GSW3 Message Gsw2 SiRFDRive SiRFXTrac SiRFLoc GSW3LT GGA Yes Yes Yes Yes Yes GLL Yes Yes Yes Yes Yes GSA Yes Yes Yes Yes Yes GSV Yes Yes Yes Yes Yes MSS Yes No No No Yes RMC Yes Yes Yes Yes Yes VTG Yes Yes Yes Yes Yes ZDA 2 3 2 and above No No No No 150 2 3 2 and above No No No No 151 2 5 and above No 2 3 and above No 3 2 0 and above 152 2 5 and above No 2 3 and above No 3 2 0 and above 154 2 5 and above No 2 3 and above No 3 2 0 and above 1 GSW2 and SiRFDRive software only output NMEA version 2 20 and earlier SIREXTrac GSW3 and GSW3LT software have conditional defines UL NMEA VERSION XXX to allow a choice between NMEA 2 20 and 3 00 The file NMEA SIF H contains the NMEA version defines 2 MSS message for GSW3 and GSW3LT is empty since they do not support BEACON GGA Global Positioning System Fixed Data Note Fields marked in italic red apply only to
21. es all internal broadcast ephemeris Checksum CR lt LF gt End of message termination 200 Marketing Software Configuration Note This message ID 200 is used only with GSC2xr chip This input message overrides the Marketing Software Configuration as defined in bits 3 2 of the GSC2xr chip configuration register The valid input values mapped to the Marketing Software Configuration are described in the next table Mapping Input Values Marketing Software Configuration 0 1 1 2 2 3 3 4 4 Standard GSW2 and GSW2x software default configuration 1 The default configuration is SiRF Binary at 38400 bps using UART A and RTCM at 9600 bps using UART B Table 2 18 contains the input values for the following example Set receiver to Standard GSW2 Default Configuration Example PSRF200 4 3D Input Messages 2 9 2 10 Table 2 18 GSC2xr Marketing Software Configuration Name Example Units Description Message ID PSRF200 PSRF200 protocol header Software 4 0 Marketing Software Configuration 1 Configuration Value 2Marketing Software Configuration 2 2 Marketing Software Configuration 3 3 Marketing Software Configuration 4 4 GSW2 and GSW2x Default Configuration Checksum 3D CR lt LF gt End of message termination Table 2 19 GSC2xr Marketing Software Configurations
22. essage is proprietary See also Chapter 1 Output Messages Message ID 154 Table 2 15 contains the message parameter definitions Table 2 15 Extended Ephemeris Proprietary 1 Name Example Units Description Message ID PSRF107 PSRF107 protocol header Extended Ephemeris Proprietary message Checksum CR lt LF gt End of message termination 108 Extended Ephemeris Proprietary 2 This message is reserved for SiRF extended ephemeris usage only The content of this message is proprietary See also Chapter 1 Output Messages Message ID 154 Table 2 16 contains the message parameter definitions Table 2 16 Extended Ephemeris Proprietary 2 Name Example Units Description Message ID PSRF108 PSRF108 protocol header Extended Ephemeris Proprietary message Checksum CR lt LF gt End of message termination NMEA Reference Manual August 2006 N lll 110 Extended Ephemeris Debug This message contains a debug flag See also Chapter 1 Output Messages Message ID 154 Table 2 17 contains the message parameter definitions Table 2 17 Extended Ephemeris Debug Name Example Units Description Message ID PSRF110 PSRF110 protocol header DEBUG_FLAG 0x01000000 This is a 10 character field representing the debug flag in hex with leading Ox If the first byte is set to 0x01 i e Debug Flag 0x01000000 the GPS sensor ignor
23. hemeris Proprietary message Extended Ephemeris Debug 110 Extended Ephemeris Debug Marketing Software Configuration 200 Selection of Marketing Software Configurations MSK Receiver Interface MSK Command message to a MSK radio beacon receiver 1 Message Identification MID 2 Input coordinates must be WGS84 3 Input coordinates must be WGS84 Note NMEA input messages 100 to 106 are SiRF proprietary NMEA messages The MSK NMEA string is as defined by the NMEA 0183 standard Table 2 3 provides a summary of supported 51 NMEA input messages by the specific SiRF platforms Table 2 3 Supported NMEA Input Messages SiRF Software Options GSW3 Message ID GSW2 SiRFDRive SiRFXTrac SiRFLoc GSW3LT 100 Yes Yes Yes Yes Yes 101 Yes Yes Yes Yes Yes 102 Yes Yes No No Yes 103 Yes Yes Yes Yes Yes 104 Yes Yes Yes Yes Yes 105 Yes Yes Yes Yes Yes 106 Yes Yes Yes Yes Yes 107 2 5 and above No 2 3 and above No Yes 108 2 5 and above No 2 3 and above No Yes 110 2 5 and above No 2 3 and above No 3 2 0 and above 2007 No No No No No MSK Yes Yes No No Yes 1 Position and time are not available consequently warm start init is ignored 2 Only with GSC2xr chip 3 MSK message for GSW3 and GSW3LT are empty since they do not support BEACON NMEA Reference Manual August 2006 N lll 100 SetSerialPort This command message is used to set the protocol
24. id checksum or parameter out of specified range Table 2 13 contains the input values for the following examples 1 Debug On PSRF105 1 3E 2 Debug Off PSRF105 0 3F Table 2 13 Development Data On Off Data Format Name Example Units Description Message ID PSRF105 PSRF105 protocol header Debug 1 0 Off 1 On Checksum 3E CR lt LF gt End of message termination 106 Select Datum GPS receivers perform initial position and velocity calculations using an earth centered earth fixed ECEF coordinate system Results may be converted to an earth model geoid defined by the selected datum The default datum is WGS 84 World Geodetic System 1984 which provides a worldwide common grid system that may be translated into local coordinate systems or map datums Local map datums are a best fit to the local shape of the earth and not valid worldwide Input Messages 2 7 Table 2 14 contains the input values for 1 Datum select TORYO MEAN PSRF106 178 32 Table 2 14 Select Datum Data Format the following examples Name Example Units Description Message ID PSRF106 PSRF106 protocol header Datum 178 21 WGS84 178 TOKYO_MEAN 179 TOKYO_JAPAN 180 TOKYO_KOREA 181 TOKYO_OKINAWA Checksum 32 CR lt LF gt End of message termination 107 Extended Ephemeris Proprietary 1 This message is reserved for SiRF extended ephemeris usage only The content of this m
25. le and consequently warm start init is ignored Table 2 5 contains the input values for the following example Start using known position and time PSRF101 2686700 4304200 3851624 96000 497260 921 12 3 1C Table 2 5 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 the Evaluation Receiver TimeOfWeek 497260 seconds GPS Time Of Week 2 3 lll 102 SetDGPSPort 2 4 Table 2 5 Navigation Initialization Data Format Continued Name Example Units Description WeekNo 921 GPS Week Number ChannelCount 12 Range 1 to 12 ResetCfg 3 See Table 2 6 and Table 2 7 Checksum 1C CR 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 is used Table 2 6 Reset Configuration Non SiRFLoc Platforms Hex Description 0x01 Hot Start All data valid 0x02 Warm Start Ephemeris cleared 0x03 Warm Start with Init Ephemeris cleared initialization data loaded 0x04 Cold Start Clears all data in memory 0x08 Clear Memory Clears all data in memory and resets the receiver back to factory defaults Table 2
26. lination All course over ground data are geodetic WGS84 directions ZDA SiRF Timing Message Output Messages Outputs the time associated with the current 1 PPS pulse Each message is output within a few hundred ms after the 1 PPS pulse is output and tells the time of the pulse that just occurred Table 1 13 contains the values for the following example GPZDA 181813 14 10 2003 00 00 4F Table 1 13 ZDA Data Format Name Example Units Description Message ID GPZDA ZDA protocol header UTC time 181813 hhmmss The UTC time units are as follow hh 2 UTC hours from 00 to 23 mm UTC minutes from 00 to 59 ss UTC seconds from 00 to 59 Either using valid IONO UTC or estimated from default leap seconds Day 14 01 TO 31 Month 10 01 TO 12 Year 2003 1980 to 2079 Local zone hour 00 hour Offset from UTC set to 00 Local zone minutes 00 minute Offset from UTC set to 00 Checksum AF CR lt LF gt End of message termination 1 7 11 150 OkToSend This message is being sent out during the trickle power mode to communicate with an outside program such as SiRFDemo to indicate whether the receiver is awake or not Table 1 14 contains the values for the following examples 1 OkToSend PSRF150 1 3F 2 not OkToSend PSRF150 0 3E Table 1 14 OkToSend Message Data Format Name Example Units Description Message ID PSRF150 PSRF150 pro
27. nce ence ee EDS S REOR 1 8 151 GPS Data and Extended Ephemeris Mask 1 8 152 Extended Ephemeris Integrity 1 9 154 Extended Ephemeris 1 9 Reserved Message ID 225 1 10 2 Input Messages vx a I ee eee ees 2 1 Transport Message 2 llle 2 1 NMEA Input Messages 2 2 100 SetSerialPort 2 0 eee ase 2 3 101 NavigationInitialization 2 3 102 SetDGPSDBott cand de ee an hae baa ae ee 2 4 103 Query Rate Control 2 5 iii 104 LLANavigationInitialization 2 6 105 Development Data 2 7 106 Select Datum 2 7 107 Extended Ephemeris Proprietary 1 2 8 108 Extended Ephemeris Proprietary 2 2 8 110 Extended Ephemeris 2 9 200 Marketing Software 2 9 MSK MSK Receiver Interface 2 11 NMEA Reference Manual August 2006 Tables Table 1 1 NMEA Output 1 1 Table 1 2 Supported NMEA Output Messages 1 2 Table 1 3 GGA Data Format ne EIE Ies Gees 1 3 Table 1 4 Position Fix
28. ng bit is for satellite PRN 32 and the last bit is for satellite PRN 1 CR lt LF gt End of message termination NMEA Reference Manual August 2006 lll 152 Extended Ephemeris Integrity Message ID 152 is used by GSW2 2 5 or above SiRFXTrac 2 3 or above and GSW3 3 2 0 or above and GSW3LT software An example of the message is provided below Note that the parentheses and are NOT part of the message they are used to delimit description of a field The field of checksum consists of two hex digits representing the exclusive or of all characters between but not including the and PSRF152 SAT POS VALIDITY FLAG SAT CLK VALIDITY FLAG SAT HEALTH FLAG checksum lt CR gt lt LF gt Table 1 16 contains the parameter definitions and example values Table 1 16 Extended Ephemeris Integrity Message 152 Name Example Units Description Message ID PSRF152 PSRF152 protocol header SAT_POS_VALIDITY 0x10000041 N A This is a 10 character field representing the debug _FLAG flag in hex with lead in 0x e g 0 00 00000 1 invalid position found 0 valid position SVID 1 validity flag is in LSB and subsequent bits will have validity flags for SVIDs in increasing order up to SVID 32 whose validity flag will be in MSB SAT_CLK_ 0x 10000041 N A This is a 10 character field representing the debug VALIDITY_FLAG flag in hex with lead in e g 0
29. ongitude 12158 3416 dddmm mmmm E W Indicator W E east or W west Speed Over Ground 0 13 knots Course Over Ground 309 62 degrees True Date 120598 ddmmyy Magnetic Variation degrees E east or W west East West Indicator E E east Mode A A Autonomous D DGPS E DR Checksum 10 CR lt LF gt End of message termination 1 A valid status is derived from the SiRF Binary 2 position mode 1 See the SiRF Binary Protocol Reference Manual 2 SiRF Technology Inc does not support magnetic declination All course over ground data are geodetic WGS84 directions 1 6 NMEA Reference Manual August 2006 lll VTG Course Over Ground and Ground Speed Note Fields marked in italic red apply only to NMEA version 2 3 and later in this NMEA message description Table 1 12 contains the values for the following example GPVTG 309 62 T M 0 13 N 0 2 K A 23 Table 1 12 VTG Data Format Name Example Units Description Message ID GPVTG VTG protocol header Course 309 62 degrees Measured heading Reference T True Course degrees Measured heading Reference M Magnetic Speed 0 13 knots Measured horizontal speed Units N Knots Speed 0 2 km hr Measured horizontal speed Units K Kilometers per hour Mode A A Autonomous D DGPS E DR Checksum 23 CR lt LF gt End of message termination 1 SiRF Technology Inc does not support magnetic dec
30. sage description This message for GSW3 and GSW3LT is empty since they do not support BEACON Output Messages 1 5 lll Table 1 10 contains the values for the following example GPMSS 55 27 318 0 100 1 57 Table 1 10 MSS Data Format Name Example Units Description Message ID GPMSS MSS protocol header Signal Strength 55 dB SS of tracked frequency Signal to Noise Ratio 27 dB SNR of tracked frequency Beacon Frequency 318 0 kHz Currently tracked frequency Beacon Bit Rate 100 bits per second Channel Number 1 The channel of the beacon being used if a multi channel beacon receiver is used Checksum 57 CR lt LF gt End of message termination Note The MSS NMEA message can only be polled or scheduled using the MSK NMEA input message See MSK MSK Receiver Interface on page 2 11 RMC Recommended Minimum Specific GNSS Data Note Fields marked in italic red apply only to NMEA version 2 3 and later in this NMEA message description Table 1 11 contains the values for the following example GPRMC 161229 487 A 3723 2475 N 12158 3416 W 0 13 309 62 120598 10 Table 1 11 RMC Data Format Name Example Units Description Message ID GPRMC RMC protocol header UTC Time 161229 487 hhmmss sss Status A A data valid or V data not valid Latitude 3723 2475 ddmm mmmm N S Indicator N N north or S south L
31. tocol header OkToSend 1 1 OK to send 0 not OK to send Checksum 3F lt CR gt lt LF gt End of message termination 151 GPS Data and Extended Ephemeris Mask 1 8 Message ID 151 is used by GSW2 2 5 or above SiRFXTrac 2 3 or above and GSW3 3 2 0 or above and GSW3LT software An example of the message is provided below Note that the parentheses and are NOT part of the message they are used to delimit description of a field The field of checksum consists of two hex digits representing the exclusive or of all characters between but not including the and PSRFI51 GPS TIME VALID FLAG GPS Week GPS TOW EPH_REQ_MASK_HEX checksum lt CR gt lt LF gt Table 1 15 contains the parameter definitions and example values Table 1 15 GPS Data and Ephemeris Mask Message 151 Name Example Units Description Message ID PSRFISI PSRF151 protocol header GPS TIME VALID 0 1 2 or3 N A LSB bit 0 2 1 GPS week is valid FLAG LSB bit 0 0 GPS week is not valid LSB bit 1 1 GPS TOW is valid LSB bit 1 0 GPS TOW is not valid GPS Week 1324 week Extended week number variable length field number GPS TOW 0 1 GPS Time Of Week variable length field second _ MASK 0x40000001 N A Mask to indicate the satellites for which new ephemeris is needed Eight characters preceded by the following characters 0 are used to show this 32 bit mask in hex The leadi
32. ugust 2006 Description Manual forced to operate in 2D or 3D mode 2D Automatic allowed to automatically switch 2D 3D Table 1 7 Mode 1 Value M A Table 1 8 Mode 2 Value Description 1 Fix not available 2 2D lt 4 SVs used 3 3D gt 3 SVs used GSV GNSS Satellites in View Table 1 9 contains the values for the following example GPGSV 2 1 07 07 79 048 42 02 5 1 062 43 26 36 256 42 27 27 138 42 71 GPGSV 2 2 07 09 23 313 42 04 19 159 41 15 12 041 42 41 Table 1 9 GSV Data Format Name Example Units Description Message ID GPGSV GSV protocol header Number of Messages 2 Range 1 to 3 Message Number 1 Range 1 to 3 Satellites in View 07 Satellite ID 07 Channel 1 Range 1 to 32 Elevation 79 degrees Channel 1 Maximum 90 Azimuth 048 degrees Channel 1 True Range 0 to 359 SNR C No 42 dBHz Range 0 to 99 null when not tracking Satellite ID 27 Channel 4 Range 1 to 32 Elevation 27 degrees Channel 4 Maximum 90 Azimuth 138 degrees Channel 4 True Range 0 to 359 SNR C No 42 dBHz Range 0 to 99 null when not tracking Checksum 71 CR lt LF gt End of message termination 1 Depending on the number of satellites tracked multiple messages of GSV data may be required MSS MSK Receiver Signal Note Fields marked in italic red apply only to NMEA version 2 3 and later in this NMEA mes
33. ument or from the use of integrated circuits based on this data sheet including but not limited to claims or damages based on infringement of patents copyrights or other intellectual property rights No license either expressed or implied is granted to any intellectual property rights of SIRF SiRF makes no warranties either express or implied with respect to the information and specification contained in this document Performance characteristics listed in this document do not constitute a warranty or guarantee of product performance SiRF products are not intended for use in life support systems or for life saving applications All terms and conditions of sale are governed by the SiRF Terms and Conditions of Sale a copy of which may obtain from your authorized SiRF sales representative August 2006 1 1

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