iSense GPS Module User Guide
Contents
1. Sets the log mode to the given value e g ISENSE_LOG_MODE_UARTO ISENSE_LOG_MODE_RADIO E void Os set_log_mode uint8 mode log_mode_ mode By default the output destination is set to UARTO i e the output is sent to a PC via a connected iSense Gateway Module In the GosModuleDemoApplication boot method the first boot notification message as well as the fatal message at the end are hence sent via a potentially connected iSense Gateway Module while all other messages of the application will be sent out via the radio These messages that are sent out via the radio can be picked up with an iSerAerial node see Section 4 4 After the GosModuleDemoApplication boot method enabled the GPS Module and passed the itself as the PositionHandler the GPS Module will start to acquire a valid position fix Whenever a new fix is available the GpsModuleDemoApplication handle_position method is called void GpsModuleDemoApplication handle_location uint8 latitude_degrees uint8 latitude_minutes Leinelom latte tela ieaS Direccion indicato cikarma uint8 longitude_degrees uint8 longitude_minutes uint1l6 longitude_frac DirectionIndicator long_ind Time time convert DirectionIndicators into characters Ginese sumeltveercows 4 SyUiNy VSl Vint Visi jie output via the radio os debug c d d d c d d d sat d indicators lat_ind latitude_degrees2. cx C Windows System32 Cmd exe C Dokumente und Einstellungen buschmann Eigene Dateien Luebeck coalesenses f irmwares std_f irmware isense_s joduleDemoApplicat ion gt make Building for JENNIC 5139R target Compiling lt Jennic JN513xR gt rc GpsModuleDemoApplication cpp inking to bin JN5139R GpsModuleDemofpplication or32 opying to or32 bin JN5139R GpsModuleDemofpplication or32 text data bss dec hex filename 56968 164 16698 67162 1665a bin JNS5139R GpsModuleDemofApplication or32 Done Building for JENNIC 5139R1 target ompiling Jennic JN513xR1i gt src GpsModuleDemofApplication cpp Linking to bin JN5139R1 GpsModuleDemofpplicat ion or32 Copying to or32 bin JN5139R1 GpsModuleDemofpplication or32 text data bss dec hex filename 61812 124 16192 72128 119c bin JN5139R1 GpsModuleDemofpplicat ion or32 C Dokumente und Einstellungen buschmann Eigene Date ien Luebeck coalesenses f irmvares std_f irmware isense_sdk ifpps GpsM lioduleDemofApplicat ion gt After the build finished the console output should look similar as shown above 4 3 GPS Module Demo Application functionality The source file of the GPS Module demo application is _ located at GpsModuleDemoApplication src GpsModuleDemoApplication cpp The class GpsModuleDemoApplication is derived from isense Application and additionally inherits from isense PositionHandler class GpsModuleDemoApplication public Application public PositionHandler public GpsModuleDemoAppli
3. iSense GPS Module User Guide coalesenses Coalesenses GmbH Maria Goeppert Str 1 23562 L beck Germany www coalesenses com sales coalesenses com research to innovate Document history Version Date Changes 1 0 12 05 2009 Initial version coalesenses 2 27 research to innovate Contents 1 About this User Guide 2 General Description 2 1 Handling and Security Instructions 2 2 Mounting the CPG Module on an iSense Module Stack 2 3 GPS Module Fix Indicator LED 3 GpsModule API Description 3 1 Constructor 3 2 Destructor Ss E 0 10 E care E BAL disables iati e a cadet a 3 5 pabledisisescoirninienis a eaei DG SEME Saesnes enis Eeee 3l HX st l eec A EAEE ENa 3 8 PositionHandler interface 4 GPS Module Demo Application 4 1 Obtaining the GPS Module Demo Application 4 2 Compiling the GPS Module Demo Application 4 2 1 Using Eclipse 4 2 2 Using the Command Line 4 3 GPS Module Demo Application functionality 4 4 Flashing the GPS Module Demo Application 5 References cssssscsssccccccssvsssssecccccsssvsssccesecsessvevenes coalesenses research to innovate 3 27 1 About this User Guide In this user guide e files and folders are represented in the Arial typeface e code fragments function names etc are represented in the Courier New typeface e GUI elements such as button descriptions etc are represented in quotation marks e titles of other documents are presented in Italic type Th
4. When mounting the iSense GPS holder module onto an iSense module stack be sure that the stack mounting screw bolt does not get into mechanical contact with the GPS engine board To ensure this make sure that the stack mounting screw bolt does not stand out of the holder module more than 2mm B before you remount the GPS engine board onto the holder module Screw together the iSense module stack coalesenses 8 27 research to innovate 2 3 GPS Module Fix Indicator LED The iSense GPS Module features a LED C that indicates the module s position fix state according to the table below LED activity GPS state off module not active flashing fast no fix available flashing once per second position fix available coalesenses 9127 research to innovate 3 GpsModule API Description The GpsModule class in the isense namespace contains all software functionality for operating the CPS Module specific features including e switching the GPS Module on and off e registering for position fix information e reading out additional information such as fix state or satellite count The GpsModule class is defined in src isense modules gps_module gps_module h in the iSense directory The iSense firmware is structured into a large number of software modules that can be de activated separately The below API description for each function specifies the required modules that must be activated to use the functions and names both the web co
5. false if the module was already enabled before Required modules GPS Module define ISENSE_ENABLE_GPS_MODULE Available for the targets JN5139R JN5139R1 3 4 disable void GpsModule disable Description Disables the GPS Module if it is ebabled Parameters coalesenses 11 27 research to innovate none Required modules GPS Module define ISENSE_ENABLE GPS MODULE Available for the targets JN5139R JN5139R1 3 5 enabled bool GpsModule enabled Description Return the activity state of the GPS Module Parameters none Returns true if the GPS Module is enabled false otherwise Required modules GPS Module define ISENSE_ENABLE GPS MODULE Available for the targets JN5139R JN5139R1 3 6 satellites bool GpsModule satellites Description Returns the number of satellites used for the last position fix Parameters none Returns Number of satellites or ISENSE_IVALID if the last fix was invalid or the GPS Module is disabled Required modules GPS Module define ISENSE_ENABLE GPS MODULE Available for the targets JN5139R JN5139R1 coalesenses 12 27 research to innovate 3 7 fix_state FixState GpsModule fix_state Description Returns the fix state of the last position fix Parameters none Returns ISENSE_GPS_FIX_STATE_INVALID Fix not available or invalid or the GPS Module is disabled ISENSE_GPS_FIX_STATE_GPS GPS SPS Mode fix va
6. latitude_minutes latitude_frac indicators long_ind longitude_degrees longitude_minutes longitude_frac gps_ gt satelites coalesenses 21 27 research to innovate if the GPS Time fixing feature is enabled in the firmware ifdef ISENSE_ ENABLE _GPS_TIME uint8 hour min sec day month uintl6 year ms convert the time stamp into conventional date time data time to_date_time year month day hour min sec ms output via the radio os debug UTC t d d d d d d d amp time year month day hour min sec ms endif There the received position is output using Os debug and For convenience the DirectionIndicator is converted into characters by using the below values defined in src isense modules gps_module gps_module h in the iSense directory typedef enum ISENSE_GPS_LATITUDE_NORTH ISENSE_GPS_LATITUDE_SOUTH ISENSE_GPS_LONGITUDE_WEST ISENSE_GPS_LONGITUDE_EAST DirectionIndicator Il ONIES lt Northern hemisphere lt Southern hemisphere lt Western hemisphere lt Eastern hemisphere In addition the number of satellites involved in the last fix is queried from the GPS Module and output as well If the GPS time fixing feature is enabled in the firmware ifdef ISENSE_ENABLE_GPS_TIME will be true the time stamp passed to GpsModuleDemoApplication handle_position is converted into conventional date and time inform
7. the iSerAerial node is possible The fix indication should flash fast for a while and then change to flashing every second i e whenever a position fix is available coalesenses 24 27 research to innovate amp s iShell COM9 coalesenses GmbH File Edit Mode iSerderialapp Booting id 7065 Ox7151 N 53 50 8051 E 10 41 3765 sat 4 Ox7151 UTC 295444706 905 2009 5 12 11 58 26 Ox7151 N 53 50 8002 E 10 41 3692 sat 5 Ox7151 UTC 295444707 806 2009 5 12 11 58 27 Ox7151 N 53 50 7962 E 10 41 3707 sat 5 0x7151 UTC 295444708 806 2009 5 12 11 58 28 Ox7151 N 53 50 7973 E 10 41 3694 sat 6 Ox7151 UTC 295444709 498 2009 5 12 11 58 29 Ox7151 N 53 50 7973 E 10 41 3694 sat 6 Ox7151 UTC 295444710 499 2009 5 12 11 58 30 lResetted device Resetted device Observe output at the iShell to which the iSerAerial node is connected At the time when the flashing mode changes position information should appear in the Serial Monitor text field Position acquisition of the GPS node may take up to 90 seconds usually less than 20 seconds If the node does not acquire a fix after a certain time try a different location If no output appears even though the GPS node flashes every second try to move the iSerAerial node closer to the GPS node both should be in the same room If that does not help be sure that both nodes operate on the same channel i e that you did not se
8. 3 4 Top Holder Board x JF amp GPS Engine Board GPS Module coalesenses 5 27 research to innovate With the 34 pin connector X2 on the top side the GPS Module can be connected to other iSense modules such as the iSense Core Module 2 1 Handling and Security Instructions Note that all iSense Modules are sensitive to electro static discharge Appropriate protection measures have to be taken If not protected by an appropriate housing all iSense components must be protected from humidity mechanical impact and short circuiting by contact with conductive materials Note that all cable plugs and headers are designed to be extremely compact and are not intended for frequent plugging and unplugging Never pull the cables to remove the plugs from the corresponding modules always pull the plug itself If required use an appropriate tool or the pulling cord if available Even though all plugs headers are coded be sure to pay attention to the proper orientation Never apply force Never use cables if their insulation is damaged Note that iSense modules are not intended for hot plugging dis connecting modules from or to other modules in operation can result in a reset of the Core Module and other undesired effects All delivered components are intended for use in research application For using these components within other application domains consult coalesenses prior to use Coalesenses products are no
9. PS Module Demo Application open Eclipse and change to the C perspective ek E Fy cic G Java SB Geer Crepe 5 Bw ON em You can now import the application into Eclipse Choose File gt Import from the menu bar to open the Import dialog coalesenses 15 27 research to innovate Import Select Create new projects from an archive file or directory Select an import source type filter text amp General Archive File o Breakpoints S Existing Projects into Workspace G File System E Preferences B C C S CVS S S Mylyn Team ces Choose Existing projects into workspace and click on Next Import Import Projects Select a directory to search for existing Eclipse projects Select root directory O Select archive file l Browse Projects Select Al C copy projects into workspace Next gt Einish Click on the Browse and select the directory of the GPS Module demo application i e GpsModuleDemoApplication in the iApps directory coalesenses 16 27 research to innovate Ordner suchen Select root directory of the projects to import S O std_firmware amp isense_sdk idpps H O CoreModuleDemoApplication H O GatewayModuleDemoApplication 2 Oe E B iSenseDemoApplication H O TimeProviderDemoApplication O iSense GpsModuleDemoAppli
10. ation and is output via Os debug Note that the date and time information is given with respect to UTC i e it ignores local time zones and day light saving All in all the GosModuleDemoApplication enables the GPS Module and outputs the position via the radio upon an available position fix coalesenses 22 27 research to innovate 4 4 Flashing the GPS Module Demo Application Running the GPS Module demo application involves two iSense sensor nodes the GPS node and the iSerAerial node Node Configuration GPS node e aniSense Core Module e an iSense Battery Module and e aniSense GPS Module as well as e an additional iSense Gateway Module with USB or serial cable iSerAerial node e aniSense Core Module and e aniSense Gateway Module with a USB cable or e aniSense Core Module e an iSense Battery Module and e aniSense Gateway Module with a serial cable First of all disconnect the GPS Module from the GPS mode attach the additional Gateway Module instead and plug the USB serial cable to the PC Be sure that the Core Module is switched on Start iShell configure the correct communication port and change to the Flash Loader view Select the appropriate binary depending on the chip version of the Core Module according to the table below Chip Binary file JN5139R iApps GpsModuleDemoApplication bin JN5139R GpsModuleDemoApplication bin JN5139R1 iApps GpsModuleDemoApplication bin JN5139R1 GopsMo
11. cation Abbrechen After doing do the GpsModuleDemoApplication project should appear in the projects list of the Import dialog Import Projects Select a directory to search for existing Eclipse projects Select root directory O Select archive file C Dokumente und Einstellungen buschmann lt GpsModuleDemoApplication C Dokumente und Einstellungen bus Cl Copy projects into workspace If it doesn t the typical reason is that there is already a project called GpsModuleDemoApplication in Eclipse i e 3 e you imported the GpsModuleDemoApplication before or e you created or imported a project with the same name before Be sure not to check Copy projects into workspace in the above dialog Finish the import by clicking on the Finish button As a result you will find the GpsModuleDemoApplication project in the Project Explorer coalesenses research to innovate 17 27 C C iSense src isense modules gps_module gps_modul File Edit Refactor Navigate Search Project Run Window Help iT HSlm i amp G amp 8 gt Project Explorer 3 Ss 7 O i ops_me GosMaduleDemoApplication 23 W iSense 24 8S iSenseDemoapplication 25 L ar In addition the GpsModuleDemoApplication will appear in the Make Targets view Double click on all to build the demo a
12. cation Os amp os inherited from application called upon device boot void boot inherited from isense PositionHandler called upon GPS Module OOS EakOial Wea virtual void handle_position uint8 latitude_degrees uint8 latitude_minutes tmelles leic itucd Trae DirectionIndicator lat_ind uint8 longitude_degrees uint8 longitude_minutes uint16 longitude_frac DirectionIndicator long_ind Time time private GpsModule gps_ H GpsModuleDemoApplication overwrites isense Application boot which is called upon the start up of the iSense sensor node coalesenses 19 27 research to innovate void GpsModuleDemoApplication boot output a boot notification via a potentially connected Gateway Module os debug App Booting GPS Demo Application allocate a GpsModule instance pass this application as PositionHandler gps_ new GpsModule os this if allocation was successful if gps_ NULL enable GPS Module gps_ gt enable set logging mode to Radio only os set_log_mode ISENSE_LOG_MODE_RADIO else output error message via a potentially connected Gateway Module os fatal Could not allocate GpsModule Within the boot method a GpsModu1e object is created and a reference to the operating system and a pointer to the application is are passed to the constructor Like this the application is registered at the GosModule as the PositionHan
13. dler This is possible because the application implements the pure virtual method from isense PositionHandler see Section 3 8 If the allocation was successful the GPS Module is enabled This will start the position acquisition Note that while the GPS Module is enabled the sensor node is prevented from going to the sleep mode because receiving position updates from the GPS Modules requires the node to be awake As soon as the GPS Module is disabled again the node can go to sleep again unless other components prevent sleep too After that the log mode of the operating system is set the Radio only no option but ISENSE_LOG_MODE_RADTO is set You can send character output to the outside world using the methods Os debug and Os fatal teh Logs the given string depending on the log mode to a uart or radio raf void Os debug const char format j Ha Logs the given string depending on the log mode to a uart or radio if void Osi fatali econst char format n coalesenses 20 27 research to innovate They work similar to the well known sprintf functions in regular C i e integer values etc can be printed using the notation For example imele sl 12a os O debug t value of i as sd hex sx0 1 1 will output value of i is 128 hex 0x80 The destination of the debug output can be set using Os set_log_mode the corresponding constants can be found in iSense src isense os h
14. duleDemoApplication bin For details regarding the identification of the chip version refer to Section 2 4 of the iSense Core Module User Guide 4 Then flash the binary to the connected iSense sensor node After flashing completed the output line Booting GPS Demo Application should appear in the Serial Monitor view coalesenses 23 27 research to innovate es iShell COM1 8 coalesenses GmbH File Edit Mode amp Serial Monitor 33 Flash Loader Plusins 0 noge 13 41 06 447 Booting GPS Demo Application v Dateien Luebeck coalesensesttest2 iApps GpsModuleDemoApplication bin JNS139R GpsModuleDemoApplication bi A n Flash done Close iShell switch off the GPS node disconnect the Gateway Module from the node and connect the GPS Module instead Now connect the iSerAerial node to the PC switch it on and restart iShell Obtain the iSerAerial application binary 5 that matches the chip version of the Core Module of the iSerAerial node from the coalesenses website and flash it to the iSerAerial node This makes the iSerArerial node to act as a Radio to Serial and Serial to Radio bridge Besides other functions it forwards debug or fatal message sent out via the radio to the connected iShell whenever it receives them Now switch on the GPS node place it in a location where it can receive GPS signals e g at a window and where wireless communication with
15. is manual assumes that the reader has successfully installed the iSense development environment and obtained the iSense standard firmware For further information on theses steps consult the Development Environment Setup User Guide 1 In addition it is assumed that the user is familiar with the use of iShell For further information on iShell consult the iShell User Guide 2 For further information on iSense firmware programming concepts and on application development it is recommended to read the Writing iSense Applications User Guide 3 coalesenses 4 27 research to innovate 2 General Description The iSense GPS Module supplies position information to iSense sensor nodes in all outdoor deployments Like this nodes equipped with the this module can not only serve as anchors for location protocols but can also provide continuous location updates for mobiles sensor nodes The iSense GPS Module is based on the SiRF Star 3 chipset Due to its 200 000 correlators and 20 channel support it is known for its outstanding accuracy and sensitivity It is capable of SBAS WAAS EGNOS MSAS and combines low power consumption with extremely fast fixing times The module features a high performance patch antenna a build in micro battery to preserve system data for rapid satellite acquisition and an LED for GPS fix indication The GPS Module can be switched on and off by an iSense Core Module via an API call see Section 3 3 and Section
16. lid ISENSE_GPS_FIX_STATE_DGPS Differential GPS SPS Mode fix valid ISENSE_GPS_FIX_STATE_DEAD_ RECKONING Dead Reckoning Mode fix valid Required modules GPS Module define ISENSE_ENABLE GPS MODULE Available for the targets JN5139R JN5139R1 3 8 PositionHandler interface virtual void PositionHandler handle_position uint8 latitude_degrees uint8 latitude_minutes uint16 latitude_frac DirectionIndicator lat_ind uint8 longitude_degrees uint8 longitude_minutes uint16 longitude_frac DirectionIndicator long_ind Time time 0 Description In order to be called upon position fixes a class must inherit from PositionHandler and has to overwrite the pure virtual handle_position method coalesenses 13 27 research to innovate After the GPS Module is enabled handle_position will be called upon position fix The passed time will be the current UTC time if the GPS Time Fixing module is enabled in the firmware or INVAL D_TIME otherwise Parameters latitude_degrees latitude_minutes latitude_fraction lat_ind longitude_degrees longitude_minutes longitude_fraction lat_ind time Required modules GPS Module GPS Time Fixing Available for the targets JN5139R JN5139R1 coalesenses research to innovate latitude degrees 0 90 latitude minutes 0 59 fraction of latitude minutes given in ten thousands latitude indicator northern or souther
17. mpilation module name as well as the according code define An asterisk indicates that the respective module is activated in the iSense standard firmware The API description also indicates the make targets for which the different functions are available 3 1 Constructor GpsModule GpsModule Os amp os PositionHandler ph Description Initializes the GosModule class By default the module is switched off After the module is enabled ph handle_position will be called upon position fix For details on the PositionHandler please refer to Section 3 8 Parameters os Reference to the operating system class Os ph Reference the PositionHandler that shall be called upon a position fix See Section 3 8 for details Required modules GPS Module define ISENSE_ENABLE_GPS_ MODULE GPS Time Fixing define ISENSE_ENABLE_GPS_TIME Available for the targets JN5139R JN5139R1 coalesenses 10 27 research to innovate 3 2 Destructor GpsModule GpsModule Description Disabled the GPS Module in case it was switched on Parameters none Required modules GPS Module define ISENSE_ENABLE_GPS_MODULE Available for the targets JN5139R JN5139R1 3 3 enable bool GpsModule enable Description Enables the GPS Module if it is disabled Enabling the GPS Module prevents the sensor node from going to sleep Parameters none Returns true if the GPS Module was disabled before and is now enabled
18. n hemisphere ISENSE_GPS_LATITUDE_NORTH northern hemisphere ISENSE_GPS_LATITUDE_SOUTH southern hemisphere longitude degrees 0 180 longitude minutes 0 59 fraction of longitudes minutes given in ten thousands longitude indicator western or eastern hemisphere ISENSE_GPS_LONGITUDE_WEST western hemisphere ISENSE_GPS_LONGITUDE_EAST eastern hemisphere UTC time Only works if the GPS time fixing functionality ISENSE_ENABLE_GPS_TIME is enabled If so a millisecond precision UTC time is passed Otherwise INVALID_TIME is passed define ISENSE_ENABLE_GPS_MODULE define ISENSE_ENABLE_GPS_TIME 14 27 4 GPS Module Demo Application The GPS Module demo application exemplifies how an application can make use of the GosModule API It shows how to e register as a PositionHandler e switching the GPS Module on e deal with position fixes e query the number of satellites 4 1 Obtaining the GPS Module Demo Application Go to coalesenses web site click on Downloads and then on iSense Hardware In the GPS Module section click on the icon at the right in the GPS Module Demo Application row and download GpsModuleDemoApplication zip Extract the content of GosModuleDemoApplication zip to the iApps directory 4 2 Compiling the GPS Module Demo Application The next step is compiling the GPS Module Demo Application 4 2 1 Using Eclipse If you want to use Eclipse for compiling the G
19. pplication for all targets EEk E Fg cic G Java A HCl as 1S GpsModuleDemoApplication settings B bin amp sre clean JN5139R Clean JN5139R1 4 _ 3N5139R o N5139R1 1 dean HES iSense ES iSenseDemoApplication ES iserderial As a result the Console view displays the compiler output during the build process After that it should look similar to the output depicted below E console 52 _4 Search alga nmn 2 Building for JENNIC 5139R target Compiling Jennic JN513xR src GpsModuleDemo pplication cpp Linking to bin JN5139R GpsModuleDemoApplication or32 Copying to or32 bin JN5139R GpsModuleDemo pplication or32 text data bss dec hex filename 57804 104 10098 68006 109a6 bin JN5139R GpsModuleDemoApplication or32 Building for JENNIC 5139R1 target Compiling Jennic JN513xR1 src GpsModuleDemo pplication cpp Linking to bin JNS139R1 GpsModuleDemodpplication or32 Copying to or32 bin JN5139R1 GpsModuleDemoapplication or32 text data bss dec hex filename 62656 124 10192 72972 11d0c bin JN5139R1 GpsModuleDemoApplication or32 C C Indexer 4 2 2 Using the Command Line If you want to use the command line tools for building the GPS Module Demo Application open a console window change to the GosModuleDemoApplication directory in your iApps directory and type make coalesenses 18 27 research to innovate iSense GPS Module User Guide
20. t a different channel on any of the nodes coalesenses 25 27 research to innovate 5 References 1 coalesenses Development Environment Setup User Guide online available at http www coalesenses com download UG_development_environment_setup_v1 9_web pdf 2 coalesenses iShell User Guide online available at http www coalesenses com download UG_ishell_v1 3 pdf 3 coalesenses Writing iSense Applications User Guide online available at http www coalesenses com download UG_writing_isense_applications_1v1 pdf 4 coalesenses iSense Core Module User Guide online available at http www coalesenses com download UG_CM10X_1v0 pdf 5 coalesenses iSerAerial application binary online available at http www coalesenses com index php page isense applications coalesenses 26 27 research to innovate coalesenses GmbH Maria Goeppert Str 1 23562 Liibeck Germany www coalesenses com sales coalesenses com coalesenses 27 27 research to innovate
21. t intended for use in life support systems appliances or systems where malfunction of these products can reasonably be expected to result in personal injury death or severe property or environmental damage Coalesenses customers using or selling these products for use in such applications do so at their own risk and agree to fully indemnify coalesenses for any damages resulting from such use Do not connect components or devices to any iSense component that are not manufactured or distributed by coalesenses without prior consultation of coalesenses Note that doing so regardless of consultation will void the warranty and the declaration of CE conformity Coalesenses customers connecting third party devices do so at their own risk and agree to fully indemnify coalesenses for any damages or injury resulting from such use coalesenses 6 27 research to innovate 2 2 Mounting the CPG Module on an iSense Module Stack The iSense GPS Module consists of two parts the GPS engine board and the holder board which it is mounted onto with three screws In order to mount the GPS Module onto a stack of other iSense Modules and to fix it with both stack mounting screws you have to unmount the GPS engine board from the holder board To do so loosen the three screws that attach the GPS engine board to the holder board coalesenses 7127 research to innovate Use M2 x 8 mm spacers between the top iSense Module and the GPS holder board A
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