RDR-3100 User Manual
2
Content
1.
Introduction....................................................................................................3
2.
Product Feature ..............................................................................................3
2.1 Product Applications............................................................................................3
3.
Specification ..................................................................................................4
4.
Reference design of Gyro and Odometer circuit design................................5
4.1 System Block Diagram ........................................................................................5
4.2 Application Circuit...............................................................................................6
5.
HW Interface..................................................................................................9
5.1 Connector Type
：
20 Pin Header
，
2.0 mm pitch (J2).........................................9
5.2 RF connector type: MCX STRAIGHT PCB JACK (J1) ...................................12
6.
Product Picture.............................................................................................12
7.
Mechanical Layout.......................................................................................14
8.
SW Protocol .................................................................................................15
8.1 GPS output Protocol ..........................................................................................15
8.1.1 RoyalTek DR protocol – RTOEM,3 ...............................................................15
8.1.2 GGA-Global Positioning System Fixed Data .................................................16
8.1.3 GSA-GNSS DOP and Active Satellites ..........................................................18
8.1.4 GSV-GNSS Satellites in View ........................................................................19
8.1.5 RMC-Recommended Minimum Specific GNSS Data ...................................20
8.2
GPS DR (UART A) Input command ...........................................................21
8.2.1 $MMF .............................................................................................................21
8.3 CAN bus (UART B) protocol ............................................................................23
8.3.1 Speed, Reverse status input Message..............................................................23
8.3.2 GPS antenna detection output Message..........................................................24
8.4
NMEA Output Message...............................................................................25
9
Calibration of DR.........................................................................................25
9.1 Self calibration of DR ........................................................................................25
9.2 Calibration Criterion ..........................................................................................25
9.3 Calibration of DR using digital map information..............................................25
9.4 Gyro Electric Characteristics .............................................................................25
10. Package Specification and Order Information...................................................27
11. Contact Royaltek................................................................................................27
12. Revision History ................................................................................................27
