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RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

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Pictures

REB-2100 System Block Diagram

LNA

SIRF GRF2I

SAW Filter

SiRF

GSP2e

12 pins

Flash Memory

Active antenna

Pin 1

MMCX

Pin

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Summary of Contents for REV-2000

Page 1: ... purpose of the business discussions between supplier and RoyalTek and is covered under the terms of the applicable Non Disclosure Agreements Disclosure of this information to other parties is prohibited without the written consent of RoyalTek Prepared by RoyalTek Company LTD 1071 Chung Cheng Rd Suite 9F 1 Tao Yuan City Taiwan R O C TEL 886 3 3569666 FAX 886 3 3580050 E Mail sales royaltek com htt...

Page 2: ...s interface 12 To upgrade GPS engine board program 12 PRODUCT FEATURES 13 PRODUCT APPLICATIONS 14 TECHNIQUE DESCRIPTION 14 REB 2100 System Block Diagram 2 REB 12R Block diagram 3 Technique specifications 3 ORDERING INFORMATION 7 ABSOLUTE MAXIMUM RATINGS 10 SOFTWARE INTERFACE 10 NMEA V2 2 Protocol 10 GGA Global Positioning System Fixed Data 10 GLL Geographic Position Latitude Longitude 11 GSA GNSS ...

Page 3: ...23 Set DGPS Serial Port Message I D 145 24 Almanac Message I D 146 24 Ephemeris Message I D 147 24 Switch To SiRF Protocol 25 Switch Operating Modes Message I D 150 25 Set Trickle Power Parameters Message I D 151 25 Computation of Duty Cycle and On Time 26 Push to Fix 26 Poll Navigation Parameters Message I D 152 27 OUTPUT MESSAGES FOR SIRF BINARY PROTOCOL 27 Measure Navigation Data Out Message I ...

Page 4: ...RoyalTek GPS Receiver REB 2000 REB 12R REV 2000 Operational Manual iii Set Ephemeris Message I D 254 35 Development Data Message I D 255 35 ...

Page 5: ...01 It is convenient to test the GPS performance cold start warm start hot start position update and so on by using the REV 2000 REV 2000 helps you understand the operation and performance of Royaltek s GPS engine boards in a couple of minutes It can also provide you design the OEM products that use RoyalTek s GPS engine boards Packing list The evaluation kit contains follows ...

Page 6: ...V 3 RS232 Cable 9pin 1 5M 1 RS 232 CABLE CONNECTING EVALUATION BOARD WITH PC 4 RF Extension Cable Optional 150mm 1 RF EXTENSION CABLE FOR MCX TO BNC IF YOU ORDER THE MMCX ANTENNA FOR REB 2000 YOU DON T NEED TO ORDER THIS EXTENSION CABLE PLEASE CONTACT SALES ROYALTEK COM FOR FURTHER INFORMATION 5 GPS active antenna 5M 1 GPS ACTIVE ATENNA 6 GPS receiver Optional REB 12R or REB 2000 THERE ARE TWO KIN...

Page 7: ...rogram upgrade It shall be kept open for normal operation When the BOOT is short the GPS engine board is waiting for program upgrade and output nothing when running SiRF demo program Please refer the program upgrade session for program update DC input The power input can be DC input instead of using AC power core The input range of the DC input is from 6 5V 12V We suggest you use 7 5V as the DC in...

Page 8: ...t CON20 This is the socket for REB 12R2 Please refer the hardware interface section for the pin assignment Setup procedure 1 Plug the REB 12R2 on the CON20 2 Plug the active antenna into the external antenna connector The suitable view angle of the active antenna is necessary Caution Please do not put any metal stuff on the antenna 3 Connecting the RS 232 cable between REV 2000 P1 and PC 4 Plug th...

Page 9: ...ek REV 2000 Demo exe Add a shortcut of SiRFdemo exe on the desktop of Windows 98 To use Sirfdemo exe 1 Double click the SiRFdemo exe 2 Choose the Supplied Data radio button Click the Instrument Measured Data check box 3 Select the serial port e g COM1 The default baud rate of REB 2100 and Reb 12R2 is 9600bps Click the OK 4 There are 6 menus on the menu bar Setup View Action Navigation Poll and Win...

Page 10: ...vel Tracking Map buttons of the tool bar to enable the Signal level view Tracking view and Map view 6 Check the View Messages Development to enable the development view Signal Level Tracking Map Data source Connect Disconnect Toggle button Signal Level view Development view Map Tracking view ...

Page 11: ...t testing 8 The other buttons of tool bar are explained as follows Pause the data reception Log the data as a log file Initialize Data Source 9 After you click the you can see the NMEA output on the development view To switch from NMEA to SiRF protocol Check Action Switch to SiRF Protocol ...

Page 12: ...S satellite PRN number Status St Satellite status Azimuth Az Satellite azimuth in degrees Elevation EI Satellite elevation in degrees C No Signal level in dB Hz Signal Level 5 sec 5 second history Tracking view Green Satellite is tracked and used to calculate the navigation solution Blue Satellite is tracked but is not used to calculate the navigation solution Red Satellite is lost tracked Develop...

Page 13: ...Hot Start The Evaluation Unit restarts by using values stored in the internal of the GPS receiver Warm Start No init This option has the same functionality as Hot Start except that Ephemeris data and retains all other data Warm Start init This option clears all initialization data in the GPS receiver and subsequently reloads the data that is currently displayed in the GPS receiver initialization i...

Page 14: ...t you want to use from the Baud Rate pull down menu 5 Click the OK button to save or Cancel button to exit 6 It will switch to NMEA protocol To Synchronize Protocol When you don t know what the protocol baud rate is set in REB 2100 or REB 12R2 you can use this option to synchronize protocol Select the Action Synchronize Protocol and Baud Rate It will synchronize the protocol and Baud Rate To Switc...

Page 15: ... function It provides the trickle power operation in REB 2100 default REB 12R2 doesn t support the trickle power now To enable trickle power mode from SiRFdemo exe please select the Action Set TricklePower Parameters like following picture Then it will show a TricklePower parameters dialog for parameters setting There are two parameters of Trickle power that needs to be set Update Rate and On Time...

Page 16: ...NMEA output default it needs to change to SiRF protocol before change TricklePower parameters The procedure is described as follows 1 Use Set Serial Port command of SiRF NMEA input messages PSRF100 0 9600 8 1 0 0C CR LF It will switch from NMEA to SiRF protocol 2 Use Set Trickle Power Parameters Message I D 151 to set the trickle power parameters 3 Use Switch To NMEA Protocol Message I D 129 to sw...

Page 17: ...memory 10 When you finish upload turn off the power Keep the BOOT jumper open and turn on power It will run the new program that uploaded into flash memory Product Features REB 2100 OEM product development is fully supported through applications engineering and WEB technique forum Small and compact footprints measuring 12 parallel channels 0 1 second re acquisition time Trickled power enabled for ...

Page 18: ...on Timing application REB 12R Automotive applications Personal positioning and navigation Marine navigation Timing application Technique description REB 2100 General information The REB 2100 is a stamp size GPS receiver It requires 3 3V DC power input It can operate with an active antenna through a MMCX connector It provides the antenna power through RF cable The default DC input of active antenna...

Page 19: ...RoyalTek GPS Receiver REB 2000 REB 12R REV 2000 Operational Manual 2 Pictures REB 2100 System Block Diagram LNA SIRF GRF2I SAW Filter SiRF GSP2e 12 pins Flash Memory Active antenna Pin 1 MMCX Pin ...

Page 20: ...acteristics 12 Channels L1 1575 42MHz C A code 1 023MHz chip rate Snap start 2second average Hot start 8second average Warm start 45second average Cold start 60second average Reacquisition 0 1 second average Navigation update rate Once per second LNA SIRF GRF1 LX Ceramic Filter SiRF GSP2e 20 pins Hitachi SH1 SRAM Flash memory Active antenna Pin MCX ...

Page 21: ...ters second Max Acceleration 4 g Max Power Requirements Regulated power for the REB 2000 REB 2100 is required The input voltage shall be 3 3V 10 The power of active antenna is supplied by REB 2000 REB 2100 It doesn t need to supply the antenna from outside of REB 2000 REB 2100 The full run without trickle power maximum current is less than 170mA Physical REB 2100 Dimension 24 5 7 75 5 1 27 3 5 26 ...

Page 22: ...Hz 12dB Min fo 50MHz 22dB Min fo 100MHz Output V S W R 2 0 dB max Voltage 5 0 0 5V Current 12mA Max 3 3V Filter LNA Characteristics Specification Center frequency fo 1575 42 1 023MHz Gain 26dB Min Noise Figure 2 0dB Max Out band attenuation 2dB Min fo 20MHz 12dB Min fo 50MHz 22dB Min fo 100MHz Output V S W R 2 0 dB max Voltage 3 3 0 3V Current 12mA Max REB 12R Operational Characteristics 12 Channe...

Page 23: ...rent is less than 180mA without antenna Physical Dimension 72mm x 41mm x 19mm 40 65 71 13 34 29 64 77 8 8 3 18 3 18 1 9 8 1 5 6 11 25 4 3 2mm 1 5 Pin header 2 0mm 10Px2 180 22 85 U27 R41 U4 J1 C47 R39 D1 C3 R13 C5 B1 R46 R42 U7 U6 R9 C2 R18 C12 R40 R45 D2 R19 R21 C13 R4 Z2 R32 C51 C52 Z1 Weight 23gw Environment Temperature Storage temperature 55 100 Degree Celsius Operating temperature 40 85 Degre...

Page 24: ...6 TXB Reserved 7 RXB I RTCM 104 differential GPS input TTL Level Voh 2 4V Vo1 0 4V 8 TIMEMA RK O 1PPS Time Mark Output TTL Level Voh 2 4V Vo1 0 4V 9 RESET I Reset Input Active Low Voh VCC_3 1 5V Vol 0 3V 10 VANT O Reserved DC 3 3V 10 11 VBAT I User Supply 2 5 3 1V DC Power Input DC 2 5 3 1V Current 10uA 12 BOOTSE T Reserved VCC_3 DC Power Input RoyalTek also provides the 3 3 V version GPS receiver...

Page 25: ...Without an external backup battery or on board battery engine board will execute a cold start after every turn on To achieve the faster start up offered by a hot or warm start either a backup battery must be connected or battery installed on board BOOTSEL This is for software upgrade when pull high to 3 3V It can be left non connected for normal operation because of internal 68kΩ pull low resistor...

Page 26: ...communicate with a PC serial port RXA This is the main receiving channel and is used to receive software commands to the Engine board from user written software RXB This is the auxiliary receive channel and is used to input differential corrections to the Engine board to DGPS navigation TXA This is the main transmit channel and is used to output navigation and measurement data to user written soft...

Page 27: ...NMEA 0183 Output Messages NMEA Record Description GGA Global positioning system fixed data GLL Geographic position latitude longitude GSA GNSS DOP and active satellites GSV GNSS satellites in view RMC Recommended minimum specific GNSS data VTG Course over ground and ground speed GGA Global Positioning System Fixed Data Table 2 contains the values of the following example GPGGA 161229 487 3723 2475...

Page 28: ...mmmm N S Indicator N N north or S south Longitude 12158 3416 Dddmm mmmm E W Indicator W E east or W west UTC Position 161229 487 hhmmss ss Status A A data valid or V data not valid Checksum 2C CR LF End of message termination GSA GNSS DOP and Active Satellites Table 4 contains the values of the following example GPGSA A 3 07 02 26 27 09 04 15 1 8 1 0 1 5 33 Table 4 GSA Data Format Name Example Uni...

Page 29: ...acking 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 LF End of message termination 1 Depending on the number of satellites tracked multiple messages of GSV data may be required RMC Recommended Minimum Specific GNSS Data Table 6 contains the valu...

Page 30: ...ing SiRFdemo exe and selecting Switch to NMEA Protocol from the Action menu If the receiver is in SiRF Binary mode all the NMEA input messages are ignored Once the receiver is put into NMEA mode the following messages may be used to command the module Transport Message Start Sequence Payload Checksum End Sequence PSRF MID 1 Data2 CKSUM3 CR LF 4 1 Message Identifier consists of three numeric charac...

Page 31: ...ers are stored in battery backed SRAM and then the Evaluation Unit restarts using the saved parameters Table 8 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 8 Set Serial Port Data Format Name Example Units Description Message ID PSRF100 PSRF100 protocol header Protocol 0 0 SiRF Binary 1 NMEA Baud 9600 4800 9600 19200 ...

Page 32: ...lt communication parameters for PORT B are 9600 baud 8 data bits stop bit and no parity If a DGPS received the parameters are stored in battery backed SRAM and then the receiver restarts using the saved parameters Table 11 contains the input values for the following example Set DGPS Port to be 9600 8 N 1 PSRF 102 9600 8 1 0 3C Table 11 Set DGPS Port Data Format Name Example Units Description Messa...

Page 33: ...232 0 95000 237759 922 12 3 3A Table 14 LLA Navigation Initialization Data Format Name Example Units Description Message ID PSRF104 PSRF104 protocol header Lat 37 3875111 Degrees Latitude position Range 90 to 90 Lon 121 97232 Degrees Longitude position Range 180 to 180 Alt 0 Meters Altitude position CLK Offset 95000 Hz Clock Offset of the Evaluation Unit1 Time Of Week 237759 Seconds GPS Time Of We...

Page 34: ...nsport layer of the protocol encapsulates a GPS message in two start characters and two stop characters The values are chosen to be easily identifiable and such that they are unlikely to occur frequently in the data In addition the transport layer prefixes the message with a two byte 15 bit message length and a two byte 15 bit choice of a 15 bit values for length and check sum are designed such th...

Page 35: ...n checkSum checkSum message index checkSum checkSum AND 210 1 Input Messages for SiRF Binary Protocol Note All input messages are sent in BINARY format Table 17 SiRF Messages Input Message List Hex ASCII Name 0 x 80 128 Initialize Data Source 0 x 81 129 Switch to NMEA Protocol 0 x 82 130 Set Almanac 0 x 84 132 Software Version 0 x 88 136 Mode Control 0 x 89 137 DOP Mask Control 0 x 8A 138 DFPS Con...

Page 36: ...rt 2 Clear memory set cold start 3 Reserved must be 0 4 Enable raw track data YES 1 NO 0 5 Enable raw track data TES 1 NO 0 6 Reserved must be 0 7 Reserved must be 0 Note If Raw Track Data is ENABLED then the resulting messages are message I D 0x05 ASCII 5 Raw Track Data message I D 0x08 ASCII 8 50 BPS data and message I D 0x90 ASCII 144 Clock Status All messages are sent at 1 Hz Switch To NMEA Pr...

Page 37: ...sted i e to request a message to be sent every 5 seconds request the message using a value of 0x05 Maximum rate is 1 255s 2 A value of 0x00 implies the checksum is NOT calculated OR transmitted with the message not recommended A value of 0x01 will have a checksum calculated and transmitted as part of the message recommended Set Almanac Message I D 130 This command enables the user to upload an alm...

Page 38: ...straint 1 01 YES 1 NO 0 Degraded Mode 1 01 See Table C 7 TBD 1 01 Reserved DR Mode 1 01 YES 1 NO 0 Altitude 2 0000 Meters Range 1 000 to 10 000 Alt Hold Mode 1 00 Auto 0 Always 1 Disable 2 Alt Source 1 02 Last Computed 0 Fixed to 1 Coast Time Out 1 14 Seconds 0 to 120 Degraded Time Out 1 05 Seconds 0 to 120 Dr Time Out 1 01 Seconds 0 to 120 Track Smoothing 1 01 YES 1 NO 0 Payload Length 14 bytes T...

Page 39: ...lusive with a time out of 30 seconds Example A0A20003 Start Sequence and Payload Length 8A011E Payload 00A9B0B3 Message Checksum and End Sequence Table 26 DGPS Control Binary Hex Name Bytes Scale Example Units Description Message ID 1 8A ASCII 138 DGPS Selection 1 01 See Table 27 DGPS Time Out 1 1E Seconds Range 1 to 120 Payload Length 3 bytes Table 27 DGPS Selection Byte Value Description 0 Auto ...

Page 40: ...its Description Message ID 1 8C ASCII 140 Tracking Mask 1 1C dBHz Not currently implemented Navigation Mask 1 21 dBHz Range 28 to 50 Payload Length 3 bytes Editing Residual Message I D 141 Note Not implemented currently Steady State Detection Message I D 142 Table 30 contains the input values for the following example Set Stead State Threshold to 1 5 m sec 2 Example A0A20002 Start Sequence and Pay...

Page 41: ...oad Length 9 bytes Almanac Message I D 146 Table 33 contains the input values for the following example Poll for the Almanac Example A0A20002 Start Sequence and Payload Length 9200 Payload 0092B0B3 Message Checksum and End Sequence Table 33 Almanac Binary Hex Name Bytes Scale Example Units Description Message ID 1 92 ASCII 146 TBD 1 00 Reserved Payload Length 2 bytes Ephemeris Message I D 147 Tabl...

Page 42: ... 35 Switch Operating Mode I D 150 Binary Hex Name Bytes Scale Example Units Description Message ID 1 96 ASCII 150 Mode 2 1E51 1E51 test 0 nomal SvID 2 0006 Satellite to Track Period 2 001E seconds Duration of Track Payload length 7 bytes Set Trickle Power Parameters Message I D 151 Table 36 contains the input values for the following example Sets the receiver into low power Modes Example Set recei...

Page 43: ...N N N N 300 Y Y Y Y Y Y N N 400 Y Y Y Y Y Y Y Y 500 Y Y Y Y Y Y Y Y 600 Y Y Y Y Y Y Y Y 700 Y Y Y Y Y Y Y Y 800 Y Y Y Y Y Y Y Y 900 Y Y Y Y Y Y Y Y Y Yes Mode supported N No Mode NOT supported Push to Fix In this mode the receiver will turn on every 30 minutes to perform a system update consisting of a RTC calibration and satellite ephemeris data collection if required i e a new satellite has beco...

Page 44: ...ssage list for the SiRF output messages Hex ASCII Name Description 0x02 2 Measured Navigation Data Position velocity and time 0x04 4 Measured Tracking Data Signal to noise information 0x05 5 Raw Track Data Measurement information 0x06 6 SW version Receiver software 0x07 7 Clock Status 0x08 8 50 BPS Subframe Date Standard ICD format 0x09 9 Throughput CPU load 0x0B 11 Command Acknowledgment Successf...

Page 45: ...CH 3 1 0E 14 CH 4 1 16 22 CH 5 1 0F 15 CH 6 1 04 4 CH 7 1 00 0 CH 8 1 00 0 CH 9 1 00 0 CH 10 1 00 0 CH 11 1 00 0 CH 12 1 00 0 Payload Length 41 bytes 1 For further information go to Table 42 2 Dilution of precision DOP field contains value of PDOP when Position is obtained using 3D solution and HDOP in all other cases 3 For further information go to Table 43 Note Binary units scaled to integer val...

Page 46: ...e Checksum and End Sequence Table 44 Measured Tracker Data Out Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 04 None 4 GPS Week 2 036C 876 GPS TOW 4 S 100 0000937F S S 100 37759 Channels 1 0C 12 1 st Sv ID 1 0E 14 Azimuth 1 Az 2 3 AB Degree 2 3 256 5 Elev 1 EI 2 46 Degree 2 35 State 2 003F Bitmap1 63 C NO 1 1 1A 26 C NO 2 1 1E 30 C NO 3 1 1D 29 C NO 4 1 1D 29 C...

Page 47: ...a format for the raw tracker data Example A0A20033 Start Sequence and Payload Length 05000000070013003F00EA1BD4000D03 9200009783000DF45E000105B5FF90F5 C20000242827272327242427290500000 0070013003F Payload 0B2DB0B3 Message Checksum and End Sequence Table 46 Raw Tracker Data Out Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 05 5 Channel 4 00000007 7 SVID 2 0013 1...

Page 48: ...e measurements are not necessarily in sync with code phase measurement for each measurement epoch Search Count This is the number of times the tracking software has completed full satellite signal searche s C No Ten measurements of carrier to noise ratio C No values in dBHZ at input to the receiver Each value represents 100 ms of tracker data and its sampling time is not necessarily in sync with t...

Page 49: ...mulation time of the Dalta Carrier Phase is 1000 ms then the measurement is valid and can be added to the previous Delta Carrier Phase to get Accumulated Carrier Phase data If the accumulation time of the Delta Carrier Phase is not equal to 1000 ms then the measurement is not valid and the accumulation time must be restarted to get Accumulated Carrier Phase data Response Software Version String Me...

Page 50: ... Data Message I D 8 Output Rate As available 12 5 minute download time Example A0A2002B Start Sequence and Payload Length 08 Payload B0B3 Message Checksum and End Sequence Table 49 Clock Status Data Message Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 08 8 Channel 1 Sv ID 1 Word 10 40 Payload Length 43 bytes per subframe 6subframes per page 25 pages Almanac No...

Page 51: ...l Name Bytes Scale Example Units Scale Example Message ID 1 0B 11 Ack I D 1 92 146 Payload Length 2 bytes Command N Acknowledgment Message I D 12 Output Rate Response to rejected Input message This is unsuccessful almanac message ID 0x92 request example A0A20002 Start Sequence and Payload Length 0C92 Payload 009EB0B3 Message Checksum and End Sequence Table 52 Command N Acknowledgment Binary Hex AS...

Page 52: ...ll Example A0A203A1 Start Sequence and Payload Length 0E01 Payload B0B3 Message checksum and End Sequence Table 54 Visible List Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 0E 14 Sv I D 1 1 01 1 Almanac Data 14 2 28 Sv I D 32 1 20 32 Almanac Data 14 2 28 Payload Length 929 bytes maximum Set Ephemeris Message I D 254 This command enables the user to upload an e...

Page 53: ...II Decimal Name Bytes Scale Example Units Scale Example Message ID 1 FF 255 Payload Length Variable Note Messages are output to give the user information of receiver activity Convert to symbol to assemble message i e 0x4E is N these are low priority task and are not necessarily output at constant intervals ...

Page 54: ... sales royaltek com HEADQUARTER Add 1071 Chung Cheng Rd Suite 9F 1 Tao Yuan City Taiwan R O C Tel 886 3 3569666 Fax 886 3 3580050 Factory Add No 40 10 San Chi Road Wu Chieh Hsiang I Lan Hsien Taiwan R O C Tel 886 3 9605959 Fax 886 3 9605151 Web Site www royaltek com Customer Service mail sales royaltek com ...

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