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Swarm Tile

Product Manual

Swarm Tile Product Manual
Revision 1.10
October 2020
© 2020 Swarm Technologies, Inc.

Summary of Contents for 2AVE9-TILE01

Page 1: ...Swarm Tile Product Manual Swarm Tile Product Manual Revision 1 10 October 2020 2020 Swarm Technologies Inc ...

Page 2: ...IN THE LEGAL INFORMATION BOOKLET FAILS OF ITS ESSENTIAL PURPOSE FURTHER THE LIMITED WARRANTY COVERS THE SWARM TILE INCLUDING HARDWARE SOFTWARE AND OR FIRMWARE AND ACCESSORIES ONLY AND NO WARRANTY IS MADE AS TO USER INFORMATION AND OR COVERAGE AVAILABILITY OR GRADE OF SERVICE PROVIDED BY SWARM SEPARATELY FOR SWARM SATELLITE SERVICES IN NO EVENT SHALL SWARM BE LIABLE WHETHER IN CONTRACT OR TORT OR A...

Page 3: ...roducts may include copyrighted Swarm and third party software Any such copyrighted software contained in Swarm products may not be modified reverse engineered distributed or reproduced in any manner to the extent provided by law The purchase of any Swarm products shall not be deemed to grant either directly or by implication or otherwise any license under copyrights patents or patent applications...

Page 4: ...ated Firmware Commands to reflect version 0 7 3 Improved specifications on Tile mechanical and electrical sections 1 10 10 5 2020 Including EU RED Declaration of Conformity Enhanced integration guidance Update to firmware commands to reflect firmware version 0 9 0 October 2020 Swarm Tile Manual Rev 1 10 4 65 ...

Page 5: ...ation Placement 13 3 4 Reflow Soldering 14 3 5 Physical Interface Connectors 15 4 Electrical Interfaces 16 4 1 User Host Device 16 4 2 Tile Pin Allocation 17 4 3 DC Power Interface 20 4 4 Power On Off Control 24 4 5 Serial Data Interface 24 4 6 LED Indicators 25 5 RF Interface 26 5 1 RF Connectors 26 5 2 RF Connectors 26 5 2 1 Antenna Characteristics 27 5 2 2 Ground Plane Requirements 29 5 3 RF Tr...

Page 6: ...ation Settings 34 DT Date Time 35 FV Firmware Version 38 GJ GPS Jamming Spoofing Indication 39 GN Geospatial information 41 GP GPIO1 Control 44 GS GPS Fix Quality 47 PO Power Off 50 PW Power Status 51 RS Restart Device 53 RT Receive Test 54 SL Sleep mode 57 TILE Tile Status 60 TD Transmit data 61 October 2020 Swarm Tile Manual Rev 1 10 6 65 ...

Page 7: ...radio or television reception which can be determined by turning the equipment off and on the user is encouraged to try to correct the interference by one of the following measures Reorient or relocate the receiving antenna Increase the separation between the equipment and receiver Connect the equipment into an outlet on a circuit different from that to which the receiver is connected Consult the ...

Page 8: ...NR d Industrie Canada applicables aux appareils radio exempts de licence L exploitation est autorisée aux deux conditions suivantes 1 l appareil ne doit pas produire de brouillage 2 l appareil doit accepter tout brouillage radioélectrique subi même si le brouillage est susceptible d en compromettre le fonctionnement 1 2 2 IC ID The IC ID for the Tile is 25817 TILE01 All manufacturers integrating t...

Page 9: ...1 4 EU RED Certification 1 4 1 Declaration of Conformity October 2020 Swarm Tile Manual Rev 1 10 9 65 ...

Page 10: ...ystem With appropriate external connections the host can be designed to meet full regulatory tests and sold as a regulatory certified product that meets FCC IC and CE requirements Table 1 below is a partial list of regulatory approvals Regulatory Approvals Radio Tests EMC Tests Safety Tests FCC FCC CFR47 Parts 2 15 and 25 IC Industry Canada RSS170 Issue 2 March 2011 CE ETSI EN 301 721 V2 1 1 2016 ...

Page 11: ...e communicates via a standard 3 3V CMOS serial UART interface or a PC interface with a USB to serial converter Category Description Satellite data Maximum latency will be 1 min 95 of the time Components GPS VHF radio with integrated T R switch U FL connector for GPS and VHF antenna SMD interface also available indicator LEDs 3 3V serial interface 3 3V GPIO Sensors Onboard GPS lat lon alt 1 pulse p...

Page 12: ... summarized in Table 3 Parameter Value Length 58 67 0 3 mm Width 27 43 0 3 mm Height 6 00 0 1 mm Weight 14 g Table 3 Tile Mechanical Dimensions and Weight A diagram of the Tile s mechanical dimensions is shown in Figure 1 Figure 1 Tile front and back views October 2020 Swarm Tile Manual Rev 1 10 12 65 ...

Page 13: ...mperature Range 220 C 160 C Operating Humidity Range 0 to 95 non condensable Storage Humidity Range 0 to 95 non condensable Table 4 Environmental Specifications 3 3 Mechanical Specification Placement The Tile must be fitted within an enclosed host system The Tile is designed to be soldered directly to a PCB and is provided with solder pads on its underside Figure 2 Location of solder pads on the u...

Page 14: ...ering paste is recommended An example No Clean paste can be found below Soldering Paste M8 SAC305 PN 89268 AIM Solder Alloy specification Sn 95 5 Ag 4 Cu 0 5 96 5 Tin 3 Silver 0 5 Copper Melting Temperature 217 C Stencil Thickness 100 to 150 µm for base boards Figure 3 Recommended reflow profile for lead free solder paste October 2020 Swarm Tile Manual Rev 1 10 14 65 ...

Page 15: ...e 5 Data points for reflow soldering 3 5 Physical Interface Connectors The Tile incorporates two connectors A GPS Antenna U FL male connector TE Connectivity 1909763 1 An RF Antenna U FL male connector TE Connectivity 1909763 1 October 2020 Swarm Tile Manual Rev 1 10 15 65 ...

Page 16: ...k The DC power supply is required to be contained within an EMI shielding can Additional filtering of the 3 3V supply is highly recommended 3 3 volt serial data interface Satellite signal Use either the provided U FL connector labeled SAT or Pin 18 See section 5 3 RF Trace Layout Design for more information GPS signal Use either the provided U FL connector labeled GPS or Pin 8 GPIO_1 optional Octo...

Page 17: ... is given in Tables 6 and 7 Multiple supply grounds are provided and all supply and supply grounds are required to be connected to the power supply in order to limit the current on any one pin Multiple signal grounds are provided to reduce cross talk Pins 13 and 14 are intentionally left empty and must be left unconnected Figure 4 Tile pinout and pin numbers Bottom view October 2020 Swarm Tile Man...

Page 18: ...nd 8 GPS_RF RF External GPS antenna connection 9 3V3 VCC 3 3V at up to 1000mA 10 3V3 VCC 3 3V at up to 1000mA 11 GND Ground Ground 12 GND Ground Ground 13 NC Not Connected RESERVED DO NOT CONNECT 14 NC Not Connected RESERVED DO NOT CONNECT 15 GND Ground Ground 16 GND Ground Ground 17 GND Ground Ground 18 SAT_OUT RF External satellite radio antenna connection 19 GND Ground Ground Table 6 Tile pin n...

Page 19: ...Pin 8 the resistor R5 adjacent to GPS U FL connector must have a 0 ohm resistor 0402 placed and a 50 ohm strip line to the RF connector 9 10 The 3 3V connection points are in parallel with one another and power the Tile If the designer wants to enable a complete power off mode a load switch can be provided here 18 SAT_RF uses 50 Ohm input impedance Use of SAT_RF instead of the SAT U FL connector r...

Page 20: ...on Transmitter on 904 910 963 mA ICC 3 30V Current consumption Sleep Mode 22 0 μA Current consumption Receiver Active 27 2 27 9 30 5 mA Current consumption GPS Acquisition Mode 46 0 49 3 54 8 mA Current consumption Transmitter on 880 888 939 mA ICC 3 60V Current consumption Sleep Mode 22 0 μA Current consumption Receiver Active 27 9 29 1 35 0 mA Current consumption GPS Acquisition Mode 47 6 49 6 5...

Page 21: ...3 3V can be found below in Figure 5 Figure 5 Example current use for a Tile with a 3 3 V input from wake up GPS acquisition Transmit Receive mode and then sleep mode Note the two breaks in the y axis scale October 2020 Swarm Tile Manual Rev 1 10 21 65 ...

Page 22: ...ovided with 3 3V input Other electrical characteristics of the Tile can be found below in Table 10 Parameter Value Maximum power at antenna connector 3300 mW Sum total of all capacitance on Tile 110 μF Sum total of all inductance on Tile 1983 nH Largest capacitor on Tile 47 μF Largest inductor on Tile 1000 nH Table 10 Other electrical characteristics for the Tile An example of the interface betwee...

Page 23: ...igure 7 Sample hardware reference design integration for Tile into the Swarm Tile Eval Kit A 6 pin serial programming header upper right of image is highly encouraged so that the Tile firmware can be easily updated in the future October 2020 Swarm Tile Manual Rev 1 10 23 65 ...

Page 24: ... serial data interface is a CMOS serial UART 3 wire serial Rx serial Tx and ground interface at 3 3V digital signal levels over which the Tile transfers commands responses and message data The serial communication parameters can be found in Table 11 Parameter Value Baud Rate 115200 Data Bits 8 Bits Parity None Stop bits 1 Bit Flow Control None Table 11 Serial communication parameters In addition t...

Page 25: ...00ms on 100ms off If a GPS fix is acquired and then lost the red LED will blink with a 2 duty cycle 100ms on 4900ms off after the green LED While the Tile has a valid GPS fix the red LED will not blink at all Green During the bootup sequence or shutdown the green LED will be on Afterwards the green LED will blink with a 2 duty cycle 100ms on 4900ms off while the Tile is powered on Table 13 LED fun...

Page 26: ... a surface mount connector that is directly attached to the Tile A Swarm VHF antenna must be used to ensure that the RF output is within certification limits Swarm antennas are tuned for a VSWR of 1 8 or better at both 137 000 MHz and 150 000 MHz 5 2 RF Connectors For illustrative purposes a picture of two example Swarm antennas is shown in Figure 8 Figure 8 Swarm Coiled Wave Antenna and Swarm Wav...

Page 27: ...th 7 6 mm Weight 31 5 g Operating Temperature 55 C to 130 C Operating Humidity 0 100 humidity condensable Impedance 50 Ohms nominal Polarization Linearly Polarized VSWR in Swarm Bands 1 8 Gain 2 0 dBi Frequency 137 000 138 000 MHz Rx 148 000 150 000 MHz Tx Connector SMA male Antenna Ground Plane Required Antenna Classification Mobile Fixed Minimum separation distance from body 29cm Table 14 Antenn...

Page 28: ...ommended Antenna Classification Mobile Fixed Minimum separation distance from body 29cm Table 15 Antenna characteristics for Swarm wave Antenna A GPS antenna is required for operation Any passive GPS antenna with an appropriate connection to the Tile s U FL male connector or via the GPS_OUT pin is acceptable for use One such example of a passive antenna is Molex Part Number 1461860300 Active GPS a...

Page 29: ...aces that are connected to the ground conductor of the antenna that serve as a reflecting surface for radio waves An ideal ground plane for the two Swarm antennas would be a flat metal sheet with a radius of at least 55cm To date Swarm has reliably communicated with its satellites using a coiled wave antenna mounted on top of a ground plane as small as 15cm x 30cm x 0 3cm October 2020 Swarm Tile M...

Page 30: ...d keep out area for RF output top layer Note 1 The location for the module input and bypass capacitance Note 2 SAT_RF track should utilize a 50 Ohm micro strip specific to the customer board layout with a ground plane below Note 3 GPS_RF track should utlize a 50 Ohm micro strip specific to the customer board layout with a ground plane below Note 4 Mounting holes 1 067mm diameter Not required in cu...

Page 31: ...ing hardware and metal as far as possible from the Tile to not impede antenna performance 5 5 Antenna Debugging To quickly verify antenna connection to Tile 1 Turn on the Tile 2 After bootup issue RT 1 17 The noise floor the Tile hears in dBm will begin displaying at a rate of once per second 3 While the Tile s LED is blinking red rapidly indicates it has not yet acquired a GPS fix a Touch the Til...

Page 32: ...n the and xx The checksum conforms to the NMEA standard and does not include either the or the xx Messages with a bad checksum are silently ignored and are not retained A sample implementation of the NMEA checksum can be found below written in C A will never occur within a command and may be used to reset the receiving state machine An may occur within a command The receiving state machine will ve...

Page 33: ... the two character command designator and the of the command Boot up sequence The user application should ignore any characters received during startup until the following NMEA sentence has been received TILE BOOT RUNNING 49 The bootloader may output non NMEA formatted messages during this time These messages include but are not limited to status messages firmware update progress messages and erro...

Page 34: ...Value Description app_ID Application ID assigned and programmed by Swarm dev_ID Device ID that identifies this device on the Swarm network dev_name Device type name emu_mode Internal operating mode for Swarm use only uuid Unique ID for Swarm use only Notes An ERR response will be generated if the command is not entered exactly as shown with no additional spaces or characters Example CS 10 CS AI 19...

Page 35: ... DT message format DT rate xx Parameter Description Repeat most recent DT message Query current DT rate rate Disable or set rate of DT messages Returns one of Value Description DT YYYY MM DD hh mm ss flag xx The most recent DT message DT rate xx The current DT rate DT OK xx rate updated successfully DT ERR xx Command input error October 2020 Swarm Tile Manual Rev 1 10 35 65 ...

Page 36: ...0 It will be the number of seconds in between each message If rate is 0 no messages will be sent If rate is valid no DT messages will be sent by the device until the GPS has obtained a valid time reference to set its internal date and time as indicated by the TILE DATETIME 35 message If the GPS loses its time reference the message is sent with a flag indicating an invalid state October 2020 Swarm ...

Page 37: ...alid rate Does not have to be valid to call the most recent date time message Setting the rate of date time messages DT 300 03 DT OK 34 Sets the rate of date time messages to one message every 300 seconds Querying the rate of date time messages DT 0f DT 60 36 Returns a rate of one message every 60 seconds October 2020 Swarm Tile Manual Rev 1 10 37 65 ...

Page 38: ...e Description FV version_string xx The current firmware version FV ERR xx Command input error Notes An ERR response will be generated if the command is not entered exactly as shown with no additional spaces or characters Example FV 10 FV 2020 09 21 19 42 39 v0 9 0 3c The firmware version on the device is 0 9 0 October 2020 Swarm Tile Manual Rev 1 10 38 65 ...

Page 39: ... of Parameter Description GJ spoof_state jamming_level xx The most recent GJ message GJ rate xx The current GJ rate GJ OK xx Parameters updated successfully GJ ERR xx Command input error Parameter Description spoof_state 0 Spoofing unknown or deactivated 1 No spoofing indicated 2 Spoofing indicated 3 Multiple spoofing indications jamming_level Value ranging from 0 to 255 indicating how much carrie...

Page 40: ...e GJ 6d GJ 1 23 31 Returns a spoof state of No spoofing indicated The carrier wave jamming level is 23 Setting the rate of GPS jamming spoofing messages GJ 3600 28 GJ OK 29 Sets the rate of GPS jamming spoofing messages to one message every 3600 seconds Querying the rate ofGPS jamming spoofing messages GJ 12 GJ 10 2c Returns a rate of one message every 10 seconds October 2020 Swarm Tile Manual Rev...

Page 41: ...meter Description Repeat most recent GN message Query current GN rate rate Disable or set rate of GN messages Returns one of Value Description GN latitude longitude altitude course speed xx The most recent GN message GN rate xx The current GN rate GN OK xx Parameters updated successfully GN ERR xx Command input error October 2020 Swarm Tile Manual Rev 1 10 41 65 ...

Page 42: ...0 west speed Speed in kilometers per hour 0 999 float Notes rate is a value between 1 and 2147483647 2 31 1 It will be the number of seconds in between each message If rate is 0 no messages will be sent If rate is valid no GN messages will be sent by the device until the GPS has obtained a valid position reference as indicated by the TILE POSITION 2d message Examples Calling the most recent GPS me...

Page 43: ...ssages GN 30 2a GN OK 2d Sets the rate of GPS messages to one message every 30 seconds Querying the rate of GPS messages GN 16 GN 15 2d Returns a rate of one message every 15 seconds October 2020 Swarm Tile Manual Rev 1 10 43 65 ...

Page 44: ...ol the operation of the Tile GP mode xx Parameter Description Display current GPIO1 mode mode Set GPIO1 pin mode Returns one of Value Description GP mode xx The current GP mode GP OK xx Parameters updated successfully GP ERR xx Command input error October 2020 Swarm Tile Manual Rev 1 10 44 65 ...

Page 45: ...ow indicates in sleep mode 2 Otherwise output is high 10 Output high indicates in sleep mode 2 Otherwise output is low It is the responsibility of the client to provide pull up resistors to the 3 3V supply rail See the reference design for resistor sizing All output modes are open drain 1 These two variations allow the user application to use GPIO1 as a general purpose output 2 If either of these ...

Page 46: ... is set to Output low while transmitting Otherwise output is high Setting the GPIO1 pin mode to input and wake on a high to low transition GP 2 05 GP OK 33 Sets the GPIO1 pin mode to input and wake on a high to low transition October 2020 Swarm Tile Manual Rev 1 10 46 65 ...

Page 47: ...meter Description Repeat most recent GS message Query current GS rate rate Disable or set rate of GS messages Returns one of Parameter Description GS hdop vdop gnss_sats unused fix xx The most recent GS message GS rate xx The current GS rate GS OK xx Parameters updated successfully GS ERR xx Command input error October 2020 Swarm Tile Manual Rev 1 10 47 65 ...

Page 48: ...one 2D solution G3 Standalone 3D solution D2 Differential 2D solution D3 Differential 3D solution RK Combined GNSS dead reckoning solution TT Time only solution Notes rate is a value between 1 and 2147483647 2 31 1 It will be the number of seconds in between each message If rate is 0 no messages will be sent If rate is valid no GS messages will be sent by the device until the GPS has obtained a va...

Page 49: ...indicated by the TILE POSITION 2d message Calling the most recent geospatial information message GS 74 GS 109 214 9 0 G3 46 Returns a HDOP of 1 09 VDOP of 2 14 the device is using 9 GNSS satellites for this solution and it is a Standalone 3D solution Querying the rate of geospatial information messages GS 0b GS 120 07 Returns a rate of one message every 120 seconds October 2020 Swarm Tile Manual R...

Page 50: ...rns one of Value Description PO OK xx Command has been accepted and the Tile will immediately attempt to power off PO ERR xx Command input error Notes An OK response confirms that the Tile will shut down The user should disconnect power from the Tile at this point If left connected the Tile will draw approximately 6mA on its 3 3V input The Tile will not boot again until power has been completely r...

Page 51: ...nt PW rate rate Disable or set rate of PW messages Returns one of Parameter Description PW unused unused unused unused temp xx The most recent PW message PW rate xx The current PW rate PW OK xx Parameters updated successfully PW ERR xx Command input error Parameter Description unused Will always show as 0 00000 temp CPU Temperature in degrees C to one decimal point float October 2020 Swarm Tile Ma...

Page 52: ...er status message PW 67 PW 0 00000 0 00000 0 00000 0 00000 25 0 3c Returns a device temperature of 25 0 Setting the rate of power status messages PW 30 24 PW OK 23 Sets the rate of power status messages to one message every 30 seconds Querying the rate of power status messages PW 18 PW 900 1e Returns a rate of one message every 900 seconds October 2020 Swarm Tile Manual Rev 1 10 52 65 ...

Page 53: ...rns one of Value Description RS OK xx Command has been accepted and the device will immediately perform a hardware restart RS ERR xx Command input error Notes An OK response confirms that the device will successfully restart No external power cycling is required Example RS 01 RS OK 25 TILE BOOT RESTART 59 October 2020 Swarm Tile Manual Rev 1 10 53 65 ...

Page 54: ...ate rate Disable or set rate of RT messages Returns one of Parameter Description RT RSSI rssi_sat SNR snr FDEV fdev TS time DI sat_id xx The most recent RT message from a satellite Appears independently of the background noise messages RT RSSI rssi xx The most recent RT message RT rate xx The current RT rate RT OK xx Parameters updated successfully RT ERR xx Command input error October 2020 Swarm ...

Page 55: ...ckets received from a satellite will be displayed For reliable performance the noise floor can be measured with an antenna connected to the device in the final built up configuration The value reported by RT should be less than a larger negative number than 93 dBm If the noise floor is greater than 93 dBm e g 88 dBm then the customer should relocate the device to a different location Examples Call...

Page 56: ...he format of these scheduled messages will be the simple noise floor message Any packets received from a satellite will be displayed as they are received independently of the RT rate Querying the rate of receive test messages RT 19 RT 5 13 Returns a rate of one message every 5 seconds October 2020 Swarm Tile Manual Rev 1 10 56 65 ...

Page 57: ...resent SL ERR NOTIME xx Attempt to sleep before time is set The S parameter is the number of seconds to sleep This value may range from 5 to 31536000 approximately 1 year seconds A value not within this range will return SL ERR BADPARAM If the command is accepted the device will emit SL OK and enter sleep mode for the requested duration The U parameter is a time and optional date the device should...

Page 58: ... has been reached If UART activity wakes the Tile the TIMEOUT message will not be emitted as the Tile is now awake In sleep mode the real time clock is not GPS disciplined and is therefore subject to some degree of drift The longer the device is asleep the more the drift will accumulate The user should be aware of this when selecting a sleep with a long duration If the GPIO1 pin is configured as a...

Page 59: ... a message such as SL WAKE SERIAL 2019 04 11 18 57 45 6f Similarly if the GPIO1 pin is configured to wake on a high to low or low to high transition then on transition on the GPIO1 pin the Tile will also wake with a message such as SL WAKE GPIO 2019 04 11 18 57 55 7f Commanding the Tile to sleep until October 1st 2021 at 4 30 00 PM SL U 2021 10 01 16 30 00 72 SL OK 3b October 2020 Swarm Tile Manua...

Page 60: ... VERSION Current firmware version information DATETIME The first time GPS has acquired a valid date time reference POSITION The first time GPS has acquired a valid position 3D fix DEBUG Debug message data debug text ERROR Error message data error text Notes A data message follows the BOOT message to indicate the reason for the startup The POSITION message and DATETIME message may occur in any orde...

Page 61: ...g data xx Parameter Description HD hold_dur Hold duration of message in seconds optional default 172800 seconds ET expire_time Time to expire message in epoch seconds string data 1 to 200 bytes of data ASCII string 2 to 400 bytes hexadecimal written as ascii October 2020 Swarm Tile Manual Rev 1 10 61 65 ...

Page 62: ... device ID has not yet been set TD ERR NOCOMMAND 0 xx TD with no parameters was sent TD ERR NOSPACE 0 xx No space for message TD ERR NOAPPID 0 xx The application ID has not yet been set TD ERR BADAPPID 0 xx The application ID is invalid TD ERR TIMENOTSET 0 xx Attempt to send message before time set by GPS TD ERR DBXTOHIVEFULL 0 xx Queue for queued messages is full Maximum of 2048 messages may be h...

Page 63: ...to the current UTC time the message will not be queued and an expired message TD HOLDTIMEEXPIRED 0 xx will be returned immediately string data may be expressed one of two different ways If all the data to be sent is in the ASCII character range from 0x20 space to 0x7e tilde then the data may be sent as a string A string is specified by enclosing the data in double quotes e g Hello world It is perm...

Page 64: ...ge has not expired due to time as it was set to expire 2 hours from when it was entered when the device hears a satellite pass overhead it attempts to send any messages in its database Messages are scheduled to be sent in the order they were entered into the device e g first in database first transmitted Each message heard by the satellite is individually acknowledged with a TD SENT response the a...

Page 65: ...575917 2d TD SENT RSSI 103 SNR 2 FDEV 67 5354468575917 70 Sending a message from the device in ASCII that will expire on 2021 01 01 12 34 56 TD ET 1609504496 Hello World 1F TD OK 5354468575919 2f TD SENT RSSI 100 SNR 3 FDEV 437 5354468575919 4D Sending a message from the device in HEXASCII TD 5468697320697320696E206865786173636969 65 TD OK 5354468575916 2c TD SENT RSSI 107 SNR 3 FDEV 199 535446857...

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