REV-2000 Operational Manual RoyalTek Evaluation Kit REV-2000 Operational Manual Version 1.1 2001/7/4 This document contains information highly confidential to RoyalTek Company LTD (RoyalTek). It is provided for the sole 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.
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual RoyalTek Evaluation Kit REV-2000 Operational Manual INTRODUCTION .........................................................................................................................................1 Packing list .........................................................................................................................................1 GETTING STARTED .......................................................................
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual LLA Navigation Initialization .............................................................................................................16 Development Data On/Off ................................................................................................................16 Calculating Checksums for NMEA Input ..........................................................................................17 SIRF BINARY PROTOCOL ...........
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual Set Ephemeris – Message I.D.254...................................................................................................35 Development Data – Message I.D.255.............................................................................................
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual Introduction REV-2000 is an evaluation kit for RoyalTek GPS engine board series, REB-12R2/R6/ REB-2000/ REB-2001.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.
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 REV-2000 Operational Manual 1. Evaluation 3. Power Core 2. 4. 5. RS232 Cable BNC to MCX Cable GPS active antenna No. Items Specification Quantity Description 1 REV-2000 Evaluation Board 68*88mm 1 PROVIDE POWER FOR GPS ENGINE BOARD AND CONVERT THE SIGNAL FROM TTL TO RS-232 CONNECTING TO PC. 2 Power Core AC 110V or 220V 7.5V/1.0A/2.5mm/1.8M 1 AC/DC ADAPTOR. THERE ARE TWO TYPES OF ADPATOR, 110V AND 220V. 3 RS232 Cable 9pin/1.
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual Getting started To Setup REV-2000 The interface of REV-2000 is shown as follows: VBT Backup battery input 2.5V ~ 3.1V CON20 REB-12R2 connector DC input +6.5V ~ CON12 REB-2000/REB-2100 RESET switch Power BOOT jumper Open: Normal operation Power mode Short: Program upgrade jumper J1 Open: +5V Short: +3.
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual Setup procedure input range is from 2.5V ~ 3.1V DC. P1 (1) Plug the REB-12R2 on the CON20 This is NMEA/SiRF protocol output/input port. (2) Plug the active antenna into the external Please connect it to PC or Laptop RS-232 antenna connector. The suitable view port. angle of the active antenna is necessary. P2 Caution: Please do not put any metal This is DGPS input port. stuff on the antenna.
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual PC COM1 (2) Choose the “Supplied Data” radio button. Click the “Instrument(Measured Data)” To operate REV-2000 check box. (3) Select the serial port, e.g. COM1. The Install the SiRFDemo.exe Copy the SiRFDemo.exe from the CD-ROM default baud rate of REB-2100 and \Toolkit\SiRFDemo.exe to the destination path, Reb-12R2 is 9600bps. Click the OK. (4) There are 6 menus on the menu bar: e.g. “c:\RoyakTek\REV-2000\Demo.exe”.
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual Connect/ Data source Tracking Signal Level Disconnect Signal Level Toggle button view Tracking view Map Map Development view “Map view”. (5) Click the “Signal level”, “Tracking”, “Map” (6) Check the View / Messages / buttons of the tool bar to enable the Development to enable the development “Signal level view”, “Tracking view” and view.
RoyalTek GPS Receiver REB-2000/REB-12R (7) Click the REV-2000 Operational Manual to start testing. : Initialize Data Source (8) The other buttons of tool bar are explained (9) After you click the as follows: , you can see the NMEA output on the development view. : Pause the data reception. :Log the data as a *.log file. To switch from NMEA to SiRF protocol Check Action / Switch to SiRF Protocol.
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual You could see the following screen after you switch to SiRF protocol.
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual development purpose not for user. Map View: Demonstrate the GPS time, Click the Latitude, Longitude, Altitude and source. It provides the cold start, warm Navigation mode etc. start and hot start test functions.
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual (2) After you select the “Switch to NMEA Protocol”, it will show up a “Select NMEA Messages” dialog. Select the NMEA Messages that you want to use. (3) Determine the update rate for each NMEA protocol/baud rate is set in REB-2100 or message REB-12R2, you can use this option to (4) Select the baud rate that you want to use synchronize protocol. Select the from the Baud Rate pull down menu. Action/Synchronize Protocol and Baud Rate.
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual (1) Trickle power: In TricklePower mode, the can be provided quickly after power-up. power to is cycled periodically, so that it REB-2100 provides push to fix function operates only a fraction of the time. but it is disabled default. REB-12R2 does REB-2100 has the default trickle power not provide this function. parameters: OnPeriod: 300ms, Update It provides the trickle power operation in rate: 1 second.
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual cycle is 200ms/1000ms = 20%. If the “Update the proper duty cycle that can compromise the Rate” is 2 sec and “On Time” is 300 ms, the power consumption and acceptable navigation duty cycle is 300ms/2000ms = 15%. The duty performance. The “ricklePower Prameters” cycle is limited to 5% ~ 50%. Since it will do dialog is shown as following picture. some estimation in trickle power, please tune Message I.D.
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual (7) Select the COM port. Keep the Baud rate memory. at 19200 for REB-2100 and 9600 for (10) When you finish upload, turn off the power. Keep the BOOT jumper open and turn on REB-12R2/R1. (8) If you want to upload program to power. It will run the new program that Reb-2100, please assert the GPS2 check uploaded into flash memory. box. But leave it unasserted for Reb-12R2/R1.
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual Excellent sensitive for urban canyon Timing application REB-12R and foliage environments. Single satellite positioning. Automotive applications Dual multi path rejection. Personal positioning and navigation REB-12R Marine navigation OEM product development is fully Timing application supported through applications engineering and WEB technique forum.
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual Pin 1 Pictures MMCX Pin REB-2100 System Block Diagram Active antenna Flash Memory 12 pins LNA SiRF SAW Filter SIRF GRF2I 2 GSP2e
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual REB-12R MCX Pin REB-12R Block diagram Active antenna Flash memory LNA SiRF 20 pins GSP2e Hitachi SH1 Ceramic Filter SIRF GRF1/LX SRAM Snap start:2second, average Technique specifications Hot start REB-2100. Warm start Operational Characteristics. Cold start 12 Channels 8second, average 45second, average 60second, average Reacquisition:0.1 second, average L1, 1575.42MHz. Navigation update rate C / A code, 1.
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual Datum: WGS-84. Acceleration Accuracy. 4 g. , Max. Power Requirements. Position accuracy 25m CEP without SA Regulated power for the REB-2000/ Velocity accuracy:0.1 meters/second REB-2100 is required. The input voltage without SA shall be 3.3V ± 10 %. The power of active DGPS Accuracy. antenna is supplied by Position:1 to 5 m, typical REB-2000/REB-2100. It doesn’t need to Velocity: 0.
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual Temperature. Humidity. ≦95% noncondensing. RF connector Storage temperature –10 ~ +85 Degree (Celsius). The RF connector is MMCX receptacle. Active antenna. Operating temperature -10 ~ +70 Degree (Celsius). GSP Antenna Characteristics Center frequency Bandwidth Gain at Zenith Gain at 10° elevation Polarization Axial Ratio Specification 1575.42 ± 1.023MHz 2MHz Min. 2.0 dBi Min. -4.0 dBi Min. R.H.C.P 4.0dB Max.
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual Dynamics. Altitude %. The power of active antenna is 18000 meters (60000 feet) Max. supplied through the 2 nd pin of the Velocity 515 meters / second Max. interface. The maximum current is less Acceleration 4 g. , Max. than 180mA without antenna. Physical. Power Requirements. Dimension. 72mm x 41mm x 19mm Regulated power for the REB-12R2 is required. The input voltage shall be 5V ± 5 Pin header 2.0mm 10Px2 180 4- 3.2mm 8.
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual Ordering information For the complete pricing and delivery information, please contact: RoyalTek Company Ltd. 1071 Chung Cheng Rd.,Suite 9F-1,Tao Yuan City,Taiwan,R.O.C. Tel: 886-3-3569666 Fax: 886-3-3560900 Http://www.royaltek.com e-mail: sales@royaltek.com Hardware interface REB-2100. Pin NO 1 2 Signal Name VCC_3 TXA I/O Description 3 4 5 6 7 RXA GND GPIOA TXB RXB I O +3.
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual communicate with a PC serial port. tied high. RXA TIMEMARK This is the main receiving channel and is This pin provides one pulse per second output from used to receive software commands to the the engine board which is synchronized to within one Engine board from user written software. microsecond of GPS time. The output is a TTL RXB negative level signal with negative logic.
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual 18 19 GND TIMEMARK G O Ground 1PPS Time Mark Output. 20 RESERVED - Reserved Voh ≥ VCC-0.4V, Vo1 ≤ 0.4V, I o h = 4mA I o 1 = 4mA Pulse duration 100ms. Time reference is at the pulse negative edge. Measurements are aligned to GPS second, ± 1 microsecond. VCC_5 DC Power Input TXA This is the main power supply for the GPS This is the main transmit channel and is used Engine board.
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual Absolute maximum ratings REB-2000/REB-2100 Parameter Supply voltage Input pin voltage Output pin voltage Output current RTC power Symbol VCC_3 Min. Value -0.3 -0.3 -0.3 VBAT Unit V V V mA V 1.5 Max. Value 3.6 VCC_3 + 0.3 VCC_3 + 0.3 ±25 3.6 Symbol VCC_5 VBAT Unit V V Min. Value -0.3 -0.3 Max. Value 6 3.6 REB-12R Parameter Supply voltage RTC power Software interface following NMEA-0183 messages:GGA, GLL, GSA, GSV, RMC and VTG.
RoyalTek GPS Receiver REB-2000/REB-12R Age of Diff. Corr. Diff. Ref. Station ID Checksum ＜CR＞＜LF＞ Table 2-1 REV-2000 Operational Manual second Null fields when DGPS is not used 0000 *18 End of message termination Position Fix Indicator Value 0 1 2 3 Description Fix not available or invalid GPS SPS Mode, fix valid Differential GPS, SPS Mode, fix valid GPS PPS Mode, fix valid example:$GPGLL, 3723.2475, N, GLL-Geographic Position – 12158.3416, W, 161229.
RoyalTek GPS Receiver REB-2000/REB-12R Table 4-2 REV-2000 Operational Manual Mode 2 Value M A Description Manual-forced to operate in 2D or 3D mode Automatic-allowed to automatically switch 2D/3D 256, 42, 27, 27, 138, GSV-GNSS Satellites in View 42*71$GPGSV, 2, 2, 07, 09, 23, Table 5 contains the values of the following 313, 42, 04, 19, 159, 41, 15, 12, example: $GPGSV, 2, 1, 07, 07, 79, 041, 42*41 048, 42, 02, 51, 062, 43, 26, 36, Table 5 GGA Data Format Name Message ID 1 Number of Messages
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual Table 7 contains the values of the following VTG-Course Over Ground and example:$GPVTG, 309.62, T, Ground Speed Table 7 , M, 0.13, N, 0.2, K*6E VTG Data Format Name Message ID Course Reference Course Reference Speed Units Speed Units Checksum ＜CR＞＜LF＞ Example $GPVTG 309.62 T Units degrees degrees M 0.13 N 0.
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual SIRF NMEA Input Messages Message Set Serial Port Navigation Initialization Set DGPS Port Query / Rate Control LLA Navigation Initialization Development Data On/Off Message Identifier (MID) 100 101 102 103 104 105 Description Set PORT A Parameters and protocol Parameters required for start using X/Y/Z Set PORT B parameters for DGPS input Query standard NMEA message and/or set output rate Parameters required for start using Lat/Lon/Alt1 De
RoyalTek GPS Receiver REB-2000/REB-12R Table 9 REV-2000 Operational Manual Navigation Initialization Data Format Name Message ID ECEF X ECEF Y ECEF Z CLK Offset Example $PSRF101 -2686700 -4304200 3851624 95000 Time Of Week Week No Channel Count Reset Cfh Checksum 497260 921 12 3 *22 Units Description PSRF101 protocol header X coordinate position Y coordinate position Z coordinate position Meters Meters Meters Hz seconds Clock Offset of the Evaluation Unit1 GPS Time OF Week GPS Week Numbe
RoyalTek GPS Receiver REB-2000/REB-12R Table 12 Query/Rate Control Data Format(See example 1.) Name Message ID Message Mode Rate Cksum Enable Checksum Table 13 REV-2000 Operational Manual Example $PSRF103 00 01 00 01 *25 Units seconds Description PSRF102 protocol header See Table 13 0=Set Rate, 1=Query Output – off=0,max=255 0=Disable Checksum, 1=Enable Checksum End of message termination Messages Value 0 1 2 3 4 5 Description GGA GLL GSA GSV RMC VTG parameters .
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual following examples: 1. 2.
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual Payload Data by the transport. Let msgLen be the number The payload data follows the message of bytes in the message array to be length. It contains the number of bytes transmitted . specified by the message length. The Index = first payload data may contain any 8-bit value.
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual track data Debug data enabled. 80FFD700F9FFBE5266003AC57A000124 Example: F80083S600039C0C33- Payload A0A20019-Start Sequence and Payload 0A91B0B3-Message Checksum and End Length Sequence Table 18 Initialize Data Source Name Message ID ECEF X ECEF Y ECEF Z Clock Offset Time of Week Week Number Channels Reset Config.
RoyalTek GPS Receiver REB-2000/REB-12R GLL Message Checksum BSA Message Checksum GSV Message Checksum RMC Message Checksum VTG Message Checksum Unused Field Unused Field Unused Field Unused Field Unused Field Unused Field Unused Field Unused Field Baud Rate 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 REV-2000 Operational Manual 00 01 05 01 05 01 00 01 00 01 00 01 00 01 00 01 00 01 12C0 1/s 1/s 1/s 1/s 1/s Recommended value Recommended value Recommended value Recommended value Recommended value Recommended val
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual Example: Mode control – Message I.D .
RoyalTek GPS Receiver REB-2000/REB-12R Table 24 REV-2000 Operational Manual DOP Mask Control Name Message ID DOP Selection GDOP Value PDOP Value HDOP Value Bytes 1 1 1 1 1 Binary(Hex) Scale Example 88 00 08 08 08 Units Description ASCII 137 See Table 25 Range 1 to 50 Range 1 to 50 Range 1 to 50 Payload Length: 5 bytes Table 25 DOP Selection Byte Value 0 1 2 3 4 Description Auto PDOP/HDOP PDOP HDOP GDOP Do Not Use Example: DGPS Control – Message I.D.
RoyalTek GPS Receiver REB-2000/REB-12R Table 28 REV-2000 Operational Manual Elevation Mask Name Message ID Tracking Mask Navigation Mask Binary(Hex) Scale Example 8B *10 0032 *10 009B Bytes 1 2 2 Units Description ASCII 139 Not currently used Range –20.0 to 90.0 degrees degrees Payload Length:5 bytes Length Power Mask – Message I.D.
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual Example: Set DGPS Serial Port – Message I.D A0A20009-Start Sequence and Payload 145 Length Table 32 contains the input values for the 910000258008010000 – Payload following example:Set DGPS Serial port to 013FB0B3 – Message Checksum and End 9600.n,8,1.
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual A value of 0 requests all available Switch Operating Modes - Message ephemeris records, otherwise the I.D. 150 ephemeris of the Sv I.D. is requested. Table 35 contains the input values for the following example: Switch To SiRF Protocol Sets the receiver to track a single satellite Note – To switch to SiRF protocol you on all channels. must send a SiRF NMEA message to Example: revert to SiRF binary mode.
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual Time, use the following formula: Computation of Duty Cycle and On Off Time = (On Time - (Duty Cycle * On Time. Time)) / Duty Cycle The Duty Cycle is the desired time to be Update rate = Off Time + On Time spent tracking.The On Time is the duration Note – On Time inputs of > 900 ms will of each tracking period (range is 200 - 900 default to 1000 ms ms).
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual seconds. Example: Poll receiver for current navigation parameters. A0A20002—Start Sequence and Payload Poll Navigation Parameters - Length Message I.D.
RoyalTek GPS Receiver REB-2000/REB-12R Table 41 REV-2000 Operational Manual Measured Navigation Data Out – Binary & ASCII Message Data Format Binary(Hex) Scale Example 02 FFD6F78C FFBE536E 003AC004 *8 00 *8 03 *8 01 04 *5 A 00 036B *100 039780E3 06 12 19 0E 16 0F 04 00 00 00 00 00 00 Name Bytes Message ID 1 X – position 4 Y – position 4 Z – position 4 X – velocity 2 Y – velocity 2 Z – velocity 2 1 Mode 1 2 DOP 1 3 Mode 1 GPS Week 2 GPS TOW 4 SVs in Fix 1 CH 1 1 CH 2 1 CH 3 1 CH 4 1 CH 5 1 CH 6 1 CH 7 1 C
RoyalTek GPS Receiver REB-2000/REB-12R Table 43 REV-2000 Operational Manual Mode 2 Mode 2 Hex 0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07 Description ASCII 0 1 2 3 4 5 6 7 DR Sensor Data Validated / Unvalidated Dead Reckoning (Time Out) Output Edited by UI Reserved Reserved Reserved Reserved 04036C0000937F0C0EAB46003F Measured Tracker Data Out – 1A1E1D1D191D1A1A1D1F1D594 Message I.D.4 23 Output Rate: 1 Hz F1A1A….
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual zero values Table 45 Trk. to NAV Struct. Trk.
RoyalTek GPS Receiver REB-2000/REB-12R Integration Interval Track Loop Iteration 2 0013 2 003F REV-2000 Operational Manual Ms 19 63 Payload Length:51 bytes per satellite tracked (up to 12) 1.For further information,go to Table 45 2.Multiply by (1000÷4π)÷2 16 to convert to Hz. The meaning of I.D.
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual data and carrier data for each measurement on the correlation interval to improve epoch. precision. 5. 1. 2. 3. Compute the delta range. Computation of initial Receiver If the accumulation time of the Dalta Carrier Time(RT) in seconds.
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual 0598B0B3 – Message Checksum and End Sequence Table 48 Clock Status Data Message Name Message ID GPS Week GPS TOW Svs Clock Drift Clock Bias Estimated GPS Time Binary(Hex) Bytes Scale Example 1 07 2 03BD 4 *100 02154924 1 08 4 2231 4 7923 4 DAEF Units S Hz ns ms ASCII(Decimal) Example 7 957 /100 349494.12 8 74289 128743715 349493999 Scale Payload Length:20 bytes 08******** - Payload 50BPS Data – Message I.D.
RoyalTek GPS Receiver REB-2000/REB-12R Table 50 REV-2000 Operational Manual CPU Throughput Binary(Hex) Name Bytes Scale Example Message ID 1 09 SegStatMax 2 *186 003B SegStatLat 2 *186 0011 AveTrkTime 2 *186 0016 Last MS 2 01E5 Units Scale ms ms ms ms /186 /186 /186 ASCII(Decimal) Example 9 .3172 .0914 .1183 485 Payload Length: 9 bytes 0x92)request example: Command Acknowledgment – A0A20002 – Start Sequence and Message I.D.
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual ****B0B3 – Message Checksum and End Table 53 Sequence Visible List Binary(Hex) Scale Example 0D 08 07 0029 0038 Name Bytes Message ID 1 Visible Svs 1 CH 1 –Sv I.D 1 CH 1 –Sv Azimuth 2 CH 1 –Sv 2 Elevation CH 2 –Sv I.
RoyalTek GPS Receiver REB-2000/REB-12R Table 55 Name Message ID REV-2000 Operational Manual Visible List Bytes 1 Binary(Hex) Scale Example FF Units Scale ASCII(Decimal) Example 255 Payload Length:Variable Note – Messages are output to give the (i.e., 0x4E is ‘N’) these are low priority task user information of receiver activity. and are not necessarily output at constant Convert to symbol to assemble message intervals.
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual Contact Information Section Contact : 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.
