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Abstract This document lists up all protocol messages which are supported by the TIM modules, receiver boards, smart antennas and the TIM Evaluation Kit based on the SiRFstar II chip set.
Protocol Specification
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All trademarks mentioned in this document are property of their respective owners. Copyright 2003, u-blox AG THIS DOCUMENT CONTAINS INFORMATION ON U-blox PRODUCTS IN THE SAMPLING AND INITIAL PRODUCTION PHASES OF DEVELOPMENT. THE SPECIFICATIONS IN THIS DOCUMENT ARE SUBJECT TO CHANGE AT u-blox' DISCRETION. u-blox ASSUMES NO RESPONSIBILITY FOR ANY CLAIMS OR DAMAGES ARISING OUT OF THE USE OF THIS DOCUMENT, OR FROM THE USE OF MODULES BASED ON THIS DOCUMENT, INCLUDING BUT NOT LIMITED TO CLAIMS OR DAMAGES BASED ON INFRINGEMENT OF PATENTS, COPYRIGHTS OR OTHER INTELLECTUAL PROPERTY RIGHTS. u-blox MAKES NO WARRANTIES, EITHER EXPRESSED OR IMPLIED WITH RESPECT TO THE INFORMATION AND SPECIFICATIONS CONTAINED IN THIS DOCUMENT. PERFORMANCE CHARACTERISTICS LISTED IN THIS DOCUMENT ARE ESTIMATES ONLY AND DO NOT CONSTITUTE A WARRANTY OR GUARANTEE OF PRODUCT PERFORMANCE.
Contents
1 Introduction ................................................................................................................. 7
1.1 Information on Document Revisions...................................................................................................... 7 Document Revision A..................................................................................................................... 7 Document Revision B ..................................................................................................................... 7 Document Revision C..................................................................................................................... 7 Document Revision D..................................................................................................................... 7 Document Revision E ..................................................................................................................... 7 1.1.1 1.1.2 1.1.3 1.1.4 1.1.5
NMEA Protocol............................................................................................................. 8
2.1 Protocol Layer ....................................................................................................................................... 8 NMEA Checksum........................................................................................................................... 8 Transport Message (NMEA Input) .................................................................................................. 8 2.1.1 2.1.2 2.2
NMEA Output messages ....................................................................................................................... 9 NMEA Output message GGA, Global Positioning System Fixed Data............................................ 10 NMEA Output message GLL, Geographic Position, Latitude/Longitude ........................................ 11 NMEA Output message GSA, GNSS DOP and Active Satellites ..................................................... 12 NMEA Output message GSV, GNSS Satellites in View .................................................................. 13 NMEA Output message MSS, MSK Receiver Signal ...................................................................... 14 NMEA Output message RMC, Recommended Minimum Specific GNSS Data ............................... 15 NMEA Output message VTG, Course Over Ground and Ground Speed ....................................... 16 NMEA Output message ZDA, Date and Time ............................................................................... 16 NMEA Output message 150, OK-To-Send (u-blox) ....................................................................... 17 NMEA Output message 161, Hardware Status (u-blox) ................................................................ 18
2.2.1 2.2.2 2.2.3 2.2.4 2.2.5 2.2.6 2.2.7 2.2.8 2.2.9 2.2.10 2.3
NMEA Input Messages ........................................................................................................................ 19 NMEA Input message 100, Set Serial Port .................................................................................... 20 NMEA Input message 101, Navigation Initialisation ..................................................................... 21 NMEA Input message 102, Set DGPS Port.................................................................................... 22 NMEA Input message 103, Query Rate Control............................................................................ 22 NMEA Input message 104, LLA Navigation Initialisation............................................................... 24 NMEA Input message 105, Development Data On/Off ................................................................. 25 NMEA Input message 106, Set Datum (u-blox) ............................................................................ 25 MEA Input message 107, TricklePower Mode (u-blox) .............................................................. 26 NMEA Input message 108, Flash Update (u-blox)......................................................................... 26 NMEA Input message MSK, MSK Receiver Interface..................................................................... 27
2.3.1 2.3.2 2.3.3 2.3.4 2.3.5 2.3.6 2.3.7 2.3.8 2.3.9 2.3.10
Content
Output Messages for SiRF Binary Protocol.......................................................................................... 30 SiRF Binary Output message I.D. 2, Measure Navigation Data..................................................... 32 SiRF Binary Output message I.D. 4, Measured Tracker Data ........................................................ 35 SiRF Binary Output message I.D. 5, Raw Tracker Output............................................................. 36 SiRF Binary Output message I.D. 6, Software Version String ....................................................... 38 SiRF Binary Output message I.D. 7, Clock Status Data ................................................................ 38 SiRF Binary Output message I.D. 8, 50 BPS Data ......................................................................... 39 SiRF Binary Output message I.D. 9, CPU Throughput.................................................................. 40 SiRF Binary Output message I.D. 10, Error ID .............................................................................. 41 SiRF Binary Output message I.D. 11, Command Ack................................................................... 52 SiRF Binary Output message I.D. 12, Command NAck. ............................................................... 53 SiRF Binary Output message I.D. 13, Visible List .......................................................................... 53 SiRF Binary Output message I.D. 14, Almanac Data .................................................................... 54 SiRF Binary Output message I.D. 15, Ephemeris Data.................................................................. 55 SiRF Binary Output message I.D. 16, Test Mode 1 ...................................................................... 56 SiRF Binary Output message I.D. 17, Differential Corrections ...................................................... 57 SiRF Binary Output message I.D. 18, OkToSend.......................................................................... 57 SiRF Binary Output message I.D. 19, Navigation Parameters ....................................................... 58 SiRF Binary Output message I.D. 20, Test Mode 2 ...................................................................... 60 SiRF Binary Output message I.D. 28, Navigation Library Measurement Data ............................... 62 SiRF Binary Output message I.D. 29, Navigation Library DGPS Data ............................................ 64 SiRF Binary Output message I.D. 30, Navigation Library SV State Data........................................ 65 SiRF Binary Output message I.D. 31, Navigation Library Initialisation Data .................................. 66 SiRF Binary Output message I.D. 98, Extended Measured Navigation (u-blox) ............................. 68 SiRF Binary Output message I.D. 100, Hardware Status (u-blox) ................................................. 70 SiRF Binary Output message I.D. 121, Log Data (u-blox) ............................................................. 71 SiRF Binary Output message I.D. 122, Log Sector Info (u-blox).................................................... 71 SiRF Binary Output message I.D. 123, Log Sector Erase End (u-blox) ........................................... 72 SiRF Binary Output message I.D. 124, Log Info (u-blox) .............................................................. 72
3.2.1 3.2.2 3.2.3 3.2.4 3.2.5 3.2.6 3.2.7 3.2.8 3.2.9 3.2.10 3.2.11 3.2.12 3.2.13 3.2.14 3.2.15 3.2.16 3.2.17 3.2.18 3.2.19 3.2.20 3.2.21 3.2.22 3.2.23 3.2.24 3.2.25 3.2.26 3.2.27 3.2.28
Content
SiRF Binary Output message I.D. 125, Log Config (u-blox) .......................................................... 73 SiRF Binary Output message I.D. 126, Log Fix Config (u-blox) ..................................................... 73 SiRF Binary Output message I.D. 127, Log GPIO Config (u-blox) ................................................. 74 SiRF Binary Output message I.D. 255, Development Data ........................................................... 74
Input Messages for SiRF Binary Protocol............................................................................................. 75 SiRF Binary Input message I.D. 128, Initialize Data Source........................................................... 77 SiRF Binary Input message I.D. 129, Switch To NMEA Protocol ................................................... 78 SiRF Binary Input message I.D. 130, Set Almanac ....................................................................... 80 SiRF Binary Input message I.D. 132, Software Version ................................................................ 80 SiRF Binary Input message I.D. 133, DGPS Source....................................................................... 81 SiRF Binary Input message I.D. 134, Set Main Serial Port............................................................. 82 SiRF Binary Input message I.D. 135, Set Protocol ........................................................................ 83 SiRF Binary Input message I.D. 136, Mode Control ..................................................................... 84 SiRF Binary Input message I.D. 137, DOP Mask Control .............................................................. 85 SiRF Binary Input message I.D. 138, DGPS Control ..................................................................... 86 SiRF Binary Input message I.D. 139, Elevation Mask.................................................................... 86 SiRF Binary Input message I.D. 140, Power Mask ........................................................................ 87 SiRF Binary Input message I.D. 143, Static Navigation................................................................. 87 SiRF Binary Input message I.D. 144, Poll Clock Status ................................................................. 88 SiRF Binary Input message I.D. 145, Set DGPS Serial Port............................................................ 88 SiRF Binary Input message I.D. 146, Poll Almanac....................................................................... 89 SiRF Binary Input message I.D. 147, Poll Ephemeris .................................................................... 89 SiRF Binary Input message I.D. 148, Flash Update (u-blox) .......................................................... 90 SiRF Binary Input message I.D. 149, Set Ephemeris ..................................................................... 90 SiRF Binary Input message I.D. 150, Switch Operating Modes..................................................... 91 SiRF Binary Input message I.D. 151, Set TricklePower Mode..................................................... 92 SiRF Binary Input message I.D. 152, Poll Navigation Parameters.................................................. 93 SiRF Binary Input message I.D. 165, Set UART Configuration...................................................... 94 SiRF Binary Input message I.D. 166, Set Message Rate................................................................ 95 SiRF Binary Input message I.D. 167, Low Power Acquisition Parameters ..................................... 95 SiRF Binary Input message I.D. 182, Log Sector Erase (u-blox)..................................................... 96 SiRF Binary Input message I.D. 184, Log Read (u-blox)................................................................ 96 SiRF Binary Input message I.D. 186, Log Poll Sector Info (u-blox) ................................................ 97 SiRF Binary Input message I.D. 187, Log Poll Info (u-blox) ........................................................... 97 SiRF Binary Input message I.D. 188, Log Set Config (u-blox) ....................................................... 98 SiRF Binary Input message I.D. 189, Log Poll Config (u-blox)....................................................... 98 SiRF Binary Input message I.D. 190, Log Fix Set Config (u-blox) .................................................. 99 SiRF Binary Input message I.D. 191, Log Fix Poll Config (u-blox)................................................ 100
Content
TM
3.3.1 3.3.2 3.3.3 3.3.4 3.3.5 3.3.6 3.3.7 3.3.8 3.3.9 3.3.10 3.3.11 3.3.12 3.3.13 3.3.14 3.3.15 3.3.16 3.3.17 3.3.18 3.3.19 3.3.20 3.3.21 3.3.22 3.3.23 3.3.24 3.3.25 3.3.26 3.3.27 3.3.28 3.3.29 3.3.30 3.3.31 3.3.32 3.3.33
SiRF Binary Input message I.D. 192, Log GPIO Set Config (u-blox) ............................................ 101 SiRF Binary Input message I.D. 193, Log GPIO Poll Config (u-blox)............................................ 102 SiRF Binary Input message I.D. 196, Set Datum (u-blox)............................................................ 103
B C
D E
Content
1 Introduction
This application note describes the format of the available protocols of u-blox TIM GPS receivers. These receivers support the SiRF binary and the standard NMEA protocol. In addition, the RTCM protocol is supported to feed differential GPS data to the GPS receiver to enhance accuracy.
Introduction Page 7
2 NMEA Protocol
In default configuration the TIM GPS receiver outputs data in NMEA- 0183 format (Port A) as defined by the National Marine Electronics Association (NMEA), Standard For Interfacing Marine Electronic Devices, Version 2.20, January 1, 1997.
Payload Data
2
Checksum *CKSUM
3
1. 2. 3. 4.
Message Identifier consisting of three numeric characters. Input messages begin at MID 100. Message specific data. Refer to a specific section for <data>...<data> definition. CKSUM is a two-hex character checksum as defined in the chapter in the NMEA specification. Use of checksums is required on all input messages. Each message is terminated using Carriage Return (CR = ASCII 13 = \r) Line Feed (LF = ASCII 10 = \n). Because \r\n are not printable ASCII characters, they are omitted from the example strings, but must be sent to terminate the message and cause the receiver to process that input message.
Important Notice All fields in all proprietary NMEA messages are required, none are optional. All NMEA messages are comma delimited.
Option GGA GLL GSA GSV MSS RMC VTG ZDA PSRF150 PSRF161 Time, position and fix type data.
Description
Latitude, longitude, UTC time of position fix and status. GPS receiver operating mode, satellites used in the position solution and DOP values. The number of GPS satellites in view, satellite ID numbers, elevation, azimuth, and SNR values. Signal-to-noise ratio, signal strength, frequency, and bit rate from a radio-beacon receiver. Time, date, position, course and speed data. Course and speed information relative to the ground Date and time OK-to-send (used in Trickle power mode to indicate begin / end of active phase) (u-blox) Hardware Status: Active antenna and Automatic Gain Control (AGC) (u-blox)
Important Notice The shaded fields in the table above relate to messages which are supported by u-blox firmware, but not by the original SiRF firmware.
Important Notice Some NMEA messages, such as GGA (Position Fix Indicator), GLL (Status) and RMC (Status) provide information on validity of position fix. Position fix is valid if solution is validated if (a) Solution validated ((Mode 1 byte 0) and (Mode 2 byte: Solution validated) or (b) (nav. mode = 3D fix and PDOP < 10) or (nav. mode = 2D fix and PDOP < 20)
Mode 1 byte is described in table Table 3-6. Mode 2 byte is described in Table 3-8. The 'solution validated' should not be confused with a valid fix. if the receiver reports a fix validated (in SiRF binary mode, or indirectly through the NMEA valid calculation), it has used more than 4 SVs for the fix, and therefore performed some consistency checks on the range measurements that succeeded.
2.2.1 NMEA Output message GGA, Global Positioning System Fixed Data
The following table contains the values for the following example:
$GPGGA,161229.487,3723.2475,N,12158.3416,W,1,07,1.0,9.0,M, , , ,0000*18
Name Message ID UTC Time Latitude N/S Indicator Longitude E/W indicator Position Fix Indicator Satellites Used HDOP MSL Altitude1 Units Geoid Separation1 Units Age of Differential Corrections Diff. Reference Station ID Checksum <CR> <LF>
1
ASCII String Format Example string $GPGGA hhmmss.sss 161229.487 ddmm.mmmm 3723.2475 character N dddmm.mmmm 12158.3416 character W 1 digit 1 numeric 07 numeric 1.0 numeric character blank blank numeric numeric hexadecimal 9.0 M M
Units
Description GGA protocol header Current time Degrees + minutes N=north or S=south Degrees + minutes E=east or W=west See Table 2-4. Range 0 to 12 Horizontal Dilution of Precision Stands for "meters" Not used stands for "meters Blank (Null) fields when DGPS is not used
meters
End of message
u-blox ag does not support geodic corrections. Values are WGS-84 heights.
Value 0 1 2 3
Description Fix not available or invalid GPS SPS Mode. Fix Valid Differential GPS. GPS SPS Mode. Fix Valid GPS PPS Mode. Fix Valid
Name Message ID Latitude N/S Indicator Longitude E/W indicator UTC Time Status Checksum <CR> <LF>
Table 2-5: GLL Data Format
ASCII String Format Example string $GPGLL ddmm.mmmm 3723.2475 character N dddmm.mmmm 12158.3416 character W hhmmss.sss 161229.487 character A hexadecimal *2C
Units
Description GLL protocol header Degrees + minutes N=north or S=south Degrees + minutes E=east or W=west Current time A=data valid or V=data invalid End of message
2.2.3 NMEA Output message GSA, GNSS DOP and Active Satellites
The following table contains the values for the following example:
$GPGSA,A,3,07,02,26,27,09,04,15, , , , , ,1.8,1.0,1.5*33
Name Message ID Mode 1 Mode 2 Satellites Used1 Satellites Used1 Satellites Used1 PDOP HDOP VDOP Checksum <CR> <LF>
1
ASCII String Format Example string $GPGSA character A 1 digit 3 numeric 07 numeric 02 numeric numeric numeric numeric hexadecimal
Units
Description GSA protocol header See Table 2-7 See Table 2-8 SV on Channel 1 SV on Channel 2 SV on Channel 12 Position Dilution of Precision Horizontal Dilution of Precision Vertical Dilution of Precision End of message
Value M A
Description Manual forced to operate in 2D or 3D mode 2D Automatic allowed to automatically switch 2D/3D
Value 1 2 3
Name Message ID Number of Messages Message Number Satellites in View Satellite ID Elevation Azimuth SNR (C/No) Satellite ID Elevation Azimuth SNR (C/No) Checksum <CR> <LF>
Table 2-9: GSV Data Format
Units
Description GSV protocol header Range 1 to 3 Range 1 to 3 Channel 1 (Range 1 to 32) Channel 1 (Maximum 90) Channel 1 (True, Range 0 to 359) Range 0 to 99, null when not tracking Channels 2, 3: Same format Channel 4 (Range 1 to 32) Channel 4 (Maximum 90) Channel 4 (True, Range 0 to 359) Range 0 to 99, null when not tracking End of message
27 27 138 42 *71
Name Message ID Signal Strength Signal to Noise Ratio Beacon Frequency Beacon Rate Checksum <CR> <LF>
Table 2-10: MSS Data Format
ASCII String Format Example string $GPMSS numeric 55 numeric 27 numeric 318.0 numeric 100 hexadecimal *66
Important Notice The MSS NMEA message can only be polled or scheduled using the MSK NMEA input message. See MSK - MSK Receiver Interface in section 2.3.10.
2.2.6 NMEA Output message RMC, Recommended Minimum Specific GNSS Data
The following table contains the values for the following example:
$GPRMC,161229.487,A,3723.2475,N,12158.3416,W,0.13,309.62,120598, ,*10
Name Message ID UTC Time Status Latitude N/S Indicator Longitude E/W indicator Speed Over Ground Course Over Ground Date Magnetic Variation1 Checksum <CR> <LF>
1
ASCII String Format Example string $GPRMC hhmmss.sss 161229.487 character A ddmm.mmmm character ddmm.mmmm character numeric numeric ddmmyy blank hexadecimal 3723.2475 N 12158.3416 W 0.64 309.62 120598 *10
Units
Description RMC protocol header Current time A=data valid or V=data invalid Degrees + minutes N=north or S=south Degrees + minutes E=east or W=west True Current date Not used End of message
u-blox ag does not support magnetic declination. All Course Over Ground data are geodetic WGS-84 directions. Note that this message generated by SiRFstar II based GPS receivers is not 100% compliant to NMEA protocol. According to NMEA standard, the field Magnetic Reference field must normally follow after Magnetic Variation. Table 2-11: RMC Data Format
2.2.7 NMEA Output message VTG, Course Over Ground and Ground Speed
The following table contains the values for the following example:
$GPVTG,309.62,T, ,M,0.13,N,0.2,K*6E
Name Message ID Course (True) Reference Course (Magnetic) Reference Speed Units Speed Units Checksum <CR> <LF>
1
ASCII String Format Example string $GPVTG numeric 309.62 character T Blank character M numeric 0.13 character N numeric 0.2 character K hexadecimal *6E
Units degrees
Description VTG protocol header Measured heading True Measured heading Magnetic1 Knots
u-blox ag does not support magnetic declination. All Course Over Ground data are geodetic WGS-84 directions.
Name Message ID UTC time: hours UTC time: minutes 1 UTC time: seconds UTC time: day UTC time: month UTC time: year Local zone hours Local zone minutes Checksum <CR><LF>
1
ASCII String Format Example string $GPZDA hh 20 mm 15 ss.ss 30.00 dd 04 mm 07 yyyy 2002 xx or -xx 00 zz 00 hexadecimal *6E
Description ZDA Protocol header 00 23 00 59 00.00 59.99 01 31 01 12 4 digit year Not used (= 00) Not used (= 00) End of message
The u-blox firmware issues seconds with two digits after decimal point. Please note that the NMEA standard also allows seconds to be given out without digits after decimal point. Table 2-13: ZDA Data Format
ASCII String Format Example string $PSRF150 numeric digit 1 numeric digit 0
Units
Description PSRF150 protocol header 1= OK, 0 = No longer OK 1 = continuous 0 = TricklePower or Push-To-Fix mode. End of message
Checksum <CR><LF>
hexadecimal
*6E
ASCII String Format Example string $PSRF161 numeric 01 numeric 63 hexadecimal *6E
Units
Description PSRF161 protocol header See Table 2-15 Range: 063 End of message
Byte Value 0 1 2 3 4
Description (See [6] for details) Active antenna on and OK Open circuit in antenna Short circuit in antenna Active antenna off Passive antenna
Option 100 101 102 103 104 105 106 107 108 MSK Set Serial Port A parameters and protocol
Description
XYZ Navigation Initialization: WGS84 Parameters for start using X, Z and Z coordinates Set DGPS Port: Set Port B parameters for DGPS input Query Rate Control: Set or query output rates LLA Navigation Initialization: Parameters for start using Latitude, Longitude and Altitude 2 Development Data messages on/off Set Datum (u-blox) Configure TricklePower Mode (u-blox) Enter download mode to allow updating flash (u-blox) MSK receiver interface: Command messages for radio-beacon receiver
Important Notice NMEA input messages 100 to 105 are SiRF proprietary NMEA messages. The MSK NMEA string is as defined by the NMEA 0183 standard. The shaded fields in the table above relate to messages which are supported by u-blox firmware, but not by the original SiRF firmware.
The following table 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
Name Message ID Protocol Baud Data Bits Stop Bits Parity Checksum <CR> <LF>
1
ASCII String Format Example string $PSRF100 1 digit 0 numeric 9600 1 digit 8 1 digit 1 1 digit 0 hexadecimal *0C
Units
Description PSRF100 protocol header 0=SiRF Binary, 1=NMEA 4800, 9600, 19200, 38400 7, 8 0, 1 0=None, 1=Odd, 2=Even End of message
SiRF Binary is only valid for 8 data bits, 1 stop bit and 0 parity.
Important Notice Only one protocol (e.g. SiRF or NMEA) can be assigned to a single port. Before using this command, make sure, the GPS receiver is not running the protocol you wish to use on Port A, already on port B.
The following table contains the input values for the following example: Start using known position and time.
$PSRF101,-2686700,-4304200,3851624,96000,497260,921,12,3*1C
Name Message ID ECEF X ECEF Y ECEF Z Clock Offset Time Of Week Week No Channel Count Reset Configuration Checksum <CR> <LF>
1 2
ASCII String Example $PSRF101 -2686700 -4304200 3851624 96000 497260 921 12 3 *1C
Description PSRF101 protocol header X coordinate position Y coordinate position Z coordinate position Clock Offset of GPS receiver1 GPS time of week GPS week number Range 1 to 122 See Table 2-19. End of message
Use 0 for last saved value if available. If this is unavailable, a default value of 96000 will be used. Use always 12 channels.
Number 1 2 3 4 8
Description Hot Start All data valid Warm Start Ephemeris cleared Warm Start (with Init) Ephemeris cleared, initialization data loaded Cold Start Clear all data in memory Clear Memory Clears all data in memory and resets GPS receiver back to factory defaults
The following table contains the input values for the following example: Set DGPS Port to be 9600,8,N,1.
$PSRF102,9600,8,1,0*12
Name Message ID Baud Data bits Stop bits Parity Checksum <CR> <LF>
Table 2-20: Set DGPS Port Data Format
ASCII String Format Example string $PSRF102 numeric 9600 1 digit 8 1 digit 1 1 digit 0 hexadecimal *12
Units
Description PSRF102 protocol header 4800,9600,19200,38400 7, 8 0, 1 0=None, 1=Odd, 2=Even End of message
Other examples could be (Note the following examples are not show in a table form); 2. Enable VTG message for a 1 Hz constant output with checksum enabled
$PSRF103,05,00,01,01*20
Name Message ID code of message to configure Mode Rate Checksum Enable Checksum <CR> <LF>
Units
seconds
Description PSRF103 protocol header See Table 2-22. 0=SetRate, 1=Query Output - off=0, max=255 0=Disable Checksum, 1=Enable Checksum End of message termination
hexadecimal
Value 0 1 2 3 4 5 6 7 8 9
Code GGA GLL GSA GSV RMC VTG MSS ZDA PSRF150 PSRF161
Description Time, position and fix type data. Latitude, longitude, UTC time of position fix and status. GPS receiver operating mode, satellites used in the position solution and DOP values. The number of GPS satellites in view, satellite ID numbers, elevation, azimuth, and SNR values. Signal-to-noise ratio, signal strength, frequency, and bit rate from a radio-beacon receiver. Time, date, position, course and speed data. Course and speed information relative to the ground Date and time (u-blox) OK-To-Send (used in Trickle power mode to indicate begin / end of active phase) (u-blox) Hardware Status: Active antenna and Automatic Gain Control (AGC) (u-blox)
Important Notice In TricklePower mode, the update rate is specified by the user. When you switch to NMEA protocol, TM message update rate is also required. The resulting update rate is the product of the TricklePower TM Update rate and the NMEA update rate (i.e. TricklePower update rate = 2 seconds, NMEA update rate = 5 seconds, resulting update rate is every 10 seconds, (2 X 5 = 10)).
TM
The following table contains the input values for the following example: Start using known position and time.
$PSRF104,37.3875111,-121.97232,0,96000,237759,1946,12,1*07
Name Message ID Latitude Longitude Altitude Clock Offset Time Of Week Week No Channel Count Reset Cfg Checksum <CR> <LF>
1 2
ASCII String Format Example string $PSRF104 numeric 37.3875111 numeric numeric numeric numeric numeric numeric numeric hexadecimal -121.97232 0 96000 237759 1946 12 1 *07
Description PSRF104 protocol header Latitude position (Range 90 to +90) Longitude position (Range 180 to +180) Altitude position Clock Offset of GPS receiver1 GPS time of week Extended GPS week number (1024 added) Range 1 to 122 See Table 2-19. End of message
Use 0 for last saved value if available. If this is unavailable, a default value of 96000 will be used. Use always 12 channels.
2. Debug Off
$PSRF105,0*3F
Units
Name Message ID Map Datum (Geoidic Reference). See table B-1. Checksum <CR><LF>
Table 2-25: Map Datum Selection
Units
ASCII String Format Example string $PSRF107 numeric (p) 0 numeric (d) 200 ( = 20 %) numeric (o) hexadecimal 200 *3E
Units
% / 10
ms
Description PSRF107 Protocol header ON = 1, OFF = 0 % Time ON. A duty cycle of 1000 (100%) means continuous operation. range 200 - 900 ms Checksum End of message
Important Notice When TricklePower Mode is active, a high baud rate (min. 19200 baud) is required for transmission of NMEA messages due to limited time frames for transmission of navigation data.
Format string
Units
hexadecimal
End of message
Name Message ID Beacon Frequency Auto/Manual Frequency1 Beacon Bit Rate Auto/Manual Bit Rate1 Interval for Sending $--MSS2 Checksum <CR> <LF>
1
ASCII String Format Example string $GPMSK numeric 318.0 character A numeric 100 character M numeric 2 hexadecimal *45
Units KHz
seconds
Description GPMSK protocol header Frequency to use A=Auto, M=Manual Bits per second A=Auto, M=Manual Sending of MSS message for status End of message
If Auto is specified, the previous field value is ignored. 2 When status data is not to be transmitted, this field is null. Table 2-28: MSK Data Format
Important Notice The NMEA messages supported by the GPS receiver does not provide the ability to change the DGPS source. If you need to change the DGPS source to internal beacon, then this must be done using the SiRF Binary protocol and then switched to NMEA.
Reliable transport of messages Ease of implementation Efficient implementation Independence from payload
Using the SiRF Binary protocol offers extensive control and output possibilities not offered in the NMEA protocol.
3.1.2 Transport
The transport 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 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) checksum. The values of the start and stop characters and the choice of a 15-bit value for length and checksum ensure message length and checksum can not alias with either the stop or start code.
Even though the protocol has a maximum length of (2 -1) bytes, practical considerations require the SiRF GPS module implementation to limit this value to a smaller number. The receiving programs (e.g., -center) may limit the actual size to something less than this maximum.
15
3.1.6 Checksum
The checksum is transmitted high order byte first followed by the low byte. This is the so-called big-endian order. High Byte < 0x80
Table 3-3: Checksum
The checksum is 15-bit checksum of the bytes in the payload data. The following pseudo code defines the algorithm used.
Let message to be the array of bytes to be sent by the transport. Let msgLen be the number of bytes in the message array to be transmitted.
Index = first Checksum = 0 while index < msgLen checkSum = checkSum + message[index] checkSum = checkSum AND (215-1).
Important Notice All output messages are received in BINARY format. Our evaluation software -Center interprets the binary data. The light shaded fields in the table above relate to messages which are supported by u-blox firmware, but not by the original SiRF firmware. The dark shaded fields in the table above relate to messages which are supported by u-blox firmware for data logging, but not by the original SiRF firmware.
Name Message ID X-Position Y-Position Z-Position X-Velocity Y-Velocity Z-Velocity Mode 1 (see Table 3-6) HDOP Mode 2 (See Table 3-8) GPS Week GPS TOW SVs in Fix CH1 PRN CH2 PRN CH3 PRN CH4 PRN CH5 PRN CH6 PRN CH7 PRN CH8 PRN CH9 PRN CH10 PRN CH11 PRN CH12 PRN Payload length: 41 bytes
Bytes 1 4 4 4 2 2 2 1 1 1 2 4 1 1 1 1 1 1 1 1 1 1 1 1 1
*100
100
Table 3-5: Measured Navigation Data Out - Binary & ASCII Message Data Format
Important Notice Binary units scaled to integer values need to be divided by the scale value to receive true decimal value (i.e., decimal Xvel = binary Xvel 8).
7 DGPS
6 DOPMask
5 ALTMODE
3 TPMODE
1 PMODE
Value 0 1 2 3 4 5 6 7 0 1 0 1 2 3 0 1 0 1
Description No navigation solution 1 satellite solution (altitude hold, direction hold, time hold) 2 satellite solution (altitude hold and direction or time hold) 3 satellite solution (altitude hold) 4 satellite solution 2D point solution (least square) 3D point solution (least square) Dead reckoning Full power mode TricklePower mode No altitude hold Altitude used from filter Altitude used from user Forced Altitude from user DOP mask not exceeded DOP mask exceeded No DGPS position DGPS position
TPMODE ALTMODE
DOPMASK DGPS
Mode 2 Description Hex ASCII 0x00 0 Solution not validated 0x01 1 DR Sensor Data 1 0x02 2 Validated (1) , Invalidated (0) 0x04 4 If set, Dead Reckoning (Time Out) 0x08 8 If set, output edited by UI (i.e. DOP Mask exceeded) 0x10 16 Reserved 0x20 32 Reserved 0x40 64 Reserved 0x80 128 Reserved Combinations of multiple values are possible, e.g. 3 = 1 + 2.
1
A validated fix is, if your receiver has 5 or more satellites that it uses to calculate the position fix. Since the navigation solution needs 4 or more satellites, the equations are overdetermined by 5 or more. This can be used to calculate some validation on the range measurements. If this has succeeded, the fix is considered validated. If the receiver continues to navigate in a degraded mode (3D, 2D, 1SV, or DR), then the validated status will remain. If navigation is lost completely, a invalidated status will result. Consider 'Validated' as the best fix quality you can get. Table 3-8: Mode 2
Name Message ID GPS Week GPS TOW Channels 1st SV ID Azimuth Elevation State (See Table 3-10) 1 C/No 1 (See ) C/No 2 C/No 3 C/No 4 C/No 5 C/No 6 C/No 7 C/No 8 C/No 9 C/No 10 2nd SV ID Azimuth Elevation State 1 C/No 1 (See ) C/No 2 etc.
1
Bytes 1 2 4 1 1 1 1 2 1 1 1 1 1 1 1 1 1 1 1 1 1 2 1 1
Az*[2/3] El*2
deg deg Bitmap dBHz dBHz dBHz dBHz dBHz dBHz dBHz dBHz dBHz dBHz deg deg Bitmap dBHz dBHz
1
[2/3] 2
Az*[2/3] El*2
[2/3] 2
C/No 1 C/No 10 represent C/No readings during every 1/10s time slice in a second
Important Notice Message length is fixed to 188 bytes with non-tracking channels reporting zero values.
Field Definition ACQ_SUCCESS DELTA_CARPHASE_VALID BIT_SYNC_DONE SUBFRAME_SYNC_DONE CARRIER_PULLIN_DONE CODE_LOCKED ACQ_FAILED GOT_EPHEMERIS
Hex Value 0x0001 0x0002 0x0004 0x0008 0x0010 0x0020 0x0040 0x0080
Description Set, if acq/reacq is done successfully Set, Integrated carrier phase is valid Set, Bit sync completed flag Set, Subframe sync has been done Set, Carrier pullin done Set, Code locked Set, Failed to acquire S/V Ephemeris data available