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RoyalTek REV-2000 Operational Manual

Evaluation kit
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RoyalTek Evaluation Kit
REV-2000 Operational Manual
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.
REV-2000 Operational Manual
Version 1.1
2001/7/4
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
http://www.royaltek.com

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  • Page 1 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.

  • Page 2: Table Of Contents

    RoyalTek GPS Receiver REB-2000/REB-12R RoyalTek Evaluation Kit REV-2000 Operational Manual ...1 NTRODUCTION Packing list ...1 ...3 ETTING STARTED To Setup REV-2000 ...3 Setup procedure...4 REV-2000 ...5 O OPERATE Install the SiRFDemo.exe...5 To use Sirfdemo.exe ...5 To switch from NMEA to SiRF protocol ...7 To switch from SiRF protocol to NMEA protocol...9...
  • Page 3 RoyalTek GPS Receiver REB-2000/REB-12R LLA Navigation Initialization ...16 Development Data On/Off ...16 Calculating Checksums for NMEA Input ...17 RF B ...17 INARY ROTOCOL RF B NPUT ESSAGES FOR INARY Initialize Data Source-Message I.D. 128 ...18 Switch To NMEA Protocol – Message I.D. 129 ...19 Set Almanac- Message I.D.
  • Page 4 RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual Set Ephemeris – Message I.D.254...35 Development Data – Message I.D.255...35...

  • Page 5: Introduction

    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.
  • Page 6 RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Evaluation Power Core Items REV-2000 Evaluation Board Power Core RS232 Cable RF Extension Cable (Optional) GPS active antenna GPS receiver (Optional) REV-2000 Operational Manual Specification Quantity 68*88mm AC 110V or 220V 7.5V/1.0A/2.5mm/1.8M 9pin/1.5M 150mm REB-12R or REB-2000...

  • Page 7: Getting Started

    Connecting to PC/Laptop Power mode jumper J1 The power core of REV-2000 is 110V AC/ 7.5V DC adaptor. It converts the 110 AC to DC. RoyalTek can also provide you 220V AC power core. Beware of the AC power of your office and tell RoyalTek’s sales person for preparing...

  • Page 8: Setup Procedure

    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 the power core. (or connecting the DC power input, 6.5V ~ 12V) After you finish setup, it is like as follows:...

  • Page 9: To Operate Rev-2000

    RoyalTek GPS Receiver REB-2000/REB-12R To operate REV-2000 Install the SiRFDemo.exe Copy the SiRFDemo.exe from the CD-ROM \Toolkit\SiRFDemo.exe to the destination path, e.g. “c:\RoyakTek\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.
  • Page 10 RoyalTek GPS Receiver REB-2000/REB-12R Connect/ Disconnect Data Tracking Toggle button source Signal Level Development view (5) Click the “Signal level”, “Tracking”, “Map” buttons of the tool bar to enable the “Signal level view”, “Tracking view” and REV-2000 Operational Manual Signal Level...

  • Page 11: To Switch From Nmea To Sirf Protocol

    RoyalTek GPS Receiver REB-2000/REB-12R (7) Click the to start testing. (8) The other buttons of tool bar are explained as follows: : Pause the data reception. :Log the data as a *.log file. To switch from NMEA to SiRF protocol Check Action / Switch to SiRF Protocol.
  • Page 12 RoyalTek GPS Receiver REB-2000/REB-12R You could see the following screen after you switch to SiRF protocol. 12-Channel Signal Level Data: Information Displayed Satellite Number (SV) Status (St) Azimuth (Az) Elevation (EI) C/No Signal Level (-5 sec) Tracking view: Green: Satellite is tracked and used to calculate the navigation solution.

  • Page 13: To Switch From Sirf Protocol To Nmea Protocol

    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 is cleared. Cold Start This option clears all data that is currently stored in the internal memory of the GPS receiver including position, almanac, ephemeris, time, and clock drift.

  • Page 14: To Synchronize Protocol

    RoyalTek GPS Receiver REB-2000/REB-12R (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 message (4) Select the baud rate that you want to use from the Baud Rate pull down menu.
  • Page 15 RoyalTek GPS Receiver REB-2000/REB-12R (1) Trickle power: In TricklePower mode, the power to is cycled periodically, so that it operates only a fraction of the time. REB-2100 has the default trickle power parameters: OnPeriod: 300ms, Update rate: 1 second. REB-12R2 does not provide the trickle power feature.

  • Page 16: To Change Tricklepower Parameters Of Reb-2100 From 12 Pins Interface

    RoyalTek GPS Receiver REB-2000/REB-12R cycle is 200ms/1000ms = 20%. If the “Update Rate” is 2 sec and “On Time” is 300 ms, the duty cycle is 300ms/2000ms = 15%. The duty cycle is limited to 5% ~ 50%. Since it will do...

  • Page 17: Product Features

    RoyalTek GPS Receiver REB-2000/REB-12R (7) Select the COM port. Keep the Baud rate at 19200 for REB-2100 and 9600 for REB-12R2/R1. (8) If you want to upload program to Reb-2100, please assert the GPS2 check box. But leave it unasserted for Reb-12R2/R1.

  • Page 18: Product Applications

    RoyalTek GPS Receiver REB-2000/REB-12R Excellent sensitive for urban canyon and foliage environments. Single satellite positioning. Dual multi path rejection. REB-12R OEM product development is fully supported through applications engineering and WEB technique forum. 12 parallel channels 0.1 second re-acquisition time.

  • Page 19: Reb-2100 System Block Diagram

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

  • Page 20: Reb-12R Block Diagram

    RoyalTek GPS Receiver REB-2000/REB-12R REB-12R REB-12R Block diagram Active antenna Ceramic Filter Technique specifications REB-2100. Operational Characteristics. 12 Channels L1, 1575.42MHz. C / A code, 1.023MHz chip rate. REV-2000 Operational Manual Flash memory SiRF GSP2e Hitachi SIRF GRF1/LX SRAM Snap start:2second, average...
  • Page 21 RoyalTek GPS Receiver REB-2000/REB-12R Datum: WGS-84. Accuracy. Position accuracy 25m CEP without SA Velocity accuracy:0.1 meters/second without SA DGPS Accuracy. Position:1 to 5 m, typical Velocity: 0.05 meters/second, typical Dynamics. Altitude 18000 meters (60000 feet) Max. Velocity 515 meters / second Max.
  • Page 22 RoyalTek GPS Receiver REB-2000/REB-12R Temperature. Storage temperature –10 ~ +85 Degree (Celsius). Operating temperature -10 ~ +70 Degree (Celsius). GSP Antenna Characteristics Center frequency Bandwidth Gain at Zenith Gain at 10° elevation Polarization Axial Ratio 5V Filter/LNA: Characteristics Center frequency (fo)
  • Page 23 RoyalTek GPS Receiver REB-2000/REB-12R Dynamics. Altitude 18000 meters (60000 feet) Max. Velocity 515 meters / second Max. Acceleration 4 g. , Max. Power Requirements. Regulated power for the REB-12R2 is required. The input voltage shall be 5V ± 5 22.85 Weight.

  • Page 24: Ordering Information

    Power Input* BOOTSE Reserved VCC_3 DC Power Input RoyalTek also provides the 3.3 V version GPS receiver. This is the main power supply for the Engine board. Use a regulated 3.3V supply ( 10%). GND provides the ground for the Engine...
  • Page 25 RoyalTek GPS Receiver REB-2000/REB-12R communicate with a PC serial port. This is the main receiving channel and is used to receive software commands to the Engine board from user written software. This is the auxiliary receive channel and is used to input differential corrections to the Engine board to DGPS navigation.
  • Page 26 VCC_3 DC Power Input RoyalTek also provides the 3.3 V version GPS receiver. This is the main power supply for the Engine board. Use a regulated 3.3V supply ( 5%).

  • Page 27: Absolute Maximum Ratings

    RoyalTek GPS Receiver REB-2000/REB-12R Absolute maximum ratings REB-2000/REB-2100 Parameter Symbol Supply voltage VCC_3 Input pin voltage Output pin voltage Output current RTC power VBAT REB-12R Parameter Symbol Supply voltage VCC_5 RTC power VBAT Software interface NMEA V2.2 Protocol It is the RS-232 interface:9600 bps, 8 bit data, 1 stop bit and no parity.

  • Page 28: Gll-Geographic Position - Latitude/Longitude

    RoyalTek GPS Receiver REB-2000/REB-12R Age of Diff. Corr. Diff. Ref. Station ID Checksum ＜CR＞＜LF＞ Table 2-1 Position Fix Indicator Value Fix not available or invalid GPS SPS Mode, fix valid Differential GPS, SPS Mode, fix valid GPS PPS Mode, fix valid GLL-Geographic Position –...

  • Page 29: Gsv-Gnss Satellites In View

    RoyalTek GPS Receiver REB-2000/REB-12R Table 4-2 Mode 2 Value Manual-forced to operate in 2D or 3D mode Automatic-allowed to automatically switch 2D/3D GSV-GNSS Satellites in View Table 5 contains the values of the following example: $GPGSV, 2, 1, 07, 07, 79,...

  • Page 30: Vtg-Course Over Ground And Ground Speed

    RoyalTek GPS Receiver REB-2000/REB-12R VTG-Course Over Ground and Ground Speed Table 7 VTG Data Format Name Example Message ID $GPVTG Course 309.62 Reference Course Reference Speed 0.13 Units Speed Units Checksum ＜CR＞＜LF＞ SiRF Proprietary NMEA Input Messages NMEA input messages allow you to control the Evaluation Unit in NMEA protocol mode.

  • Page 31: Sirf Nmea Input Messages

    RoyalTek GPS Receiver REB-2000/REB-12R SIRF NMEA Input Messages Message Message Identifier (MID) Set Serial Port Navigation Initialization Set DGPS Port Query / Rate Control LLA Navigation Initialization Development Data On/Off Input coordinates must be WGS84. Set Serial Port This command message is used to set the...

  • Page 32: Set Dgps Port

    RoyalTek GPS Receiver REB-2000/REB-12R Table 9 Navigation Initialization Data Format Name Example Message ID $PSRF101 ECEF X -2686700 ECEF Y -4304200 ECEF Z 3851624 CLK Offset 95000 Time Of Week 497260 Week No Channel Count Reset Cfh Checksum <CR><LF> Use 0 for last saved value if available . If this is unavailable, a default value of 96,000 will be used…...

  • Page 33: Lla Navigation Initialization

    RoyalTek GPS Receiver REB-2000/REB-12R Table 12 Query/Rate Control Data Format(See example 1.) Name Example Message ID $PSRF103 Message Mode Rate Cksum Enable Checksum <CR><LF> Table 13 Messages Value LLA Navigation Initialization This command is used to initialize the module for a warm start , by providing current position(in latitude, longitude, and altitude coordinates), clock offset, and time.

  • Page 34: Calculating Checksums For Nmea Input

    RoyalTek GPS Receiver REB-2000/REB-12R following examples: Debug On $PSRF 105,1*3E Table 16 Development Data On/Off Data Format Name Example Message ID $PSRF105 Debug Checksum <CR><LF> Calculating Checksums for NMEA Input The Checksum is the 8-bit exclusive OR of all the characters after $ and before *. (Not...

  • Page 35: Protocol

    RoyalTek GPS Receiver REB-2000/REB-12R Payload Data The payload data follows the message length. It contains the number of bytes specified by the message length. The payload data may contain any 8-bit value. Where multi-byte values are in the payload data neither the alignment nor the byte order are defined as part of the transport although SiRF payloads will use the big-endian order.

  • Page 36: Switch To Nmea Protocol - Message I.d. 129

    RoyalTek GPS Receiver REB-2000/REB-12R track data Debug data enabled. Example: A0A20019-Start Sequence and Payload Length Table 18 Initialize Data Source Name Bytes Message ID ECEF X ECEF Y ECEF Z Clock Offset Time of Week Week Number Channels Reset Config.

  • Page 37: Set Almanac- Message I.d. 130

    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 Payload Length: 24bytes...

  • Page 38: Mode Control - Message I.d .136

    RoyalTek GPS Receiver REB-2000/REB-12R Mode control – Message I.D .136 Table 22 contains the input values for the following example: 3D Mode = Always , Alt Constraining = Yes , Degraded Mode – clock then direction , TBD = 1 , DR Mode...

  • Page 39: Dgps Control - Message I.d.138

    RoyalTek GPS Receiver REB-2000/REB-12R Table 24 DOP Mask Control Name Bytes Message ID DOP Selection GDOP Value PDOP Value HDOP Value Payload Length: 5 bytes Table 25 DOP Selection Byte Value Auto PDOP/HDOP PDOP HDOP GDOP Do Not Use DGPS Control – Message I.D.138...

  • Page 40: Power Mask - Message I.d.140

    RoyalTek GPS Receiver REB-2000/REB-12R Table 28 Elevation Mask Name Bytes Message ID Tracking Mask Navigation Mask Payload Length:5 bytes Power Mask – Message I.D.140 Table 29 contains the input values for the following example: Navigation mask to 33dBHz (tracking default value of 28) Example: A0A20003 –...

  • Page 41: Set Dgps Serial Port - Message I.d 145

    RoyalTek GPS Receiver REB-2000/REB-12R Set DGPS Serial Port – Message I.D Table 32 contains the input values for the following example:Set DGPS Serial port to 9600.n,8,1. Table 32 Set DGPS Serial Port Binary(Hex) Name Bytes Scale Message ID Baud Data Bits...

  • Page 42: Switch To Sirf Protocol

    RoyalTek GPS Receiver REB-2000/REB-12R A value of 0 requests all available ephemeris records, otherwise the ephemeris of the Sv I.D. is requested. Switch To SiRF Protocol Note – To switch to SiRF protocol you must send a SiRF NMEA message to revert to SiRF binary mode.

  • Page 43: Computation Of Duty Cycle And On Time

    RoyalTek GPS Receiver REB-2000/REB-12R Computation of Duty Cycle and On Time. The Duty Cycle is the desired time to be spent tracking.The On Time is the duration of each tracking period (range is 200 - 900 ms). To calculate the TricklePower update...

  • Page 44: Poll Navigation Parameters - Message I.d. 152

    RoyalTek GPS Receiver REB-2000/REB-12R seconds. Poll Navigation Parameters - Message I.D. 152 Table C-20 contains the input values for the following example: Table 39 Poll Receiver for Navigation Parameters Name Bytes Message ID Reserved Payload length: 2 bytes Output Messages for SiRF Binary Protocol Note –...
  • Page 45 RoyalTek GPS Receiver REB-2000/REB-12R Table 41 Measured Navigation Data Out – Binary & ASCII Message Data Format Name Bytes Scale Message ID X – position Y – position Z – position X – velocity Y – velocity Z – velocity...

  • Page 46: Measured Tracker Data Out - Message I.d.4

    RoyalTek GPS Receiver REB-2000/REB-12R Table 43 Mode 2 Mode 2 ASCII 0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07 Measured Tracker Data Out – Message I.D.4 Output Rate: 1 Hz Table 44 lists the binary and ASCII message data format for the measured tracker data.

  • Page 47: Raw Tracker Data Out - Message I.d.5

    RoyalTek GPS Receiver REB-2000/REB-12R zero values Table 45 Trk. to NAV Struct. Trk._status Field Definition Field Definition Hex Value ACQ_SUCCESS DELTA_CARPHASE_VALI BIT_SYNC_DONE SUBFRAME_SYNC_DONE CARRIER_PULLIN_DONE CODE_LOCKED ACQ_FAILED GOT_EPHEMERIS Note – When a channel is fully locked and all data is valid , the status shown is 0xBF Raw Tracker Data Out –...

  • Page 48: Calculation Of Pseudo-Range Measurements

    RoyalTek GPS Receiver REB-2000/REB-12R Integration Interval Track Loop Iteration Payload Length:51 bytes per satellite tracked (up to 12) 1.For further information,go to Table 45 2.Multiply by (1000 4 ) 2 The meaning of I.D.5 is described as following table Message ID: Each SiRF binary message is defined based on the ID.

  • Page 49: Response :Software Version String - Message I.d.6

    RoyalTek GPS Receiver REB-2000/REB-12R data and carrier data for each measurement epoch. Computation of initial Receiver Time(RT) in seconds. Note-Where the initial arbitrary value chosen at start up to make the PR reasonable (i.e.,set equal to TT+70ms) and then incriminated by one second for each measurement epoch.

  • Page 50: Cpu Throughput – Message I.d.9

    RoyalTek GPS Receiver REB-2000/REB-12R 0598B0B3 – Message Checksum and End Sequence Table 48 Clock Status Data Message Name Bytes Scale Message ID GPS Week GPS TOW *100 Clock Drift Clock Bias Estimated GPS Time Payload Length:20 bytes 50BPS Data – Message I.D.8 Output Rate:As available (12.5 minute...

  • Page 51: Command Acknowledgment - Message I.d.11

    RoyalTek GPS Receiver REB-2000/REB-12R Table 50 CPU Throughput Binary(Hex) Name Bytes Scale Message ID SegStatMax *186 SegStatLat *186 AveTrkTime *186 Last MS Payload Length: 9 bytes Command Acknowledgment – Message I.D.11 Output Rate: Response to successful input message This is successful almanac (message ID...

  • Page 52: Almanac Data – Message I.d.14

    RoyalTek GPS Receiver REB-2000/REB-12R ****B0B3 – Message Checksum and End Table 53 Visible List Binary(Hex) Name Bytes Scale Message ID Visible Svs CH 1 –Sv I.D CH 1 –Sv Azimuth CH 1 –Sv Elevation CH 2 –Sv I.D CH 2 –Sv Azimuth CH 2 –Sv...
  • Page 53 RoyalTek GPS Receiver REB-2000/REB-12R Table 55 Visible List Binary(Hex) Name Bytes Scale Message ID Payload Length:Variable Note – Messages are output to give the user information of receiver activity. Convert to symbol to assemble message REV-2000 Operational Manual Units Example Scale (i.e., 0x4E is ‘N’) these are low priority task...
  • Page 54 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 REV-2000 Operational Manual...

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