rtd GPS140HR User Manual
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rtd GPS140HR User Manual

Gps positioning module
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GPS140HR
GPS Positioning Module
User's Manual
BDM-610020004
Rev. A

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Summary of Contents for rtd GPS140HR

  • Page 1 GPS140HR GPS Positioning Module User’s Manual BDM-610020004 Rev. A...
  • Page 2 GPS140HR RTD Embedded Technologies, Inc.
  • Page 3 GPS140HR GPS Positioning Module User’s Manual RTD Embedded Technologies, INC. 103 Innovation Blvd. State College, PA 16803-0906 Phone: +1-814-234-8087 FAX: +1-814-234-5218 E-mail sales@rtd.com techsupport@rtd.com web site http://www.rtd.com GPS140HR RTD Embedded Technologies, Inc.
  • Page 4 All rights reserved Printed in U.S.A. The RTD Logo is a registered trademark of RTD Embedded Technologies. cpuModule and utilityModule are trademarks of RTD Embedded Technologies. PhoenixPICO and PheonixPICO BIOS are trademarks of Phoenix Technologies Ltd. PS/2, PC/XT, PC/AT and IBM are trademarks of International Business Machines Inc.

  • Page 5: Table Of Contents

    TABLE OF CONTENTS CHAPTER 1 - INTRODUCTION..................8 Features ......................................8 Some of the key features of the GPS140HR include:......................8 GPS receiver.....................................8 16C550 compatible UART................................9 I/O interfaces....................................9 Mechanical description...................................9 Connector description..................................9 What comes wi th your board................................9 Using this manual ..................................10 When you need help..................................10...
  • Page 6 Fig. 2-4 GPS receiver jumper blocks for configuration Fig. 2-5 Antenna selection jumper block set for +5V antenna supply Fig. 3-1 GPS140HR integrated in a RTD PC/104 cpuModule stack together with a HPWR104 and a CMM series cpuModule Fig. 3-2 DGPS data input header connector Fig.
  • Page 7 Table 2-3 GPS receiver configuration jumpers Table 3-1 Pin outs of the GPS receiver interface connector Table 3-2 Pin out of DGPS input header connector Table 3-3 Utility connector pin out Table 5-1 General I/O map of the GPS140HR GPS140HR RTD Embedded Technologies, Inc.

  • Page 8: Chapter 1 - Introduction

    Wide operating temperature range –40 to + 85C • Fully PC/104 compliant The following paragraphs briefly describe the major features of the GPS140HR. A more detailed discussion is included in Chapter 4 (Hardware description) The boards installation is described in Chapter 2 (Board Installation).

  • Page 9: 16C550 Compatible Uart

    The GPS140HR is designed on a PC/104 form factor. An easy mechanical interface to both PC/104 and RTD I D AN systems can be achieved. Stack your GPS140HR directly on a PC/104 compatible CPU module using the onboard mounting holes and standoffs.

  • Page 10: Using This Manual

    Note that RTD embedded Technologies, Inc. also can offer a GPS104HR starter kit that will include an active antenna with ready cables for direct evaluation and testing of this module. The part number for this starter kit is SK-GPS140HR. Using this manual...

  • Page 11: Chapter 2 - Board Settings

    OARD SETTINGS Chapter 2 The GPS140HR board has jumper settings, which can be changed to suit your application and host computer configuration. The factory settings are listed and shown in the diagram at the beginning of this chapter. Make sure you completely study and understand this chapter before making changed to these settings.

  • Page 12: Factory-Configured Jumper Settings

    Factory-Configured Jumper Settings Table 2-1 below illustrates the factory jumper setting for the GPS140HR. Figure 2-1 shows the board layout of the GPS140HR and the locations of the jumpers. The following paragraphs explain how to change the factory jumper settings to suit your specific application.

  • Page 13: Base Address Jumpers (Factory Setting: 2E8H)

    Base address jumpers (Factory setting: 2E8h) The GPS140HR is I/O mapped into the memory space of your host XT/AT. The board occupies a consecutive memory window of 8 bytes starting from the base address. The most common cause of failure when you are first setting up your module is address contention: some of your computers I/O space is already occupied by other devices and memory resident programs.
  • Page 14 1 1 0 1 1 1 1 1 1 0 1 1 1 1 1 1 1 1 Table 2-2 Base address jumper settings GPS140HR 0 = JUMPER OFF 1 = JUMPER CLOSED Note that this table shows decoding only the 4 high bits of the address.

  • Page 15: Host Interrupt (Factory Setting: Irq5, G Closed)

    XT/AT bus. Fig. 2-3 Interrupt jumpers from left to right: IRQ 2,3,4,5,7,10,11,12,14,15 and G Note: The GPS140HR hardware supports interrupt sharing! Jumper G must be closed on one module per used interrupt. For example if two boards share interrupt number 7 only one board may have the G jumper closed.

  • Page 16: Gps Configuration (Factory Setting: Rom Disabled, Nmea)

    ROM Data stored in SRAM or EEPROM determines message format, host port communication settings, and default mes- sage set (Zodiac NMEA,9600bps,N,1) Table 2-3 GPS receiver configuration jumpers, 0 = jumper OFF, 1 = jumper closed GPS140HR RTD Embedded Technologies, Inc.
  • Page 17 +5V and +12V. Note that in case you use a passive antenna the supply selection jumper must be removed. Driving a passive antenna may cause permanent damage to the antenna. Fig. 2-5 Antenna supply selection jumper block set for +5V antenna supply GPS140HR RTD Embedded Technologies, Inc.

  • Page 18: Chapter 3 Board Installation

    OARD INSTALLATION Chapter 3 The GPS140HR GPS module is designed to directly mount on top or under your RTD PC/104 cpuModule stack. This chapter tells you step-by-step how to install your GPS140HR into your system. Board installation Keep your board in its antistatic bag until you are ready to install it to your system! When removing it from the bag, hold the board at the edges and do not touch the components or connectors.

  • Page 19: Gps Receiver Connector

    Fig. 3-1 GPS140HR integrated in a RTD PC/104 cpuModule stack together with a HPWR104 power supply module and a CMM series cpuModule GPS receiver connector The table 3-1 below shows the pin outs of the GPS receiver interface. This interface is compatible with the majority of GPS receivers in the same form factor.
  • Page 20 Differential GPS signal input connector J1 Differential GPS correction signal can be connected to your GPS140HR for exact precise positioning using the RTCM SC-04 differential signal source. The signal levels on this input are RS232. The connector pinout is shown below in figure 3-2 and table 3-2.

  • Page 21: Utility I/O Header Connector J3

    Utility I/O header connector J3 External power and I/O signals connect to your GPS140HR through header connector J3. The connector pinout is shown below in figure 3-3 and table 3-3. Fig 3-3 Utility connector DESC DESC +12V for antenna SER_OUT...

  • Page 22: Chapter 4 - Hardware Description

    ARDWARE DESCRIPTION Chapter 4 This chapter describes the major hardware building blocks of the GPS140HR: ?? The GPS receiver module ?? Antenna ?? UART channel ?? Pulse outputs ?? Fuses Fig. 4-1 Block diagram of the GPS140HR GPS140HR RTD Embedded Technologies, Inc.

  • Page 23: Antenna

    TTFF. Acquisition is guaranteed under all initialization conditions as long as visible satellites are not obscured. To minimize the TTFF when primary system power is off the GPS140HR maintains the SRAM and the Real Time Clock (RTC) using the onboard battery. In this case the shortest TTFF is achieved by using the RTC time data and prior position data stored in the receiver’s SRAM.

  • Page 24: Uart Channel

    GPS140HR UART. Just make sure you set up the I/O and IRQ right. ASCII data will start coming out every second from the GPS receiver onto the screen. The UART on the board is specified for full operation from –40 to +85C.

  • Page 25: Fuses

    Fuses A 2A fuse (yellow) protects the GPS receiver from error conditions. The active antenna is fused with a 125mA fuse (green). These fuses are on the left edge of the board. GPS140HR RTD Embedded Technologies, Inc.

  • Page 26: Chapter 5 Board Operation And Programming

    Defining the Memory The memory map of the GPS140HR occupies eight bytes of host PC I/O space. This window is freely selectable by the user as described in Chapter 2, Table 2-2. After setting the base address you have access to the internal resources of the GPS140HR control logic.

  • Page 27: Interrupts

    A/D boards, network boards, other used serial ports etc. Your GPS140HR can interrupt the main processor when a satellite navigation data message is received. You can write powerful code to interface to your GPS140HR when you use interrupts.

  • Page 28: Interrupt Mask Register (Imr)

    When an interrupt request line is driven high by a peripheral device (such as the GPS140HR), the interrupt controller checks to see if interrupts are enabled for that IRQ. It then checks to see if other interrupts are active or requested and determines which interrupt has priority.

  • Page 29: Writing An Interrupt Service Routine (Isr)

    Second, just before exiting the routine, you must clear the interrupt on the GPS140HR by writing to the Status register, and write the EOI command to the interrupt controller. Finally, when exiting the interrupt routine the processor registers must be popped from the system stack and you must execute the IRET assembly instruction.

  • Page 30: Your Isr Should Have The Following Structure

    The vectors for the hardware interrupts on the XT - bus are vectors 8-15., where IRQ0 uses vector 8 and IRQ7 uses vector 15. Thus if your GPS140HR is using IRQ5 it corresponds to vector number 13. GPS140HR...

  • Page 31: Common Interrupt Mistakes

    Remember hardware interrupts are from 8-15, XT IRQ's are numbered 0-7. Do not forget to clear the IRQ mask bit in the IMR Forgetting to send the EOI command after ISR code. Disables further interrupts. GPS140HR RTD Embedded Technologies, Inc.

  • Page 32: Example On Interrupt Vector Table Setup In C-Code

    | Inputs: Nothing | Returns: Nothing | Purpose: Restore the interrupt vector table. |----------------------------------------------------------------------*/ void restore(void) /* Restore the old vectors */ _disable(); _dos_setvect(IRQ1_VECTOR + 8, old_IRQ1_handler); outp(0x21,Gi_old_mask); _enable(); GPS140HR RTD Embedded Technologies, Inc.

  • Page 33: Gps140Hr Specifications

    RH up to 95% non condensing Altitude -1000 to 60.000 ft Maximum Vehicle Dynamic 500m/s acquisition and navigation Vibration Survival 18G peak UART UART compatibility 16C550 Oscillator frequency 1.8432MHz Connection Null Modem Base addresses Interrupts 2,3,4,5,7,10,11,12,14 and 15 GPS140HR RTD Embedded Technologies, Inc.

  • Page 34: Gps140Hr Electromechanical

    Fuses GPS receiver Active antenna 125mA GPS140HR Electromechanical Operating temperature range -40 to +85 C Humidity RH up to 95% non condensing Altitude -1000 to 30.000 ft GPS140HR RTD Embedded Technologies, Inc.

  • Page 35: Chapter 7 - Return Policy And Warranty

    We will not ship by next-day service without your pre-approval. Carefully package the product, using proper anti-static packaging. Write the RMA number in large (1") letters on the outside of the package. Return the package to: RTD Embedded Technologies, Inc. 103 Innovation Blvd. State College PA 16803-0906 GPS140HR...
  • Page 36 GPS140HR RTD Embedded Technologies, Inc.

  • Page 37: Chapter 8 Limited Warranty

    During the one year warranty period, RTD Embedded Technologies will repair or replace, at its option, any defective products or parts at no additional charge, provided that the product is returned, shipping prepaid, to RTD Embedded Technologies. All replaced parts and products become the property of RTD Embedded Technologies.
  • Page 38 RTD Embedded Technologies, Inc. 103 Innovation Blvd. State College PA 16803-0906 Our website: www.rtd.com GPS140HR RTD Embedded Technologies, Inc.

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