Swarm TILE01 Product Manual
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Swarm TILE01 Product Manual

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

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Summary of Contents for Swarm TILE01

  • Page 1 Swarm Tile  Product Manual  Swarm Tile Product Manual  Revision 1.10  October 2020  © 2020 Swarm Technologies, Inc.
  • Page 2 Legal Notices  This User Manual provides user information and is provided “as is.” Swarm Technologies and its affiliated companies, directors, officers, employees, agents, trustees or consultants (“Swarm”) assume no responsibility for any typographical, technical, content or other inaccuracies in this User Manual. Swarm reserves the right to revise this User Manual or withdraw it at any time without prior notice.
  • Page 3 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 of Swarm or any third party software provider, except for the normal, nonexclusive, royalty free license to use that arises by operation of law in the sale of a product.

  • Page 4: Revision History

    Updated 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: Table Of Contents

    4.6 LED Indicators 5 RF Interface 5.1 RF Connectors 26  5.2 RF Connectors 26  5.2.1 Antenna Characteristics 27  5.2.2 Ground Plane Requirements 5.3 RF Trace Layout Design 5.4 Integration Guidance 5.5 Antenna Debugging October 2020 Swarm Tile Manual - Rev 1.10 5/65 ...
  • Page 6 $PO - Power Off $PW - Power Status 51  $RS - Restart Device 53  $RT - Receive Test 54  $SL - Sleep mode 57  $TILE - Tile Status 60  $TD - Transmit data October 2020 Swarm Tile Manual - Rev 1.10 6/65 ...

  • Page 7: Safety Information And Compliance

    This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) This device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. October 2020 Swarm Tile Manual - Rev 1.10 7/65 ...

  • Page 8: Ised Compliance

    1.1.4 FCC ID: The FCC ID for the Tile is ​ 2 AVE9-TILE01​ . All manufacturers integrating the Tile into their products are advised to provide a physical or e-label stating “Contains FCC ID: ​ 2 AVE9-TILE01​ ” . 1.1.5 Part 15 Subpart B Disclaimer: The final host product requires Part 15B compliance testing with the modular transmitter installed.

  • Page 9: Eu Red Certification

    1.4 EU RED Certification  1.4.1 Declaration of Conformity: October 2020 Swarm Tile Manual - Rev 1.10 9/65 ...

  • Page 10: Transceiver Regulatory Certification

    ETSI EN 301 721 CISPR 16-23:2010/A1:2010 EN 62368-1:2014/A11:2017 V2.1.1 (2016-05) EN 55032:2012 EN 6100-4-2/EN55024:2010 ETSI EG203 367 EN 6100-4-3/EN55024:2010 V1.1.1 EN 6100-4-8/EN55024:2010 Table 1:​ Overview of the Swarm Tile regulatory approvals. October 2020 Swarm Tile Manual - Rev 1.10 10/65 ...

  • Page 11: Product Overview

    2 Product Overview  The Swarm Tile (Model: TILE01) satellite data modem transmits and receives data to and from Swarm’s space network and is designed to be embedded into a third-party product. Swarm backend systems support the delivery of customer data via a REST API to the cloud service of each user’s choice.

  • Page 12: Mechanical Specification

    Table 3:​ Tile Mechanical Dimensions and Weight. A diagram of the Tile’s mechanical dimensions is shown in ​ F igure 1​ . Figure 1: ​ T ile front and back views. October 2020 Swarm Tile Manual - Rev 1.10 12/65 ...

  • Page 13: Environmental

    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: ​ L ocation of solder pads on the underside of the Tile. Bottom view. October 2020 Swarm Tile Manual - Rev 1.10 13/65 ...

  • Page 14: Reflow Soldering

    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: Physical Interface Connectors

    The Tile incorporates two connectors: • A GPS Antenna U.FL male connector ​ [ ​ T E Connectivity #1909763-1​ ] • An RF Antenna U.FL male connector​ [​ T E Connectivity #1909763-1​ ] October 2020 Swarm Tile Manual - Rev 1.10 15/65 ...

  • Page 16: Electrical Interfaces

    5.3 - RF Trace Layout Design for more information) ● GPS signal (Use either the provided U.FL connector labeled GPS ​ o r​ Pin 8) ● GPIO_1 (optional)     October 2020 Swarm Tile Manual - Rev 1.10 16/65 ...

  • Page 17: Tile Pin Allocation

    Multiple signal grounds are provided to reduce cross-talk. Pins 13 and 14 are intentionally left empty, and must be left unconnected. Figure 4: ​ T ile pinout and pin numbers. Bottom view. October 2020 Swarm Tile Manual - Rev 1.10 17/65 ...
  • Page 18 RESERVED - DO NOT CONNECT Not Connected RESERVED - DO NOT CONNECT Ground Ground Ground Ground Ground Ground SAT_OUT External satellite radio antenna connection Ground Ground Table 6: ​ T ile pin numbers and descriptions. October 2020 Swarm Tile Manual - Rev 1.10 18/65 ...
  • Page 19 SAT_RF uses 50 Ohm input impedance. Use of SAT_RF instead of the SAT U.FL connector requires the user to use the FCC certified layout as defined in section 5.3 - RF Trace Layout Design Table 7:​ Additional notes on pin numbers. October 2020 Swarm Tile Manual - Rev 1.10 19/65 ...

  • Page 20: Dc Power Interface

    30 seconds after exiting from sleep mode, on powerup, or when the Tile needs to re-acquire a GPS fix (approximately once every 3 hours) while the Tile is continuously powered on and not in sleep mode. October 2020 Swarm Tile Manual - Rev 1.10 20/65 ...
  • Page 21 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 A separate programming header (​ T ILE PROG HEADER​ ) is included in the sample hardware design to upgrade the Tile firmware. It is highly recommended that users include the programming header in their design to easily upgrade the Tile’s firmware in the future. October 2020 Swarm Tile Manual - Rev 1.10 22/65 ...
  • Page 23 Figure 6:​ High level diagram of a Swarm Tile Eval Kit design integration. Figure 7: ​ S ample 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  ...

  • Page 24: Power On/Off Control

    I/O input low level voltage -0.3 0.3*VCC I/O input high level voltage 0.7*VCC RPU/RP Weak pull up/down equivalent kΩ resistor (for GPIO1) Table 12:​ Electrical characteristics for SERIAL_RX, SERIAL_TX, and GPIO1. October 2020 Swarm Tile Manual - Rev 1.10 24/65 ...

  • Page 25: Led Indicators

    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 functions.     October 2020 Swarm Tile Manual - Rev 1.10 25/65 ...

  • Page 26: Rf Interface

    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 ​ F igure 8 Figure 8​ : Swarm Coiled ¼ Wave Antenna and Swarm ½ Wave Antenna.

  • Page 27: Antenna Characteristics

    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: ​ A ntenna characteristics for Swarm Coiled ¼ Wave Antenna. October 2020 Swarm Tile Manual - Rev 1.10 27/65 ...
  • Page 28 Minimum separation distance from body 29cm Table 15: ​ A ntenna characteristics for Swarm ½ wave Antenna. A GPS antenna is ​ r equired 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.

  • Page 29: Ground Plane Requirements

    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 ¼-wave antenna mounted on top of a ground plane as small as: 15cm x 30cm x 0.3cm...

  • Page 30: Rf Trace Layout Design

    Note 3: ​ G PS_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 customer design     October 2020 Swarm Tile Manual - Rev 1.10 30/65 ...

  • Page 31: Integration Guidance

    The Tile will not transmit until it has a GPS fix ​ a nd​ it hears a Swarm Satellite. There is no risk of the Tile transmitting during this procedure if the red LED is...

  • Page 32: Software Interface

    Each ​ x ​ may be any legal ASCII character in the range ​ 0 ..9​ , ​ A ..F​ , or ​ a ..f​ . An example command is provided below to illustrate the command structure and a valid checksum. This command returns the most recent date/time message : $DT @*70   $DT 20190408195123,V*41  October 2020 Swarm Tile Manual - Rev 1.10 32/65 ...

  • Page 33: Command Timing

    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 error messages. These messages should be ignored and are for Swarm debugging purposes only. Implementation of NMEA checksum in C  ...

  • Page 34: Cs - Configuration Settings

    Retrieve and display the configuration settings for the Swarm device ID, application ID, emulation mode, and unique ID (UUID). These settings are determined by Swarm for identifying and communicating with each individual device. Since there are no variable parameters, the correct checksum has been added.

  • Page 35: Dt - Date/Time

    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 ​ $ 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 Tile Manual - Rev 1.10 36/65 ...
  • Page 37 Sets the rate of date/time messages to one message every ​ 3 00​ seconds. Querying the rate of date/time messages:  $DT ?*0f  $DT 60*36  Returns a rate of one message every ​ 6 0​ seconds.     October 2020 Swarm Tile Manual - Rev 1.10 37/65 ...

  • Page 38: Fv - Firmware Version

    An ​ E RR 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: Gj - Gps Jamming/Spoofing Indication

    2​ Spoofing indicated 3​ Multiple spoofing indications jamming_level Value ranging from 0 to 255 indicating how much carrier wave (CW) jamming is detected. 0 = no CW jamming, 255 = strong CW jamming October 2020 Swarm Tile Manual - Rev 1.10 39/65 ...
  • Page 40 Sets the rate of GPS jamming/spoofing messages to one message every ​ 3 600​ seconds. Querying the rate ofGPS jamming/spoofing messages:  $GJ ?*12  $GJ 10*2c  Returns a rate of one message every ​ 1 0​ seconds.   October 2020 Swarm Tile Manual - Rev 1.10 40/65 ...

  • Page 41: Gn - Geospatial Information

    Description  $GN  The most recent ​ $ GN​ message <latitude>,<longitude>,<altitude>, <course>,<speed>*xx $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 Returns a location of ​ 3 7.8921N, 122.0155W​ . The device's altitude is ​ 7 7m​ , its course is ​ 8 9     degrees​ , and it is moving at ​ 2 kilometers per hour​ . October 2020 Swarm Tile Manual - Rev 1.10 42/65 ...
  • Page 43 Sets the rate of GPS messages to one message every ​ 3 0​ seconds. Querying the rate of GPS messages:  $GN ?*16  $GN 15*2d  Returns a rate of one message every ​ 1 5​ seconds. October 2020 Swarm Tile Manual - Rev 1.10 43/65 ...

  • Page 44: Gp - Gpio1 Control

    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 ​ $ SL command. The pin will return to the awake state only if the sleep mode is terminated by the ​ S ​ or ​ T ​ parameter being reached, or activity is detected on the serial RX line. October 2020 Swarm Tile Manual - Rev 1.10 45/65 ...
  • Page 46 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 ​ i nput and wake on a high-to-low transition​ . October 2020 Swarm Tile Manual - Rev 1.10 46/65 ...

  • Page 47: Gs - Gps Fix Quality

    Returns one of: Parameter  Description  $GS  The most recent ​ $ GS​ message <hdop>,<vdop>,<gnss_sats>,<unused>, <fix>*xx $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 If ​ < rate> is valid, no ​ $ GS messages will be sent by the device until the GPS has obtained a valid position reference as indicated by the ​ $ TILE POSITION*2d​ message . October 2020 Swarm Tile Manual - Rev 1.10 48/65 ...
  • Page 49 Returns a HDOP of ​ 1 .09, ​ V DOP of 2.14, ​ t he device is using 9 ​ G NSS 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 ​ 1 20​ seconds. October 2020 Swarm Tile Manual - Rev 1.10 49/65 ...

  • Page 50: Po - Power Off

    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 removed and then restored. Example: $PO*1f   $PO OK*3b  $TILE BOOT,SHUTDOWN*06    October 2020 Swarm Tile Manual - Rev 1.10 50/65 ...

  • Page 51: Pw - Power Status

    $​ P W​ OK*xx Parameters updated successfully $​ P W​ 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 Manual - Rev 1.10 51/65 ...
  • Page 52 Sets the rate of power status messages to one message every ​ 3 0​ seconds. Querying the rate of power status messages:  $PW ?*18  $PW 900*1e  Returns a rate of one message every ​ 9 00​ seconds. October 2020 Swarm Tile Manual - Rev 1.10 52/65 ...

  • Page 53: Rs - Restart Device

    $RS ERR*xx Command input error Notes: An ​ O K 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: Rt - Receive Test

    The most recent ​ $ ​ R T​ message $​ R T​ <rate>*xx The current ​ $ ​ R T​ rate $​ R T​ OK*xx Parameters updated successfully $​ R T​ ERR*xx Command input error     October 2020 Swarm Tile Manual - Rev 1.10 54/65 ...
  • Page 55 Returns a satellite packet RSSI of ​ - 102 dBm, SNR of ​ - 1 ​ d B, frequency deviation of ​ 4 26 ​ h z, a     received time of ​ O ctober 2nd, 2020 at 1:56:21 PM​ , and the satellite’s device ID is ​ 0 x000568​ . October 2020 Swarm Tile Manual - Rev 1.10 55/65 ...
  • Page 56 ​ $ 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: Sleep Mode

    For example, if the current time is 11:00:00 and ​ $ SL   U=09:00:00 is issued, the device will wake 22 hours from now. If a date and time are October 2020 Swarm Tile Manual - Rev 1.10 57/65 ...
  • Page 58 GPIO1. If the GPIO1 pin is configured as an output that indicates the Tile's sleep mode, GPIO1 will transition to the appropriate state if the ​ $ SL OK​ message is emitted. October 2020 Swarm Tile Manual - Rev 1.10 58/65 ...
  • Page 59 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 Manual - Rev 1.10 59/65 ...

  • Page 60: Tile - Tile Status

    GPS signal quality, it may take several minutes before the ​ D ATETIME or ​ P OSITION message is emitted. The customer application should wait until the boot process is complete and it has received the $TILE BOOT,RUNNING*49 ​ m essage before executing any commands. October 2020 Swarm Tile Manual - Rev 1.10 60/65 ...

  • Page 61: Td - Transmit Data

    $TD - Transmit data This command transmits data to the Swarm network. $TD [HD=<hold_dur>|ET=<expire_time>,]<[string|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)
  • Page 62 Unspecified error $TD  Unable to send within requested hold time ERR,HOLDTIMEEXPIRED,<msg_id >*xx $TD ERR,NODEVICEID,0*xx The Swarm 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...
  • Page 63 ID, a day of year counter, and a message of day counter. Responses that have a 0 as the message ID indicates the message has not been placed in the queue and therefore has no ID. October 2020 Swarm Tile Manual - Rev 1.10 63/65 ...
  • Page 64 ID (​ 5 354468575855​ ) $TD SENT,RSSI=-99,SNR=5,FDEV=32,5354468575855*6f 4. Acknowledged message in database is marked for deletion by device. Any unsent messages will be attempted to be sent by the device at a later time. October 2020 Swarm Tile Manual - Rev 1.10 64/65 ...
  • Page 65 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=199,5354468575916*69   October 2020 Swarm Tile Manual - Rev 1.10 65/65 ...

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