Globalsat ET-312 Operation & User’s Manual

Version 1.4 GPS Engine Board ET-312 Version 1.4 01/20/2010 Globalsat Technology Corporation Headquarters (Far East Century Park) 16F., No. 186, Jian-Yi Road, Chung-Ho City, Taipei Hsien 235, Taiwan Tel: 886-2-8226-3799/ Fax: 886-2-8226-3899 E-mail : [email protected] Website: www.globalsat.com.tw

Page 2 of 21 Version 1.4 1. Product Information „ Product Name: ET-312 „ Product Description: ET-312 is a compact, high performance, and low power consumption GPS engine board. It uses SiRF Star III chipset which can track up to 20 satellites at a time and perform fast TTFF in weak signal environments. ET-312 is suitable for the following applications: ‧ Automotive navigation ‧ Personal positioning ‧ Fleet management ‧ Mobile phone navigation ‧ Marine navigation „ Product Features: 9 SiRF star III high performance GPS Chipset 9 Very high sensitivity (Tracking Sensitivity: -159 dBm) 9 Extremely fast TTFF (Time To First Fix) at low signal level 9 One serial ports 9 4Mb flash 9 Built-in LNA 9 Compact size (28mm * 20 mm * 2.9mm) suitable for space-sensitive application 9 One size component, easy to mount on another PCB board 9 Support NMEA 0183 and SiRF binary protocol „ Product Specifications GPS Receiver Chipset SiRF GSC3f/LP Frequency L1, 1575.42 MHz Code C/A Code Protocol NMEA 0183 v2.2 Default:GGA,GSA,GSV,RMC Support:VTG,GLL,ZDA) SiRF binary and NMEA Command Available Baud Rate 4,800 to 57,600 bps adjustable

Page 3 of 21 Version 1.4 Channels 20 Flash 4Mbit Sensitivity Tracking:-159dBm Cold Start 42 seconds, average Warm Start 38 seconds, average Hot Start 1 second, average Reacquisition 0.1 second, average Accuracy Position: 10 meters, 2D RMS 5 meters, 2D RMS, WAAS enabled Velocity: 0.1 m/s Time: 1us synchronized to GPS time Maximum Altitude ＜ 18,000 meter Maximum Velocity ＜ 515 meter/second Maximum Acceleration ＜ 4G Update Rate 1 Hz DGPS WAAS, EGNOS, MSAS Datum WGS-84 Interface I/O Pins 1 serial ports Physical Characteristic Type 13-pin stamp holes Dimensions 28 mm * 20 mm * 2.9 mm DC Characteristics Power Supply 3.3Vdc ± 5% Backup Voltage 2.0 ~ 3.6Vdc ± 10% Power Consumption Acquisition: 60mA Tracking: 42mA Environmental Range Humidity Range 5% to 95% non-condensing Operation Temperature -30℃ to 85℃ Storage Temperature -40℃ to 85℃

Page 4 of 21 Version 1.4 2. Technical Information „ Block Diagram „ Module Pin Assignment: M1 GPS Engine Board 5 6 7 11 12 13 1 2 3 4 8 9 10 GND GND VIN RX GND GND GND RF GND GND BATTERY GPIO1 TX Pin NO. Pin Name Remark 1. GND Ground. 2. RF Connect to External Active Antenna. While external antenna is used, the optional power is needed. 3. GND Ground. 4. GND Ground. 5. GND Ground. 6. GND Ground. 7. VIN This is the main DC supply for a 3.3V +- 5% DC input power module board. 8. BATTERY This is the battery backup input that powers the SRAM and RTC when main power is removed. Typical current draw is 15uA. Without an external backup battery, the module/engine board will execute a cold star after every turn on. To achieve the faster start-up offered by a hot or warm start, a battery backup must be connected. The battery voltage should be between 2.0v and

Page 5 of 21 Version 1.4 5.0v. 9. GPIO1 User can use this I/O pin for special function.For example, on/off LED 10. TX This is the main transmits channel for outputting navigation and measurement data to user’s navigation software or user written software.Output TTL level, 0V ~ 2.85V 11. RX This is the main receive channel for receiving software commands to the engine board from SiRFdemo software or from user written software. 12. GND Ground. 13. GND Ground.

Page 6 of 21 Version 1.4 „ Application Circuit GPS Active Antenna Specification(Recommendation) Frequency: 1575.42+2 MHz Axial Ratio: 3 dB Typical output Impedance: 50Ω Polarization: RHCP Amplifier Gain :18~22dB Typical Output VSWR: 2.0 Max. Noise Figure: 2.0 dB Max

Page 7 of 21 Version 1.4 „ Dimensions

Page 8 of 21 Version 1.4 „ Recommend Layout PAD

Page 9 of 21 Version 1.4 „ Recommended Reflow Profile: Pre heating temperature: 150±10[ ] ℃ Pre heating time: 90±30[sec.] Heating temperature: 235±5[ ] ℃ Heating time: 10±1[sec.] Peak temperature must not exceed 240 and the duration of ove ℃ r 200 should be 30±10 ℃ Seconds. 10±1s 240℃ Max. 30±10s 200℃ 150±10℃ 90±30s 235±5℃. Temperature [℃] Time [sec.]

Page 10 of 21 Version 1.4 SOFTWARE COMMAND NMEA Output Command GGA-Global Positioning System Fixed Data Table B-2 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 Table B-2 GGA Data Format Name Example Units Description Message ID $GPGGA GGA protocol header UTC Time 161229.487 hhmmss.sss Latitude 3723.2475 ddmm.mmmm N/S Indicator N N=north or S=south Longitude 12158.3416 dddmm.mmmm E/W Indicator W E=east or W=west Position Fix Indicator 1 See Table B-3 Satellites Used 07 Range 0 to 12 HDOP 1.0 Horizontal Dilution of Precision MSL Altitude1 9.0 meters Units M meters Geoid Separation1 meters Units M meters Age of Diff. Corr. second Null fields when DGPS is not used Diff. Ref. Station ID 0000 Checksum *18 End of message termination SiRF Technology Inc. does not support geoid corrections. Values are WGS84 ellipsoid heights. Table B-3 Position Fix Indicator Value Description 0 Fix not available or invalid 1 GPS SPS Mode, fix valid 2 Differential GPS, SPS Mode , fix valid 3 GPS PPS Mode, fix valid GLL-Geographic Position-Latitude/Longitude Table B-4 contains the values for the following example: $GPGLL,3723.2475,N,12158.3416,W,161229.487,A*2C

Page 11 of 21 Version 1.4 Table B-4 GLL Data Format Name Example Units Description Message ID $GPGLL GLL protocol header Latitude 3723.2475 ddmm.mmmm N/S Indicator n N=north or S=south Longitude 12158.3416 dddmm.mmmm E/W Indicator W E=east or W=west UTC Position 161229.487 hhmmss.sss Status A A=data valid or V=data not valid Checksum *2C End of message termination GSA-GNSS DOP and Active Satellites Table B-5 contains the values for the following example: $GPGSA,A,3,07,02,26,27,09,04,15,,,,,,1.8,1.0,1.5*33 Table B-5 GSA Data Format Name Example Units Description Message ID $GPGSA GSA protocol header Mode1 A See Table B-6 Mode2 3 See Table B-7 Satellite Used1 07 Sv on Channel 1 Satellite Used1 02 Sv on Channel 2 ….. Satellite Used1 Sv on Channel 12 PDOP 1.8 Position dilution of Precision HDOP 1.0 Horizontal dilution of Precision VDOP 1.5 Vertical dilution of Precision Checksum *33 End of message termination 1. Satellite used in solution. Table B-6 Mode1 Value Description M Manual-forced to operate in 2D or 3D mode A 2Dautomatic-allowed to automatically switch 2D/3D Table B-7 Mode 2 Value Description 1 Fix Not Available 2 2D 3 3D GSV-GNSS Satellites in View Table B-8 contains the values for the following example:

Page 12 of 21 Version 1.4 $GPGSV,2,1,07,07,79,048,42,02,51,062,43,26,36,256,42,27,27,138,42*71 $GPGSV,2,2,07,09,23,313,42,04,19,159,41,15,12,041,42*41 Table B-8 GSV Data Format Name Example Description Message ID $GPGSV GSV protocol header Number of Messages1 2 Range 1 to 3 Message Number1 1 Range 1 to 3 Satellites in View 07 Satellite ID 07 Channel 1(Range 1 to 32) Elevation 79 degrees Channel 1(Maximum90) Azimuth 048 degrees Channel 1(True, Range 0 to 359) SNR(C/No) 42 dBHz Range 0 to 99,null when not tracking ……. ……. Satellite ID 27 Channel 4 (Range 1 to 32) Elevation 27 Degrees Channel 4(Maximum90) Azimuth 138 Degrees Channel 4(True, Range 0 to 359) SNR(C/No) 42 dBHz Range 0 to 99,null when not tracking Checksum *71 End of message termination Depending on the number of satellites tracked multiple messages of GSV data may be required. RMC-Recommended Minimum Specific GNSS Data Table B-10 contains the values for the following example: $GPRMC,161229.487,A,3723.2475,N,12158.3416,W,0.13,309.62,120598,,*10 Table B-10 RMC Data Format Name Example Units Description Message ID $GPRMC RMC protocol header UTC Time 161229.487 hhmmss.sss Status A A=data valid or V=data not valid Latitude 3723.2475 ddmm.mmmm N/S Indicator N N=north or S=south Longitude 12158.3416 dddmm.mmmm E/W Indicator W E=east or W=west Speed Over Ground 0.13 knots Course Over Ground 309.62 degrees True Date 120598 ddmmyy Magnetic Variation2 degrees E=east or W=west Checksum *10 End of message termination SiRF Technology Inc. does not support magnetic declination. All “course over ground” data are geodetic WGS48 directions.

Page 13 of 21 Version 1.4 VTG-Course Over Ground and Ground Speed $GPVTG,309.62,T,,M,0.13,N,0.2,K*6E Name Example Units Description Message ID $GPVTG VTG protocol header Course 309.62 degrees Measured heading Reference T True Course degrees Measured heading Reference M Magnetic Speed 0.13 knots Measured horizontal speed Units N Knots Speed 0.2 Km/hr Measured horizontal speed Units K Kilometers per hour Checksum *6E End of message termination 2.2 NMEA Input Command A). Set Serial Port ID:100 Set PORTA parameters and protocol This command message is used to set the protocol(SiRF Binary, NMEA, or USER1) and/or the communication parameters(baud, data bits, stop bits, parity). Generally,this command would be used to switch the module back to SiRF Binary protocol mode where a more extensive command message set is available. For example,to change navigation parameters. When a valid message is received,the parameters will be stored in battery backed SRAM and then the receiver will restart using the saved parameters. Format: $PSRF100,,,,,*CKSUM 0=SiRF Binary, 1=NMEA, 4=USER1 1200, 2400, 4800, 9600, 19200, 38400 8,7. Note that SiRF protocol is only valid f8 Data bits 0,1

Page 14 of 21 Version 1.4 0=None, 1=Odd, 2=Even Example 1: Switch to SiRF Binary protocol at 9600,8,N,1 $PSRF100,0,9600,8,1,0*0C Example 2: Switch to User1 protocol at 38400,8,N,1 $PSRF100,4,38400,8,1,0*38 **Checksum Field: The absolute value calculated by exclusive-OR the 8 data bits of each character in the Sentence,between, but excluding “$” and “*”. The hexadecimal value of the most significant and least significant 4 bits of the result are convertted to two ASCII characters (0-9,A-F) for transmission. The most significant character is transmitted first. ** : Hex 0D 0A B). Navigation lnitialization ID：101 Parameters required for start This command is used to initialize the module for a warm start, by providing current position （in X, Y, Z coordinates）,clock offset, and time. This enables the receiver to search for the correct satellite signals at the correct signal parameters. Correct initialization parameters will enable the receiver to acquire signals more quickly, and thus, produce a faster navigational solution. When a valid Navigation Initialization command is received, the receiver will restart using the input parameters as a basis for satellite selection and acquisition. Format： $PSRF101,,,,,,,, *CKSUM X coordinate position INT32 Y coordinate position INT32 Z coordinate position INT32

Page 15 of 21 Version 1.4 Clock offset of the receiver in Hz, Use 0 for last saved value if available. If this is unavailable, a default value of 75000 for GSP1, 95000 for GSP 1/LX will be used. INT32 GPS Time Of Week UINT32 GPS Week Number UINT16 （ Week No and Time Of Week calculation from UTC time） Number of channels to use.1-12. If your CPU throughput is not high enough, you could decrease needed throughput by reducing the number of active channels UBYTE bit mask 0×01=Data Valid warm/hotstarts=1 0×02=clear ephemeris warm start=1 0×04=clear memory. Cold start=1 UBYTE

Page 16 of 21 Version 1.4 Example: Start using known position and time. ＄PSRF101,-2686700,-4304200,3851624,96000,497260,921,12,3*7F C). Set DGPS Port ID:102 Set PORT B parameters for DGPS input This command is used to control Serial Port B that is an input only serial port used to receive RTCM differential corrections. Differential receivers may output corrections using different communication parameters. The default communication parameters for PORT B are 9600 Baud, 8data bits, 0 stop bits, and no parity. If a DGPS receiver is used which has different communication parameters, use this command to allow the receiver to correctly decode the data. When a valid message is received, the parameters will be stored in battery backed SRAM and then the receiver will restart using the saved parameters. Format: ＄PSRF102,,,,*CKSUM 1200,2400,4800,9600,19200,38400 8 0,1

Page 17 of 21 Version 1.4 0=None,Odd=1,Even=2 Example: Set DGPS Port to be 9600,8,N,1 ＄PSRF102,9600,8,1.0*12 D). Query/Rate Control ID:103 Query standard NMEA message and/or set output rate This command is used to control the output of standard NMEA message GGA, GLL, GSA, GSV RMC, VTG. Using this command message, standard NMEA message may be polled once, or setup for periodic output. Checksums may also be enabled or disabled depending on the needs of the receiving program. NMEA message settings are saved in battery backed memory for each entry when the message is accepted. Format: ＄PSRF103,,,,*CKSUM 0=GGA,1=GLL,2=GSA,3=GSV,4=RMC,5=VTG 0=SetRate,1=Query Output every seconds, off=0,max=255 0=disable Checksum,1=Enable checksum for specified message Example 1: Query the GGA message with checksum enabled

Page 18 of 21 Version 1.4 ＄PSRF103,00,01,00,01*25 Example 2: Enable VTG message for a 1Hz constant output with checksum enabled ＄PSRF103,05,00,01,01*20 Example 3: Disable VTG message ＄PSRF103,05,00,00,01*21 E). LLA Navigation lnitialization ID:104 Parameters required to start using Lat/Lon/Alt This command is used to initialize the module for a warm start, by providing current position (in Latitude, Longitude, Altitude coordinates), clock offset, and time. This enables the receiver to search for the correct satellite signals at the correct signal parameters. Correct initialization parameters will enable the receiver to acquire signals more quickly, and thus, will produce a faster navigational soution. When a valid LLANavigationInitialization command is received,the receiver will restart using the input parameters as a basis for satellite selection and acquisition. Format: ＄PSRF104,,,,,,, , *CKSUM Latitude position, assumed positive north of equator and negative south of

Page 19 of 21 Version 1.4 equator float, possibly signed Longitude position, it is assumed positive east of Greenwich and negative west of Greenwich Float, possibly signed Altitude position float, possibly signed Clock Offset of the receiver in Hz, use 0 for last saved value if available. If this is unavailable, a default value of 75000 for GSP1, 95000 for GSP1/LX will be used. INT32 GPS Time Of Week UINT32 GPS Week Number UINT16 Number of channels to use. 1-12 UBYTE bit mask 0×01=Data Valid warm/hot starts=1 0×02=clear ephemeris warm start=1

Page 20 of 21 Version 1.4 0×04=clear memory. Cold start=1 UBYTE Example: Start using known position and time. ＄PSRF104,37.3875111,-121.97232,0,96000,237759,922,12,3*37 F). Development Data On/Off ID:105 Switch Development Data Messages On/Off Use this command to enable development debug information if you are having trouble getting commands accepted. Invalid commands will generate debug information that should enable the user to determine the source of the command rejection. Common reasons for input command rejection are invalid checksum or parameter out of specified range. This setting is not preserved across a module reset. Format: ＄PSRF105,*CKSUM 0=Off,1=On Example: Debug On ＄PSRF105,1*3E Example: Debug Off ＄PSRF105,0*3F G). Select Datum ID:106 Selection of datum to be used for coordinate Transformations GPS receivers perform initial position and velocity calculations using an earth-centered earth-fixed (ECEF) coordinate system. Results may be converted to an earth model (geoid) defined by the selected datum. The default datum is WGS 84 (World Geodetic System 1984) which provides a

Page 21 of 21 Version 1.4 worldwide common grid system that may be translated into local coordinate systems or map datums. (Local map datums are a best fit to the local shape of the earth and not valid worldwide.) Examples: Datum select TOKYO_MEAN $PSRF106,178*32