iWAVE-01

iWave GPS Module User Manual REL1.9

iWave Systems Technologies Pvt. Ltd. of 29 (Confidential)

iWave GPS Module User Manual

iW-PRDLT-UM-01-R2.0 REL 1.9

27th June, 2009 Authors SMK, RD

APPROVAL

Name Function Organisation Date Signature

Distribution

Contact Info Name Telephone e-mail iWave Systems Tech. Pvt. Ltd. 7/B, 29th Main, BTM Layout, 2nd Stage, Bangalore –560 076, India.

+91-80-2678-3956 +91-80-2668-3700

[email protected]

http://www.docudesk.com



DOCUMENT IDENTIFICATION Project Name iWave GPS Module User Manual Document Name Document Home Revision No Rel 1.9 Status Audience

DOCUMENT REVISION HISTORY Revision Date Change Description

Author

1.0 12th Dec, 2008 Draft SMK, RD

1.1 08th Jan, 2009 Updated IO Connector Pin Details Table RD

1.2 08th Jan, 2009 Section 3.1 is removed RD

1.3 10th Jan, 2009 Test Jig detail is added RD

1.4 20th Jan, 2009 Details added to Test jig block SMK

1.5 27th Jan, 2009 Removed test jig information, added Active patch antennapicture.Size of module changed and weight added.

Temperature rating updated.

SMK

1.6 24th Feb, 2009 Active patch antenna details is removed RD

1.7 29th Mar,2009 Updated in section Technical spec & about IO connector

RD

1.8 08th Apr,2009 Updated electric, mechanical,NMEA data SMK

1.81 21st May,2009 Updated as per the mounting of SMA & IO connector

RD

1.9 27th Jun, 2009 Updated Technical spec & added Annexure

RD



PROPRIETARY NOTICE: This document contains proprietary material for the sole use of the intended recipient(s). Do not read this document further if you are not the intended recipient. Any review, use, distribution or disclosure by others is strictly prohibited. If you are not the intended recipient (or authorized to receive for the recipient), you are hereby notified that any disclosure, copy or distribution or use of any of the information contained within this document is STRICTLY PROHIBITED. Thank you. “iWave Systems Tech. Pvt. Ltd.”



Table of Contents 1 TECHNICAL SPECIFICATIONS...................................................................................7

2 IWAVE GPS MODULE....................................................................................................9

3 IWAVE GPS MODULE INTERFACE..........................................................................10

3.1 IWAVE GPS MODULE IO CONNECTOR.........................................................................10 3.2 ANTENNA INTERFACE DETAILS TO IWAVE GPS MODULE..............................................10

4 APPLICATION CIRCUIT .............................................................................................11

5 MECHANICAL DIMENSION.......................................................................................12

6 NMEA PROTOCOL.......................................................................................................14

6.1 GENERAL FORMAT .....................................................................................................14 6.2 GGA —GLOBAL POSITIONING SYSTEM FIXED DATA ...................................................15 6.3 GLL—GEOGRAPHIC POSITION - LATITUDE/LONGITUDE..............................................16 6.4 GSA—GNSS DOP AND ACTIVE SATELLITES .............................................................17 6.5 GSV—GNSS SATELLITES IN VIEW ............................................................................18 6.6 RMC—RECOMMENDED MINIMUM SPECIFIC GNSS DATA ...........................................19 6.7 VTG—COURSE OVER GROUND AND GROUND SPEED..................................................20 6.8 ZDA—TIME & DATE .................................................................................................21

7 PCB DESIGN GUIDELINES .........................................................................................22

8 ANNEXURE....................................................................................................................23



List of Figures FIGURE 1: IWAVE GPS MODULE R2.0 ..........................................................................................9 FIGURE 2: APPLICATION CIRCUIT................................................................................................11 FIGURE 3: GPS MODULE PCB DIMENSION (TOP VIEW)................................................................12 FIGURE 4: GPS MODULE PCB DIMENSION WITH SHIELDING SLOT.................................................13



List of Tables

TABLE 1: IWAVE GPS MODULE SPECIFICATION ............................................................................7 TABLE 2: IO CONNECTOR PIN DETAILS.......................................................................................10 TABLE 3: NMEA MESSAGE........................................................................................................14 TABLE 4: GGA DATA FORMAT....................................................................................................15 TABLE 5: GLL DATA FORMAT.....................................................................................................16 TABLE 6: GSA DATA FORMAT ....................................................................................................17 TABLE 7: GSV DATA FORMAT ....................................................................................................18 TABLE 8: RMC DATA FORMAT ...................................................................................................19 TABLE 9: VTG DATA FORMAT ....................................................................................................20 TABLE 10: ZDA DATA FORMAT ..................................................................................................21 TABLE 11: NMEA INPUT MESSAGES..........................................................................................23 TABLE 12:TRANSPORT MESSAGE PARAMETERS...........................................................................23 TABLE 13: SET SERIAL PORT DATA FORMAT ..............................................................................25 TABLE 14: NAVIGATION INITIALIZATION DATA FORMAT.............................................................26 TABLE 15: RESET CONFIGURATION - NON SIRFLOC PLATFORMS................................................26 TABLE 16: QUERY/RATE CONTROL DATA FORMAT.....................................................................27 TABLE 17: LLA NAVIGATION INITIALIZATION DATA FORMAT ....................................................28 TABLE 18: RESET CONFIGURATION.............................................................................................28



1 Technical Specifications

Table 1: iWave GPS module Specification

Feature Item Description Chipset SiRF StarIII GSC3f/LPx-7989 Processor Info Processor Type ARM7TDMI CPU Processor Speed 50 MHz Data Bus 16 Bit Bus access for internal Flash only Internal Flash 4Mb Internal RAM 1Mb General Frequency L1 Frequency (1575.42MHz) Channels 20 (Max) GPS receiver function Position Autonomous: 10 meter (Open Sky) Time 1 microsecond synchronized to GPS time Maximum Altitude 18000 meter Maximum Speed 514 meter/second maximum

Software GPS Datum (GPS coordinate systems) WGS-84

Protocol NMEA Output Protocol message GGA,GSA,GSV,RMC,VTG Baud Rate 9600 Max.Update Rate 1Hz Time To First Fix (Open Sky and Stationary Requirement) Reacquisition 1.0 Sec Hot Start <2 sec average Cold Start < 41 sec average Sensitivity Chip Sensitivity -159dBm



Power Main Power Input 3.3V Power Consumption 132mW Supply Current (Avg.) 40mA Backup Power 3.0V Serial Port (UART CMOS) Port A (TX and RX only) NMEA Protocol message

Antenna Antenna Type Active Antenna supported SMA connector provided for Antenna interface.

Environmental Characteristics Operating Temperature -25 deg. C to +80 deg.C Storage Temperature -25 deg. C to +85 deg.C Physical Characteristics Length 27mm Width 25mm Height 11.67mm (Including SMA Connector) Weight <25 grams IO connector 6 Pin Battery backup (3V) 3.3V Main Power Input Ground (DC-ve)

UARTA TX Output from Module (2.85V Output , 3.3V tolerant)

UARTA RX Input to Module (2.85V Input , 3.3V tolerant)

1 GPIO to IO connector (No connect)



2 iWave GPS Module iWave GPS Module top view.

Figure 1: iWave GPS Module R2.0

IWave GPS module bare PCB size is 23mmX 27mm, after assembling components the size is 25mm X 27mm because of IO connector. IWave GPS module can be directly connected to external Active GPS antenna using SMA connector as shown in Figure 1.



3 iWave GPS Module Interface

3.1 iWave GPS module IO Connector

The IO connector is a Single Row 1.25mm pitch Miniature Crimping type Connector from Protectron. It is a Right Angle Pin Header (TH): P9056R29-19-6 which can be mated with Single Row 1.25mm pitch Receptacle Housing: P9056H29-00-6.Crimp Terminal for 1.25mm pitch Housing: P9056T00-19 The pin details are provided in the table given below.

Pin No Pin Name Description Characteristics 1 VBCKP RTC Backup Battery Input

(Input) Nominal: DC 3.0 V

Range: DC 2.5V to 3.6V Max. 2 3.3V Main Main power supply for the module

(Input) Nominal: DC 3.3V

Range: DC 3.1V to 3.6V Max. 3 Ground Ground Reference Ground (DC -ve) 4 TXA Transmit pin of the module

(Output) 2.85V Interface

VOH: 2.65V(min) VOL: 0.2V(max)

5 RXA Receive pin of the module (Input)

2.85V Interface (3.3V Tolerant) VIH: 2V(min) to 3.15V(max) VIL: -0.3V(min) to 0.8V(max)

6 GPIO GPIO Line (No Connection)

Table 2: IO Connector Pin Details

3.2 Antenna interface details to iWave GPS module Only Active Antenna support is provided, 2.85V is provided to external connector. Gain of the Antenna tested is approximately 28 +/- 2 dB. Recommended LNA gain of the active antenna is 16dB < 28dB Better to have noise figure < 2dB. External antenna should work with 2.85V. SMA connector is used to interface external Active antenna to iWave GPS Module.



4 Application Circuit

Figure 2: Application circuit



5 Mechanical dimension iWave GPS module PCB dimension

Figure 3: GPS module PCB dimension (Top View)



iWave GPS module PCB dimension

Figure 4: GPS module PCB dimension with shielding slot



6 NMEA Protocol SiRF products support a subset of the NMEA-0183 standard

6.1 General Format NMEA 0183 messages use the ASCII character set and have a defined format. Each message begins with a $ (hex 0x24) and end with a carriage return and line feed (hex 0x0D 0x0A, represented as <CR><LF>). Each message consists of one or more fields of ASCII letters and numbers, separated by commas. After the last field, and before the <CR><LF> can be an optional checksum consisting of an asterisk (*, hex 0x2A) followed by two ASCII characters representing the hexadecimal value of the checksum. The checksum is computed as the exclusive OR of all characters between the $ and * characters.

Message Description GGA Time, position and fix type data GLL Latitude, longitude, UTC time of position fix and status GSA GPS receiver operating mode, satellites used in the position solution,

and DOP values GSV Number of GPS satellites in view satellite ID numbers, elevation,

azimuth, & SNR values RMC Time, date, position, course and speed data VTG Course and speed information relative to the ground ZDA PPS timing message (synchronized to PPS)

Table 3: NMEA Message



6.2 GGA —Global Positioning System Fixed Data Note – Fields marked in italic red apply only to NMEA version 2.3 (and later) in this NMEA message description. Table 4 contains the values for the following example: $GPGGA,002153.000,3342.6618,N,11751.3858,W,1,10,1.2,27.0,M,-34.2,M,,0000*5E GGA data format

Position fix indicator

Table 4: GGA data format



6.3 GLL—Geographic Position - Latitude/Longitude Table 5 contains the values for the following example: $GPGLL,3723.2475,N,12158.3416,W,161229.487,A,A*41 GLL data format

Table 5: GLL data format



6.4 GSA—GNSS DOP and Active Satellites Table 6 contains the values for the following example: $GPGSA,A,3,07,02,26,27,09,04,15, , , , , ,1.8,1.0,1.5*33 GSA data format

Table 6: GSA data format



6.5 GSV—GNSS Satellites in View Table 7 contains the values for the following example: $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 GSV data format

Table 7: GSV data format



6.6 RMC—Recommended Minimum Specific GNSS Data Table 8 contains the values for the following example: $GPRMC,161229.487,A,3723.2475,N,12158.3416,W,0.13,309.62,120598, ,*10 RMC data format

Table 8: RMC data format



6.7 VTG—Course Over Ground and Ground Speed Table 9 contains the values for the following example: $GPVTG,309.62,T, ,M,0.13,N,0.2,K,A*23 VTG data format

Table 9: VTG data format



6.8 ZDA—Time & Date Table 10 contains the values for the following example: $GPZDA,181813,14,10,2003,,*4F ZDA data format

Table 10: ZDA data format



7 PCB Design Guidelines

• Avoid routing high frequency signals on the top layer of the customer PCB, just below GPS module.

• Better to provide ground shape on the top layer of customer PCB, just below GPS module.

• Do not provide any open mask on top layer of customer PCB, just below GPS module. • RF shielding on GPS module is connected to ground (-Ve DC), please take care when

fixing the GPS module to customer PCB.



8 Annexure

NMEA Input Message:

The below table lists out the NMEA Input Messages Message MID 1 Description Set Serial Port 100 Set PORT A parameters and protocol Navigation Initialization 101 Parameters required for start using X/Y/Z.2 Set DGPS Port 102 Set PORT B parameters for DGPS input Query/Rate Control 103 Query standard NMEA message and/or set output

rate LLA Navigation Initialization 104 Parameters required for start using Lat/Lon/Alt.3 Development Data On/Off 105 Development Data messages On/Off Select Datum 106 Selection of datum to be used for coordinate

transformations MSK Receiver Interface MSK Command message to a MSK radio-beacon

receiver.

Table 11: NMEA Input Messages

1. Message Identification (MID)

2. .Input coordinates must be

3. WGS84.Input coordinates must be WGS84.

Transport Message

Start Sequence Payload checksum End Sequence $PSRF<MID>1 Data2 Checksum3 End Sequence4

Table 12:Transport Message parameters

1. Message Identifier consisting of three numeric characters. Input messages begin at MID 100.

2. Message specific data. Refer to a specific message section for <data>...<data> definition.



3. *CKSUM3. CKSUM is a two-hex character checksum as defined in the NMEA specification, NMEA-0183 Standard For Interfacing Marine Electronic Devices. Use of checksums is required on all input messages.

4. Each message is terminated using Carriage Return (CR) Line Feed (LF) which is \r\n which is hex 0D 0A. 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.

Note: The message is sent with a checksum field (*<hex digit><hex digit>) at the end. Compute the checksum by exclusive ORing all characters after the $ and before the *, then turning the result into hex and sending the hex as 2 ASCII characters



100—Set Serial Port :

This command message is used to set the protocol (SiRF binary or NMEA) and/or the communication parameters (Baud, data bits, stop bits, and parity). Generally, this command is used to switch the module back to SiRF binary protocol mode where a more extensive command message set is available. When a valid message is received, the parameters are stored in battery-backed SRAM and the Evaluation Receiver restarts using the saved parameters.

Table 13contains the input values for the following example:

Switch to SiRF binary protocol at 9600,8,N,1

$PSRF100,0,9600,8,1,0*0C

Table 13: Set Serial Port Data Format



101—Navigation Initialization:

This command is used to initialize the Evaluation Receiver by providing current position (in X, Y, Z coordinates), clock offset, and time. This enables the Evaluation Receiver to search for the correct satellite signals at the correct signal parameters. Correct initialization parameters enable the Evaluation Receiver to acquire signals quickly.

Table 14 contains the input values for the following example:

Start using known position and time.

$PSRF101,-2686700,-4304200,3851624,96000,497260,921,12,3*1C

Table 14: Navigation Initialization Data Format

Table 15: Reset Configuration - Non SiRFLoc Platforms

102—Set DGPS Port:

Not supported in iWave GPS module



103—Query/Rate Control:

This command is used to control the output of standard NMEA messages GGA, GLL, GSA, GSV, RMC, and VTG. Using this command message, standard NMEA messages 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.

Table 16 contains the input values for the following examples:

1. Query the GGA message with checksum enabled

$PSRF103,00,01,00,01*25

2. Enable VTG message for a 1 Hz constant output with checksum enabled

$PSRF103,05,00,01,01*20

3. Disable VTG message

$PSRF103,05,00,00,01*21

Table 16: Query/Rate Control Data Format



104—LLA Navigation Initialization:

This command is used to initialize the Evaluation Receiver by providing current position (in latitude, longitude, and 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 enable the receiver to acquire signals quickly.

Table 17 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

Table 17: LLA Navigation Initialization Data Format

Table 18: Reset Configuration



Example commands

1. For disable GGA message: $PSRF103,00,00,00,01*24 2. For disable GLL message: $PSRF103,01,00,00,01*25 3. For disable GSA message: $PSRF103,02,00,00,01*26 4. For disable GSV message: $PSRF103,03,00,00,01*27 5. For disable VTG message: $PSRF103,05,00,00,01*21 6. For disable RMC message: $PSRF103,04,00,00,01*20 7. For enable GGA message: $PSRF103,00,00,01,01*25 8. For enable GLL message: $PSRF103,01,00,01,01*24 9. For enable GSA message: $PSRF103,02,00,01,01*27 10. For enable GSV message: $PSRF103,03,00,01,01*26 11. For enable VTG message: $PSRF103,05,00,01,01*20 12. For enable RMC message: $PSRF103,04,00,01,01*21

You can check the working of iWave GPS module as a stand alone unit, just by connecting it to PC through RS232 Transceiver and You can download NMEA Monitor from below given link. http://homepage2.nifty.com/k8/gps/file/NmeaMon.htm

• Double click on NMEA icon. • From the Option setting window make appropriate com port & baud rate settings & click

OK. • To send any command goto GPS command from Tools window. • Type the command you want to send (Do not write checksum). for ex:

$PSRF103,00,00,00,01;disable GGA • Click on Chk-sum, Cr, Lf boxes. • Then send the command

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