GPS TF30

TF 30 GPS Engine
Laipac Technology, Inc.
105 West Beaver Creek Rd. Unit 207 Richmond Hill Ontario L4B 1C6 Canada Tel: (905) 762-1228 Fax: (905) 763-1737 http://www.laipac.com
Laipac Technology Inc.
Contents
1. Introduction to TF GPS ser ies . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . 8 TF30 GPS Receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8 Quick View on Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8 2. Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . 9 TF30 . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9 3. Inter face Descr iption and Options. . . . . . . . . . .. .. .11 Phsical Diagram .11 Pin Definition of the Digital Interface Connector. . . . . . . . . . . . . . . .12 TF30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 12 Option Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 14 TricklePower Option . . . . . . . . . . . . . . . . . . . . . . . . . . .. .14 RS-232 I/O Option .. . . . . . . . . . . . . . . . . . . . . . . . . 15 4. SiRF Binar y Protocol Specification . . . . . . . . . . . . . . . . . . .16 Protocol Layers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Transport Message. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Transport . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Message Validation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Payload Length . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Payload Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17 Checksum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17 Input Messages for SiRF Binary Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 Initialize Data Source - Message I.D. 128 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 Switch To NMEA Protocol - Message I.D. 129 . . . . . . . . . . . . . . . . . . . . . . . .19 Set Almanac Message I.D. 130 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21 Software Version Message I.D. 132 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Set DGPS Source Message I.D. 133. (For TF10,100/200) . . . . . . . . . . . . . 22 Set Main Serial Port - Message I.D. 134 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23 Mode Control - Message I.D. 136 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24
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DOP Mask Control - Message I.D. 137 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25 DGPS Control - Message I.D. 138 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Elevation Mask Message I.D. 139 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Power Mask - Message I.D. 140 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Editing Residual Message I.D. 141 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 26 27 27
Steady State Detection - Message I.D. 142 . . . . . . . . . . . . . . . . . . . . . . . . . . 27 Static Navigation Message I.D. 143 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 Poll Clock Status Message I.D. 144 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28 Set DGPS Serial Port - Message I.D. 145 . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 Poll Almanac - Message I.D. 146 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29 Poll Ephemeris - Message I.D. 147 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29 Flash Update - Message I.D. 148. . . . . . . . . . . . . . . . . . . . . . . . . . 30 Set Ephemeris - Message I.D. 149. . . . . . . . . . . . . . . . . . . . . . . . . . .30 Switch Operating Modes - Message I.D. 150 . . . . . . . . . . . . . . . . . . . . . . . . . .31 Set Trickle Power Parameters - Message I.D. 151 . . . . . . . . . . . . . . . . . . . . . .31 Computation of Duty Cycle and On Time . . . . . . . . . . . . . . . . . . . . . . . . . . . ..32 Push-to-Fix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..33 Poll Navigation Parameters - Message I.D. 152 . . . . . . . . . . . . . . . . . . . . . . . ..33 Set UART Configuration Message I.D.165 ... . . . . . . . . . . . . . . . . . ..34 Low Power Acquisition parameters - Message I.D. 167 . . . . . . . . . . . . . . . . . .36 Output Messages for SiRF Binary Protocol . . . . . . . . . . .. . . . . . . . . . . . . . . Measure Navigation Data Out - Message I.D. 2 . . . . . . . . . . . . . . . . . . . . . . 36 37
Measured Tracker Data Out - Message I.D. 4 . . . . . . . . . . . . . . . . . . . . . . . . 39 Raw Tracker Data Out - Message I.D. 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 Software Version String (Response to Poll) - Message I.D. 6 . . . . . . . . . . . .. .41 Response: Clock Status Data - Message I.D. 7 . . . . . . . . . . . . . . . . . . . . . . . 41 50 BPS Data Message I.D. 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 CPU Throughput Message I.D. 9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 Command Acknowledgment Message I.D. 11 . . . . . . . . . . . . . . . . . . . . . . 43 Command NAcknowledgment Message I.D. 12 . . . . . . . . . . . . . . . . . . . . . ..43 Visible List Message I.D. 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 Almanac Data - Message I.D. 14 . . . . . . . . . . . . . . 45 Ephemeris Data (Response to Poll) Message I.D. 15 . . . . . . . . . . . . . . . . . Navigation Parameters (Response to Poll) Message I.D. 19 .. . . . . . . . . . .. 46 46 OkToSend - Message I.D. 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ... 46
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Nav. Lib. Measurement Data Message I.D.28 .47 Nav. Lib. DGPS Data Message I.D.29 50 Nav. Lib. SV State Data Message I.D.30 .51 Nav. Lib. Intialization Data Message I.D.31 .. .52 Development Data Message I.D. 255 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 Additional Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 TricklePower Operation in DGPS Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 GPS Week Reporting . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 NMEA Protocol in TricklePower Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 5. NMEA Input/Output Messages . . . . . . . . . . . . . . . . . . . . 56 NMEA Output Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .56 GGA Global Positioning System Fixed Data. . . . . . . . . . . . . . . . . . . . . . . .56 GLL Geographic Position - Latitude/Longitude . . . . . . . . . . . . . . . . . . . . . .57 GSA GNSS DOP and Active Satellites. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 GSV GNSS Satellites in View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .58 RMC Recommended Minimum Specific GNSS Data . . . . . . . . . . . . . . . . ..59 VTG Course Over Ground and Ground Speed . . . . . . . . . . . . . . . . . . . . . . ..60 SiRF Proprietary NMEA Input Messages . . . . . . . . . . . . . . . . . . . . . . . . . . Transport Message. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . SiRF NMEA Input Messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 60 61
SetSerialPort . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 61 NaviagtionInitialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..62 SetDGPSPort . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 Query/Rate Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 LLANaviagtionInitialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 Development Data On/Off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .65
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Tables
Table 3-1 Pin List of the 20- pin Digital Interface Connector of TF30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Table 4-1 SiRF Messages Input Message . . . . . . . . . . . . . . . . . . . . . .12 . . . . . . . . . . . ..15 Table 3-2 TricklePower Power Consumption. . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . 18
Table 4-2 Initialize Data Source . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . 19 Table 4-3 Reset Configuration Bitmap . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . 19 Table 4-4 Switch To NMEA Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20 Table 4-5 Set Almanac message .. . . . . . . . . . . . . . . . . . . . . . . . . . . .21 Table 4-6 Software Version. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Table 4-7 Set DGPS Source . . . . . . . . . . . . . . . . . . 22 Table 4- 8 Set DGPS Source Selections . . . . 22 Table 4- 9 Set DGPS Source Selections ..22 Table 4- 10 Internal Beacon Serach Settings . .. . . . . 23 Table 4- 11 Set Main Serial Port . . . . . .23 Table 4-12 Mode Control .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. ..24 Table 4- 13 Degraded Mode Byte Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 Table 4- 14 DOP Mask Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 Table 4- 15 DOP Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25 Table 4- 16 DGPS Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26 Table 4- 17 DGPS Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 Table 4- 18 Elevation Mask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 Table 4- 19 Power Mask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27 Table 4- 20 Static Navigation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 Table 4- 21 Message ID 143 Description ... . . . . . . . . . . . . . . . . 28 Table 4- 22 Clock Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28 Table 4- 23 Set DGPS Serial Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29 Table 4- 24 Almanac . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29. Table 4- 25 Ephemeris Message I.D. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29 Table 4- 26 Flash update .. . . . . . . . . . . . . . . . . . . . .30 Table 4- 27 Ephemeris .. . . . . . . . . . . . . . . . . . . . . . . . .30
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Table 4- 28 Switch Operating Mode I.D.150 . . . . . . . . . . . . . . . . . . . . . . . . . 31 Table 4- 29 Set Trickle Power Parameters I.D.151 . . . . . . . . . . . . . . . . . . . . . ..32 Table 4- 30 Example of Selections for Trickle Power Mode of Operation . . . ..32 Table 4- 31 Trickle Power Mode Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..32 Table 4- 32 Poll Receiver for Navigation Parameters . . . . . . . . . . . . . . . . . . . ..33 Table 4- 33 Set UART Configuration . . .34 Table 4- 34 Set Message Rate ... . . . . . . . . . . . . . . 35 Table 4- 35 Set Low Power Acquisition Parameters . . .36 Table 4- 36 SiRF Messages Output Message List .. . . .36 Table 4- 37 Measured Navigation Data Out - Binary & ASCII Message Data Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 Table 4- 38 Mode 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38 Table 4- 39 Mode 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..39 Tab e 4- 40 Measured Tracker Data Out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...40 Table 4- 41 TrktoNAVStruct.trk_status Field Definition. . . . . . . . . . . . . . . . . 40 Table 4- 42 Software Version String. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 Table 4- 43 Clock Status Data Message. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42 Table 4- 44 50 BPS Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 Table 4- 45 CPU Throughput. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 Table 4- 46 Command Acknowledgment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 Table 4- 47 Command Nacknowledgment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 Table 4- 48 Visible List. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..44 Table 4- 49 Almanac Data ... . . . . . . . . . . . . . . . . . 45 Table 4- 50 Ephemeris Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..46 Table 4- 51 Navigation Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . ..46 Table 4- 52 Measurement Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . ..48 Table 4- 53 Sync. Flag Fields .. . . . . . . . . . .. ..48 Table 4- 54 Detaied Description of the Measurement Data .. . . . . . . .. ..49 Table 4- 55 Detaied Description of the Measurement Data (Conti.) ... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . 50 Table 4- 56 Measurement Data .. . . . . . . . . . . . . . . . . . . . . .. ..50 Table 4- 57 SV State Data ... . . . . . . . . . . . . . . . . . . . . . . . . . .. 51 Table 4- 58 Measurement Data .. . . . . . . . . . . . . . . . . . . . . . . . . .. 52 Table 4- 59 Development Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..55 Table 4- 60 NMEA Data Rates Under Trickle Power Operation. . . . . . . . . . . . ..55
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Table 5-1 NMEA-0183 Output Messages .. . . . . . . . . . . . . . . . . . . . .. . . . . . . . .56 Table 5-2 GGA Data Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . .56 Table 5-3 Position Fix Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 Table 5-4 GLL Data Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 Table 5-5 GSA Data Format . . . . .. .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .58 Table 5-6 Mode 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 Table 5-7 Mode 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 Table 5-8 GSV Data Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .58 Table 5-9 RMC Data Format . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . ..59 Table 5-10 VTG Data Format . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . .. . . 60 Table 5-11 Set Serial Port Data Format. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 Table 5-12 Navigation Initialization Data Format. . . . . . . . . . . . . . . . . . . . . . . . . 62 Table 5-13 Reset Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .62 Table 5-14 Set DGPS Port Data Format . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . .63 Table 5-15 Query/Rate Control Data Format (See example 1.) . . . . . . . . . . . .. . .64 Table 5-16 Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . 64 Table 5-17 LLA Navigation Initialization Data Format . . . . . .. . .. . . . . . . . . . . .65 Table 5-18 Reset Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .65 Table 5-19 Development Data On/Off Data Format . . . . . . . . . . . .. . .. . . . . . . . .65
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Chapter 1 Introduction to TF30 GPS Receiver

TF30 GPS Receiver Module Features
Ultra miniature size (30 x 40 mm) 12 Channel All-in-vie w GPS C/ A and carrier Inte grated powerful 16-bit ARM7 TDMI CPU core 8 GPIO pins left for tremendous embedded applications Suppo rt WAAS signal Fast Cold/Wa rm/ Hot S tart T TFF time of 45/ 38/8 sec Fast re acquisition time of 0.1 sec Degra ded mod e sol ution enables during short blockage situation Enhanced sensitivity un der weak sa tellite sign als Single satell ite tra cking capability Dual multipath rejection NMEA0183 ver 2.2 GGA, GLL, GSA, GSV, RMC, a nd VTG SiRF binary protoc ol output On-bo ard Real-time RTCM SC-104 differ en tial 1 P PS (one pulse per sec ond) signal Two serial ports with TTL level ( RS-232 optional) TricklePower function (power saving) Full shield des ign to withs tand extern al EMI inte rfer ences Capability of adding user s task implementation to curr ent t hroug hput
Based on the SiRF starII TM chip set, TF30 is a compact 12-channel ALL-inView GPS. TF30 GPS receiver offers not only superior performance (integrated powerful ARM7 TDMI CPU core), bu t also high reliability at very competitive compact price in the market. With its delicate miniature size (30 x 40 mm ) and flexibili ty for eight GPIO pins extension, TF30 GPS receiver module is suitable for all embedded app lication s such as s handh eld, wireless , leisure, navigation , emergency call, and location identification . Besides, its un iqu e full shield design (refer to the photo sho wn above) will efficiently withstand all external EMI or RFI inter ference si gnals.
Quick View on Specifications

Cha nnel, Frequency Position/Velocity Time Accuracy Max Speed Acceleration Jerk 12 Channel L1 C/A 25 m CEP/0.1 m/s without SA 1 us synchronized to GPS time 515 meters/sec max 4 g., max. 20 meters /sec. 3 max.
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Max Altitude Time to First Fix 18,000 meters max. 45/38/8/0.1 sec (Cold/Warm/Hot Start) 0.1 sec (Reacquisition) 1/sec -175dBW WGS-84 3.3V DC 50 mA 4800 baud (default) NMEA 0183 v2.2, SiRF Binary RTCM SC-104 v2.0 type 1,2,9 Integrated 16-bit ARM7 TDMI 8 GPIO pins 30 x 40 x 7 mm Full Shield design -10C to +70C -40C to +85C
Update Rate Receiver Sensitivity Map Datum Input Voltage Current (Avg.) Serial Comm. Protocol Messages
Dimensions Operating Temp Storage Temp
Chapter 2 Specifications
TF30
1. Electrical Characteristics 1.1 General Frequency C/A code Channels Position Velocity Time Position Velocity WGS-84 Reacquisition Cold start Warm start Hot start Altitude Velocity Acceleration Jerk 0.1 sec., average 45 sec., average 38 sec., average 8 sec., average 18,000 meters (60,000 Feet) max. 515 meters/sec.(1000 Knots) max. 4 g., max. 20 meters/sec.3 max. L1,1575.42MHz 1.023 MHz chip rate 12 25 meters CEP without SA 0.1 meters/second, without SA 1 microsecond synchronized to GPS time 1 to 5 meters, typical 0.05 meters/second, typical
1.2 Accuracy
1.3 DGPS Accuracy
1.4 Datum 1.5 Acquisition Rate
1.6 Dynamic Condition
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1.7 Power
Main Power Supply Current, continuous Supply Current, TricklePower mode Backup Power Backup Current Active low input Electrical interface Protocol NMEA output
3.3 Vdc 10% ~ 150 mA ~ 50 mA +2.5V to 3.1V 10A typical
1.8 External Reset 1.9 Serial Port
DGPS protocol
1.10 Time-1PPS Pulse
Level Pulse duration Time reference Measurements 2. Environmental Characteristics 2.1Temperature Operating range Storage range
Two full duplex serial communication(TTL level or EIA RS-232 level ( optional )) Design-in binary and NMEA-0183, Version 2.20 with a baud rate selection GGA,GLL,GSA,GSV,RMC, and VTG (on customer request) Default six NMEA (Baud Rate :4800) RTCM SC-104, version 2.00, type 1,2 and 9 WAAS Supported TTL 100 ms At the pulse positive edge Aligned to GPS second, 1 sec. - 10 to + 70 - 40 to + 85
2.2 Physical characteristics
Dimension Antenna connector Interface connector
40 X 30 mm, thickness less then 7 mm MMCX type 20-pin ( 2X 6) low profile socket, 1mm 8-pin ( 2X 4) JTAG, 1mm ( optional )
3. Antenna 4.CPU Throughput
Passive or Active Antenna GPS Signal Processor & Integrated 16-bit,50 MHz ARM7TDMI Software CPU core & 1M DRAM memory 90% CPU throughput available for user tasks It is assembled with full shield case design to withstand the highest possible interference
5.RF Interference
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Chapter 3 Inter face and Options

This chapter describes the pin definitions of the interface connector and flexible options of TF30.
Physical Diagr am
LATERAL VIEW
BOTTOM VIEW
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Pin Definition of the Digital Inter face Connector

TF30
Table 3-1 Pin List of the 20- pin Digital Interface Connector of TF30
Pin #
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
VCC TXA RXA TXB RXB
Name
Description
+3.3V +- 10% DC Power Input Host Serial Data Output A Host Serial Data Input A Aux. Serial Data Output B Aux. Serial Data Input B (DGPS) 1PPS Time Mark Output Battery Backup Power Input General Purpose Input/Output Reset, Active Low Reserved Ground Internal/External Boot selective General Purpose Input/Output General Purpose Input/Output General Purpose Input/Output General Purpose Input/Output General Purpose Input/Output General Purpose Input/Output General Purpose Input/Output Ground
TIMEMARK BAT GPIOA RESET RESERVED GROUND BOOTSEL GPIOB GPIOC GPIOD GPIOE GPIOF GPIOG GPIOH GROUND
The Host Serial Data I/O is nominally a CMOS logical high +3.3VDC. The Host Serial Data Input A (Pin# 3) suggest to an active high(ex.100Kserial to + Vcc) when not used.
VCC
(+3.3V DC Power Input)
This is the main DC power supply for a +3.3V powered TF30 board.
TXA
This is the main transmit channel and is used to output navigation and measurement data
RXA
This is the main receiver channel and is used to receive software commands to the TF30 board
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TXB
For users application (not currently used).
RXB
This is the auxiliary receive channel and is used to input differential corrections to the TF30 board to enable DGPS navigation.
Timemar k
This pin provides one pulse-per-second output from TF30 board, which is synchronized to GPS time. This is not available in TricklePower mode.
BAT
This is the battery backup input that powers the SRAM and RTC when main power is removed. Typical current draw is 10uA. Without an external backup battery or supercap, TF30 will execute a cold start after every power on. To achieve the faster start-up offered by a hot or warm start, a battery backup must be connected. To maximize battery lifetime, the battery voltage should not exceed the supply voltage and should be between 2.5V and 3.1V.
GPIOA
The pin is connected to the digital interface connector for custom applications .
RESET
This pin provides an active-low reset input to the TF30 board. It causes the TF30 board to reset and start searching for satellites. If not utilized, it may be left open.
GND
GND provides the ground for the TF30 board.
BOOTSEL
Internal/External Boot selective.
GPIOB - GPIOH
These pins are connected to the digital interface connector for custom applications
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Option Descr iptions

Tr icklePower Option
The design of TF30 includes all the functionality necessary to implement the TricklePower mode of operation. In this mode, the lowest average power dissipation is achieved by powering down the board (after a position is determined) in such a manner that when it is turned back on it can re-compute a position fix in the shortest amount of time. The standard TricklePower operates in three states: (1) Tr acking State In this state, the board is fully powered, tracking satellites and gathering data. This time in this state is selectable via SiRFdemo demo software from 200-900ms. After this time the measurements to calculate a position are ready. (2) CPU State In this state, the GRF1/LX (RF IC) has been turned off (by the control signal) removing the clock to the GSP1/LX (Baseband ASIC). Without a clock, the GSP1/LX is effectively powered down (although the RTC keeps running). The CPU is kept running to process the GPS data until a position fix is determined and the result has been transmitted by the serial communication interface. (3) Tr ickle State In this state, the CPU is in a low power standby state and the receiver clocks are off with only the RTC clock active. After a set amount of time, the RTC generates a NMI signal to wakeup the Hitachi microprocessor and set the receiver back to the tracking state. The default time for each TricklePower state (and the approximate current consumed) is shown below in Table 3-3. For example, the TricklePower duty cycle (20%), the average receiver power dissipation is approximately 165mW (50mA @ 3.3v) while maintaining a one-second update rate.
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Table 3-2 TricklePower Power Consumption
State Time +3.3V Current Tracking 220mS 145mA CPU 360mS 40mA Trickle 420mS 0.5mA Note: Table 3-2 does not include the external antenna power consumption.
RS-232 I/O Option

TF30 allows populating an RS-232 driver. Customers can make request for I/O of TTL Level (5V) or RS-232 Level (12V).
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Chapter 4 SiRF Binar y Protocol Specification

The serial communication protocol is designed to include:
Reliable transport of messages Ease of implementation Efficient implementation Independence from payload Protocol Layer s Tr anspor t Message
Star t Sequence
0xA0 1 , 0xA2
Payload Length Payload

Two-bytes (15-bits)
Payload
Up to 2 10 1 (<1023)
Message Checksum
Two-bytes (15-bits)
End Sequence
0xB0, 0xB3
1.
0xYY denotes a hexadecimal byte value. 0xA0 equals 160.
Tr anspor t
The transport layer of the protocol encapsulates a GPS message in two start characters and two stop characters. The values are chosen to be easily identifiable and such that they are unlikely to occur frequently in the data. In addition, the transport layer prefixes the message with a two-byte (15-bit) message length and a two-byte (15-bit) check sum. The values of the start and stop characters and the choice of a 15bit values for length and check sum are designed such that both message length and check sum can not alias with either the stop or start code.
Message Validation
The validation layer is of part of the transport, but operates independently. The byte count refers to the payload byte length. Likewise, the check sum is a sum on the payload.
Payload Length
The payload length is transmitted high order byte first followed by the low byte. High Byte Low Byte < 0x7F Any value
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Laipac Technology Inc. Even though the protocol has a maximum length of (2 15 -1) bytes practical considerations require the SiRF GPS module implementation to limit this value to a smaller number. Likewise, the SiRF receiving programs (e.g., SiRFdemo) may limit the actual size to something less than this maximum.
Payload Data
The payload data follows the payload length. It contains the number of bytes specified by the payload 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.
Checksum
The check sum is transmitted high order byte first followed byte the low byte. This is the so-called big-endian order. High Byte Low Byte < 0x7F Any value The check sum is 16-bit checksum of the bytes in the payload data. The following pseudo code defines the algorithm used. Let message to be the array of bytes to be sent by the transport. Let msgLen be the number of bytes in the message array to be transmitted. Index = first checkSum = 0 while index < msgLen checkSum = checkSum + message[index] checkSum = checkSum AND (2 10 -1).
Input Messages for SiRF Binar y Protocol

Note All input messages are sent in BINARY format. Table 4-1 lists the message list for the SiRF input messages.
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Table 4- 1 SiRF Messages - Input Message List
Hex 0 x 80 0 x 81 0 x 82 0 x 84 0 x 85 0 x 86 0 x 88 0 x 89 0 x 8A 0 x 8B 0 x 8C 0 x 8D 0 x 8E 0 x 8F 0 x 90 0 x 91 0 x 92 0 x 93 0 x 94 0 x 95 0 x 96 0 x 97 0 x 98 0 x A5 0 x A6 0 x A7
ASCII 128 129 130 132 133 134 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 165 166 167
Name Initialize Data Source Switch to NMEA Protocol Set Almanac (upload) Software Version (Poll) Set DGPS Source Control Set Main Serial Port Mode Control DOP Mask Control DGPS Mode Elevation Mask Power Mask Editing Residual (Not implemented) Steady-State Detection (Not implemented) Static Navigation Poll Clock Status Set DGPS Serial Port Poll Almanac Poll Ephemeris Flash Update Set Ephemeris (upload) Switch Operating Mode Set Trickle Power Parameters Poll Navigation Parameters Set UART Configuration Set Message Rate Low Power Acquisition Parameters
Initialize Data Source - Message I.D. 128

Table 4-2 contains the input values for the following example: Warm start the receiver with the following initialization data: ECEF XYZ (-2686727 m, -4304282 m, 3851642 m), Clock Offset (75,000 Hz), Time of Week (86,400 s), Week Number (924), and Channels (12). Raw track data enabled, Debug data enabled. Example: A0A20019 Start Sequence and Payload Length 80FFD700F9FFBE5266003AC57A000124F80083D600039C0C33 Payload 0A91B0B3 Message Checksum and End Sequence
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Table 4- 2 Initialize Data Source
Binar y (Hex) Scale Example Name Bytes Message ID 1 80 ECEF X 4 FFD700F ECEF Y 4 FFBE5266 ECEF Z 4 003AC57A Clock Offset 4 000124F8 Time of Week 4 *100 0083D600 Week Number 2 039C Channels 1 0C Reset Config. 1 33 Payload Length: 25 bytes
Table 4- 3 Reset Configuration Bitmap
Units meters meters meters Hz seconds
Descr iption ASCII 128
Range 1-12 See table Table 4-3
Bit Descr iption 0 Data valid flag set warm/hot start 1 Clear ephemeris set warm start 2 Clear memory set cold start 3 Factory Reset 4 Enable raw track data (YES=1, NO=0) 5 Enable debug data for SiRF binary protocol (YES=1, NO=0) 6 Enable debug data for NMEA protocol (YES=1, NO=0) 7 Reserved (must be 0) Note If Nav Lib data is ENABLED then the resulting messages are enabled. Clock Status (MID 7), 50 BPS (MID 8), Raw DGPS (17), NL Measurement Data (MID 28), DGPS Data (MID 29), SV State Data (MID 30), and NL Initialize Data (MID 31). All messages are sent at 1 Hz and the baud rate will be automatically set to 57600.
Switch To NMEA Protocol - Message I.D. 129

Table 4-4 contains the input values for the following example: Request the following NMEA data at 4800 baud: GGA ON at 1 sec, GLL OFF, GSA - ON at 5 sec, GSV ON at 5 sec, RMC-OFF, VTG-OFF Example: A0A20018 Start Sequence and Payload Length 8102010100010501050100010001000100010001000112C0 Payload
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016AB0B3 Message Checksum and End Sequence

Table 4- 4 Switch To NMEA Protocol
Binar y(Hex) Name Bytes Scale Example Message ID 1 81 Mode 1 02 1 GGA Message 1 01 Checksum 2 1 01 GLL Message 1 00 Checksum 1 01 GSA Message 1 05 Checksum 1 01 GSV Message 1 05 Checksum 1 01 RMC Message 1 00 Checksum: 1 01 VTG Message 1 00 Checksum 1 01 Unused Field 1 00 Unused Field 1 01 Unused Field 1 00 Unused Field 1 01 Unused Field 1 00 Unused Field 1 01 Unused Field 1 00 Unused Field 1 01 Baud Rate 2 12C0 Payload Length: 24 bytes
Units
Descr iption ASCII 129 See Chapeter 5 for format. Se Chapeter 5 for format. See Chapeter 5 for format. See Chapeter 5 for format. See Chapeter 5 for format. See Chapeter 5 for format. Recommended value. Recommended value. Recommended value. Recommended value. Recommended value. Recommended value. Recommended value. Recommended value. 38400, 19200,9600,4800,2400
1/s 1/s 1/s 1/s 1/s 1/s
1. A value of 0x00 implies NOT to send message, otherwise data is sent at 1 message every X seconds requested (i.e., to request a message to be sent every 5 seconds, request the message using a value of 0x05.) Maximum rate is 1/255s. 2. A value of 0x00 implies the checksum NOT transmitted with the message (not recommended). A value of 0x01 will have a checksum calculated and transmitted as part of the message (recommended).
Note In Trickle Power mode, update rate is specified by the user. When you switch to NMEA protocol, message update rate is also required. The resulting update rate is the product of the Trickle Power Update rate AND the NMEA update rate (i.e. Trickle Power update rate = 2 seconds, NMEA update rate = 5 seconds, resulting update rate is every 10 seconds, (2 X 5 = 10)).
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Set Almanac Message I.D. 130

This com mand en ables the u ser to up load an alman ac TF30 Example: A0A20380 Start Sequence and Payload Length 82xx . Payload xxxxB0B3 Message Checksum and End Sequence
Table 4-5 Set Almanac message
Binar y (Hex) Name Bytes Message ID 1 Almanac 896 Payload Length: 897 bytes
Scale Example
Units
82 00
Descr iption ACSII 130 Reserved
The almanac data is stored in the code as a 448 element array of INT16 values. These 448 elements are partitioned as 32 x 14 elements where the 32 represents the satellite number minus 1 and the 14 represents the number of INT16 values associated with this satellite. The data is actually packed and the exact format of this representation and packing method can be extracted from the ICD-GPS-2000 document. The ICD-GPS-2000 document describes the data format of each GPS navigation sub-frame and is available on the web at http://www.arinc.com/gps
Software Ver sion Message I.D. 132

Table 4-6 contains the input values for the following example: Poll the software version Example: A0A20002 Start Sequence and Payload Length 8400 Payload 0084B0B3 Message Checksum and End Sequence
Table 4- 6 Software Version
Binar y (Hex) Name Bytes Message ID 1 TBD 1 Payload Length: 2 bytes

Scale Example
Units
84 00
Descr iption ACSII 132 Not used
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Set DGPS Source Message I.D. 133

This command allows the user to select the source for DGPS Correction s. Options available are: External RTCM Data ( any ser ial port) WAAS (subject to WAAS satellite a vailab ility) Internal D GPS beacon receiver Example 1: Set the D GPS sour ce to E xte rnal RTCM Data A0A200007 Start Sequ ence and P a yload Length 8502000000000 0 Payload 0087B0 B3 Checksum and End Seq uen ce
Table 4-7 Set DGPS Source
Name Message ID DGPS Sour ce
Bytes 1 1
Binar y (Hex) Scale Example Units 85 02 00000000 00 Hz BPS
Internal Beacon 4 Freq uen cy Internal Beacon 1 Bit Rate Payload Length: 7 bytes
Descr iption de cimal 133 See Table 4-9 DGPS Sou rce Selection s Internal Beacon Se arch Sett ings Internal Beacon Se arch Sett ings
Example2: Set the D GPS sour ce to Int ernal DGPS Beacon R ece (Current ly TF30 is not supported) Search Frequency 310000, Bit Rate 200 A0A200007 Start Sequence and Payload Length 85030004BAF0C802 Payload 02FEB0B3 Checksum and End Sequence
Table 4 - 8 DGPS Source Selection (Example 2)
Name Message I.D. DGPS Source
Bytes Scale Hex 1 85 1 03 0004BAF0 C8
Internal Beacon 4 Frequency Internal Beacon 1 Bit Rate
Units Decimal Descr iption 133 Message Identification. 3 See Table 4-9 DGPS Source Selections. HZ 310000 See Table 4-9 Internal Beacon Search Settings . BPS 200 See Table 4-10 Internal Beacon Search Settings.
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Table 4- 9 Set DGPS Source Selections
DGPS None
Hex Decimal Descr iption 0 0 DGPS corrections will not be used (even if available). WAAS 1 1 Uses WAAS Satellite (subject to availability). External RTCM 2 2 External RTCM input source (i.e., Coast Guard Data Beacon). Internal DGPS 3 3 Internal DGPS beacon receiver. Beacon Receiver User software 4 4 Corrections provided using a interface module routine in a customer user application
Table 4- 10 Internal Beacon Search Settings
Search Type Auto Scan
Frequency 1 Bit Rate 2 0 0 None Zero 0 None Zero
Full Frequency 0 Scan Full Bit Rate None Zero Scan Specific Search None Zero Scan
Descr iption Auto scanning of all frequencies and bit rates are performed. Auto scanning of all frequencies and specified bit rate are performed. Auto scanning of all bit rates and specified frequency are performed. Only the specified frequency and bit rate search are performed.
1. Frequency Range is 283500 to 325000 Hz. 2.Bit Rate selection is 25, 50, 100 and 200 BPS.
Set Main Ser ial Por t - Message I.D. 134

Table 4-11 contains the input values for the following example: Set Main Serial port to 9600,n,8,1. Example: A0A20009 Start Sequence and Payload Length 860000258008010000 Payload 0134B0B3 Message Checksum and End Sequence
Table 4- 11 Set Main Serial Port
Binar y (Hex) Example Name Bytes Scale Message ID 1 86
Units
Descr iption Decimal 134
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Baud
00002580 08 01 00 00
Data Bits 1 Stop Bit 1 Parity 1 Pad 1 Payload Length: 9 bytes
38400,19200,9600,4800,2400, 1200 8,7 0,1 None=0, Odd=1, Even=2 Reserved
Mode Control - Message I.D. 136

Table 4-12 contains the input values for the following example: 3D Mode = Always, Alt Constraining = Yes, Degraded Mode = clock then direction, TBD=1, DR Mode = Yes, Altitude = 0, Alt Hold Mode = Auto, Alt Source =Last Computed, Coast Time Out = 20, Degraded Time Out=5, DR Time Out = 2, Track Smoothing = Yes Example: A0A2000E Start Sequence and Payload Length 88010101010100000002140501 Payload 00A9B0B3 Message Checksum and End Sequence
Table 4-12 Mode Control
Binar y (Hex) Name Bytes Message ID 1 3D Mode 1 Alt Constraint 1 Degraded Mode 1 TBD 1 DR Mode 1 Altitude 2 Alt Hold Mode 1 Alt Source 1 Coast Time Out 1 1 Degraded Time Out DR Time Out 1 Track 1 Smoothing Payload Length: 14 bytes
Scale Example
Units 88 01 01 01 01 01 0000 meters 00 02 14 Seconds 05 Seconds 01 01 Seconds
Descr iption ASCII 136 1 (always true=1) YES=1, NO=0 See Table 4-13 Reserved YES=1, NO=0 range -1,000 to 10,000 Auto=0, Always=1,Disable=2 Last Computed=0,Fixed to=1 0 to 120 0 to 120 0 to 120 YES=1, NO=0
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Table 4- 13 Degraded Mode Byte Value
Byte Value 0 1 2 3 4
Descr iption Use Direction then Clock Hold Use Clock then Direction Hold Direction (Curb) Hold Only Clock (Time) Hold Only Disable Degraded Modes
DOP Mask Control - Message I.D. 137

Table 4-14 contains the input values for the following example: Auto Pdop/Hdop, Gdop =8 (default), Pdop=8, Hdop=8 Example: A0A20005 Start Sequence and Payload Length 8900080808 Payload 00A1B0B3 Message Checksum and End Sequence
Table 4- 14 DOP Mask Control
Binar y (Hex) Name Bytes Scale Example Message ID 1 89 DOP Selection 1 00 GDOP Value 1 08 PDOP Value 1 08 HDOP Value 1 08 Payload Length: 5 bytes
Table 4- 15 DOP Selection
Units
Descr iption ASCII 137 See Table 4-15 Range 1 to 50 Range 1 to 50 Range 1 to 50
Byte Value 0 1 2 3 4
Descr iption Auto PDOP/HDOP PDOP HDOP GDOP Do Not Use
DGPS Control - Message I.D. 138

Table 4-16 contains the input values for the following example:
- 25 -
Set DGPS to exclusive with a time out of 30 seconds. Example: A0A20003 Start Sequence and Payload Length 8A011E Payload 00A9B0B3 Message Checksum and End Sequence
Table 4- 16 DGPS Control
Binar y (Hex) Name Bytes Message ID 1 DGPS Selection 1 DGPS Time Out 1 Payload Length: 3 bytes
Table 4- 17 DGPS Selection
Scale
Example
8A 01 1E
Descr iption ASCII 138 See Table 4-17 seconds Range 0 to 255
Units
Byte Value Descr iption 0 Auto 1 Exclusive 2 Never Use Note Configuration of the DGPS mode using MID 138 only applies to RTCM corrections received from an external RTCM source or internal or external beacon. It does not apply to WAAS operation.
Elevation Mask Message I.D. 139

Table 4-18 contains the input values for the following example: Set Navigation Mask to 15.5 degrees (Tracking Mask is defaulted to 5 degrees). Example: A0A20005 Start Sequence and Payload Length 8B0032009B Payload 0158B0B3 Message Checksum and End Sequence
Table 4- 18 Elevation Mask
Name Message ID Tracking Mask Navigation Mask
Binar y (Hex) Bytes Scale Example 1 8B 2 *10 0032 2 *10 009B
Units degrees degrees
Descr iption ASCII 139 Not currently used Range -20.0 to 90.0
- 26 -
Payload Length: 5 bytes
Power Mask - Message I.D. 140

Table 4-19 con tains the inpu t value s for the following example: Navigation mask to 33 dB Hz (tracki ng default value of 28) Example: A0A2000 3 Start Sequ ence and P a yload Length 8C1C21 Payload 00C9B0B3 Message Ch ecksum and End Sequ ence
Table 4- 19 Power Mask
Binar y (Hex) Name Bytes Message ID 1 Track ing Mask 1 Navigation Mask 1 Payload Length: 3 bytes
Scale Example
Units dBHz dBHz
8C 1C 21
Descr iption ASCII 140 Not cu rrent ly implem ented Range 20 to 50
Editing Residual Message I.D. 141

Note Not implemented current ly.
Steady State Detection -Message I.D. 142

Note Not implemented current ly.
Static Navigation Message I.D. 143

This command allows the user to enable or disable navigatio TF30. Example: A0A20002 Start Sequence and Payload Length 8F01 Payload xxxxB0B3 Message Checksum and End Sequence
Table 4- 20 Static Navigation
Binar y (Hex) Name Message ID Bytes 1

Scale Example
Units
8F
Descr iption ASCII 143
- 27 -
Laipac Technology Inc. Static Navigation 1 Flag Payload Length: 2 bytes

Table 4- 21 Message ID 143 Description
01
degrees
ASCII 1
Name Message ID Static Navigation Flag
Descr iption Message ID number Valid values: 1: enable static navigation 0: disable static navigation
Poll Clock Status Message I.D. 144

Table 4-22 contains the input values for the following example: Poll the clock status. Example: A0A20002 Start Sequence and Payload Length 9000 Payload 0090B0B3 Message Checksum and End Sequence
Table 4- 22 Clock Status
Binar y (Hex) Name Bytes Message ID 1 TBD 1 Payload Length: 2 bytes

Scale Example
Units ACSII 144 Not used
Descr iption
90 00
Set DGPS Ser ial Por t - Message I.D. 145

Table 4-23 contains the input values for the following example: Set DGPS Serial port to 9600,n,8,1. Example: A0A20009 Start Sequence and Payload Length 910000258008010000 Payload 013FB0B3 Message Checksum and End Sequence
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Tab e 4- 23 Set DGPS Serial Port
Binar y (Hex) Name Bytes Scale Message ID 1 Baud 4 Data Bits 1 Stop Bit 1 Parity 1 Pad 1 Payload Length: 9 bytes
Example
Units
Descr iption ASCII 145 38400,19200,9600,4800,2400,120 8,7 0,1 Non e= 0, Odd= 1, Even= 2 Reserved 0
91 00002580 08 01 00 00
Note Sett ing the DGPS se rial port usi ng MID 145 will e ffect Com B on ly regardl ess of the port being used to com mun icTF 30.
Poll Almanac - Message I.D. 146

Table 4-24 contains the input values for the following example: Poll for the Almanac. Example: A0A20002 Start Sequence and Payload Length 9200 Payload 0092B0B3 Message Checksum and End Sequence
Table 4- 24 Almanac
Binar y (Hex) Scale Example Name Bytes Message ID 1 92 TBD 1 00 Payload Length: 2 bytes
Units
Descr iption ASCII 146 Reserved
Poll Ephemer is - Message I.D. 147

Table 4-25 contains the input values for the following example: Poll for Ephemeris Data for all satellites. Example: A0A20003 Start Sequence and Payload Length 930000 Payload 0092B0B3 Message Checksum and End Sequence
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Table 4- 25 Ephemeris Message I.D.
Binar y (Hex) Name Bytes Message ID 1 Sv I.D.1 1 TBD 1 Payload Length: 3 bytes
requested. Scale Example
Units
Descr iption ASCII 147 Range 0 to 32 Not used
93 00 00
1. A value of 0 requests all available ephemeris records, otherwise the ephemeris of the Sv I.D. is
Flash Update - Message I.D. 148

This command allows the user to command the Evaluation Receiver to go into internal boot mode without setting the boot switch. Internal boot mode allows the user to re-flash the embedded code in the receiver. Note It is highly recommended that all hardware designs should still provide access to the boot pin in the event of a failed flash upload. Example: A0A20001 Start Sequence and Payload Length 94 Payload 0094B0B3 Message Checksum and End Sequence
Table 4- 26 Flash update
Binar y (Hex) Scale Example Name Bytes Message ID 1 94 Payload Length: 1 bytes
Units ASCII 148
Descr iption
Set Ephemer is Message I.D. 149

This command enables the user to upload an ephemeris file to the Evaluation Receiver. Example: A0A2005B Start Sequence and Payload Length 95 . Payload xxxxB0B3 Message Checksum and End Sequence
Table 4-27 Ephemeris
Binar y (Hex) Name Message ID Ephemeris Bytes 1 90

Scale Example
Units ASCII 149 Reserved
Descr iption
95 00
- 30 -
data Payload Length: 91 bytes The ephemeris data for each satellite is stored as a two dimensional array of [3][15] UNIT16 elements. The 3 represents three separate sub-frames. The data is actually packed and the exact format of this representation and packing method can be extracted from the ICD-GPS-2000 document. The ICD-GPS-2000 document describes the data format of each GPS navigation sub-frame and is available on the web at http://www.arinc.com/gps.
Switch Oper ating Modes - Message I.D. 150

Table 4-28 contains the input values for the following example: Sets the receiver to track a single satellite on all channels. Example: A0A20007 Start Sequence and Payload Length 961E510006001E Payload 0129B0B3 Message Checksum and End Sequence
Table 4- 28 Switch Operating Mode I.D.150
Binar y (Hex) Name Bytes Message ID 1 Mode 2

Scale Example
96 1E51
SvID 2 Period 2 Payload Length: 7 bytes
0006 001E
Descr iption ASCII 150 0=normal, 1E51=Testmode1, 1E52=Testmode2, 1E53= not supported Satellite to Track seconds Duration of Track
Units
Set Tr ickle Power Par ameter s - Message I.D. 151

Table 4-29 contains the input values for the following example: Sets the receiver into low power Modes. Example: Set receiver into Trickle Power at 1 hz update and 200 ms On Time. A0A20009 Start Sequence and Payload Length 97000000C8000000C8 Payload 0227B0B3 Message Checksum and End Sequence
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Table 4- 29 Set Trickle Power Parameters I.D.151
Binar y (Hex) Name Message ID Push To Fix Mode Duty Cycle Bytes 1 2 2 *10
Scale Example
Units
97 0000 00C8
Milli Seconds On Time

000000C8 msec
Descr iption ASCII 151 ON = 1, OFF = 0 % Time ON. A duty cycle of 1000 (100%) means continuous operation range 200 - 500 ms
Note- On time of 700, 800, 900 msec are invalid if update rate of 1 second is selected.
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 rate as a function of Duty cycle and On Time, use the following formula: Off Time = On Time - (Duty Cycle * On Time) Duty Cycle Update rate = Off Time + On Time Note It is impossible to enter On Time of 900 ms. Following are some examples of selections:
Table 4- 30 Example of Selections for Trickle Power Mode of Operation
Mode Continuous Trickle Power Trickle Power Trickle Power Trickle Power
On Time (ms) 1000 200 200 300 500
Duty Cycle (% ) 100 20 10 10 5
Update Rate(1/Hz) 1 1 2 3 10
Table 4- 31 Trickle Power Mode Settings
On Time (ms) 200
1 Y1
2 Y
3 Y
4 Y
Update Rate (sec) 5 6 7 Y Y Y
8 Y
9 Y
10 Y
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Laipac Technology Inc. 300 400 500 600 700 800 900 Y Y Y Y N N N Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y
1.Y = Yes (Mode supported) 2. N = No (Mode NOT supported)
Push-to-Fix
In this mode the receiver will turn on every 30 minutes to perform a system update consisting of a RTC calibration and satellite ephemeris data collection if required (i.e., a new satellite has become visible) as well as all software tasks to support SnapStart in the event of an NMI. Ephemeris collection time in general takes 18 to 30 seconds. If ephemeris data is not required then the system will re-calibrate and shut down. In either case, the amount of time the receiver remains off will be in proportion to how long it stayed on: Off period = On Period*(1-Duty Cycle) Duty Cycle The off period has a possible range between 10 and 7200 seconds. The default is 1800 seconds.
Poll Navigation Par ameter s - Message I.D. 152

Table 4-32 contains the input values for the following example: Example: Poll receiver for current navigation parameters. A0A20002 Start Sequence and Payload Length 9800 Payload 0098B0B3 Message Checksum and End Sequence
Table 4-32 Poll Receiver for Navigation Parameters
Binar y (Hex) Name Bytes Message ID 1 Reserved 1 Payload Length: 2 bytes

Scale Example
Units
98 00
Descr iption ASCII 152 Reserved
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Set UART Configur ation - Message I.D. 165

Table 4-33 contains the input values for the following example: Example: Set port 0 to NMEA with 9600 baud, 8 data bits, 1 stop bit, no parity. Set port 1 to SiRF binary with 57600 baud, 8 data bits, 1 stop bit, no parity. Do not configure ports 2 and 3. Example: A0A20031 Start Sequence and Payload Length
A50001010000258008010000000100000000E1000801000000FF0505000000000000000000FF05050 00000000000000000
Payload 0452B0B3 Message Checksum and End Sequence Bytes 1 1 1 1 4 1 1 1 1 1 1 1 1 4 1 1 1 1 1 1 1 1 4 1 1 1 1 Binar y (Hex) Units Scale Example A5 00 01 01 00002580 08 01 00 00 00 01 00 00 0000E100 08 01 00 00 00 FF 05 05 00000000 00 00 00 00 Descr iption ASCII 165 For UART 0 For UART 0 For UART 0 (Set to in protocol) For UART 0 For UART 0 For UART 0 For UART 0 For UART 0 For UART 0 For UART 1 For UART 1 For UART 1 For UART 1 For UART 1 For UART 1 For UART 1 For UART 1 For UART 1 For UART 2 For UART 2 For UART 2 For UART 2 For UART 2 For UART 2 For UART 2 For UART 2
Table 4- 33 Set UART Configuration
Name Message ID Port In Protocol 1 Out Protocol Baud Rate 2 Data Bits 3 Stop Bits 4 Parity 5 Reserved Reserved Port In Protocol Out Protocol Baud Rate Data Bits Stop Bits Parity Reserved Reserved Port In Protocol Out Protocol Baud Rate Data Bits Stop Bits Parity Reserved
- 34 -
Reserved 1 Port 1 In Protocol 1 Out Protocol 1 Baud Rate 4 Data Bits 1 Stop Bits 1 Parity 1 Reserved 1 Reserved 1 Payload Length: 49 bytes
00 FF 05 05 00000000 00 00 00 00 00
For UART 2 For UART 3 For UART 3 For UART 3 For UART 3 For UART 3 For UART 3 For UART 3 For UART 3 For UART 3
1. 0 = SiRF Binary, 1 = NMEA, 2 = ASCII, 3 = RTCM, 4 = User1, 5 = No Protocol. 2. Valid values are 1200, 2400, 4800, 9600, 19200, 38400, and 57600. 3. Valid values are 7 and 8. 4. Valid values are 1 and 2. 5. 0 = None, 1 = Odd, 2 = Even.
Set Message Rate - Message I.D. 166

Table 4-34 contains the input values for the following example: Set message ID 2 to output every 5 seconds starting immediately. Example: A0A20008 Start Sequence and Payload Length A601020500000000 Payload 00AEB0B3 Message Checksum and End Sequence
Table 4-34 Set Message Rate
Name
Bytes
Message ID 1 1 1 Send Now MID to be set 1 Update Rate 1 Reserved 1 Reserved 1 Reserved 1 Reserved 1 Payload Length: 8 bytes
Binar y (Hex) Scale Example A6 01 02 05 00 00 00 00
Units
Descr iption ASCII 166 Poll message
sec
Range = 1 - 30 Not used Not used Not used Not used
1. 0 = No, 1 = Yes, if no update rate the message will be polled.
- 35 -
Low Power Acquisition Par ameter s - Message I.D. 167

Table 4-35 contains the input values for the following example: Set maximum off and search times for re-acquisition while receiver is in low power. Example: A0A20019 Start Sequence and Payload Length A7000075300001D4C000000000000000000000000000000000 Payload 02E1B0B3 Message Checksum and End Sequence
Table 4- 35 Set Low Power Acquisition Parameters
Name Message ID Max Off Time Max Search Time Push-To-Fix period
Bytes 1 4 4 4
Binar y (Hex) Scale Example A7 00007530 0001D4C 0 0000003C
Units
Descr iption ASCII 167 Maximum time for sleep mode Max. satellite search time Push-To-Fix cycle period
ms ms sec
Output Messages for SiRF Binar y Protocol

Note All output messages are received in BINARY format. SiRFdemo interprets the binary data and saves it to the log file in ASCII format. Table 4-36 lists the message list for the SiRF output messages.
Table 4- 36 SiRF Messages - Output Message List
Hex ASCII 0 x 02 2 0 x 03 3 0 x 04 4 0 x 05 5 0 x 06 6 0 x 07 7 0 x 08 8 0 x 09 9 0 x 0A 10 0 x 0B 11
Name Measured Navigation Data True Tracker Data Measured Tracking Data Raw Tra ck Data SW Version Clock Status 50 BPS Subframe Data Throughput Error ID Command Acknowledgment
Descr iption Position, velocity, and time Not Implemented Satellite and C/No information TF30 not supported Receiver software Current clock status Standard ICD format Navigation complete data Error coding for message failure Successful request
- 36 -
0 x 0C 0 x 0D 0 x 0E 0 x 0F 0 x 10 0 x 11 0 x 12 0 x 13 0 x 14 0 x 1C 0 x 1D 0 x 1E 0 x 1F 0 x FF
12 13 14 15 16 17 18 19 20 28 29 30 31 255
Command Nacknowledgment Visible List Almanac Data Ephemeris Data Test Mode 1 Differential Corrections OkToSend Navigation Parameters Test Mode 2 Nav. Lib. Measurement Data Nav. Lib. DGPS Data Nav. Lib. SV State Data Nav. Lib. Initialization Data Development Data
Unsuccessful request Auto Output Response to Poll Response to Poll For use with SiRFtest 1 (Test mode 1) Received from DGPS broadcast CPU ON / OFF (Trickle Power) Response to Poll Additional test data (Test mode 2) Measurement Data Differential GPS Data Satellite State Data Initialization Data Various status messages
1. SiRFtest is product testing software tool.
Measure Navigation Data Out - Message I.D. 2

Output Rate: 1 Hz Table 4-37 lists the binary and ASCII message data format for the measured navigation data Example: A0A20029 Start Sequence and Payload Length 02FFD6F78CFFBE536E003AC00400030104A00036B039780E3 0612190E160F04000000000000 Payload 09BBB0B3 Message Checksum and End Sequence.
Table 4- 37 Measured Navigation Data Out - Binary & ASCII Message Data Format
Name Message ID X-position Y-position Z-position X-velocity Y-velocity Z-velocity Mode 1 DOP 2 Mode 2
Bytes 1 4 4 4 2 2 2 1 1 1
Binar y (Hex) Scale Example 02 FFD6F78C FFBE536E 003AC004 *8 00 *8 03 *8 01 04 *5 A 00
Units m m m m/s m/s m/s Bitmap 1 Bitmap 3
ASCII (Decimal) Scale Example 2 -2689140 -4304018 3850244 0 Vx 8 0.375 Vy 8 0.125 Vz 8 4 2.0 5 0
- 37 -
GPS Week 2 GPS TOW 4 *100 SVs in Fix 1 CH 1 1 CH 2 1 CH 3 1 CH 4 1 CH 5 1 CH 6 1 CH 7 1 CH 8 1 CH 9 1 CH 10 1 CH 11 1 CH 12 1 Payload Length: 41 bytes
036B 039780E3 06 12 19 0E 16 0F 04 00 00 00 00 00 00
seconds
100
875 602605.79 6 18 25 14 22 15 4 0 0 0 0 0 0
1.For further information, go to Table 4-38. 2. Dilution of precision (DOP) field contains value of PDOP when position is obtained using 3D solution and HDOP in all other cases. 3. For further information, go to Table 4-39.
Note The measurement of GPS Week item is expressed with ICD GPS week format (between 0 and 1023) Note Binary units scaled to integer values need to be divided by the scale value to receive true decimal value (i.e., decimal X vel = binary X vel /8).
Table 4- 38 Mode 1
Bit Bit(s) Name Bit(s) Name PMODE
7 DGPS
6 DOPMask
5 4 3 ALTMODE TPMODE
1 PMODE
Name Position mode
Value 0 1 2 3 4 5 6
Descr iption No navigation solution 1 satellite solution 2 satellite solution 3 satellite solution >3 satellite solution 2D point solution (Least square) 3D point solution (Least square)
- 38 -
Laipac Technology Inc.Laipac Technology Inc. 7 0 1 0 1 2 3 0 1 0 1 Dead reckoning Full power position Trickle power position No altitude hold Altitude used from filter Altitude used from user Forced altitude (from user) DOP mask not exceeded DOP mask exceeded No DGPS position DGPS position
TPMODE Trickle power mode ALTMOD Altitude mode E
DOPMAS DOP mask K status DGPS DGPS status
Table 4-39 Mode 2
Mode 2 Hex ASCII 0 x 00 0 0 x 01 1 0 x 02 2 0 x 04 4 0 x 08 8 0 x 10 16 0 x 20 32 0 x 40 64 0 x 80 128
Descr iption Solution not validated DR sensor data Validated (1), Unvalidated (0) If set, Dead Reckoning (Time Out) If set, Output Edited by UI (i.e., DOP Mask exceeded) Reserved Reserved Reserved Reserved
Measured Tr acker Data Out - Message I.D. 4

Output Rate: 1 Hz Table 4-38 lists the binary and ASCII message data format for the measured tracker data. Example: A0A200BC Start Sequence and Payload Length 04036C0000937F0C0EAB46003F1A1E1D1D191D1A1A1D1F1D59423F1A1A... Payload ****B0B3 Message Checksum and End Sequence
- 39 -

Table 4- 40 Measured Tracker Data Out
Binar y (Hex) Name Bytes Scale Example Message ID 1 04 GPS Week 2 036C GPS TOW 4 s*100 0000937F Chans 1 0C 1st Svid 1 0E Azimuth 1 Az*[2/3] AB Elev 1 El*2 46 State 2 003F C/No 1 1 1A C/No 2 1 1E C/No 3 1 1D C/No 4 1 1D C/No 5 1 19 C/No 6 1 1D C/No 7 1 1A C/No 8 1 1A C/No 9 1 1D C/No 10 1 1F 2nd SVid 1 1D Azimuth 1 Az*[2/3] 59 Elev 1 El*2 42 State 2 3F C/No 1 1 1A C/No 2 1 1A Payload Length: 188 bytes
1.For further information, go to Table 4-41
Units None s
deg deg Bitmap 1
deg deg Bitmap 1
ASCII (Decimal) Scale Example 4 876 37759 s 100 12 14 256.5 (2/3) 35 2 0 x BF 26 30 29 29 25 29 26 26 29 31 29 89 (2/3) 66 2 63 26 63
Note The measurement of GPS Week item is expressed with ICD GPS week format (between 0 and 1023) Note Message length is fixed to 188 bytes with nontracking channels reporting zero values.
Table 4-41 TrktoNAVStruct.trk_status Field Definition
Field Definition ACQ_SUCCESS DELTA_CARPHASE_VALI D BIT_SYNC_DONE SUBFRAME_SYNC_DONE
Hex Descr iption Value 0x0001 Set, if acq/reacq is done successfully 0x0002 Set, Integrated carrier phase is valid 0x0004 Set, Bit sync completed flag 0x0008 Set, Subframe sync has been done
- 40 -
Laipac Technology Inc. CARRIER_PULLIN_DONE 0x0010 Set, Carrier pullin done CODE_LOCKED 0x0020 Set, Code locked ACQ_FAILED 0x0040 Set, Failed to acquire S/V GOT_EPHEMERIS 0x0080 Set, Ephemeris data available Note When a channel is fully locked and all data is valid, the status shown is 0 x BF.
Raw Tr acker Data Out - Message I.D. 5

Not implementedfor TF30.
Software Ver sion Str ing (Response to Poll) - Message I.D. 6

Output Rate: Response to polling message Example: A0A20015 Start Sequence and Payload Length 0606312E322E30444B495431313920534D0000000000 Payload 0382B0B3 Message Checksum and End Sequence
Table 4- 42 Software Version String
Name Bytes Message ID 1 Character 20 Payload Length: 21 bytes
Binar y (Hex) Scale Example 06 1
Units
ASCII (Decimal) Scale Example 6
1. 06312E322E30444B495431313920534D0000000000
Note Convert to symbol to assemble message (i.e., 0 x 4E is N). These are low priority task and are not necessarily output at constant intervals.
Response: Clock Status Data - Message I.D. 7

Output Rate: 1 Hz or response to polling message Example: A0A20014 Start Sequence and Payload Length 0703BD021549240822317923DAEF Payload 0598B0B3 Message Checksum and End Sequence
- 41 -
Table 4- 43 Clock Status Data Message
Name Bytes Message ID 1 GPS Week 2 GPS TOW 4 Svs 1 Clock Drift 4 Clock Bias 4 Estimated GPS 4 Time Payload Length: 20 bytes
Binar y (Hex) Units Scale Example 07 03BD *100 002154924 s 08 2231 Hz 7923 nanosec DAEF millisec
ASCII (Decimal) Scale Example 7 957 349494.12 100 8 74289 128743715 349493999
Note The mersurement of GPS week item is with Extended GPS week (=ICD GPS week + 1024)
50 BPS Data Message I.D. 8

Output Rate: As available (12.5 minute download time) Example: A0A2002B Start Sequence and Payload Length 08xxxxxx Payload xxxxB0B3 Message Checksum and End Sequence
Table 4- 44 50 BPS Data
Binar y (Hex) Name Bytes Scale Example Units Message ID 1 08 Channel 1 Sv I.D 1 Word[10] 40 Payload Length: 43 bytes per subframe (5 subframes per page)
Note Data is logged in ICD format (available from www.navcen.uscg.gov). The ICD specification is 30-bit words. The output above has been stripped of parity to give a 240 bit frame instead of 300 bits.
- 42 -
CPU Throughput Message I.D. 9

Output Rate:1 Hz Example: A0A20009 Start Sequence and Payload Length 09003B0011001601E5 Payload 0151B0B3 Message Checksum and End Sequence
Table 4- 45 CPU Throughput
Name Bytes Message ID 1 SegStatMax 2 SegStatLat 2 AveTrkTime 2 Last MS 2 Payload Length: 9 bytes
Binar y (Hex) Scale Example 09 *186 003B *186 60011 *186 60016 01E5
Units millisec millisec millisec millisec
ASCII (Decimal) Scale Example 9 .3172 186 .0914 186 .1183 186 485
Command Acknowledgment Message I.D. 11

Output Rate: Response to successful input message This is successful almanac (message ID 0x92) request example: A0A20002 Start Sequence and Payload Length 0B92 Payload 009DB0B3 Message Checksum and End Sequence
Table 4- 46 Command Acknowledgment
Name Bytes Message ID 1 Ack. I.D. 1 Payload Length: 2 bytes
Binar y (Hex) Scale Example 0B 92
Units
ASCII (Decimal) Scale Example 11 146
Command NAcknowledgment Message I.D. 12

Output Rate: Response to rejected input message This is an unsuccessful almanac (message ID 0x92) request example: A0A20002 Start Sequence and Payload Length
- 43 -
0C92 Payload 009EB0B3 Message Checksum and End Sequence

Table 4- 47 Command Nacknowledgment
Name Bytes Message ID 1 Nack. I.D. 1 Payload Length: 2 bytes
Binar y (Hex) Scale Example 0C 92
Units
Visible List Message I.D. 13

Output Rate: Updated approximately every 2 minutes Note This is a variable length message. Only the number of visible satellites are reported (as defined by Visible Svs in Table 4-48). Maximum is 12 satellites. Example: A0A2002A Start Sequence and Payload Length 0D080700290038090133002C xxxxxxxxxxxxxxxxx Payload xxxxB0B3 Message Checksum and End Sequence
Table 4- 48 Visible List
Name Bytes Message ID 1 Visible Svs 1 CH 1 Sv 1 I.D. CH 1 Sv 2 Azimuth CH 1 Sv 2 Elevation CH 2 Sv 1 I.D. CH 2 Sv 2 Azimuth CH 2 Sv 2 Elevation Payload Length: Variable
Binar y (Hex) Scale Example 0D 08 10 002A 0038 09 0133 002C
Units
ASCII (Decimal) Scale Example 13 8 16 42 56 9
degrees degrees
degrees degrees
307 44
- 44 -
Almanac Data - Message I.D. 14

Output Rate: Response to poll Example: A0A203A1 Start Sequence and Payload Length 0E01************* Payload ****B0B3 Message Checksum and End Sequence
Table 4- 49 Almanac Data
Name Message I.D. Sv I.D. Almanac week and Status Almanac data
Bytes 1 1 2
24
Package checksum
Binar y (Hex) Scale Example 0E 01 Satellite PRN Number 1 1101 First 10 bits is the Almanac week.Next 5 bits have a zero value. Last bit is 1. This information is taken from the 50BPS navigation message broadcast by the satellite. This information is the last 8 words in the 5th subframe but with the parity removed.2 4CA1 This is the checksum of the preceding data in the payload. It is calculated by arranging the previous 26 bytes as 13 halfwords and then summing them.3

1. Each satellite almanac entry is output in a single message. 2. There are 25 possible pages in subframe 5. Pages 1 through 24 contain satellite specific almanac information which is output as part of the almanac data. Page 25 contains health status flags and the almanac week number. 3. This checksum is not used for serial I/O data integrity. It is used internally for ensuring that almanac information is valid.
Note The data is actually packed and the exact format of this representation and packing method can be extracted from the ICD-GPS-2000 document. The ICD-GPS2000 document describes the data format of each GPS navigation sub-frame and is available on the web at http://www.arinc.com/gps.
- 45 -
Ephemer is Data (Response to Poll) Message I.D. 15

The ephemeris data that is polled from the receiver is in a special SiRF format based on the ICD- GPS -200 format for ephemeris data.
OkToSend - Message I.D. 18

Output Rate: Trickle Power CPU on/off indicator Example: A0A20002 Start Sequence and Payload Length 1200 Payload 0012B0B3 Message Checksum and End Sequence
Table 4- 50 Ephemeris Data
Name Bytes Message I.D. 1 1 Send Indicator 1 Payload Length: 2 bytes

OkToSend==YES
Binar y (Hex) Scale Example 12 00
Units
1.0 implies that CPU is about to go OFF, OkToSend==NO, 1 implies CPU has just come ON,
Navigation Par ameter s (Response to Poll) Message I.D. 19

Output Rate:1 Response to Poll Example: A0A20018 Start Sequence and Payload Length 130100000000011E3C0104001E004B1E00000500016400C8 Payload 022DB0B3 Message Checksum and End Sequence
Table 4- 51 Navigation Parameters
Binar y (Hex) Name Message ID Reserved Altitude Hold Mode Altitude Hold Source Altitude Source Input Degraded Mode 1 Bytes Scale 1 4 1 1 2 1 Example 13 00 00 0000 01 Units
ASCII (Decimal) Scale Example 19 0 0 0 1
meters
- 46 -
Laipac Technology Inc. Degraded Timeout DR Timeout Track Smooth Mode Static Navigation 3SV Least Squares Reserved DOP Mask Mode 2 Navigation Elevation Mask Navigation Power Mask Reserved DGPS Source DGPS Mode 3 DGPS Timeout Reserved LP Push-to-Fix LP On-time LP Interval LP User Tasks Enabled LP User Task Interval LP Power Cycling Enabled LP Max. Acq. Search Time LP Max. Off Time Reserved Reserved Payload Length: 65 bytes
1. See Table 4-13. 2. See Table 4-14. 3. See Table 4-15
1 1 1 1 1 4 1 2 1 4 1 1 1 4 1 4 4 1 4 1 4 4 4 4
1E 3C 01
seconds seconds
30 60 1
04
00 1E
seconds
0 30
Navigation Libr ar y Measurement Data - Message I.D. 28

Output Rate: Every measurement cycle (full power / continuous : 1Hz) Example: A0A20038 Start Sequence and Payload Length 1C00000660D015F143F62C4113F42FF3FBE95E417B235C468C6964B8FBC5 82415CF1C375301734.....03E801F400000000 Payload 1533B0B3 Message Checksum and End Sequence
- 47 -
Table 4- 52 Measurement Data
Binar y (Hex) Name Message I.D. Channel

Time Tag Satellite ID GPS Software Time Pseudo-range Carrier Frequency Carrier Phase Time in Track Sync Flags C/No 1 C/No 2 C/No 3 C/No 4 C/No 5 C/No 6 C/No 7 C/No 8 C/No 9 C/No 10 Delta Range Interval Mean Delta Range Time Extrapolation Time Phase Error Count Low Power Count Payload Length: 56 bytes 03E801F4 01F4 0000 00 00
Bytes Scale Example

1C 00 000660D0 15 F143F62C 4113F42F F3FBE95E 417B235C 468C6964 B8FBC582 415CF1C3 7530 17 34
Units
ASCII (Decimal) Scale Example
ms ms m
2.4921113 696e+005 2.1016756 638e+007 1.6756767 578e+004 4.4345542 262e+004 10600
ms dB-Hz dB-Hz dB-Hz dB-Hz dB-Hz dB-Hz dB-Hz dB-Hz dB-Hz dB-Hz m ms ms
23 43 43 43 43 43 43 43 43 43 43 1000 500 0 0
Tabl e 4- 53 Sync Flag Fields
Bit Fields [0]
Description
Coherent Integration Time 0 = 2ms 1 = 10ms Synch State 00 = Not aligned 01 = Consistent code epoch alignment 10 = Consistent data bit alignment 11 = No millisecond errors
[2:1]
- 48 -
[4:3]
Autocorrelation Detection State 00 = Verified not an autocorrelation 01 = Testing in progress 10 = Strong signal, autocorrelation detection not run 11 = Not used Descr iption Message I.D. number. Receiver channel number for a given satellite being searched or tracked. This is the Time Tag in milliseconds of the measurement block in the receiver software time. Satellite or Space Vehicle (SV) I.D. number or Pseudo-random Noise (PRN) number. This is GPS Time or Time of Week (TOW) estimated by the software in milliseconds. This is the generated pseudo range measurement for a particular SV. This is can be interpreted in two ways: 1) The delta-pseudo range normalized by the reciprocal of the delta pseudo range measurement interval. 2) The frequency from the AFC loop. If, for example, the delta pseudo range interval computation for a particular channel is zero, then it can be the AFC measurement, otherwise it is a delta-pseudo range computation. This is the integrated carrier phase given in meters. The Time in Track counts how long a particular SV has been in track. For any count greater than zero (0), a generated pseudo range is present for a particular channel. The length of time in track is a measure of how large the pull-in error may be. This byte contains two a two bit fields that report the integration inter-val and sync value achieved for a particular channel. 1)Bit 0: Coherent Integration Interval (0 = 2 milliseconds, 1 = 10 milliseconds) 2) Bits: (1 2) = Synchronization 3) Bit: (2 1) Value: {0 0} Not Aligned Value: {0 1} Consistent Code Epoch Alignment Value: {1 0} Consistent Data Bit Alignment Value: {1 1} No Millisecond Errors
Tabl e 4- 54 Detailed Description of the Measurement Data
Name Message I.D. Channel Time Tag Satellite ID GPS Software Time Pseudo-range Carrier Frequency
Carrier Phase Time in Track
Sync Flags
- 49 -
Tabl e 4- 55 Detailed Description of the Measurement Data (Continued)
Name C/No 1
Descr iption This array of Carrier To Noise Ratios is the average signal power in dB-Hz for each of the 100-millisecond intervals in the previous second or last epoch for each particular SV being track in a channel.First 100 millisecond measurement C/No 2 Second 100 millisecond measurement C/No 3 Third 100 millisecond measurement C/No 4 Fourth 100 millisecond measurement C/No 5 Fifth 100 millisecond measurement C/No 6 Sixth 100 millisecond measurement C/No 7 Seventh 100 millisecond measurement C/No 8 Eighth 100 millisecond measurement C/No 9 Ninth 100 millisecond measurement C/No 10 Tenth 100 millisecond measurement Delta Range This is the delta-pseudo range measurement interval for the Interval preceding second. A value of zero indicated that the receiver has an AFC measurement or no measurement in the Carrier Frequency field for a particular channel. Mean Delta Range This is the mean calculated time of the delta-pseudo range Time interval in milliseconds measured from the end of the interval backwards Extrapolation Time This is the pseudo range extrapolation time in milliseconds, to reach the common Time tag value. Phase Error Count This is the count of the phase errors greater than 60 Degrees measured in the preceding second as defined for a particular channel. Low Power Count This is the low power measurements for signals less than 28 dBHz in the preceding second as defined for a particular channel
Navigation Libr ar y DGPS Data - Message I.D. 29

Output Rate: Every measurement cycle (full power / continuous : 1Hz) Example: A0A2001A Start Sequence and Payload Length 1D000F00B501BFC97C673CAAAAAB3FBFFE1240A0000040A00000-Payload 0956B0B3 Message Checksum and End Sequence
Binar y (Hex) Name Message I.D. Bytes Scale 1 Example 1D Units
- 50 -
Laipac Technology Inc. Satellite ID IOD Source 1 Pseudo-range Correction Pseudo-range rate Correction Correction Age Reserved Reserved Payload Length: 26 bytes
= Set DGPS Corrections
2 2 1 4 4 4 4 4
000F 00B5 01 BFC97C67 3CAAAAAB 3FBFFE12
ms m/s s
1. 0 = Use no corrections, 1 = Use WAAS channel, 2 = Use external source, 3 = Use Internal Beacon, 4
Navigation Libr ar y SV State Data - Message I.D. 30

Output Rate: Every measurement cycle (full power / continuous : 1Hz) Example: A0A20053 Start Sequence and Payload Length 1E15....2C64E99D01....408906C8 Payload 2360B0B3 Message Checksum and End Sequence
Table 4- 57 SV State Data
Binar y (Hex) Name Message I.D. Satellite ID GPS Time Position X Position Y Position Z Velocity X Velocity Y Velocity Z Clock Bias Clock Drift Ephemeris Flag 1 Reserved Ionospheric Delay Payload Length: 83 bytes
almanac
Bytes Scale 1 1 8 8 8 8 8 8 8 8 4 1 8 4 Example 1E 15
Units
2C64E99D 01 408906C8
s m m m m/s m/s m/s s /s
744810909 1 1082721992
1. 0 = no valid SV state, 1 = SV state calculated from ephemeris, 2 = Satellite state calculated from
- 51 -
Navigation Libr ar y Initialization Data - Message I.D. 31

Output Rate: Every measurement cycle (full power / continuous : 1Hz) Example: A0A20054 Start Sequence and Payload Length 1F....00000000000001001E000F....00....000000000F....00....02....043402.... ....02 Payload 0E27B0B3 Message Checksum and End Sequence
Binar y (Hex) Name Message I.D. Reserved Altitude Mode 1 Altitude Source Altitude Degraded Mode 2 Degraded Timeout Dead-reckoning Timeout Reserved Track Smoothing Mode 3 Reserved Reserved Reserved Reserved DGPS Selection 4 DGPS Timeout Elevation Nav. Mask Reserved Reserved Reserved Reserved Reserved Static Nav.Mode 5 Reserved Position X Position Y Position Z Position Init. Source 6 GPS Time Bytes Scale 1 1 1 1 4 1 2 2 2 1 1 2 2 2 1 2 2 2 1 2 1 2 1 2 8 8 8 1 8 Example 1E 00 00 00000000 01 001E 000F 00
ASCII Units (Decimal) Scale Example
0 0 0 1 30 15 0
00
02
- 52 -
GPS Week Time Init. Source 7 Drift Drift Init. Source 8 Payload Length: 84 bytes
2 1 8 1
0434 02 02
1076 2 2
1. 0 = Use last know altitude 1 = Use user input altitude 2 = Use dynamic input from external source 2. 0 = Use direction hold and then time hold 1 = Use time hold and then direction hold 2 = Only use direction hold 3 = Only use time hold 4 = Degraded mode is disabled 3. 0 = True 1 = False 4. 0 = Use DGPS if available 1 = Only navigate if DGPS corrections are available 2 = Never use DGPS corrections 5. 0 = True 1 = False 6. 0 = ROM position 1 = User position 2 = SRAM position 3 = Network assisted position 7. 0 = ROM time 1 = User time 2 = SRAM time 3 = RTC time 4 = Network assisted time 8. 0 = ROM clock 1 = User clock 2 = SRAM clock 3 = Calibration clock 4 = Network assisted clock
Development Data Message I.D. 255

Output Rate: Receiver generated Example: A0A2**** Start Sequence and Payload Length FF************** Payload ****B0B3 Message Checksum and End Sequence
Table 4- 59 Development Data
Name Bytes Message ID 1 Payload Length: Variable
Binar y (Hex) Scale Example Units FF
Note MID 255 is output when SiRF binary is selected and development data is enabled. The data output using MID 255 is essential for SiRF assisted troubleshooting support.
- 53 -
Additional Infor mation Tr icklePower Oper ation in DGPS Mode

When in TricklePower mode, serial port DGPS corrections are supported. The CPU goes into sleep mode but will wake up in response to any interrupt. This includes UARTs. Messages received during the TricklePower off period are buffered and processed when the receiver awakens for the next TricklePower cycle.
GPS Week Repor ting

Since Aug, 22, 1999, the GPS week roll from 1023 weeks to 0 weeks is in accordance with the ICD-GPS-200 specifications. To maintain roll over compliance, SiRF reports the ICD GPS week between 0 and 1023. If the user needs to have access to the Extended GPS week (ICD GPS week + 1024) this information is available through the Clock Status Message (007) under the Poll menu.
NMEA Protocol in Tr icklePower Mode

The NMEA standard is generally used in continuous update mode at some predefined rate. This mode is perfectly compatible with all SiRF TricklePower and Push-to-Fix modes of operations. There is no mechanism in NMEA that indicates to a host application when the receiver is on or in standby mode. If the receiver is in standby mode (chip set OFF, CPU in standby), then no serial communication is possible for output of NMEA data or receiving SiRF proprietary NMEA input commands. To establish reliable communication, the user must repower the receiver and send commands while the unit is in full-power mode (during start-up) and prior to reverting to TricklePower operation. Alternatively, the host application could send commands (i.e., poll for position) repeatedly until the request has been completed. In Trickle-Power mode, the user is required to select an update rate (seconds between data output) and On Time (milli-seconds the chipset is on). When the user changes to NMEA mode, the option to set the output rate for each of the selected NMEA messages is also required. These values are multiplied by the TricklePower update rate value as shown in Table 4-58.
- 54 -
Table 4- 60 NMEA Data Rates Under Trickle Power Operation
Power Mode Update Rate On Time
Continuous 1 every second 1000
Tr ickle Power Tr ickle Power 1 every second 2000 1 every 5 seconds 4000
Tr ickle Power 1 every 8 seconds 6000
NMEA Update 1 every 5 1 every 2 1 every second 1 every 5 seconds Rate seconds seconds Message 1 every 5 1 every 10 1 every 40 1 every second Output Rate seconds seconds seconds Note The On Time of the chip set has no effect on the output data rates.
- 55 -
Chapter 5 NMEA Input/Output Messages

TF30 m ay also o utp ut data in NM EA-0183 format as d efined b y th e National Marine Electronics Asso ciation (NMEA), St and ar d For Inte rfacing Marine Electronic D evice s, Ver sion 2. 20, J anua ry 1, 1 997. Refer to Chapter 4 for det ailed inst ructions .
NMEA Output Messages

TF 30 ou tp ut s th e fol lowing m essa ges as s hown in Table 5 -1:
Tabl e 5- 1 NMEA -0183 Ou tput Messag es
NMEA Recor d GGA GLL GSA GSV RMC VTG
Descr iption Global positioning syste m fixed data Geographic position - latitu de/longitude GNSS DOP and active satellites GNSS satellites in view Recomm ended minimum specific GNSS data Course over g round a nd g round spee d
GGA Global Positioning System Fixed Data

Table 5-2 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
Tabl e 5- 2 GGA Data Format
Name Message ID UTC Time Latitude N/S Indicator Longitude E/W Indicator Position Fix Indicator Satellites Used HDOP MSL Altitude 1
Example $GPGGA 161229.487 3723.2475 N 12158.3416 W 1 07 1.0 9.0
Units
Descr iption GGA protocol header hhmmss.sss ddmm.mmmm N=north or S=south dddmm.mmmm E=east or W=west See Table 5-3 Range 0 to 12 Horizontal Dilution of Precision
meters
- 56 -
Laipac Technology Inc. Units Geoid Separation 1 Units Age of Diff. Corr. Diff. Ref. Station ID Checksum <CR> <LF> M M 0000 *18 End of message termination meters meters meters second
Null fields when DGPS is not used
1.Values are WGS84 ellipsoid heights.
Tabl e 5- 3 Position Fix Indicator
Value 0 1 2 3
Descr iption Fix not available or invalid GPS SPS Mode, fix valid Differential GPS, SPS Mode, fix valid GPS PPS Mode, fix valid
GLL Geogr aphic Position - Latitude/Longitude

Table 5-4 contains the values for the following example: $GPGLL,3723.2475,N,12158.3416,W,161229.487,A*2C
Tabl e 5- 4 GLL Data Format
Name Message ID Latitude N/S Indicator Longitude E/W Indicator UTC Position Status Checksum <CR> <LF>
Example $GPGLL 3723.2475 N 12158.3416 W 161229.487 A *2C
Units
Descr iption GLL protocol header ddmm.mmmm N=north or S=south dddmm.mmmm E=east or W=west hhmmss.sss A=data valid or V=data not valid End of message termination
GSA GNSS DOP and Active Satellites

Table 5-5 contains the values for the following example: $GPGSA,A,3,07,02,26,27,09,04,15, , , , , ,1.8,1.0,1.5*33
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Tabl e 5- 5 GSA Data Format
Name Message ID Mode 1 Mode 2 Satellite Used 1 Satellite Used 1 .... .... Satellite Used 1 PDOP HDOP VDOP Checksum <CR> <LF>
Example $GPGSA A 3 07 02
Units
Descr iption GSA protocol header See Table 5-6 See Table 5-7 Sv on Channel 1 Sv on Channel 2 Sv on Channel 12 Position Dilution of Precision Horizontal Dilution of Precision Vertical Dilution of Precision End of message termination
1.8 1.0 1.5 *33
1. Satellite used in solution.
Tabl e 5- 6 Mode 1
Value
M A
Descr iption Manual forced to operate in 2D or 3D mode 2Dautomatic allowed to automatically switch 2D/3D
Tabl e 5- 7 Mode 2
Value 1 2 3
Descr iption Fix Not Available 2D 3D
GSV GNSS Satellites in View

Table 5-8 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
Tabl e 5- 8 GSV Data Format
Name Message ID Number of Messages 1 Message Number 1 Satellites in
Example $GPGSV 2 1 07
Units
Descr iption GSV protocol header Range 1 t o 3 Range 1 t o 3
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View Satellite ID Elevation Azimuth SNR (C/No) .... .... Satellite ID Elevation Azimuth SNR (C/No) Checksum <CR> <LF>
07 79 048 42 27 27 138 42 *71
degrees degrees dBHz
Channel 1 (Range 1 to 32) Channel 1 (Maximum 90) Channel 1 (True, Range 0 to 359) Range 0 to 99, null when not tracking Channel 4 (Range 1 to 32) Channel 4 (Maximum 90) Channel 4 (True, Range 0 to 359) Range 0 to 99, null when not tracking End of message termination
degrees degrees dBHz
1.Depending on the number of satellites tracked multiple messages of GSV data may be required.
RMC Recommended Minimum Specific GNSS Data

Table 5-9 contains the values for the following example: $GPRMC,161229.487,A,3723.2475,N,12158.3416,W,0.13,309.62,120598, ,*10
Tabl e 5- 9 RMC Data Format
Name Example Message ID $GPRMC UTC Time 161229.487 Status A Latitude 3723.2475 N/S Indicator N Longitude 12158.3416 E/W Indicator W Speed Over 0.13 Ground Course Over 309.62 Ground Date 120598 Magnetic Variation 1 Checksum *10 <CR> <LF>
Units
Descr iption RMC protocol header hhmmss.sss A=data valid or V=data not valid ddmm.mmmm N=north or S=south dddmm.mmmm E=east or W=west
knots degrees True Ddmmyy E=east or W=west
degrees
End of message termination
1.All course over ground data are geodetic WGS84 directions.
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VTG Cour se Over Ground and Ground Speed

Table 5-10 contains the values for the following example: $GPVTG,309.62,T, ,M,0.13,N,0.2,K*6E
Tabl e 5- 10 VTG Data Format
Name Message ID Course Reference Course Reference Speed Units Speed Units Checksum <CR> <LF>
Example $GPVTG 309.62 T M 0.13 N 0.2 K *6E
Units degrees degrees knots knots km/hr
Descr iption VTG protocol header Measured heading True Measured heading Magnetic 1 Measured horizontal speed Measured horizontal speed Kilometers per hour End of message termination
1. All course over ground data are geodetic WGS84 directions.
SiRF Propr ietar y NMEA Input Messages

NMEA input messages are provided to allow you to control the Evaluation Unit while in NMEA protocol mode. The Evaluation Unit may be put into NMEA mode by sending the SiRF Binary protocol message Switch To NMEA Protocol - Message I.D. 129 using a user program or using Sirfdemo.exe and selecting Switch to NMEA Protocol from the Action menu. If the receiver is in SiRF Binary mode, all NMEA input messages are ignored. Once the receiver is put into NMEA mode, the following messages may be used to command the module.
Tr anspor t Message
Star t Sequence $PSRF<MID>1 Payload Data 2 Checksum *CKSUM 3 End Sequence <CR> <LF>4
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.
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3.CKSUM is a two-hex character checksum as defined in the NMEA specification. 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 All fields in all proprietary NMEA messages are required, none are optional. All NMEA messages are comma delimited.
SiRF NMEA Input Messages

Message Set Serial Port Navigation Initialization Set DGPS Port Query/Rate Control LLA Navigation Initialization Development Data On/Off
MID 1 Descr iption
100 101 102 103
Set PORT A parameters and protocol Parameters required for start using X/Y/Z Set PORT B parameters for DGPS input Query standard NMEA message and/or set output rate 104 Parameters required for start using Lat/Lon/Alt 2 105 Development Data messages On/Off
1. Message Identification (MID). 2. Input coordinates must be WGS84.
SetSer ialPor t
This command message is used to set the protocol (SiRF Binary or NMEA) and/or the communication parameters (baud, data bits, stop bits, 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 then the Evaluation Unit restarts using the saved parameters. Table 5-11 contains the input values for the following example: Switch to SiRF Binary protocol at 9600,8,N,1 $PSRF100,0,9600,8,1,0*0C
Tabl e 5- 11 Set Serial Port Data Format
Name Message ID Protocol
Example $PSRF100 0
Units
Descr iption PSRF100 protocol header 0=SiRF Binary, 1=NMEA
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Baud DataBits StopBits Parity Checksum <CR> <LF>
9600 8 1 0 *0C
4800, 9600, 19200, 38400 8,7 1 0,1 0=None, 1=Odd, 2=Even End of message termination
1.Only valid for 8 data bits, 1stop bit, and no parity.
NaviagtionInitialization
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 TF30 to search for the correct satellite signals at the correct signal parameters. Correct initialization parameters enable TF30 to acquire signals quickly. Table 5-12 contains the input values for the following example: Start using known position and time. $PSRF101,-2686700,-4304200,3851624,96000,497260,921,12,3*7F
Tabl e 5- 12 Navigation Initialization Data Format
Name Message ID ECEF X ECEF Y ECEF Z ClkOffset TimeOfWeek WeekNo ChannelCount ResetCfg Checksum <CR> <LF>
Example $PSRF101 -2686700 -4304200 3851624 96000 497260 921 12 3 *7F
Units meters meters meters Hz seconds
Descr iption PSRF101 protocol header X coordinate position Y coordinate position Z coordinate position Clock Offset of TF 30 1 GPS Time Of Week GPS Week Number Range 1 to 12 See Table 5-13 End of message termination
1. Use 0 for last saved value if available. If this is unavailable, a default value of 96,000 will be used.
Tabl e 5- 13 Reset Configuration
Hex
0x01 0x02 0x04
Descr iption Data Valid Warm/Hot Starts=1 Clear Ephemeris Warm Start=1 Clear Memory Cold Start=1
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SetDGPSPor t
This command is used to control Serial Port B which 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, 8 data bits, stop bit, 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 are stored in battery-backed SRAM and then the receiver restarts using the saved parameters. Table 5-14 contains the input values for the following example: Set DGPS Port to be 9600,8,N,1. $PSRF102,9600,8,1,0*12
Tabl e 5- 14 Set DGPS Port Data Format
Name Example Message ID $PSRF102 Baud 9600 DataBits 8 StopBits 1 Parity 0 Checksum *12 <CR> <LF>
Units
Descr iption PSRF102 protocol header 4800, 9600, 19200, 38400 8,7 0,1 0=None, 1=Odd, 2=Even End of message termination
Quer y/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 5-15 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
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3. Disable VTG message $PSRF103,05,00,00,01*21

Tabl e 5- 15 Query/Rate Control Data Format (See example 1.)
Name Example Units Descr iption Message ID $PSRF103 PSRF103 protocol header Msg 00 See Table 5-16 Mode 01 0=SetRate, 1=Query Rate 00 seconds Output off=0, max=255 CksumEnabe 01 0=Disable Checksum, 1=Enable Checksum Checksum *25 <CR> <LF> End of message termination
Table 5- 16 Messages
Value Descr iption 0 GGA 1 GLL 2 GSA 3 GSV 4 RMC 5 VTG Note In Trickle Power mode, update rate is specified by the user. When you witch to NMEA protocol, message update rate is also required. The resulting update rate is the product of the Trickle Power Update rate AND the NMEA update rate (i.e. Trickle Power update rate = 2 seconds, NMEA update rate = 5 seconds, resulting update rate is every 10 seconds, (2 X 5 = 10)).
LLANaviagtionInitialization
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. 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 5-17 contains the input values for the following example: Start using known position and time. $PSRF104,37.3875111,-121.97232,0,96000,237759,922,12,3*37
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Table 5- 17 LLA Navigation Initialization Data Format
Name Example Units Message ID $PSRF104 37.3875111 degrees Lat -121.97232 degrees Lon 0 Alt meters ClkOffset 95000 Hz 237759 seconds TimeOfWeek 922 WeekNo ChannelCount 12 ResetCfg 3 Checksum *37 <CR> <LF>
Descr iption PSRF104 protocol header Latitude position (Range 90 to -90) Longitude position (Range 180 to -180) Altitude position Clock Offset of the Evaluation Unit 1 GPS Time Of Week GPS Week Number Range 1 to 12 See Table 5-18 End of message termination
1.Use 0 for last saved value if available. If this is unavailable, a default value of 96,000 will be used.
Tabl e 5- 18 Reset Configuration
Hex 0x01 0x02 0x04
Descr iption Data Valid Warm/Hot Starts=1 Clear Ephemeris Warm Start=1 Clear Memory Cold Start=1
Development Data On/Off

Use this command to enable development data information if you are having trouble getting commands accepted. Invalid commands generate debug information that enables 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. Table 5-19 contains the input values for the following examples: 1. Debug On $PSRF105,1*3E 2. Debug Off $PSRF105,0*3F
Tabl e 5- 19 Development Data On/Off Data Format
Name Example Message ID $PSRF105 Debug 1 Checksum *3E <CR> <LF>
Units
Descr iption PSRF105 protocol header 0=Off, 1=On End of message termination
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GPS TF30

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TF 30 GPS Engine

Laipac Technology, Inc.

Laipac Technology Inc.

Laipac Technology Inc.

Laipac Technology Inc.

Laipac Technology Inc.

Laipac Technology Inc.

Laipac Technology Inc.

Laipac Technology Inc.

Chapter 1 Introduction to TF30 GPS Receiver

Quick View on Specifications

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Dimensions Operating Temp Storage Temp

1.3 DGPS Accuracy

1.4 Datum 1.5 Acquisition Rate

1.6 Dynamic Condition

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3.3 Vdc 10% ~ 150 mA ~ 50 mA +2.5V to 3.1V 10A typical

1.8 External Reset 1.9 Serial Port

1.10 Time-1PPS Pulse

2.2 Physical characteristics

Dimension Antenna connector Interface connector

3. Antenna 4.CPU Throughput

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Chapter 3 Inter face and Options

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Pin Definition of the Digital Inter face Connector

(+3.3V DC Power Input)

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Option Descr iptions

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Table 3-2 TricklePower Power Consumption

RS-232 I/O Option

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Chapter 4 SiRF Binar y Protocol Specification

Payload Length Payload

0xYY denotes a hexadecimal byte value. 0xA0 equals 160.

Input Messages for SiRF Binar y Protocol

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Table 4- 1 SiRF Messages - Input Message List

Initialize Data Source - Message I.D. 128

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Table 4- 2 Initialize Data Source

Units meters meters meters Hz seconds

Descr iption ASCII 128

Range 1-12 See table Table 4-3

Switch To NMEA Protocol - Message I.D. 129

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016AB0B3 Message Checksum and End Sequence

1/s 1/s 1/s 1/s 1/s 1/s

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Set Almanac Message I.D. 130

Descr iption ACSII 130 Reserved

Software Ver sion Message I.D. 132

Binar y (Hex) Name Bytes Message ID 1 TBD 1 Payload Length: 2 bytes

Descr iption ACSII 132 Not used

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Set DGPS Source Message I.D. 133

Name Message ID DGPS Sour ce

Binar y (Hex) Scale Example Units 85 02 00000000 00 Hz BPS

Name Message I.D. DGPS Source

Bytes Scale Hex 1 85 1 03 0004BAF0 C8

Binar y (Hex) Bytes Scale Example 1 8B 2 10 0032 2 10 009B