RoyalTek REV-2000 User Manual
REV-2000 Operational Manual
RoyalTek Evaluation Kit
REV-2000 Operational Manual
Version 1.1
2001/7/4
This document contains information highly confidential to RoyalTek Company LTD (RoyalTek). It
is provided for the sole purpose of the business discussions between supplier and RoyalTek and
is covered under the terms of the applicable Non-Disclosure Agreements. Disclosure of this
information to other parties is prohibited without the written consent of RoyalTek.
Prepared by
RoyalTek Company LTD.
1071, Chung Cheng Rd., Suite 9F-1
Tao Yuan City, Taiwan, R.O.C.
TEL: 886-3-3569666
FAX: 886-3-3580050
E-Mail: sales@royaltek.com
http://www.royaltek.com
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual
RoyalTek Evaluation Kit REV-2000 Operational Manual
NTRODUCTION
I
.........................................................................................................................................1
Packing list.........................................................................................................................................1
ETTING STARTED
G
To Setup REV-2000 ...........................................................................................................................3
Setup procedure.................................................................................................................................4
O OPERATE
T
Install the SiRFDemo.exe...................................................................................................................5
To use Sirfdemo.exe ..........................................................................................................................5
To switch from NMEA to SiRF protocol ..............................................................................................7
To switch from SiRF protocol to NMEA protocol.................................................................................9
To Synchronize Protocol...................................................................................................................10
To Switch Trickle Power Parameters from SiRFDemo.exe...............................................................10
To change TricklePower parameters of REB-2100 from 12 pins interface. ......................................12
To upgrade GPS engine board program ..........................................................................................12
RODUCT FEATURES
P
RODUCT APPLICATIONS
P
ECHNIQUE DESCRIPTION
T
REB-2100 System Block Diagram......................................................................................................2
....................................................................................................................................3
REV-2000 ...........................................................................................................................5
...............................................................................................................................13
..........................................................................................................................14
........................................................................................................................14
REB-12R Block diagram ....................................................................................................................3
Technique specifications ....................................................................................................................3
RDERING INFORMATION
O
BSOLUTE MAXIMUM RATINGS
A
OFTWARE INTERFACE
S
NMEA V2.2 Protocol ........................................................................................................................10
GGA-Global Positioning System Fixed Data....................................................................................10
GLL-Geographic Position – Latitude/Longitude................................................................................11
GSA-GNSS DOP and Active Satellites ............................................................................................11
GSV-GNSS Satellites in View ..........................................................................................................12
RMC-Recommended Minimum Specific GNSS Data.......................................................................12
VTG-Course Over Ground and Ground Speed ................................................................................13
ROPRIETARY
SIRF P
SIRF NMEA I
Set Serial Port ..................................................................................................................................14
LLA Navigation Initialization .............................................................................................................14
Set DGPS Port .................................................................................................................................15
NPUT MESSAGES
...........................................................................................................................7
..................................................................................................................10
............................................................................................................................10
NMEA I
NPUT MESSAGES
...............................................................................................................14
..........................................................................................13
Query/Rate Control ..........................................................................................................................15
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RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual
LLA Navigation Initialization .............................................................................................................16
Development Data On/Off................................................................................................................16
Calculating Checksums for NMEA Input ..........................................................................................17
INARY PROTOCOL
SIRF B
NPUT MESSAGES FOR SI
I
Initialize Data Source-Message I.D. 128 ..........................................................................................18
Switch To NMEA Protocol – Message I.D. 129 ................................................................................19
Set Almanac- Message I.D. 130.......................................................................................................20
Software Version – Message I.D. 132..............................................................................................20
Mode control – Message I.D .136.....................................................................................................21
DOP Mask Control – Message I.D. 137 ...........................................................................................21
DGPS Control – Message I.D.138....................................................................................................22
Elevation Mask – Message I.D.139..................................................................................................22
Power Mask – Message I.D.140 ......................................................................................................23
Steady State Detection – Message I.D.142......................................................................................23
Static Navigation – Message I.D.144 ...............................................................................................23
Set DGPS Serial Port – Message I.D 145........................................................................................24
........................................................................................................................17
INARY PROTOCOL
RF B
.......................................................................................18
Almanac – Message I.D.146 ............................................................................................................24
Ephemeris Message I.D.147............................................................................................................24
Switch To SiRF Protocol...................................................................................................................25
Switch Operating Modes - Message I.D. 150...................................................................................25
Set Trickle Power Parameters - Message I.D. 151...........................................................................25
Computation of Duty Cycle and On Time.........................................................................................26
Push-to-Fix.......................................................................................................................................26
Poll Navigation Parameters - Message I.D. 152...............................................................................27
UTPUT MESSAGES FOR SI
O
Measure Navigation Data Out – Message I.D.2...............................................................................27
Measured Tracker Data Out – Message I.D.4 ..................................................................................29
Raw Tracker Data Out – Message I.D.5...........................................................................................30
Calculation of Pseudo-Range Measurements..................................................................................31
Response :Software Version String – Message I.D.6 ....................................................................32
Response :Clock Status Data – Message I.D.7.............................................................................32
50BPS Data – Message I.D.8 ..........................................................................................................33
CPU Throughput – Message I.D.9 ...................................................................................................33
INARY PROTOCOL
RF B
....................................................................................27
Command Acknowledgment – Message I.D.11................................................................................34
Command N Acknowledgment – Message I.D. 12...........................................................................34
Visible List – Message I.D.13 ...........................................................................................................34
Almanac Data – Message I.D.14......................................................................................................35
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RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual
Set Ephemeris – Message I.D.254...................................................................................................35
Development Data – Message I.D.255.............................................................................................35
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RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual
Introduction
REV-2000 is an evaluation kit for RoyalTek GPS engine board series, REB-12R2/R6/ REB-2000/
REB-2001.It is convenient to test the GPS performance,cold start / warm start / hot start,position
update and so on by using the REV-2000. REV-2000 helps you understand the operation and
performance of Royaltek’s GPS engine boards in a couple of minutes. It can also provide you design
the OEM products that use RoyalTek’s GPS engine boards.
Packing list
The evaluation kit contains follows:
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RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual
REV-2000
Evaluation
Power Core
No. Items Specification Quantity Description
1
1.
2.
REV-2000
Evaluation Board
PROVIDE POWER FOR GPS
68*88mm 1
ENGINE BOARD AND CONVERT
THE SIGNAL FROM TTL TO
RS-232 CONNECTING TO PC.
RS232 Cable
3.
BNC to MCX
4.
Cable
5.
GPS active
antenna
2 Power Core
3 RS232 Cable 9pin/1.5M 1
RF Extension Cable
4
5 GPS active antenna 5M 1 GPS ACTIVE ATENNA.
6
(Optional)
GPS receiver
(Optional)
AC 110V or 220V
7.5V/1.0A/2.5mm/1.8M
150mm 1
REB-12R or REB-2000
AC/DC ADAPTOR. THERE ARE
1
TWO TYPES OF ADPATOR, 110V
AND 220V.
RS-232 CABLE CONNECTING
EVALUATION BOARD WITH PC.
RF EXTENSION CABLE FOR MCX
TO BNC. IF YOU ORDER THE
MMCX ANTENNA FOR REB-2000,
YOU DON’T NEED TO ORDER
THIS EXTENSION CABLE. PLEASE
CONTACT
SALES@ROYALTEK.COM
FURTHER INFORMATION.
THERE ARE TWO KINDS OF GPS,
REB-12R AND REB-2000 SERIES.
PLEASE SELECT THE DESIRED
ON.
FOR
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RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual
Getting started
To Setup REV-2000
The interface of REV-2000 is shown as follows:
DC input
+6.5V ~
Power
Power mode
jumper J1
Open: +5V
Short: +3.3V
VBT
Backup battery input 2.5V ~ 3.1V
P1
NMEA / SiRF protocol
port
Connecting to PC/Laptop
P2
DGPS RTCM-104 port
CON20
CON12
RESET
BOOT
Open: Normal operation
Short: Program upgrade
REB-12R2 connector
REB-2000/REB-2100
switch
jumper
Power mode jumper J1
The power core of REV-2000 is 110V AC/ 7.5V
DC adaptor. It converts the 110 AC to DC.
RoyalTek can also provide you 220V AC power
core. Beware of the AC power of your office
and tell RoyalTek’s sales person for preparing
the correct power code for you.
REV-2000 provides 3 power modes on borad,
3.3V and 5V. JP1: Open for +5V, Short for 3.3V.
The 3.3V is for REB-2000/ REB-2100. The 5V
is for REB-12R2.
BOOT jumper
The BOOT jumper is for program upgrade. It
shall be kept open for normal operation. When
the BOOT is short, the GPS engine board is
waiting for program upgrade and output
nothing when running SiRF demo program.
Please refer the
program update.
DC input
The power input can be DC input instead of
using AC power core. The input range of the
DC input is from 6.5V ~ 12V. We suggest
you use +7.5V as the DC input.
Reset
It is used for external reset.
VBT
This is for RAM backup power of
REB-2000/REB-2100 and REB-12R2. The
program upgrade
session for
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RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual
input range is from 2.5V ~ 3.1V DC.
P1
This is NMEA/SiRF protocol output/input port.
Please connect it to PC or Laptop RS-232
port.
P2
This is DGPS input port.
CON12
This is the socket for REB-2000/REB-2100.
Please refer the hardware interface section
for the pin assignment.
CON20
This is the socket for REB-12R2. Please
refer the hardware interface section for the
pin assignment.
Setup procedure
(1) Plug the REB-12R2 on the CON20
(2) Plug the active antenna into the external
antenna connector. The suitable view
angle of the active antenna is necessary.
Caution: Please do not put any metal
stuff on the antenna.
(3) Connecting the RS-232 cable between
REV-2000 P1 and PC.
(4) Plug the power core. (or connecting the
DC power input, 6.5V ~ 12V)
After you finish setup, it is like as follows:
Active
GPS antenna
AC
PC COM1 or COM2
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RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual
PC COM1
(2) Choose the “Supplied Data” radio button.
To operate REV-2000
Install the SiRFDemo.exe
Copy the SiRFDemo.exe from the CD-ROM
\Toolkit\SiRFDemo.exe to the destination path,
e.g. “c:\RoyakTek\REV-2000\Demo.exe”. Add
a shortcut of SiRFdemo.exe on the desktop of
Windows 98.
To use Sirfdemo.exe
(1) Double click the SiRFdemo.exe.
Click the “Instrument(Measured Data)”
check box.
(3) Select the serial port, e.g. COM1. The
default baud rate of REB-2100 and
Reb-12R2 is 9600bps. Click the OK.
(4) There are 6 menus on the menu bar:
Setup, View, Action, Navigation, Poll and
Window.
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RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual
Data
source
Tracking
Signal Level
Connect/
Disconnect
Toggle button
Map
Signal Level
view
Tracking view
(5) Click the “Signal level”, “Tracking”, “Map”
Development view
buttons of the tool bar to enable the
“Signal level view”, “Tracking view” and
Map
“Map view”.
(6) Check the View / Messages /
Development to enable the development
view.
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RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual
(7) Click the
(8) The other buttons of tool bar are explained
as follows:
: Pause the data reception.
:Log the data as a *.log file.
to start testing.
: Initialize Data Source
(9) After you click the , you can see the
NMEA output on the development view.
To switch from NMEA to SiRF protocol
Check Action / Switch to SiRF Protocol.
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RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual
You could see the following screen after you switch to SiRF protocol.
12-Channel Signal Level Data:
Information Displayed Description
Satellite Number (SV) GPS satellite PRN number
Status (St) Satellite status
Azimuth (Az) Satellite azimuth (in degrees)
Elevation (EI) Satellite elevation (in degrees)
C/No Signal level (in dB-Hz)
Signal Level (-5 sec) 5-second history
Tracking view:
Green: Satellite is tracked and used to
calculate the navigation solution.
Blue: Satellite is tracked but is not
8
used to calculate the navigation
solution.
Red: Satellite is lost tracked.
Development data view:
It is for
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual
development purpose not for user.
Map View:
Demonstrate the GPS time,
Click the
button to initialize data
Latitude, Longitude, Altitude and
Navigation mode etc.
Initialize Data Source
source. It provides the cold start, warm
start and hot start test functions. The
receiver initialization view is like follows:
The definition of cold start, warm start and hot start is described as following table:
Option
Hot Start The Evaluation Unit restarts by using values stored in the internal of the GPS
receiver.
Warm Start (No init) This option has the same functionality as Hot Start except that Ephemeris data
and retains all other data.
Warm Start (init) This option clears all initialization data in the GPS receiver and subsequently
reloads the data that is currently displayed in the GPS receiver initialization is
cleared.
Cold Start This option clears all data that is currently stored in the internal memory of the
GPS receiver including position, almanac, ephemeris, time, and clock drift.
To switch from SiRF protocol to NMEA protocol
(1)Select the “Action/Switch to NMEA Protocol” like follows.
Description
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RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual
(2) After you select the “Switch to NMEA Protocol”, it will show up a “Select NMEA Messages” dialog.
Select the NMEA Messages that you want to use.
(3) Determine the update rate for each NMEA
message
(4) Select the baud rate that you want to use
from the Baud Rate pull down menu.
(5) Click the OK button to save or Cancel
button to exit
(6) It will switch to NMEA protocol.
To Synchronize Protocol
When you don’t know what the
protocol/baud rate is set in REB-2100 or
REB-12R2, you can use this option to
synchronize protocol. Select the
Action/Synchronize Protocol and Baud Rate.
It will synchronize the protocol and Baud
Rate.
To Switch Trickle Power Parameters
from SiRFDemo.exe
There are two modes of low power operation:
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RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual
(1) Trickle power: In TricklePower mode, the
power to is cycled periodically, so that it
operates only a fraction of the time.
REB-2100 has the default trickle power
parameters: OnPeriod: 300ms, Update
rate: 1 second. REB-12R2 does not
provide the trickle power feature.
(2) Push to fix: In Push-to-Fix mode, the
receiver is generally off, but turns on
frequently enough to collect ephemeris.
So that, upon user request, a position fix
can be provided quickly after power-up.
REB-2100 provides push to fix function
but it is disabled default. REB-12R2 does
not provide this function.
It provides the trickle power operation in
REB-2100 default. REB-12R2 doesn’t support
the trickle power now. To enable trickle power
mode from SiRFdemo.exe, please select the
“Action/Set TricklePower Parameters” like
following picture.
Then, it will show a “TricklePower parameters”
dialog for parameters setting. There are two
parameters of Trickle power that needs to be
set, “Update Rate and On Time”. The “Update
Rate” means the navigation update frequency.
For example, “1 sec” means output once per
second and “2 sec” means output once per 2
seconds. The “On time” means running time in
the output period. For example, “200 ms”
means the running time is 200 ms per
navigation update. The duty cycle of trickle
power is determined by setting of “Update Rate”
and “On Time”. For example, if the “Update
Rate” is 1 sec and “On time” is 200ms, the duty
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RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual
cycle is 200ms/1000ms = 20%. If the “Update
Rate” is 2 sec and “On Time” is 300 ms, the
duty cycle is 300ms/2000ms = 15%. The duty
cycle is limited to 5% ~ 50%. Since it will do
some estimation in trickle power, please tune
the proper duty cycle that can compromise the
power consumption and acceptable navigation
performance. The “ricklePower Prameters”
dialog is shown as following picture.
To change TricklePower parameters
of REB-2100 from 12 pins interface.
Since it is NMEA output default, it needs to
change to SiRF protocol before change
TricklePower parameters. The procedure is
described as follows:
(1) Use “Set Serial Port” command of SiRF
NMEA input messages.
$PSRF100,0,9600,8,1,0*0C<CR><LF>
It will switch from NMEA to SiRF protocol.
(2) Use “Set Trickle Power Parameters -
Message I.D. 151” to set the trickle power
parameters.
(3) Use “Switch To NMEA Protocol –
Message I.D. 129” to switch back to
NMEA protocol.
To upgrade GPS engine board
program
(1) Turn off the power.
(2) Keep the
(3) Turn on the power.
(4) Run the SiRFProg.exe.
(5) Select the Target Loader File. Select
dltarget.s for REB-12R2/R1. Select
dlgsp2.bin for REB-2100.
(6) Select the Target file that need to be
programmed into flash memory.
BOOT
jumper short.
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RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual
(7) Select the COM port. Keep the Baud rate
at 19200 for REB-2100 and 9600 for
REB-12R2/R1.
(8) If you want to upload program to
Reb-2100, please assert the GPS2 check
box. But leave it unasserted for
Reb-12R2/R1.
(9) Click Upload to begin programming flash
memory.
(10) When you finish upload, turn off the power.
Keep the
power. It will run the new program that
uploaded into flash memory.
BOOT
jumper open and turn on
Product Features
REB-2100
OEM product development is fully
supported through applications
engineering and WEB technique
forum.
Small and compact footprints
measuring “ ”.
13
12 parallel channels
0.1 second re-acquisition time.
Trickled power enabled for power
saving.
Enhanced algorithm for navigation
stability.
NMEA-0183 compliant
protocol/custom protocol.
WAAS demodulator
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