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SiRF Binary Protocol
Reference Manual
SiRF Technology, Inc.
148 East Brokaw Road
San Jose, CA 95112 U.S.A.
Phone: +1 (408) 467-0410
Fax: +1 (408) 467-0420 www.SiRF.com
1050-0041
September 2004, Revision 1.3
SiRF, SiRFstar, SiRF plus orbit design are registered in the U.S. Patent and Trademark Office. This document contains information on a product under development at SiRF. The information is intended to help you evaluate this product. SiRF reserves the right to change or discontinue work on this product without notice.
SiRF Binary Protocol
Reference Manual
Copyright © 1996-2004 SiRF Technology, Inc. All rights reserved.
No part of this work may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopying and recording, or by any information storage or retrieval system without the prior written permission of SiRF Technology, Inc. unless such copying is expressly permitted by United States copyright law. Address inquiries to Legal Department, SiRF Technology,
Inc., 148 East Brokaw Road, San Jose, California 95112, United States of America.
About This Document
This document contains information on SiRF products. SiRF Technology, Inc. reserves the right to make changes in its products, specifications and other information at any time without notice. SiRF assumes no liability or responsibility for any claims or damages arising out of the use of this document, or from the use of integrated circuits based on this document, including, but not limited to claims or damages based on infringement of patents, copyrights or other intellectual property rights. SiRF makes no warranties, either express or implied with respect to the information and specifications contained in this document. Performance characteristics listed in this data sheet do not constitute a warranty or guarantee of product performance. All terms and conditions of sale are governed by the SiRF Terms and Conditions of Sale, a copy of which you may obtain from your authorized SiRF sales representative.
Getting Help
If you have any problems, contact your SiRF representative or call or send an e-mail to the SiRF
Technology support group: phone e-mail
+1 (408) 467-0410 [email protected]
iii
Contents
1. Protocol Layers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Transport Message. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Message Validation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Payload Length . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Payload Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Checksum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2. Input Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Advanced Power Management - Message ID 53 . . . . . . . . . . . . . . . . .
Initialize Data Source - Message ID 128 . . . . . . . . . . . . . . . . . . . . . . .
Switch To NMEA Protocol - Message ID 129. . . . . . . . . . . . . . . . . . .
Set Almanac - Message ID 130 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Handle Formatted Dump Data - Message ID 131 . . . . . . . . . . . . . . . .
Poll Software Version - Message ID 132. . . . . . . . . . . . . . . . . . . . . . .
v
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DGPS Source - Message ID 133 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Set Main Serial Port - Message ID 134 . . . . . . . . . . . . . . . . . . . . . . . . 2-11
Switch Protocol - Message ID 135 . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12
Mode Control - Message ID 136 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12
DOP Mask Control - Message ID 137 . . . . . . . . . . . . . . . . . . . . . . . . . 2-13
DGPS Control - Message ID 138. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14
Elevation Mask - Message ID 139 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14
Power Mask - Message ID 140 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-15
Editing Residual - Message ID 141 . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-15
Steady State Detection - Message ID 142 . . . . . . . . . . . . . . . . . . . . . . 2-15
Static Navigation - Message ID 143 . . . . . . . . . . . . . . . . . . . . . . . . . . 2-16
Poll Clock Status - Message ID 144 . . . . . . . . . . . . . . . . . . . . . . . . . . 2-16
Set DGPS Serial Port - Message ID 145 . . . . . . . . . . . . . . . . . . . . . . . 2-17
Poll Almanac - Message ID 146 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-17
Poll Ephemeris - Message ID 147 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-18
Flash Update - Message ID 148 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-18
Set Ephemeris - Message ID 149 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19
Switch Operating Modes - Message ID 150 . . . . . . . . . . . . . . . . . . . . 2-19
Set TricklePower Parameters - Message ID 151 . . . . . . . . . . . . . . . . . 2-20
Poll Navigation Parameters - Message ID 152 . . . . . . . . . . . . . . . . . . 2-21
Set UART Configuration - Message ID 165 . . . . . . . . . . . . . . . . . . . . 2-22
Set Message Rate - Message ID 166 . . . . . . . . . . . . . . . . . . . . . . . . . . 2-23
Set Low Power Acquisition Parameters - Message ID 167 . . . . . . . . . 2-24
Poll Command Parameters - Message ID 168 . . . . . . . . . . . . . . . . . . . 2-24
Set SBAS Parameters - Message ID 170 . . . . . . . . . . . . . . . . . . . . . . . 2-25
Initialise GPS/DR Navigation - Message ID 172 (Sub ID 1) . . . . . . . . 2-26
Set GPS/DR Navigation Mode - Message ID 172 (Sub ID 2) . . . . . . . 2-26
Set DR Gyro Factory Calibration - Message ID 172 (Sub ID 3) . . . . . 2-27
Set DR Sensors’ Parameters - Message ID 172 (Sub ID 4) . . . . . . . . . 2-27
Poll DR Gyro Factory Calibration - Message ID 172 (Sub ID 6) . . . . 2-27
Poll DR Sensors’ Parameters - Message ID 172 (Sub ID 7) . . . . . . . . 2-27
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Contents
Reserved - Message ID 228 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-28
3. Output Messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reference Navigation Data - Message ID 1 . . . . . . . . . . . . . . . . . . . . .
Measure Navigation Data Out - Message ID 2 . . . . . . . . . . . . . . . . . .
True Tracker Data - Message ID 3. . . . . . . . . . . . . . . . . . . . . . . . . . . .
Measured Tracker Data Out - Message ID 4 . . . . . . . . . . . . . . . . . . . .
Raw Tracker Data Out - Message ID 5 . . . . . . . . . . . . . . . . . . . . . . . .
Software Version String (Response to Poll) - Message ID 6 . . . . . . . .
Response: Clock Status Data - Message ID 7 . . . . . . . . . . . . . . . . . . .
50 BPS Data - Message ID 8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CPU Throughput - Message ID 9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
Error ID Data - Message ID 10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
Command Acknowledgment - Message ID 11. . . . . . . . . . . . . . . . . . . 3-21
Command NAcknowledgment - Message ID 12 . . . . . . . . . . . . . . . . . 3-21
Visible List – Message ID 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21
Almanac Data - Message ID 14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22
Ephemeris Data (Response to Poll) – Message ID 15 . . . . . . . . . . . . . 3-23
Test Mode 1 - Message ID 16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24
Differential Corrections - Message ID 17 . . . . . . . . . . . . . . . . . . . . . . 3-25
OkToSend - Message ID 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25
Navigation Parameters (Response to Poll) - Message ID 19 . . . . . . . . 3-26
Test Mode 2/3/4 - Message ID 20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-28
Test Mode 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-28
Test Mode 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-29
Test Mode 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-31
Navigation Library Measurement Data - Message ID 28. . . . . . . . . . . 3-32
Navigation Library DGPS Data - Message ID 29 . . . . . . . . . . . . . . . . 3-35
Navigation Library SV State Data - Message ID 30 . . . . . . . . . . . . . . 3-35
Navigation Library Initialization Data - Message ID 31 . . . . . . . . . . . 3-36
Geodetic Navigation Data - Message ID 41. . . . . . . . . . . . . . . . . . . . . 3-38
Queue Command Parameters - Message ID 43 . . . . . . . . . . . . . . . . . . 3-40
vii
DR Raw Data - Message ID 45 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-41
Test Mode 3/4 - Message ID 46. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-41
DR Navigation Status - Message ID 48 (Sub ID 1) . . . . . . . . . . . . . . . 3-43
DR Navigation State - Message ID 48 (Sub ID 2) . . . . . . . . . . . . . . . . 3-46
Navigation Subsystem - Message ID 48 (Sub ID 3) . . . . . . . . . . . . . . 3-46
DR Gyro Factory Calibration - Message ID 48 (Sub ID 6) . . . . . . . . . 3-47
DR Sensors’ Parameters - Message ID 48 (Sub ID 7) . . . . . . . . . . . . . 3-47
DR Data Block - Message ID 48 (Sub ID 8) . . . . . . . . . . . . . . . . . . . . 3-48
SBAS Parameters - Message ID 50 . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-48
PPS Time - Message ID 52 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-49
Reserved - Message ID 225 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-50
Development Data - Message ID 255 . . . . . . . . . . . . . . . . . . . . . . . . . 3-50
4. Additional Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
TricklePower Operation in DGPS Mode . . . . . . . . . . . . . . . . . . . . . . .
GPS Week Reporting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
viii SiRF Binary Protocol Reference Manual—September 2004
Tables
SiRF Messages - Input Message List . . . . . . . . . . . . . . . . . . . . . . . . 2-1
Supported Input Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
Sub IDs for SiRFDRive input MID 172 (0xAC) . . . . . . . . . . . . . . . 2-2
Advanced Power Management Parameters . . . . . . . . . . . . . . . . . . . 2-4
Horizontal/Vertical Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
Initialize data source. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
Reset Configuration Bit Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
Switch To NMEA Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
Set Almanac Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
Mode Values. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
Set Send Command String Parameters. . . . . . . . . . . . . . . . . . . . . . . 2-8
Member Sizes Data Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9
Software Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9
DGPS Source Selection (Example 1) . . . . . . . . . . . . . . . . . . . . . . . . 2-10
DGPS Source Selection (Example 2) . . . . . . . . . . . . . . . . . . . . . . . . 2-11
DGPS Source Selections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11
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Internal Beacon Search Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11
Set Main Serial Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12
DOP Mask Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13
DOP Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13
Degraded Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13
Altitude Hold Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13
DGPS Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14
DGPS Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14
Elevation Mask. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-15
Static Navigation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-16
Set DGPS Serial Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-17
Switch Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19
Set Trickle Power Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-20
Example of Selections for TricklePower Mode of Operation . . . . . 2-20
Duty Cycles for Supported TricklePower Settings . . . . . . . . . . . . . 2-21
Set UART Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22
Poll Receiver for Navigation Parameters . . . . . . . . . . . . . . . . . . . . . 2-22
Set Low Power Acquisition Parameters . . . . . . . . . . . . . . . . . . . . . . 2-24
Set Message Rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-24
Poll Command Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-25
Set SBAS Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-25
SiRF Binary Messages - Output Message List. . . . . . . . . . . . . . . . . 3-1
Supported output messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Sub IDs for SiRFDRive output MID 48 (0x30) . . . . . . . . . . . . . . . . 3-2
Measured Navigation Data Out - Message Data Format . . . . . . . . . 3-3
SiRF Binary Protocol Reference Manual—September 2004
Tables
Measured Tracker Data Out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
State Values for Each Channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
Software Version String . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
Clock Status Data Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
CPU Throughput . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
Message ID 10 Overall Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
Error ID 9 Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11
Error ID 9 Message Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11
Error ID 2 Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11
Error ID 2 Message Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11
Error ID 10 Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12
Error ID 10 Message Description. . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12
Error ID 11 Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12
Error ID 12 Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13
Error ID 12 Message Description. . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13
Error ID 11 Message Description. . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13
Error ID 4097 Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14
Error ID 4097 Message Description. . . . . . . . . . . . . . . . . . . . . . . . . 3-14
Error ID 13 Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14
Error ID 13 Message Description. . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14
Error ID 4099 Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15
Error ID 4099 Message Description. . . . . . . . . . . . . . . . . . . . . . . . . 3-15
Error ID 4104 Message Description. . . . . . . . . . . . . . . . . . . . . . . . . 3-16
Error ID 4104 Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16
Error ID 4105 Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
Error ID 4105 Message Description. . . . . . . . . . . . . . . . . . . . . . . . . 3-17
Error ID 4106 Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18
Error ID 4106 Message Description. . . . . . . . . . . . . . . . . . . . . . . . . 3-18
Error ID 4107 Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18
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Error ID 8193 Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19
Error ID 8193 Message Description. . . . . . . . . . . . . . . . . . . . . . . . . 3-19
Error ID 4107 Message Description. . . . . . . . . . . . . . . . . . . . . . . . . 3-19
Error ID 8195 Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
Error ID 8195 Message Description. . . . . . . . . . . . . . . . . . . . . . . . . 3-20
Error ID 8194 Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
Error ID 8194 Message Description. . . . . . . . . . . . . . . . . . . . . . . . . 3-20
Command Acknowledgment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21
Command N’Acknowledgment . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21
Contents of Message ID 14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22
Contents of Message ID 14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
Byte Positions Between Navigation Message and Data Array . . . . 3-23
Test Mode 1 Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24
Byte Positions Between Navigation Message and Data Array . . . . 3-24
RTCM message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25
Detailed Description of Test Mode 1 Data. . . . . . . . . . . . . . . . . . . . 3-25
Navigation Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-26
Horizontal/Vertical Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27
Test Mode 2 Message. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-28
Test Mode 3 Message. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-29
Detailed Description of Test Mode 2 Message . . . . . . . . . . . . . . . . 3-29
Detailed Description of Test Mode 3 Message . . . . . . . . . . . . . . . . 3-30
Test Mode 4 Message. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-31
Detailed Description of Test Mode 4 Message . . . . . . . . . . . . . . . . 3-31
Measurement Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-32
Detailed Description of the Measurement Data . . . . . . . . . . . . . . . . 3-33
Measurement Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-35
Measurement Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-36
SiRF Binary Protocol Reference Manual—September 2004
Geodetic Navigation Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-38
Test Mode 3 Message. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-41
Detailed Description of Test Mode 3 Message . . . . . . . . . . . . . . . . 3-42
SBAS Parameters Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-48
Timing Message Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-49
Detailed Description of SBAS Parameters. . . . . . . . . . . . . . . . . . . . 3-49
Development Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-50
Status Byte Field in Timing Message. . . . . . . . . . . . . . . . . . . . . . . . 3-50
Tables
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xx SiRF Binary Protocol Reference Manual—September 2004
Preface
The SiRF Binary Protocol Reference Manual provides detailed information about the
SiRF Binary protocol - the standard protocol used by all SiRF architectures.
Who Should Use This Guide
This manual was written assuming the user is familiar with interface protocols, including their definitions and use.
How This Guide Is Organized
Chapter 1, “Protocol Layers” information about SiRF Binary protocol layers.
Chapter 2, “Input Messages” definitions and examples of each available SiRF Binary
input messages.
Chapter 3, “Output Messages” definitions and examples of each available SiRF
Binary output messages.
Chapter 4, “Additional Information” Other useful information pertaining to the
SiRF Binary protocol.
xxi
Troubleshooting/Contacting SiRF Technical Support
Address:
SiRF Technology Inc.
148 East Brokaw Road
San Jose, CA 95112 U.S.A.
SiRF Technical Support:
Phone: +1 (408) 467-0410 (9 am to 5 pm Pacific Standard Time)
Email: [email protected]
General enquiries:
Phone: +1 (408) 467-0410 (9 am to 5 pm Pacific Standard Time)
Email: [email protected]
Helpful Information When Contacting SiRF Technical Support
Receiver Serial Number:
Receiver Software Version:
SiRFdemo Version: xxii SiRF Binary Protocol Reference Manual—September 2004
Protocol Layers
1
The SiRF Binary protocol is the standard interface protocol used by all SiRF-based products.
This serial communication protocol is designed to include:
•
Reliable transport of messages
•
Ease of implementation
•
Efficient implementation
•
Independence from payload.
Transport Message
Start
Sequence
0xA0
1
,
0xA2
Payload
Length
Two-bytes
(15-bits)
Payload
Up to 2
10
(<1023)
-1
1. Characters preceded by “0x” denotes a hexadecimal value. 0xA0 equals 160.
Message
Checksum
Two-bytes
(15-bits)
End
Sequence
0xB0,
0xB3
Transport
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 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) checksum. The values of the start and stop characters and the choice of a 15-bit value for length and checksum ensure message length and checksum 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. The checksum is a sum on the payload.
1-1
1
Payload Length
Payload Data
Checksum
The payload length is transmitted high order byte first followed by the low byte.
High Byte Low Byte
< 0x7F Any value
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. The SiRF receiving programs (e.g., SiRFdemo) may limit the actual size to something less than this maximum.
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 bigendian order.
The checksum is transmitted high order byte first followed by the low byte. This is the so-called big-endian order.
High Byte Low Byte
< 0x7F Any value
The checksum is 15-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
15
-1).
1-2
SiRF Binary Protocol Reference Manual—September 2004
Input Messages
2
The following chapter provides full information about available SiRF Binary input messages. For each message, a full definition and example is provided.
Table 2-1 lists the message list for the SiRF Binary input messages.
Table 2-1 SiRF Messages - Input Message List
92
93
94
95
96
97
Hex Decimal
35 53
Name Description
Advanced Power Management Power management scheme for SiRFLoc and
SiRFXTrac.
80 128 Initialize Data Source
81 129 Switch to NMEA Protocol
Receiver initialization and associated parameters
Enable NMEA messages, output rate and baud rate
82 130 Set Almanac (upload)
84 132 Poll Software Version
85 133 DGPS Source Control
Sends an existing almanac file to the receiver
Polls for the loaded software version
DGPS correction source and beacon receiver information
86
87
88
89
134 Set Main Serial Port
135 Switch Protocol
136 Mode Control
137 DOP Mask Control
8A 138 DGPS Mode
8B 139 Elevation Mask
8C 140 Power Mask
8D 141 Editing Residual
8E
8F
142 Steady-State Detection (Not
Used)
143 Static Navigation
90
91
144 Poll Clock Status
145 Set DGPS Serial Port
Baud rate, data bits, stop bits, and parity
Obsolete
Navigation mode configuration
DOP mask selection and parameters
DGPS mode selection and timeout value
Elevation tracking and navigation masks
Power tracking and navigation masks
Not implemented
Not implemented
Configuration for static operation
Polls the clock status
DGPS port baud rate, data bits, stop bits, and parity
146 Poll Almanac
147 Poll Ephemeris
148 Flash Update
149 Set Ephemeris (upload)
Polls for almanac data
Polls for ephemeris data
On the fly software update
Sends an existing ephemeris to the receiver
150 Switch Operating Mode Test mode selection, SV ID, and period.
151 Set TricklePower Parameters Push to fix mode, duty cycle, and on time
2-1
2
2-2
Table 2-1 SiRF Messages - Input Message List (Continued)
Hex Decimal
98
Name
152 Poll Navigation Parameters
A5 165 Set UART Configuration
A6 166 Set Message Rate
A7 167 Set Low Power Acquisition
Parameters
A8 168 Poll Command Parameters
Description
Polls for the current navigation parameters
Protocol selection, baud rate, data bits, stop bits, and parity
SiRF Binary message output rate
Low power configuration parameters
AA 170 Set SBAS Parameters
AC 172 SiRFDRive-specific Class of
Input Messages
B6 182 Set UART Configuration
E4 228 SiRF internal message
Poll for parameters:
0x80: Receiver initialized & associated params
0x85: DGPS source and beacon receiver info
0x88: Navigation mode configuration
0x89: DOP mask selection and parameters
0x8A: DGPS mode selection and timeout values
0x8B: Elevation tracking and navigation masks
0x8C: Power tracking and navigation masks
0x8F: Static navigation configuration
0x97: Low power parameters
SBAS configuration parameters
The MID is partitioned into messages identified
by Sub IDs. Refer to Table 2-2.
Obsolete
Reserved
Table 2-2 Sub IDs for SiRFDRive input MID 172 (0xAC)
6
7
4
5
2
3
Sub ID Message
1 Initialise GPS/DR Navigation
Set GPS/DR Navigation Mode
Set DR Gyro Factory Calibration
Set DR Sensors’ Parameters
Poll DR Validity (not implemented)
Poll DR Gyro Factory Calibration
Poll DR Sensors’ Parameters
As the SiRF Binary protocol is evolving standard along with continued development of
SiRF software and GPS solutions, not all SiRF Binary messages are supported by all
SiRF GPS solutions.
Table 2-3 identifies the supported input messages for each SiRF architecture.
Table 2-3 Supported Input Messages
Message ID
53
128
129
130
131
132
133
134
GSW2
No
Yes
Yes
Yes
No
Yes
Yes
Yes
SiRFDRive SiRFXTrac SiRFLoc
No Yes No
Yes No Yes
Yes
Yes
Yes
No
No
No
No No No
Yes
Yes
Yes
SiRF Software Options
Yes
No
Yes
Yes
No
Yes
GSW3
No
Yes
Yes
Yes
Yes
No
No
Yes
SiRF Binary Protocol Reference Manual—September 2004
2
GSW2
No
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
2.3 or above
No
No
No
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
No
No
No
Message ID
135
136
166
167
168
170
172
175
148
149
150
151
152
165
142
143
144
145
146
147
137
138
139
140
141
182
228
Table 2-3 Supported Input Messages (Continued)
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
No
No
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
No
SiRF Software Options
SiRFDRive SiRFXTrac SiRFLoc
No
Yes
Yes
Yes
No
Yes
Yes
Yes
No
Yes
Yes
Yes
No
Yes
Yes
No
Yes
No
Yes
Yes
No
No
Yes
Yes
No
Yes
Yes
Yes
No
Yes
No
No
Yes
No
Yes
No
Yes
Yes
Yes
Yes
No
No
Yes
Yes
No
Yes
Yes
Yes
No
Yes
No
No
No
No
No
No
No
No
No
No
GSW3
Yes
Yes
Yes
No
Yes
Yes
No
Yes
Yes
No
Yes
Yes
No
No
Yes
Yes
No
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
No
Yes (reserved)
Advanced Power Management - Message ID 53
Used to implement Advanced Power Management (APM). APM will not engage until all information is received.
Example:
The following example sets the receiver to operate in APM mode with 0 cycles before sleep (continuous operation), 20 seconds between fixes, 50 % duty cycle, a time between fixes priority, and no preference for accuracy.
A0A2000C—Start Sequence and Payload Length
3501001400030700000A0100—Payload
005FB0B3—Message Checksum and End Sequence
Input Messages 2-3
2
2-4
Table 2-4 Advanced Power Management Parameters
Name Bytes
Message ID 1
APM Enabled
1
Number Fixes
1
Binary (Hex)
Scale Example
35
01
00
Time Between
Fixes
Spare Byte 1
Maximum
Horizontal Error
1
1
1
Maximum
Vertical Error
Maximum
Response Time
1
1
Time Acc Priority 1
1
1
14
00
03
07
00
00
Units
Sec
Description
decimal 53
1=True, 0=False
Number of requested APM cycles.
Range 0-255
1
Requested time between fixes. Range 0-
255
2
Reserved
Maximum requested horizontal error (See ).
Maximum requested vertical error (See ).
Power Duty Cycle 1
Time Duty Cycle 1
Spare Byte 2 1
Payload length: 12 bytes
5 0A
01
00
Sec Maximum response time.
Not currently used.
0x00=No priority, 0x01=Response Time
Max has higher priority, 0x02=Horizontal
Error Max has higher priority. Not currently used.
% Power Duty Cycle, defined as the time in full power to total operation time. 1->20; duty cycle (%) is this value *5.
3
Time/Power Duty cycle priority. 0x01 = Time between two consecutive fixes has priority
0x02 = Power Duty cycle has higher priority.
Bits 2..7 reserved for expansion.
Reserved.
1. A value of zero indicates that continuous APM cycles is requested.
2. It is bound from 10 - 180 s.
3. If a duty-cycle of 0 is entered, it will be rejected as out of range. If a duty cycle value of 20 is entered, the APM module will be disabled and continuous power operation will resume.
Table 2-5 Horizontal/Vertical Error
Value
0x00
0x01
0x02
0x03
0x04
0x05
0x06
Position Error
< 1 meter
< 5 meter
< 10 meter
< 20 meter
< 40 meter
< 80 meter
< 160 meter
0x07 No Maximum
0x08 - 0xFF Reserved
SiRF Binary Protocol Reference Manual—September 2004
2
Initialize Data Source - Message ID 128
Table 2-6 contains the input values for the following example:
Command a Warm Start with the following initialization data: ECEF XYZ
(-2686727 m, -4304282 m, 3851642 m), Clock Offset (75,000 Hz), Time of Week
(86,400 sec), 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
Table 2-6 Initialize data source
Message ID
Name
ECEF X
ECEF Y
ECEF Z
Clock Offset
Time of Week
Week Number
Channels 1
Reset Configuration Bit Map. 1
Payload length: 25 bytes
4
2
4
4
4
4
Bytes
1
Binary (Hex)
Scale Example
80
Units Description
Decimal 128
FFD700F meters
FFBE5266 meters
003AC57A meters
000124F8 Hz
*100 0083D600 seconds
039C
0C
33
Range 1-12
Table 2-7 Reset Configuration Bit Map
Bit Description
0 Data valid flag -- 1=Use data in ECEF X, Y, Z, Clock Offset, Time of Week and Week number to initialize the receiver; 0=Ignore data fields.
1 Clear ephemeris from memory -- blocks Snap or Hot Start from occurring.
2 Clear all history (except clock drift) from memory -- blocks Snap, Hot, and Warm Starts.
3 Factory Reset -- clears all GPS memory including clock drift. Also clears almanac stored in flash memory.
4 Enable Nav Lib data (YES=1, NO=0).
1
5 Enable debug data (YES=1, NO=0).
6 Indicate that RTC is bad -- blocks Snap Start.
7 Clear user data in memory.
1. If Nav Lib data are enabled, then the resulting messages are enabled: Clock Status (MID 7), 50BPS (MID 8), Raw
DGPS (MID 17), NL Measurement Data (MID 28), DGPS Data (MID 29), SV State Data (MID 30), and NL Initialized
Data (MID 31). All messages are sent at 1 Hz. If SiRFdemo is used to enable Nav Lib data, the baud rate will be automatically set to 57600 by SiRFdemo.
Input Messages 2-5
2
Switch To NMEA Protocol - Message ID 129
Table 2-8 contains the input values for the following example:
Request the following NMEA data at 9600 baud:
GGA – ON at 1 sec, GLL – OFF, GSA - ON at 1sec,
GSV – ON at 5 sec, RMC – ON at 1sec, VTG-OFF, MSS – OFF, ZDA-OFF.
Example:
A0A20018—Start Sequence and Payload Length
810201010001010105010101000100010001000100012580—Payload
013AB0B3—Message Checksum and End Sequence
Table 2-8 Switch To NMEA Protocol
Name
Message ID
Mode
GGA Message
1
Checksum
2
GLL Message 1
Checksum
GSA Message 1
Checksum
1
1
Bytes Example Units
0x81
0x02
1
1
Decimal 129
Description
0x01 sec See NMEA Protocol Reference Manual for format.
0x01
Send checksum with GGA message
1
1
0x00 sec See NMEA Protocol Reference Manual for format.
0x01
0x01 sec See NMEA Protocol Reference Manual for format.
0x01
GSV Message 1
Checksum
RMC Message 1
Checksum
1
1
0x05
0x01 sec See NMEA Protocol Reference Manual for format.
0x01 sec See NMEA Protocol Reference Manual for format.
0x01
VTG Message 1
Checksum 1
MSS Message 1
0x00 sec See NMEA Protocol Reference Manual for format.
0x01
0x00 sec Output rate for MSS message
0x01
Checksum
Unused Field
3
Unused Field
3
1
1
1
0x00
0x00
ZDA Message 1
Checksum
Unused Field
3
Unused Field
3
Baud Rate
1
1
1
2
0x00
0x01
0x00
0x00
0x2580
Payload length: 24 bytes sec See NMEA Protocol Reference Manual for format.
38400, 19200, 9600, 4800, or 2400
1. A value of 0x00 implies NOT to send message, otherwise data is sent at 1 message every X seconds requested (e.g., to request a message to be sent every 5 seconds, request the message using a value of 0x05). Maximum rate is 1/255 sec.
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).
3. These fields are available if additional messages have been implemented in the NMEA protocol.
2-6
SiRF Binary Protocol Reference Manual—September 2004
2
Table 2-9 Mode Values
Value Meaning
0 Enable NMEA debug messages
1
Disable NMEA debug messages
2 Do not change last-set value for NMEA debug messages
In TricklePower 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 TricklePower update rate and the NMEA update rate (e.g., TricklePower update rate = 2 seconds, NMEA update rate = 5 seconds, resulting update rate is every
10 seconds, (2 X 5 = 10)).
Note – To switch back to the SiRF Binary protocol, you must send a SiRF NMEA message to revert to SiRF binary mode. (See SiRF NMEA Reference Manual for more information).
Set Almanac - Message ID 130
This command enables the user to upload an almanac file to the receiver.
Example:
A0A20380 – Start Sequence and Payload Length
82xx…………………. – Payload xxxxB0B3 – Message Checksum and End Sequence
Table 2-10 Set Almanac Message
Name Bytes
Message ID 1
Almanac 896
Binary (Hex)
Scale Example
Payload length: 897 bytes
82
00
Units Description
Decimal 130
Reserved
The almanac data is stored in the code as a 448-element array of INT16 values. These elements are partitioned as a 32 x 14 two-dimensional array where the row represents the satellite ID minus 1 and the column 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-200 document.
The ICD-GPS-200 document describes the data format of each GPS navigation subframe and is available on the web at http://www.arinc.com/gps
Input Messages 2-7
2
Handle Formatted Dump Data - Message ID 131
This command causes data to bbe output in a formatted manner. It is designed to handle complex data type up to an array of structures.
Table 2-11 contains the input values for the example below.
This example shows how to output an array of elements, where each elelemt is a structure that looks like this:
Typedef structure // structure size = 9 bytes
{
UINT8 Element 1
UINT16 Element 2
UINT8 Element 3
UINT8 Element 4
UINT32 Element 5
} tmy_struct tmy_struc my_struct [3]
2-8
Example:
A0A2002F—Start Sequence and Payload Length
833
1E5151B81A
—Payload
1F19B0B3—Message Checksum and End Sequence
Table 2-11 Set Send Command String Parameters
Name
Message ID 1
Elements 1
Data address 4
Members
Member sizes
Header
Format
1
Bytes
Elements string length
+ 1 string length
+ 1
Trailer string length
+ 1
Payload length: Variable
3
Binary (Hex)
83
Example Units Description
decimal 131
Number of elements in array to dump
(minimum 1)
0x60xx xxxx
5
Address of the data to be dumped
Number of items in the structure to be dumped
01 02 01 01 04 Bytes List of element sizes in the structure. See
Table 2-12 for definition of member sizes
(total of 5 for this example)
“Hello”0
“%2d %2d %2d
%2d %10.1lf”0
0
String to print out before data dump (total of 8 bytes in this example)
Format string for one line of output (total of 26 bytes in this example) with 0 termination.
(not used)
SiRF Binary Protocol Reference Manual—September 2004
Table 2-12 defines the the values associated with the membersize data type.
Table 2-12 Member Sizes Data Type
Data Type
char, INT8, UINT8 short int, INT16, UINT16, SINT16, BOOL16 long int, float, INT32, UINT32, SINT32, BOOL32,
FLOAT32 long long, double INT64, DOUBLE64
Value for member size
(bytes)
1
2
4
8
2
Poll Software Version - Message ID 132
Table 2-13 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 2-13 Software Version
Name
Message ID
Control
Payload length: 2 bytes
1
1
Bytes
Binary (Hex)
Scale Example
84
00
Units Description
Decimal 132
Not used
DGPS Source - Message ID 133
This command allows the user to select the source for DGPS corrections. Options available are:
External RTCM Data (any serial port)
SBAS (subject to SBAS satellite availability)
Internal DGPS beacon receiver
Example 1: Set the DGPS source to External RTCM Data
A0A200007—Start Sequence and Payload Length
85020000000000—Payload
Input Messages 2-9
2
0087B0B3—Checksum and End Sequence
Table 2-14 DGPS Source Selection (Example 1)
Name
Message ID
DGPS Source
Internal Beacon Frequency 4
Internal Beacon Bit Rate 1
Payload length: 7 bytes
Bytes Scale Hex
1 85
1 00
00000000 Hz
0
Units Decimal Description
133
0
0
BPS 0
Message Identification
Example 2: Set the DGPS source to Internal DGPS Beacon Receiver
Search Frequency 310000, Bit Rate 200
A0A200007—Start Sequence and Payload Length
85030004BAF0C802—Payload
02FEB0B3—Checksum and End Sequence
2-10
SiRF Binary Protocol Reference Manual—September 2004
2
Table 2-15 DGPS Source Selection (Example 2)
Name
Message I.D.
DGPS Source 1
Internal Beacon Frequency 4
Bytes Scale Hex
1 85
03
Units Decimal Description
133
3
Message Identification.
0004BAF0 Hz
Internal Beacon Bit Rate 1
Payload length: 7 bytes
C8 BPS 200
Table 2-16 DGPS Source Selections
DGPS Source
None
SBAS
External RTCM Data
Hex Decimal Description
00 0 DGPS corrections are not used (even if available).
01 1
02 2
Internal DGPS Beacon Receiver 03
User Software 04
3
4
Uses SBAS Satellite (subject to availability).
External RTCM input source (i.e., Coast
Guard Beacon).
Internal DGPS beacon receiver.
Corrections provided using a module interface routine in a custom user application.
Table 2-17 Internal Beacon Search Settings
Search Type
Auto Scan
Frequency
1
Bit Rate
2
Description
0
Full Frequency scan 0
0 Auto scanning of all frequencies and bit rates are performed.
Non-zero Auto scanning of all frequencies and specified bit rate are performed.
Full Bit Rate Scan Non-zero
Specific Search Non-zero
0 Auto scanning of all bit rates and specified frequency are performed.
Non-zero 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 Serial Port - Message ID 134
Table 2-18 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
Input Messages 2-11
2
Table 2-18 Set Main Serial Port
Name Bytes
Message ID 1
Baud 4
Binary (Hex)
Scale Example
86
00002580
Units
Data Bits 1
Stop Bit
Parity
1
1
08
01
00
Pad 1
Payload length: 9 bytes
00
Description
Decimal 134
115.2k, 57.6k, 38.4k, 19.2k, 9600, 4800, 2400,
1200
8
1=1 Stop Bit
None=0, Odd=1, Even=2
Reserved
Switch Protocol - Message ID 135
This message is obsolete and is no longer used or supported.
Mode Control - Message ID 136
Table 2-19 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
8800000100000000000000050201—Payload
0091B0B3—Message Checksum and End Sequence
Table 2-19 Mode Control
TBD
TBD
Name
Message ID
Degraded Mode
Altitude
Alt Hold Mode
Alt Hold Source
TBD
DR Time Out
Track Smoothing
2
2
2
1
Bytes
1
Binary (Hex)
Scale Example
88
0000
01
0000
0000
1
1
1
Degraded Time Out 1
1
1
Payload length: 14 bytes
00
00
00
05
02
01
Units
Decimal 136
Reserved
Reserved
Description
meters User specified altitude, range -1,000 to
+10,000
0=Use last computed altitude, 1=Use user-input altitude
Reserved seconds 0=disable degraded mode, 1-120 seconds degraded mode time limit seconds 0=disable dead reckoning, 1-120 seconds dead reckoning mode time limit
0=disable, 1=enable
2-12
SiRF Binary Protocol Reference Manual—September 2004
2
Table 2-20 Degraded Mode
Byte Value
0
1
2
3
4
Description
Allow 1 SV navigation, freeze direction for 2 SV fix, then freeze clock drift for 1
SV fix
Allow 1 SV navigation, freeze clock drift for 2 SV fix, then freeze direction for 1
SV fix
Allow 2 SV navigation, freeze direction
Allow 2 SV navigation, freeze clock drift
Do not allow Degraded Modes (2 SV and 1 SV navigation)
Table 2-21 Altitude Hold Mode
Byte Value
0
1
2
Description
Automatically determine best available altitude to use
Always use input altitude
Do not use altitude hold
DOP Mask Control - Message ID 137
Table 2-22 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 2-22 DOP Mask Control
Name Bytes
Message ID 1
DOP Selection 1
GDOP Value
PDOP Value
1
1
HDOP Value 1
Payload length: 5 bytes
Binary (Hex)
Scale Example
89
00
08
08
08
Units Description
Decimal 137
Range 1 to 50
Range 1 to 50
Range 1 to 50
Table 2-23 DOP Selection
Byte Value
0
1
2
3
4
Description
Auto: PDOP for 3-D fix; HDOP for 2-D fix
PDOP
HDOP
GDOP
Do Not Use
Input Messages 2-13
2
DGPS Control - Message ID 138
Table 2-24 contains the input values for the following example:
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 2-24 DGPS Control
Name Bytes
Message ID 1
DGPS Selection 1
DGPS Time Out: 1
Payload length: 3 bytes
Binary (Hex)
Scale Example
8A
01
1E
Units Description
Decimal 138
seconds Range 0 to 255
Table 2-25 DGPS Selection
Byte Value
0
1
2
Description
Auto = use corrections when available
Exclusive = include into navigation solution only SVs with corrections
Never Use = ignore corrections
Note – DGPS Timeout interpretation varies with DGPS correction source. For internal beacon receiver or RTCM SC-104 external source, a value of 0 means infinite timeout
(use corrections until another one is available). A value of 1-255 means use the corrections for a maximum of this many seconds. For DGPS corrections from an
SBAS source, the timeout value is ignored unless Message ID 170, Flag bit 0 is set to
1 (User Timeout). If MID 170 specifies User Timeout, a value of 1 to 255 here means that SBAS corrections may be used for the number of seconds specified. A value of 0 means to use the timeout specified in the SBAS satellite message (usually 18 seconds).
Elevation Mask - Message ID 139
Table 2-26 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
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SiRF Binary Protocol Reference Manual—September 2004
2
Table 2-26 Elevation Mask
Name
Message ID
Tracking Mask
Bytes
1
2
Navigation Mask 2
Payload length: 5 bytes
Binary (Hex)
Scale Example
8B
*10 0032
*10 009B
Units Description
Decimal 139 degrees Not implemented degrees Range -20.0 to 90.0
Note – Satellite with elevation angle relative to the local horizon that is below the specified navigation mask angle will not be used in the navigation solution.
Power Mask - Message ID 140
Table 2-27 contains the input values for the following example:
Navigation mask to 33 dB-Hz (tracking default value of 28)
Example:
A0A20003—Start Sequence and Payload Length
8C1C21—Payload
00C9B0B3—Message Checksum and End Sequence
Table 2-27 Power Mask
Name
Message ID
Tracking Mask 1
Navigation Mask 1
Bytes
1
Payload length: 3 bytes
Binary (Hex)
Scale Example
8C
1C
21
Units Description
Decimal 140 dBHz Not implemented dBHz Range 20 to 50
Note – Satellite with received signal strength below the specified navigation mask signal level will not used in the navigation solution.
Editing Residual - Message ID 141
This message has not been implemented.
Steady State Detection - Message ID 142
This message has not been implemented.
Input Messages 2-15
2
Static Navigation - Message ID 143
This command allows the user to enable or disable static navigation to the receiver.
Example:
A0A20002 – Start Sequence and Payload Length
8F01 – Payload
0090B0B3 – Message Checksum and End Sequence
Table 2-28 Static Navigation
Name Bytes
Message ID 1
Static Navigation Flag 1
Payload length: 2 bytes
Binary (Hex)
Scale Example
8F
01
Units Description
Decimal 143
1 = enable; 0 = disable
Note – Static navigation is a postion filter designed to be used with motor vehicles.
When the vehicle’s velocity falls below a threshold, the position and heading are frozen, and velocity is set to zero. This condition will continue until the computed velocity rises above 1.2 times the threshold or until the computed position is at least a set distance from the frozen place. The threshold velocity and set distance may vary with software versions.
Poll Clock Status - Message ID 144
Table 2-29 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 2-29 Clock Status
Name Bytes
Message ID 1
Control 1
Binary (Hex)
Scale Example
Payload length: 2 bytes
90
00
Units Description
Decimal 144
Not used
Note – Returned message will be MID 7. See “Response: Clock Status Data - Message
2-16
SiRF Binary Protocol Reference Manual—September 2004
2
Set DGPS Serial Port - Message ID 145
Table 2-30 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
Table 2-30 Set DGPS Serial Port
Name Bytes
Message ID 1
Baud 4
Data Bits 1
Stop Bit
Parity
1
1
Binary (Hex)
Scale Example
91
00002580
08
01
00
Pad 1
Payload length: 9 bytes
00
Units Description
Decimal 145
57.6k, 38.4k, 19.2k, 9600, 4800, 2400, 1200
8,7
0,1
None=0, Odd=1, Even=2
Reserved
Note – Setting the DGPS serial port using MID 145 will affect Com B only regardless of the port being used to communicate with the Evaluation Receiver.
Poll Almanac - Message ID 146
Table 2-31 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 2-31 Almanac
Name Bytes
Binary (Hex)
Scale Example
Message ID 1
Control 1
Payload length: 2 bytes
92
00
Units Description
Decimal 146
Not used
Note – Returned message will be MID 14. See “Almanac Data - Message ID 14” on page 3-22.
Input Messages 2-17
2
Poll Ephemeris - Message ID 147
Table 2-32 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
Table 2-32 Ephemeris
Name
Message ID
Sv ID
1
Control
1
1
1
Bytes
Payload length: 3 bytes
Binary (Hex)
Scale
93
00
00
Example Units Description
Decimal 147
Range 0 to 32
Not used
1. A value of zero requests all available ephemeris records. This will result in a maximum of twelve output messages. A value of 1 - 32 will request only the ephemeris of that SV.
Note – Returned message will be MID 15. See “Ephemeris Data (Response to Poll) –
Flash Update - Message ID 148
This command allows the user to command the 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 2-33 Flash Update
Binary (Hex)
Name Bytes
Message ID 1
Scale Example
Payload length: 1 bytes
94
Units Description
Decimal 148
2-18
SiRF Binary Protocol Reference Manual—September 2004
2
Set Ephemeris - Message ID 149
This command enables the user to upload an ephemeris file to the receiver.
Example:
A0A2005B – Start Sequence and Payload Length
95…………………. – Payload xxxxB0B3 – Message Checksum and End Sequence
Table 2-34 Ephemeris
Name Bytes
Message ID 1
Ephemeris Data 90
Payload length: 91 bytes
Binary (Hex)
Scale Example
95
00
Units Description
Decimal 149
Reserved
The ephemeris data for each satellite is stored as a two dimensional array of [3][15]
UNIT16 elements. The row represents three separate sub-frames. See MID 15
(“Ephemeris Data (Response to Poll) – Message ID 15” on page 3-23) for a detailed
description of this data format. See
Switch Operating Modes - Message ID 150
This command sets the receiver into either production test or normal operating mode.
Table 2-35 contains the input values for the following example:
Sets the receiver to track SV ID 6 on all channels and to collect test mode performance statistics for 30 seconds.
Example:
A0A20007—Start Sequence and Payload Length
961E510006001E—Payload
0129B0B3—Message Checksum and End Sequence
Table 2-35 Switch Operating Modes
Name Bytes
Message ID 1
Mode 2
Binary (Hex)
Scale Example
96
1E51
SvID
Period
2
2
Payload length: 7 bytes
0006
001E
Units Description
Decimal 150
0=normal, 1E51=Testmode1, 1E52=Testmode2,
1E53=Testmode3, 1E54=Testmode4
Satellite to Track seconds Duration of Track
Input Messages 2-19
2
Set TricklePower Parameters - Message ID 151
Table 2-36 contains the input values for the following example:
Sets the receiver into low power modes.
Example: Set receiver into TricklePower at 1 Hz update and 200 ms on-time.
A0A20009—Start Sequence and Payload Length
97000000C8000000C8—Payload
0227B0B3—Message Checksum and End Sequence
Table 2-36 Set Trickle Power Parameters
Name Bytes
Message ID 1
Push-to-Fix Mode 2
Duty Cycle 2
On-Time
1
4
Payload length: 9 bytes
Binary (Hex)
Scale Example Units Description
97
0000
Decimal 151
ON = 1, OFF = 0
*10 00C8 % % Time ON. A duty cycle of 1000 (100%) means continuous operation.
000000C8 msec range 200 - 900 msec
1. On-time of 700, 800, or 900 ms is invalid if an 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 msec). To calculate the TricklePower update rate as a function of Duty Cycle and On Time, use the following formula:
Update Rate = On-Time (in sec)
Duty Cycle
Note – It is not possible to enter an on-time > 900 msec.
Following are some examples of selections:
Table 2-37 Example of Selections for TricklePower Mode of Operation
Mode
Continuous
1
TricklePower
TricklePower
TricklePower
TricklePower
On Time (ms) Duty Cycle (%) Interval Between Updates (sec)
1000
200
100
20
1
1
200
300
500
10
10
5
2
3
10
1. Continuous duty cycle is activated by setting Duty Cycle to 0 or 100 %.
2-20
SiRF Binary Protocol Reference Manual—September 2004
2
Table 2-38 Duty Cycles for Supported TricklePower Settings
On-Time (ms)
200
300
400
500
600
700
800
900
1
*
*
*
2
200 100
300 150
400 200
500 250
600 300
350
400
450
3
67
100
4
50
75
Update Rates (sec)
5
40
60
133 100 80
167 125 100
200 150 120
233 175 140
267 200 160
300 225 180
6
33
50
67
83
100
117
133
150
7
29
43
100
114
129
57
71
86
50
62
75
8
25
37
9
22
33
44
56
67
88
100
78
89
112 100
40
50
60
70
80
90
10
20
30
Note – Values are in % times 10 as needed for the duty cycle field. For 1 second update rate, on-times greater than 600 ms are not allowed.
Push-to-Fix
In this mode the receiver will turn on every cycle period to perform a system update consisting of an 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 Snap
Start in the event of an NMI (Non-Maskable Interrupt). Ephemeris collection time in general takes 18 to 36 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. Push-to-Fix cycle period is set using message MID 167.
Poll Navigation Parameters - Message ID 152
Table 2-39 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
Input Messages 2-21
2
Table 2-39 Poll Receiver for Navigation Parameters
Name Bytes
Message ID 1
Reserved 1
Binary (Hex)
Scale Example
Payload length: 2 bytes
98
00
Units Description
Decimal 152
Reserved
Note – Returned message will be MID 19. See “Navigation Parameters (Response to
Poll) - Message ID 19” on page 3-26.
Set UART Configuration - Message ID 165
Table 2-40 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
A50001010000258008010000000100000000E1000801000000FF050500000000000
0000000FF0505000000000000000000—Payload
0452B0B3—Message Checksum and End Sequence
Name
Message ID
Port
1
In Protocol
2
Out Protocol
Baud Rate
3
Data Bits
4
Stop Bits
5
Parity
6
Reserved
Reserved
Port
In Protocol
Out Protocol
Baud Rate
Data Bits
Stop Bits
Parity
Reserved
Reserved
Port
Table 2-40 Set UART Configuration
1
1
1
1
1
1
1
1
1
4
1
1
Bytes
1
1
1
1
1
4
1
1
Binary (Hex)
Scale Example
A5
00
01
01
00002580
08
01
00
00
00
01
00
00
00
00
00
FF
0000E100
08
01
Units Description
Decimal 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
2-22
SiRF Binary Protocol Reference Manual—September 2004
2
Table 2-40 Set UART Configuration (Continued)
Parity
Name
In Protocol
Out Protocol
Baud Rate
Data Bits
Stop Bits
Reserved
Reserved
Bytes
1
1
4
1
1
1
1
1
Port
In Protocol
Out Protocol
Baud Rate
Data Bits
Stop Bits
Parity
Reserved
1
1
1
4
1
1
1
1
Reserved 1
Payload length: 49 bytes
Binary (Hex)
Scale Example
00
00
00
05
05
00000000
00
00
00
00
00
FF
05
05
00000000
00
00
Units Description
For UART 2
For UART 2
For UART 2
For UART 2
For UART 2
For UART 2
For UART 2
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. 0xFF means to ignore this port; otherwise, put the port number in this field (e.g., 0 or 1).
2. 0 = SiRF Binary, 1 = NMEA, 2 = ASCII, 3 = RTCM, 4 = User1, 5 = No Protocol.
3. Valid values are 1200, 2400, 4800, 9600, 19200, 38400, and 57600.
4. Valid values are 7 and 8.
5. Valid values are 1 and 2.
6. 0 = None, 1 = Odd, 2 = Even.
Note – While this message supports four UARTs, the specific baseband chip in use may contain fewer.
Set Message Rate - Message ID 166
Table 2-41 contains the input values for the following example:
Set MID 2 to output every 5 seconds starting immediately.
Example:
A0A20008—Start Sequence and Payload Length
A600020500000000—Payload
00ADB0B3—Message Checksum and End Sequence
Input Messages 2-23
2
Table 2-41 Set Message Rate
Name
Message ID
Send Now
1
MID to be set
Update Rate
2
Reserved
Reserved
Reserved
Reserved
1
1
1
Payload Length: 8 bytes
1
1
1
Bytes
1
1
Binary (Hex)
Scale Example
A6
00
02
05
00
00
00
00
Units Description
decimal 166
Poll message; 0 = No, 1 = Yes sec Range = 0 - 30
Not used, set to zero
No used, set to zero
Not used, set to zero
Not used, set to zero
1. 0 = No, set update rate; 1 = Yes, poll message now and ignore update rate.
2. A value of 0 means to stop sending the message. A value in the range of 1 - 30 specifies the cycle period.
Set Low Power Acquisition Parameters - Message ID 167
Table 2-42 contains the input values for the following example:
Set maximum time for sleep mode and maximum satellite search time to default values. Also set Push-to-Fix cycle time to 60 seconds and disable Adaptive
TricklePower.
Example:
A0A2000F—Start Sequence and Payload Length
A7000075300001D4C00000003C0000—Payload
031DB0B3—Message Checksum and End Sequence
Table 2-42 Set Low Power Acquisition Parameters
Name
Message ID
Max Off Time
Max Search Time
Push-to-Fix Period 4
Adaptive TricklePower 2
Bytes
1
4
4
Binary (Hex)
Scale Example Units Description
A7 decimal 167
00007530 msec Maximum time for sleep mode.
Default value: 30 seconds.
0001D4C0 msec Max. satellite search time. Default value: 120 seconds.
0000003C sec Push-to-Fix cycle period
0001 To enable Adaptive TricklePower
0 = off; 1 = on
Payload length: 15 bytes
Poll Command Parameters - Message ID 168
This command queries the receiver to send specific response messages for one of the following messages: 0x80, 0x85, 0x88, 0x89, 0x8A, 0x8B, 0x8C, 0x8F, 0x97 and
0xAA (see Table 2-1 message ID 168).
Table 2-43 contains the input values for the following example:
2-24
SiRF Binary Protocol Reference Manual—September 2004
2
Query the receiver for current settings of low power parameters set by MID 0x97.
Example:
A0A20002–Start Sequence and Payload Length
A897-Payload
013FB0B3-Message Checksum and End Sequence
Table 2-43 Poll Command Parameters
Name Bytes
Message ID 1
Poll Msg ID 1
Payload length: 2 bytes
Binary (Hex)
Scale Example
A8
97
Units Description
Decimal 168
Requesting Msg ID 0x97
1
1. Valid message IDs are 0x80, 0x85, 0x88, 0x89, 0x8A, 0x8B, 0x8C, 0x8F, 0x97, and 0xAA.
Set SBAS Parameters - Message ID 170
This command allows the user to set the SBAS parameters.
Table 2-44 contains the input values for the following example:
Set automatic SBAS search and testing operating mode.
Example:
A0A20006—Start Sequence and Payload Length
AA0000010000—Payload
01B8B0B3—Message Checksum and End Sequence
Table 2-44 Set SBAS Parameters
Name Bytes
Message ID 1
SBAS PRN 1
Binary (Hex)
Scale Example
AA
00
SBAS Mode 1
Flag Bits
1
1
00
01
Units Description
decimal 170
0=Auto mode
PRN 120-138= Exclusive
0=Testing, 1=Integrity
Integrity mode will reject SBAS corrections if the
SBAS satellite is transmitting in a test mode.
Testing mode will accept/use SBAS corrections even if satellite is transmitting in a test mode.
Bit 0: Timeout; 0=Default 1=User
Bit 1: Health; Reserved
Bit 2: Correction; Reserved
Bit 3: SBAS PRN; 0=Default 1=User
Spare 2
Payload length: 6 bytes
0000
1. If Bit 0 = 1, user-specified timeout from message ID 138 is used. If Bit 0 = 0, timeout specified by the SBAS satellite will be used (this is usually 18 seconds). If Bit 3 = 1, the SBAS PRN specified in the SBAS PRN field will be used. If Bit 3 = 0, the system will search for any SBAS PRN.
Input Messages 2-25
2
Initialise GPS/DR Navigation - Message ID 172 (Sub ID 1)
Set the navigation initialisation parameters and command a software reset based on those parameters.
Name
MID
Sub ID
Latitude
Longitude
Altitude (ellipsoid)
True heading
Clock drift
GPS time of week
GPS week number
Channel count
Reset configuration bits
1
1
1
4
2
2
4
4
4
1
4
Bytes Scale Units Description
1 =0xAC deg
=0x01 for Warm Start with user input deg m for Warm Start with user input for Warm Start with user input deg for Warm Start with user input
Hz for Warm Start with user input
100 sec for Warm Start with user input for Warm Start with user input for Warm Start with user input
Bit 0: use initial data provided in this message for start-up.
Bit 1: clear ephemeris in memory.
Bit 2: clear all memory.
Bit 3: perform Factory Reset.
Bit 4: enable SiRF Binary output messages for raw track data, navigation library, 50-bps info,
RTCM data, clock status, and DR status.
Bit 5: enable debug output messages.
Bit 6: Reserved.
Bit 7: Reserved.
Payload length: 28 bytes
1. Bits 0 - 3 determine the reset mode: 0000=Hot; 0010=Warm; 0011=Warm with user input; 0100=Cold; 1000=Factory.
Set GPS/DR Navigation Mode - Message ID 172 (Sub ID 2)
Set the GPS/DR navigation mode control parameters.
Name
MID
Sub ID
Mode
Reserved
Bytes Description
1
1
1
=AC
=0x02
Bit 0 : GPS-only navigation.
Bit 1 : DR nav acceptable with stored/default calibration.
Bit 2 : DR nav acceptable with current GPS calibration.
Bit 3 : DR-only navigation.
1
2-26
SiRF Binary Protocol Reference Manual—September 2004
Set DR Gyro Factory Calibration - Message ID 172 (Sub ID 3)
Set DR gyro’s factory calibration parameters.
Name
MID
Sub ID
Calibration
Reserved
Payload length: 4 bytes
1
Bytes Scale Units Description
1
1
1
=0xAC
=0x03
Bit 0 : Start gyro bias calibration.
Bit 1 : Start gyro scale factor calibration.
Bits 2 - 7 : Reserved.
Set DR Sensors’ Parameters - Message ID 172 (Sub ID 4)
Set DR sensors’ parameters.
Name
MID
Sub ID 1
Base speed scale factor 1
Bytes Scale Units
1 ticks/m
Base gyro bias 2
Base gyro scale factor 2
10
4
10
3 mV mV/deg/s
Description
=0xAC
=0x04
Payload length: 7 bytes
Poll DR Gyro Factory Calibration - Message ID 172 (Sub ID 6)
Poll the DR gyro’s factory calibration status.
Name
MID
Sub ID
Payload length: 2 bytes
Bytes Description
1 =AC
1 =0x06
Poll DR Sensors’ Parameters - Message ID 172 (Sub ID 7)
Poll the DR sensors’ parameters.
Name
MID
Sub ID
Payload length: 2 bytes
Bytes Description
1 =AC
1 =0x07
2
Input Messages 2-27
2
Reserved - Message ID 228
This input message is SiRF proprietary.
2-28
SiRF Binary Protocol Reference Manual—September 2004
Output Messages
3
The following chapter provides full information about available SiRF Binary output messages. For each message, a full definition and example is provided.
Table 3-1 SiRF Binary Messages - Output Message List
1E
1F
29
2D
2E
30
13
14
1C
1D
0F
10
11
12
0B
0C
0D
0E
07
08
09
0A
Hex Decimal
01
02
1
2
03
04
05
06
3
4
5
6
Reference Navigation Data
Measured Navigation Data
True Tracker Data
Measured Tracking Data
Raw Track Data
SW Version
Name
7
8
Clock Status
50 BPS Subframe Data
9 Throughput
10 Error ID
11 Command Acknowledgment
12 Command NAcknowledgment
13 Visible List
14 Almanac Data
32
34
15
16
17
18
19
20
28
29
30
31
41
45
46
Ephemeris Data
Test Mode 1
Differential Corrections
OkToSend
Navigation Parameters
Test Mode 2/3/4
Nav. Lib. Measurement Data
Nav. Lib. DGPS Data
Nav. Lib. SV State Data
Nav. Lib. Initialization Data
Geodetic Navigation Data
Raw DR Data
Test Mode 3
48 SiRFDRive-specific Class of Output
Messages
50 SBAS Parameters
52 PPS Time Message
Description
Not Implemented
Position, velocity, and time
Not Implemented
Satellite and C/No information
Not supported by SiRFstarII
Receiver software
Current clock status
Standard ICD format
Navigation complete data
Error coding for message failure
Successful request
Unsuccessful request
Auto Output
Response to poll
Response to poll
For use with SiRFtest (Test Mode 1)
Received from DGPS broadcast
CPU ON / OFF (TricklePower)
Response to Poll
Test Mode 2, 3, or 4 test data
Measurement data
Differential GPS data
Satellite state data
Initialization data
Geodetic navigation information
Raw DR data from ADC
Additional test data (Test Mode 3)
The MID is partitioned into messages
identified by Sub IDs. Refer to Table 3-2.
SBAS operating parameters
Time message for PPS
3-1
3
3-2
Table 3-1 SiRF Binary Messages - Output Message List (Continued)
Hex Decimal
E1
FF
Name
225 SiRF internal message
255 Development Data
Description
Reserved
Various status messages
Table 3-2 Sub IDs for SiRFDRive output MID 48 (0x30)
4
5
6
7
8
Sub ID Message
1
2
3
DR Navigation Status
DR Navigation State
Navigation Subsystem
Raw DR Data
DR Validity (not implemented)
DR Gyro Factory Calibration
DR Sensors’ Parameters
DR Data Block
As the SiRF Binary protocol is evolving along with continued development of SiRF software and GPS solutions, not all SiRF Binary messages are supported by all SiRF
GPS solutions.
Table 3-3 identifies the supported output messages for each SiRF architecture.
Table 3-3 Supported output messages
19
20
28
29
15
16
17
18
30
31
41
Message ID
1
2
5
6
3
4
11
12
13
14
9
10
7
8
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
GSW2
Yes
Yes
No
Yes
No
Yes
SiRF Software Options
SiRFDRive SiRFXTrac SiRFLoc
Yes
Yes
No
Yes
No
Yes
No
Yes
No
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
No
Yes
No
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
No
Yes
No
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
No
No
Yes
Yes
No
No
Yes
Yes Yes Yes Yes
Test Mode 2 only Test Mode 2 only Test Mode 2/3/4 Test Mode 2/3/4
Yes
Yes
Yes
Yes
2.3 or above
Yes
Yes
Yes
Yes
Yes
No
No
No
No
2.0 or above
No
No
No
No
No
Yes
No
Yes
No
Yes
No
No
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
GSW3
No
Yes
No
Yes
No
Yes
SiRF Binary Protocol Reference Manual—September 2004
3
Table 3-3 Supported output messages (Continued)
Message ID
43
45
46
48
50
52
55
GSW2
No
No
Yes
No
2.3 or above
2.3.2 or above
No
SiRF Software Options
SiRFDRive SiRFXTrac SiRFLoc
No No No
Yes
Yes
Yes
Yes
No
No
No
No
No
No
No
No
No
No
No
No
No
No
225
255
No
Yes
No
Yes
No
Yes
No
Yes
GSW3
Yes
No
Test Mode 3/4
No
No
No
Yes
(reserved)
Yes
(reserved)
Yes
Reference Navigation Data - Message ID 1
This message is defined as Reference Navigation data but has not been implemented.
Measure Navigation Data Out - Message ID 2
Output Rate: 1 Hz
Table 3-4 lists the message data format for the measured navigation data.
Example:
A0A20029—Start Sequence and Payload Length
02
FFD6F78CFFBE536E003AC004000000030001040A00036B039780E3
0612190E160F04000000000000
—Payload
09BBB0B3—Message Checksum and End Sequence
Table 3-4 Measured Navigation Data Out - Message Data Format
Name
Message ID
X-position
Y-position
Z-position
X-velocity
Y-velocity
Z-velocity
Mode 1
HDOP
2
Mode 2
GPS Week
4
GPS TOW
SVs in Fix
CH 1 PRN
5
2
4
1
1
1
1
2
1
2
2
4
4
1
4
Bytes
*8
*8
*8
Binary (Hex)
Scale Example
02
FFD6F78C
FFBE536E
003AC004
0000
0003
*5
0001
04
0A
00
*100
036B
039780E3
06
12 m m m
Units
m/sec m/sec m/sec
Bitmap
1
Bitmap seconds
3
ASCII (Decimal)
Scale Example
2
-2689140
-4304018
3850244
Vx
÷8
0
Vy
÷8
0.375
Vz
÷8
0.125
4
÷5
20
0
÷100
875
602605.79
6
18
Output Messages 3-3
3
3-4
Table 3-4 Measured Navigation Data Out - Message Data Format (Continued)
Name
CH 2 PRN
5
CH 3 PRN
5
CH 4 PRN
5
CH 5 PRN
5
CH 6 PRN
5
CH 7 PRN
5
CH 8 PRN
5
CH 9 PRN
5
CH 10 PRN
5
CH 11 PRN
5
CH 12 PRN
5
1
1
1
1
1
1
1
1
1
1
1
Bytes
Payload length: 41 bytes
Binary (Hex)
Scale
19
0E
16
0F
04
00
00
00
00
00
00
Example
1. For further information, go to Table 3-5.
2. HDOP value reported has a maximum value of 50.
3. For further information, go to Table 3-6.
4. GPS week reports only the ten LSBs of the actual week number.
5. PRN values are reported only for satellites used in the navigation solution.
Units
ASCII (Decimal)
Scale Example
25
14
22
15
4
0
0
0
0
0
0
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 3-5 Mode 1
Bit 7
Bit(s) Name DGPS
6
DOP-Mask
5 4
ALTMODE
3
TPMODE
2 1
PMODE
Bit(s) Name Name
PMODE Position mode
TPMODE TricklePower mode 0
ALTMODE Altitude mode
1
0
3
DOPMASK DOP mask status 0
DGPS DGPS status
5
6
3
4
7
1
2
Value Description
0 No navigation solution
1-SV solution (Kalman filter)
2-SV solution (Kalman filter)
3-SV solution (Kalman filter)
> 3-SV solution (Kalman filter)
2-D point solution (least squares)
3-D point solution (least squares)
Dead-Reckoning
1
solution (no satellites)
Full power position
1
2
1
0
1
TricklePower position
No altitude hold applied
Holding of altitude from KF
Holding of altitude from user input
Always hold altitude (from user input)
DOP mask not exceeded
DOP mask exceeded
No differential corrections applied
Differential corrections applied
0
SiRF Binary Protocol Reference Manual—September 2004
3
1. Format???
In standard software, Dead Rechoning solution is computed by taking the last valid position and velocity and projecting the position using the velocity and elapsed time.
Note – Mode 1 of Message I.D. 2 is a bit-mapped byte with five sub-values in it. The first table above shows the location of the sub-values while the table directly above shows the interpretation of each sub-value.
Output Messages 3-5
3
Table 3-6 Mode 2
Bit
0
1
2
3
4
5
7,6
Description
1 = sensor DR in use
0 = velocity DR if PMODE sub-value in Mode 1 = 7;
else check Bits 6 and 7 for DR error status
If set, solution is validated (5 or more SVs used)
1
If set, velocity DR timeout
If set, solution edited by UI (e.g., DOP Mask exceeded)
If set, velocity is invalid
Altitude hold mode:
0 = enabled
1 = disabled (3-D fixes only)
Sensor DR error status:
00 = GPS-only navigation
01 = DR in calibration
10 = DR sensor errors
11 = DR in test mode
1. From an unvalidated state, a 5-SV fix must be achieved to become a validated position. If the receiver continues to navigate in a degraded mode (less than 4 SVs), the validated status will remain. If navigation is lost completely, an unvalidated statuswill result.
Note – Mode 2 of MID 2 is used to define the Fix field of the Measured Navigation
Message View. It should be used only as an indication of the current fix status of the navigation solution and not as a measurement of TTFF.
True Tracker Data - Message ID 3
This message is defined as True Tracker data but has not been implemented.
Measured Tracker Data Out - Message ID 4
Output Rate: 1 Hz
Table 3-7 lists the message data format for the measured tracker data.
Example:
A0A200BC—Start Sequence and Payload Length
04036C0000937F0C0EAB46003F1A1E1D1D191D1A1A1D1F1D59423F1A1A...
—Payload
....B0B3—Message Checksum and End Sequence
3-6
SiRF Binary Protocol Reference Manual—September 2004
3
Table 3-7 Measured Tracker Data Out
Name
Message ID
GPS Week
1
GPS TOW
Chans
1st SVid
Azimuth
Elev
State
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
2nd SVid
Azimuth
1
2
4
1
1
1
1
2
1
1
1
1
1
1
1
1
1
1
1
1
Bytes
s*100
Binary (Hex)
Scale
04
Example
036C
0000937F
0C
0E
Az*[2/3] AB
El*2 46
003F
1A
1E
1D
1D
19
1D
1A
1A
1D
1F
1D
Az*[2/3] 59
El*2 42
3F
1A sec
Units
deg deg
Bitmap
2 dB-Hz dB-Hz dB-Hz dB-Hz dB-Hz dB-Hz dB-Hz dB-Hz dB-Hz dB-Hz s
÷100
÷[2/3]
÷2
ASCII (Decimal)
Scale Example
4
876
37759
12
14
256.5
35
0 x 3F
26
30
29
29
25
29
26
26
29
31
29
89
Elev
State
C/No 1
1
2
1 deg deg
Bitmap
2 dB-Hz
÷[2/3]
÷2
66
63
26
C/No 2
...
1 1A dB-Hz 63
SVid, Azimuth, Elevation, State, and C/No 1-10 values are repeated for each of the 12 channels
Payload length: 188 bytes
1. GPS week number is reported modulo 1024 (ten LSBs only).
2. For further information, see Table 3-8 for state values for each channel.
Table 3-8 State Values for Each Channel
Bit
0x0001
0x0002
0x0004
0x0008
0x0010
0x0020
0x0040
0x0080
Description when bit is set to 1
Acquisition/re-acquisition has been completed successfully
The integrated carrier phase is valid
Bit synchronization has been completed
Subframe synchronization has been completed
Carrier pullin has been completed
Code has been locked
Satellite acquisition has failed
Ephemeris data is available
Raw Tracker Data Out - Message ID 5
This message is not supported by the SiRFstarII architecture.
Output Messages 3-7
3
Software Version String (Response to Poll) - Message ID 6
Output Rate: Response to polling message
Example:
A0A20015—Start Sequence and Payload Length
06322E332E322D475358322D322E30352E3032342D4331464C4558312E3200000
00000000000000000000000000000000000000000000000000000000000000000000
00000000000000000000000000000—Payload
0631B0B3—Message Checksum and End Sequence
Table 3-9 Software Version String
Name
Message ID 1
Bytes
Character 80
Payload Length: 81 bytes
Binary (Hex)
Scale
06
1
Example
1. Repeat the payload sequence above minus the starting 0x06 byte.
2. 2.3.2-GSW2-2.05.024-C1FLEX1.2
Units
ASCII (Decimal)
Scale Example
6
2
Note – Convert ASCII to symbol to assemble message (i.e., 0x4E is ‘N’). This is a low priority task and is not necessarily outputted at constant intervals. Effective with version GSW 2.3.2, message length was increased from 21 to 81 bytes to allow for up to 80-character version string.
Response: Clock Status Data - Message ID 7
Output Rate: 1 Hz or response to polling message
Example:
A0A20014—Start Sequence and Payload Length
0703BD0215492408000122310000472814D4DAEF—Payload
0598B0B3—Message Checksum and End Sequence
3-8
SiRF Binary Protocol Reference Manual—September 2004
3
Table 3-10 Clock Status Data Message
Name
Message ID
Extended GPS Week
1
GPS TOW
SVs
2
Clock Drift
Clock Bias
Estimated GPS Time
Payload length: 20 bytes
4
1
1
2
4
4
4
Bytes
Binary (Hex)
Scale Example
07
03BD
Units
*100 02154924
08
00012231 sec
Hz
00004728 ns
14D4DAEF ms
ASCII (Decimal)
Scale Example
7
957
÷100
349494.12
8
74289
18216
349493999
1. GPS week has been resolved to the full week number (1024-week ambiguity has been resolved).
2. Number of satellites used in the solution for clock drift, clock bias, and estimated GPS time.
50 BPS Data - Message ID 8
Output Rate: Approximately every 6 seconds for each channel
Example:
A0A2002B—Start Sequence and Payload Length
08001900C0342A9B688AB0113FDE2D714FA0A7FFFACC5540157EFFEEDFFF
A80365A867FC67708BEB5860F4—Payload
15AAB0B3—Message Checksum and End Sequence
Table 3-11 50 BPS Data
Name
Message ID 1
Bytes
Binary (Hex)
Scale Example
08
Units
Channel
SV ID
Word[10]
1
1
40
00
19
Payload length: 43 bytes per sub-frame (5 subframes per page)
ASCII (Decimal)
Scale Example
8
0
25
Note – Data is logged in ICD-GPS-200C format (available from www.navcen.uscg.mil
). The 10 words together comprise a complete subframe of navigation message data. Within the word, the 30 bits of the navigation message word are right justified, complete with 24 data bits and 6 parity bits. Any inversion of the data has been removed. The 2 MSBs of the word contain parity bits 29 and 30 from the previous navigation message word.
Output Messages 3-9
3
CPU Throughput - Message ID 9
Output Rate: 1 Hz
Example:
A0A20009—Start Sequence and Payload Length
09003B0011001601E5—Payload
0151B0B3—Message Checksum and End Sequence
Table 3-12 CPU Throughput
Name
Message ID
SegStatMax
SegStatLat
AveTrkTime
Last Millisecond
Payload length: 9 bytes
2
2
2
1
2
Bytes
Binary (Hex)
Scale Example
09
*186 003B
*186 0011
*186 0016
01E5
Units
ms ms ms ms
ASCII (Decimal)
Scale Example
9
0.3172
÷186
÷186
÷186
0.0914
0.1183
485
Error ID Data - Message ID 10
Output Rate: As errors occur
MID 10 messages have a different format from other messages. Rather than one fixed format, there are serveral formats, each designated by an error ID. However, the format
is standardize as indicated in Table 3-13. The specific format of each error ID message
follows.
Table 3-13 Message ID 10 Overall Format
Name
Message ID
Error ID
Count
Data[n]
Bytes Description
1
2
2
Message ID number - 10.
Sub-message type.
Count of number of 4-byte values that follow.
4 * n Actual data for the message, n is equal to Count.
Error ID: 2
Code Define Name: ErrId_CS_SVParity
Error ID Description: Satellite subframe # failed parity check.
Example:
A0A2000D – Start Sequence and Payload Length
0A000200020000000100000002 – Payload
0011B0B3 – Message Checksum and End Sequence
3-10
SiRF Binary Protocol Reference Manual—September 2004
Output Messages
3
Table 3-14 Error ID 2 Message
Name
Message ID
Error ID
Count
Satellite ID
Subframe No
Payload Length: 13 bytes
2
4
1
2
4
Bytes
Binary (Hex)
Scale Example
0A
0002
0002
00000001
00000002
Units
ASCII (Decimal)
Scale
2
1
10
2
2
Example
Table 3-15 Error ID 2 Message Description
Name
Message ID
Error ID
Count
Satellite ID
Subframe No
Description
Message ID number.
Error ID (see Error ID description above).
Number of 32 bit data in message.
Satellite Pseudo-random Noise (PRN) number.
The associated subframe number that failed the parity check. Valid subframe number is 1 through 5.
Error ID: 9
Code Define Name: ErrId_RMC_GettingPosition
Error ID Description: Failed to obtain a position for acquired satellite ID.
Example:
A0A20009 – Start Sequence and Payload Length
0A0009000100000001 – Payload
0015B0B3 – Message Checksum and End Sequence
Table 3-16 Error ID 9 Message
Name
Message ID
Error ID
Count
Satellite ID
Payload Length: 9 bytes
2
2
1
Bytes
4
Binary (Hex)
Scale Example
0A
0009
0002
00000001
Units
ASCII (Decimal)
Scale
10
Example
9
2
1
Table 3-17 Error ID 9 Message Description
Name
Message ID
Error ID
Count
Satellite ID
Description
Message ID number.
Error ID (see Error ID description above).
Number of 32 bit data in message.
Satellite Pseudo-random Noise (PRN) number.
3-11
3
3-12
Error ID: 10
Code Define Name: ErrId_RXM_TimeExceeded
Error ID Description: Conversion of Nav Pseudo Range to Time of Week (TOW) for tracker exceeds limits: Nav Pseudo Range > 6.912e5
(1 week in seconds) || Nav Pseudo Range < -8.64e4.
Example:
A0A20009 – Start Sequence and Payload Length
0A000A000100001234 – Payload
005BB0B3 – Message Checksum and End Sequence
Table 3-18 Error ID 10 Message
Name
Message ID
Error ID
Count 2
Pseudorange
Payload length: 9 bytes
4
1
2
Bytes
Binary (Hex)
Scale Example
0A
000A
0001
00001234
Units
ASCII (Decimal)
Scale Example
10
10
1
4660
Table 3-19 Error ID 10 Message Description
Name
Message ID
Error ID
Count
Pseudorange
Description
Message ID number.
Error ID (see Error ID description above).
Number of 32 bit data in message.
Pseudo Range
Error ID: 11
Code Define Name: ErrId_RXM_TDOPOverflow
Error ID Description: Convert pseudorange rate to Doppler frequency exceeds limit.
Example:
A0A20009 – Start Sequence and Payload Length
0A000B0001xxxxxxxx – Payload xxxxB0B3 – Message Checksum and End Sequence
Table 3-20 Error ID 11 Message
Name
Message ID
Error ID
Count
Doppler Frequency
Payload length: 9 bytes
2
4
1
2
Bytes
Binary (Hex)
Scale Example
0A
000B
0001 xxxxxxxx
Units
ASCII (Decimal)
Scale Example
10
11
1 xxxxxxxx
SiRF Binary Protocol Reference Manual—September 2004
Output Messages
3
Table 3-21 Error ID 11 Message Description
Name
Message ID
Error ID
Count
Doppler Frequency
Description
Message ID number.
Error ID (see Error ID description above).
Number of 32 bit data in message.
Doppler Frequency
Error ID: 12
Code Define Name: ErrId_RXM_ValidDurationExceeded
Error ID Description: Satellite’s ephemeris age has exceeded 2 hours (7200 s).
Example:
A0A2000D – Start Sequence and Payload Length
0A000C0002xxxxxxxxaaaaaaaa – Payload xxxxB0B3 – Message Checksum and End Sequence
Table 3-22 Error ID 12 Message
Name
Message ID
Error ID
Count
Satellite ID
Age Of Ephemeris
Payload Length: 13 bytes
1
2
2
4
4
Bytes
Binary (Hex)
Scale Example
0A
000C
0002 xxxxxxxx aaaaaaaa
Units
seconds
ASCII (Decimal)
Scale Example
10
12
2 xxxxxxxx aaaaaaaa
Table 3-23 Error ID 12 Message Description
Message ID
Error ID
Count
Name
Satellite ID
Age of Ephemeris
Description
Message ID number.
Error ID (see Error ID description above).
Number of 32 bit data in message.
Satellite Pseudo-random Noise (PRN) number
The Satellite’s Ephemeris Age in seconds.
Error ID: 13
Code Define Name: ErrId_STRTP_BadPostion
Error ID Description: SRAM position is bad during a cold start.
Example:
A0A20011 – Start Sequence and Payload Length
0A000D0003xxxxxxxxaaaaaaaabbbbbbbb – Payload xxxxB0B3 – Message Checksum and End Sequence
3-13
3
3-14
Table 3-24 Error ID 13 Message
Name
Message ID
Error ID
Count
X
Y
Z 4
Payload length: 17 bytes
2
4
4
1
2
Bytes
Binary (Hex)
Scale Example
0A
000D
0003 xxxxxxxx aaaaaaaa bbbbbbbb
Units
Table 3-25 Error ID 13 Message Description
X
Y
Z
Name
Message ID
Error ID
Count
Description
Message ID number.
Error ID (see Error ID description above).
Number of 32 bit data in message.
X position in ECEF.
Y position in ECEF.
Z position in ECEF.
ASCII (Decimal)
Scale Example
10
13
3 xxxxxxxx aaaaaaaa bbbbbbbb
Error ID: 4097 (0x1001)
Code Define Name: ErrId_MI_VCOClockLost
Error ID Description: VCO lost lock indicator.
Example:
A0A20009 – Start Sequence and Payload Length
0A1001000100000001 – Payload
001DB0B3 – Message Checksum and End Sequence
Table 3-26 Error ID 4097 Message
Name
Message ID
Error ID
Count
VCOLost
Payload length: 9 bytes
4
2
2
1
Bytes
Binary (Hex)
Scale Example
0A
1001
0001
00000001
Units
ASCII (Decimal)
Scale Example
10
4097
1
1
Table 3-27 Error ID 4097 Message Description
Name
Message ID
Error ID
Count
VCOLost
Description
Message ID number.
Error ID (see Error ID description above).
Number of 32 bit data in message.
VCO lock lost indicator. If VCOLost != 0, then send failure message.
SiRF Binary Protocol Reference Manual—September 2004
Output Messages
3
Error ID: 4099 (0x1003)
Code Define Name: ErrId_MI_FalseAcqReceiverReset
Error ID Description: Nav detect false acquisition, reset receiver by calling
NavForceReset routine.
Example:
A0A20009 – Start Sequence and Payload Length
0A1003000100000001 – Payload
001FB0B3 – Message Checksum and End Sequence
Table 3-28 Error ID 4099 Message
Name
Message ID
Error ID
Count
InTrkCount
Payload Length: 9 bytes
2
2
1
Bytes
4
Binary (Hex)
Scale Example
0A
1003
0001
00000001
Units
ASCII (Decimal)
Scale
10
Example
4099
1
1
Table 3-29 Error ID 4099 Message Description
Name
Message ID
Error ID
Count
InTrkCount
Description
Message ID number.
Error ID (see Error ID description above).
Number of 32 bit data in message.
False acquisition indicator. If InTrkCount <= 1, then send failure message and reset receiver.
Error ID: 4104 (0x1008)
Code Define Name: ErrId_STRTP_SRAMCksum
Error ID Description: Failed SRAM checksum during startup.
•
Four field message indicates receiver control flags had checksum failures.
•
Three field message indicates clock offset's checksum failure or clock offset value is out of range.
•
Two field message indicates position and time checksum failure forces a cold start.
Example:
A0A2xxxx – Start Sequence and Payload Length
0A10080004xxxxxxxaaaaaaaa00000000cccccccc – Payload xxxxB0B3 – Message Checksum and End Sequence
3-15
3
3-16
Table 3-30 Error ID 4104 Message
Name
Message ID
Error ID
Count
1
2
2
Bytes
Computed Receiver
Control Checksum
Battery-Backed Receiver
Control Checksum
4
4
Battery-Backed Receiver
Control OpMode
Battery-Backed Receiver
Control Channel Count
Compute Clock Offset
Checksum
4
4
4
Battery-Backed Clock
Offset Checksum
Battery-Backed Clock
Offset
Computed Position Time
Checksum
4
4
4
Battery-Backed
Position Time Checksum
4
Payload length: 21, 17, or 11 bytes
Binary (Hex)
Scale Example
0A
1008
0004 or
0003 or
0002 xxxxxxxx aaaaaaaa
00000000 cccccccc xxxxxxxx aaaaaaaa bbbbbbbb xxxxxxxx aaaaaaaa
Units
ASCII (Decimal)
Scale Example
10
4104
4 or
3 or
2 xxxx aaaa
0 cccc xxxx aaaa bbbb xxxx aaaa
Table 3-31 Error ID 4104 Message Description
Name
Message ID
Error ID
Description
Message ID number.
Error ID (see Error ID description above).
Count
Computed Receiver
Control Checksum
Battery-Backed Receiver
Control Checksum
Battery-Backed Receiver
Control OpMode
Battery-Backed Receiver
Control Channel Count
Number of 32 bit data in message.
Computed receiver control checksum of SRAM.Data.Control structure.
Battery-backed receiver control checksum stored in
SRAM.Data.DataBuffer. CntrlChkSum.
Battery-backed receiver control checksum stored in
SRAM.Data.Control.OpMode. Valid OpMode values are as follows:
OP_MODE_NORMAL = 0,
OP_MODE_TESTING = 0x1E51,
OP_MODE_TESTING2 = 0x1E52,
OP_MODE_TESTING3 = 0x1E53.
Battery-backed receiver control channel count in
SRAM.Data.Control.ChannelCnt.
Valid channel count values are 0-12.
Compute Clock Offset
Checksum
Battery-Backed Clock
Offset Checksum
Computed clock offset checksum of
SRAM.Data.DataBuffer.clkOffset.
Battery-backed clock offset checksum of
SRAM.Data.DataBuffer.clkChkSum.
SiRF Binary Protocol Reference Manual—September 2004
Output Messages
3
Table 3-31 Error ID 4104 Message Description (Continued)
Name
Battery-Backed Clock
Offset
Computed Position Time
Checksum
Battery-Backed
Position Time Checksum
Description
Battery-backed clock offset value stored in
SRAM.Data.DataBuffer,clkOffset.
Computed position time checksum of
SRAM.Data.DataBuffer.postime[1].
Battery-backed position time checksum of
SRAM.Data.DataBuffer.postimeChkSum[1].
Error ID: 4105 (0x1009)
Code Define Name: ErrId_STRTP_RTCTimeInvalid
Error ID Description: Failed RTC SRAM checksum during startup. If one of the double buffered SRAM.Data.LastRTC elements is valid and
RTC days is not 255 days, then GPS time and week number computed from the RTC is valid. If not, this RTC time is invalid.
Example:
A0A2000D – Start Sequence and Payload Length
0A10090002xxxxxxxaaaaaaaa – Payload xxxxB0B3 – Message Checksum and End Sequence
Table 3-32 Error ID 4105 Message
Name
Message ID
Error ID
Count
TOW
Week Number 4
Payload length: 13 bytes
2
4
1
2
Bytes
Binary (Hex)
Scale Example
0A
1009
Units
0002 xxxxxxxx seconds aaaaaaaa
ASCII (Decimal)
Scale Example
10
4105
2 xxxx aaaa
Table 3-33 Error ID 4105 Message Description
Name
Message ID
Error ID
Count
TOW
Week Number
Description
Message ID number.
Error ID (see Error ID description above).
Number of 32 bit data in message.
GPS time of week in seconds. Range 0 to 604800 seconds.
GPS week number.
3-17
3
3-18
Error ID: 4106 (0x100A)
Code Define Name: ErrId_KFC_BackupFailed_Velocity
Error ID Description: Failed battery-backing position because of ECEF velocity sum was greater than equal to 3600.
Example:
A0A20005 – Start Sequence and Payload Length
0A100A0000 – Payload
0024B0B3 – Message Checksum and End Sequence
Table 3-34 Error ID 4106 Message
Name
Message ID
Error ID
Count
Payload length: 5 bytes
2
2
1
Bytes
Binary (Hex)
Scale Example
0A
100A
0000
Units
ASCII (Decimal)
Scale
10
Example
4106
0
Table 3-35 Error ID 4106 Message Description
Name
Message ID
Error ID
Count
Description
Message ID number.
Error ID (see Error ID description above).
Number of 32 bit data in message.
Error ID: 4107 (0x100B)
Code Define Name: ErrId_KFC_BackupFailed_NumSV
Error ID Description: Failed battery-backing position because current navigation mode is not KFNav and not LSQFix.
Example:
A0A20005 – Start Sequence and Payload Length
0A100B0000 – Payload
0025B0B3 – Message Checksum and End Sequence
Table 3-36 Error ID 4107 Message
Name
Message ID
Error ID
Count
Payload length: 5 bytes
1
2
2
Bytes
Binary (Hex)
Scale Example
0A
100B
0000
Units
ASCII (Decimal)
Scale Example
10
4107
0
SiRF Binary Protocol Reference Manual—September 2004
Output Messages
3
Table 3-37 Error ID 4107 Message Description
Name
Message ID
Error ID
Count
Description
Message ID number.
Error ID (see Error ID description above).
Number of 32 bit data in message.
Error ID: 8193 (0x2001)
Code Define Name: ErrId_MI_BufferAllocFailure
Error ID Description: Buffer allocation error occurred. Does not appear to be active because uartAllocError variable never gets set to a non-zero value in the code.
Example:
A0A20009 – Start Sequence and Payload Length
0A2001000100000001 – Payload
002DB0B3 – Message Checksum and End Sequence
Table 3-38 Error ID 8193 Message
Name
Message ID
Error ID
Count uartAllocError
Payload length: 9 bytes
2
2
1
Bytes
4
Binary (Hex)
Scale Example
0A
2001
0001
00000001
Units
ASCII (Decimal)
Scale
10
Example
8193
1
1
Table 3-39 Error ID 8193 Message Description
Name
Message ID
Error ID
Count uartAllocError
Description
Message ID number.
Error ID (see Error ID description above).
Number of 32 bit data in message.
Contents of variable used to signal UART buffer allocation error.
Error ID: 8194 (0x2002)
Code Define Name: ErrId_MI_UpdateTimeFailure
Error ID Description: PROCESS_1SEC task was unable to complete upon entry.
Overruns are occurring.
Example:
A0A2000D – Start Sequence and Payload Length
0A200200020000000100000064 – Payload
0093B0B3 – Message Checksum and End Sequence
3-19
3
3-20
Table 3-40 Error ID 8194 Message
Name
Message ID
Error ID
Count
Number of in process errors.
Millisecond errors 4
Payload length: 13 bytes
2
4
1
2
Bytes
Binary (Hex)
Scale Example
0A
2002
0002
00000001
00000064
Units
ASCII (Decimal)
Scale Example
10
8194
2
1
Table 3-41 Error ID 8194 Message Description
Error ID
Count
Name
Message ID
Number of in process errors
Millisecond errors
Description
Message ID number.
Error ID (see Error ID description above).
Number of 32 bit data in message.
Number of one second updates not complete on entry.
Millisecond errors caused by overruns.
100
Error ID: 8195 (0x2003)
Code Define Name: ErrId_MI_MemoryTestFailed
Error ID Description: Failure of hardware memory test. Does not appear to be active because MemStatus variable never gets set to a non-zero value in the code.
Example:
A0A20005 – Start Sequence and Payload Length
0A20030000 – Payload
002DB0B3 – Message Checksum and End Sequence
Table 3-42 Error ID 8195 Message
Name
Message ID
Error ID
Count
Payload length: 5 bytes
1
2
2
Bytes
Binary (Hex)
Scale Example
0A
2003
0000
Units
ASCII (Decimal)
Scale Example
10
8195
0
Table 3-43 Error ID 8195 Message Description
Name
Message ID
Error ID
Count
Description
Message ID number.
Error ID (see Error ID description above).
Number of 32 bit data in message.
SiRF Binary Protocol Reference Manual—September 2004
3
Command Acknowledgment - Message ID 11
Output Rate: Response to successful input message
This is a successful almanac request (message ID 0x92) example:
A0A20002—Start Sequence and Payload Length
0B92—Payload
009DB0B3—Message Checksum and End Sequence
Table 3-44 Command Acknowledgment
Name Bytes
Message ID 1
ACK ID 1
Payload length: 2 bytes
Binary (Hex)
Scale Example
0x0B
0x92
Units
ASCII (Decimal)
Scale Example
11
146
Command NAcknowledgment - Message ID 12
Output Rate: Response to rejected input message
This is an unsuccessful almanac request (message ID 0x92) example:
A0A20002—Start Sequence and Payload Length
0C92—Payload
009EB0B3—Message Checksum and End Sequence
Table 3-45 Command N’Acknowledgment
Name
Message ID
Bytes
1
N’Ack ID 1
Payload length: 2 bytes
Binary (Hex)
Scale Example
0x0C
0x92
Units
ASCII (Decimal)
Scale Example
12
146
Note – Commands can be Nack’d for several reasons including: failed checksum, invalid arguments, unknown command, or failure to execute command.
Visible List – Message ID 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 3-46).
Example:
A0A2002A—Start Sequence and Payload Length
Output Messages 3-21
3
0D081D002A00320F009C0032....—Payload
....B0B3—Message Checksum and End Sequence
Table 3-46 Visible List
Name
Message ID
Visible SVs
Ch 1 - SV ID
Ch 1 - SV Azimuth
Ch 1 - SV Elevation
Ch 2 - SV ID
Bytes
1
1
1
2
2
1
Binary (Hex)
Scale Example
0D
08
10
002A
0032
0F
Units
degrees degrees
ASCII (Decimal)
Scale Example
13
8
16
42
50
15
Ch 2 - SV Azimuth
Ch 2 - SV Elevation
2
2
009C
0032 degrees degrees
156
50
...
Payload length: variable (2 + 5 times number of visible SVs up to maximum of 62 bytes)
Almanac Data - Message ID 14
Output Rate: Response to poll
Table 3-47 Contents of Message ID 14
Name
Message ID
SV ID
Almanac Week & Status
Data
1
Checksum
Payload length: 30 bytes
Bytes Description
1
1
2
Hex 0x0E (decimal 14)
SV PRN code, hex 0x01..0x02, decimal 1..32
24
2
10-bit week number in 10 MSBs, status in 6 LSBs (1 = good; 0 = bad)
UINT16[12] array with sub-frame data.
1. The data area consists of an array of 12 16-bit words consisting of the data bytes from the navigation message sub-frame.
these are the raw navigation message data bits with any inversion removed and the parity bits removed.
3-22
SiRF Binary Protocol Reference Manual—September 2004
3
Table 3-48 Byte Positions Between Navigation Message and Data Array
4
5
5
5
6
6
6
Navigation Message
Word Byte
3
3
MSB
Middle
3
4
4
LSB
MSB
Middle
LSB
MSB
Middle
LSB
MSB
Middle
LSB
[0]
[0]
[1]
[1]
[2]
[3]
[3]
[4]
[4]
Data Array
Word Byte
[2]
[5]
[5]
LSB
MSB
LSB
MSB
LSB
MSB
LSB
MSB
LSB
MSB
LSB
MSB
Navigation Message
Word Byte
7
7
MSB
Middle
8
9
9
9
10
7
8
8
10
10
LSB
MSB
Middle
LSB
MSB
Middle
LSB
MSB
Middle
LSB
[8]
[9]
[9]
[10]
[10]
[11]
[11]
[7]
[7]
[8]
[6]
[6]
Data Array
Word Byte
MSB
LSB
MSB
LSB
MSB
LSB
MSB
LSB
MSB
LSB
MSB
LSB
Note – Message ID 130 uses a similar format but sends an array of 14 16-bit words for each SV and a total of 32 SVs in the message (almanac for SVs 1..32, in ascending order). For that message, a total of 448 words constitutes the data area. For each of 32
SVs, that corresponds to 14 words per SV. Those 14 words consist of one word
containing the week number and status bit (described in Table 3-47 above as Almanac
Week & Status), 12 words of the same data as described for the data area above, then a single 16-bit checksum of the previous 13 words. The SV PRN code is not included in the message 130 since the SV ID is inferred from the location in the array.
Ephemeris Data (Response to Poll) – Message ID 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.
Output Rate: Response to poll
Table 3-49 Contents of Message ID 14
Name
Message ID
SV ID
Data
1
Payload length: 92 bytes
Bytes Description
1
1
90
Hex 0x0E (decimal 14)
SV PRN code, hex 0x01..0x02, decimal 1..32
UINT16 [3][15] array with sub-frames 1..3 data.
1. The data area consists of a 3x15 array of unsigned integers, 16 bits long. The first word of each row in the array ([0][0],
[1][0], and [2][0]) will contain the SV ID. The remaining words in the row will contain the data from the navigation message sub-frame, with row [0] containing sub-frame 1, row [1] containing sub-frame 2, and row [2] containing subframe 3. Data from the sub-frame is stored in a packed format, meaning that the 6 parity bits of each 30-bit navigation message word have been removed, and the remaining 3 bytes are stored in 1.5 16-bit words. Since the first word of the sub-frame, the telemetry word (TLM), does not contain any data needed by the receiver, it is not saved. Thus, there are 9 remaining words, with 3 bytes in each sub-frame. This total of 27 bytes is stored in 14 16-bit words. The second word of the sub-frame, the handover word (HOW), has its high byte (MSB) stored as the low byte (LSB) of the first of the 16-bit
frame is stored in the row of 16-bit words.
Output Messages 3-23
3
Table 3-50 Byte Positions Between Navigation Message and Data Array
Navigation Message
Word Byte
2 (HOW) MSB
2 Middle
5
6
6
6
4
5
5
2
3
3
3
4
4
LSB
MSB
Middle
LSB
MSB
Middle
LSB
MSB
Middle
LSB
MSB
Middle
LSB
Data Array
Word Byte
[][1]
[][2]
[][2]
[][3]
[][3]
[][4]
[][4]
[][5]
[][5]
[][6]
[][6]
[][7]
[][7]
[][8]
[][8]
LSB
MSB
LSB
MSB
LSB
MSB
LSB
MSB
LSB
MSB
LSB
MSB
MSB
MSB
MSB
8
9
9
9
10
10
10
Navigation Message
Word Byte
7
7
MSB
Middle
7
8
8
LSB
MSB
Middle
LSB
MSB
Middle
LSB
MSB
Middle
LSB
Data Array
Word Byte
[][9]
[][9]
MSB
LSB
[][10] MSB
[][10] LSB
[][11] MSB
[][11] LSB
[][12] MSB
[][12] LSB
[][13] MSB
[][13] LSB
[][14] MSB
[][14] LSB
Note – Message ID 149 uses the same format, except the SV ID (the second byte in
Message ID 15) is omitted. Message ID 149 is thus a 91-byte message. The SV ID is still embedded in elements [0][0], [1][0], and [2][0] of the data array.
Test Mode 1 - Message ID 16
Output Rate: Variable - set by the period as specified in message ID 150
Example:
A0A20011—Start Sequence and Payload Length
100015001E000588B800C81B5800040001—Payload
02D8B0B3—Message Checksum and End Sequence
Table 3-51 Test Mode 1 Data
Name
Message ID
SV ID
Period
Bit Sync Time
Bit Count
Poor Status
Good Status
Parity Error Count
Lost VCO Count
Payload length: 17 bytes
2
2
2
2
2
2
2
1
2
Bytes
Binary (Hex)
Scale Example
10
0015
001E
0005
88B8
00C8
1B58
0004
0001
Units
sec sec
ASCII (Decimal)
Scale Example
16
21
30
5
35000
200
7000
4
1
3-24
SiRF Binary Protocol Reference Manual—September 2004
3
Table 3-52 Detailed Description of Test Mode 1 Data
Name
Message ID
SV ID
Period
Description
Message I.D. number.
The number of the satellite being tracked.
The total duration of time (in seconds) that the satellite is tracked.
Bit Sync Time
Bit Count
Poor Status
Good Status
The time it takes for channel 0 to achieve the status of 37.
The total number of data bits that the receiver is able to demodulate during the test period. As an example, for a 20 second test period, the total number of bits that can be demodulated by the receiver is 12000 (50BPS x 20sec x 12 channels).
This value is derived from phase accumulation time. Phase accumulation is the amount of time a receiver maintains phase lock. Every 100msec of loss of phase lock equates to 1 poor status count. As an example, the total number of status counts for a 60 second period is 7200 (12 channels x 60 sec x 10 / sec).
This value is derived from phase accumulation time. Phase accumulation is the amount of time a receiver maintains phase lock. Every 100msec of phase lock equates to 1 good status count.
Parity Error Count The number of word parity errors. This occurs when the parity of the transmitted word does not match the receiver’s computed parity.
Lost VCO Count The number of 1 msec VCO lost lock was detected. This occurs when the
PLL in the RFIC loses lock. A significant jump in crystal frequency and/or phase causes a VCO lost lock.
Differential Corrections - Message ID 17
Message ID 17 provides the RTCM data received from a DGPS source. The data is sent as a SiRF Binary message and is based on the RTCM SC-104 format. To interpret the data, see RTCM Recommended Standards for Differential GNSS by the Radio
Technical Commission for Maritime Services. Data length and message output rate will vary based on received data.
Table 3-53 RTCM message
Name
Message ID
Bytes
1
Data length
Data
1
2 variable
Payload length: variable
Example (Hex)
11
002D
1. Data length and message output rate will vary based on received data.
Example (Decimal)
17
45
OkToSend - Message ID 18
Output Rate: Two messages per power-saving cycle
Example:
A0A20002—Start Sequence and Payload Length
1200—Payload
Output Messages 3-25
3
0012B0B3—Message Checksum and End Sequence
Table 3-54 Almanac Data
Name
Message ID
Send Indicator
1
Payload length: 2 bytes
1
1
Bytes
Binary (Hex)
Scale
12
00
Example Units
ASCII (Decimal)
Scale
1. 0 implies that CPU is about to go OFF, OkToSend==NO, 1 implies CPU has just come ON, OkToSend==YES
18
00
Example
Note – This message is sent when the receiver is in a power-saving mode. One message is sent just before the receiver’s power is turned off (with Send Indicator set to 0), and one is sent once the power has been restored (with Send Indicator set to 1).
Navigation Parameters (Response to Poll) - Message ID 19
Output Rate: Response to Poll (See Message ID 152)
Example:
A0 A2 00 41 —Start Sequence and Payload Length
13 00 00 00 00 00 00 00 00 01 1E 0F 01 00 01 00 00 00 00 04 00 4B 1C 00 00 00
00 02 00 1E 00 00 00 00 00 00 00 03 E8 00 00 03 E8 00 00 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00—Payload
02 A4 B0 B3—Message Checksum and End Sequence
Table 3-55 Navigation Parameters
Name
Message ID
Sub ID
1
Reserved
Altitude Hold Mode
2
Altitude Hold Source
2
Altitude Source Input
2
Degraded Mode
2
Degraded Timeout
2
DR Timeout
2
Track Smooth Mode
2
Static Navigation
3
3SV Least Squares
4
Reserved
DOP Mask Mode
5
Navigation Elevation Mask
6
Navigation Power Mask
7
Reserved
DGPS Source
8
DGPS Mode
9
4
1
2
1
4
1
1
1
1
1
1
1
2
1
1
1
1
3
Bytes
1
Binary (Hex)
Scale Example
13
00
00
01
00
00
00
00
0000
1E
0F
01
00000000
04
004B
1C
00000000
02
00
Units
m sec sec
ASCII (Decimal)
Scale Example
19
3-26
SiRF Binary Protocol Reference Manual—September 2004
Output Messages
3
Table 3-55 Navigation Parameters (Continued)
Name
DGPS Timeout
9
Reserved
LP Push-to-Fix
10
LP On-time
10
LP Interval
10
User Tasks Enabled
4
User Task Interval
4
LP Power Cycling Enabled
11
LP Max. Acq. Search Time
12
LP Max. Off Time
12
APM Enabled/Power Duty Cycle
13,14
Number of Fixes
14
Time Between Fixes
14
Horizontal/Vertical Error Max
15
Response Time Max
14
Time/Accu & Time/Duty Cycle Priority
16
Payload length: 65 bytes
2
2
1
1
1
4
4
1
1
4
4
1
4
1
Bytes
1
4
Binary (Hex)
Scale Example
1E
00000000
00
000003E8
000003E8
00
00000000
00
Units
sec
00000000 sec
00000000 sec
00
0000
0000
00
00
00 sec m sec
ASCII (Decimal)
Scale Example
1. 00 = GSW2 definition; 01 = SiRF Binary APM definition; other values reserved.
2. These values are set by message ID 136. See description of values in Table 2-19.
3. These values are set by message ID 143. See description of values in Table 2-28.
4. These parameters are set in the software and are not modifiabl e via the User Inteface.
5. These values are set by message ID 137. See description of values in Table 2-22.
6. These values are set by message ID 139. See description of values in Table 2-26.
7. These values are set by message ID 140. See description of values in Table 2-27.
8. These values are set by message ID 133. See description of values in Table 2-14.
9. These values are set by message ID 138. See description of values in Table 2-24.
10. These values are set by message ID 151. See description of values in Table 2-36.
11. This setting is derived from the LP on-time and LP interval.
12. These values are set by message ID 167. See description of values in Table 2-42.
13. Bit 7: APM Enabled, 1=enabled, 0=disabled; Bits 0-4: Power Duty Cycle, range: 1-20 scaled to 5%, 1=5%, 2=10%...
14. Only used in SiRFLoc software.
16. Bits 2-3: Time Accuracy, 0x00=no priority imposed, 0x01=RESP_TIME_MAX has higher priority,
0x02=HORI_ERR_MAX has higher priority, Bits 0-1: Time Duty Cycle, 0x00=no priority imposed, 0x01=time between two consecutive fixes has priority, 0x02=power duty cycle has higher priority.
Table 3-56 Horizontal/Vertical Error
Value
0x00
0x01
Position Error
< 1 meter
0x02
0x03
0x04
0x05
< 5 meter
< 10 meter
< 20 meter
< 40 meter
< 80 meter
0x06 < 160 meter
0x07 No Maximum (disabled)
0x08 - 0xFF Reserved
3-27
3
Test Mode 2/3/4 - Message ID 20
The definition of MID 20 is different depending on the version and type of software being used. For GSW2 or SiRFDRive, MID 20 is used for as Test Mode 2 only. For
SiRFLoc or SiRFXTrac, MID is used for either Test Mode 2, Test Mode 3, or Test
Mode 4. For GSW2 software, refer to MID 46 for Test Mode 3 and Test Mode 4 results.
Output Rate: variable - set by the period as defined in message ID 150
Test Mode 2
This is supported by either GSW2, SiRFDRive, SiRFLoc, or SiRFXTrac. Test Mode 2 requires approximately 1.5 minutes of data collection before sufficient data is available.
Example:
A0A20033—Start Sequence and Payload Length
14
0001001E0002
3F70001F0D2900000000000601C600051B0E000EB41A0000000000000
0000000000000000000000000000000
—Payload
0316B0B3—Message Checksum and End Sequence
Table 3-57 Test Mode 2 Message
Name
Message ID
SV ID
Period
Bit Sync Time
Bit Count
Poor Status
Good Status
Parity Error Count
Lost VCO Count
Frame Sync Time
C/No Mean
C/No Sigma
Clock Drift Change
Clock Drift
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved 4
Payload length: 51 bytes
4
2
2
2
2
2
2
2
4
4
4
4
2
2
2
2
2
2
1
Bytes
*10
*10
*10
*10
Binary (Hex)
Scale Example
14
0001
001E
0002
3F70
Units
sec sec
001F
0D29
0000
0000
0006
01C6
0005
1B0E sec
Hz
000EB41A Hz
0000
00000000
00000000
00000000
00000000
00000000
÷10
÷10
÷10
÷10
ASCII (Decimal)
Scale Example
20
1
30
2
13680
0
0
31
3369
6
45.4
0.5
692.6
96361.0
3-28
SiRF Binary Protocol Reference Manual—September 2004
Output Messages
3
Table 3-58 Detailed Description of Test Mode 2 Message
Name
Message ID
SV ID
Period
Bit Sync Time
Bit Count
Poor Status
Good Status
Parity Error Count
Lost VCO Count
Frame Sync
C/No Mean
C/No Sigma
Clock Drift Change
Clock Drift
Message I.D. number.
Description
The number of the satellite being tracked.
The total duration of time (in seconds) that the satellite is tracked.
The time it takes for channel 0 to achieve the status of 37.
The total number of data bits that the receiver is able to demodulate during the test period. As an example, for a 20 second test period, the total number of bits that can be demodulated by the receiver is 12000
(50BPS x 20 sec x 12 channels).
This value is derived from phase accumulation time. Phase accumulation is the amount of time a receiver maintains phase lock.
Every 100msec of loss of phase lock equates to 1 poor status count. As an example, the total number of status counts for a 60 second period is
7200 (12 channels x 60 sec x 10 sec)
This value is derived from phase accumulation time. Phase accumulation is the amount of time a receiver maintains phase lock.
Every 100msec of phase lock equates to 1 good status count.
The number of word parity errors. This occurs when the transmitted parity word does not match the receivers parity check.
The number of 1 msec VCO lost lock was detected. This occurs when the PLL in the RFIC loses lock. A significant jump in crystal frequency and / or phase will cause a VCO lost lock.
The time it takes for channel 0 to reach a 3F status.
Calculated average of reported C/No by all 12 channels during the test period.
Calculated sigma of reported C/No by all 12 channels during the test period.
Difference in clock frequency from start and end of the test period.
Rate of change in clock bias.
Test Mode 3
This is supported by SiRFLoc and SiRFXTrac only as MID 20. Test Mode 3 requires approximately 10 seconds of data collection before sufficient data is available.
Example:
A0A20033—Start Sequence and Payload Length
14
0001001E0002
3F70001F0D2900000000000601C600051B0E000EB41A0000000000000
0000000000000000000000000000000
—Payload
0316B0B3—Message Checksum and End Sequence
Table 3-59 Test Mode 3 Message
Name
Message ID
SV ID
Period
Bit Sync Time
Bit Count
2
2
2
1
Bytes
2
Binary (Hex)
Scale Example
14
0001
001E
0002
3F70
Units
sec sec
ASCII (Decimal)
Scale Example
20
1
30
2
13680
3-29
3
3-30
Table 3-59 Test Mode 3 Message (Continued)
Name
Poor Status
Good Status
Parity Error Count
Lost VCO Count
Frame Sync Time
C/No Mean
C/No Sigma
Clock Drift Change
Clock Drift
Bad 1Khz Bit Count
Abs I20ms
Abs Q1ms
Reserved
Reserved
Reserved 4
Payload length: 51 bytes
4
2
4
4
4
4
2
2
2
2
2
2
2
2
Bytes
*10
*10
*10
*10
Binary (Hex)
Scale Example
001F
0D29
0000
0000
0006
Units
sec
01C6
0005
1B0E Hz
000EB41A Hz
0000
00000000
00000000
00000000
00000000
00000000
÷10
÷10
÷10
÷10
ASCII (Decimal)
Scale Example
0
0
31
3369
6
45.4
0.5
692.6
96361.0
Table 3-60 Detailed Description of Test Mode 3 Message
Name
Message ID
SV ID
Period
Bit Sync Time
Bit Count
Poor Status
Description
Message I.D. number.
The number of the satellite being tracked.
The total duration of time (in seconds) that the satellite is tracked.
The time it takes for channel 0 to achieve the status of 37.
The total number of data bits that the receiver is able to demodulate during the test period. As an example, for a 20 second test period, the total number of bits that can be demodulated by the receiver is 12000 (50BPS x 20sec x
12 channels).
This value is derived from phase accumulation time. Phase accumulation is the amount of time a receiver maintains phase lock. Every 100msec of loss of phase lock equates to 1 poor status count. As an example, the total number of status counts for a 60 second period is 7200 (12 channels x 60 sec x 10 sec)
Good Status This value is derived from phase accumulation time. Phase accumulation is the amount of time a receiver maintains phase lock. Every 100msec of phase lock equates to 1 good status count.
Parity Error Count The number of word parity errors. This occurs when the transmitted parity word does not match the receivers parity check.
Lost VCO Count
Frame Sync
C/No Mean
The number of 1 msec VCO lost lock was detected. This occurs when the
PLL in the RFIC loses lock. A significant jump in crystal frequency and / or phase will cause a VCO lost lock.
The time it takes for channel 0 to reach a 3F status.
Calculated average of reported C/No by all 12 channels during the test period.
C/No Sigma Calculated sigma of reported C/No by all 12 channels during the test period.
Clock Drift Change Difference in clock frequency from start and end of the test period.
Clock Drift Rate of change of clock bias.
Bad 1Khz Bit Count Errors in 1ms post correlation I count values.
SiRF Binary Protocol Reference Manual—September 2004
Output Messages
3
Table 3-60 Detailed Description of Test Mode 3 Message (Continued)
Name
Abs I20ms
Abs Q1ms
Description
Absolute value of the 20ms coherent sums of the I count over the duration of the test period.
Absolute value of the 1ms Q count over the duration of the test period.
Test Mode 4
This is supported by SiRFLoc and SiRFXTrac only.
Table 3-61 Test Mode 4 Message
Name
Message ID
Test Mode
Message Variant
SV ID
Period
Bit Sync Time
C/No Mean
C/No Sigma
Clock Drift Change
Clock Drift
I Count Errors
Abs I20ms 4
Abs Q1ms 4
Payload length: 29 bytes
4
2
2
2
2
2
2
2
1
1
1
Bytes
*10
*10
*10
*10
Binary (Hex)
Scale Example
14
Units
04
01
0001
001E
0002
01C6
0005
1B0E sec sec
Hz
000EB41A Hz
0003
0003AB88
0000AFF0
÷10
÷10
÷10
÷10
ASCII (Decimal)
Scale Example
20
4
1
1
30
2
45.4
0.5
692.6
96361.0
3
240520
45040
Table 3-62 Detailed Description of Test Mode 4 Message
Name
Message I.D.
Test Mode
Message Variant
SV ID
Period
Bit Sync Time
C/No Mean
C/No Sigma
Clock Drift
Clock Offset
I Count Errors
Abs I20ms
Q 1ms
Message I.D. number.
Description
3=Testmode 3, 4=Testmode 4
The variant # of the message (variant change indicates possible change in number of fields or field description).
The number of the satellite being tracked.
The total duration of time (in seconds) that the satellite is tracked.
The time it takes for channel 0 to achieve the status of 37.
Calculated average of reported C/No by all 12 channels during the test period.
Calculated sigma of reported C/No by all 12 channels during the test period.
Difference in clock frequency from start and end of the test period.
The internal clock offset.
Errors in 1ms post correlation I count values.
Absolute value of the 20ms coherent sums of the I count over the duration of the test period.
Absolute value of the 1ms Q count over the duration of the test period.
3-31
3
Navigation Library Measurement Data - Message ID 28
Output Rate: Every measurement cycle (full power / continuous: 1Hz)
Example:
A0A20038—Start Sequence and Payload Length
1C00000660D015F143F62C4113F42F
417B235CF3FBE95E
468C6964B8FBC582415
CF1C375301734.....03E801F400000000—Payload
1533B0B3—Message Checksum and End Sequence
Table 3-63 Measurement Data
Name
Message I.D.
Channel
Time Tag
Satellite ID
GPS Software Time 8
Pseudorange 8
4
1
Bytes
1
1
Carrier Frequency
Carrier Phase
Time in Track
Sync Flags
C/No 1
C/No 2
C/No 3
C/No 4
1
1
1
1
2
1
4
8
C/No 5
C/No 6
C/No 7
C/No 8
C/No 9
C/No 10
Delta Range Interval 2
Mean Delta Range
Time
2
1
1
1
1
1
1
Extrapolation Time 2
Phase Error Count 1
Low Power Count 1
Payload length: 56 bytes
Scale
Binary (Hex)
Example
1C
00
Units
000660D0
15 ms
F143F62C4113F42F ms
417B235CF3FBE95E m
468C6964
Reserved
7530
17
34 m/s
N/A ms dB-Hz dB-Hz dB-Hz dB-Hz dB-Hz dB-Hz dB-Hz dB-Hz
03E801F4
01F4 dB-Hz dB-Hz m ms
Scale
ASCII (Decimal)
Example
28
0
135000
20
2.4921113696e+005
2.1016756638e+007
43
43
43
43
1.6756767578e+004
N/A
10600
23
43
43
43
43
43
43
1000
500
0000
00
00 ms
0
0
3-32
SiRF Binary Protocol Reference Manual—September 2004
Output Messages
3
Note – For GPS Software Time, Psuedorange, Carrier Frequency, and Carrier Phase, the fields are either floating point (4-byte fields) or double-precision floating point (8byte fields), per IEEE-754 format. The byte order may have to be changed to be interpreted properly on some computers. Also, the byte order differs between GPS software versions 2.2.0 and earlier, and versions 2.3.0 and later. To convert the data to be properly interpreted on a PC-compatible computer, do the following: For doubleprecision (8-byte) values: Assume the bytes are transmitted in the order of B0, B1, ... ,
B7. For version 2.2.0 and earlier software, rearrange them to B3, B2, B1, B0, B7, B6,
B5. B4 For version 2.3.0 and later software, rearrange them to B7, B6, B5, ... , B0 For single-precision (4-byte) values: Assume bytes are transmitted in the order of B0, B1,
B2 , B3 Rearrange them to B3, B2, B1, B0 (that is, byte B3 goes into the lowest memory address, B0 into the highest). With these remappings, the values should be correct. To verify, compare the same field from several satellites tracked at the same time. The reported exponent should be similar (within 1 power of 10) among all satellites. The reported Carrier Frequency contains a bias of the clock drift reported in
MID 7. To adjust the reported carrier frequency do the following: Corrected Carrier
Frequency (m/s) = Reported Carrier Frequency (m/s) - Clock Drift (Hz) / 1575420000
Hz For a nominal clock drift value of 96.25 kHz (equal to a GPS Clock frequency of
24.5535 MHz), the correction value is 18315.766 m/s.
Table 3-64 Sync Flag Fields
Bit Fields
[0]
[2:1]
[4:3]
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
Autocorrelation Detection State
00 = Verified not an autocorrelation
01 = Testing in progress
10 = Strong signal, autocorrelation detection not run
11 = Not used
Table 3-65 Detailed Description of the Measurement Data
Name
Message I.D.
Channel
Time Tag
Satellite ID
GPS Software Time
Pseudorange
Message I.D. number.
Description
Receiver channel number for a given satellite being searched or tracked. Range of 0-11 for channels 1-12, respectively.
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 of Week (TOW) estimated by the software in milliseconds.
This is the generated pseudorange measurement for a particular SV.
3-33
3
3-34
Table 3-65 Detailed Description of the Measurement Data (Continued)
Name
Carrier Frequency
Carrier Phase
Time in Track
Sync Flags
C/No 1
Description
This is can be interpreted in two ways:
1) The delta pseudorange normalized by the reciprocal of the delta pseudorange measurement interval.
2) The frequency from the AFC loop. If, for example, the delta pseudorange interval computation for a particular channel is zero, then it can be the AFC measurement, otherwise it is a delta pseudorange computation.
1
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 interval 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
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.
C/No 2
C/No 3
C/No 4
C/No 5
C/No 6
C/No 7
C/No 8
C/No 9
First 100 millisecond measurement
Second 100 millisecond measurement
Third 100 millisecond measurement
Fourth 100 millisecond measurement
Fifth 100 millisecond measurement
Sixth 100 millisecond measurement
Seventh 100 millisecond measurement
C/No 10
Delta Range Interval
Tenth 100 millisecond measurement
This is the delta-pseudo range measurement interval for the 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 Time This is the mean calculated time of the delta-pseudo range interval in milliseconds measured from the end of the interval backwards
Extrapolation Time
Eighth 100 millisecond measurement
Ninth 100 millisecond measurement
Phase Error Count
Low Power Count
This is the pseudo range extrapolation time in milliseconds, to reach the common Time tag value.
This is the count of the phase errors greater than 60 Degrees measured in the preceding second as defined for a particular channel.
This is the low power measurements for signals less than 28 dB-Hz in the preceding second as defined for a particular channel
SiRF Binary Protocol Reference Manual—September 2004
3
1. Carrier frequency may be interpreted as the measured Doppler on the received signal. The value is reported in metres per second but can be converted to hertz using the Doppler equation:
Doppler frequency / Carrier frequency = Velocity / Speed of light, where Doppler freq is in Hz; Carrier freq = 1,575,420,000 Hz; Velocity is in m/s; Speed of light = 299,792,458 m/s.
Note that the computed Doppler frequency will contain a bias equal to the current clock drift as reported in message 107.
This bias, nominally 96.250 kHz, is equivalent to over 18 km/s.
Navigation Library DGPS Data - Message ID 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
Table 3-66 Measurement Data
Name
Message ID
Satellite ID
IOD
Source
1
Pseudorange Correction
Pseudorange rate Correction
Correction Age
Reserved
Reserved
Payload length: 26 bytes
4
4
2
1
1
2
4
4
4
Bytes
Binary (Hex)
Scale Example
1D
000F
Units
00B5
01
BFC97C67 m
3CAAAAAB m/sec
3FBFFE12 sec
ASCII (Decimal)
Scale
29
15
Example
181
1
-1.574109
0.020833
1.499941
1. 0 = Use no corrections, 1 = SBAS channel, 2 = External source, 3 = Internal Beacon, 4 = Set Corrections via software
Note – The fields Pseudorange Correction, Pseudorange Rate Correction, and
Correction Age are floating point values per IEEE-754. To properly interpret these in a
PC, the bytes need to be rearranged into reverse order.
Navigation Library SV State Data - Message ID 30
The data in Message ID 30 reports the computed satellite position and velocity at the specified GPS time.
Output Rate: Every measurement cycle (full power / continuous : 1Hz)
Example:
A0A20053—Start Sequence and Payload Length
1E15....
2C64E99D01....408906C8
—Payload
Output Messages 3-35
3
2360B0B3—Message Checksum and End Sequence
Table 3-67 SV State Data
Name
Message ID
Satellite ID
GPS Time
Position X
Position Y
Position Z
Velocity X
Velocity Y
Velocity Z
Clock Bias
Clock Drift
Ephemeris Flag
1
Reserved
Reserved
Ionospheric Delay
Payload length: 83 bytes
1
8
8
8
1
8
8
8
8
8
4
1
4
4
4
Bytes
Binary (Hex)
Scale Example
1E
15
Units
sec m m m m/sec m/sec m/sec sec
2C64E99D s/s
01
408906C8 m
ASCII (Decimal)
Scale Example
30
21
744810909
1
1082721992
1. 0 = no valid SV state, 1 = SV state calculated from ephemeris, 2 = Satellite state calculated from almanac
Note – Each of the 8 byte fields as well as Clock Drift and Ionospheric Delay fields are floating point values per IEEE-754. To properly interpret these in a PC, the bytes need to be rearranged. See Note in MID 28 for byte orders.
Navigation Library Initialization Data - Message ID 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
Table 3-68 Measurement Data
Binary (Hex)
Scale Example
1F
Units
ASCII (Decimal)
Scale Example
31
Name
Message ID
Reserved
Altitude Mode
1
Altitude Source
Altitude
Degraded Mode
2
1
4
1
1
1
1
Bytes
00
00
00000000 m
01
0
0
0
1
3-36
SiRF Binary Protocol Reference Manual—September 2004
Output Messages
3
Table 3-68 Measurement Data (Continued)
Name
Degraded Timeout 2
Dead-reckoning Timeout 2
Bytes
Reserved
Track Smoothing Mode
Reserved
Reserved
Reserved
Reserved
DGPS Selection
4
DGPS Timeout
3
2
1
1
2
2
2
1
2
2 Elevation Nav. Mask
Reserved
Reserved
Reserved
Reserved
Reserved
Static Nav. Mode
5
2
1
2
1
2
1
Reserved
Position X
Position Y
Position Z
Position Init. Source
6
GPS Time
GPS Week
Time Init. Source
7
Drift
Drift Init. Source
8
Payload length: 84 bytes
2
8
8
8
1
8
2
1
8
1
2
Binary (Hex)
Scale Example
001E
000F
00
00
0000
000F
00
02
0434
02
02
Units
sec sec sec deg m m m sec sec
Hz sec
ASCII (Decimal)
Scale Example
30
15
0
0
0
15
0
2
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
Note – Altitude is a single-precision floating point value while position XYZ, GPS time, and drift are double-precision floating point values per IEEE-754. To properly interpret these values in a PC, the bytes need to be rearranged. See Note in MID 28 for byte orders.
3-37
3
Geodetic Navigation Data - Message ID 41
Output Rate:Every measurement cycle (full power / continuous : 1Hz)
Example:
A0 A2 00 5B—Start Sequence and Payload Length
29 00 00 02 04 04 E8 1D 97 A7 62 07 D4 02 06 11 36 61 DA 1A 80 01 58 16 47 03
DF B7 55 48 8F FF FF FA C8 00 00 04 C6 15 00 00 00 00 00 00 00 00 00 00 00 00
00 BB 00 00 01 38 00 00 00 00 00 00 6B 0A F8 61 00 00 00 00 00 1C 13 14 00 00
00 00 00 00 00 00 00 00 00 00 08 05 00—Payload
11 03 B0 B3—Message Checksum and End Sequence
Table 3-69 Geodetic Navigation Data
Name
Message ID
Nav Valid
Bytes Description
1 Hex 0x29 (decimal 41)
2 0x0000 = valid navigation; else
Bit 0 ON : invalid GPS position (< 5 SVs)
Bits 1 - 2 : Reserved.
Bits 8 - 14 : Reserved.
(The following are for SiRFDRive only)
Bit 3 ON : invalid DR data
Bit 4 ON : invalid DR calibration
Bit 5 ON : GPS-based calibration unavailable
Bit 6 ON : invalid DR position fix
Bit 7 ON : invalid DR heading.
(The following is for SiRFNav only)
Bit 15 ON : no tracker data available
3-38
SiRF Binary Protocol Reference Manual—September 2004
Output Messages
3
Table 3-69 Geodetic Navigation Data (Continued)
Name
NAV Type
Extended Week Number
TOW
UTC Year
UTC Month
UTC Day
UTC Hour
UTC Minute
UTC Second
Satellite ID List
Latitude
Longitude
Altitude from Ellipsoid
Altitude from MSL
Map Datum
1
Speed Over Ground (SOG)
Course Over Ground (COG, True) 2
Magnetic Variation 2
1
2
4
4
4
4
2
4
2
2
1
2
4
2
Bytes Description
2 Bits 0 - 2 : GPS position fix type
000 = no navigation
001 = 1-SV KF solution
010 = 2-SV KF solution
011 = 3-SV KF solution
101 = 2-D least-squares solution
110 = 3-D least-squares solution
111 = DR solution (no SV)
Bit 3 : Reserved
Bits 4 - 5 : altitude hold status
00 = no altitude hold applied
01 = holding of altitude from KF
10 = holding of altitude from user input
11 = always hold altitude (from user input)
Bit 6 ON : DOP exceeded
Bit 7 ON : DGPS corrections applied
Bit 8 : DR type
1 = sensor DR
0 = velocity DR if Bits 0 - 2 = 111;
else check Bits 14-15 for DR error status
Bit 9 ON : navigation solution validated
Bit 10 ON : velocity DR timeout
Bit 11 ON : solution edited by user input
Bit 12 ON : invalid velocity
Bit 13 ON : altitude hold disabled
Bits 14 - 15 : sensor DR error status
00 = GPS-only navigation
01 = DR in calibration
10 = DR sensor errors
11 = DR in test
2 GPS week number; week 0 started 1980/01/06.
This value is extended beyond the 10-bit value reported by the SVs.
GPS time of week in seconds x 10
3
.
UTC time and date. Seconds reported as integer milliseconds only.
Bit map of SVs used in solution. Bit 0 = SV 1, Bit
31 = SV 32. A bit set ON means the corresponding
SV was used in the solution.
In degrees (+ = North) x 10
7
.
In degrees (+ = East) x 10
7
.
In meters x 10
2
.
In meters x 10
2
.
See footnote.
In m/s x 10
2
.
In degrees from true north x 10
2
.
Not implemented.
3-39
3
Table 3-69 Geodetic Navigation Data (Continued)
Name
Climb Rate
Heading Rate
Bytes Description
2 In m/s x 10
2
.
2
Estimated Horizontal Position Error 4 deg/s x 10
2
(SiRFDRive only).
EHPE in meters x 10
2
(SiRFDRive only).
Estimated Vertical Position Error
Estimated Time Error
4
4
Estimated Horizontal Velocity Error 2
EVPE in meters x 10
2
(SiRFDRive only).
ETE in seconds x 10
2
(SiRFDRive only).
EHVE in m/s x 10
2
(SiRFDRive only).
Clock Bias
Clock Bias Error
Clock Drift
Clock Drift Error
4
4
4
4
In m/s x 10
2
.
In meters x 10
2
(SiRFDRive only).
In m/s x 10
2
.
In m/s x 10
2
(SiRFDRive only).
Distance Traveled since Reset 4 In meters (SiRFDRive only).
Distance Traveled error 2
Heading Error
Number of SVs in Fix
HDOP
2
1
1
In meters (SiRFDRive only).
In degrees x 10
2
(SiRFDRive only).
Count of SVs indicated by SV ID list.
Horizontal Dilution of Precision x 5 (0.2 resolution).
Reserved
Payload length: 91 bytes
1
1. Map Datum indicates the datum to which latitude, longitude, and altitude relate. 21 = WGS-84, by default. Other values will be defined as other datums are implemented. Available datums include: 21 = WGS-84, 178 = Tokyo Mean, 179 =
Tokyo Japan, 180 = Tokyo Korea, 181 = Tokyo Okinawa.
Note – Values are transmitted as integer values. When scaling is indicated in the
Description, the decimal value has been multiplied by the indicated amount and then converted to an integer. Example: Value transmitted: 2345; indicated scaling: 10
2
; actual value: 23.45.
Queue Command Parameters - Message ID 43
Output Rate: Response to poll
This message outputs Packet/Send command parameters under SiRF Binary Protocol.
Example with MID_SET_STAT_NAV message:
A0A20003—Start Sequence and Payload Length
438F00—Payload
00D2B0B3—Message Checksum and End Sequence
Name
MID
Polled Msg ID
Bytes
1
1
Scale Units Description
=0x2B
=0x8F (example)
Data Variable Depends on the polled message ID length
Payload length: Variable length bytes (3 bytes in the example))
3-40
SiRF Binary Protocol Reference Manual—September 2004
3
DR Raw Data - Message ID 45
1-Hz DR raw data from ADC (output after collection of data).
Name
MID
1st 100-ms time-tag
1st 100-ms ADC2 average measurement 2
1
4
Bytes Scale Units Description
=0x30 ms
Reserved
1st 100-ms odometer count
1st 100-ms GPIO input states
2
2
1 Bit 0: reverse ms 2nd 100-ms time-tag 4
2nd 100-ms ADC2 average measurement 2
Reserved 2
2nd 100-ms odometer count
2nd 100-ms GPIO input states
...
2
1 Bit 0: reverse
10th 100-ms time-tag 4
10th 100-ms ADC2 average measurement 2
Reserved 2
10th 100-ms odometer count
10th 100-ms GPIO input states
Payload length: 111 bytes
2
1 ms
Bit 0: reverse
Test Mode 3/4 - Message ID 46
Note – This message is used in GSW2, SiRFDRive, and GSW3 software. For
SiRFLoc, and SiRFXTrac software, refer to MID 20.
Output Rate: Variable - set by the period as defined in message ID 150
Example:
A0A20033—Start Sequence and Payload Length
2E
0001001E0002
3F70001F0D2900000000000601C600051B0E000EB41A0000000000000
0000000000000000000000000000000
—Payload
0316B0B3—Message Checksum and End Sequence
Table 3-70 Test Mode 3 Message
Name
Message ID
SV ID
1
Bytes
2
Binary (Hex)
Scale Example
2E
0001
Units
ASCII (Decimal)
Scale Example
46
1
Output Messages 3-41
3
3-42
Table 3-70 Test Mode 3 Message (Continued)
Name
Period
Bit Sync Time
Bit Count
Poor Status
Good Status
Parity Error Count
Lost VCO Count
Frame Sync Time
C/No Mean
C/No Sigma
Clock Drift Rate
Clock Drift
Bad 1Khz Bit Count
Abs I20ms
Abs Q1ms
Reserved
Reserved
Reserved
Payload length: 51 bytes
4
2
4
4
4
4
4
2
2
2
2
2
2
2
2
2
2
2
Bytes
*10
*10
*10
*10
Binary (Hex)
Scale Example
001E
0002
3F70
001F
0D29
0000
0000
0006
Units
sec sec sec
01C6
0005
1B0E Hz
000EB41A Hz
0000
00000000
00000000
00000000
00000000
00000000
÷10
÷10
÷10
÷10
ASCII (Decimal)
Scale Example
30
2
13680
31
3369
0
0
6
45.4
0.5
692.6
96361.0
Table 3-71 Detailed Description of Test Mode 3 Message
Name
Message ID
SV ID
Period
Bit Sync Time
Bit Count
Poor Status
Good Status
Description
Message I.D. number.
The PRN code of the satellite being tracked.
The total duration of time (in seconds) that the satellite is tracked.
The time it takes for channel 0 to achieve state 0x37.
The total number of data bits that the receiver is able to demodulate during the test period. As an example, for a 20 second test period, the total number of bits that can be demodulated by the receiver is 12000 (50 BPS x 20 sec x 12 channels).
This value is derived from phase accumulation time. Phase accumulation is the amount of time a receiver maintains phase lock. Every 100 msec of loss of phase lock equates to 1 poor status count. As an example, the total number of status counts for a 60 second period is 7200 (12 channels x 60 sec x 10 100-ms intervals)
This value is derived from phase accumulation time. Phase accumulation is the amount of time a receiver maintains phase lock. Every 100 msec of phase lock equates to 1 good status count.
Parity Error Count The number of navigation message word parity errors. This occurs when the transmitted parity word does not match the receiver’s parity check.
Lost VCO Count The number of 1 msec VCO lost lock detected. This occurs when the PLL in the RFIC loses lock. A significant jump in crystal frequency and/or phase will cause a VCO lost lock.
Frame Sync The time it takes for channel 0 to reach state 0x3F.
C/No Mean
C/No Sigma
Calculated average of reported C/No by all 12 channels during the test period.
Calculated sigma of reported C/No by all 12 channels during the test period.
SiRF Binary Protocol Reference Manual—September 2004
3
Table 3-71 Detailed Description of Test Mode 3 Message (Continued)
Name
Clock Drift Rate
Description
Difference in clock drift from start and end of the test period.
Clock Drift The measured internal clock drift.
Bad 1Khz Bit Count Errors in 1ms post correlation I count values.
Abs I20ms
Abs Q1ms
Absolute value of the 20 ms coherent sums of the I count over the duration of the test period.
Absolute value of the 1ms Q count over the duration of the test period.
DR Navigation Status - Message ID 48 (Sub ID 1)
DR navigation status information (output on every navigation cycle).
Name
MID
Sub ID
DR navigation
DR data
DR calibration & DR gyro bias calibration
Bytes Description
1
1
1
=0x30
=0x01
2
0x00 = valid DR navigation; else
Bit 0 ON : GPS-only navigation required
Bit 1 ON : speed not zero at start-up
Bit 2 ON : invalid DR position
Bit 3 ON : invalid DR heading
Bit 4 ON : invalid DR calibration
Bit 5 ON : invalid DR data
Bit 6 ON : system in Cold Start
Bit 7 : Reserved.
0x0000 = valid DR data; else
Bit 0 ON : DR gyro subsystem not operational
Bit 1 ON : DR speed subsystem not operational
Bit 2 ON : DR measurement time < 80 ms
Bit 3 ON : invalid serial DR message checksum
Bit 4 ON : no DR data for > 2 sec
Bit 5 ON : DR data timestamp did not advance
Bit 6 ON : DR data byte stream all 0x00 or 0xFF
Bit 7 ON : composite wheel-tick count jumped > 255 between successive DR messages
Bit 8 ON : input gyro data bits (15) of 0x0000 or 0x3FFF
Bit 9 ON : > 10 DR messages received in 1 sec
Bit 10 ON : time difference between two consecutive measurements is <= 0
Bits 11 - 15 : Reserved.
1 Bits 0 - 3 : 0000 = valid DR calibration; else
Bit 0 ON : invalid DR gyro bias calibration
Bit 1 ON : invalid DR scale factor calibration
Bit 2 ON : invalid DR speed scale factor calibration
Bit 3 ON : GPS calibration required but not ready.
Bits 4 - 6 : 000 = valid DR gyro bias calibration; else
Bit 4 ON : invalid DR data
Bit 5 ON : zero-speed gyro bias cal not updated
Bit 6 ON : heading rate scale factor <= -1.
Bit 7 : Reserved.
Output Messages 3-43
3
3-44
Name
DR gyro scale factor calibration & DR speed scale factor calibration
1
Bytes Description
Bits 0 - 3 : 0000 = valid DR gyro scale factor calibration; else
Bit 0 ON : invalid DR heading
Bit 1 ON : invalid DR data
Bit 2 ON : invalid DR position
Bit 3 ON : heading rate scale factor <= -1.
Bits 4 - 7 : 0000 = valid DR speed scale factor calibration; else
Bit 4 ON : invalid DR data
Bit 5 ON : invalid DR position
Bit 6 ON : invalid GPS velocity for DR
Bit 7 ON : DR speed scale factor <= -1.
DR Nav across reset &
DR position
1
DR heading 1
Bits 0 - 1 : 00 = valid DR nav across reset; else
Bit 0 ON : invalid DR navigation
Bit 1 ON : speed > 0.01 m/s.
Bit 2 : Reserved.
Bits 3 - 6 : 0000 = valid DR position; else
Bit 3 ON : speed not zero at start-up
Bit 4 ON : invalid GPS position
Bit 5 ON : system in Cold Start
Bit 6 ON : invalid DR data.
Bit 7 : Reserved.
Bits 0 - 6 : 0000000 = valid DR heading; else
Bit 0 ON : speed not zero at start-up
Bit 1 ON : invalid GPS position
Bit 2 ON : invalid GPS speed
Bit 3 ON : GPS did not update heading
Bit 4 ON : delta GPS time < 0 and > 2
Bit 5 ON : system in Cold Start
Bit 6 ON : invalid DR data.
Bit 7 : Reserved.
DR gyro subsystem &
DR speed subsystem
1
DR Nav state integration ran & zerospeed gyro bias calibration updated
1
Bits 0 - 3 : 0000 = updated DR gyro bias & scale factor calibration; else
Bit 0 ON : invalid DR data
Bit 1 ON : invalid DR position
Bit 2 ON : invalid GPS velocity for DR
Bit 3 ON : GPS did not update heading.
Bits 4 - 6 : 000 = updated DR speed calibration; else
Bit 4 ON : invalid DR data
Bit 5 ON : invalid DR position
Bit 6 ON : invalid GPS velocity for DR.
Bit 7 : 0 = updated DR navigation state.
Bits 0 - 7 : 00000000 = GPS updated position; else
Bit 0 ON : update mode != KF
Bit 1 ON : EHPE > 50
Bit 2 ON : no previous GPS KF update
Bit 3 ON : GPS EHPE < DR EHPE
Bit 4 ON : DR EHPE < 50
Bit 5 ON : less than 4 SVs in GPS navigation
Bit 6 ON : no SVs in GPS navigation
Bit 7 ON : DR-only navigation required.
SiRF Binary Protocol Reference Manual—September 2004
Output Messages
Name
Updated DR gyro bias/scale factor calibration, updated DR speed calibration, & updated DR Nav state
1
Bytes Description
Bits 0 - 3 : 0000 = updated DR gyro bias & scale factor calibration; else
Bit 0 ON : invalid DR data
Bit 1 ON : invalid DR position
Bit 2 ON : invalid GPS velocity for DR
Bit 3 ON : GPS did not update heading.
Bits 4 - 6 : 000 = updated DR speed calibration; else
Bit 4 ON : invalid DR data
Bit 5 ON : invalid DR position
Bit 6 ON : invalid GPS velocity for DR.
Bit 7 : 0 = updated DR navigation state.
GPS updated position 1
GPS updated heading 1
Bits 0 - 7 : 00000000 = GPS updated position; else
Bit 0 ON : update mode != KF
Bit 1 ON : EHPE > 50
Bit 2 ON : no previous GPS KF update
Bit 3 ON : GPS EHPE < DR EHPE
Bit 4 ON : DR EHPE < 50
Bit 5 ON : less than 4 SVs in GPS navigation
Bit 6 ON : no SVs in GPS navigation
Bit 7 ON : DR-only navigation required.
Bits 0 - 6 : 0000000 = GPS updated heading; else
Bit 0 ON : update mode != KF
Bit 1 ON : GPS speed <= 5 m/s
Bit 2 ON : less than 4 SVs in GPS navigation
Bit 3 ON : horizontal velocity variance > 1 m
2
/s
2
Bit 4 ON : GPS heading error >= DR heading error
Bit 5 ON : GPS KF not updated
Bit 6 ON : incomplete initial speed transient.
Bit 7 : Reserved.
GPS position & GPS velocity
1 Bits 0 - 2 : 000 = valid GPS position for DR; else
Bit 0 ON : less than 4 SVs in GPS navigation
Bit 1 ON : EHPE > 30
Bit 2 ON : GPS KF not updated.
Bit 3 : Reserved.
Bits 4 - 7 : 0000 = valid GPS velocity for DR; else
Bit 4 ON : invalid GPS position for DR
Bit 5 ON : EHVE > 3
Bit 6 ON : GPS speed < 2 m/s
Bit 7 ON : GPS did not update heading.
Reserved
Payload length: 17 bytes
2
3
3-45
3
DR Navigation State - Message ID 48 (Sub ID 2)
DR speed, gyro bias, navigation mode, direction, and heading (output on every navigation cycle).
Name
MID
Sub ID
DR speed
DR speed error
DR speed scale factor 2
DR speed scale factor error
2
2
2
Bytes Scale Units Description
1
1
=0x30
=0x02
10
2
10
4
10
4
10
4 m/s m/s
DR heading rate
DR heading rate error 2
DR gyro bias
DR gyro bias error
DR gyro scale factor
DR gyro scale factor error
2
2
2
2
2
10
2
10
2
10
2
10
2
10
4
10
4 deg/s deg/s deg/s deg/s
10
2 m Total DR position error
4
Total DR heading error 2 10
2 deg
DR Nav mode control 1 1=GPS-only nav required (no DR nav allowed);
2=GPS + DR nav using default/stored calibration;
3=GPS + DR nav using current GPS calibration;
4=DR-only nav (no GPS nav allowed).
DR direction: 0 = forward; 1 = reverse.
Reverse
DR heading
Payload length: 32 bytes
1
2 10
2 deg/s
Navigation Subsystem - Message ID 48 (Sub ID 3)
Heading, heading rate, speed, and position of both GPS and DR (output on every navigation cycle).
Name
MID
Sub ID
GPS heading rate
GPS heading rate error 2
GPS heading 2
1
2
Bytes Scale Units Description
1 =0x30
=0x03 deg/s 10
2
10
2
10
2 deg/s deg
3-46
SiRF Binary Protocol Reference Manual—September 2004
Name
GPS heading error
GPS speed
GPS speed error
GPS position error
DR heading rate
Bytes Scale Units Description
2 10
2 deg
2
2
4
10
2
10
2
10
2 m/s m/s m
2
DR heading rate error 2
DR heading
DR heading error
DR speed
DR speed error
DR position error
2
2
2
2
4
10
2
10
2
10
2
10
2
10
2
10
2
10
2 deg/s deg/s deg deg m/s m/s m
Reserved
Payload length: 36 bytes
2
DR Gyro Factory Calibration - Message ID 48 (Sub ID 6)
DR gyro’s factory calibration parameters (response to poll).
Name
MID
Sub ID
Calibration
Reserved
Payload length: 4 bytes
1
1
1
Bytes Scale Units Description
1 =0x30
=0x06
Bit 0 : Start gyro bias calibration.
Bit 1 : Start gyro scale factor calibration.
Bits 2 - 7 : Reserved.
DR Sensors’ Parameters - Message ID 48 (Sub ID 7)
DR sensors’ parameters (response to poll).
Name
MID
Sub ID 1
Base speed scale factor 1
Bytes Scale Units
1 ticks/m
Base gyro bias 2
Base gyro scale factor 2
10
4
10
3 mV mV/deg/s
Description
=0x30
=0x07
Payload length: 7 bytes
3
Output Messages 3-47
3
DR Data Block - Message ID 48 (Sub ID 8)
1-Hz DR data block (output on every navigation cycle).
Name
MID
Sub ID
Measurement type
Valid count
Reverse indicator
1st 100-ms time-tag
1st 100-ms DR speed
1st 100-ms gyro heading rate 1
2 nd
100-ms time-tag 1
2 nd
100-ms DR speed 1
2 nd
100-ms gyro heading rate 1
...
10 th
100-ms time-tag 1
10 th
100-ms DR speed 1
10 th
100-ms gyro heading rate 1
Payload length: 86 bytes
1
1
1
1
Bytes Scale Units Description
1
1
1
=0x30
=0x08
0 = odometer and gyroscope (always);
1 .. 255 = Reserved.
Count (1 .. 10) of valid DR measurements.
Bits 0 .. 9, each bit:
ON = reverse, OFF = forward.
10
10
10
10
10
10
2
2
2
2
2
2 ms m/s deg/s ms m/s deg/s ms m/s deg/s
SBAS Parameters - Message ID 50
Outputs SBAS operating parameter information including SBAS PRN, mode, timeout, timeout source, and SBAS health status.
Output Rate: Every measurement cycle (full power / continuous: 1Hz)
Example:
A0A2000D—Start Sequence and Payload Length
327A001200000000000000000000—Payload
BEBEB0B3—Message Checksum and End Sequence
Table 3-72 SBAS Parameters Message
Name
Message ID
SBAS PRN
SBAS Mode
DGPS Timeout
Flag bits
1
1
1
1
1
Bytes Scale
00
12
00
32
7A
Binary (Hex)
Example Units
ASCII (Decimal)
Scale Example
50
122
0
18
0
3-48
SiRF Binary Protocol Reference Manual—September 2004
3
Table 3-72 SBAS Parameters Message (Continued)
Spare
Name
8
Bytes
Payload length: 13 bytes
Scale
Binary (Hex)
Example
0000000000000000
Units
ASCII (Decimal)
Scale Example
00000000
Table 3-73 Detailed Description of SBAS Parameters
Name
Message ID
SBAS PRN
Message I.D. number.
0=Auto mode
SBAS PRN 120-138= Exclusive
Description
SBAS Mode 0=Testing, 1=Integrity
Integrity mode will not accept SBAS corrections if the SBAS satellite is transmitting in a test mode.
Testing mode will accept and use SBAS corrections even if the SBAS satellite is transmitting in a test mode.
DGPS Timeout Range 1-250 seconds. 0 returns to default timeout.
The last received corrections will continue to be applied to the navigation solution for the timeout period. If the timeout period is exceeded before a new correction is received, no corrections will be applied.
Flag bits Bit 0: Timeout; 0=Default 1=User
Bit 1: Health; Reserved
Bit 2: Correction; Reserved
Bit 3: SBAS PRN; 0=Default 1=User
Spare Spare
PPS Time - Message ID 52
Output time associated with current 1 PPS pulse. Each message will be output within a few hundred ms after the 1 PPS pulse is output and will tell the time of the pulse that just occurred. The MID 52 will report the UTC time of the 1 PPS pulse when it has a current status message from the satellites. If it does not have a valid status message, it will report time in GPS time, and will so indicate by means of the status field.
Output Rate: 1 Hz (Synchronized to PPS)
Example:
A0A20013—Start Sequence and Payload Length
3415122A0E0A07D3000D000000050700000000—Payload
0190B0B3—Message Checksum and End Sequence
Table 3-74 Timing Message Data
Message ID
Hour
Minute
Second
Day
Month
Name
1
1
1
1
1
1
Bytes
Binary (Hex)
Scale Example
34
15
12
2A
0E
0A
Units
ASCII (Decimal)
Scale Example
52
21
18
42
15
10
Output Messages 3-49
3
Table 3-74 Timing Message Data
Name
Year
UTCOffsetInt
UTCOffsetFrac 4
1
Reserved
Payload length: 19 bytes
4
2
2
Bytes
Binary (Hex)
Scale Example
10
9
07D3
000D
00000005
7
00000000
Units
sec
ASCII (Decimal)
Scale Example
10
9
2003
13
0.000000005
7
00000000
0
1
Table 3-75 Status Byte Field in Timing Message
Bit Fields
2
3-7
Meaning
When set, bit indicates that time is valid
When set, bit indicates that UTC time is reported in this message.
Otherwise it is GPS time.
When set, bit indicates that UTC to GPS time information is current, i.e. IONO/UTC time is less than 2 weeks old.
Reserved
Reserved - Message ID 225
This output message is SiRF proprietary.
Development Data - Message ID 255
Output Rate: Receiver generated
Example:
A0A2....—Start Sequence and Payload Length
FF....—Payload
....B0B3—Message Checksum and End Sequence
Table 3-76 Development Data
Name
Message ID
Data
1
Payload length: variable
1
Bytes
variable
Binary (Hex)
Scale Example
FF
1. Data area consists of at least 1 byte of ASCII text information.
Units
ASCII (Decimal)
Scale Example
255
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.
3-50
SiRF Binary Protocol Reference Manual—September 2004
Additional Information
4
TricklePower Operation 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 Reporting
The GPS week number represents the number of weeks that have elapsed since the week of January 6, 1980. Per ICD-GPS-200, the satellites only transmit the 10 LSBs of th week number. On August 22, 1999, the week number became 1024, which was reported by the satellites as week 0. SiRF receivers resolve the reported week number internally. When messages report the week number, that value will either be truncated to the 10 LSBs or will be called an extended week number (see messages 7 and 41 for examples).
4-1
4
4-2
SiRF Binary Protocol Reference Manual—September 2004
ADDITIONAL AVAILABLE PRODUCT INFORMATION
Part Number Description
1050-0042
NMEA Reference Manual
1050-0041
1065-0136
SiRF Binary Protocol Reference Manual
Product Inserts
1050-0056
1050-0053
1050-0054
1050-0055
1055-1034
1055-1035
SiRFstarIII System Development Kit User Guide
GSW3 Software System Development Kit Reference Manual
S3SDK Board System Development Kit Reference Manual
GSP3 Chip System Development Kit Reference Manual
GSP3f Data Sheet
GRF3w Data Sheet
Available on the Developer Web Site
SSIII System Guidelines and Considerations APNT3001
APNT3002
APNT3003
APNT3004
PCB Design Guidelines for SSIII Implementations
Back-Up Power Operation for SSIII Architectures
Troubleshooting Notes for SSIII Board Development
Co-Location and Jamming Considerations for SSIII Integration APNT3005
APNT3006
APNT3007
APNT3008
GPIO Pin Functionality for SSIII
I/O Message Definitions for SSIII
Implementing User Tasks in the SSIII Architecture
Effects of User Tasks on GPS Performance for SSIII APNT3009
APNT3010
APNT3011
APNT3012
APNT3014
Advanced Power Management (APM) Considerations for SSIII
Multi-ICE Testing Issues for SSIII
Production Testing of SSIII Modules
Automotive Design Considerations for SSIII
SiRF Technology Inc.
148 East Brokaw
San Jose, CA 95112
Tel: +1-408-467-0410
Fax: +1-408-467-0420
Email: [email protected]
Website: http://www.sirf.com
SiRF Texas
Tel: +1-972-239-6988
Fax: +1-972-239-0372
Email: [email protected]
SiRF United Kingdom
Tel: +44-1344-668390
Fax: +44-1344-668157
Email: [email protected]
SiRF Japan
Tel: +81 44829-2186
Fax: +81 44829-2187
Email: [email protected]
SiRF France
Tel: +33-6-0717-7862
Fax: +44-1344-668157
Email: [email protected]
SiRF Germany
Tel: +49-81-529932-90
Fax: +49-81-529931-70
Email: [email protected]
SiRF Taiwan
Tel: +886-2-2723-7853
Fax: +886-2-2723-7854
Email: [email protected]
SiRF India
Tel: +91-120-251-0256
Fax: +91-120-251-0584
Email: [email protected]
S3SDK Board System Development Kit Reference Manual
© 2004 SiRF Technology Inc. All rights reserved.
Products made, sold or licensed by SiRF Technology, Inc. are protected by one or more of the following United States patents: 5,488,378; 5,504,482; 5,552,794; 5,592,382; 5,638,077;
5,883,595; 5,897,605; 5,901,171; 5,917,383; 5,920,283; 6,018,704; 6,037,900; 6,041,280; 6,044,105; 6,047,017; 6,081,228; 6,114,992; 6,125,325; 6,198,765; 6,236,937; 6,249,542; 6,278,403;
6,282,231; 6,292,749; 6,297,771; 6,301,545; 6,304,216; 6,351,486; 6,351,711; 6,366,250; 6,389,291; 6,393,046; 6,400,753; 6,421,609; 6,427,120; 6,427,121; 6,453,238; and AU729,697.
Other United States and foreign patents are issued or pending. SiRF, SiRFStar, SiRF plus Orbit design are registered in the U.S. Patent and Trademark office. SnapLock, SnapStart, SingleSat, Foliage
Lock, TricklePower, Push-to-Fix, WinSiRF, SiRFLoc, SiRFDRive, SiRFNav, SiRFXTrac, SiRFSoft, SoftGPS, UrbanGPS, and Multimode Location Engine are trademarks of SiRF Technology, Inc. Other trademarks are property of their respective companies.
This document contains information on SiRF products. SiRF reserves the right to make changes in its products, specifications and other information at any time without notice. SiRF assumes no liability or responsibility for any claims or damages arising out of the use of this document, or from the use of integrated circuits based on this data sheet, including, but not limited to claims or damages based on infringement of patents, copyrights or other intellectual property rights. No license, either expressed or implied, is granted to any intellectual property rights of SiRF. SiRF makes no warranties, either express or implied with respect to the information and specification contained in this document. Performance characteristics listed in this document do not constitute a warranty or guarantee of product performance. SiRF products are not intended for use in life support systems or for life saving applications. All terms and conditions of sale are governed by the SiRF Terms and Conditions of Sale, a copy of which may obtain from your authorized SiRF sales representative.
December 2004
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Table of contents
- 4 Contents
- 4 1. Protocol Layers 1-1
- 4 2. Input Messages 2-1
- 6 3. Output Messages 3-1
- 7 4. Additional Information 4-1
- 8 Tables
- 14 Preface
- 16 Protocol Layers
- 16 Transport Message
- 16 Transport
- 16 Message Validation
- 17 Payload Length
- 17 Payload Data
- 17 Checksum
- 18 Input Messages
- 20 Advanced Power Management - Message ID 53
- 22 Initialize Data Source - Message ID 128
- 23 Switch To NMEA Protocol - Message ID 129
- 24 Set Almanac - Message ID 130
- 25 Handle Formatted Dump Data - Message ID 131
- 26 Poll Software Version - Message ID 132
- 26 DGPS Source - Message ID 133
- 28 Set Main Serial Port - Message ID 134
- 29 Switch Protocol - Message ID 135
- 29 Mode Control - Message ID 136
- 30 DOP Mask Control - Message ID 137
- 31 DGPS Control - Message ID 138
- 31 Elevation Mask - Message ID 139
- 32 Power Mask - Message ID 140
- 32 Editing Residual - Message ID 141
- 32 Steady State Detection - Message ID 142
- 33 Static Navigation - Message ID 143
- 33 Poll Clock Status - Message ID 144
- 34 Set DGPS Serial Port - Message ID 145
- 34 Poll Almanac - Message ID 146
- 35 Poll Ephemeris - Message ID 147
- 35 Flash Update - Message ID 148
- 36 Set Ephemeris - Message ID 149
- 36 Switch Operating Modes - Message ID 150
- 37 Set TricklePower Parameters - Message ID 151
- 38 Poll Navigation Parameters - Message ID 152
- 39 Set UART Configuration - Message ID 165
- 40 Set Message Rate - Message ID 166
- 41 Set Low Power Acquisition Parameters - Message ID 167
- 41 Poll Command Parameters - Message ID 168
- 42 Set SBAS Parameters - Message ID 170
- 43 Initialise GPS/DR Navigation - Message ID 172 (Sub ID 1)
- 43 Set GPS/DR Navigation Mode - Message ID 172 (Sub ID 2)
- 44 Set DR Gyro Factory Calibration - Message ID 172 (Sub ID 3)
- 44 Set DR Sensors’ Parameters - Message ID 172 (Sub ID 4)
- 44 Poll DR Gyro Factory Calibration - Message ID 172 (Sub ID 6)
- 44 Poll DR Sensors’ Parameters - Message ID 172 (Sub ID 7)
- 45 Reserved - Message ID 228
- 46 Output Messages
- 48 Reference Navigation Data - Message ID 1
- 48 Measure Navigation Data Out - Message ID 2
- 51 True Tracker Data - Message ID 3
- 51 Measured Tracker Data Out - Message ID 4
- 52 Raw Tracker Data Out - Message ID 5
- 53 Software Version String (Response to Poll) - Message ID 6
- 53 Response: Clock Status Data - Message ID 7
- 54 50 BPS Data - Message ID 8
- 55 CPU Throughput - Message ID 9
- 55 Error ID Data - Message ID 10
- 66 Command Acknowledgment - Message ID 11
- 66 Command NAcknowledgment - Message ID 12
- 66 Visible List - Message ID 13
- 67 Almanac Data - Message ID 14
- 68 Ephemeris Data (Response to Poll) - Message ID 15
- 69 Test Mode 1 - Message ID 16
- 70 Differential Corrections - Message ID 17
- 70 OkToSend - Message ID 18
- 71 Navigation Parameters (Response to Poll) - Message ID 19
- 73 Test Mode 2/3/4 - Message ID 20
- 73 Test Mode 2
- 74 Test Mode 3
- 76 Test Mode 4
- 77 Navigation Library Measurement Data - Message ID 28
- 80 Navigation Library DGPS Data - Message ID 29
- 80 Navigation Library SV State Data - Message ID 30
- 81 Navigation Library Initialization Data - Message ID 31
- 83 Geodetic Navigation Data - Message ID 41
- 85 Queue Command Parameters - Message ID 43
- 86 DR Raw Data - Message ID 45
- 86 Test Mode 3/4 - Message ID 46
- 88 DR Navigation Status - Message ID 48 (Sub ID 1)
- 91 DR Navigation State - Message ID 48 (Sub ID 2)
- 91 Navigation Subsystem - Message ID 48 (Sub ID 3)
- 92 DR Gyro Factory Calibration - Message ID 48 (Sub ID 6)
- 92 DR Sensors’ Parameters - Message ID 48 (Sub ID 7)
- 93 DR Data Block - Message ID 48 (Sub ID 8)
- 93 SBAS Parameters - Message ID 50
- 94 PPS Time - Message ID 52
- 95 Reserved - Message ID 225
- 95 Development Data - Message ID 255
- 96 Additional Information
- 96 TricklePower Operation in DGPS Mode
- 96 GPS Week Reporting