SIRF_NMEA_Reference_Manual

SiRF Technology, Inc. 217 Devcon Drive San Jose, CA 95112 U.S.A. Phone: +1 (408) 467-0410 Fax: +1 (408) 467-0420 www.SiRF.com NMEA Reference Manual Part Number: 1050-0042 Revision 2.1, December 2007 SiRF, SiRFstar, and SiRF plus orbit design are registered in the U.S. Patent and Trademark Office. ii NMEA Reference Manual Copyright © 1996-2007 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., 217 Devcon Drive, 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 document 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 +1 (408) 467-0410 e-mail support@sirf.com NMEA Reference Manual—December 2007 154—Extended Ephemeris ACK . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9 155—Proprietary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9 Reserved—Message ID 225 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9 2. Input Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1 Transport Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1 Contents Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii 1. Output Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 GGA —Global Positioning System Fixed Data . . . . . . . . . . . . . . . . 1-2 GLL—Geographic Position - Latitude/Longitude . . . . . . . . . . . . . . 1-3 GSA—GNSS DOP and Active Satellites . . . . . . . . . . . . . . . . . . . . . 1-3 GSV—GNSS Satellites in View. . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4 MSS—MSK Receiver Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4 RMC—Recommended Minimum Specific GNSS Data . . . . . . . . . . 1-5 VTG—Course Over Ground and Ground Speed . . . . . . . . . . . . . . . 1-6 ZDA—SiRF Timing Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6 140— Proprietary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7 150—OkToSend. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7 151—GPS Data and Extended Ephemeris Mask . . . . . . . . . . . . . . . 1-7 152—Extended Ephemeris Integrity . . . . . . . . . . . . . . . . . . . . . . . . 1-8 iii NMEA Input Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2 100—SetSerialPort. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2 101—NavigationInitialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3 102—SetDGPSPort . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4 103—Query/Rate Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5 104—LLANavigationInitialization . . . . . . . . . . . . . . . . . . . . . . . . . 2-5 105—Development Data On/Off . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6 106—Select Datum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7 107—Proprietary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8 108—Proprietary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8 110—Extended Ephemeris Debug . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8 112 – Set Message Rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9 200—Marketing Software Configuration. . . . . . . . . . . . . . . . . . . . . 2-9 MSK—MSK Receiver Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9 iv NMEA Reference Manual—December 2007 Table 1-16 GPS Data and Ephemeris Mask - Message 151 . . . . . . . . . . . . . . . . 1-8 Table 1-17 Extended Ephemeris Integrity - Message 152 . . . . . . . . . . . . . . . . . 1-8 Table 1-18 Extended Ephemeris ACK - Message 154 . . . . . . . . . . . . . . . . . . . . 1-9 Table 1-19 Proprietary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9 Table 2-1 Transport Message Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1 Table 2-2 NMEA Input Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2 Tables Table 1-1 NMEA Output Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 Table 1-2 Supported NMEA Output Messages . . . . . . . . . . . . . . . . . . . . . . . . 1-1 Table 1-3 GGA Data Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2 Table 1-4 Position Fix Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2 Table 1-5 GLL Data Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3 Table 1-6 GSA Data Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3 Table 1-7 Mode 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4 Table 1-8 Mode 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4 Table 1-9 GSV Data Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4 Table 1-10 MSS Data Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5 Table 1-11 RMC Data Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5 Table 1-12 VTG Data Format. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6 Table 1-13 ZDA Data Format. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6 Table 1-14 Proprietary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7 Table 1-15 OkToSend Message Data Format. . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7 v Table 2-3 Supported NMEA Input Messages. . . . . . . . . . . . . . . . . . . . . . . . . . 2-2 Table 2-4 Set Serial Port Data Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3 Table 2-5 Navigation Initialization Data Format . . . . . . . . . . . . . . . . . . . . . . . 2-3 Table 2-6 Reset Configuration - Non SiRFLoc Platforms . . . . . . . . . . . . . . . . 2-4 Table 2-7 Reset Configuration - SiRFLoc Specific . . . . . . . . . . . . . . . . . . . . . 2-4 Table 2-8 Set DGPS Port Data Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4 Table 2-9 Query/Rate Control Data Format . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5 Table 2-10 Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5 Table 2-11 LLA Navigation Initialization Data Format . . . . . . . . . . . . . . . . . . . 2-6 Table 2-12 Reset Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6 Table 2-13 Development Data On/Off Data Format . . . . . . . . . . . . . . . . . . . . . 2-6 Table 2-14 Select Datum Data Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7 Table 2-15 Proprietary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8 Table 2-16 Proprietary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8 Table 2-17 Extended Ephemeris Debug . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8 Table 2-18 Table Set Message Rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9 Table 2-19 RMC Data Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9 vi NMEA Reference Manual—December 2007 Related Manuals You can refer to the following document for more information: • NMEA-0183 Standard For Interfacing Marine Electronic Devices • SiRF Binary Protocol Reference Manual • SiRF Evaluation Kit User Guides • SiRF System Development Kit User Guides Preface Most SiRF products support a subset of the NMEA-0183 standard for interfacing marine electronic devices as defined by the National Marine Electronics Association (NMEA). The NMEA Reference Manual provides details of NMEA messages developed and defined by SiRF. It does not provide information about the complete NMEA-0183 interface standard. Who Should Use This Guide This manual was written assuming the user has a basic understanding of interface protocols and their use. How This Guide Is Organized This manual contains the following chapters: Chapter 1, “Output Messages” defines NMEA standard output messages supported by SiRF and NMEA proprietary output messages developed by SiRF. Chapter 2, “Input Messages” defines NMEA standard input messages supported by SiRF and NMEA proprietary input messages developed by SiRF. vii Contacting SiRF Technical Support Address: SiRF Technology Inc. 217 Devcon Drive San Jose, CA 95112 U.S.A. SiRF Technical Support: Phone: +1 (408) 467-0410 (9 am to 5 pm Pacific Standard Time) E-mail: support@sirf.com General enquiries: Phone: +1 (408) 467-0410 (9 am to 5 pm Pacific Standard Time) E-mail: gps@sirf.com viii NMEA Reference Manual—December 2007 Table 1-2 Supported NMEA Output Messages Message SiRF Software Options GSW21 SiRFDRive1 SiRFXTrac1 SiRFLoc1 GSW3 & GSWLT31 SiRFDiRect GGA All All All All All All GLL All All All All All All GSA All All All All All All GSV All All All All All All MSS All No No No All2 All RMC All All All All All All Output Messages 1 Table 1-1 lists each of the NMEA output messages specifically developed and defined by SiRF for use within SiRF products. A full description of the listed NMEA messages are provided in the following sections. Table 1-2 provides a summary of SiRF NMEA output messages supported by the specific SiRF platforms. Table 1-1 NMEA Output Messages Message Description GGA Time, position and fix type data GLL Latitude, longitude, UTC time of position fix and status GSA GPS receiver operating mode, satellites used in the position solution, and DOP values GSV Number of GPS satellites in view satellite ID numbers, elevation, azimuth, & SNR values MSS Signal-to-noise ratio, signal strength, frequency, and bit rate from a radio-beacon receiver RMC Time, date, position, course and speed data VTG Course and speed information relative to the ground ZDA PPS timing message (synchronized to PPS) 150 OK to send message 151 GPS Data and Extended Ephemeris Mask 152 Extended Ephemeris Integrity 154 Extended Ephemeris ACK 1-1 VTG All All All All All All ZDA 2.3.2 & above No No No No No 150 2.3.2 & above No No No No No 151 2.5 & above No 2.3 & above No 3.2.0 & above Yes 1 GGA —Global Positioning System Fixed Data Note – Fields marked in italic red apply only to NMEA version 2.3 (and later) in this NMEA message description. Table 1-3 contains the values for the following example: $GPGGA,002153.000,3342.6618,N,11751.3858,W,1,10,1.2,27.0,M,-34.2,M,,0000*5E 152 2.5 & above No 2.3 & above No 3.2.0 & above Yes 154 2.5 & above No 2.3 & above No 3.2.0 & above Yes 1. GSW2 and SiRFDRive software only output NMEA version 2.20 (and earlier). Standard binaries for SiRFXTrac, GSW3, and GSWLT3 firmware use NMEA 3.0. Users of SiRF’s software developer’s kit can choose through software conditional defines (UI_NMEA_VERSION_XXX) to allow a choice between NMEA 2.20 and 3.00. The file NMEA_SIF.H contains the NMEA version defines. 2. MSS message for GSW3 and GSWLT3 is empty since they do not support BEACON. Table 1-3 GGA Data Format Name Example Unit Description Message ID $GPGGA GGA protocol header UTC Time 002153.000 hhmmss.sss Latitude 3342.6618 ddmm.mmmm N/S Indicator N N=north or S=south Longitude 11751.3858 dddmm.mmmm E/W Indicator W E=east or W=west Position Fix Indicator 1 See Table 1-4 Satellites Used 10 Range 0 to 12 HDOP 1.2 Horizontal Dilution of Precision MSL Altitude 27.0 meters Units M meters Geoid Separation -34.2 meters Geoid-to-ellipsoid separation. Ellipsoid altitude = MSL Altitude + Geoid Separation. Units M meters Age of Diff. Corr. sec Null fields when DGPS is not used Diff. Ref. Station ID 0000 Checksum *5E End of message termination Table 1-4 Position Fix Indicator Value Description 0 Fix not available or invalid 1 GPS SPS Mode, fix valid 2 Differential GPS, SPS Mode, fix valid 3-5 Not supported 6 Dead Reckoning Mode, fix valid Table 1-2 Supported NMEA Output Messages (Continued) Message SiRF Software Options GSW21 SiRFDRive1 SiRFXTrac1 SiRFLoc1 GSW3 & GSWLT31 SiRFDiRect 1-2 NMEA Reference Manual—December 2007 1 Note – A valid position fix indicator is derived from the SiRF Binary M.I.D. 2 position mode 1. See the SiRF Binary Protocol Reference Manual. GLL—Geographic Position - Latitude/Longitude Note – Fields marked in italic red apply only to NMEA version 2.3 (and later) in this NMEA message description. Table 1-5 contains the values for the following example: $GPGLL,3723.2475,N,12158.3416,W,161229.487,A,A*41 GSA—GNSS DOP and Active Satellites Note – Fields marked in italic red apply only to NMEA version 2.3 (and later) in this NMEA message description. Table 1-6 contains the values for the following example: $GPGSA,A,3,07,02,26,27,09,04,15, , , , , ,1.8,1.0,1.5*33 Table 1-5 GLL Data Format Name Example Unit Description Message ID $GPGLL GLL protocol header Latitude 3723.2475 ddmm.mmmm N/S Indicator N N=north or S=south Longitude 12158.3416 dddmm.mmmm E/W Indicator W E=east or W=west UTC Time 161229.487 hhmmss.sss Status A A=data valid or V=data not valid Mode A A=Autonomous, D=DGPS, E=DR (Only present in NMEA v3.00) Checksum *41 End of message termination Table 1-6 GSA Data Format Name Example Unit Description Message ID $GPGSA GSA protocol header Mode 1 A See Table 1-7 Mode 2 3 See Table 1-8 Satellite Used1 1. Satellite used in solution. 07 SV on Channel 1 Satellite Used1 02 SV on Channel 2 .... .... Satellite Used1 SV on Channel 12 PDOP 1.8 Position Dilution of Precision HDOP 1.0 Horizontal Dilution of Precision VDOP 1.5 Vertical Dilution of Precision Checksum *33 End of message termination Output Messages 1-3 1 GSV—GNSS Satellites in View Table 1-9 contains the values for the following example: $GPGSV,2,1,07,07,79,048,42,02,51,062,43,26,36,256,42,27,27,138,42*71 $GPGSV,2,2,07,09,23,313,42,04,19,159,41,15,12,041,42*41 MSS—MSK Receiver Signal Note – Fields marked in italic red apply only to NMEA version 2.3 (and later) in this NMEA message description. This message for GSW3 and GSWLT3 is empty because they do not support BEACON. Table 1-10 contains the values for the following example: $GPMSS,55,27,318.0,100,1,*57 Table 1-7 Mode 1 Value Description M Manual—forced to operate in 2D or 3D mode A 2D Automatic—allowed to automatically switch 2D/3D Table 1-8 Mode 2 Value Description 1 Fix not available 2 2D (<4 SVs used) 3 3D (>3 SVs used) Table 1-9 GSV Data Format Name Example Unit Description Message ID $GPGSV GSV protocol header Number of Messages1 1. Depending on the number of satellites tracked, multiple messages of GSV data may be required. 2 Range 1 to 3 Message Number1 1 Range 1 to 3 Satellites in View 07 Satellite ID 07 Channel 1 (Range 1 to 32) Elevation 79 degrees Channel 1 (Maximum 90) Azimuth 048 degrees Channel 1 (True, Range 0 to 359) SNR (C/N0) 42 dBHz Range 0 to 99, null when not tracking .... .... Satellite ID 27 Channel 4 (Range 1 to 32) Elevation 27 degrees Channel 4 (Maximum 90) Azimuth 138 degrees Channel 4 (True, Range 0 to 359) SNR (C/N0) 42 dBHz Range 0 to 99, null when not tracking Checksum *71 End of message termination 1-4 NMEA Reference Manual—December 2007 1 Note – The MSS NMEA message can only be polled or scheduled using the MSK NMEA input message. See “MSK—MSK Receiver Interface” on page 2-9. RMC—Recommended Minimum Specific GNSS Data Note – Fields marked in italic red apply only to NMEA version 2.3 (and later) in this NMEA message description. Table 1-11 contains the values for the following example: $GPRMC,161229.487,A,3723.2475,N,12158.3416,W,0.13,309.62,120598, ,*10 Table 1-10 MSS Data Format Name Example Unit Description Message ID $GPMSS MSS protocol header Signal Strength 55 dB SS of tracked frequency Signal-to-Noise Ratio 27 dB SNR of tracked frequency Beacon Frequency 318.0 kHz Currently tracked frequency Beacon Bit Rate 100 bits per second Channel Number 1 The channel of the beacon being used if a multi-channel beacon receiver is used Checksum *57 End of message termination Table 1-11 RMC Data Format Name Example Unit Description Message ID $GPRMC RMC protocol header UTC Time 161229.487 hhmmss.sss Status1 1. A valid status is derived from the SiRF Binary M.I.D 2 position mode 1. See the SiRF Binary Protocol Reference Manual. A A=data valid or V=data not valid Latitude 3723.2475 ddmm.mmmm N/S Indicator N N=north or S=south Longitude 12158.3416 dddmm.mmmm E/W Indicator W E=east or W=west Speed Over Ground 0.13 knots Course Over Ground 309.62 degrees True Date 120598 ddmmyy Magnetic Variation2 2. SiRF Technology Inc. does not support magnetic declination. All “course over ground” data are geodetic WGS84 directions. degrees E=east or W=west East/West Indicator2 E E=east Mode A A=Autonomous, D=DGPS, E=DR Checksum *10 End of message termination Output Messages 1-5 1 VTG—Course Over Ground and Ground Speed Note – Fields marked in italic red apply only to NMEA version 2.3 (and later) in this NMEA message description. Table 1-12 contains the values for the following example: $GPVTG,309.62,T, ,M,0.13,N,0.2,K,A*23 ZDA—SiRF Timing Message Outputs the time associated with the current 1 PPS pulse. Each message is output within a few hundred ms after the 1 PPS pulse is output and tells the time of the pulse that just occurred. Table 1-13 contains the values for the following example: $GPZDA,181813,14,10,2003,00,00*4F Table 1-12 VTG Data Format Name Example Unit Description Message ID $GPVTG VTG protocol header Course 309.62 degrees Measured heading Reference T True Course degrees Measured heading Reference M Magnetic1 1. SiRF Technology Inc. does not support magnetic declination. All “course over ground” data are geodetic WGS84 directions. Speed 0.13 knots Measured horizontal speed Units N Knots Speed 0.2 km/hr Measured horizontal speed Units K Kilometers per hour Mode A A=Autonomous, D=DGPS, E=DR Checksum *23 End of message termination Table 1-13 ZDA Data Format Name Example Unit Des