Royaltek RDR-3100 Manual de usuario descargar pdf (Pagina 15)

RDR-3100 User Manual

8. SW Protocol

8.1 GPS output Protocol

The communication settings:

Baud rate: 38400, n, 8, 1

The UARTA will output GPS NMEA 0183 V3.0 protocol and RoyalTek DR protocol.

There are 4 type sentence will output as the follow table:

Table 1-1 NMEA-0183 Output Messages

NMEA Record Description

GGA Global positioning system fixed data

GSA GNSS DOP and active satellites

GSV GNSS satellites in view

RMC Recommended minimum specific GNSS data

The RoyalTek DR protocols are NMEA like protocol to show the DR navigation and

calibration information.

8.1.1 RoyalTek DR protocol – RTOEM,3

This sentence contains the navigation and calibration information of DR.

The protocol is illustrated as follows:

Item

Field Description

1 $ Beginning of sentence

2 RTOEM Message Header

3 3 Message ID

4 GPS validated Number of SV in use > 3 = 1, other is 0

5 Gyro Calibrate Status 1.Gyro already calibrated /0: Gyro not calibrated

6 Odometer Calibrate

Status

1: Odometer already calibrated /0: Odometer not

calibrated

7 Gyro Input Status 1: Gyro Input available / 0: Gyro Input not available

8 Odometer Input Status 1: Odometer Input available 0: Odometer Input not

available

9-1 MCU Read Count The count of data read count from MCU

9-2 Odometer Input Source 1: CAN BUS / 0: Vehicle’s Odometer PWM

9-3 DR position status 4: Initial Status /3: GPS Fix /2:DR Mode

9-4 Backward Status 1: Activated / 0: Normal

9-5 Antenna Detecting 1: Available / 0: Abort

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Royaltek RDR-3100 Manual de usuario Pagina 15