rtd GPS140HR User manual

GPS140HR
GPS Positioning Module
User’s Manual
BDM-610020004
Rev. A

GPS140HR 2RTD Embedded Technologies, Inc.

GPS140HR 3RTD Embedded Technologies, Inc.
GPS140HR
GPS Positioning Module
User’s Manual
RTD Embedded Technologies, INC.
103 Innovation Blvd.
State College, PA 16803-0906
Phone: [phone]
FAX: [phone]
E-mail
[email protected]
[email protected]
web site
http://www.rtd.com

GPS140HR 4RTD Embedded Technologies, Inc.
Revision History
12/08/2000 HW Release 1.1, Preliminary version, released 18/08/2000
Rev. A New manual naming method
Published by:
RTD Embedded Technologies, Inc.
103 Innovation Blvd.
State College, PA 16803-0906
Copyright 1999, 2002, 2003 by RTD Embedded Technologies, Inc.
All rights reserved
Printed in U.S.A.
The RTD Logo is a registered trademark of RTD Embedded Technologies. cpuModule and utilityModule are trademarks of RTD
Embedded Technologies. PhoenixPICO and PheonixPICO BIOS are trademarks of Phoenix Technologies Ltd. PS/2, PC/XT, PC/AT and
IBM are trademarks of International Business Machines Inc. MS-DOS, Windows, Windows 95, Windows 98 and Windows NT are
trademarks of Microsoft Corp. PC/104 is a registered trademark of PC/104 Consortium. All other trademarks appearing in this document
are the property of their respective owners.

GPS140HR 5RTD Embedded Technologies, Inc.
TABLE OF CONTENTS
CHAPTER 1 -INTRODUCTION.........................................................................................8
Features.............................................................................................................................................................................................8
Some of the key features of the GPS140HR include:..........................................................................................................8
GPS receiver.....................................................................................................................................................................................8
16C550 compatible UART..............................................................................................................................................................9
I/O interfaces....................................................................................................................................................................................9
Mechanical description...................................................................................................................................................................9
Connector description.....................................................................................................................................................................9
What comes with your board..........................................................................................................................................................9
Using this manual..........................................................................................................................................................................10
When you need help.......................................................................................................................................................................10
CHAPTER 2 -BOARD SETTINGS..................................................................................11
Factory-Configured Jumper Settings........................................................................................................................................12
Base address jumpers (Factory setting: 2E8h)........................................................................................................................13
Host interrupt (Factory setting: IRQ5, G closed)...........................................................................................................15
GPS configuration (Factory setting: ROM disabled, NMEA)...........................................................................................16
CHAPTER 3 BOARD INSTALLATION...........................................................................18
Board installation..........................................................................................................................................................................18
General installation guidelines:............................................................................................................................................18
GPS receiver connector................................................................................................................................................................19
Utility I/O header connector J3...................................................................................................................................................21
CHAPTER 4 -HARDWARE DESCRIPTION.................................................................22
Antenna............................................................................................................................................................................................23
UART channel................................................................................................................................................................................24
Pulse outputs ..................................................................................................................................................................................24
1 PPS output and LED...........................................................................................................................................................24
10KHz output.........................................................................................................................................................................24
Fuses .......................................................................................................................................................................................25
CHAPTER 5 BOARD OPERATION AND PROGRAMMING.......................................26
Defining the Memory Map............................................................................................................................................................26
INTERRUPTS.................................................................................................................................................................................27
What is an interrupt?............................................................................................................................................................27
Interrupt request lines...........................................................................................................................................................27
8259 Programmable Interrupt Controller.............................................................................................................................27
Interrupt Mask Register (IMR)............................................................................................................................................28
End-of-Interrupt (EOI) Command........................................................................................................................................28
What exactly happens when an interrupt occurs?...........................................................................................................28

GPS140HR 6RTD Embedded Technologies, Inc.
Using Interrupts in your Program.......................................................................................................................................28
Writing an Interrupt Service Routine (ISR).......................................................................................................................29
Your ISR should have the following structure:............................................................................................................30
Saving the Startup Interrupt Mask Register (IMR) and interrupt vector.................................................................30
Common Interrupt mistakes.............................................................................................................................................31
Example on Interrupt vector table setup in C-code:.....................................................................................................32
CHAPTER 6 -GPS140HR SPECIFICATIONS..............................................................33
Host interface.................................................................................................................................................................................33
GPS Receiver specifications........................................................................................................................................................33
Operational.............................................................................................................................................................................33
RF Signal environment..........................................................................................................................................................33
Environmental........................................................................................................................................................................33
UART................................................................................................................................................................................................33
GPS140HR Electromechanical...................................................................................................................................................34
CHAPTER 7 -RETURN POLICY AND WARRANTY...................................................35
Return Policy..................................................................................................................................................................................35
CHAPTER 8 LIMITED WARRANTY................................................................................37
List of Illustrations & Tables
.................................................................................................................................................................................Illustrations
Fig. 2-1 GPS140HR Board layout showing jumper locations
Fig. 2-2 Base address jumpers illustrating address 3F8h
Fig. 2-3 Interrupt jumpers from left to right: IRQ 2,5,7,10,11,12,15 and G
Fig. 2-4 GPS receiver jumper blocks for configuration
Fig. 2-5 Antenna selection jumper block set for +5V antenna supply
Fig. 3-1 GPS140HR integrated in a RTD PC/104 cpuModule stack together with
a HPWR104 and a CMM series cpuModule
Fig. 3-2 DGPS data input header connector
Fig. 3-3 Utility connector
Fig. 4-1 Block diagram of the GPS140HR
Fig. 4-2 1 PPS output indicator LED
..........................................................................................................................................................................................Tables

GPS140HR 7RTD Embedded Technologies, Inc.
Table 2-1 Factory configured jumper settings
Table 2-2 Base address jumper settings GPS140HR
Table 2-3 GPS receiver configuration jumpers
Table 2-3 GPS receiver configuration jumpers
Table 3-1 Pin outs of the GPS receiver interface connector
Table 3-2 Pin out of DGPS input header connector
Table 3-3 Utility connector pin out
Table 5-1 General I/O map of the GPS140HR

GPS140HR 8RTD Embedded Technologies, Inc.
Chapter 1 -INTRODUCTION
This user’s manual describes the operation of the RTD GPS140HR integrated global
positioning system (GPS) positioning module ideal for mobile, marine, aviation and
automotive applications.
Features
Some of the key features of the GPS140HR include:
•Direct connection to GPS Receiver module
•True NMEA-0183 data protocol version 2.01, also binary output
•12-satellite parallel tracking GPS receiver with fast response
•Differential GPS support with external correction source
•Onboard UART with flexible I/O and IRQ selection
•Supports passive and active antennas with +5V or +12V supply
•OSX/MSX antenna connector
•1 PPS time mark output as well as 10KHz clock
•Backup battery to store GPS receiver data while powered off
•Status LED indicating 1 PPS time mark and GPS activity
•Wide operating temperature range –40 to + 85C
•Fully PC/104 compliant
The following paragraphs briefly describe the major features of the GPS140HR. A more
detailed discussion is included in Chapter 4 (Hardware description) The boards
installation is described in Chapter 2 (Board Installation).
GPS receiver
The GPS140HR Global Positioning System (GPS) board uses for the satellite signal
reception data processing a miniature OEM GPS receiver module specially
designed for the most demanding applications. This low power receiver outputs
ASCII-character based NMEA-0183 data protocol or alternatively a binary message
protocol format. The used data protocol can be selected with a jumper. Special
features of the GPS receiver include 12 channel parallel-tracking channels and a fast
acquisition and reacquisition response. Powerful algorithms ensure reliable
operation in dense vegetation or in urban canyon environments.

GPS140HR 9RTD Embedded Technologies, Inc.
16C550 compatible UART
Communication to the GPS receiver module is performed through a standard UART
channel. This onboard serial port leaves the other system serial ports free for the
user. All operating systems will recognize and support this 16C550 standard UART,
and therefore no special communication drivers are needed to receive data from
your GPS receiver. The address and interrupt of your serial channel can be changed
with the onboard jumpers.
I/O interfaces
The GPS140HR can be controlled and monitored from the software through the
dedicated serial port of the module. A special I/O connector is available for the user
to connect to the GPS 1 PPS time mark as well as a precise 10KHz timing clock
signal. Also the active antenna supply of +12V can be fed through the I/O connector.
Mechanical description
The GPS140HR is designed on a PC/104 form factor. An easy mechanical interface
to both PC/104 and RTD IDAN systems can be achieved. Stack your GPS140HR
directly on a PC/104 compatible CPU module using the onboard mounting holes and
standoffs.
Connector description
The GPS receiver antenna interface is an OSX type miniature coaxial connector.
Connect your antenna directly to the GPS140HR antenna connector, or use a short
cable inside your enclosure to connect to a feed through connector to allow
connection of the antenna to the wall of your enclosure. All I/O connections are made
using header type terminals.
What comes with your board
Your GPS140HR package contains the following items:
•GPS140HR board
•Software disk with some example programs
•User's manual
Additional software and drivers can be downloaded from our website.
If any item is missing or damaged, please send an EMAIL to Real Time Devices
Finland sales service department at <[email protected]>.

GPS140HR 10 RTD Embedded Technologies, Inc.
Note that RTD embedded Technologies, Inc. also can offer a GPS104HR starter kit that will include an active antenna with
ready cables for direct evaluation and testing of this module. The part number for this starter kit isSK-GPS140HR.
Using this manual
This manual is intended to help you install your new GPS140HR module and get it
working quickly, while also providing enough detail about the board and it's functions
so that you can enjoy maximum use of it's features even in the most demanding
applications.
When you need help
This manual and all the example programs will provide you with enough information to
fully utilize all the features on this board. If you have any problems installing or using
this board, contact our Technical support department at <[email protected]>.
When sending us an Email request please include the following information: Your
company's name and address, your name, your telephone number, and a brief
description of the problem.

GPS140HR 11 RTD Embedded Technologies, Inc.
Chapter 2 -BOARD SETTINGS
The GPS140HR board has jumper settings, which can be changed to suit your application
and host computer configuration. The factory settings are listed and shown in the diagram
at the beginning of this chapter. Make sure you completely study and understand this
chapter before making changed to these settings.

GPS140HR 12 RTD Embedded Technologies, Inc.
Factory-Configured Jumper Settings
Table 2-1 below illustrates the factory jumper setting for the GPS140HR. Figure 2-1 shows
the board layout of the GPS140HR and the locations of the jumpers. The following
paragraphs explain how to change the factory jumper settings to suit your specific
application.
Table 2-1 Factory configured jumper settings (Please see figure 2-1 below for more
detailed locations)
JUMPER NAME DESCRIPTION NUMBER OF JUMPERS FACTORY SETTING
BASE Base Address 62E8
IRQ Host interrupt 11+1 5, G –jumper closed
CONF GPS configuration 3NMEA output
X1 Antenna supply 35V antenna cable
Fig. 2-1 GPS140HR Board layout showing jumper locations

GPS140HR 13 RTD Embedded Technologies, Inc.
Base address jumpers (Factory setting: 2E8h)
The GPS140HR is I/O mapped into the memory space of your host XT/AT. The
board occupies a consecutive memory window of 8 bytes starting from the base
address.
The most common cause of failure when you are first setting up your module is
address contention: some of your computers I/O space is already occupied by other
devices and memory resident programs. When the GPS140HR attempts to use it's
own reserved memory addresses (which are being already used by another
peripheral device) erratic performance may occur and the data read from the board
may be corrupted.
To avoid this problem make sure you set up the base address by using the six
jumpers on the right side of the board, this allows you to choose from a number of
different addresses in your host computer’s I/O map. Should the factory installed
setting of 38fh be incompatible to your system configuration, you may change this
setting to another using the options illustrated in Table 2-2 (overleaf). The table
shows the jumper settings and their corresponding values in hexadecimal form.
Ensure that you verify the correct location of the base address jumpers. When the
jumper is removed it corresponds to a logical "0", connecting the jumper to a "1".
When you set the base address of the module, record the setting inside the back
cover of this manual.

GPS140HR 14 RTD Embedded Technologies, Inc.
BASE ADDRESS JUMPER SETTINGS GPS140HR
BASE
(HEX) A8 A7 A6 A5 A4 A3
218 0 0 0 0 1 1
238 0 0 0 1 1 1
258 0 0 1 0 1 1
278 0 0 1 1 1 1
298 0 1 0 0 1 1
2B8 0 1 0 1 1 1
2D8 0 1 1 0 1 1
2F8 0 1 1 1 1 1
318 1 0 0 0 1 1
338 1 0 0 1 1 1
358 1 0 1 0 1 1
378 1 0 1 1 1 1
398 1 1 0 0 1 1
3B8 1 1 0 1 1 1
3D8 1 1 1 0 1 1
3F8 1 1 1 1 1 1
Table 2-2 Base address jumper settings GPS140HR
0 = JUMPER OFF 1 = JUMPER CLOSED
Note that this table shows decoding only the 4 high bits of the address.
Address jumpers A4 and A3 can be used for addresses not listed, example:
Addr 2E8 = 011101.

GPS140HR 15 RTD Embedded Technologies, Inc.
Fig. 2-2 Base address jumpers illustrating address 3F8h, A8 is to the bottom, A3 is located to
the top of the jumper block
Host interrupt (Factory setting: IRQ5, G closed)
The header connector, shown in Figure 2-3 below, lets you connect the onboard
control logic interrupt outputs to one of the interrupt channels available on the host
computer XT/AT bus.
Fig. 2-3 Interrupt jumpers from left to right: IRQ 2,3,4,5,7,10,11,12,14,15 and G
Note: The GPS140HR hardware supports interrupt sharing! Jumper G must be closed on
one module per used interrupt. For example if two boards share interrupt number 7
only one board may have the G jumper closed. The G jumper connects a 1KOhm
resistor to ground while the shared interrupts are 3-stated pulling the line to an
inactive level.

GPS140HR 16 RTD Embedded Technologies, Inc.
GPS configuration (Factory setting: ROM disabled, NMEA)
The three jumper blocks illustrated below let you configure the mode of operation of
your GPS receiver module. The topmost jumper is the GPS receiver hardware reset,
the ROM jumper configures whether settings from the EEPPROM are used during
startup or not, NMEA jumper sets the protocol mode of the receiver. Table 2-3
describes in detail the operation of these jumpers. Note that if you change the jumper
settings for ROM or NMEA you should perform a reset of the receiver by closing the
contacts of the RST-jumper for the changes to take effect.
Fig. 2-4 GPS receiver jumper blocks for configuration
NMEA
JUMPER ROM JUMPER RESULT
0 0 NMEA message format, communication at
4800bps, NO parity, 8 data, 1 stop. The
receiver operates from default initialization
values stored in ROM and will output
default NMEA message set from ROM
01NMEA message format, communication at
4800bps, NO parity, 8 data, 1 stop. The
receiver selects the default NMEA output
message set and uses initialization values
from the data stored in SRAM or EEPROM
10Binary message format, communication at
9600bps, NO parity, 8 data, 1 stop. The
receiver operates from default initialization
values stored in ROM
11Data stored in SRAM or EEPROM
determines message format, host port
communication settings, and default mes-
sage set (Zodiac NMEA,9600bps,N,1)
Table 2-3 GPS receiver configuration jumpers, 0 = jumper OFF, 1 = jumper closed

GPS140HR 17 RTD Embedded Technologies, Inc.
Antenna supply (Factory setting: +5V for active antenna)
Active GPS antennas require a supply to drive the antenna. Typical standard
supply voltages are +5V and +12V. Note that in case you use a passive antenna
the supply selection jumper must be removed. Driving a passive antenna may
cause permanent damage to the antenna.
Fig. 2-5 Antenna supply selection jumper block set for +5V antenna supply

GPS140HR 18 RTD Embedded Technologies, Inc.
Chapter 3 BOARD INSTALLATION
The GPS140HR GPS module is designed to directly mount on top or under your RTD
PC/104 cpuModule stack. This chapter tells you step-by-step how to install your
GPS140HR into your system.
Board installation
Keep your board in its antistatic bag until you are ready to install it to your system!
When removing it from the bag, hold the board at the edges and do not touch the
components or connectors. Please handle the board in an antistatic environment and
use a grounded workbench for testing and handling of your hardware. Before
installing the board in your computer, check the power cabling. Failure to do so may
cause the power supply unit to malfunction or even cause permanent damage.
General installation guidelines:
•Touch the grounded metal housing of your computer to discharge any
•antistatic buildup and then remove the board from its antistatic bag.
•Hold the board bythe edges and install it in an enclosure or place it on the table on an antistatic surface
•Install your board in your system, and wire the power supply correctly.
•Failure to do so may cause the power supply unit to malfunction or even cause permanent damage to the device.
•Check all wiring connections once and then once more again
•Check the antenna supply voltage and configure X1 correctly
•Connect the GPS antenna to the OSX connector on the receiver module
•Apply power to your system, this will automatically initialize your GPS receiver, a blinking LED indicates activity of
the GPS receiver and messages being sent

GPS140HR 19 RTD Embedded Technologies, Inc.
Fig. 3-1 GPS140HR integrated in a RTD PC/104 cpuModule stack together with a HPWR104 power
supply module and a CMM series cpuModule
GPS receiver connector
The table 3-1 below shows the pin outs of the GPS receiver interface. This interface is
compatible with the majority of GPS receivers in the same form factor. The OEM GPS
receiver connects to this 2mm female socket connector with pins facing the PCB.
PIN Description PIN Description
1Antenna +V 2GPS +5V supply
33,6V battery backup 4No Connect
5GPS RESET 6No Connect
7NMEA_SEL 8ROM_SEL
9No Connect 10 GND
11 SER_OUT 12 SER_IN
13 GND 14 No Connect
15 DIFF_GPS_IN 16 GND
17 GND 18 GND
19 1 PPS 20 10KHz
Table 3-1 Pin outs of the GPS receiver interface connector

GPS140HR 20 RTD Embedded Technologies, Inc.
Differential GPS signal input connector J1
Differential GPS correction signal can be connected to your GPS140HR for exact
precise positioning using the RTCM SC-04 differential signal source. The signal
levels on this input are RS232. The connector pinout is shown below in figure 3-2 and
table 3-2.
Fig 3-2 DGPS Data input header connector
PIN DESC PIN DESC
1N.C. 2N.C.
3DGPS_IN 4N.C.
5N.C. 6N.C.
7N.C. 8N.C.
9GND 10 GND
Table 3-2 Pin out of DGPS input header connector