Customize Function Specification V 16

Document Customize Function Specification
Author Hector Su Date 2010/11/25 Ver. 1.6
Customize Function Specification

3D Robotics
V 1.6
By: Hector Su
The document is the exclusive property of GlobalTop Tech Inc. and should not be distributed, reproduced, or any other format without prior
permission of GlobalTop Tech Inc. 本資料為宇誠科技專有之財產，非經許可，不得複製或轉換成其他形式使用。
Specifications subject to change without prior notice. 規格如有變更不另行通知。
GlobalTop Tech Inc.
3rd Floor., No.7 Nan-ke 3rd Rd., Science-based Ind. Park, Tainan 741-47, Taiwan R.O.C
Tel:+886-6-6007799 Fax:+886-6-5053381 http://www.gtop.info email: sales@gtop-tech.com
© Copyright 2008 GlobalTop Tech Inc.
1
Version History
History
Date Rev. Author Description
2010/05/17 1.0 Hector Su First Release
2010/05/18 1.1 Hector Su Second Release
2010/07/08 1.2 Hector Su Third Release
2010/07/27 1.3 Hector Su Fourth Release
2010/09/01 1.4 Hector Su Fifth Release.
2010/11/23 1.5 Hector Su Sixth Release
2010/11/23 1.6 Hector Su Seventh Release. Please refer to 2.4~2.5
1. Purpose
It supports custom function for customer。
2. Provide Function
GlobalTop Tech Inc.
2
2.1
It supports to output custom sentence. It provides two modes:
1. Binary Sentence
2. Standard NMEA Sentence (default)
The format is shown in table 1.
2.2
It supports custom command for mode switch
The format is shown in the table 2.
2.3
The system can leave the values with last valid information when user lost satellite
reception.
2.4
It changes the preamble header from “0xB5,0x62” to “0xD0,0xDD”. And it removes the
item “Class and MSG ID”. Please refer to table 1.
2.5
The format of UTC time, it uses extra two digits for milliseconds. Please refer to table 1.
GlobalTop Tech Inc.
3
Customize Data Format Table-1

Name Example Units Description
Preamble 0xD0,0xDD 2 bytes Preamble header
Payload 0x20 1 byte The count of item from “Latitude” to

“HDOP”
Latitude 0xF9 4 bytes Latitude (in decimal degrees)

0x8F Low byte The original value will be converted
0xC4 to Example:23.0985721*(10^7)=23098
5721
0x0D Hi byte
Longitude 0xB8 4 bytes Longitude (in decimal degrees)
0xF0 Low byte The original value will be converted
0xB1 to Example:120.2843832*(10^7)=1202
0x47 Hi byte 843832
MSL Altitude 0x9A 4 bytes MSL Altitude (meter)
0x0D Low byte The original value will be converted
0x00 to Example:34.82*(10^2)=3482
0x00 Hi byte
Ground Speed 0x09 4 bytes Ground Speed(m/s)
0x00 Low byte The original value will be converted
0x00 to Example:0.324(km/hr) 
0x00 Hi byte 0.324*1000/3600 =0.09 (m/s)
0.09*100=9
Heading 0x18 4 bytes Heading(degrees)

0x30 Low byte The original value will be converted
0x00 to Example:123.12123.12*(10^2)=12
0x00 Hi byte 312
GlobalTop Tech Inc.
4
Satellites 0x09 1 byte The value of satellites in viewed

Fix Type 0x03 1 byte GPS fix type
0x01  GPS no fix
0x02  GPS 2D fix
0x03  GPS 3D fix
Date 0xC6 4 bytes DDMMYY
0x86 Low byte Example:2010/11/23 =>231110
0x03 to
0x00 Hi byte
UTC Time 0xF6 4 bytes It shows a part of UTC Time
0x26 Low byte Example: 03:35:23.10  33523.10
0x33 to 33523.10*(10^2)3352310
0x00 Hi byte
HDOP 0x73 2 bytes Horizontal Dilution of Precision
0x00 Low byte Example:1.15  1.15*(10^2)=115
to
Hi byte
CK_ A 0x47 1 byte Checksum_A Refer to (1)
CK_B 0xF8 1 byte Checksum_B Refer to (1)
GlobalTop Tech Inc.
5
Customize Command Format Table 2

Name Example Units Description
Message ID $PGCMD 　 Customize command header
This number represents which command is
Command Number 16
used
Period of RMC, 0~5. 0 mean to disable

Parameter 1:RMC 1
output
Period of VTG, 0~5. 0 mean to disable

Parameter 2:VTG 1
output
Period of GSA, 0~5. 0 mean to disable
Parameter 3:GSA 1
output
Period of GSV, 0~5. 0 mean to disable
Parameter 4:GSV 1
output
Period of GGA, 0~5. 0 mean to disable
Parameter 5:GGA 1
output
Checksum *6B 　
<CR> <LF> End of message termination
Example：$PGCMD,16,1,1,1,1,1*6B or $PGCMD,16,0,0,0,0,0*6A(2)
GlobalTop Tech Inc.
6
3. Note
1. The checksum CK_A and CK_B. It be calculated from all bytes sent except for
the preamble bytes(0xD0),0xDD)
CK_A = 0, CK_B = 0
For(I=0;I<N;I++)
{
CK_A = CK_A + Buffer[I]
CK_B = CK_B + CK_A
}
2. This command for mode switching. When user inputs command

“$PGCMD,16,0,0,0,0,0*6A”, then switch to binary mode. Otherwise for standard NMEA mode.
GlobalTop Tech Inc.

Customize Function Specification V 16

Încărcat de

Informații document

Descriere originală:

Titlu original

Drepturi de autor

Formate disponibile

Partajați acest document

Partajați sau inserați document

Opțiuni de partajare

Vi se pare util acest document?

Este necorespunzător acest conținut?

Drepturi de autor:

Formate disponibile

Customize Function Specification V 16

Încărcat de

Drepturi de autor:

Formate disponibile

Document Customize Function Specification

Author Hector Su Date 2010/11/25 Ver. 1.6

Customize Function Specification

It supports custom function for customer。

Customize Data Format Table-1

Payload 0x20 1 byte The count of item from “Latitude” to

Latitude 0xF9 4 bytes Latitude (in decimal degrees)

Heading 0x18 4 bytes Heading(degrees)

Satellites 0x09 1 byte The value of satellites in viewed

CK_B 0xF8 1 byte Checksum_B Refer to (1)

Customize Command Format Table 2

Period of RMC, 0~5. 0 mean to disable

Period of VTG, 0~5. 0 mean to disable

2. This command for mode switching. When user inputs command

S-ar putea să vă placă și