SHLD-GPM ETC | Alldatasheet
Document overview
- Manufacturer or author: Provided By alldatasheet.com(free datasheet download site)
- PDF pages: 23
Technical content
Datasheet sections
- 1 Introduction
- 2 Product Concept
- 2.1 General Description
- 2.2 Key Features
- 3 Application
- 3.1 GPS Basics
- 3.2 Installation
- 3.3 Operation
- 3.4 Indication
- 3.5 Pin Assignment
- 3.6 Power Supply
- 3.6.1 Power Supply Pins
- 3.7 I2C Interface
- 3.7.1 I2C Interface Pins
- 3.7.2 I2C Communication
- 3.7.3 I2C Registers
- 3.7.4 I2C Register Restoration
- 3.7.5 UTC Time/Date Format
- 3.7.6 I2C Read Example
- 3.8 Backup Battery
- 3.8.1 Battery Replacement
- 3.9 Application Software
- 3.9.1 Demonstration Software
- 4 Electrical Characteristics
- 4.1 Absolute Maximum Ratings
- 4.2 Operating Conditions
- 4.3 Current Consumption
- 5 Mechanical
- 5.1 Dimensions
- 6 References
- 6.1 I2C protocols
- 7 Appendix
- 8 Compliance
www.designersystems.co.uk TEM-DOC-001 Issue 1 SHLD-GPM+ TECHNICAL DESCRIPTION sHLD Module Series Document: sHLD-GPM+ Technical Description Issue: 1.00.00 Date: 7th May 2019
sHLD-GPM+ Technical Description sHLD-GPM+ Technical Description Page 2 of 23 Our aim is to provide customers with timely and comprehensive service. For any assistance, please contact our company headquarters: Designer Systems Ltd. 11 Castle Street, Truro, Cornwall TR1 3AF, United Kingdom. Tel: +44 (0) 1872 262000 Email: sales@designersystems.co.uk For more information, please visit: http://www.designersystems.co.uk For technical support, or to report documentation errors, please visit: http://www.designersystems.co.uk/robotics Or email to: support@designersystems.co.uk GENERAL NOTES DESIGNER SYSTEMS OFFERS THE INFORMATION AS A SERVICE TO ITS CUSTOMERS. THE INFORMATION PROVIDED IS BASED UPON CUSTOMERS’ REQUIREMENTS. DESIGNER SYSTEMS MAKES EVERY EFFORT TO ENSURE THE QUALITY OF THE INFORMATION IT MAKES AVAILABLE. DESIGNER SYSTEMS DOES NOT MAKE ANY WARRANTY AS TO THE INFORMATION CONTAINED HEREIN, AND DOES NOT ACCEPT ANY LIABILITY FOR ANY INJURY, LOSS OR DAMAGE OF ANY KIND INCURRED BY USE OF OR RELIANCE UPON THE INFORMATION. ALL INFORMATION SUPPLIED HEREIN IS SUBJECT TO CHANGE WITHOUT PRIOR NOTICE. COPYRIGHT THE INFORMATION CONTAINED HERE IS PROPRIETARY TECHNICAL INFORMATION OF DESIGNER SYSTEMS LTD. TRANSMITTING, REPRODUCTION, DISSEMINATION AND EDITING OF THIS DOCUMENT AS WELL AS UTILIZATION OF THE CONTENT ARE FORBIDDEN WITHOUT PERMISSION. OFFENDERS WILL BE HELD LIABLE FOR PAYMENT OF DAMAGES. ALL RIGHTS ARE RESERVED IN THE EVENT OF A PATENT GRANT OR REGISTRATION OF A UTILITY MODEL OR DESIGN. Copyright © Designer Systems Ltd. 2019. All rights reserved.
sHLD-GPM+ Technical Description sHLD-GPM+ Technical Description Page 3 of 23 About the Document History Revision Description Date Author
0.01.00 Create 3/2/19 DIO
1.00.00 First release 7/5/19 -
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1 Introduction
This document defines the sHLD-GPM+ GNSS module and describes the hardware interface that is connected to the customers Arduino application. This document can help customers quickly understand module interface specifications, electrical and mechanical deta ils, as well as other related information of the module. Associated with the quick start guide and demo software , customers can use this document to easily set up the module.
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2 Product Concept
2.1 General Description
The Designer Systems sHLD-GPM+ is a highly integrated 99 Channel simultaneous GPS and GLONASS GNSS positioning module allowing your robotic application to determine its location and speed on the earth’s surface. Specifically designed for the Arduino UNO user (can also be used on all the other Arduino variants) the sHLD-GPM+ features I2C communication to leave the Arduino UART for other functions eg. debug etc. GNSS data received by the sHLD-GPM+ is stored within internal registers which are updated once per second and include Latitude (i.e. vertical), Longitude (i.e. horizontal), Altitude (meters), Time & date (UTC), Heading (True), Speed (kilometres per hour) and satellites detected. In addition the sHLD-GPM+ features an on-board 3 Axis Accelerometer which can be used to determine inclination for rover and aircraft applications and raw ‘g’ force for acceleration/impact detection. GPS data received by the sHLD-GPM+ is stored within internal registers which are updated once per second. Due to compact form factor, ultra-low power consumption and extended temperature range, sHLD-GPM+ is a best choice for a wide range of positional, speed and altitude applications. The module fully complies with the RoHS directive of the European Union
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2.2 Key Features
The following table describes the key features of the sHLD-GPM. Table 1: Key Features Features Details Power Supply Supply Voltage: 5.0 ~ 12.0VDC Typical Supply Voltage: 9.0VDC Frequency band GPS L1 Band Receiver (1575.42MHz) GLONASS L1 Band Receiver (1601.71MHz) Accuracy Autonomous < 2.5 m CEP @ -130dBm Velocity Accuracy Without aid <0.1m/s Acceleration Accuracy Without aid 0.1m/s² Reacquisition Time < 1 second Cold Start 35 seconds @ -130dBm typ. Warm Start < 5 seconds @ -130dBm typ. Hot Start < 1second @ -130dBm typ. Sensitivity Acquisition -149dBm Tracking -167dBm Re-acquisition -161dBm Environmental Operating Temperature -40℃ to 85℃ Storage Temperature -45℃ to 125℃ Dynamic Performance Maximum Altitude Max.18000m Maximum Velocity Max.515m/s Maximum Acceleration 4G Accelerometer range 0 to 2G Accelerometer inclination -50 to +50 degrees (pitch and roll) I2C Speed 400kHz max. Dimensions 56 x 53 x 8.5mm Weight 16g approx.
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3 Application
3.1 GPS Basics
The heart of the sHLD-GPM+ is a Global Positioning System receiver module and antenna that receive signals from satellites orbiting the earth. There are 32 of these satellites in the American run GPS system, 24 in the Russian GLONASS system, each sending its own unique signal to the earth’s surface for pickup by any GPS receiver, which searches the sky for available satellites. Upon detecting the satellites in view and their current position the receiver uses the satellites with highest signal strength to calculate, using triangulation, the receiver’s latitude, longitude & altitude (position). Should the receiver also be moving, speed in kilometres per hour, and heading, in degrees true north, can also be determined. The GPS parameters stored are listed below. For example the offices of Designer Systems in Truro, UK are located 50 degrees, 15.817 minutes North latitude and 5 degrees, 3.549 minutes West longitude. LLA format to WGS-84 ellipsoid. Table 2: GPS Parameters Parameter Description Time UTC time in format HH:MM:SS Date UTC date in format DD/MM/YY Latitude Latitude in format DD M.MMMM either North or South of the equator Longitude Longitude in format DDD M.MMMM either West or East of an imaginary line drawn vertically through Greenwich in the UK Altitude Altitude in format MMMMM metres above sea level Speed Speed in format KKK.K kilometres per hour Heading Heading in format DDD.D degrees
3.2 Installation
To gain the best reception the GPM should be used outside with a good view of the sky. Trees and buildings will cause the GPS signals being received to degrade and positional/speed information may be lost. To greatly improve reception the GPM should be mounted above a metal base.
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3.3 Operation
When power is applied to the GPM the unit immediately starts to search for satellites. The GPM can start in one of three (3) modes, as follows: Table 3: Start-up modes Mode Description Cold start This mode only applies when the GPM has been powered-up for the first time after being removed from its packaging. As the GPM does not know where it is on the earth’s surface, it starts to hunt for groups of satellites to determine its location. This process may take up to 30 minutes before positional information is available; it is suggested that a battery be connected and the unit left in the open air until the STATUS indicator starts to flash. Warm Start This mode applies to a GPM that has already been ‘cold-started’ and whose location has not changed significantly when powered up again or has been powered down for at least one (1) hour. Positional information is normally available again within 5 seconds of power re-application. Hot Start This mode applies when the GPM has been powered off for less than 60 minutes. Positional information is normally available again within 1-10 seconds of power re-application. The warm and hot start -up modes are possible due to an internal backup battery which powers the Real Time Clock (RTC) and almanac memory when external power is removed.
3.4 Indication
The STATUS indicator is used to provide visual feedback of the current GPM condition. There are three (3) conditions as follows. Table 4: Status Indication Indication Description ON Power applied and no positional information Flashing slowly Positional information being received Flashing fast GPM in motion (>10km/h) These conditions will change as the GPM moves around its location and under objects that may block the satellite signals.
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3.5 Pin Assignment
3.6 Power Supply
3.6.1 Power Supply Pins
The GPM provides a supply input and ground connections on the 8pin hole group that connect to the VIN supply on the Arduino board POWER header. The table below describes the module supply and ground pins. Table 5: Power Supply Pins Pin Name Pin No Description Min Typ. Max Unit VIN 8 Power Supply 5.0 9.0 12.0 V GND 6,7 Power Ground 5V 5 5V power for pullups 5.0 V
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3.7 I2C Interface
3.7.1 I2C Interface Pins
The GPM provides I2C data (SDA) and clock (SCL) connections on a 6pin hole group that connect to the SDA and SCL on the Arduino board ANALOG IN header. The table below describes the module I2C pins. Table 6: I2C Interface Pins Pin Name Pin No I/O Description Comment SDA 5 DIO I2C Data 5.0V level SCL 6 CO I2C Clock 5.0V level The GPM features 4.7K oh ms I2C pullups to the 5V supply from the Arduino board . If the pullups are not needed then remove R2 & R3 with a soldering iron.
3.7.2 I2C Communication
Up to four GPM modules may be connected to the same Raspberry-Pi board or I2C bus and accessed individually using their own individual address. The following table shows how the pads are soldered for the different binary addresses. Table 7: I2C Address Settings Address (xx) A0 A1
00 OPEN OPEN
01 SHORT OPEN
10 OPEN SHORT
11 SHORT SHORT
The binary address (xx) above is used in con junction with the device ID 11010xxD (0xD0hex) to form the complete device address i.e. if both jumpers are left unconnected (default) then the device address would be 1101000Dbinary. The ‘D’ bit determines if a read or a write to the GPM is to be performed. If the ‘D’ bit is set ‘1’ then a register read is performed or if clear ‘0’ a register write.
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3.7.3 I2C Registers
To read individual data and status registers a device write then read must be undertaken by the Arduino. The write consists of a Start con dition, device ID (‘D’ bit clear), register to start read and a Stop condition. This is followed by a read, which consists of a Start condition, device ID (‘D‘ bit set), followed by data from the register specified and terminated with a Stop condition. The GPM also auto increments the register specified for every additional read requested by the Master I 2C device, which allows more than one register to be read in one transaction. This allows for example Register 0 to Register 5, current UTC time, to be read in one transaction (see Figure 3 for I2C read protocol). There are 70 individual registers that can be read within the GPM as follows: Table 8: I2C Registers Register name Type Register address Description Hex Binary Hours tens r 00 00000000 UTC hours tens digit Hours units r 01 00000001 UTC hours units digit Minutes tens r 02 00000010 UTC minutes tens digit Minutes units r 03 00000011 UTC minutes units digit Seconds tens r 04 00000100 UTC seconds tens digit Seconds units r 05 00000101 UTC seconds units digit Day tens r 06 00000110 UTC day of month tens digit Day units r 07 00000111 UTC day of month units digit Month tens r 08 00001000 UTC month tens digit Month units r 09 00001001 UTC month units digit Year thousands r 0A 00001010 UTC year thousands digit Year hundreds r 0B 00001011 UTC year hundreds digit Year tens r 0C 00001100 UTC year tens digit Year units r 0D 00001101 UTC year units digit Latitude degrees tens r 0E 00001110 Latitude degrees tens digit Latitude degrees units r 0F 00001111 Latitude degrees units digit
sHLD-GPM+ Technical Description sHLD-GPM+ Technical Description Page 14 of 23 Register name Type Register address Description Hex Binary Latitude minutes tens r 10 00010000 Latitude minutes tens digit Latitude minutes units r 11 00010001 Latitude minutes units digit Latitude minutes tenths r 12 00010010 Latitude minutes tenths digit Latitude minutes hundredths r 13 00010011 Latitude minutes hundredths digit Latitude minutes thousandths r 14 00010100 Latitude minutes thousandths digit Latitude minutes ten thousandths r 15 00010101 Latitude minutes ten thousandths digit Latitude character r 16 00010110 Latitude direction character N = North, S = South Longitude degrees hundreds r 17 00010111 Longitude degrees hundreds digit Longitude degrees tens r 18 00011000 Longitude degrees tens digit Longitude degrees units r 19 00011001 Longitude degrees units digit Longitude minutes tens r 1A 00011010 Longitude minutes tens digit Longitude minutes units r 1B 00011011 Longitude minutes units digit Longitude minutes tenths r 1C 00011100 Longitude minutes tenths digit Longitude minutes hundredths r 1D 00011101 Longitude minutes hundredths digit Longitude minutes thousandths r 1E 00010110 Longitude minutes thousandths digit Longitude minutes ten thousandths r 1F 00010111 Longitude minutes ten thousandths digit Longitude character r 20 00100000 Longitude direction character W = West, E = East GPS quality indicator r 21 00100001 GPS quality value (0 = No GPS, 1 = GPS/GLONASS, 2 = DGPS) Satellites in use tens r 22 00100010 Satellites in use tens digit Satellites in use units r 23 00100011 Satellites in use units digit HDOP tens r 24 00100100 HDOP tens digit HDOP units r 25 00100101 HDOP units digit HDOP tenths r 26 00100110 HDOP tenths digit
sHLD-GPM+ Technical Description sHLD-GPM+ Technical Description Page 15 of 23 Register name Type Register address Description Hex Binary Altitude metres ten thousands r 27 00100111 Altitude metres ten thousands digit Altitude metres thousands r 28 00101000 Altitude metres thousands digit Altitude metres hundreds r 29 00101001 Altitude metres hundreds digit Altitude metres tens r 2A 00101010 Altitude metres tens digit Altitude metres units r 2B 00101011 Altitude metres units digit Heading true hundreds r 2C 00101100 Heading true hundreds digit Heading true tens r 2D 00101101 Heading true tens digit Heading true units r 2E 00101110 Heading true units digit Heading true tenths r 2F 00101111 Heading true tenths digit Not used r 30 00110000 Not used returns zero Not used r 31 00110001 Not used returns zero Not used r 32 00110010 Not used returns zero Not used r 33 00110011 Not used returns zero Speed km/h hundreds r 34 00110100 Speed km/h hundreds digit Speed km/h tens r 35 00110101 Speed km/h tens digit Speed km/h units r 36 00110110 Speed km/h units digit Speed km/h tenths r 37 00110111 Speed km/h tenths digit GPS mode r 38 00111000 GPS mode (A = Autonomous Mode, D = Differential Mode, E = Estimated (dead reckoning) Mode, M = Manual Input Mode, S = Simulated Mode, N = Data Not Valid) Accelerometer raw X MSB r 39 00111001 Accelerometer raw X MSB value Accelerometer raw X LSB r 3A 00111010 Accelerometer raw X LSB value Accelerometer raw Y MSB r 3B 00111011 Accelerometer raw Y MSB value Accelerometer raw Y LSB r 3C 00111100 Accelerometer raw Y LSB value
sHLD-GPM+ Technical Description sHLD-GPM+ Technical Description Page 16 of 23 Register name Type Register address Description Hex Binary Accelerometer raw Z MSB r 3D 00111101 Accelerometer raw Z MSB value Accelerometer raw Z LSB r 3E 00111110 Accelerometer raw Z LSB value Accelerometer pitch r 3F 00111111 Accelerometer pitch (0-50 degrees, MSb (0x80) = sign bit) Accelerometer roll r 40 01000000 Accelerometer roll (0-50 degrees, MSb (0x80) = sign bit) Not used r 41 01000001 Not used returns zero Not used r 42 01000010 Not used returns zero Not used r 43 01000011 Not used returns zero Not used r 44 01000100 Not used returns zero Not used r 45 01000101 Not used returns zero Firmware and status r 46 01000110 Firmware (Bit 0-3 = minor version, Bit 4-5 = major version, Bit 6 = Position found when set, Bit 7 = In motion when set (> 10km/h)
3.7.4 I2C Register Restoration
All received data is formatted into decimal units (i.e. hundreds, tens & units) and stored in individual registers to facilitate either value or character restoration. Value restoration can be undertaken by multiplying the required register by its multiplier e.g. to restore the value of register R0 ‘Hours tens’ the register contents are multiplied by ten (10). Character restoration, to allow the output to a PC via. RS232 or disp lay of data on a LCD panel etc. can be undertaken by the addition of the constant value 48decimal, 30hex.
3.7.5 UTC Time/Date Format
The standard GPS time coordinate system is called Universal Coordinated Time or UTC. This time format replaced Greenwich Mean Time (GMT) i n 1986 and is of the same value. Time zones relative to GMT should add or subtract a standard value to gain the correct time.
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3.7.6 I2C Read Example
To read the complete time from registers 0 to 5 (Current time = 14:32:56, Device address = default) write: ‘Point to register 0 Byte 1 (GPM Adr) 11010000binary Byte 2 (Set register) 0decimal, 00hex ‘Read register 0 - 5 Byte 1 (GPM Adr) 11010001binary Byte 2 Hours tens 1decimal, 01hex Byte 3 Hours units 4decimal, 04hex Byte 4 Minutes tens 3decimal, 03hex Byte 5 Minutes units 2decimal, 02hex Byte 6 Seconds tens 5decimal, 05hex Byte 7 Seconds units 6decimal, 06hex
3.8 Backup Battery
3.8.1 Battery Replacement
The GPM backup battery needs replacing if no time/date data can be read or time to first fix is significantly long. The CR1220 type lithium battery can be replaced by sliding out the old battery and sliding in a new battery [positive uppermost]. Please dispose of the exhausted battery responsibly.
3.9 Application Software
3.9.1 Demonstration Software
Arduino demonstration software is available to download from the website www.designersystems.co.uk/robotics
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4 Electrical Characteristics
4.1 Absolute Maximum Ratings
Absolute maximum ratings for power supply and voltage on digital pins of the module are listed in the following table. Table 9: Absolute Maximum Ratings Parameter Min. Max. Unit Power Supply Voltage (V+) -0.3 16.0 V Backup Battery Voltage (Lithium cell) -0.3 4.5 V Input Voltage on SDA and SCL -0.3 3.6 V Storage temperature -45 100 oC
4.2 Operating Conditions
Normal operational conditions are listed in the following table. Table 10: Normal Operating Conditions Parameter Min. Typ. Max. Unit Power Supply Voltage (V+) 5.0 9.0 12.0 V Backup Battery Voltage (Lithium cell) 1.5 3.0 4.3 V Input voltage on SDA and SCL 5.0 V Peak Supply Current (V+ = 9.0V) 15 mA Operating Temperature -10 25 50 oC
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4.3 Current Consumption
Normal values for current consumption @ 9.0V V+ are listed in the following table. Table 11: Current Consumption Parameter Min. Typ. Max. Unit Supply Current – Acquisition (GPS) 9.5 mA Supply Current – Tracking (GPS) 8.0 mA Supply Current – Acquisition (GPS + GLONASS) 11.0 mA Supply Current – Tracking (GPS + GLONASS) 9.5 mA Backup Battery 7 uA
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5 Mechanical
5.1 Dimensions
Mechanical drawing – all dimensions in millimetres. Figure 1: Dimensions 53mm 56mm
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6 References
6.1 I2C protocols
Figure 2: I2C Write protocol 1 1 10 A1 A00 R / W =0 START ACK ACK GPM ADDRESS REGISTER ADDRESS ACK DATA BYTE STOP Multiple bytes may be written before the ‘STOP’ condition. Data is written into registers starting at ‘REGISTER ADDRESS’, then ‘REGISTER ADDRESS’ +1, then ‘REGISTER ADDRESS’ +2 etc. Each byte transfer is acknowledged ‘ACK’ by the GPM until the ‘STOP’ condition. Figure 3: I2C Read protocol 1 1 1 10 A1 A00 R / W=0 START ACK ACK GPM ADDRESS REGISTER ADDRESS ACK DATA BYTE 1 STOP 1 1 0 A1 A00 R / W=1 START ACK GPM ADDRESS NACK DATA BYTE 2 ‘DATA BYTE 1 & 2’ are register values returned from the GPM. Each byte written is acknowledged ‘ACK’ by the GPM, every byte read is acknowledged ‘ACK’ by the I2C Master. A Not-acknowledge ‘NACK’ condition is generated by the I2C Master when it has finished reading.
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7 Appendix
Table 12: Related Documents Document Name Remark Quectel_L86_Hardware_Design_V1.2.pdf More information about the L86 GNSS module used in this product Table 13: Terms and Abbreviations Abbreviation Description GPS Global Positioning System GLONASS Global Navigation Satellite System CEP Circular Error Probable HDOP Horizontal Dilution Of Precision ESD Electrostatic Discharge I2C Inter-Integrated Circuit GNSS Global Navigation Satellite System
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8 Compliance
This product is subject to Directive 2012/19/EC o f the European Parliament and the Council of the European Union on Waste of Electrical and Electronic Equipment (WEEE) and, in jurisdictions adopting that Directive, is marked as being put on the market after August 13, 2005, and should not be disposed of as unsorted municipal/public waste. Please utilise your local WEEE collection facilities in the disposition and otherwise observe all applicable requirements. For further information on the requirements regarding the disposition of this product in other la nguages please visit www.designersystems.co.uk RoHS Compliance This product complies with Directive 2011/65/EC (RoHS 2) and 2015/863/WU (RoHS 3) of the European Parliament and the Council of the European Union on the Restriction of Hazardous Substances (RoHS) which prohibits the use of various heavy metals (lead, mercury, cadmium, and hexavalent chromium), polybrominated biphenyls (PBB) and polybrominated diphenyl ethers (PBDE), Bis(2-Ethylhexyl) phthalate (DEHP), Benzyl butyl phthalate (BBP), Dibutyl phthalate (DBP) and Diisobutyl phthalate (DIBP). REACH Compliance This product complies with Regulation 1907/2006 convering the Registration, Evaluation, Authorisation and restriction of Chemicals (REACH). Designer Systems Ltd confirms that none of its products or packaging contain any of the 174 Substances of Very High Concern (SVHC) on the REACH Candidate List in a concentration above the 0.1% by weight allowable limit. Battery Recycling This product features an internal lithium coin cell that must be recycled at end of life. To remove slide the coin cell from its holder and to preserve natural resources please recycle the battery properly.