GPS Module: Difference between revisions

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== HW-595 Board  ==
== HW-595 Board  ==
 
 
[[Image:UBlox_GPS_Module.jpg|top|thumbnail|uBlox GPS Board]]
[[Image:UBlox_GPS_Module.jpg|top|thumbnail|uBlox GPS Board]]


* Based on [https://www.u-blox.com/en/product/neo-6-series uBlox NEO-6M-0-001]
* Based on [https://www.u-blox.com/en/product/neo-6-series uBlox NEO-6M-0-001]
* [https://content.u-blox.com/sites/default/files/products/documents/u-blox6_ReceiverDescrProtSpec_%28GPS.G6-SW-10018%29_Public.pdf Receiver Description]
* 5V operation (3.3 V regulator onboard)
* 5V operation (3.3 V regulator onboard)
* UART: 4800 - 230400 bps (9600 bps 8N1 default), TTL levels buffered by 220R resistors
* UART: 4800 - 230400 bps (9600 bps 8N1 default), TTL levels buffered by 220R resistors
* [https://en.wikipedia.org/wiki/Hirose_U.FL U.FL] connector supplies 3.3 V to active antenna
* [https://en.wikipedia.org/wiki/Hirose_U.FL U.FL] connector supplies 3.3 V to active antenna
* Crystal Osc, not TCXO
* Crystal Osc, not TCXO
* LED:
* PPS LED: Invertion of PPS pin
** Constant: Searching
** Blink 1s: Position fix
* Battery-backed RAM contains config data and clock and speeds first-time-to-fix
* Battery-backed RAM contains config data and clock and speeds first-time-to-fix
* Data in [http://www.gpsinformation.org/dale/nmea.htm NMEA] 0183 format
* Data in [http://www.gpsinformation.org/dale/nmea.htm NMEA] 0183 format
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|1
|1
|PPS
|PPS
|1 pulse/s, synchronised at rising edge, length 100 ms
|1 pulse/s, synchronised at rising edge, length 100 ms (by default)
|-
|-
|2
|2
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|}
|}


PPS can be reconfigured as a frequency reference:
PPS:
* Send PPS to UART via CTS
* Send PPS to UART via CTS to allow GPSD to acurately sync
* 0.25 Hz - 10 MHz
* Can be configured as a frequency reference: 0.25 Hz - 10 MHz
** Output has high frequency accuracy
** Suffers from jitter except at a few specific frequencies
* Configure in u-Center [[Media:u-Center Configuration.png|here]]
* Configure in u-Center [[Media:u-Center Configuration.png|here]]
* Output has high frequency accuracy, but suffers from jitter except at a few specific frequencies
* Different frquencies/duty cycles can be configure for GPS synced/not synced


== Software ==
== Software ==
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* [https://www.u-blox.com/en/product/u-center U-Center]
* [https://www.u-blox.com/en/product/u-center U-Center]
* Select COM port and Baud rate
* Communicates with uBlox with binary UBX Protocol
View -> Configuration View; to activate change: Send
* CFG (Configuration)
** Select: Save current configuration
** Select in Devices: 2-I2C-EEPROM
* PRT (Ports)
** Baud Rate : 9600 -> 115200
* TP5 (Timepulse 5)
** PPS Settings for no GPS lock (eg use as an "alert" signal:
*** Frequency : 1 Hz -> 10 Hz
*** Duty Cycle : 100% -> 25% (alternatively set to 0% for permanent low output)
** PPS Settings for GPS Locked:
*** Frequency Locked : 1 Hz
*** Duty Locked : 50%
** Rising Edge on TOS
** Cable Delay : 50 ns -> 10 ns (This compensates for cable delay between antenna and receiver)
View -> Message View:
* Firmware version: UBX -> MON (Monitor) -> VER (Version)
** Currently: 7.03 (45969)


=== GPSD ===
=== GPSD ===
Line 60: Line 83:
* Packages: gpsd, gpsd-clients
* Packages: gpsd, gpsd-clients


Check data stream with [https://gpsd.gitlab.io/gpsd/gpsmon.html gpsmon]:
Use of a serial device (eg ttyS0) is prefered over a USB/serial interface (eg ttyUSB0) due to lower latency and [https://docs.kernel.org/driver-api/pps.html PPS] availability.
gpsmon /dev/ttyS0


Can be tested with something like (Debug level 4) :
Can be tested with something like (Debug level 4) :
  gpsd -N -n -s 9600 -D 4 /dev/ttyS0 /dev/pps0
  gpsd -N -n -s 9600 -D 4 /dev/ttyS0 /dev/pps0


Configuration in /etc/sysconfig/gpsd
Configuration in /etc/sysconfig/gpsd, which by default enables detection of USB devices via udev events including creation of a PPS device (/dev/pps0):
USBAUTO="true"
 
Options can be forced, eg:
  OPTIONS="-n -s 9600"
  OPTIONS="-n -s 9600"
  DEVICES="/dev/ttyS0 /dev/pps0"
  DEVICES="/dev/ttyS0 /dev/pps0"


Should auto-detect which UART is GPS connected to (baud rate, etc, with no configuration) with:
Check data stream with [https://gpsd.gitlab.io/gpsd/gpsmon.html gpsmon]:
  USBAUTO="true"
gpsmon /dev/ttyS0
 
when gpsd is not started, or connected to gpsd:
gpsmon
 
Can show raw data:
  gpscat /dev/ttyS0


Enable and start gpsd:
Enable and start gpsd:
Line 77: Line 108:
  systemctl start gpsd
  systemctl start gpsd


With gpsd running and without arguments, gpsmon will connect to gpsd port:
Monitor with:
  gpsd
cgps -s
gpsmon
  gpscsv
gpsplot --image gps.png
xgps


See also: xgps and cgps
=== Pulse Per Second (PPS) ===


=== Pulse Per Second (PPS) ===
With PPS output connected to a serial port pin, GPSD should detect it. If it is on GPIO or other serial port, this can be used to create a PPS device:


  dnf install pps-tools
  dnf install pps-tools
  modprobe pps_ldisc
  modprobe pps_ldisc
setserial -v /dev/ttyS0 low_latency
  ldattach PPS /dev/ttyS0
  ldattach PPS /dev/ttyS0


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  ppstest /dev/pps0
  ppstest /dev/pps0
  ppscheck /dev/ttyS0
  ppscheck /dev/ttyS0
Can set at boot with udev rule (/etc/udev/rules.d/gps.rules):
KERNEL=="ttyS0", SYMLINK+="gps0"
KERNEL=="ttyS0", RUN+="/usr/bin/setserial -v /dev/%k low_latency"
KERNEL=="ttyS0", RUN+="/usr/sbin/ldattach PPS /dev/%k"

Revision as of 19:47, 5 June 2024

HW-595 Board

uBlox GPS Board
  • Based on uBlox NEO-6M-0-001
  • Receiver Description
  • 5V operation (3.3 V regulator onboard)
  • UART: 4800 - 230400 bps (9600 bps 8N1 default), TTL levels buffered by 220R resistors
  • U.FL connector supplies 3.3 V to active antenna
  • Crystal Osc, not TCXO
  • PPS LED: Invertion of PPS pin
  • Battery-backed RAM contains config data and clock and speeds first-time-to-fix
  • Data in NMEA 0183 format
  • More background here

Board pinouts:

Pin Function Description
1 PPS 1 pulse/s, synchronised at rising edge, length 100 ms (by default)
2 RXD UART input
3 TXD UART output
4 GND Ground
5 VCC 3.3 - 5 V

PPS:

  • Send PPS to UART via CTS to allow GPSD to acurately sync
  • Can be configured as a frequency reference: 0.25 Hz - 10 MHz
    • Output has high frequency accuracy
    • Suffers from jitter except at a few specific frequencies
  • Configure in u-Center here
  • Different frquencies/duty cycles can be configure for GPS synced/not synced

Software

U-Center

  • U-Center
  • Select COM port and Baud rate
  • Communicates with uBlox with binary UBX Protocol

View -> Configuration View; to activate change: Send

  • CFG (Configuration)
    • Select: Save current configuration
    • Select in Devices: 2-I2C-EEPROM
  • PRT (Ports)
    • Baud Rate : 9600 -> 115200
  • TP5 (Timepulse 5)
    • PPS Settings for no GPS lock (eg use as an "alert" signal:
      • Frequency : 1 Hz -> 10 Hz
      • Duty Cycle : 100% -> 25% (alternatively set to 0% for permanent low output)
    • PPS Settings for GPS Locked:
      • Frequency Locked : 1 Hz
      • Duty Locked : 50%
    • Rising Edge on TOS
    • Cable Delay : 50 ns -> 10 ns (This compensates for cable delay between antenna and receiver)

View -> Message View:

  • Firmware version: UBX -> MON (Monitor) -> VER (Version)
    • Currently: 7.03 (45969)

GPSD

  • gpsd
  • Packages: gpsd, gpsd-clients

Use of a serial device (eg ttyS0) is prefered over a USB/serial interface (eg ttyUSB0) due to lower latency and PPS availability.

Can be tested with something like (Debug level 4) : 

gpsd -N -n -s 9600 -D 4 /dev/ttyS0 /dev/pps0

Configuration in /etc/sysconfig/gpsd, which by default enables detection of USB devices via udev events including creation of a PPS device (/dev/pps0): 

USBAUTO="true"

Options can be forced, eg: 

OPTIONS="-n -s 9600"
DEVICES="/dev/ttyS0 /dev/pps0"

Check data stream with gpsmon: 

gpsmon /dev/ttyS0

when gpsd is not started, or connected to gpsd: 

gpsmon

Can show raw data: 

gpscat /dev/ttyS0

Enable and start gpsd: 

systemctl enable gpsd
systemctl start gpsd

Monitor with: 

cgps -s
gpsmon
gpscsv
gpsplot --image gps.png
xgps

Pulse Per Second (PPS)

With PPS output connected to a serial port pin, GPSD should detect it. If it is on GPIO or other serial port, this can be used to create a PPS device: 

dnf install pps-tools
modprobe pps_ldisc
setserial -v /dev/ttyS0 low_latency
ldattach PPS /dev/ttyS0

Check PPS signal: 

ppstest /dev/pps0
ppscheck /dev/ttyS0

Can set at boot with udev rule (/etc/udev/rules.d/gps.rules): 

KERNEL=="ttyS0", SYMLINK+="gps0"
KERNEL=="ttyS0", RUN+="/usr/bin/setserial -v /dev/%k low_latency"
KERNEL=="ttyS0", RUN+="/usr/sbin/ldattach PPS /dev/%k"
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