RoyalTek PANASONIC GYRO RDR-3200 - Manual (Page 12)

RDR-3200 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 Bias Initial Status 1.Success, 0: Failed
6 Odometer Scale Initial Status 1: Success, 0: Failed
7 Gyro Input Status 1: Available, 0: no input
8 Odometer Input Status 1: Available, 0: no input
9 Sensor Capture Count The count of data read count from MCU
10 Odometer Input Source 1: CAN BUS,0: Vehicle’s Odometer PWM
11 DR Status 4: Initialize, 3: GPS Mode, 2:DR Mode
12 Backward Status 1: Activated / 0: Normal
13 Antenna Detecting 1: Available / 0: Abort
14 Gyro Input Voltage Current Gyro Input voltage and scale is 500:1
15 EKF Odometer scale The scale factor of odometer pulse. The scale is
cm/pulse
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