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RoyalTek Confidential
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RDR-3100 User Manual
Content
1. Introduction.......................................................................................................3
2. Product Feature.................................................................................................3
2.1 Product Applications...............................................................................................3
3. Specification......................................................................................................4
4. Reference design of Gyro and Odometer circuit design.................................5
4.1 System Block Diagram...........................................................................................5
4.2 Application Circuit..................................................................................................6
5. HW Interface.....................................................................................................8
5.1 Connector Type：20 Pin Header，2.0 mm pitch (J2)..........................................8
5.2 RF connector type: MCX STRAIGHT PCB JACK (J1)......................................9
6. Product Picture..................................................................................................9
7. Mechanical Layout...........................................................................................11
8. SW Protocol.....................................................................................................12
8.1 GPS output Protocol..............................................................................................12
8.1.1 RoyalTek DR protocol – RTOEM,3..................................................................12
8.1.2 GGA-Global Positioning System Fixed Data..................................................13
8.1.3 GSA-GNSS DOP and Active Satellites............................................................15
8.1.4 GSV-GNSS Satellites in View...........................................................................16
8.1.5 RMC-Recommended Minimum Specific GNSS Data....................................17
8.2 GPS DR (UART A) Input command.............................................................18
8.2.1 $MMF.................................................................................................................18
8.3 CAN bus (UART B) protocol...............................................................................20
8.3.1 Speed, Reverse status input Message................................................................20
8.3.2 GPS antenna detection output Message............................................................21
8.4 NMEA Output Message..................................................................................22
9 Calibration of DR............................................................................................22
9.1 Self calibration of DR...........................................................................................22
9.2 Calibration Criterion.............................................................................................22
9.3 Calibration of DR using digital map information...............................................22
9.4 Gyro Electric Characteristics................................................................................22
10. Package Specification and Order Information....................................................24
11. Contact Royaltek...................................................................................................24
12. Revision History....................................................................................................24
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