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RDR-3200 User Manual
RoyalTek Confidential
2
Content
1. Introduction....................................................................................................3
2. Product Feature ..............................................................................................3
3. Specification ..................................................................................................4
4. Reference design of Gyro and Odometer circuit design................................5
4.1 System Block Diagram (Panasonic SKU) ...........................................................5
4.2 Application Circuit...............................................................................................6
5. Interface .........................................................................................................8
5.1 Connector Type：20 Pin Header，2.0 mm pitch (J2).........................................8
5.2 RF connector type: SMA R/A PCB JACK (J1) ...................................................9
6. Product Picture.............................................................................................10
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 ........................................................................17
8.1.5 RMC-Recommended Minimum Specific GNSS Data ...................................18
8.2 GPS DR (UART A) Input command ...........................................................19
8.2.1 $MMF .............................................................................................................19
8.3 CAN bus (UART B) protocol ............................................................................21
8.3.1 Speed, Reverse status input Message..............................................................21
8.3.2 GPS antenna detection output Message..........................................................22
8.4 NMEA Output Message...............................................................................23
9 Calibration of DR.........................................................................................23
9.1 Self calibration of DR ........................................................................................23
9.2 Calibration Criterion ..........................................................................................23
9.3 Calibration of DR using digital map information..............................................23
9.4 Gyro Electric Characteristics .............................................................................23
10. Package Specification and Order Information...................................................25
11. Contact Royaltek................................................................................................25
12. Revision History ................................................................................................25