一、Introduction¶

Product introduction¶

DELINCOMM¶

Single GPS receiver RG4538
GPS&GLONASS receiver RU4538-G
GPS&BeiDou (BeiDou)receiver RM4538-B

_images/gnss_RG4538_en.png

DK2635U7F¶

_images/gnss_DK2635U7F_en.jpg

Detailed parameters¶

	RG4538	RM4538-B	RU4538-G	DK2635U7F
Chipset	G9501	MT3333	UBX-M8030-KT	UBX-G7020-KT
Track sensitivity	-165dBm	-165dBm	-167dBm	-162dBm
Power consumption	Max 60mA@3.3V	Max 45mA@3.3V	Max 40mA@3.3V	Max 25mA@3.3V
protocol	NMEA-0183	NMEA-0183	NMEA-0183	NMEA-0183
voltage range	3.3V~5.0V	3.3V~5.0V	3.3V~5.0V	3.3V~5.0V
Operating Temperature	-40℃~85℃	-40℃~85℃	-40℃~85℃	-40℃~85℃
size	45x38x13.8mm	45x38x13.8mm	45x38x13.8mm	26x35x8.5mm
Communicatione	UART/TTL	UART/TTL	UART/TTL	UART/TTL
Baud rate	9600	9600	9600	9600
Interface	XH2.0mm PIN spacing 4Pin L=200cm	XH2.0mm PIN spacing 4Pin L=200cm	XH2.0mm PIN spacing 4Pin L=200cm

Interface¶

DELINCOMM¶

VCC: Red wire
GND: Black wire
TX : White wire
RX : Green wire

DK2635U7F¶

VCC: White wire
GND: Black wire
TX : Blue wire
RX : Green wire

二、Usage¶

Hardware connection¶

Connect the VCC, GND, TX and RX of the module to 3.3V, GND, RX and TX of {{uart}}(the corresponding node is ) respectively. Pay attention to avoid burning the module due to wrong connection of VCC, GND, TX and RX

For some definitions and descriptions of UART, please refer to the Wiki tutorial “UART Usage” of each board

CPU	Board
RK3399	AIO-3399C, AIO-3399J, AIO-3399JD4
RK3399Pro	AIO-3399ProC, AIO-3399Pro-JD4
RK3566	AIO-3566JD4
RK3568	AIO-3568J
RK3588	ITX-3588J , ROC-RK3588S-PC , AIO-3588SJD4,AIO-3588Q

How to enable GPS and modify serial port configuration ?¶

Android temporary modification¶

Enable ADB: How to enable ADB, refer to the chapter “Using ADB” in the Wiki tutorial of each product.

Set the system to be readable and writable

adb shell setprop persist.sys.root_access 3
adb root && adb remount

Change parameters
- Enable GPS: Modify ro.factory.hasGPS in /vendor/build.prop to true
- Modify the serial port configuration: modify the SERIAL_DEVICE in the board /system/etc/u-blox.conf to the serial port path where the corresponding module is connected, and SERIAL_BAUD_RATE to the baud rate of the corresponding module
Reboot the board

Android code modification¶

Enable GPS
- Modify BOARD_HAS_GPS in device/rockchip/{CPU}/{PRODUCT}/{PRODUCT}.mk in SDK directory to true
Modify serial port configuration
- Modify SERIAL_DEVICE in device/rockchip/{CPU}/{PRODUCT}/gps/u-blox.conf in the SDK directory to the serial port path where the corresponding module is connected, and SERIAL_BAUD_RATE to the baud rate of the corresponding module Rate
Recompile the SDK and flash the firmware

FAQ¶

Note:The following content is based on the GPS module’s serial port path /dev/ttysWK2 and baud rate 9600 as an example.

How to judge whether the GPS module hardware connection is correct ?¶

When the GPS module operates according to the Hardware Connection” chapter, through debugging the serial port or adb shell, after executing cat /dev/ttysWK2, the correct hardware connection will appear The following LOG information.

cat /dev/ttysWK2
$GPRMC,,V,,,,,,,,,,N*53
$GPVTG,,,,,,,,,N*30
$GPGGA,,,,,,0,00,99.99,,,,,,*48
$GPGSA,A,1,,,,,,,,,,,,,99.99,99.99,99.99*30
$GPGLL,,,,,,V,N*64
$GPRMC,,V,,,,,,,,,,N*53
$GPVTG,,,,,,,,,N*30
$GPGGA,,,,,,0,00,99.99,,,,,,*48
$GPGSA,A,1,,,,,,,,,,,,,99.99,99.99,99.99*30
$GPGLL,,,,,,V,N*64
$GPRMC,,V,,,,,,,,,,N*53
$GPVTG,,,,,,,,,N*30
$GPGGA,,,,,,0,00,99.99,,,,,,*48
$GPGSA,A,1,,,,,,,,,,,,,99.99,99.99,99.99*30
$GPGLL,,,,,,V,N*64
$GPRMC,,V,,,,,,,,,,N*53
$GPVTG,,,,,,,,,N*30
$GPGGA,,,,,,0,00,99.99,,,,,,*48
$GPGSA,A,1,,,,,,,,,,,,,99.99,99.99,99.99*30
$GPGLL,,,,,,V,N*64
$GPRMC,,V,,,,,,,,,,N*53
$GPVTG,,,,,,,,,N*30
$GPGGA,,,,,,0,00,99.99,,,,,,*48
$GPGSA,A,1,,,,,,,,,,,,,99.99,99.99,99.99*30
$GPGLL,,,,,,V,N*64
$GPRMC,,V,,,,,,,,,,N*53
$GPVTG,,,,,,,,,N*30
$GPGGA,,,,,,0,00,99.99,,,,,,*48
$GPGSA,A,1,,,,,,,,,,,,,99.99,99.99,99.99*30
$GPGLL,,,,,,V,N*64
...

How to judge whether gps.default.so is loaded normally?¶

When according to “How to enable GPS and modify serial port configuration” section, power on the motherboard again, and execute logcat -s TD1030DBG through serial port debugging or adb shell, gps.default.so will appear as follows when loading normally LOG information:

logcat -s TD1030DBG
--------- beginning of kernel
--------- beginning of system
--------- beginning of main
06-01 01:38:26.913   254   254 D TD1030DBG: ======ro.factory.hasGPS: true
06-01 01:38:26.913   254   254 D TD1030DBG: Ver:20170626
06-01 01:38:26.913   254   254 D TD1030DBG: Firefly Version: gps_hal-android-arm64-5299e92006fa
06-01 01:38:26.922   254   254 D TD1030DBG: [DebugMask:0x60]
06-01 01:38:26.922   254   254 D TD1030DBG: [PROJECT_NAME : TD1030]
06-01 01:38:26.922   254   254 D TD1030DBG: Uart Path : /dev/ttysWK2
06-01 01:38:26.922   254   254 D TD1030DBG: Uart Baudrate : 9600
06-01 01:38:26.922   254   254 D TD1030DBG: AGPS_PORT:7275
06-01 01:38:26.922   254   254 D TD1030DBG: [AGPS_SERVER : supl.google.com]
06-01 01:38:26.922   254   254 D TD1030DBG: GNSS_MODE:3
06-01 01:38:26.922   254   254 D TD1030DBG: Succeed : Load configfile ok!
06-01 01:38:26.923   254   254 D TD1030DBG: Succeed : open uart /dev/ttysWK2 boadrate = 9600
06-01 01:38:26.924   254   254 V TD1030DBG: UartTxData, do not send data to gps_soc by uart
06-01 01:38:27.074   254   254 V TD1030DBG: UartTxData, do not send data to gps_soc by uart
06-01 01:38:27.224   254   254 V TD1030DBG: UartTxData, do not send data to gps_soc by uart
06-01 01:38:37.447   254   254 D TD1030DBG: Enter : td_bdgps_get_extension(gps-xtra)
06-01 01:38:37.447   254   254 D TD1030DBG: Enter : td_bdgps_get_extension(agps_ril)
06-01 01:38:37.448   254   254 D TD1030DBG: Enter : td_bdgps_get_extension(agps)
06-01 01:38:37.448   254   254 D TD1030DBG: Enter : td_bdgps_get_extension(gps_navigation_message)
06-01 01:38:37.448   254   254 D TD1030DBG: Enter : td_bdgps_get_extension(gps_measurement)
06-01 01:38:37.448   254   254 D TD1030DBG: Enter : td_bdgps_get_extension(gps-debug)
06-01 01:38:37.448   254   254 D TD1030DBG: Enter : td_bdgps_get_extension(gps-ni)
06-01 01:38:37.449   254   254 D TD1030DBG: Enter : td_bdgps_get_extension(gnss_configuration)
06-01 01:38:37.449   254   254 D TD1030DBG: Enter : td_bdgps_get_extension(gps_geofencing)
06-01 01:38:37.450   254   254 D TD1030DBG: Enter : td_bdgps_init
06-01 01:38:37.450   254   254 D TD1030DBG: Enter : gps_state_init
06-01 01:38:37.452   254   254 D TD1030DBG: Enter : td_bd_agps_init
06-01 01:38:37.452   254   254 D TD1030DBG: Succeed : agps init
06-01 01:38:37.453   254   254 D TD1030DBG: Enter : bd_xtra_init
06-01 01:38:37.453   254   254 D TD1030DBG: Enter : td_agps_init
06-01 01:38:37.453   254   254 D TD1030DBG: Enter : td_gps_ni_init
06-01 01:38:37.454   254   254 D TD1030DBG: Enter : td_agps_ril_init
06-01 01:38:37.454   254   254 D TD1030DBG: Enter : td_bdgps_cleanup
06-01 01:38:37.463   254   719 D TD1030DBG: Enter : tdchip_ack_timer_thread(0)
06-01 01:38:37.465   254   254 D TD1030DBG: Enter : td_bdgps_init
06-01 01:38:37.465   254   254 D TD1030DBG: Enter : bd_xtra_init
06-01 01:38:37.466   254   715 D TD1030DBG: Enter : gps_state_thread
06-01 01:38:37.466   254   715 D TD1030DBG: Event : gps control fd event 10
06-01 01:38:37.466   254   717 D TD1030DBG: Enter : supl_client_assist_thread
06-01 01:38:37.467   254   254 D TD1030DBG: Enter : td_agps_init
06-01 01:38:37.467   254   254 D TD1030DBG: Enter : td_gps_ni_init
06-01 01:38:37.468   254   254 D TD1030DBG: Enter : td_agps_ril_init

Among them, you can check whether the serial port path and baud rate set by the software are consistent with the GPS module through the LOG information, such as:

06-01 01:38:26.923   254   254 D TD1030DBG: Succeed : open uart /dev/ttysWK2 boadrate = 9600

If the serial port path does not have 0666 permission, gps.default.so will fail to load, and the following error LOG information will appear:

06-01 01:38:26.923   254   254 D TD1030DBG: ERROR : Uart Open Permission denied

Solution: Give 0666 permission to the serial port path.

The GPS test APK has a small number of stars or fails to locate¶

When the GPS module is connected correctly and gps.default.so is loaded normally, the GPS test APK may find that the number of satellites is small or the positioning fails. It is necessary to check whether the GPS antenna is placed in an open outdoor.

三、Firmware and Resource Download¶

For related documents and firmware download, see Data Download on the official website .

四、Getting Started¶

Flash firmware¶

CPU	USB flash	SD upgrade
RK3399	AIO-3399JD4,AIO-3399J AIO-3399C	AIO-3399JD4, AIO-3399J AIO-3399C
RK3399Pro	AIO-3399Pro-JD4, AIO-3399ProC	AIO-3399Pro-JD4, AIO-3399ProC
RK3566	AIO-3566JD4	AIO-3566JD4
RK3568	AIO-3568J	AIO-3568J
RK3588	ITX-3588J, ROC-RK3588S-PC, AIO-3588SJD4,AIO-3588Q	ITX-3588J, ROC-RK3588S-PC, AIO-3588SJD4,AIO-3588Q

Compile the firmware¶

RK3399 platform¶

System	Board
Android7.1 Industry	AIO-3399JD4, AIO-3399J, AIO-3399C
Ubuntu	AIO-3399JD4, AIO-3399J, AIO-3399C
Buildroot	AIO-3399JD4, AIO-3399J, AIO-3399C

RK3399Pro platform¶

System	Board
Android9.0	AIO-3399Pro-JD4, AIO-3399ProC
Ubuntu	AIO-3399Pro-JD4, AIO-3399ProC

RK3566 platform¶

System	Board
Android11.0	AIO-3566JD4
Ubuntu	AIO-3566JD4
Buildroot	AIO-3566JD4

RK3568 platform¶

System	Board
Android11.0	AIO-3568J
Ubuntu	AIO-3568J
Buildroot	AIO-3568J

RK3588 platform¶

System	Board
Android12.0	ITX-3588J, ROC-RK3588S-PC, AIO-3588SJD4,AIO-3588Q
Buildroot	ITX-3588J,ROC-RK3588S-PC,AIO-3588SJD4,AIO-3588Q,AIO-3588MQ,AIO-3588JQ
Ubuntu20.04	ITX-3588J,ROC-RK3588S-PC,AIO-3588SJD4,AIO-3588Q,AIO-3588MQ,AIO-3588JQ
Debian11	ITX-3588J,ROC-RK3588S-PC,AIO-3588SJD4,AIO-3588Q,AIO-3588MQ,AIO-3588JQ

Ubuntu	ITX-3588J, ROC-RK3588S-PC
Buildroot	ITX-3588J, ROC-RK3588S-PC