REFERENCE MANUAL Copernicus™ GPS Receiver For Modules with firmware version 2.
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Corporate Office Hardware Limited Warranty Trimble Navigation Limited 935 Stewart Drive Sunnyvale, CA 94085 U.S.A. Phone: +1-408-481-8000, 1-800-827-8000 www.trimble.com Trimble warrants that this Trimble hardware product (the “Product”) shall be free from defects in materials and workmanship and will substantially conform to Trimble’s applicable published specifications for the Product for a period of one (1) year, starting from the date of delivery.
THE WARRANTIES ABOVE STATE TRIMBLE'S ENTIRE LIABILITY, AND YOUR EXCLUSIVE REMEDIES, RELATING TO PERFORMANCE OF THE PRODUCTS AND SOFTWARE.
Table of Contents Table of Contents 1 1 STARTER KIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Receiver Overview . . . . . . . . . . . . . . . . . . . . . . . Starter Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . Starter Kit Components . . . . . . . . . . . . . . . . . Interface Unit. . . . . . . . . . . . . . . . . . . . . . . Serial Port Interface . . . . . . . . . . . . . . . . . . . Removing the Reference Board from the Interface Unit. Antenna . . . . . . . . .
Table of Contents 3 INTERFACE CHARACTERISTICS . . . . . . . . . . . . . . . . . . . . . 41 Pin Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Pin Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Detailed Pin Descriptions . . . . . . . . . . . . . . . . . . . . . . . Protocols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Serial Port Default Settings . . . . . . . . . . . . . . . . . . . . . . . . . . GPS Timing . . . . . . . . . . . .
Table of Contents 7 MECHANICAL SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . 77 Mechanical Outline Drawing . . . . . . . . . . . . Soldering the Copernicus GPS Receiver to a PCB . Solder mask . . . . . . . . . . . . . . . . . Pad Pattern . . . . . . . . . . . . . . . . . . Paste Mask . . . . . . . . . . . . . . . . . . 8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of Contents 11 FIRMWARE UPGRADE . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 Software Architecture . . . . . . . . . . . . . . . . . Boot Monitor . . . . . . . . . . . . . . . . . . . . . Firmware Binary File Format . . . . . . . . . . . . . Firmware Loading Procedure . . . . . . . . . . . . . Pseudo-code . . . . . . . . . . . . . . . . . . Pseudo-Code Explanation . . . . . . . . . . . Error Recovery . . . . . . . . . . . . . . . . . Monitor Interface Protocol . . . . . . . . . . . . .
Table of Contents Command Packet 0x26 - Request Health . . . . . . . . . . . . . . . . . . . . . . . 134 Command Packet 0x27 - Request Signal Levels. . . . . . . . . . . . . . . . . . . . 134 Command Packet 0x2B - Initial Position (Latitude, Longitude, Altitude). . . . . . . 134 Command Packet 0x2D - Request Oscillator Offset . . . . . . . . . . . . . . . . . . 135 Command Packet 0x2E - Set GPS Time . . . . . . . . . . . . . . . . . . . . . . . .
Table of Contents Command Packet 8E-18 - Request Last Position or Auto Report Position in UTM Double Precision Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Command Packet 0x8E-20 - Request Last Fix with Extra Information . . . . . . . Command Packet 0x8E-26 - Non-Volatile Memory Storage . . . . . . . . . . . . Command Packet 0x8E-2A - Request Fix and Channel Tracking Info, Type 1 . . . Command Packet 0x8E-2B - Request Fix and Channel Tracking Info, Type 2 . . .
Table of Contents X1 Extended Status. . . . . . . . . . . . . . . . . Communication Scheme for TAIP . . . . . . . . . Query for Single Sentence . . . . . . . . . . Scheduled Reporting Frequency Interval . . The Response to Query or Scheduled Report The Set Qualifier . . . . . . . . . . . . . . . Sample Communication Session . . . . . . . C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of Contents 8 Copernicus GPS Receiver
CHAPTER 1 STARTER KIT In this chapter: Receiver Overview Starter Kit Antenna Quick Start Guide Trimble GPS Monitor Toolkit 1 The Copernicus GPS module is a drop-in receiver solution that provides position, velocity, and time data in a choice of three protocols. This chapter provides a detailed description of the starter kit components and instructions for getting started with interface, hardware setup, and configuration procedures.
1 STARTER KIT Receiver Overview Trimble's Copernicus™ GPS receiver delivers proven performance and Trimble quality for a new generation of position-enabled products. The Copernicus GPS features the Trimble revolutionary TrimCore™ software technology enabling extremely fast startup times and high performance in foliage canopy, multipath and urban canyon environments.
STARTER KIT 1 Starter Kit The Copernicus GPS Starter Kit provides everything you need to get started integrating state-of-the-art GPS capability into your application. The reference board provides a visual layout of the Copernicus GPS receiver on a PCB including the RF signal trace, the RF connector, and the I/O connections of the 28 signal pins.
1 STARTER KIT Interface Unit Inside the starter kit interface unit, the Copernicus GPS reference board sits on a shelf supported by 4 standoffs above the motherboard. The antenna transition cable is mounted to the outside of the unit and connects to the MCX connector on the reference board. An 8-wire ribbon cable interfaces the power and I/O between the reference board and motherboard. 8 Figure 1.1 Starter Kit Interface Unit Figure 1.
Figure 1.
1 STARTER KIT Serial Port Interface The Copernicus GPS interface unit has a dual port USB interface that is available through a single A-type USB connection. Before the starter kit can be used with a USB 2.0-equipped Microsoft Windows (2000, XP)-based PC, the appropriate USB 2.0 drivers must be installed on the PC. Loading the FTDI Driver The Copernicus GPS uses a USB 2.0 interface chip from Future Technology Devices International Ltd. (FTDI).
STARTER KIT 1 Interface Connections Following is a description of the Copernicus GPS interface unit (numbered references correlate to numbers in the image below). 1 98 7 Figure 1.4 1. 6543 2 Front side of the Interface Unit Antenna Connector The antenna connector is an MCX type connector that is intended to be used with the supplied 3.0V antenna. This interfaces to the Copernicus GPS reference board antenna connector. 2. USB Connector The USB connector is an A-type USB connector that is USB 2.
1 STARTER KIT 7. Power Connector The power connector (barrel connector) is located on the front right side of the starter kit. The power connector connects to the AC/DC power converter supplied with the starter kit. The power converter converts 100 -240 VAC To 12 or 24VDC. The power connector can accept 9 to 32 VDC. 8. Power LED The Power LED indicates when main power, VCC, is available to the receiver. Main power is controlled by the Power Switch (#8).
STARTER KIT 1 Removing the Reference Board from the Interface Unit Follow this procedure to remove the Copernicus GPS reference board from the interface unit:. 1. Before disassembling the interface unit, disconnect the unit from any external power source and confirm that both you and your work surface are properly grounded for ESD protection. 2. Remove the four screws, which secure the bottom plate of the interface unit to the base of the metal enclosure. Set the bottom plate aside. 3.
1 STARTER KIT Antenna The Copernicus GPS Starter Kit comes with an active mini magnetic mount 3.0 V GPS antenna. This antenna mates with the MCX connector on the interface unit. The reference board supplies power to the active antenna through the RF transition cable. Using a Passive Antenna To test performance with a passive antenna (not supplied in the Copernicus GPS Starter Kit) the passive antenna should be connected directly to the MCX connector on the reference board, to ensure minimal signal loss.
STARTER KIT 1 Quick Start Guide 1. Confirm that you have the following: – The Copernicus GPS Starter Kit. – Windows desktop or laptop computer with a USB port. 2. Connect the computer’s power cable to the power converter. 3. Plug the power cable into the interface unit. Figure 1.5 Connecting Power 4. Plug the power cable into a wall outlet. 5. Connect the magnetic mount GPS antenna to the interface unit. Figure 1.6 6.
1 STARTER KIT 7. Connect the USB cable to the USB connector on the interface unit. Figure 1.7 Connecting the PC 8. Power-on your computer. 9. Insert the CD found in the starter kit box into your computer CD drive. 10. Install the Trimble GPS Monitor Program from the supplied CD. (see Trimble GPS Monitor Toolkit, page 17). 11. Download and install the appropriate FTDI driver on your PC (see Install the FTDI USB/Serial Driver Software, page 17). 12. Execute the Trimble GPS Monitor Program. 13.
STARTER KIT 1 Trimble GPS Monitor Toolkit The Trimble GPS Monitor Tookit is designed to assist you in configuring your Trimble GPS receiver. The application works with a standard RS-232 serial interface or the USB interface supplied in the Copernicus GPS starter kit.
1 STARTER KIT Connect the PC via the USB Cable 18 1. Right-click the MyComputer icon. 2. Select the Properties option to view the System Properties Window. 3. Select the Hardware tab.
STARTER KIT 1 4. Click the Device Manager button. 5. Open the Ports (Com & LPT) section and note down the two USB Serial Port COM numbers. In the example above they are COM5 and COM6. In general Port A of the GPS device will be on the lower COM number and Port B will be on the higher.
1 STARTER KIT Start the TGM Application 1. 20 Go to the directory in which the Trimble GPS Monitor application is stored and open the application. The main window displays.
STARTER KIT 1 Connect to the GPS Receiver 1. Select Initialize > Detect Receiver 2. Select the port and protocol being used on the module. If you do not know which protocol is being used you can select TSIP, TAIP and NMEA. TGM will try each in turn at different baud rates.
1 STARTER KIT 3. 22 Click on Yes to accept the discovered connection parameters.
STARTER KIT 1 Configure GPS Ports 1. Select the Configure pull down menu from the main screen, and select Receiver Configuration. 2. Select the Port Configuration tab. 3. Select the required receiver port, baud rate, parity, data bits and stop bits. 4. Select one input and one output protocol. 5. Click the Set button. 6. If the configuration is to be permanent, click Save Configuration.
1 STARTER KIT Configure Output Formats 1. Select the Configure pull down menu from the main screen. 2. Select Receiver Configuration. 3. Select the Outputs tab. 4. After selecting the required setup options, click on Set. 5. If the configuration is to be permanent, click Save Configuration. Configure GPS 24 1. Select the Configure pull down menu from the main screen. 2. Select Receiver Configuration. 3. Select the GPS Configuration tab. 4.
STARTER KIT 1 Configure PPS Output 1. 2. 3. Select the Configure pull down menu from the main screen. Select Receiver Configuration. Select the PPS Configuration tab. Note – Always ON – the PPS is present even without a GPS fix, it will free run until fix is obtained. Fixed-based – the PPS will only be output when the receiver has a fix. 4. After selecting the required setup options, click on Set. 5. If the configuration is to be permanent, click Save Configuration. Configure NMEA Output 1. 2. 3.
1 STARTER KIT Configure TAIP Output 1. Select the Configure pull down menu from the main screen. 2. Select Receiver Configuration. 3. Select the TAIP tab. 4. After selecting the required setup options, click on Set. 5. If the configuration is to be permanent, click Save Configuration. Note – This screen can only be edited if TAIP is enabled as a port output.
STARTER KIT 1 Creating a Log Follow these steps to log the output of the GPS receiver. 1. Select Configure > Data Logging 2. From the available ports select the com port that connects to your device.
1 STARTER KIT 3. Create a filename and path in the file field. Use standard file naming if appropriate with the Unit ID and Test Case number 4. Select the correct protocol and logging options. 5. Click Start Logging. Sending Raw Data to device 28 1. From the Tools Menu select the Generic Packets option. 2. Select the required protocol to send the raw data.
STARTER KIT 3. 1 Select one of the provided messages from the Presets pull down, or enter your own data in the Packet Data field. Note – If entering your own message in the Packet Data, the TGM only requires the user data not the surrounding start and end bytes. In the example above TSIP user data is being entered, but TGM already adds the starting DLE and ending DLE/ETX. 4. Click View Raw Data. 5. To view the sent and received data, select the Show Sent Data box.
1 30 STARTER KIT Copernicus GPS Receiver
CHAPTER 2 PRODUCT DESCRIPTION In this chapter: Key Features Specifications Interface MTBF 2 This chapter describes the Copernicus GPS Receiver features and performance specifications.
2 PRODUCT DESCRIPTION Key Features The Copernicus module is a complete 12-channel GPS receiver in a 19mm x 19mm x 2.54mm, thumbnail-sized shielded unit. The small, thin, single-sided module is packaged in tape and reel for pick and place manufacturing processes; 28 reflowsolderable edge castellations provide interface to your design without costly I/O and RF connectors. Each module is manufactured and factory tested to Trimble's highest quality standards. • Thumbnail-sized, 19 mm W x 19 mm L (0.
PRODUCT DESCRIPTION 2 Block Diagram Figure 2.
2 PRODUCT DESCRIPTION Specifications Performance Performance Specifications L1 (1575.42 MHz) frequency, C/A code, 12-channel, continuous tracking receiver Update Rate TSIP 1 Hz NMEA 1 Hz TAIP 1 Hz Accuracy (24 hour static) Horizontal (without SBAS) <2.5 m 50%, <5 m 90% Horizontal (with SBAS) <2.0 m 50%, <4 m 90% Altitude (without SBAS) <5 m 50%, <8 m 90% Altitude (with SBAS) <3 m 50%, <5 m 90% Velocity 0.
PRODUCT DESCRIPTION 2 Electrical Electrical Specifications Prime Power +2.7 VDC to 3.3 VDC Power Consumption (typ.) 30.7 mA (82.9 mW) @ 2.7 V (typ.) 31.3 mA (93.9 mW) @ 3.0 V Backup Power +2.7 VDC to +3.3 VDC Ripple Noise Max 50 mV, peak-to-peak from 1 Hz to 1 MHz Physical Physical Specifications Enclosure Metal shield Dimensions 19 mm W x 19 mm L x 2.54 mm H (0.75" W x 0.75" L x 0.1" H) Weight 1.7 grams (0.
2 PRODUCT DESCRIPTION MTBF The Mean Time Between Failures (MTBF) of the GPS receiver module was calculated based on parts count - serial reliability using Telecordia Analysis and Industry field data for the PCB and Trimble Navigation's field return data (i.e. similar product or technology parts).
PRODUCT DESCRIPTION 2 Absolute Minimum and Maximum Limits Absolute maximum ratings indicate conditions beyond which permanent damage to the device may occur. Electrical specifications shall not apply when operating the device outside its rated operating conditions. Parameter Min Max Unit Power Supply Voltage (VCC) on Pin 12 -0.3 3.6 V STANDBY Voltage (VCC) on Pin 12 * -0.3 3.
2 PRODUCT DESCRIPTION Normal Operating Conditions Minimum and maximum limits apply over full operating temperature range unless otherwise noted. Parameter Conditions Min Primary Supply Voltage * The rise time to VCC MUST 2.7 be greater than 140 μsecs Current Draw Continuous Tracking, Max: 85° C, 3.3 V Min: -40° C, 2.7V Typ: 25° C, 3.0 V 23.9 Power Consumption Continuous Tracking, Max: 85° C, 3.3 V Min: -40° C, 2.7V Typ: 25° C, 3.0 V 79 Typ Max Unit 3.3 * V 34.8 38.3 mA 93.
PRODUCT DESCRIPTION 2 Power Consumption Over Temperature and Voltage Run Mode (Tracking with Almanac Complete): < 90 mW average @ 2.7 VDC, -40 to 85° C Standby Mode: < 30 μW @ 3.0 VDC, typical at 25° C, < 200 μW under all conditions except during service time for the 18-hour real time clock roll over. At 2.7 volts Avg Current (mA) Avg power consumption (mW) -40° C 29.7 80.2 Room Temp 30.7 82.9 85° 31.5 85.1 At 3.0 volts Avg Current (mA) Avg power consumption (mW) -40° C 30.3 90.
2 PRODUCT DESCRIPTION Ordering Information Ordering Information 40 Copernicus GPS Receiver Module Single module in metal enclosure P/N 58048-10 Reference Board P/N 58054-10 Copernicus GPS module mounted on a carrier board with I/O and RF connectors for evaluation purposes, including the RF circuitry with the antenna open detection, as well as antenna short detection and protection.
CHAPTER 3 INTERFACE CHARACTERISTICS In this chapter: Pin Assignments Pin Description Serial Port Default Settings GPS Timing A-GPS Pulse-Per-Second (PPS) 3 This chapter provides a detailed description of the Copernicus GPS Receiver interface.
3 INTERFACE CHARACTERISTICS Pin Assignments Reserved Figure 3.
INTERFACE CHARACTERISTICS 3 Pin Description Table 3.1 Pin Description Pin Name Description Function Note 1 GND Ground G Signal ground. Connect to common ground. 2 GND RF Ground G One of two RF grounds adjacent to RF input. Connect to RF ground system. 3 RF Input GPS RF input I 50-ohm unbalanced (coaxial) RF input. 4 GND RF Ground G One of two RF grounds adjacent to RF input. Connect to RF ground system. 5 LNA_XEN LNA Enable O Can be used with active antennas only.
3 INTERFACE CHARACTERISTICS Detailed Pin Descriptions RF Input The RF input pin is the 50 ohm unbalanced GPS RF input, and can be used with active or passive antennas. Passive antennas: The RF input pin may be connected by a low-loss 50 ohm unbalanced transmission system to the passive GPS antenna if loss is minimal (< 2 dB). It is recommend that you use an external LNA with a passive antenna.
INTERFACE CHARACTERISTICS Table 3.2 3 Antenna Status Truth Table Condition of logic signals ANTENNA REPORTS SHORT OPEN Antenna Open Reported 1 1 Antenna Normal Reported 1 0 Antenna Shorted Reported 0 0 Undefined 0 1 When using a passive antenna with the SHORT and OPEN pins floating, the receiver will report an open condition. If a normal condition from the receiver is desired when using a passive antenna, set the logic levels of the SHORT pin High and the OPEN pin Low.
3 INTERFACE CHARACTERISTICS RXD_A and RXD_B These logic level inputs are the primary (A) and secondary (B) serial port receive lines (data input to the module). This output meets the input/output pin threshold specifications (see Absolute Minimum and Maximum Limits, page 37.) The baud rate for the two ports is under software control. TXD_A and TXD_B These logic level outputs are the primary (A) and secondary (B) serial port transmit lines (data moving away from the module).
INTERFACE CHARACTERISTICS 3 Serial Port Default Settings The Copernicus GPS Receiver supports two serial ports. The default settings are provided in the table below. Table 3.4 Port A B Copernicus GPS Receiver Serial Port Default Settings Port Direction Pin # Protocol Characteristics Baud Rate Data Bits Parity Stop Bits Flow Control TXD-A 23 TSIP-Out 38.4 K 8 None 1 NO RXD-A 21 TSIP-IN 38.
3 INTERFACE CHARACTERISTICS GPS Timing In many timing applications, such as time/frequency standards, site synchronization systems, and event measurement systems, GPS receivers are used to discipline local oscillators. The GPS constellation consists of 24 orbiting satellites. Each GPS satellite contains a highly-stable atomic (Cesium) clock, which is continuously monitored and corrected by the GPS control segment.
INTERFACE CHARACTERISTICS 3 Acquiring the Correct Time To acquire the correct time: 1. Confirm that the almanac is complete and the receiver is generating 3D fixes. This will eliminate the UTC offset jump. 2. Confirm that the receiver is configured for the late PPS option (i.e., it is only outputting a PPS on a 3D fix). 3. Capture the time from TSIP packet 0x41 or TSIP packet 0x8F-20 (if using TSIP). 4. Once time is acquired, on the next PPS add 1 to the whole second to read the correct time.
3 INTERFACE CHARACTERISTICS A-GPS The Copernicus GPS Receiver is equipped with assisted GPS (A-GPS), which enables the receiver to obtain a position fix within seconds using almanac, ephemeris, time, and position data. This position data can be uploaded to the device via TSIP packets or the Trimble GPS Monitor (TGM) application. When A-GPS is enabled, the Copernicus GPS Receiver can achieve fast start-up times characteristic of a hot start.
INTERFACE CHARACTERISTICS 3 Enabling A-GPS with TSIP 1. Allow the receiver to run long enough to collect a current almanac. Note – It takes 12,5 minutes of uninterrupted Copernicus operation to collect almanac from the satellites. 2. Use packet 0 x 26 to request the health of the receiver. The response packets 0x46 and 0x4B indicate when the almanac is complete and current. 3. Use packet 0x38 to request the almanac and the ephemeris. The receiver responds with packet 0 x 58. 4.
3 INTERFACE CHARACTERISTICS Pulse-Per-Second (PPS) The Copernicus GPS receiver provides a CMOS compatible TTL level Pulse-PerSecond (PPS). The PPS is a positive pulse available on pin 19 of the Copernicus GPS Receiver. The rising edge of the PPS pulse is synchronized with respect to UTC. The timing accuracy is ±100 rms when valid position fixes are being reported. The precise UTC or GPS time is reported in TSIP message 0x41 and NMEA message EDA.
CHAPTER 4 OPERATING MODES In this chapter: Copernicus Receiver Operating Modes Run Mode Standby Mode Monitor Mode Changing the Run/Standby Modes 18-Hour RTC Roll Over Saving Almanac, Ephemeris and Position to Flash Memory WAAS 4 This chapter describes the primary Copernicus GPS Receiver operating modes and provides guidelines for receiver operation.
4 OPERATING MODES Copernicus Receiver Operating Modes Table 4.1 Copernicus GPS Receiver Operating Modes Operating Modes Description Run Mode Continuous tracking or normal mode Standby Mode Backup power or low power mode Monitor Mode Flash upgrading mode Run Mode The RUN mode is the continuous tracking or the normal mode.
OPERATING MODES 4 Changing the Run/Standby Modes There are two methods you can follow to switch the receiver between the Run Mode and the Standby Mode. Only one of these methods may be used at a time. 1. Using the XSTANDBY pin or 2. Using the serial ports under user control Note – If you are using the XSTANDBY pin, do not use the serial ports for controlling the modes. If you are using the serial port option, the XSTANDBY pin should always be held high.
4 OPERATING MODES Using the XSTANDBY Pin to Switch Modes The first method for putting the receiver into Standby Mode or exiting this mode back to the Run Mode is through the pin XSTANDBY, pin #16. As long as the pin is held high, the receiver will operate normally in Run Mode. Entering Standby Mode When the pin is taken low, the receiver will go to the STANDBY mode. Exiting Standby Mode When the pin is taken high again, the receiver will perform a hot or warm restart and return to normal operation.
OPERATING MODES 4 Serial Port Activity When the receiver enters Standby Mode through the software protocol commands, the first condition for exiting Standby Mode is using serial port A activity or serial port B activity. The condition is identical for both ports A and B. To ensure the receiver detects and responds to serial port activity, issue a NULL character on the selected serial port to bring the unit out of Standby Mode. In Standby Mode, the receiver samples for serial port activity at a rate of 32.
4 OPERATING MODES 18-Hour RTC Roll Over If the Standby Mode lasts longer than 18 hours, a special condition will occur. The real-time clock has a maximum time count of 18 hours, so that every 18 hours the receiver must briefly power on the processor and read the elapsed time before the real-time clock rolls over. The Diagram below describes the Copernicus GPS Receiver current draw levels after initiating a Standby command, as well as the service time for the 18-hour real time clock roll over.
OPERATING MODES 4 Saving Almanac, Ephemeris and Position to Flash Memory The Almanac, Ephemeris, and recent Position data contained in RAM is automatically saved to Flash memory. Graceful Shutdown The Graceful Shutdown command is issued using TSIP packet 0xC0 or NMEA command RT with the store RAM to flash flag enabled. The reset type will depend on the Graceful Shutdown command parameters. On start-up, the unit will use the almanac, ephemeris, and position from RAM first.
4 OPERATING MODES Acquisition The Copernicus GPS Receiver will acquire a WAAS satellite after it has a GPS-based position fix. After a two minute position fix outage, the Copernicus module will stop tracking and acquiring the WAAS satellite. The WAAS satellite will be re-acquired after a GPS-based position fix is re-established. Usage The Copernicus GPS Receiver will only use the data from a WAAS satellite for position fix corrections.
CHAPTER 5 APPLICATION CIRCUITS In this chapter: Passive antenna—Minimum Connections Active Antenna—Full Connection Active Antenna—No Antenna Status 5 This chapter describes the Copernicus GPS Receiver passive and active antenna connections.
5 APPLICATION CIRCUITS Passive antenna—Minimum Connections IMAGE TO COME Figure 5.1 Passive Antenna - Minimum Connections The minimum connection set for the Copernicus GPS Receiver is illustrated in Figure 5.1. Following is a description of the schematic. 62 • A passive antenna is used. The Copernicus GPS Receiver has an on-board LNA and an Automatic Gain Control circuit. • The Pin LNA_XEN is not necessary and not connected. • No Antenna open and short detection or protection is provided.
APPLICATION CIRCUITS 5 Figure 5.2 Passive antenna - HW Activated Standby Mode Available Following is a description of the schematic: • Passive Antenna is used. The Copernicus GPS Receiver has an on-board LNA and an Automatic Gain Control circuit. • The Pin LNA_XEN is not necessary and not connected. • There is no HW reset ability through the pin XRESET, since XRESET pin is tied High to VCC.
5 APPLICATION CIRCUITS Active Antenna—Full Connection Figure 5.3 Active antenna - Full connection Following is a description of the schematic with antenna detection, when using a second source to power the unit when in Standby Mode. 64 • An active antenna is used. • The Pin LNA_XEN is connected. • HW reset ability through the pin XRESET is possible, since XRESET pin is not tied High to VCC.
APPLICATION CIRCUITS • 5 Antenna open and short detection and protection is provided. The combination of the two pins Open (Pin 7) and Short (Pin 8) report the antenna status (see Table 3.2). Note – When using two power sources, main and standby, an external diode pair must be used to OR the Vcc and Vbackup power to ensure that the voltage at the module VCC pin is always 2.7-3.3 VDC. Table 5.
5 APPLICATION CIRCUITS Active Antenna—No Antenna Status Figure 5.
APPLICATION CIRCUITS 5 Following is a description of this schematic without antenna detection or a separate power source for Standby Mode: • An active Antenna is used. • The Pin LNA_XEN is not connected. • There is no HW reset ability through the pin XRESET, since XRESET pin is tied High to VCC. • HW initiated Standby Mode through the Pin XSTANDBY is possible, since XSTANDBY pin is not tied High to VCC.
5 68 APPLICATION CIRCUITS Copernicus GPS Receiver
CHAPTER 6 RF LAYOUT CONSIDERATIONS In this chapter: General Recommendations Design considerations for RF Track Topologies PCB Considerations 6 This chapter outlines RF design considerations for the Copernicus GPS Receiver.
6 RF LAYOUT CONSIDERATIONS General Recommendations The design of the RF transmission line that connects the GPS antenna to the Copernicus GPS Receiver is critical to system performance. If the overall RF system is not implemented correctly, the Copernicus GPS Receiver performance may be degraded. The radio frequency (RF) input on the Copernicus GPS module is a 50 ohm, unbalanced input. There are ground castellations, pins 2 and 4, on both sides of the RF input castellation, on pin 3.
RF LAYOUT CONSIDERATIONS 6 In the printed circuit board (PCB) layout, it is recommended to keep the copper layer on which the Copernicus GPS Receiver is mounted clear of solder mask and copper (vias or traces) under the module. This is to insure mating of the castellations between the Copernicus GPS module and the board to which it is mounted, and that there is no interference with features beneath the Copernicus GPS Receiver causing it to lift during the re-flow solder process.
6 RF LAYOUT CONSIDERATIONS Design considerations for RF Track Topologies The following items need to be considered for the Copernicus GPS Receiver RF layout: • PCB track connection to the RF antenna input must have impedance of 50 ohms. • PCB track connection to the RF antenna input must be as short as possible. • If an external antenna is used, PCB track connection to the RF antenna input must transition from the circuit board to the external antenna cable, which is typically a RF connector.
RF LAYOUT CONSIDERATIONS 6 PCB Considerations The minimum implementation is a two-layer PCB substrate with all the RF signals on one side and a solid ground plane on the other. Multilayer boards can also be used. Two possible RF transmission line topologies include microstrip and stripline. Microstrip Transmission Lines Figure 6.1 Microstrip Transmission Lines Ground Plane Design Recommendation Use a complete ground plane immediately under the PCB layer on which the Copernicus module is mounted.
6 RF LAYOUT CONSIDERATIONS • To a lesser extent, PCB copper thickness (T) and proximity of same layer ground plane. Figure 6.2 PCB Microstrip Topology Table 6.1 shows typical track widths for an FR4 material PCB substrate (permittivity εr of 4.6 at 1.5 GHz) and different PCB thickness. One ounce copper is assumed for the thickness of the top layer. If a Multi layer PCB is used, the thickness is the distance from signal track to nearest ground plane. Table 6.
RF LAYOUT CONSIDERATIONS 6 Stripline Transmission Lines . Figure 6.3 Stripline Transmission Lines Ground plane design in stripline topology • The stripline topology requires three PCB layers: two for ground planes and one for signal. One of the ground plane layers may be the layer to which the Copernicus GPS module is mounted. If this is the case, • The top layer must be flooded with ground plane and connected to all ground castellations on the Copernicus GPS module.
6 76 RF LAYOUT CONSIDERATIONS Copernicus GPS Receiver
CHAPTER 7 MECHANICAL SPECIFICATIONS In this chapter: Mechanical Outline Drawing Soldering the Copernicus GPS Receiver to a PCB 7 This chapter provides product drawings and instructions for soldering the Copernicus GPS Receiver to a PCB.
7 MECHANICAL SPECIFICATIONS Mechanical Outline Drawing Top View IMAGE TO COME Bottom View Figure 7.1 Figure 7.
MECHANICAL SPECIFICATIONS 7 Soldering the Copernicus GPS Receiver to a PCB Solder mask When soldering the Copernicus GPS Receiver to a PCB, keep an open cavity underneath the Copernicus module (i.e., do not place copper traces or solder mask underneath the module). The diagram below illustrates the required user solder mask. The units in brackets, [ ], are in millimeters. No solder mask or copper traces under the unit. Figure 7.
7 MECHANICAL SPECIFICATIONS Pad Pattern Below is the required user pad pattern. The units in brackets, [ ], are in millimeters. No solder mask or copper traces under the unit. Figure 7.
MECHANICAL SPECIFICATIONS 7 Paste Mask To ensure good mechanical bonding with sufficient solder to form a castellation solder joint, use a solder mask ratio of 1:1 with the solder pad. When using a 5 ±1 Mil stencil to deposit the solder paste, we recommend a 4 Mil toe extension on the stencil. The units in brackets, [ ], are in millimeters. Figure 7.
7 82 MECHANICAL SPECIFICATIONS Copernicus GPS Receiver
CHAPTER 8 PACKAGING In this chapter: Introduction Reel Tapes 8 Follow the instructions in this chapter to ensure the integrity of the packaged and shipped Copernicus GPS Receiver modules.
8 PACKAGING Introduction The Copernicus GPS modules is packaged in tape and reel for mass production. The reel is sealed in a moisture proof Dry Pack bag. Please follow all the directions printed on the package for handling and baking. The Copernicus GPS modules are packaged in two quantities: reel with 100 pieces and reel with 500 pieces. Figure 8.
PACKAGING 8 Reel The 13-inch reel that can be mounted in a standard feeder for the surface mount pick and place machine. The reel dimensions are the same regardless of the quantity on the reel. Figure 8.2 Reel Diagram Weight 100 pcs with reel packaging + desiccant + humidity indicator = approximately 0.79Kg (1.74 lbs.) 500 pcs with reel packaging + desiccant + humidity indicator = approximately 1.47Kg (3.24 lbs.
8 PACKAGING Tapes The tape dimensions illustrated in the diagram below are in inches. The metric units appear in brackets [ ]. Figure 8.3 Tape Diagram Made in China ROUND HOLE S/N 05011234 52979-00-D Made in China S/N 05011234 52979-00-D 52979-00-D Made in China S/N 05011234 52979-00-D Made in China Made in China S/N 05011234 S/N 05011234 52979-00-D 52979-00-D Figure 8.
CHAPTER 9 SHIPPING and HANDLING In this chapter: Shipping and Handling Guidelines Moisture Precondition Baking Procedure Soldering Paste Solder Reflow Recommended Soldering Profile Optical Inspection Cleaning Soldering Guidelines Rework Conformal Coating Grounding the Metal Shield 9 This chapter provides detailed guidelines for shipping and handling the Copernicus GPS Receiver to ensure compliance with the product warranty.
9 SHIPPING and HANDLING Shipping and Handling Guidelines Handling The Copernicus GPS module is shipped in tape and reel for use with an automated surface mount machine. This is a lead-free module with silver plating. Do not allow bodily fluids or lotions to come in contact with the bottom of the module. C WARNING – The Copernicus GPS module is packed according to ANSI/EIA-481-B and JSTD-033A. All of the handling and precaution procedures must be followed.
SHIPPING and HANDLING 9 Moisture Precondition Precautions must be taken to minimize the effects of the reflow thermal stress on the module. Plastic molding materials for integrated circuit encapsulation are hygroscopic and absorb moisture dependent on the time and the environment. Absorbed moisture will vaporize during the rapid heating of the solder reflow process, generating pressure to all the interface areas in the package, followed by swelling, delamination, and even cracking of the plastic.
9 SHIPPING and HANDLING Baking Procedure If baking is necessary, Trimble recommends baking in a nitrogen purge oven. C Temperature: 125 °C Duration: 24 Hours. After Baking: Store in a nitrogen-purged cabinet or dry box to prevent absorption of moisture. WARNING – Do not bake the units within the tape and reel packaging.Repeated baking processes will reduce the solderablity.
SHIPPING and HANDLING 9 Recommended Soldering Profile Figure 9.2 Recommended Soldering Profile Select the final soldering thermal profile very carefully. The thermal profile depends on the choice of the solder paste, thickness and color of the carrier board, heat transfer, and size of the penalization. C WARNING – For a double-sided surface-mount carrier board, the unit must be placed on the secondary side to prevent falling off during reflow.
9 SHIPPING and HANDLING Cleaning When the Copernicus GPS module is attached to the user board, a cleaning process voids the warranty. Please use a “no-clean” process to eliminate the cleaning process. The silver plated Copernicus GPS module may discolor with cleaning agent or chlorinated faucet water. Any other form of cleaning solder residual may cause permanent damage and will void the warranty.
SHIPPING and HANDLING 9 Grounding the Metal Shield The Copernicus GPS Receiver is designed with numerous ground pins that, along with the metal shield, provide the best immunity to EMI and noise. Any alteration by adding ground wires to the metal shield is done at the customer's own risk and may void the warranty.
9 94 SHIPPING and HANDLING Copernicus GPS Receiver
CHAPTER 10 COPERNICUS REFERENCE BOARD In this chapter: Reference Board Block Diagram Reference Board Schematic (page 1 of 3) Reference Board Schematic (page 2 of 3) Reference Board Schematic (page 3 of 3) Reference Board I/O and Power Connector Reference Board Power Requirement Reference Board Jumper Table Reference Board Component Locations Drawing 10 This chapter provides schematics for the Copernicus GPS Receiver board.
10 COPERNICUS REFERENCE BOARD Introduction The Copernicus surface-mount GPS receiver is installed on a carrier board defined as the Copernicus Reference Board. This board can also be used as a design reference, providing a visual layout of the Copernicus module on a PCB including the RF signal trace, RF connector, and the I/O connections of the 28 signal pins.
COPERNICUS REFERENCE BOARD 10 IMAGE TO COME Figure 10.2 Copernicus GPS Reference Board, Backside The Copernicus GPS reference board is installed on the starter kit motherboard to facilitate testing and evaluation of the Copernicus GPS Receiver. It provides everything the user needs to get started integrating state-of-the-art GPS capability into an application.
10 COPERNICUS REFERENCE BOARD Reference Board Block Diagram 98 Copernicus GPS Receiver
MTG1 MTG2 5 2 J1 RF MCX 1 3 4 MTG3 MTG4 BOOT MONITOR XRESET Minimum length 50 ohm trace C3* 1pF 1 2 XRESET J4 L1 100nH C4* 18pF C1 18pF U1 Copernicus GND1 GND3 RF_IN GND5 PPS LNA_XEN GPIO_A10 GPIO_A11 OPEN MONITOR SHORT BOOT XRESET GND25 GND26 GND27 GPIO_B5 GPIO_A6 GPIO_A4 XSTANDBY RXD_B VCC TXD_B GPIO_A5 TXD_A RXD_A GND24 GND28 15 27 6 26 25 16 20 12 24 22 23 21 13 28 GPIO_A5 XSTANDBY GPIO_B5 GPIO_A6 GPIO_A4 NOTE: 24 jumpers are required to be included on the BOM and in the Assembly
VLED J15 1 LED Power 2 J9 GPIO_A10 1 D1 GPIO_A10 LED LEDPWR 3 R7 2 R1 Q1 MGSF1N02LT1 1 R13 J10 GPIO_A11 D2 GPIO_A11 LED R19 J16 GPIO_A10 GPIO_A10 1 3 R8 2 R2 R20 J17 GPIO_A11 Q2 MGSF1N02LT1 1 R14 J11 GPIO_A4 D3 GPIO_A4 LED GPIO_A11 1 3 Vmain 1 2 3 2 2 1 1 2 3 2 2 1 1 2 3 2 J12 GPIO_A5 Vmain D4 GPIO_A5 LED R21 J18 GPIO_A4 GPIO_A4 Q3 MGSF1N02LT1 1 R15 R9 2 R3 2 1 1 3 1 2 3 2 J13 GPIO_A6 D5 GPIO_A6 LED R22 J19 GPIO_A5 GPIO_A5 Q4 MGSF1N02LT1 1 R16 R10 2
Vmain J27 2 BOOT 2 J28 3-pin header MONITOR 1 1 J25 RESET_SW 2 1 3 2 Low to start in MONITOR High for NORMAL start OPEN = NORMAL start High to RUN Low to force to STANDBY OPEN = RUN MONITOR XSTANDBY Vmain BOOT Low to FLASH High to RUN Must be pulled high to run (R25) OPEN = FLASH R25 Low to reset XRESET Vant OPN R30 Q10 MMBT3906 2 3 R31 1 2 1 MMBD914 D7 R33 3 R26 1 2 3 J22 1 R32 Q11 MMBT3906 R29 3 R34 R28 Q8 MMBT404A 2 MMBTA70LT1 transistor may be used for Q8 i
10 COPERNICUS REFERENCE BOARD Reference Board I/O and Power Connector The Copernicus GPS reference board power and data I/O functions are integrated into a single 8-pin header connector designated J7. The J7 connector uses 0.15 inch (3.8 mm) high pins on 0.0787 inch (2 mm) spacing. See the Copernicus GPS reference board schematics, earlier in this chapter. Table 10.1 Copernicus Reference Board Pin Description. Pin # Function Description 1 TXD-B Port B transmit, CMOS/TTL 2 VCC 3.0 VDC to 3.
COPERNICUS REFERENCE BOARD 10 Reference Board Jumper Table Table 10.2 Copernicus Reference Board Jumper Table Reference Designator Name Description J1 RF Input MCX Jack (Female Connector)50 Ohms unbalanced J4 XRESET Normal Operation: Jumper in place (connects XRESET to VCC) Reset Operation: Removing the Jumper and asserting pin 2 of J4 low for greater than 100 usec resets the unit. *Switch SW1 can also reset the unit. Please see below. SW1 Reset Switch Press the button resets the unit.
10 COPERNICUS REFERENCE BOARD Reference Board Component Locations Drawing Figure 10.4 Copernicus Reference Board, Top Side Figure 10.
CHAPTER 11 FIRMWARE UPGRADE In this chapter: This chapter describes an interface for programming (loading) firmware into the Copernicus GPS receiver. The interface can be used to develop a tool to upgrade firmware in the field. Sample source code of a tool for Microsoft® Windows is available to demonstrate implementation of the interface described in this document.
11 FIRMWARE UPGRADE Software Architecture The Flash memory chip of the GPS receiver is divided into several functional sections. The Boot ROM section is loaded during production and cannot be changed or erased without special packets with password protection. The User Data section is maintained by the application. The Copernicus GPS Receiver Firmware section holds the main software application, and can be erased and loaded with a newer version through the GPS receiver’s serial port. Table 11.
FIRMWARE UPGRADE 11 Firmware Binary File Format The firmware is distributed as a 16 Mbit binary file that includes the whole Flash image, i.e. the Copernicus GPS Firmware, Boot ROM, and all the other Flash sections. The Monitor protocol requires that the actual loadable raw data bytes be sent to the target to program into Flash. The loadable data is expected to be sent in a sequential manner, in the order from the lowest to the highest loading address.
11 FIRMWARE UPGRADE Send “force-to-monitor” command (TSIP or NMEA depending on the port used); Wait 0.
FIRMWARE UPGRADE 11 Pseudo-Code Explanation The following provides details about the steps shown in the above pseudo-code for the firmware loading procedure. 1. Read firmware BIN file and load into a memory buffer. (See Appendix A for an example function that shows how this is achieved.) 2. Establish a serial port connection to the target in the TSIP or NMEA mode. Communication with the target over its serial port must be established first.
11 FIRMWARE UPGRADE 4. Establish a serial port connection to the target in the Monitor mode. Once the target enters the monitor mode, it changes the GPS receiver’s serial port settings to 38400 baud (port A) or 4800 baud (port B), 8 data bits, 1 stop bit, and no parity. To establish communication to the target in the monitor mode, the local host’s settings must be changed to the same value, and the ENQ packet sent to the target.
FIRMWARE UPGRADE 11 Error Recovery The GPS receiver is designed in such way that the system will not be damaged during a firmware update. When there is an unexpected error while loading firmware, the target can always be restarted by cycling the main power. At power-up, the target will automatically enter the monitor mode if the firmware loading process has not completed successfully. In such a case, the host will able to repeat the firmware loading procedure as described above.
11 FIRMWARE UPGRADE Monitor Mode Packet Descriptions ENQ, ACK, NAK ENQ, ACK, and NAK are special bytes that are sent out without being formatted as described in Protocol Format, page 111. The target responds to a formatted packet with either ACK (hex byte: 0x06) or NAK (hex byte: 0x15) unless specified otherwise. ACK indicates a successful operation. NAK indicates a failure in executing the command.
FIRMWARE UPGRADE 11 Packet ID – 0x86 (Change Baud Rate) This packet forces the target system to change the serial baud rate to the specified rate. The valid baud rate values are listed in the table below. The target system returns ACK in the old baud rate before the change and another ACK in the new baud rate if the change succeeds. If the baud rate change fails, the unit returns NAK in the old baud rate. Table 11.
11 FIRMWARE UPGRADE Packet ID – 0x8B (Start Firmware Programming) This packet initiates firmware loading. It has two parameters. The first parameter (4byte value) contains the size of the firmware in bytes. This is the actual number of bytes that will be written to Flash. The second parameter contains the starting address in Flash where the data will be written. Once the target receives this packet, it will respond with ACK and wait for the actual data, one word at a time.
FIRMWARE UPGRADE 11 Packet ID – 0x8C (Restart Target) This packet returns the target from the monitor to the normal operating mode. As at startup, the target will initialize all system resources and perform all system tests. The target returns ACK to acknowledge the received packet before the execution. This packet is designed to bring the receiver from the monitor mode to the normal mode after a firmware update.
11 FIRMWARE UPGRADE FlashLoader Tool Reference Guide Introduction Flash Loader is a tool for Microsoft Windows that loads firmware into the Flash chip of the GPS receiver. This tool is used to upload new firmware into the Copernicus GPS Receiver mounted on the Reference Board installed in the Copernicus Starter Kit. The source code of the tool is documented to provide an example of how to develop a custom application to perform firmware updates.
FIRMWARE UPGRADE 11 Loading Firmware to the Target The function FlashProgrammingThread() defined in FlashLoaderDlg.cpp shows how to implement the firmware loading procedure described above. Compiling and Generating the Executable The FlashLoader tool can be re-compiled using the provided project make files. If using Microsoft Visual C++ v6.0, open the workspace file FlashLoader.dsw located in the mak directory of the tool distribution. From the main menu, select Build Æ Rebuild All.
11 1 18 FIRMWARE UPGRADE Copernicus GPS Receiver
APPENDIX A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) In this appendix: Interface Scope Run Mode Packet Structure Appendix , Automatic Output Packets Automatic Position and Velocity Reports Initialization Packets to Speed Start-up Packets Output at Power-Up Timing Packets Satellite Data Packets Backwards Compatibility to Lassen iQ Recommended TSIP Packets Command Packets Sent to the Receiver Report Packets Sent by the Receiver to the User Key Setup Paramet
A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Interface Scope The Trimble Standard Interface Protocol is used extensively in Trimble receiver designs. The protocol was originally created for the Trimble Advanced Navigation Sensor (TANS) and is colloquially known as the TANS protocol even though the protocol applies to many other devices. The Lassen IQ GPS Receiver has two serial I/O communications ports. These are bidirectional control and data ports.
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) A Multiple-byte numbers (integer, float, and double) follow the ANSI/IEEE Std. 754 IEEE Standard for binary Floating-Point Arithmetic. They are sent most-significant byte first. This may involve switching the order of the bytes as they are normally stored in Intel based machines. Specifically: • UINT8 = Byte: An 8 bit unsigned integer. • UINT16 = Word: A 16 bit unsigned integer. • INT16 = Integer: A 16 bit integer. • INT32 = Long: A 32 bit integer.
A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Automatic Position and Velocity Reports The receiver automatically outputs position and velocity reports at set intervals. Automatic report packets are controlled by Packet 35. Setting the control bits as indicated in the table below allows you to control which position and velocity packets are output. Table A.
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) A Initialization Packets to Speed Start-up If you are not supplying the receiver with battery power when main power is off, you can still “warm-start” the receiver by sending the following sequence of commands after the receiver has completed its internal initialization and has sent Packet 82. Hot start times can be achieved using packet 0x38-06 to upload the ephemeris.
A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Timing Packets If you are using the Lassen IQ GPS Receiver as a timing reference, you may need to implement the following TSIP control commands. Table A.5 Timing Packets Input ID Description Output ID 0x21 get the current GPS time 0x41 0x38-05 request UTC parameters 0x58-05 Satellite Data Packets The following packets contain a variety of GPS satellite data. Table A.
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) A The dynamic modes are Land, Sea and Air • In packet description of 0xBB, Navigation Configuration: Byte 1, only value 0, automatic is supported Byte 2, is now used for SBAS Byte 3, only values 1, 2, and 3 are supported Bytes 9-12, change AMU mask (not supported) Bytes 13-21 are changed to reserved. • In packet 0x1E: byte 0 - add 0x4D for enter Monitor Mode. The response packet is 0x5F-FF‘*’-‘*’-‘*’-‘ ‘-‘M’-‘O’-‘N’-‘I’-‘T’-‘O’-‘R’-‘ ‘-‘*’-‘*’-‘*’.
A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Recommended TSIP Packets Table A.
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) A Command Packets Sent to the Receiver The table below summarizes the command packets sent to the receiver. The table includes the input Packet ID, a short description of each packet, and the associated response packet. In some cases, the response packets depend on user-selected options. These selections are covered in the packet descriptions beginning on page 131 Table A.
A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Report Packets Sent by the Receiver to the User The table below summarizes the packets output by the receiver. The auto response and power-up packets may depend on user-selected options (see Table A.22). Table A.
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) A Key Setup Parameters or Packet BB Selecting the correct operating parameters has significant impact on receiver performance. Packet 0xBB (set receiver configuration) controls the key setup parameters. The default operating parameters allow the receiver to perform well in almost any environment. The user can optimize the receiver to a particular application if the vehicle dynamics and expected level of obscuration are understood.
A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Elevation Mask This is the minimum elevation angle for satellites to be used in a solution output by the receiver. Satellites which are near the horizon are typically more difficult to track due to signal attenuation, and are also generally less accurate due to higher variability in the ionospheric and tropospheric corruption of the signal. When there are no obstructions, the receiver can generally track a satellite down to near the horizon.
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) A Packet Descriptions Packet Descriptions Used in Run Mode Command Packet 0x1C - Firmware Version 01 The command packet 0x1C: 01 may be issued to obtain the firmware version. The product name is “Copernicus GPS Receiver”. The packet format is defined in the following table. Table A.
A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Command Packet 0x1C: 03 - Hardware Component Version Information • The command packet 0x1C: 03 may be issued to obtain the hardware component version information. • The report packet is of variable length, depending on the length of the hardware ID. • The serial number, build date fields, and the hardware ID are programmed into the Copernicus GPS at production. • The hardware code for Copernicus GPS Receiver is 1002.
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) A Command Packet 0x1E - Clear Battery Backup, then Reset This packet commands the GPS receiver to clear all battery back-up data and to perform a software reset. This packet contains one data byte. Table A.
A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Command Packet 0x24 - Request GPS Receiver Position Fix Mode This packet requests current position fix mode of the GPS receiver. This packet contains no data. The GPS receiver returns Packet 0x6D. Command Packet 0x25 - Initiate Soft Reset & Self Test This packet commands the GPS receiver to perform a software reset. The GPS receiver performs a self-test as part of the reset operation. This packet contains no data.
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) A Command Packet 0x2D - Request Oscillator Offset This packet requests the calculated offset of the GPS receiver master oscillator. This packet contains no data. The GPS receiver returns Packet 0x4D. This packet is used mainly for service. The permissible oscillator offset varies with the particular GPS receiver unit. Command Packet 0x2E - Set GPS Time This packet provides the approximate GPS time of week and the week number to the GPS receiver.
A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Command Packet 0x32 - Accurate Initial Position, (Latitude, Longitude, Altitude) This packet is identical in content to Packet 0x2B. This packet provides the GPS receiver with an accurate initial position in latitude, longitude, and altitude coordinates. However, the GPS receiver assumes the position provided in this packet to be accurate. This packet is used for satellite acquisition aiding in systems where another source of position is available.
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) A This packet can also be used to set the Automatic output to 1/second for packets 0x47 and 0x5A. Table A.
A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Byte Bit Item Type Value Definition 0 XYZ ECEF Bit 0 1 XYZ ECEF output off XYZ ECEF output on 1 ENU Output Bit 0 1 ENU output off ENU output on 2-7 Reserved 0 Time Type Bit 0 1 GPS Time UTC 1-4 Reserved 5-6 PPS Mode Bits 00 01 10 11 Always On Fix Based Always Off Reserved 7 Reserved 0 1 Raw measurements off Raw measurements on Bit 0 1 Output AMUs Output dB Hz Bit 0 1 Signal levels Off Signal levels On Velocity 1 Timing 2
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) A Command Packet 0x37 - Request Status and Values of Last Position and Velocity This packet requests information regarding the last position fix and should only be used when the receiver is not automatically outputting positions. The GPS receiver returns Report Packet 0x57 followed by the position/velocity packets specified in Command Packet 0x35.
A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Command Packet 0x3A - Request Last Raw Measurement This packet requests the most recent raw measurement data for one specified satellite. The GPS receiver returns packet 0x5A if data is available. . Table A.23 Command Packet 0x3C Data Format Byte Item Type Value Definition 0 Satellite # UINT8 0 All satellites in the current track set. Desired satellite.
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) A The seconds count begins with “0” each Sunday morning at midnight GPS time. A negative indicated time-of-week indicates that time is not yet known; in that case, the packet is sent only on request. The following table shows the relationship between the information in Packet 0x41, and the Packet 0x46 status code. Table A.
A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Report Packet 0x43 - Velocity Fix, XYZ ECEF This packet provides current GPS velocity fix in XYZ ECEF coordinates. If the I/O velocity option is set to XYZ ECEF (byte 1, bit 0, Packet 0x35), then the GPS receiver sends this packet each time a fix is computed. The data format is shown below. Table A.
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) A Report Packet 0x46 - Health of Receiver This packet provides information about the satellite tracking status and the operational health of the receiver. The receiver sends this packet after power-on or software-initiated resets, in response to Packet 0x26 and, every second. Packet 0x4B is always sent along with this packet. Table A.
A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Report Packet 0x47 - Signal Levels for all Satellites This packet provides received signal levels for all satellites currently being tracked or on which tracking is being attempted (i.e., above the elevation mask and healthy according to the almanac). The receiver sends this packet only in response to Packet 0x27. The data format is shown below. Table A.
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) A Report Packet 0x4A - Single Precision LLA Position Fix This packet provides current GPS position fix in LLA (latitude, longitude, and altitude) coordinates. If the I/O Position option is set to LLA and the I/O Precision-ofPosition Output is set to single-precision (all controlled by Packet 35), then the receiver sends this packet each time a fix is computed. Command Packet 35 controls position output (XYZ or LLA) and (single or double) output precision.
A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Report Packet 0x4B - Machine/Code ID and Additional Status The receiver transmits this packet in response to packets 0x25 and 0x26 and following a change in state. In conjunction with Packet 0x46, “health of receiver,” this packet identifies the receiver and may present status messages. The machine ID can be used by equipment communicating with the receiver to determine the type of receiver to which the equipment is connected.
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) A Report Packet 0x4E - Response to Set GPS Time Indicates whether the receiver accepted the time given in a Set GPS time packet. the receiver sends this packet in response to Packet 0x2E. This packet contains one byte. Table A.35 Report Packet 0x4E Data Formats Value Meaning ASCII “Y” The receiver accepts the time entered via Packet 2E. The receiver has not yet received the time from a satellite.
A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Table A.
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) A Report Packet 0x57 - Information About Last Computed Fix This packet provides information concerning the time and origin of the previous position fix. The receiver sends this packet, among others, in response to Packet 0x37. The data format is shown below. Table A.38 Report Packet 0x57 Data Formats Byte Item Type Units Byte 0 Value/Velocity 0 Source of information UINT8 -- 00 temporary no fix 01 good current fix 1 Mfg.
A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Table A.40 Report Packet 0x58 Almanac Data 38-41 a_f0 Single Sec 20.3.3.5.1.2 42-45 a_f1 Single Sec 20.3.3.5.1.2 46-49 Axis Single Sec 20.3.3.5.1.2 50-53 n Single Sec 20.3.3.5.1.2 54-57 OMEGA_n Single Sec 20.3.3.5.1.2 58-61 ODOT_n Single Sec 20.3.3.5.1.2 62-65 t_zc Single Sec 20.3.3.5.1.2. see Note 2. 66-67 weeknum INT16 Sec 20.3.3.5.1.2 68-69 wn_oa INT16 Sec 20.3.3.5.1.2 Note – All angles are in radians.
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) A Table A.43 Byte Item Type Definition / IDC-GPS-200 37-38 WN_LSF Integer Sec 20.3.3.5.1.8 39-40 DN Integer Sec 20.3.3.5.1.8 41-42 delta_t_LSF Integer Sec 20.3.3.5.1.8 Table A.44 Byte Item Type Definition / IDC -GPS-200 4 sv_number UINT8 SV PRN number 5-8 t_ephem Single time of collection (note, if data is missing or invalid, t_ephem will be negative) 9-10 weeknum INT16 Sec 20.3.3.3, Table 20-I 11 codeL2 UINT8 Sec 20.3.3.
A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Table A.44 (continued) Byte Item Type Definition / IDC -GPS-200 139-146 n Double 147-154 r1me2 Double derived from delta_n = sqrt(1.0-e2) 155-162 OMEGA_n Double derived from OMEGA_0, OMEGADOT 163-170 ODOT_n Double derived from OMEGADOT Report Packet 0x5A - Raw Measurement Data This packet provides raw GPS measurement data. If the I/O Auxiliary options has been selected, the receive sends this data automatically as measurements are taken.
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) A The receiver codephase is expressed in 1/16th of a C/A code chip. This corresponds to: 1/16 x C/A code chip = 977.517ns/16 = 61.0948 ns = 61.0948 x speed of light, m/s = 18.3158 meter Note – The receiver occasionally adjusts its clock to maintain time accuracy within 1 msec. At this time, all pseudo-range values for all satellites are adjusted upward or downward by one millisecond. Report packet 0x5A checks packet 0x83 or 0x84 for clock bias.
A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Table A.46 Byte Report Packet 0x5C Data Formats (continued) Bit Item Type Value Definition 16-19 Azimuth Single radians Approximate azimuth from true north to this satellite. Updated typically about every 3 to 5 minutes. Used for computing measurement correction factors. 20-23 reserved UINT8 0 Report Packet 0x6D - All-In-View Satellite Selection This packet provides a list of satellites used for position fixes by the GPS receiver.
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Table A.
A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) frequency settings are not only applied when the receiver is not generating a position fix. In practice, this packet provides a comprehensive but straightforward means to set up the TAIP output configuration. It can also be used to reset the output configuration.
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) A Command Packet 0x82 - SBAS Correction Status This packet provides the SBAS position fix mode of the receiver. This packet contains only one data byte to specify the mode. If SBAS is enabled in packet 0xBB, Copernicus will acquire a SBAS satellite after it has a GPS-based position fix. The packet is sent in response to Packet 0x62. Table A.
A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Report Packet 0x83 - Double-Precision XYZ Position Fix and Bias Information This packet provides current GPS position fix in XYZ ECEF coordinates. If the I/O Position option is set to XYZ ECEF and the I/O Precision of Position option is set to Double (see Packet 0x35), the receiver sends this packet each time a fix is computed. The data format is shown below. Table A.
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) A Packets 0x8E and 0x8F - Superpacket See page 159 for information on Packets 0x8E and 0x8F. Command Packet 0xBB - Navigation Configuration In query mode, Packet 0xBB is sent with a single data byte and returns Report Packet 0xBB. Note – This Command Packet replaces Packets 0x2C, 0x62, 0x75, and 0x77. Table A.
A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) TSIP Packet 0xBC is used to set the communication parameters on port A. The table below lists the individual fields within the Packet 0xBC and provides query field descriptions. The BC command settings are retained in battery-backed RAM. Table A.
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) A The table below lists the individual fields within the Packet 0xC0 and provides query field descriptions. Any combination of conditions in byte 2 can be specified for starting up the unit from standby mode. The condition that happens first will trigger the unit to start up. If byte 2, bit 2 is set to 1, then byte 3 must be greater than 0.
A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Command Packet 0xC1 - Set Bit Mask for GPIOs in Standby Mode Users may designate individual pins for pull-down and pull-up while the unit is in Standby Mode. This allows the user to select external pull-down or pull-up resistors to suit their application. Examples: • In serial port configuration, one option would be to power down the serial port during standby in which case the corresponding GPIOs would be pull-downs.
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Table A.
A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Command Packet 0xC2 - SBAS SV Mask. This packet provides the SBAS SV bit mask in four bytes. The user data packet contains four bytes to specify 19 possible SBAS prn numbers. Bit 0 represents PRN 120. Available WAAS PRN numbers are 135 and 138.
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) A TSIP Superpackets Several packets have been added to the core TSIP protocol to provide additional capability for OEM receivers. In OEM Packets 0x8E and their 0x8F responses, the first data byte is a sub-code which indicates the superpacket type. For example, in Packet 0x8E-15, 15 is the sub-code that indicates the superpacket type. Therefore the ID code for OEM packets is 2 bytes long followed by the data. Command packet 0x35 is used to enable superpackets.
A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Command Packet 0x8E-17 - Request Last Position or Auto-Report Position in UTM Single Precision Format This packet requests Packet 0x8F-17 or marks it for automatic output. If only the first byte (packet sub-code 0x17) is sent, an 0x8F-17 report containing the last available data will be sent immediately. If two bytes are sent, the packet is marked/unmarked for auto report according to the value of the second byte as shown in the table below.
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) A Command Packet 0x8E-20 - Request Last Fix with Extra Information This packet requests Packet 0x8F-20 or marks it for automatic output. If only the first byte (20) is sent, an 0x8F-20 report containing the last available fix will be sent immediately. If two bytes are sent, the packet is marked/unmarked for auto report according to the value of the second byte as shown in below.
A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Command Packet 0x8E-2B - Request Fix and Channel Tracking Info, Type 2 This packet requests Packet 0x8F-2B or marks it for automatic output. If only the first byte (packet sub-code 0x2B) is sent, an 0x8F-2B report containing the last available data will be sent immediately. If two bytes are sent, the packet is marked/unmarked for auto report according to the value of the second byte as shown in below.
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) A Report Packet 0x8F-15 - Current Datum Values This packet contains 43 data bytes with the values for the datum currently in use, and is sent in response to Packet 0x8E-15. Both the datum index and the 5 double precision values for that index will be returned. Table A.
A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Report Packet 8F-17 - UTM Single Precision Output This packet reports position in UTM (Universal Transverse Mercator) format. The UTM coordinate system is typically used for U.S. and international topographical maps. The UTM coordinate system lays out a world-wide grid consisting of the following: • 60 North/South zones in 6° increments, extending eastward from the International Data Line.
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) A Report Packet 8F-18 - UTM Double Precision Output This packet reports position in UTM (Universal Transverse Mercator) format. The UTM coordinate system is typically used for U.S. and international topographical maps. The UTM coordinate system lays out a world-wide grid consisting of the following: • 60 North/South zones in 6° increments, extending eastward from the International Data Line.
A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Report Packet 0x8F-20 - Last Fix with Extra Information (binary fixed point) This packet provides complete information about the current position velocity fix in a compact, fixed-length 56-byte packet. The fields are fixed-point with precision matched to the receiver accuracy. It can be used for automatic position/velocity reports. The latest fix can also be requested by 0x8E-20 or 0x37 commands.The data format is shown below. Table A.
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Table A.
A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Report Packet 0x8F-26 - Non-Volatile Memory Status This report will be issued after an 0x8E-26 command. Table A.70 Report Packet 0x8F-26 Byte Item Type Value Definition 0 Subcode UINT8 0x26 Save settings 1-4 Reserved Report Packet 0x8F-2A - Fix and Channel Tracking Info, Type 1 This packet provides compact fix and channel tracking information. This packet can be requested or set up for automatic output by 0x8E-2A.
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) A Byte Offset Item Type Value Definition 18 Receiver Health UINT8 Bit-masks Bit 0 - if set, antenna line fault is detected. Bit 1 - if set, antenna line is shorted; if not set, antenna line is open. This bit is valid only if Bit 0 is set. Bit 2 - if set, the current fix is 2D; if not set, the fix is 3-D. This bit is valid only if Receiver Status Code byte is 0x00. Bit 3 - if set, the current fix is SBAS-corrected.
A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Report Packet 0x8F-2B - Fix and Channel Tracking Info, Type 2 This packet provides compact fix and channel tracking information. This packet can be requested or set up for automatic output by 0x8E-2B. Total packet length (including header DLE, packet ID 0x8F, packet data as described below and trailing DLE/ETX bytes): 88 bytes. Table A.
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) A Byte Offset Item Type Value Definition 33 Receiver Status Code UINT8 Any 0x00 - Doing position fixes 0x01 - Don't have GPS time yet 0x03 - PDOP is too high 0x08 - No usable satellites 0x09 - Only 1 usable satellite 0x0A - Only 2 usable satellites 0x0B - Only 3 usable satellites Other values indicate internal status codes when the receiver is not generating valid position fixes.
A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Byte Offset Item Type Value Definition 38+N*4 Measurement Status UINT8 Bit-masks Bit 2 - if set, time ambiguity is resolved (channel is acquired). Bit 4 - if set, ephemeris is decoded. Other bits are reserved. 39+N*4 Fix Mode / Rejection UINT8 Code Any 0x00 - SV is used in computing the current position fix. 0x01…0xFF - SV is not used in fix. The value indicates the internal “rejection” code.
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) A Datums Reference: DMA TR 8350.2 Second Edition, 1 Sept. 1991. DMA Technical Report, Department of Defense World GEodetic System 1984, Definition and Relationships with Local Geodetic Systems. Trimble Datum Local Geodetic Datum Index Name 0 WGS-84 6 WGS-72 7 NAD-83 8 NAD-02 9 Mexican 10 Hawaii 11 Astronomic 12 U.S.
A 1 80 TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Trimble Datum Local Geodetic Datum Index Name 1 Tokyo Code 21 Ain El Abd 1970 Bahrain Island AIN-A 51 Djakarta (Batavia) Sumatra (Indonesia) BAT 71 Hong Kong 1963 Hong Kong HKD 72 Indian 1975 Thailand INH -A 73 Indian India and Nepal IND-I 77 Kandawala Sri Lanka KAN 79 Kertau 1948 West Malaysia and Singapore KEA 91 Nahrwan Masirah Island (Oman) NAH-A 92 Nahrwan United Arab Emirates NAH-B 93 Nahrwan Saudi Arabia NAH-C 1
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Trimble Datum Local Geodetic Datum Index Name Code 64 European 1950 Portugal and Spain EUR-D 65 European 1979 Mean Solution EUS 74 Ireland 1965 Ireland IRL 125 Ordnance Survey of Great Britain Mean Solution OGB-M 126 Ordnance Survey of Great Britain England OGB-M 127 Ordnance Survey of Great Britain Isle of Man OGB-M 128 Ordnance Survey of Great Britain Scotland and Shetland Islands OGB-M 129 Ordnance Survey of Great Britain Wales OGB-M
A 1 82 TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Trimble Datum Local Geodetic Datum Index Name Code 42 Bogota Observatory Columbia BOO 43 Compo Inchauspe 1969 Argentina CAI 49 Chua Astro Paraguay CHU 50 Corrego Alegre Brazil COA 132 Provisional South Chilean 1963 Southern Chile (near 53ºS) HIT 133 Provisional South American 1956 Mean Solution (Bolivia, Chile, Columbia, Ecuador, Guyana, Peru, Venezuela) PRP-M 134 Provisional South American 1956 Bolivia, Chile PRP-A 135 Provisio
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Trimble Datum Local Geodetic Datum Index Name Code 95 Naparima, BWI Trinidad and Tobago NAP 117 Observatorio Meteorologico 1939 Corvo and Flores Islands FLO (Azores) 130 Pico De Las Nieves Canary Islands PLN 142 Puerto Rico Puerto Rico and Virgin Islands PUR 144 Qornoq South Greenland QUO 146 Santa Braz Sao Miguel, Santa Maria Islands (Azores) SAO 148 Sapper Hill 1943 East Falkland Islands SAP 162 Porto Santo 1936 Porto Santo and Madera I
A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Trimble Datum Local Geodetic Datum Index Name Code 121 Old Hawaiian Kauai OHA-B 122 Old Hawaiian Maui OHA-C 123 Old Hawaiian Oahu OHA-D 131 Pitcairn Astro 1967Pitcairn Island PIT 147 Santo (DOS) 1952 Espirito Santo Island SAE 169 Viti Levu 1916 Viti Levu Island (Fiji Islands) MVS 170 Wake Eniwetok 1960 Marshall Islands ENW Trimble Datum Local Geodetic Datum Index Name Code 172 Bukit Rimpah Bangka and Belitung Islands (Indonesia)
APPENDIX B TRIMBLE ASCII INTERFACE PROTOCOL (TAIP) In this appendix: Protocol Overview Message Format Sample PV Message Time and Distance Reporting Latitude and Longitude Conversion Message Data Strings Communication Scheme for TAIP B This appendix describes the Trimble ASCII Interface Protocol (TAIP), Trimble’s digital communication interface.
B TRIMBLE ASCII INTERFACE PROTOCOL (TAIP) Protocol Overview Trimble ASCII Interface Protocol (TAIP) is a Trimble-specified digital communication interface based on printable ASCII characters over a serial data link. TAIP was designed specifically for vehicle tracking applications but has become common in a number of other applications because of its ease of use. TAIP supports both scheduled and polled responses.
TRIMBLE ASCII INTERFACE PROTOCOL (TAIP) B Message Format All TAIP communication uses printable, uppercase ASCII characters. The interface provides the means to configure the output of various sentences in response to queries or on a scheduled basis. Each sentence has the following general format: >ABB{C}[;ID=DDDD][;*FF]< where:.
B TRIMBLE ASCII INTERFACE PROTOCOL (TAIP) Message Identifier A unique two character message identifier consisting of alphabetical characters is used to identify type messages. For example: PR for Protocol or VR for Version Number. Data String The format and length of a data string is dictated by the message qualifier and the message identifier. The data string may contain any printable ASCII character with the exception of the >, <, and ; characters.
TRIMBLE ASCII INTERFACE PROTOCOL (TAIP) B Sample PV Message The Position/Velocity Solution (PV) message is one of the more commonly used TAIP messages and most receivers using TAIP are set by default to output the PV message once every 5 seconds. The following analysis of a typical PV message is provided to further explain the TAIP message protocol. >RPV15714+3739438-1220384601512612;ID=1234;*7F<.
B TRIMBLE ASCII INTERFACE PROTOCOL (TAIP) Time and Distance Reporting The ’D’ message qualifier allows you to specify a minimum distance traveled as well as a minimum and maximum time interval for the next report. Units that are stationed at a fixed location can be programmed to report only when the unit moves “off station” or after a certain elapsed time since last report, but no more often than the specified minimum time interval.
TRIMBLE ASCII INTERFACE PROTOCOL (TAIP) B Latitude and Longitude Conversion The TAIP protocol reports latitude as positive north decimal degrees and longitude as positive east decimal degrees, using the WGS-84 datum. For your application, you may wish to convert to degrees, minutes and seconds. The following example illustrates the conversion of decimal degrees to degrees, minutes and seconds. Example Given latitude and longitude in decimal degrees, Latitude: +37.39438o Longitude: -122.
B TRIMBLE ASCII INTERFACE PROTOCOL (TAIP) Message Data Strings The following table lists all the TAIP messages currently defined and comments regarding their application. The data string format of each message is described in the following pages.
TRIMBLE ASCII INTERFACE PROTOCOL (TAIP) AL B Altitude/Up Velocity Note – The first character of altitude or vertical velocity (S) is “+” or “-”. Data String Format: AAAA(S)BBBBB(S)CCCDE . Item # of Char Units Format GPS Time of Day 5 Sec AAAAA Altitude 6 Meter (S)BBBBB Value Vertical Velocity 4 MPH (S)CCC Fix Mode 1 n/a D 0=2D GPS 1=3D GPS 2-8 reserved 9=no fix avail. Age of Data Indicator 1 n/a E 2=Fresh,<10 sec. 1=Old,>10 sec.
B TRIMBLE ASCII INTERFACE PROTOCOL (TAIP) CP Compact Position Solution Note – The first character of latitude or longitude “(S)” is “+” or “-”. Data String Format: AAAAA(S)BBCCCC(S)DDDEEEEFG Item # of Char Units Format Value GPS Time of Day 5 Sec AAAAA Latitude 7 Deg (S)BBCCCC Longitude 8 Deg (S)DDDEEEE Fix Mode 1 n/a F 0=2D GPS 1=3D GPS 2-8 reserved 9=no fix avail. Age of Data Indicator 1 n/a G 2=Fresh,<10 sec. 1=Old,>10 sec.
TRIMBLE ASCII INTERFACE PROTOCOL (TAIP) ID B Identification Number Data String Format: AAAA Item # of Char Units Format Vehicle ID 4 n/a AAAA Total number of characters is 4 This message is used to report or set the vehicle's (or receiver’s) unique, four character, alpha-numeric, user assigned ID. The default at cold start is 0000. Example The following message will set the vehicle ID to 101. >SID0101< The following is simply a response to a query for vehicle ID.
B TRIMBLE ASCII INTERFACE PROTOCOL (TAIP) IP Initial Position Data String Format: (S)AA(S)BBB(S)CCCC Item # of Char Units Format Initial Latitude 3 Deg (S)AA Initial Longitude 4 Deg (S)BBB Initial Altitude 5 10 meters (S)CCCC Total number of characters is 12 This is a very coarse initial position that can be used to aid the receiver in obtaining its first fix. This is particularly useful with a receiver that does not have battery backup enabled.
TRIMBLE ASCII INTERFACE PROTOCOL (TAIP) LN B Long Navigation Message Note – The first character of latitude, longitude, altitude or vertical speed (S) is“+” or “-”. Data String Format: AAAAA.BBB(S)CCDDDDDDD(S)EEEFFFFFFF(S)GGGGGGHHIIIJ(S)KKKLM MMNOOPPQQPPQQ...PPQQRRRRRRRRRRXT Item # of Char Units Format Value GPS Time of Day 8 Sec AAAAA.BBB Latitude 10 Deg (S)CC.DDDDDDD Longitude 11 Deg (S)EEE.FFFFFFF Altitude above MSL 9 Ft (S)GGGGGG.HH Horizontal speed 4 MPH lll.
B TRIMBLE ASCII INTERFACE PROTOCOL (TAIP) PR Protocol The protocol message (PR) is the method used to control which I/O protocols are active on the serial ports.
TRIMBLE ASCII INTERFACE PROTOCOL (TAIP) PT B Port Characteristic This message defines the characteristics for the TAIP port.
B TRIMBLE ASCII INTERFACE PROTOCOL (TAIP) PV Position/Velocity Solution Note – The first character of latitude or longitude “(S)” is “+” or “-”. Data String Format: AAAAA(S)BBCCCCC(S)DDDEEEEEFFFGGGHI Item # of Char Units Format Value GPS Time of Day 5 Sec AAAAA Latitude 8 Deg (S)BBCCCCC BB=degrees CCCC=decimal degrees Longitude 8 Deg (S)DDDEEEEE DDD=degrees EEEE=decimal degrees Speed 3 MPH FFF Heading 3 Deg. GGG Fix Mode 1 n/a H 0=2D GPS 1=3D GPS 2-8 reserved 9=no fix avail.
TRIMBLE ASCII INTERFACE PROTOCOL (TAIP) RM B Reporting Mode Data String Format: [;ID_FLAG= A][;CS_FLAG= B][;EC_FLAG= C] [;FR_FLAG= D] [;CR_FLAG=E] Item # of Char Units Format Value ID Flag 1 n/a A T = True F = False CS Flag 1 n/a B T = True F = False EC Flag 1 n/a C T = True F = False FR Flag 1 n/a D T = True F = False CR Flag 1 n/a E T = True F = False ID Flag determines whether the unit is to include the vehicles ID with each report.
B TRIMBLE ASCII INTERFACE PROTOCOL (TAIP) RT Reset Mode Data String Format: Any one of the following data strings can be set. Upper case characters are required. [] [COLD] [FACTORY] [SAVE_CONFIG] Message Description >SRT< Warm Start >SRTCOLD< Cold Start >SRTFACTORY< Factory Reset >SRTSAVE_CONFIG< Save settings to Flash memory The following procedure is used to change the Lassen iQ receiver protocol from TSIP to TAIP: 2 02 1. Use the TSIP 0x7E command to setup the TAIP output configuration.
TRIMBLE ASCII INTERFACE PROTOCOL (TAIP) ST B Status Data String Format: AABCDDEFGG Note – This message provides information about the satellite tracking status and the operational health of the receiver. This information is contained in five status bytes which are output as five 2 digit hexadecimal values. The data format and the meanings of the hex characters are given in the following tables.
B TRIMBLE ASCII INTERFACE PROTOCOL (TAIP) Value C Meaning 0 No problems reported 1 Battery-back-up failed; RAM not available at power-up (see Note below).
TRIMBLE ASCII INTERFACE PROTOCOL (TAIP) TM B Time/Date Data String Format: AABBCCDDDEEFFGGGGHHIJJKLLLLL . Item # of Char Units Format Hours 2 Hour AA Minutes 2 Min BB Seconds 5 Sec CC.DDD Date; Day 2 Day EE Date; Month 2 Month FF Date; Year 4 Year GGGG GPS UTC Time Offset 2 Sec HH Fix Mode 1 n/a f Number of usable satellites 2 n/a JJ GPS UTC Offset flag 1 n/a K Reserved 5 n/a LLLLL Value 0=2D GPS 1=3D GPS 2-8 reserved 9=no fix avail.
B TRIMBLE ASCII INTERFACE PROTOCOL (TAIP) VR Version Number Data String Format: XXXXXXX; VERSION A.AA (BB/BB/BB); . 2 06 Item # of Char Units Format Product Name variable n/a n/a Major version number 4 n/a A.
TRIMBLE ASCII INTERFACE PROTOCOL (TAIP) X1 B Extended Status The Lassen iQ receiver does not support this message.
B TRIMBLE ASCII INTERFACE PROTOCOL (TAIP) Communication Scheme for TAIP Communication with the unit takes place in four different ways. Message qualifiers are used to differentiate between these. Query for Single Sentence The query (Q) message qualifier is used to query the GPS receiver to respond immediately with a specific message. The format is: >QAA[;ID=BBBB][;*CC]< where AA is the requested message identifier.
TRIMBLE ASCII INTERFACE PROTOCOL (TAIP) B The Set Qualifier The set (S) qualifier enables the user equipment to initialize/set-up various types of data in the GPS unit. The format is: >SAA[{B}][;ID=CCCC][;*DD]< where AA is the two character message identifier and {B} specifies the data string within the message. For the format of {B}, please refer to the message definitions in the previous section. Note that all the messages have very specific formats and are length dependent.
B TRIMBLE ASCII INTERFACE PROTOCOL (TAIP) The receiver will check the ID included in the message for a match with its own and then reschedule the PV message. At the next scheduled time, the receiver will respond with: >RPV15714+3739438-1220384601512612;ID=1234;*7F< Note – The Lassen PT GPS does not support the AP TAIP message. The time given in the message is the time of the last GPS fix (04:21:54 GPS), not necessarily the time of the message response.
APPENDIX C NMEA 0183 In this appendix: Overview The NMEA 0183 Communication Interface NMEA 0183 Message Format Field Definitions Checksum Exception Behavior NMEA 0183 Message Options NMEA 0183 Message Formats C This appendix provides a brief overview of the NMEA 0183 protocol, and describes both the standard and optional messages offered by the Copernicus GPS Receiver.
C NMEA 0183 Overview NMEA 0183 is a simple, yet comprehensive ASCII protocol which defines both the communication interface and the data format. The NMEA 0183 protocol was originally established to allow marine navigation equipment to share information. Since it is a well established industry standard, NMEA 0183 has also gained popularity for use in applications other than marine electronics. The Copernicus GPS receiver supports the latest release of NMEA 0183, Version 3.0 (July 1, 2000).
NMEA 0183 C The NMEA 0183 Communication Interface The Copernicus GPS receiver can be configured for NMEA on either port A or port B, at any baud rate. Below are the default NMEA characteristics for Port B of the Copernicus GPS receiver. Table C.1 Signal Characteristics Signal Characteristic NMEA Standard Baud Rate 4800 Data Bits 8 Parity None (Disabled) Stop Bits 1 NMEA 0183 Message Format The NMEA 0183 protocol covers a broad array of navigation data.
C NMEA 0183 Field Definitions Many of the NMEA data fields are of variable length, and the user should always use the comma delimiter to parse the NMEA message date field. The table below specifies the definitions of all field types in the NMEA messages supported by Trimble. Table C.2 Field Definitions Type Symbol Definition Status A Single character field: A=Yes, data valid, warning flag clear V=No, data invalid, warning flag set Special Format Fields Latitude llll.
NMEA 0183 C Note – Spaces are only used in variable text fields. Units of measure fields are appropriate characters from the Symbol column (see Table C.2), unless a specified unit of measure is indicated. Fixed length field definitions show the actual number of characters. For example, a field defined to have a fixed length of 5 HEX characters is represented as hhhhh between delimiters in a sentence definition.
C NMEA 0183 Exception Behavior When no position fix is available, some of the data fields in the NMEA messages will be blank. A blank field has no characters between the commas. There are three general cases when no fix is available: at power-up without back-up data on SRAM (cold start); at power-up with without back-up data on SRAM (warm start); and when the GPS signal is temporarily blocked. These three cases have different NMEA output behavior in the Copernicus GPS Receiver.
NMEA 0183 C General NMEA Parser Requirements • When no position fix is available, some of the data fields in the NMEA messages will be blank (i.e., no characters between commas), but selected messages will output every second. • Trimble varies the number of digits of precision in variable length fields, so customer parsers should be able to handle variable lengths. • NMEA parsers should be built to be forward-compatible.
C NMEA 0183 NMEA 0183 Message Options The Copernicus GPS Receiver can output any or all of the messages listed in Table C.3 and Table C.4. In its default configuration (as shipped from the factory), the Copernicus GPS Receiver outputs two messages: GGA and VTG. These messages are output at a 1 second interval with the “GP” ID and checksums. These messages are output at all times during operation, with or without a fix.
NMEA 0183 Table C.4 C Copernicus GPS Receiver Proprietary NMEA Messages Message Description AH Query or set Almanac Health AL Query or set almanac data for a specific satellite AS Query or set almanac status BA Query and response to antenna status CR Query or set GPS receiver configuration information EM Set receiver into Monitor Mode. Set only. EP Query or set ephemeris data for a specific satellite IO Query or set ionosphere data.
C NMEA 0183 NMEA 0183 Message Formats GGA - GPS Fix Data The GGA message includes time, position and fix related data for the GPS receiver. $GPGGA,hhmmss.ss,llll.lllll,a,nnnnn.nnnnn,b,t,uu, v.v,w.w,M,x.x,M,y.y,zzzz*hh Table C.
NMEA 0183 C GLL - Geographic Position - Latitude/Longitude The GLL message contains the latitude and longitude of the present vessel position, the time of the position fix and the status. $GPGLL,llll.lllll,a,yyyyy.yyyyy,a,hhmmss.ss,A,i*hh Table C.
C NMEA 0183 GSV - GPS Satellites in View The GSV message identifies the GPS satellites in view, including their PRN number, elevation, azimuth and SNR value. Each message contains data for four satellites. Second and third messages are sent when more than 4 satellites are in view. Fields #1 and #2 indicate the total number of messages being sent and the number of each message respectively. $GPGSV,x,x,xx,xx,xx,xxx,xx,xx,xx,xxx,xx,xx,xx, xxx,xx,xx,xx,xxx,xx*hh Table C.
NMEA 0183 C RMC - Recommended Minimum Specific GPS/Transit Data The RMC message contains the time, date, position, course, and speed data provided by the GPS navigation receiver. A checksum is mandatory for this message and the transmission interval may not exceed 2 seconds. All data fields must be provided unless the data is temporarily unavailable. Null fields may be used when data is temporarily unavailable. $GPRMC,hhmmss.ss,A,llll.lllll,a,yyyyy.yyyyy,a, x.x,x.x,xxxxxx,x.x,a,i*hh Table C.
C NMEA 0183 ZDA - Time & Date The ZDA message contains Time of Day in UTC: the day, the month, the year and the local time zone. $GPZDA,hhmmss.ss,xx,xx,xxxx,,*hh Table C.11 ZDA - Time & Date Message Parameters Field # Description 1 UTC (when UTC offset has been decoded by the receiver) 2 Day (01 to 31) 3 Month (01 to 12) 4 Year 5 Null (empty) 6 Null (empty) hh Checksum Note – Fields #5 and #6 are null fields in the Copernicus GPS Receiver output.
NMEA 0183 C AH - Almanac Health This sentence can be used to query or set almanac health data. Since the maximum number of bytes that can be contained in a single NMEA sentence is less than the total almanac health length, the almanac health must be sent in two sentences. The two sentences have to be sent or received together in correct sequence. After receiving the query, the receiver sends out two messages. Message 1 $PTNLaAH,1,hh,hhhhhhhh,hhhhhhhh,hhhhhhhh,hhhhhhhh, hh,hh,x.x*hh Table C.
C NMEA 0183 AL - Almanac Page This sentence can be used to query or set almanac data for a specific satellite. Following is the query format: $PTNLQAL,xx*hh Table C.14 Almanac Page Field Description xx Satellite ID Following is the set or response format. $PTNLaAL,xx,x.x,hh,hhhh,hh,hhhh,hhhh,hhhhhh,hhhhhh,hhhhhh,hhhhhh,hhh,hhh* hh Table C.15 Field 2 26 Almanac Page, Set or Response Format Description a Mode (S = set; R = Response). xx Satellite ID, 01-32. x.
NMEA 0183 C AS - Almanac Status This sentence can be used to query or set almanac status. The format is: $PTNLaAS,hh,xxxx,hh,hh,hh,hh,hh*hh Table C.16 Query Almanac Status Field Description a Mode (Q = query; S = Set) Hh TimeOfAlm. Time of almanac. xxxx Week number of almanac hh HaveTimeOfAlm hh HaveAlmHealth hh NeedAlmHealth. Need Almanac Health. hh NeedIonUtc.
C NMEA 0183 CR - Configure Receiver This sentence can query or set NMEA receiver configuration information. $PTNLaCR,x.x,x.x,x.x,x.x,x.x,a,a,a,a*hh Table C.18 Configure Receiver Field Description a Mode (Q = query; S = set; R = Response) x.x Reserved x.x Elevation mask in degrees (default = 5 degrees) x.x Reserved x.x Reserved x.x Reserved a Constellation Mode, default is 0 0 - AUTO a Dynamics, default is 1 1=land 2=sea 3=air a Reserved.
NMEA 0183 C EP - Ephemeris This sentence can be used to query or set ephemeris data for a specific satellite. Since the maximum number of bytes that can be contained in a single NMEA sentence is less than the total ephemeris data length, the ephemeris data must be sent in three sentences. The three sentences have to be sent or received together in correct sequence. Following is the query format: $PTNLQEP,xx*hh Table C.
C NMEA 0183 Table C.
NMEA 0183 C IO Ionosphere This sentence can be used to query or set ionosphere data. $PTNLaIO,hh,hh,hh,hh,hh,hh,hh,hh*hh, Table C.23 Ionosphere Field Description a Mode (Q = query; S = set; R = Response) hh Alpha_0, HEX data conforming to GPS ICD 200. hh Alpha_1, HEX data conforming to GPS ICD 200. hh Alpha_2, HEX data conforming to GPS ICD 200. hh Alpha_3, HEX data conforming to GPS ICD 200. hh Beta_0, HEX data conforming to GPS ICD 200.
C NMEA 0183 NM - Automatic Message Output This sentence may be issued by the user to configure automatic message output. The Query sentence format is: $PTNLQNM*hh The Response to query sentence or Set sentence format is: $PTNLaNM,hhhh,xx*hh Table C.
NMEA 0183 C PS - PPS Configuration This sentence can query or set PPS configuration data. $PTNLaPS,b,x...x,6,x...x*hh Table C.26 PPS Configuration Field Description a Mode (Q = query; S = set; R = Response) b PPS mode, default is 1: 0 - PPS_OFF (Always Off) 1 - PPS_ON (Always On or Early PPS) 2 - PPS_FIX_BASED x...x Output pulse length in 100 nanoseconds, default is 42 corresponding to 4200 nanoseconds. Pulse length range is 100ns to 500ms. Field value range is 1 to 5000000.
C NMEA 0183 PT - Serial Port Configuration This sentence may be issued by the user for configuring the current serial port. The Query sentence format is: $PTNLQPT*hh The Response to query or Set sentence format is: $PTNLRPT,xxxxxx,b,b,b,h,h*hh When the Set is issued, the first Response sentence will be sent using the old parameters and the second response sentence will be sent using the new parameters. If there is an error, there will be an error response sent.
NMEA 0183 C RT - Reset This sentence can be used to Set the reset type. No query is supported. $PTNLaRT,b,c,d..x*hh Table C.28 Reset Type Field Description a Mode (S = set; R = Response) b Command C Cold software reset, Erase SRAM including the customer configuration in SRAM and restarts. W Warm software reset. Erases the ephemeris information in SRAM and restarts. H Hot software reset. Uses the entire SRAM data. F Factory software reset.
C NMEA 0183 SG - Set Bit Mask for GPIOs in Standby Mode. Users may designate individual pins for pull-down and pull-up while the unit is in Standby Mode. This allows the user to select external pull-down or pull-up resistors to suit their application. Examples: • In serial port configuration, one option would be to power down the serial port during standby in which case the corresponding GPIOs would be pull-downs.
NMEA 0183 Table C.
C NMEA 0183 SV - Set Bit Mask for SBAS SV This packet provides the SBAS SV bit mask. The user data packet contains four bytes to specify 19 possible SBAS prn numbers. Bit 0 represents PRN 120. $PTNLSSV, xxxxxxxx, xxxxxxxx, This packet provides the SBAS SV bit mask in four bytes. The user data packet contains four bytes to specify 19 possible SBAS prn numbers. Bit 0 represents PRN 120. Available WAAS PRN numbers are 135 and 138.
NMEA 0183 C TF - Receiver Status and Position Fix This sentence may be issued by the user to get receiver status and position fix. The Query sentence format is: $PTNLQTF*hh The Response to query sentence format is: $PTNLaTF,b,c,xxxxxx,xx,x,llll.lllll,d,yyyyy.yyyyy, e,xxxxx,x.x,x.x,x.x*hh Table C.
C NMEA 0183 UT - UTC This sentence can be used to query or set UTC data. $PTNLaUT,hhhhhhhh,hhhhhh,hh,hh,hhhh,hhhh,hh,hh*hh< CR> Table C.31 2 40 UTC Field Description a Mode (Q = query; S = set; R = Response) hhhhhhhh A_0, HEX data conforming to GPS ICD 200. hhhhhh A_1, HEX data conforming to GPS ICD 200. hh Delta_t_ls, HEX data conforming to GPS ICD 200. hh T_oa, HEX data conforming to GPS ICD 200. hhhh Wn_t, HEX data conforming to GPS ICD 200.
NMEA 0183 C VR - Version This sentence may be issued by the user to get version information. The Query sentence format is: $PTNLQVR,a*hh where a is S = Application firmware, H=Hardware and N=Nav The Response to query sentence format is: $PTNLRaVR,b,c..c,xx.xx.xx,xx,xx,xxxx*hh Table C.32 Version Field Description a Mode (Q = query; R = Response) b Reserved c..
C 2 42 NMEA 0183 Copernicus GPS Receiver
