Trimble Outdoors Gps Receiver 58052 00 Users Manual TrimbleCopernicus
58052-00 to the manual b16fc832-eb6a-4d95-9d25-42ea37eeed3f
2015-02-03
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REFERENCE MANUAL Copernicus™ GPS Receiver For Modules with firmware version 2.01 (or later) Part Number 58052-00 NORTH AMERICA Trimble Navigation Limited Corporate Headquarters 935 Stewart Drive Sunnyvale, CA 94086 +1-800-787-4225 +1-408-481-7741 EUROPE Trimble Navigation Europe Phone: +49-6142-2100-161 KOREA Trimble Export Ltd, Korea Phone: +82 2 555 5361 CHINA Trimble Navigation Ltd, China Phone: +86-21-6391-7814 TAIWAN Trimble Navigation, Taiwan Phone: +886-02-85096574 www.trimble.com 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 warranty set forth in this paragraph shall not apply to software/firmware products. Support Software and Firmware License, Limited Warranty +1-800-767-4822 (USA and Canada) +1-913-338-8225 (International) Copyright and Trademarks © 2007 Trimble Navigation Limited. All rights reserved. No part of this manual may be copied, reproduced, translated, or reduced to any electronic medium or machine-readable form for any use other than with the Copernicus™ GPS Receiver. The Globe & Triangle logo, Trimble, Colossus, FirstGPS, and Lassen, are trademarks of Trimble Navigation Limited. The Sextant logo with Trimble is a trademark of Trimble Navigation Limited, registered in the United States Patent and Trademark Office. All other trademarks are the property of their respective owners. Release Notice This is the October 2007 release (Revision B) of the Copernicus™ GPS Receiver System Designer Reference Manual, part number 58052-00. The following limited warranties give you specific legal rights. You may have others, which vary from state/jurisdiction to state/jurisdiction. Waste Electrical and Electronic Equipment (WEEE) Notice This Trimble product is furnished on an OEM basis. By incorporating this Trimble product with your finished goods product(s) you shall be deemed the “producer” of all such products under any laws, regulations or other statutory scheme providing for the marking, collection, recycling and/or disposal of electrical and electronic equipment (collectively, “WEEE Regulations”) in any jurisdiction whatsoever, (such as for example national laws implementing EC Directive 2002/96 on waste electrical and electronic equipment, as amended), and shall be solely responsible for complying with all such applicable WEEE Regulations. Restriction on Hazardous Substances As of July 1, 2006, the Product is compliant in all material respects with DIRECTIVE 2002/95/EC OF THE EUROPEAN PARLIAMENT AND OF THE COUNCIL of 27 January 2003 on the restriction of the use of certain hazardous substances in electrical and electronic equipment (RoHS Directive) and Amendment 2005/618/EC filed under C(2005) 3143, with exemptions for lead in solder pursuant to Paragraph 7 of the Annex to the RoHS Directive applied. The foregoing is limited to Product placed on the market in the Member States of the European Union on or after 1 July 2006. Trimble has relied on representations made by its suppliers in certifying this Product as RoHS compliant. This Trimble software and/or firmware product (the “Software”) is licensed and not sold. Its use is governed by the provisions of the applicable End User License Agreement (“EULA”), if any, included with the Software. In the absence of a separate EULA included with the Software providing different limited warranty terms, exclusions, and limitations, the following terms and conditions shall apply. Trimble warrants that this Trimble Software product will substantially conform to Trimble’s applicable published specifications for the Software for a period of ninety (90) days, starting from the date of delivery. Warranty Remedies Trimble's sole liability and your exclusive remedy under the warranties set forth above shall be, at Trimble’s option, to repair or replace any Product or Software that fails to conform to such warranty (“Nonconforming Product”), or refund the purchase price paid by you for any such Nonconforming Product, upon your return of any Nonconforming Product to Trimble in accordance with Trimble’s standard return material authorization procedures. Warranty Exclusions and Disclaimer These warranties shall be applied only in the event and to the extent that: (i) the Products and Software are properly and correctly installed, configured, interfaced, maintained, stored, and operated in accordance with Trimble’s relevant operator's manual and specifications, and; (ii) the Products and Software are not modified or misused. The preceding warranties shall not apply to, and Trimble shall not be responsible for defects or performance problems resulting from (i) the combination or utilization of the Product or Software with products, information, data, systems or devices not made, supplied or specified by Trimble; (ii) the operation of the Product or Software under any specification other than, or in addition to, Trimble's standard specifications for its products; (iii) the unauthorized modification or use of the Product or Software; (iv) damage caused by accident, lightning or other electrical discharge, fresh or salt water immersion or spray; or (v) normal wear and tear on consumable parts (e.g., batteries). THE WARRANTIES ABOVE STATE TRIMBLE'S ENTIRE LIABILITY, AND YOUR EXCLUSIVE REMEDIES, RELATING TO PERFORMANCE OF THE PRODUCTS AND SOFTWARE. EXCEPT AS OTHERWISE EXPRESSLY PROVIDED HEREIN, THE PRODUCTS, SOFTWARE, AND ACCOMPANYING DOCUMENTATION AND MATERIALS ARE PROVIDED “ASIS” AND WITHOUT EXPRESS OR IMPLIED WARRANTY OF ANY KIND BY EITHER TRIMBLE NAVIGATION LIMITED OR ANYONE WHO HAS BEEN INVOLVED IN ITS CREATION, PRODUCTION, INSTALLATION, OR DISTRIBUTION, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE, TITLE, AND NONINFRINGEMENT. THE STATED EXPRESS WARRANTIES ARE IN LIEU OF ALL OBLIGATIONS OR LIABILITIES ON THE PART OF TRIMBLE ARISING OUT OF, OR IN CONNECTION WITH, ANY PRODUCTS OR SOFTWARE. SOME STATES AND JURISDICTIONS DO NOT ALLOW LIMITATIONS ON DURATION OR THE EXCLUSION OF AN IMPLIED WARRANTY, SO THE ABOVE LIMITATION MAY NOT APPLY TO YOU. TRIMBLE NAVIGATION LIMITED IS NOT RESPONSIBLE FOR THE OPERATION OR FAILURE OF OPERATION OF GPS SATELLITES OR THE AVAILABILITY OF GPS SATELLITE SIGNALS. Limitation of Liability TRIMBLE’S ENTIRE LIABILITY UNDER ANY PROVISION HEREIN SHALL BE LIMITED TO THE GREATER OF THE AMOUNT PAID BY YOU FOR THE PRODUCT OR SOFTWARE LICENSE OR U.S.$25.00. TO THE MAXIMUM EXTENT PERMITTED BY APPLICABLE LAW, IN NO EVENT SHALL TRIMBLE OR ITS SUPPLIERS BE LIABLE FOR ANY INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES WHATSOEVER UNDER ANY CIRCUMSTANCE OR LEGAL THEORY RELATING IN ANY WAY TO THE PRODUCTS, SOFTWARE, AND ACCOMPANYING DOCUMENTATION AND MATERIALS, (INCLUDING, WITHOUT LIMITATION, DAMAGES FOR LOSS OF BUSINESS PROFITS, BUSINESS INTERRUPTION, LOSS OF BUSINESS INFORMATION, OR ANY OTHER PECUNIARY LOSS), REGARDLESS OF WHETHER TRIMBLE HAS BEEN ADVISED OF THE POSSIBILITY OF ANY SUCH LOSS AND REGARDLESS OF THE COURSE OF DEALING WHICH DEVELOPS OR HAS DEVELOPED BETWEEN YOU AND TRIMBLE. BECAUSE SOME STATES AND JURISDICTIONS DO NOT ALLOW THE EXCLUSION OR LIMITATION OF LIABILITY FOR CONSEQUENTIAL OR INCIDENTAL DAMAGES, THE ABOVE LIMITATION MAY NOT APPLY TO YOU. 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Using a Passive Antenna . . . . . . . . . . . . . . . . . Quick Start Guide . . . . . . . . . . . . . . . . . . . . . . . . Trimble GPS Monitor Toolkit. . . . . . . . . . . . . . . . . . Install the FTDI USB/Serial Driver Software . . . . . . Connect the PC via the USB Cable . . . . . . . . . . . Start the TGM Application . . . . . . . . . . . . . . . . Connect to the GPS Receiver . . . . . . . . . . . . . . Configure GPS Ports . . . . . . . . . . . . . . . . . . . Configure Output Formats . . . . . . . . . . . . . . . . Configure GPS . . . . . . . . . . . . . . . . . . . . . . Configure PPS Output . . . . . . . . . . . . . . . . . . Configure NMEA Output . . . . . . . . . . . . . . . . Configure TAIP Output . . . . . . . . . . . . . . . . . Creating a Log . . . . . . . . . . . . . . . . . . . . . . Sending Raw Data to device . . . . . . . . . . . . . . . 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 . 7 . 7 . 8 10 13 14 14 15 17 17 18 20 21 23 24 24 25 25 26 27 28 PRODUCT DESCRIPTION . . . . . . . . . . . . . . . . . . . . . . . . . 31 Key Features . . . . . . . . . . . . . . . . . . . . . Block Diagram . . . . . . . . . . . . . . . . . Specifications . . . . . . . . . . . . . . . . . . . . . Performance . . . . . . . . . . . . . . . . . . Interface . . . . . . . . . . . . . . . . . . . . Electrical . . . . . . . . . . . . . . . . . . . . Physical. . . . . . . . . . . . . . . . . . . . . Environmental . . . . . . . . . . . . . . . . . MTBF . . . . . . . . . . . . . . . . . . . . . . . . . Absolute Minimum and Maximum Limits . . . . . . Normal Operating Conditions. . . . . . . . . . . . . Power Consumption Over Temperature and Voltage . Run Mode . . . . . . . . . . . . . . . . . . . ESD Protection . . . . . . . . . . . . . . . . . . . . Ordering Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 33 34 34 34 35 35 35 36 37 38 39 39 39 40 Copernicus GPS Receiver 1 Table of Contents 3 INTERFACE CHARACTERISTICS . . . . . . . . . . . . . . . . . . . . . 41 Pin Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Pin Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Detailed Pin Descriptions . . . . . . . . . . . . . . . . . . . . . . . Protocols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Serial Port Default Settings . . . . . . . . . . . . . . . . . . . . . . . . . . GPS Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Serial Time Output . . . . . . . . . . . . . . . . . . . . . . . . . . . A-GPS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Enabling A-GPS with the Trimble GPS Monitor Application (TGM) Enabling A-GPS with TSIP . . . . . . . . . . . . . . . . . . . . . . Pulse-Per-Second (PPS). . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 43 44 46 47 48 48 50 50 51 52 OPERATING MODES . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 Copernicus Receiver Operating Modes . . . . . . . . . . . . Run Mode . . . . . . . . . . . . . . . . . . . . . . . Standby Mode . . . . . . . . . . . . . . . . . . . . . Monitor Mode . . . . . . . . . . . . . . . . . . . . . Changing the Run/Standby Modes . . . . . . . . . . . . . . Copernicus Standby Current . . . . . . . . . . . . . . Using the XSTANDBY Pin to Switch Modes . . . . . Using Serial Ports to Switch Modes . . . . . . . . . . 18-Hour RTC Roll Over . . . . . . . . . . . . . . . . . . . Saving Almanac, Ephemeris and Position to Flash Memory . Graceful Shutdown. . . . . . . . . . . . . . . . . . . SBAS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . WAAS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Number of channels . . . . . . . . . . . . . . . . . . Acquisition . . . . . . . . . . . . . . . . . . . . . . . Usage . . . . . . . . . . . . . . . . . . . . . . . . . . Almanac collection. . . . . . . . . . . . . . . . . . . Ephemeris collection . . . . . . . . . . . . . . . . . . 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 54 54 54 55 55 56 56 58 59 59 59 59 59 60 60 60 60 APPLICATION CIRCUITS. . . . . . . . . . . . . . . . . . . . . . . . . . 61 Passive antenna—Minimum Connections . . . . . . . . . . . . . . . . . . . . . . . . . . 62 Active Antenna—Full Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 Active Antenna—No Antenna Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 6 RF LAYOUT CONSIDERATIONS . . . . . . . . . . . . . . . . . . . . . . 69 General Recommendations . . . . . . . . . . . Design considerations for RF Track Topologies PCB Considerations . . . . . . . . . . . . . . Microstrip Transmission Lines. . . . . . Stripline Transmission Lines . . . . . . . 2 Copernicus GPS Receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 72 73 73 75 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 79 79 80 81 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 85 85 86 SHIPPING and HANDLING . . . . . . . . . . . . . . . . . . . . . . . . . 87 Shipping and Handling Guidelines Handling . . . . . . . . . . Shipment . . . . . . . . . . Storage . . . . . . . . . . . Moisture Indicator . . . . . Floor Life. . . . . . . . . . Moisture Precondition . . . . . . Baking Procedure . . . . . . . . . Soldering Paste . . . . . . . . . . Solder Reflow . . . . . . . . . . . Recommended Soldering Profile . Optical Inspection . . . . . . . . . Cleaning . . . . . . . . . . . . . . Soldering Guidelines . . . . . . . Repeated Reflow Soldering Wave Soldering . . . . . . Hand Soldering. . . . . . . Rework . . . . . . . . . . . . . . Conformal Coating . . . . . . . . Grounding the Metal Shield. . . . 10 . . . . . PACKAGING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 Introduction . Reel . . . . . Weight Tapes . . . . 9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 88 88 88 88 88 89 90 90 90 91 91 92 92 92 92 92 92 92 93 COPERNICUS REFERENCE BOARD . . . . . . . . . . . . . . . . . . . 95 Introduction . . . . . . . . . . . . . . . . . . . . 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96 . 98 . 99 . 100 . 101 . 102 . 102 . 103 . 104 Copernicus GPS Receiver 3 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 . . . . . . . . . . . . . . Protocol Format . . . . . . . . . . . . . . . . Data Transmission . . . . . . . . . . . . . . . Monitor Mode Packet Descriptions . . . . . . ENQ, ACK, NAK . . . . . . . . . . . . . . . Packet ID – 0x96 (Boot ROM Version Report) Packet ID – 0x8F (Erase Firmware Section). . FlashLoader Tool Reference Guide . . . . . . . . . . Introduction . . . . . . . . . . . . . . . . . . File and Folder Structure . . . . . . . . . . . . Source Code Reference . . . . . . . . . . . . Compiling and Generating the Executable. . . A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 . 106 . 107 . 107 . 107 . 109 . 111 . 111 . 111 . 111 . 112 . 112 . 112 . 113 . 116 . 116 . 116 . 116 . 117 TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) . . . . . . . . . 119 Interface Scope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Run Mode Packet Structure . . . . . . . . . . . . . . . . . . . . . . . . . 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 Parameters or Packet BB . . . . . . . . . . . . . . . . . . . . Dynamics Code . . . . . . . . . . . . . . . . . . . . . . . . . . . Elevation Mask. . . . . . . . . . . . . . . . . . . . . . . . . . . . Packet Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Packet Descriptions Used in Run Mode . . . . . . . . . . . . . . . Command Packet 0x1E - Clear Battery Backup, then Reset. . . . . Command Packet 0x1F - Request Software Versions . . . . . . . . Command Packet 0x21 - Request Current Time . . . . . . . . . . . Command Packet 0x23 - Initial Position (XYZ ECEF) . . . . . . . Command Packet 0x24 - Request GPS Receiver Position Fix Mode Command Packet 0x25 - Initiate Soft Reset & Self Test . . . . . . 4 . . . . . . . . . . . . . . . . . . . Copernicus GPS Receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120 . 120 . 121 . 122 . 123 . 123 . 124 . 124 . 124 . 126 . 127 . 128 . 129 . 129 . 130 . 131 . 131 . 133 . 133 . 133 . 133 . 134 . 134 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 . . . . . . . . . . . . . . . . . . . . . . . . 135 Command Packet 0x31 - Accurate Initial Position (XYZ ECEF) . . . . . . . . . . . 135 Command Packet 0x32 - Accurate Initial Position, (Latitude, Longitude, Altitude) . . . . . . . . . . . . . . . . . . . . . . . . . . . 136 Command Packet 0x35 - Set Request I/O Options . . . . . . . . . . . . . . . . . . 136 Command Packet 0x37 - Request Status and Values of Last Position and Velocity . . 139 Command Packet 0x38 - Request/Load Satellite System Data . . . . . . . . . . . . 139 Command Packet 0x3A - Request Last Raw Measurement . . . . . . . . . . . . . . 140 Command Packet 0x3C - Request Current Satellite Tracking Status . . . . . . . . . 140 Report Packet 0x41 - GPS Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140 Report Packet 0x42 - Single-Precision Position Fix, XYZ ECEF . . . . . . . . . . . 141 Report Packet 0x43 - Velocity Fix, XYZ ECEF . . . . . . . . . . . . . . . . . . . . 142 Report Packet 0x45 - Software Version Information . . . . . . . . . . . . . . . . . 142 Report Packet 0x46 - Health of Receiver . . . . . . . . . . . . . . . . . . . . . . . 143 Report Packet 0x47 - Signal Levels for all Satellites . . . . . . . . . . . . . . . . . 144 Report Packet 0x4A - Single Precision LLA Position Fix . . . . . . . . . . . . . . . 145 Report Packet 0x4B - Machine/Code ID and Additional Status . . . . . . . . . . . . 146 Report Packet 0x4D - Oscillator Offset . . . . . . . . . . . . . . . . . . . . . . . . 146 Report Packet 0x4E - Response to Set GPS Time . . . . . . . . . . . . . . . . . . . 147 Report Packet 0x55 - I/O Options . . . . . . . . . . . . . . . . . . . . . . . . . . . 147 Report Packet 0x56 - Velocity Fix, East-North-Up (ENU) . . . . . . . . . . . . . . 148 Report Packet 0x57 - Information About Last Computed Fix . . . . . . . . . . . . . 149 Report Packet 0x58 - Satellite System Data/Acknowledge from Receiver . . . . . . 149 Report Packet 0x5A - Raw Measurement Data . . . . . . . . . . . . . . . . . . . . 152 Report Packet 0x5F . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153 Report Packet 0x5C - Satellite Tracking Status . . . . . . . . . . . . . . . . . . . . 153 Report Packet 0x6D - All-In-View Satellite Selection. . . . . . . . . . . . . . . . . 154 Command Packet 0x7A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154 Report Packet 0x7B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155 Command Packet 0x7E - TAIP Message Output . . . . . . . . . . . . . . . . . . . 155 Command Packet 0x82 - SBAS Correction Status . . . . . . . . . . . . . . . . . . . . . . 157 Report Packet 0x83 - Double-Precision XYZ Position Fix and Bias Information. . . 158 Report Packet 0x84 - Double-Precision LLA Position Fix and Bias Information . . . 158 Packets 0x8E and 0x8F - Superpacket . . . . . . . . . . . . . . . . . . . . . . . . . 159 Command Packet 0xBB - Navigation Configuration . . . . . . . . . . . . . . . . . 159 Command Packet 0xBC - Protocol Configuration . . . . . . . . . . . . . . . . . . . 159 Command Packet 0xC0 - Graceful Shutdown and Go To Standby Mode . . . . . . . 160 Command Packet 0xC1 - Set Bit Mask for GPIOs in Standby Mode . . . . . . . . . 162 Command Packet 0xC2 - SBAS SV Mask. . . . . . . . . . . . . . . . . . . . . . . 164 TSIP Superpackets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165 Command Packet 8E-15 - Set/Request Datum. . . . . . . . . . . . . . . . . . . . . 165 Command Packet 0x8E-17 - Request Last Position or Auto-Report Position in UTM Single Precision Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166 Copernicus GPS Receiver 5 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 . . . Command Packet 8E-4A - Set/Request Lassen iQ GPS Cable Delay and PPS Polarity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Command Packet 0x8E-4F - Set PPS Width. . . . . . . . . . . . . . . . . . . . . Report Packet 0x8F-15 - Current Datum Values. . . . . . . . . . . . . . . . . . . Report Packet 8F-17 - UTM Single Precision Output . . . . . . . . . . . . . . . . Report Packet 8F-18 - UTM Double Precision Output . . . . . . . . . . . . . . . Report Packet 0x8F-20 - Last Fix with Extra Information (binary fixed point) . . . Report Packet 0x8F-26 - Non-Volatile Memory Status . . . . . . . . . . . . . . . Report Packet 0x8F-2A - Fix and Channel Tracking Info, Type 1 . . . . . . . . . Report Packet 0x8F-2B - Fix and Channel Tracking Info, Type 2. . . . . . . . . . Report Packet 0x8F-4F - Set PPS Width. . . . . . . . . . . . . . . . . . . . . . . Datums . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B . 168 . 168 . 169 . 170 . 171 . 172 . 174 . 174 . 176 . 178 . 179 TRIMBLE ASCII INTERFACE PROTOCOL (TAIP) . . . . . . . . . . . . . 185 Protocol Overview . . . . . . . . . Message Format. . . . . . . . . . . Start of a New Message . . . Message Qualifier . . . . . . Message Identifier . . . . . . Data String . . . . . . . . . . Vehicle ID . . . . . . . . . . Checksum . . . . . . . . . . Message Delimiter . . . . . . Sample PV Message . . . . . . . . Time and Distance Reporting . . . . Latitude and Longitude Conversion Message Data Strings . . . . . . . . AL Altitude/Up Velocity . . . . . . CP Compact Position Solution . . . ID Identification Number . . . . . IP Initial Position . . . . . . . . . . LN Long Navigation Message . . . PR Protocol . . . . . . . . . . . . . PT Port Characteristic . . . . . . . PV Position/Velocity Solution . . . RM Reporting Mode . . . . . . . . RT Reset Mode . . . . . . . . . . . ST Status . . . . . . . . . . . . . . TM Time/Date . . . . . . . . . . . VR Version Number . . . . . . . . 6 . 166 . 167 . 167 . 167 . 168 Copernicus GPS Receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186 . 187 . 187 . 187 . 188 . 188 . 188 . 188 . 188 . 189 . 190 . 191 . 192 . 193 . 194 . 195 . 196 . 197 . 198 . 199 . 200 . 201 . 202 . 203 . 205 . 206 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207 . 208 . 208 . 208 . 208 . 209 . 209 NMEA 0183 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The NMEA 0183 Communication Interface . . . . . . . . . . . . . NMEA 0183 Message Format . . . . . . . . . . . . . . . . . . . . Field Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . Invalid Command Set . . . . . . . . . . . . . . . . . . . . . Checksum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Exception Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . Power-up with No Back-up Data on SRAM . . . . . . . . . . Power-up with Back-up Data on SRAM . . . . . . . . . . . . Interruption of GPS Signal . . . . . . . . . . . . . . . . . . . General NMEA Parser Requirements . . . . . . . . . . . . . NMEA 0183 Message Options . . . . . . . . . . . . . . . . . . . . NMEA 0183 Message Formats . . . . . . . . . . . . . . . . . . . . GGA - GPS Fix Data. . . . . . . . . . . . . . . . . . . . . . GLL - Geographic Position - Latitude/Longitude . . . . . . . GSA - GPS DOP and Active Satellites . . . . . . . . . . . . GSV - GPS Satellites in View . . . . . . . . . . . . . . . . . RMC - Recommended Minimum Specific GPS/Transit Data . VTG - Track Made Good and Ground Speed . . . . . . . . . ZDA - Time & Date . . . . . . . . . . . . . . . . . . . . . . AH - Almanac Health . . . . . . . . . . . . . . . . . . . . . AL - Almanac Page . . . . . . . . . . . . . . . . . . . . . . AS - Almanac Status . . . . . . . . . . . . . . . . . . . . . . BA - Antenna Status . . . . . . . . . . . . . . . . . . . . . . CR - Configure Receiver . . . . . . . . . . . . . . . . . . . . EM - Enter Monitor Mode . . . . . . . . . . . . . . . . . . . EP - Ephemeris . . . . . . . . . . . . . . . . . . . . . . . . . IO Ionosphere . . . . . . . . . . . . . . . . . . . . . . . . . KG - Set Initial Position . . . . . . . . . . . . . . . . . . . . NM - Automatic Message Output . . . . . . . . . . . . . . . PS - PPS Configuration . . . . . . . . . . . . . . . . . . . . PT - Serial Port Configuration . . . . . . . . . . . . . . . . . RT - Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . SG - Set Bit Mask for GPIOs in Standby Mode.. . . . . . . . SV - Set Bit Mask for SBAS SV . . . . . . . . . . . . . . . . TF - Receiver Status and Position Fix . . . . . . . . . . . . . UT - UTC . . . . . . . . . . . . . . . . . . . . . . . . . . . VR - Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212 . 213 . 213 . 214 . 215 . 215 . 216 . 216 . 216 . 216 . 217 . 218 . 220 . 220 . 221 . 221 . 222 . 223 . 223 . 224 . 225 . 226 . 227 . 227 . 228 . 228 . 229 . 231 . 231 . 232 . 233 . 234 . 235 . 236 . 238 . 239 . 240 . 241 Copernicus GPS Receiver 7 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. Copernicus GPS Receiver 5 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. Designed for the demands of automated, pick and place, high-volume production processes, the Copernicus 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. The ultra-sensitive Copernicus GPS receiver can acquire GPS satellite signals and generate fast position fixes with high accuracy in extremely challenging environments and under poor signal conditions. The module consumes less than 94mW typically at full power with continuous tracking. It has been designed to meet restrictions on the use of hazardous substances under the RoHS European Directive. The Copernicus GPS receiver provides position, velocity and time data in a choice of three protocols: TSIP, TAIP, and NMEA. Trimble's TSIP protocol offers complete control over receiver operation and provides detailed satellite information. The TAIP protocol is an easy-to-use ASCII protocol designed specifically for track and trace applications. The bi-directional NMEA 0183 v3.0 protocol offers industry-standard data messages and a command set for easy interface to mapping software. Compatible with active or passive antenna designs, the Copernicus GPS receiver is perfect for portable handheld, battery-powered applications. The receiver's small size and low power requirement make it ideal for use in Bluetooth appliances, sport accessories, personal navigators, cameras, computer and communication peripherals, as well as vehicle and asset tracking, navigation, and security applications. 6 Copernicus GPS Receiver 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. In addition, the starter kit contains a power converter, power adapter, a GPS antenna, and software to evaluate the ease with which you can add Copernicus GPS to your application. Starter Kit Components The RoHS compliant (lead-free) Copernicus GPS Starter Kit includes the following: • Interface unit with reference board and Copernicus GPS receiver • AC/DC power supply converter • Universal power adapters for the major standard wall outlets • Magnetic-mount GPS antenna, 3.3 V, MCX connector, 5 meter cable • USB cable • Cigarette lighter adapter power cable • Copernicus GPS SMT receivers (3 pieces) • 14 Jumpers • Quick Start Guide • CD containing the SW tools and the Copernicus GPS Reference Manual Copernicus GPS Receiver 7 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 1.2 AC/DC Power Supply Converter Copernicus GPS Receiver Figure 1.3 STARTER KIT 1 Copernicus GPS Receiver 9 USB Cable 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). The FTDI driver must be downloaded and installed on your PC before you can run the Trimble GPS Monitor (TGM) application used to communicate with the Copernicus GPS. 1. Use the following URL to access the FTDI drivers: http://www.ftdichip.com/Drivers/VCP.htm 2. Download and install the appropriate VCP (Virtual COM Port) driver for your operating system (Win'98 / ME /2000 / XP). Select the option with FT2232C series support. Follow the instructions provided on the Web site and with the driver. (http://www.ftdichip.com/Documents/InstallGuides.htm) 3. Use the supplied USB cable to connect the Copernicus GPS interface unit to your PC. The FTDI driver automatically assigns two (2) virtual COM ports to the USB port. Use the Windows Device Manager to determine which COM Ports have been assigned to the USB port. Default Settings The default settings on the interface unit USB Port are provided in Table 1.1. Table 1.1 10 Serial Port Default Settings Virtual Port Ports Direction Protocol Baud Rate Data Bits Parity Stop Bits Flow Control A TXD-A RXD-A TSIP-Out TSIP-IN 38.4 K 38.4 K 8 8 None None 1 1 NO NO B TXD-B RXD-B NMEA-Out NMEA-IN 4800 4800 8 8 None None 1 1 NO NO Copernicus GPS Receiver 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 2.0 and 1.1 compatible. This connection can also be used to power the starter kit and GPS receiver. When using the USB connection for power, the PC should be running on AC power (not battery power) to ensure proper voltage levels to the interface unit. 3. Port A-TX LED When blinking red, user is transmitting data to the Copernicus GPS receiver on port A. 4. Port A-RX LED When blinking red, the Copernicus GPS receiver is transmitting data to the user device on port A. 5. Port B-TX LED When blinking red, user is transmitting data to the Copernicus GPS receiver on port B. 6. Port B-RX LED When blinking red, the Copernicus GPS receiver is transmitting data to the user device on port B. Copernicus GPS Receiver 11 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). When the switch is in the ON position the LED illuminates Green and VCC is supplied to the receiver. When the switch is in the OFF position the LED is not lit and the receiver is powered only by the standby regulator or battery. Note – For the Copernicus GPS receiver to operate with standby power, the power source must be from the main power connector (#6) (not from the USB connector). 9. Power Switch The power switch is used to enable or disable VCC to the receiver. 10. PPS BNC (located on the backside of the interface unit) The BNC connector provides a 5V TTL level PPS pulse output by the receiver. The output configuration is controlled by the receiver, not the starter kit driver circuit. This output is able to drive a 50ohm load. Note – The Copernicus GPS receiver reference board contains a number of configuration jumpers for use with various Trimble GPS receivers. Jumpers JP5 and JP15 must be in place for use with Copernicus GPS receiver. 12 Copernicus GPS Receiver 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. Remove the two screws securing the Copernicus GPS reference board to the standoffs. These screws are located at opposite ends of the receiver module. Copernicus GPS Receiver 13 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. Since the passive antenna has no LNA, the antenna detection and short circuit will not report a true antenna condition. If the passive antenna is a (DC open) patch antenna, the FW reports an antenna open condition. If the antenna power jumper is removed, the antenna is reported as shorted. 14 Copernicus GPS Receiver 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. Antenna Connection Place the antenna on the window sill or put the antenna outside. Copernicus GPS Receiver 15 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. Select one of the USB virtual COM ports. Either the TSIP or NMEA data stream is visible on your monitor. To view the other protocol, select a different USB virtual COM port. 16 Copernicus GPS Receiver 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. TGM includes helpful features such as “Detect Receiver” to test a GPS receiver port for protocol and baud rate in the event that these settings are lost, the ability to log the output of multiple GPS devices simultaneously, and the ability send and view received raw data. Prior to using the TGM application with a USB interface, you must first download and install the FTDI USB serial driver software (see instructions below). Note – The Trimble GPS Monitor application (TGM) replaces many of the previous “monitor” and “chat” programs used for Trimble Embedded and Resolution T products. Install the FTDI USB/Serial Driver Software The Copernicus GPS starter kit uses a USB 2.0 dual serial port emulator interface chip from Future Technology Devices International Ltd. (FTDI). Prior to using the TGM application with a USB interface, you must first download and install the FTDI USB serial driver software on your PC. 1. Confirm that you have the following: – A PC with Windows Vista, Windows XP Service Pack 2, or Windows 2000 Service Pack 4 installed and a free USB port. – Internet access to complete the installation 2. Download the software for your Trimble product from the Trimble Support web site http://www.trimble.com/support.shtml, and select the relevant product link and then the Software Tools option. 3. Select and Save all files to a directory on the hard drive. 4. Install the FTDI driver on your PC. 5. Locate the file called “CDM_Setup.exe” you just saved, and double click it. If properly installed you should see a FTDI CDM Driver Installation popup window with the message “FTDI CDM Drivers have been successfully installed”. Click the OK button. Copernicus GPS Receiver 17 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. Copernicus GPS Receiver 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. Copernicus GPS Receiver 19 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. Copernicus GPS Receiver 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. Copernicus GPS Receiver 21 1 STARTER KIT 3. 22 Click on Yes to accept the discovered connection parameters. Copernicus GPS Receiver 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. Copernicus GPS Receiver 23 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. After selecting the required setup options, click on Set. 5. If the configuration is to be permanent, click Save Configuration. Copernicus GPS Receiver 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. Select the Configure pull down menu from the main screen. Select Receiver Configuration. Select the NMEA tab. 4. After selecting the required setup options, click on Set. 5. If the configuration is to be permanent, click Save Configuration. Copernicus GPS Receiver 25 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. 26 Copernicus GPS Receiver 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. Copernicus GPS Receiver 27 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. Copernicus GPS Receiver 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. Copernicus GPS Receiver 29 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. Absolute Minimum and Maximum Limits Normal Operating Conditions Power Consumption Over Temperature and Voltage ESD Protection Ordering Information Copernicus GPS Receiver 31 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 (0.75" W x 0.75" L) • Ultra-thin design, 2.54 mm H (0.1") • Fast manufacturing: Pick & place assembly, Tape & reel packaging, Reflow solderable • No I/O or RF connector; 28 Edge castellations • Ultra-low power usage, less than 94 mW (typical) • Highly sensitive: −150 dBm Tracking Sensitivity −142 dBm Acquisition Sensitivity 32 • Fast TTFF (cold start): 39.7 sec • Supports active or passive antenna designs • 12-channel simultaneous operation • Supports SBAS • Supports NMEA 0183, TSIP and TAIP protocols • Reference board and starter kit available • RoHS compliant (lead-free) Copernicus GPS Receiver PRODUCT DESCRIPTION 2 Block Diagram Figure 2.1 Copernicus GPS Block Diagram Copernicus GPS Receiver 33 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 0.06 m/sec PPS (static) ±100 ns RMS Acquisition (Autonomous Operation) Reacquisition 2 sec Hot Start 3.1 sec Warm Start 35.4 sec Cold Start 39.4 sec Out of the Box 41 sec Sensitivity Tracking -150 dBm Acquisition -142 dBm Operational Speed Limit 515 m/s Interface Interface Characteristics 34 Connectors 28 surface mount edge castellations Serial Port 2 serial ports (transmit/receive) PPS 3.0 V CMOS-compatible TTL-level pulse, once per second Protocols Supports the Trimble Standard Interface Protocol (TSIP), the Trimble ASCII Interface Protocol (TAIP), and the National Marine Electronics Association (NMEA) 0183 v3.0 Bi-directional NMEA Messages Copernicus GPS Receiver 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 (0.06 ounce) including shield Environmental Environmental Specifications Operating Temperature -40° C to +85° C Storage Temperature -55° C to +105° C Vibration 0.008 g2/Hz 5 Hz to 20 Hz 0.05 g2/Hz 20 Hz to 100 Hz -3 dB/octave 100 Hz to 900 Hz Operating Humidity 5% to 95% R.H. non-condensing, at +60° C Copernicus GPS Receiver 35 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). This is generally referred to as the Trimble Navigation Reliability Database, and it consists of the following components: 36 • Repair Center Data and Field Assessment Analysis • Supplier FIT goals collected through Commodities Engineering • Commercial Databases (i.e. Telecordia and MIL-STD-217) • Trirnble Navigation's Internal Qualification Test Data • Assumed Duty Cycle, 8760 hours per year • MTBF at Rated Duty Cycle, 819050 hours MTBF Copernicus GPS Receiver 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 3.6 V +10 dBm 0 (passive antenna) 36 dB Power Supply Antenna Input Power at RF Input Input Gain at RF Input Note – See Copernicus Standby Current, page 55 for information on the standby current. Input / Output Pin Threshold Levels Input Pin Voltage (RXD-A, RXD-B, Open, Short, Reserved Pins, Xreset, Xstandby) Status Min Max Unit High 2.0 3.6 V Low 0 0.8 V Output Pin Voltage (TXD-A, TXD-B, LNA_XEN) Status Min Max Unit High (loh = 1 mA) 0.8 * VCC VCC V Low (lol = 1 mA) 0 0.22 * VCC V Copernicus GPS Receiver 37 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 93.9 115 mW 50 165 mA mW 60 uA 30 Please see section Serial Port Activity mA 1Hz to 1MHz 50 mVpp GPS TCXO Frequency ±5kHz 1 mVpp Power Consumption Absolute Maximum Current Draw ** Standby Mode Max: 85° C, Min: -40° C Typ: 25° C, 3.0 V 7.1 Current Draw Standby Mode RTC Service Supply Ripple Noise Hardware RESET Assert XRESET pin to clear STANDBY memory 100 8.5 us * The rise time to VCC MUST be greater than 140 μsecs. The user can use one source of power on Pin 12 (VCC) for both main and Standby power. ** If using two sources of power, the Main and Standby power must be connected to VCC via an external diode-pair. During the Standby Mode, the main power can be removed so the unit can be run on Standby power. Standby power must be at least 0.3V less than main power. The voltage at Pin 12 must be 2.7V to 3.3V including the diode voltage drop. (See Chapter 5 for information on application circuits.) 38 Copernicus GPS Receiver 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 90.9 Room Temp 31.3 93.4 85° C C 34.9 104.7 At 3.3 volts Avg Current (mA) Avg power consumption (mW) -40° C 31.5 104 Room temp 31.4 104 85 v 31.9 105 ESD Protection ESD testing was performed using JDEC test standard JESD-A114C.01. All inputs and outputs are protected to ±500 volts ESD level. The RF IN pin is protected up to 1kV.If a higher level of compliance is required, additional electrostatic and surge protection must be added. Copernicus GPS Receiver 39 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. Starter Kit RoHS (Lead-free version): P/N 58050-20 Includes Copernicus Reference Board mounted on interface motherboard in a durable metal enclosure, AC/DC power converter, compact magnetic-mount GPS antenna, serial interface cable, cigarette lighter adapter, TSIP, NMEA, and TAIP protocols. Copernicus GPS Receiver 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. Copernicus GPS Receiver 41 3 INTERFACE CHARACTERISTICS Pin Assignments Reserved Figure 3.1 42 Copernicus GPS Receiver Copernicus Pin Assignments 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. Active low logic level signal to control external LNA. 6 Reserved Reserved I/O Do not connect. 7 OPEN Antenna OPEN I Logic level from external antenna detection circuit. See “Antenna Detect Truth Table”. 8 SHORT Antenna SHORT I Logic level from external antenna detection circuit. See “Antenna Detect Truth Table”. 9 Reserved Reserved I Connect to VCC. 10 Reserved Reserved I Connect to VCC. 11 XRESET Reset I Active low logic level reset. Connect to VCC with or without a pullup resistor, if not used. 12 VCC Supply voltage P Module power supply 2.7 - 3.3 VDC 13 GND Ground G Signal ground. Connect to common ground. 14 GND Ground G Signal ground. Connect to common ground. 15 GND Ground G Signal ground. Connect to common ground. 16 XSTANDBY Run/Standby I Selects “RUN” or “STANDBY” mode. Connect to VCC if not used (run only). 17 Reserved Reserved I/O Do not connect. 18 Reserved Reserved I/O Do not connect. 19 PPS Pulse per second O Logic level timing signal at 1 Hz. Do not connect if not used. 20 RXD_B Serial port B receive I Logic level secondary serial port receive. 21 RXD_A Serial port A receive I Logic level primary serial port receive. 22 Reserved Reserved I/O Do not connect. 23 TXD_A Serial port A transmit O Logic level primary serial port transmit. 24 TXD_B Serial port B transmit O Logic level secondary serial port transmit. 25 Reserved Reserved I/O Do not connect. 26 Reserved Reserved I/O Do not connect. 27 GND Ground G Signal ground. Connect to common ground. 28 GND Ground G Signal ground. Connect to common ground. G: Ground; I: Input; O: Output; P: Power Copernicus GPS Receiver 43 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. Active Antennas: The RF input pin can also be connected to the output of an external low-noise amplifier, which is amplifying GPS signals from the antenna. The gain of the LNA must be great enough to overcome transmission losses from the LNA output to this pin. The specification for noise figure for the module is < 3 dB at room temperature and < 4 dB over the specified temperature range, -40 to +85 C. The external LNA must be located such that the loss from the GPS antenna connection to the LNA input is minimized, preferably < 1 dB. The noise figure of the LNA should be as low as possible, preferably< 2 dB. This specification is provided to enable a cascaded noise figure design calculation. Active antennas must be powered with a single bias-Tee circuit. LNA_XEN This logic level output can be used to control power to an external LNA or other circuitry. The logic of this signal is such that when the module is running (not in standby), this signal is low. During “STANDBY” mode, this signal is high. This pin may be used to control the gate of a p-channel FET used as a switch. Open/Short Pins When using an active antenna, it is recommended that you implement an antenna detection circuit with short circuit protection. There are two pins provided for reporting the antenna status: OPEN and SHORT. The logic level inputs outlined in Table 3.2 may be used with a detection circuit (with or without protection) to monitor the status of the external LNA of an active antenna by the module. The truth table for the logic of these signals is provided in Table 3.2. These input pins conform to the Input / Output Pin threshold levels specified in. A typical active antenna draws between 10 to 20mA.The antenna Protect/Detect circuit will trip as a short circuit at around 100mA. It is best to keep the antenna current below 75mA. An open circuit will be determined if the antenna current falls below approximately 2mA. 44 Copernicus GPS Receiver 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. XRESET This logic-level, active low input is used to issue hardware or power-on reset to the module. It may be connected to external logic or to a processor to issue reset. To reset the module, take this pin low for at least 100 microseconds. This pin must be tied to VCC with a resistance of less than 10 K Ohms if not used. The hardware reset deletes all the information saved in SRAM (position time, almanac, ephemeris and customers' user set configurations if not previously saved in non-volatile Flash memory) and restarts the Copernicus receiver. See Absolute Minimum and Maximum Limits, page 37 for pin threshold values. VCC This is the primary voltage supply pin for the module. This pin also provides power during Standby Mode (Backup Mode). To setup separate power supplies for main power and Standby Mode (Backup Mode) power, an external diode-pair must be provided. XSTANDBY This logic level input is used to control the RUN/STANDBY state of the module. If this signal is High, the unit will run normally. If this signal is Low, the unit will go to “STANDBY” mode. See Absolute Minimum and Maximum Limits, page 37 for pin threshold values. PPS Pulse-per-second. This logic level output provides a 1 Hz timing signal to external devices. The positive going 4.2 usec pulse width is controllable by TSIP packet 0x8E4F. The cable delay and polarity is controllable by TSIP packet 0x8E-4A. The PPS mode is set by TSIP packet 0x35. This output meets the input/output pin threshold specifications (see Absolute Minimum and Maximum Limits, page 37.) Copernicus GPS Receiver 45 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). 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 firmware control. Reserved Pins There are 8 reserved pins on the Copernicus GPS Receiver. For the recommended pin connections for these reserved pins, see Table 3.1. Protocols Table 3.3 46 Copernicus GPS Receiver Available protocols Protocols Specification Direction Serial Port Support NMEA NMEA 0183 v3.0; Bidirectional with extended NMEA sentences Input / Output Both Serial Ports TSIP (Trimble Standard Interface Protocol) Trimble propriety binary protocol Input / Output Both Serial Ports TAIP (Trimble ASCII Interface Protocol) Trimble propriety ASCII protocol Input / Output Both Serial Ports Copernicus GPS Receiver 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 38.4 K 8 None 1 NO TXD-B 24 NMEA-Out 4800 8 None 1 NO RXD-B 20 NMEA-IN 4800 8 None 1 NO Note – Data Bits, Parity, Stop Bits and Flow Control are not configurable. Only Protocol and Baud rates are configurable. Detailed descriptions of these protocols are defined in the Appendices. Copernicus GPS Receiver 47 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. Consequently, the GPS constellation can be considered a set of 24 orbiting clocks with worldwide 24-hour coverage. GPS receivers use the signals from these GPS clocks to correct their internal clock which is not as stable or accurate as the GPS atomic clocks. GPS receivers like the Copernicus GPS output a highly accurate timing pulse (PPS) generated by an internal clock which is constantly corrected using the GPS clocks. This timing pulse is synchronized to UTC within ±100 ns rms. In addition to serving as a highly accurate stand-alone time source, GPS receivers are used to synchronize distant clocks in communication or data networks. This synchronization is possible since all GPS satellite clocks are corrected to a common master clock. Therefore, the relative clock error is the same, regardless of which satellite or satellites are used. For timing applications requiring a common clock, GPS is the ideal solution. Position and time errors are related by the speed of light. Therefore, a position error of 100 meters corresponds to a time error of approximately 333 ns. The hardware and software implementation affects the GPS receiver's PPS accuracy level. The receiver's clocking rate determines the PPS steering resolution. Serial Time Output Time must be taken from the timing messages in the TSIP, TAIP, or NMEA protocols because position messages contain a timestamp which is usually 1 to 2 seconds in the past. Table 3.5 Serial Time Output Protocol Timing Message TSIP Report packets 41 and 8F-21 TAIP TM message NMEA ZDA message Note – GPS time differs from UTC (Universal Coordinated Time) by a variable, integer number of seconds UTC=(GPS time)-(GPS UTC offset). As of January 2006, the GPS UTC offset was 14 seconds. The offset has historically increased by 1 second about every 18 months. System designers should plan to read the offset value as a part of the timing interface to obtain UTC. The GPS week number is in reference to a base week (Week #0), starting January 6, 1980. 48 Copernicus GPS Receiver 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. Note – The minimum time resolution is 1 second. Copernicus GPS Receiver 49 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. Follow the procedures below to download current almanac, ephemeris, time, and position information, and then upload this data to the starter kit module via TGM or TSIP (to upload position data within the customer application). C Warning – To ensure proper format of the ephemeris file and almanac file, a Trimble receiver must be used to gather this data. Almanac files from non-Trimble receivers may not be in proper format and thus may not work, (i.e. almanac files downloaded from the Internet). Enabling A-GPS with the Trimble GPS Monitor Application (TGM) 1. Attach the Copernicus GPS interface unit to your PC. 2. Place the GPS antenna where there is a clear view of sky. 3. Allow the starter kit to run and calculate fixes. 4. On the main screen, wait for the almanac indicator to turn green confirming that the receiver has collected a current almanac. Note – It takes 12,5 minutes of uninterrupted Copernicus operation to collect almanac from the satellites. 5. Click on the initialized pull-down menu and use the download features on the bottom of the pull-down to download the almanac, position, time and ephemeris files on your PC. 6. Now that you have collected these files, you can upload them using the upload features on the initialize pull-down window in TGM. Note – The collected ephemeris is only good for approximately 2 hours. 50 Copernicus GPS Receiver 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. Use packet 0 x 21 to request time from the receiver. The receiver responds with packet 0x 41. This data can be used to set your own off-board clock. 5. Use packets 0x42, 0x4A, 0x83 0r 0x84 to request a position from the receiver. To upload this information back to the receiver, follow this procedures in the specified order: 1. Upload the time using TSIP packet 0x2E. Wait for upload confirmation report packet 0x41. 2. Upload position using TSIP packet 0x31 or 0x32. No confirmation report packet available. 3. Upload the ephemeris using TSIP packet 0x38. Wait for the upload confirmation report TSIP packet 0x58. Note – See Appendix A for details on the TSIP protocol. Copernicus GPS Receiver 51 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. The line reports are sent within 500ms after the corresponding PPS. The rising edge of the pulse is typically less than 6 nanoseconds. The distributed impedance of the attached signal line and input circuit can affect the pulse shape and rise time. The PPS can drive a load up to 1mA without damaging the module. The falling edge of the pulse should not be used. The Copernicus' default PPS output mode is Always On, sometimes called or “Early PPS”. In Always On mode, PPS is output immediately after main power is applied. The PPS is driven by the Real Time Clock (RTC) until the receiver acquires GPS time from the satellite and begins outputting fixes. In Always On mode, the PPS continues even if the receiver loses GPS lock. The drift of the PPS, when the Copernicus GPS receiver is not tracking satellites, is unspecified and should not be used for synchronization. The PPS output modes can be controlled with TSIP packet 0x35 and NMEA “PS” Packet. The modes are Always On (default), Fix Based, or Always Off. Cable delay compensation is available through the use of TSIP packet 0x8E-4A and NMEA “PS” Packet. PPS pulse width is controlled by TSIP packet 0x8E-4F and the NMEA “PS” Packet. After a specific mode is selected, it can be stored in non-volatile memory (FLASH) using TSIP command 0x8E-26. Note – PPS can be configured as positive or negative polarity; factory default is positive. The PPS pulse width is also configurable; factory default is 4.2 microseconds. 52 Copernicus GPS Receiver 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. Copernicus GPS Receiver 53 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. Standby Mode The Copernicus GPS Receiver provides a Standby Mode in which the module's RAM memory is kept alive and the real-time clock is running while the rest of the receiver is turned off. RAM memory is used to store the GPS almanac, ephemeris, and last position. Using this information, together with the time information provided by the real-time clock, the receiver normally provides faster startup times. The type of start-up after Standby Mode depends on the state of the receiver prior to entering Standby Mode and on the length of time the receiver spent in the Standby Mode. If the receiver has almanac, ephemeris, and position information before entering Standby Mode, and the time spent in Standby Mode is less than two hours, the receiver will typically perform a hot start. If the receiver has all of the information listed above, but the time spent in Standby Mode is more than two hours, the receiver will typically perform a warm start. The GPS almanac, ephemeris and recent position are automatically stored in nonvolatile Flash memory. Even without time, the receiver can use the information stored in Flash memory to shorten the start-up time. In all cases, the receiver will use all of the available information to do the fastest start-up possible. Note – In the Standby Mode, the power consumption of the unit is very low. See Copernicus Standby Current, page 55. Monitor Mode Monitor Mode is the operating mode for upgrading the firmware stored in the Flash memory. See Chapter 11 for the firmware upgrade procedure. 54 Copernicus GPS Receiver 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. You cannot use serial ports to switch to RUN mode if the XSTANDBY pin was used to enter STANDBY mode. Copernicus Standby Current When the Copernicus GPS Receiver is sent a command to go into Standby Mode, there is a period of time between 10 and 200 ms (milli seconds) when the power supply still has to supply almost full operating current. Only after this period has elapsed will the current draw go down to the specified standby current which is typically 8.5 uA (micro Amps). Copernicus GPS Receiver 55 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. The receiver will hot start if the ephemeris is still valid. Note – Excessive noise on the XSTANDBY pin could trigger the receiver to reset. Using Serial Ports to Switch Modes The second method for putting the receiver into Standby Mode is with TSIP packet 0xC0 or NMEA packet RT. There are two possible conditions that would trigger the receiver to exit Standby Mode and reset to normal operations: 56 1. Serial port activity 2. Exit after X elapsed seconds Copernicus GPS Receiver 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 32.768 kHz. A NULL character will bring the selected RX line low for 9 bits so even at the highest baud rate of 115200, a NULL character should be detectable at the sample rate. There are two exceptions where serial activity may not trigger the unit to exit Standby Mode: • During the 3 seconds following the command to enter Standby Mode. The Copernicus GPS receiver may not detect serial port activity during the 3 seconds immediately after receiving a software command to enter Standby Mode. During that 3 seconds, the unit is processing the shut-down command and will ignore serial port activity. Therefore the minimum time between issuing the shut-down command and the use of serial port activity to return the unit to Run Mode is 3 seconds. Standby time cannot be less than 3 seconds. • During the 10 msec RTC service time. During the 10 msec RTC service time, there exists a 91.6 μsec window where the receiver cannot detect serial port activity. Using a series of three NULL characters in a row should ensure that the unit responds. (See 18-Hour RTC Roll Over, page 58 for an explanation of the RTC service time.) Exit after X elapsed seconds. The second condition that will trigger the receiver to exit Standby Mode is the elapse of a pre-defined time. When the receiver is placed into the Standby Mode using protocol commands, the receiver can be made to exit the Standby Mode after a defined elapsed time using TSIP command Packet 0xC0 or NMEA packet RT. In this case, the user specifies the number of seconds the receiver should stay in Standby Mode. After this time has elapsed, the unit will perform a reset and start operating normally. Note – These conditions are provided to the receiver in the serial command packet, and the user can specify any combination of these conditions as desired. For exiting the Standby Mode, either of the 2 methods can be applied. The first one that occurs will bring the receiver to the RUN Mode to start normal operations. Copernicus GPS Receiver 57 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. IMAGE TO COME Figure 4.1 Current Draw Levels in Standby Mode During the 10 msec RTC service is time, there exists a 91.6 μsec window where the receiver cannot detect state transitions on the RX pins. If NULL characters are being used to bring the unit out of Standby as described earlier, using three NULL characters in a row should ensure that one of the NULL characters happens outside of the vulnerable window so that the serial port activity is detected. 3 Null 91.6 μsec = 70 μsec Figure 4.2 58 Copernicus GPS Receiver Issuing three (3) NULL Characters for Exiting Standby Mode 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. If RAM is not available, the unit will use the almanac from the Flash Memory. SBAS The Satellite Based Augmentation System (SBAS) includes implementation of the current standard for WAAS and the European Geostationary Navigation Overlay Service (EGNOS) operated by the European Space Agency and other compatible systems that will come online in the future. WAAS Wide Area Augmentation System (WAAS) is an extremely accurate navigation system developed for civil aviation by the Federal Aviation Administration (FAA). The system augments GPS to provide the additional accuracy, integrity, and availability necessary to enable users to rely on GPS for all phases of flight for all qualified airports within the WAAS coverage area. The worst-case accuracy is within 7.6 meters of the true position 95% of the time. This is achieved via a network of ground stations located throughout North America, which monitor and measure the GPS signal. Measurements from the reference stations are routed to two master stations, which generate and send the correction messages to geostationary satellites. Those satellites broadcast the correction messages back to Earth, where WAAS-enabled GPS receivers apply the corrections to their computed GPS position. Number of channels The Copernicus GPS Receiver tracks one WAAS satellite at a time. When acquiring and tracking a WAAS satellite, one tracking channel is set aside for this purpose, leaving eleven tracking channels which are used for the GPS satellites. Copernicus GPS Receiver 59 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. It shall not use a WAAS satellite for the position solution computation. Almanac collection The Copernicus GPS Receiver collects WAAS almanac data and automatically stores the WAAS Satellite location, and abbreviated almanac and health data to BBRAM and NVS storage. Ephemeris collection The Copernicus GPS Receiver will NOT collect or store WAAS ephemeris data. The module stores 1 set of WAAS corrections. 60 Copernicus GPS Receiver 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. Copernicus GPS Receiver 61 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. • If the Open (Pin 7) and Short (Pin 8) are kept unconnected (floating), the Copernicus GPS Receiver reports an open antenna condition. If a normal condition report is desired, tie Open low and Short high. (See Table 3.2). • There is no HW reset ability through the pin XRESET, since XRESET pin is tied High to VCC. • There is no HW initiated Standby Mode through the Pin XSTANDBY, since XSTANDBY pin is tied High to VCC. The software serial command to Standby Mode will still apply. • There is no separate power for STANDBY power. • One serial port is utilized. Copernicus GPS Receiver 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. • HW initiated Standby Mode through the Pin XSTANDBY is possible, since XSTANDBY pin is not tied High to VCC. The software serial command to Standby Mode can still be used as a second method to force the module into Standby Mode. • There is no separate power for STANDBY power. • One serial port is utilized. • No Antenna open and short detection or protection is provided. When Open (Pin 7) and Short (Pin 8) are kept unconnected (floating), the Copernicus GPS Receiver reports an open antenna condition. If a normal condition is desired, tie Open Low and Short High. See Table 3.2. Copernicus GPS Receiver 63 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. • HW initiated Standby Mode through the Pin XSTANDBY is possible, since XSTANDBY pin is not tied High to VCC. Serial Command to Standby Mode can still apply as the second method to force the module to Standby Mode. • A second power source for the standby voltage is applied (see the note below). • Both serial ports are utilized. Copernicus GPS Receiver 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 5.2 Component Information Component Description Manufacturer Part Number C1 18 PF, 0402 capacitor, C0G KEMET C0402C180J5GAC C2 0.1 uF, 0402 capacitor, X7R CAL-CHIP GMC04X7R104K16NTLF J1 MCX Connector Johnson Components 133-3711-312 L1 100 nH, 0603 inductor, surface mount Coil Craft 0603CS - R10XJLU Q2 PNP Transistor Central Semiconductor CMPT404A (MMBTA70LT1 may be used if 12 Volt back voltage tolerance is not required) Q3 NPN Transistor Philips MMBT3904 Q4 PNP Transistor Philips MMBT3906 Q5 PNP Transistor Philips MMBT3906 U1 Dual schottky diode Diodes Inc. BAT 54 CT DI Switching Diode ON Semiconductor MMBD914LTIG Copernicus GPS Receiver 65 5 APPLICATION CIRCUITS Active Antenna—No Antenna Status Figure 5.4 66 Active antenna - No Antenna Status Copernicus GPS Receiver 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. Serial Command to Standby Mode can still apply as the second method to force the module to Standby Mode. • There is no separate power for STANDBY power. • Both serial ports are utilized. • Antenna open and short detection or protection is not provided. If pins 7 and 8 are left floating, they will cause the unit to report an antenna open condition (see Table 3.2). Copernicus GPS Receiver 67 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. Copernicus GPS Receiver 69 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. This RF input may be connected to the output of an LNA which has a GPS antenna at its input or to a passive antenna via a low-loss 50 ohm, unbalanced transmission line system. In the case where the GPS antenna must be located any significant distance from the Copernicus GPS Receiver, the use of an LNA at the antenna location is necessary to overcome the transmission losses from the antenna to the Copernicus GPS module. It is recommended that in the case of a passive antenna, the transmission line losses from the antenna to the module be less than 2 dB. Otherwise an LNA should be added to the system. The specifications for the external LNA required can be determined as follows. The specification of noise figure for the Copernicus GPS module is 3 dB at room temperature and 4 dB over the temperature range −40 C to ±85 C. The noise figure for this external LNA should be as low as possible, with a recommended maximum of 1.5 dB. It is recommended that the gain of this LNA exceed the loss as measured from the LNA output to the module input by 10 dB. For example, if the loss from the external LNA output is 10 dB, the recommended minimum gain for the LNA is 20 dB. In order to keep losses at the LNA input to a minimum, it is recommended that the antenna be connected directly to the LNA input, with as minimum loss as possible. Connections to either the LNA output or to a passive antenna must be made using a 50 ohm unbalanced transmission system. This transmission system may take any form, such as microstrip, coaxial, stripline or any 50 ohm characteristic impedance unbalanced, low-loss system. It is important to keep any noise sources with frequencies at or near 1575 MHz away from the RF input. In the case of a passive antenna, it is important that the antenna is not placed in a noisy location (such as too close to digital circuitry) or performance may be degraded. Shielded transmission line systems (stripline, coaxial) may be used to route this signal if noise ingress is a concern. If an active antenna is used and it is desired to power this antenna from the RF transmission line, a bias-tee will be required at the Copernicus GPS module end. A simple series inductor (that is parallel resonant at 1575 MHz) and shunt capacitor (series resonant at 1575 MHz) to which the bias voltage is supplied is sufficient. An open/short detection and over current protection circuit may also be employed. Please see Chapter 5, APPLICATION CIRCUITS. 70 Copernicus GPS Receiver 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. For a microstrip RF transmission line topology, it is recommended that the layer immediately below the one to which the Copernicus GPS Receiver is mounted be ground plane. Pins 2 and 4 should be directly connected to this ground plane with low inductance connections. Pin 3, the RF input, can be routed on the top layer using the proper geometry for a 50 ohm system. Copernicus GPS Receiver 71 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. • If there are any ground planes on the same layer as the microstrip trace, please refer to the Coplaner Waveguide design. Not covered in this manual. • PCB track connection to the RF antenna input must be routed away from potential noise sources such as oscillators, transmitters, digital circuits, switching power supplies and other sources of noise. • RF and bypass grounding must be direct to the ground plane through its own low-inductance via • Active or passive antennas may be used. If using a passive antenna the connection to the antenna input shall be very short. It is possible to mount the patch antenna on the same PCB as the Copernicus GPS module. Designers must be aware of noise generating circuitry and proper design precautions taken (shielding,.). The PCB track connection to the RF antenna input must not have: 72 • Sharp bends. • Components overlaying the track. • Routing between components to avoid undesirable coupling. Copernicus GPS Receiver 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. Around the signal tracks on the same layer as the module, flood or “copper pour” and connect to the ground plane using low inductance vias. A single ground plane is adequate for both analog and digital signals. Design of Microstrip Transmission Line Connections to either the LNA output or to a passive antenna must be made using a 50 ohm unbalanced transmission system. The PCB parameters that affect impedance are: • Track width (W) • PCB substrate thickness (H) • PCB substrate permittivity (εr) Copernicus GPS Receiver 73 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 6.1 Typical Track Widths for an FR4 material PCB Substrate in Microstrip Topology Substrate Material FR4 Permittivity 4.6 Substrate Thickness H (mm) Track Width W (MM) 1.6 2.91 1.2 2.12 1.0 1.81 0.8 1.44 0.6 1.07 0.4 0.71 0.2 0.34 Microstrip Design Recommendations It is recommended that the antenna connection PCB track be routed around the outside of the module outline, kept on a single layer and have no bends greater than 45 degrees. It is not recommended, for production reasons, to route the track under the module. 74 Copernicus GPS Receiver 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. • The RF input should be connected to the signal layer below using a via. • The layer below the signal layer is the second ground plane. • Connect the two ground planes with vias typically adjacent to the signal trace. • Other signals of the Copernicus GPS module may be routed to additional layer using vias. For the symmetric stripline topology where the signal trace is equal distance from each ground plane, the following table applies:. Table 6.2 Typical track widths for an FR4 material PCB substrate in Stripline topology Substrate Material FR4 Permittivity 4.6 Substrate Thickness H (mm) Track Width W (MM) 1.6 0.631 1.2 0.438 1.0 0.372 0.8 0.286 0.6 0.2 0.4 0.111 0.2 N/A Copernicus GPS Receiver 75 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. Copernicus GPS Receiver 77 7 MECHANICAL SPECIFICATIONS Mechanical Outline Drawing Top View IMAGE TO COME Bottom View Figure 7.1 Figure 7.2 78 Copernicus GPS Receiver, Footprint Copernicus GPS Receiver, Outline Dimensions Copernicus GPS Receiver 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 7.3 Solder Mask Diagram Copernicus GPS Receiver 79 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 7.4 80 Copernicus GPS Receiver Pad Pattern Diagram 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 7.5 Paste Mask Diagram Copernicus GPS Receiver 81 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. Copernicus GPS Receiver 83 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 8.1 84 Copernicus GPS Receiver Copernicus GPS Receiver Packaged in Tape 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.) 100 pcs with reel packaging + desiccant + humidity indicator + white pizza box = approximately 1.02Kg (2.24 lbs.) 500 pcs with reel packaging + desiccant + humidity indicator + white pizza box = approximately 1.70Kg (3.74 lbs.) Copernicus GPS Receiver 85 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 8.4 86 Copernicus GPS Receiver Made in China S/N 05011234 Feeding direction Feeding Direction Diagram 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. Copernicus GPS Receiver 87 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. Deviation from following handling procedures and precautions voids the warranty. Shipment The reel of Copernicus GPS modules is packed in a hermetically sealed moisture barrier bag (DryPac) then placed in an individual carton. Handle with care to avoid breaking the moisture barrier. Storage The shelf life for the sealed DryPac is 12 months and it must be stored at <40 °C and <90% relative humidity. Moisture Indicator A moisture indicator is packed individually in each DryPac to monitor the environment. All five indicating spots are shown blue from the factory. If the indicator shows pink, follow the instructions printed on the indicator and bake as necessary. See Baking Procedure, page 90 for baking instructions. Floor Life The reel of Copernicus GPS modules is vacuum sealed in a moisture barrier bag (DryPac). Once the bag is opened, moisture will bond with the modules. In a production floor environment, an open reel needs to be processed within 72 hours, unless it is kept in a nitrogen purged dry chamber. If the moisture indicator has changed to pink, follow the baking instructions printed on the moisture barrier. The Copernicus GPS is a lead free component for RoHS compliance. This unit is also plated with immersion silver for better solderability. The silver may tarnish over time and show yellow in color, but tarnish should not affect the solderability. C 88 WARNING – Operators should not touch the bottom silver solder pads by hand or with contaminated gloves. No hand lotion or regular chlorinated faucet water can be in contact with this module before soldering. Copernicus GPS Receiver 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. Components that do not exhibit external cracking can have internal delamination or cracking which affects yield and reliability. Figure 9.1 Moisture Precondition Label Copernicus GPS Receiver 89 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. Soldering Paste The Copernicus GPS module itself is not hermetically sealed, Trimble strongly recommends using the “No Clean” soldering paste and process. The castellation solder pad on this module is plated with silver plating. Use Type 3 or above soldering paste to maximize the solder volume. An example is provided below. Solder paste: Kester EM909 Alloy composition: Sn96.5Ag3Cu.5 (SAC305) 96.5% Tin/ 3%Silver/ 0.5% Copper Liquidus Temperature:221 °C Stencil Thickness: 5 Mil (0.005") Stencil opening requires 4-mil toe over paste in the X and Y directions. Note – Consult solder paste manufacturer and the assembly process for the approved procedures. Solder Reflow A hot air convection oven is strongly recommended for solder reflow. For the leadfree solder reflow, we recommend using a nitrogen-purged oven to increase the solder wetting. Reference IPC-610D for the lead free solder surface appearance. C WARNING – Follow the thermal reflow guidelines from the IPC-JEDEC J-STD-020C. The size of this module is 916.9 mm3. According to J-STD-020C, the peak component temperature during reflow is 245 +0 °C. 90 Copernicus GPS Receiver 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. Optical Inspection After soldering the Copernicus GPS module to the carrier board, follow IPC-610 specification to visually inspect using 3X magnification lens to verify the following: • Each pin is properly aligned with mount pad. • Pads are properly soldered. • No solder is bridged to the adjacent pads. X-ray the bottom pad if necessary. Copernicus GPS Receiver 91 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. Soldering Guidelines Repeated Reflow Soldering The Copernicus GPS lead-free silver plated module can withstand two-reflow solder processes. If the unit must mount on the first side for surface-mount reflow, add glue on the bottom of the module to prevent falling off when processing the second side. Wave Soldering The Copernicus GPS module cannot soak in the solder pot. If the carrier board is mixed with through-hole components and surface mount devices, it can be processed with one single lead-free wave process. The temperature of the unit will depend on the size and the thickness of the board. Measure the temperature on the module to ensure that it remains under 180 °C. Hand Soldering For the lead-free Copernicus GPS module, use a lead-free solder core, such as Kester 275 Sn96.5/Ag3/Cu0.5. When soldering the module by hand, keep the soldering iron below 260 °C. Rework The Copernicus GPS module can withstand one rework cycle. The module can heat up to the reflow temperature to precede the rework. Never remove the metal shield and rework on the module itself. Conformal Coating Conformal coating on the Copernicus GPS module is not allowed. Conformal coating will void the warranty. 92 Copernicus GPS Receiver 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. Copernicus GPS Receiver 93 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. Copernicus GPS Receiver 95 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. The reference board demonstrates how an 8-pin header connector can be connected to the I/O and power sections of Copernicus, and how an RF connector can be attached to the RF section. An antenna open and short detection and protection application circuit has also been included on the reference board. The Copernicus GPS reference board is RoHS compliant (lead-free). IMAGE TO COME Figure 10.1 96 Copernicus GPS Receiver Copernicus Reference Board, Frontside 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. Copernicus GPS Receiver 97 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 Drawing. *C1 and C4 are impedance matching components, values depend on the PBC layout. Copernicus RF_IN is internally DC-decoupled. SHRT PPS LNA_XEN GPIO_A10 GPIO_A11 OPN 1 2 3 4 19 5 18 17 7 9 8 10 11 14 PPS 2 4 6 8 2 J8 PPS 2: 3.3V 4: Vback 6: PPS 8: GND 8 pin 2mm 1 3 5 7 J7 1: TXDB 3: TXDA 5: RXDA 7: RXDB 1 VLED 3 1 J5 VCC 2 1 Vant 2 2 1 C2 0.1µF J6 Vback U2 BAT54C Vmain COPERNICUS REFERENCE BOARD Copernicus GPS Receiver 10 Reference Board Schematic (page 1 of 3) Note – Reference board schematics may differ from the recommendations outlined in Table 3.1 due to the test mode requirements for Trimble’s internal use. 99 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 R4 2 1 J14 GPIO_B5 R23 J20 GPIO_A6 D6 GPIO_B5 LED GPIO_A6 Q5 MGSF1N02LT1 1 R17 R11 2 R5 1 3 1 3 1 2 3 2 2 1 R12 2 R6 1 2 3 Copernicus GPS Receiver 2 R24 J21 GPIO_B5 Q6 MGSF1N02LT1 1 R18 GPIO_B5 2 1 00 1 10 COPERNICUS REFERENCE BOARD Reference Board Schematic (page 2 of 3) 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 if 12-volt back voltage tolerance is not required. Aux Output 2 6 2 SHRT 5 4 J24 Aux Cntl 2 1 Q9 MMBT3904 1 Q7B FDG6316P 3 1 Q7A FDG6316P 3 SW1 1 Figure 10.3 2 1 J23 1 3 R27 NOTE: OPEN and SHORT signal logic is not valid (indicates antenna short) when Antenna Power jumper is removed or LNA_XEN is high. SHRT 1 0 1 0 LNA_XEN J26 2 1 Antenna Power State OPN OPEN 1 SHORT 0 OK 0 Undefined 1 Aux Power 2 Vmain COPERNICUS REFERENCE BOARD Copernicus GPS Receiver 10 Reference Board Schematic (page 3 of 3) Copernicus Reference Board Schematic (Page 3) 101 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 3.6 VDC 3 TXD-A Port A transmit, CMOS/TTL 4 VBack 3.0 VDC to 3.3 VDC The STANDBY supply shall be at least 0.3V less than VCC. 5 RXD-A Port A receive, CMOS/TTL 6 1 PPS Pulse-Per-Second, CMOS/TTL 7 RXD-B Port B receive, CMOS/TTL 8 GND Ground, Power and Signal Reference Board Power Requirement The Copernicus GPS reference board requires +3.0 VDC to 3.6 VDC. The receiver power is supplied through pin 2 of the I/O connector. The Copernicus GPS reference board also provides an input for back-up power used when Copernicus is put in Standby mode and prime power is turned off. Back-up power is used to keep the Copernicus RAM memory alive and to power the real-time clock. RAM memory is used to store the GPS almanac, ephemeris, last position, and user configuration data, including port parameters. 1 02 Copernicus GPS Receiver 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. J5 VCC Normal Operation: Jumper in place (Applies VCC to unit) Test Mode: Jumper may be removed and ampere meter may be inserted for current measurement. J6 Vback Normal Operation: Jumper in place.(Applies VBack to unit). The user can use VCC as the STANDBY Supply. J7 8-Pin Header See Table 10 for Reference Board pin Description. J8 PPS Normal Operation: Jumper in place.(It outputs PPS at pin 9 of both DB9 connectors of the Starter Kit through J7 pin 6 of the Reference Board). J9-J21 Reserved Reserved J25 Reserved Reserved Normal Operation: No Jumper (Run Mode). J27 Reserved Reserved J28 XSTANDBY Normal Operation: Jumper between pins 1 and 2 of the jumper J28 (Run Mode). * Standby Mode: Jumper between pins 2 and 3 of J28. *For external control, Jumper may be removed and pin 2 of the jumper can be externally controlled, e.g. via a host processor. J22-24 Spare Spare driver transistor J26 Antenna Power Normal Operation: Jumper in place.(Active antenna powered from VCC).If a separate power supply is desired for active antenna, jumper may be removed and an external antenna power can be applied to pin 2 of J26. * * See Copernicus Reference Board Schematics in this chapter. Note – See Table 3.1 for pin numbers. indicates pin 1. Copernicus GPS Receiver 103 10 COPERNICUS REFERENCE BOARD Reference Board Component Locations Drawing Figure 10.4 Copernicus Reference Board, Top Side Figure 10.5 Copernicus Reference Board Schematic, Bottom Side 1 04 Copernicus GPS Receiver 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. Software Architecture Boot Monitor Firmware Binary File Format Firmware Loading Procedure Monitor Interface Protocol FlashLoader Tool Reference Guide 11 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. The information contained in this chapter is applicable only to the Copernicus GPS receiver developed by the Advanced Devices group of Trimble Navigation Ltd. It may not be relevant to other products. Copernicus GPS Receiver 105 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 11.1 Functional Software Components and Memory Map Word Address Software Component/Section 0x3FC000 – 0x3FFFFF Boot ROM 0x3F8000 – 0x3FBFFF0x3E0000 – 0x3F7FFF User Data 0x360000 – 0x3DFFFF Copernicus GPS Firmware 0x300000 – 0x35FFFF Boot Monitor The boot monitor module is a part of the Boot ROM section. It provides facilities to perform checksum verification and RAM tests, and to read/write data from/to a specified location in RAM or Flash, thus allowing the user to update the firmware. The GPS receiver will enter the boot monitor mode if either of the following conditions occurs: • Application firmware checksum verification failed at power-up; • RAM test failed at power-up; • A special protocol packet is issued by the user. Once the system is in the monitor mode, a special Monitor protocol is used to communicate with the Copernicus GPS Receiver (here after referred as the Target). The necessary details about this protocol are presented in Appendix A. To return from the monitor to the normal GPS operating mode (i.e. execute the application firmware), either • Cycle the main power or • Toggle the reset pin, or • Send a “Restart Target” packet described on page 115. The default settings for the Copernicus GPS receiver’s serial ports in the monitor mode are: 1 06 • Serial port A: 38400 baud, 8 data bits, 1 stop bit, and no parity • Serial port B: 4800 baud, 8 data bits, 1 stop bit, and no parity Copernicus GPS Receiver 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. Data will be programmed starting at the base address specified when initiating firmware loading. Therefore, the GPS Firmware portion of the binary file must be extracted prior to sending it to the target. Appendix A provides a reference to example source code that shows how to extract data from the binary file. Firmware Loading Procedure This section describes the procedure for loading firmware into the Flash chip of the Copernicus GPS receiver (referred to as “target” throughout this document). The following pseudo-code shows the general sequence of steps. The details of each step are provided later in this section.Appendix A provides a reference to the sample C source code that shows how to implement this pseudo-code. Pseudo-code Load Firmware to Target: { Read the firmware BIN file, extract the application firmware, and load into a memory buffer. Set local serial port settings depending on serial port used. For Port A, set 38400-8-none-1; for Port B, set 4800-8-none-1; If using TSIP, establish connection using the TSIP protocol: Send TSIP version request packet 0x1F; Wait for TSIP version response packet 0x45; If TSIP version response packet not received: Exit/power-cycle target and repeat from beginning; If using NMEA, establish connection using NMEA protocol: Send NMEA version request packet VR; Wait for NMEA version response packet VR; If NMEA version response packet not received: Exit/power-cycle target and repeat from beginning; Force target into Monitor mode; Copernicus GPS Receiver 107 11 FIRMWARE UPGRADE Send “force-to-monitor” command (TSIP or NMEA depending on the port used); Wait 0.5 secs to let the target switch to the monitor mode; Establish connection to target using Monitor mode protocol: Send hand-shaking packet ENQ; Wait for response packet ACK; If ACK packet not received: Exit/power-cycle target and repeat from beginning; If the local host’s hardware can support it, change Monitor mode baud rate and local serial port settings to 115200 baud for faster loading: Send “Change Baud” packet 0x86; Wait 0.5 secs Change local serial port settings; Send hand-shaking packet ENQ; Wait for response packet ACK; If ACK packet not received: Exit/power-cycle target and repeat from beginning; Send “Erase Firmware” packet 0x8F; Wait for response packet ACK; If ACK packet not received: Exit/power-cycle target and repeat from beginning; Send “Start Firmware Programming” packet 0x8B; Wait for response packet ACK; If ACK packet not received: Exit/power-cycle target and repeat from beginning; Send firmware data bytes, one word (2 bytes) at a time. For faster loading, data can be sent up to 200 bytes at a time (must be a multiple of 2 bytes). Wait for response packet ACK after all data has been sent; If NAK packet received: Try again starting with the “Erase Firmware” step; If ACK packet not received at all: Power-cycle target and repeat from beginning; If ACK packet received: Send “Restart Target” packet 0x8C; Loading was successful; } 1 08 Copernicus GPS Receiver 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. Change the local host’s port settings to match those of the target. Refer to the GPS receiver’s user manual for details. If using TSIP, issue a TSIP version request (packet 0x1F) and wait for the response (packet 0x45). The receipt of the packet 0x45 shows that the host port settings and the target port settings match and the host is communicating with the target. If the packet 0x45 is not received, the host and target port settings are not in agreement. If using NMEA, issue NMEA version request (packet VR) and wait for the response. The user manual includes the TSIP and NMEA protocol specification. The receipt of the response of the packet VR shows that the host port settings and the target port settings match and the host is communicating with the target. If the response of the packet VR is not received, the host and target port settings are not in agreement. In some cases, the target may enter the monitor mode automatically when power is applied. For example, if the previous firmware loading process has not been finished, the firmware checksum won’t match, and the target will automatically start up in the monitor mode. In such cases, Step 2 will fail, and the loading procedure should continue at Step 4 as described below. 3. Force the target into the monitor mode. Assuming the communication has been established, issue the “Force to Monitor” command. If using TSIP, the following byte string (hex values) must be sent to the target to force it into the monitor mode: 10 1E 4D 10 03 If using NMEA, the following character string must be sent to the target to force it into the monitor mode: $PTNLSEM* Once the system is in the monitor mode, a special Monitor protocol is used to communicate with the Copernicus GPS Receiver. See the Appendices in this manual for detailed information on both TSIP and NMEA Force to Monitor commands. After issuing the command, wait 0.5 seconds before proceeding with the next step to allow the target to switch to the monitor mode and be ready to accept Monitor mode commands. Copernicus GPS Receiver 109 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. The target will respond with ACK to indicate the communication has been established. Refer to Section ENQ, ACK, NAK for details on this packet. 5. Change baud rate for faster loading. If the local host’s hardware can support higher baud rates, it is better to change the baud rate to maximum possible for the fastest loading time. First send “Change Baud” Monitor Mode packet 0x86 to the target with the desired baud rate. See page 113 for details on this packet. Wait 0.5 seconds to let the packet be transmitted, change the local baud rate to the same settings, and send ENQ packet to the target. The target will respond with ACK at the new baud rate to indicate the communication has been established. 6. Erase firmware section. Before the firmware can be programmed, the GPS firmware section in Flash must be erased. The “Erase Firmware Section” Monitor Mode packet 0x8F must be sent to the target. The target will respond with ACK when the section is erased. See page page 113 for details on this packet. 7. Send size and start address of the firmware. In this step, the size and start (base) address of the firmware is sent to the target using the “Start Firmware Programming” Monitor Mode packet 0x8B. This packet initiates the firmware loading process. The target will respond with ACK as soon as this packet is received. See page 114 for details on this packet. 8. Send firmware data. Once the “Start Firmware Programming” packet is sent, the target expects a stream of 2-byte words. The host must send this data one word at a time, with the most significant byte of each word sent first. There is no protocol formatting for this data stream. For faster loading, data can be sent up to 200 bytes at a time. Note that whatever the size, it must be a multiple of 2 bytes. See Appendix A for example source code, which shows how this is done. Once the target received and programmed all of the data into Flash, it will send ACK to indicate success. If NAK is received, an error occurred, and the process must be repeated from Step 6. 9. Restart the target. Once firmware loading is complete, the “Restart Target” Monitor Mode packet 0x8C should be issued to reset the GPS receiver. Upon reset, the new firmware will start up. See page 115 for details on this packet. 1 10 Copernicus GPS Receiver 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. If the Boot Code in the Flash memory is inadvertently overwritten, the module can become unusable. See Warning at the end of the description of the Monitor Mode Packet ID – 0x8B. Monitor Interface Protocol Protocol Format The following packet structure is used by the Monitor Mode Protocol: Table 11.2 Monitor Mode Protocol BYTE 0 BYTE 1 BYTE 2 BYTE 3 BYTES 4 … N BYTE N+1 BYTE N+2 STX 0x02 NULL_C 0x00 ID LEN DATA CHKSM ETX 0x03 Byte 0 – start of new packet (value: 0x02) Byte 1 – delimiter byte (value: 0x00) Byte 2 – packet ID Byte 3 – size (in bytes) of packet data (DATA field only) Bytes 4 … N – packet data Byte N+1 – packet checksum NOTE 1. Byte N+2 – end of packet (value: 0x03) Note – The checksum is computed as the sum of all bytes from the packet ID to the end of the packet data truncated to an 8-bit value, i.e.: CHKSM = (unsigned char)(ID + LEN + DATA[0] + … + DATA[N-1]); Data Transmission Data values are transmitted with the most significant byte of the value sent first. For example, transmitting a 4-byte memory address 0x004101F0 means sending byte 0x00 first, 0x41 second, 0x01 third, and 0xF0 last. Copernicus GPS Receiver 111 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. ENQ (hex byte: 0x05) provides a simple hand-shaking mechanism to verify that the target is alive and running in the Monitor Mode. The target sends ACK for every ENQ received. Packet ID – 0x76 (Boot ROM Version Query) This packet requests the boot ROM version information. Upon receiving this packet, the target replies with packet 0x96. Table 11.3 Boot ROM Version Query BYTE 0 BYTE 1 BYTE 2 BYTE 3 BYTE 4 BYTE 5 0x02 0x00 0x76 0x00 0x76 0x03 Packet ID – 0x96 (Boot ROM Version Report) This packet is sent by the target in response to packet 0x76. It returns Boot ROM version information. Note – The field “Year” is 2 bytes long with the most significant byte sent first. Table 11.4 Boot ROM Version Report BYTE 0 BYTE 1 BYTE 2 BYTE 3 BYTE 4 BYTE 5 BYTE 6 BYTE 7 BYTES 8-9 BYTE 10 BYTE 11 0x02 0x00 0x96 Minor Ver Year CHKSM 1 12 Copernicus GPS Receiver 0x06 Major Ver Month Day 0x03 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 11.5 Change Baud Rate BYTE 0 BYTE 1 BYTE 2 BYTE 3 BYTE 4 BYTE 5 0x02 0x00 0x86 Baud CHKSM 0x03 Table 11.6 Change Baud Rate Parameter Data Type Description Baud Rate Byte Baud Rate: 5 – 2400 bps 6 – 4800 bps 7 – 9600 bps 8 – 19200 bps 9 – 38400 bps 10 – 57600 bps 11 – 115200 bps Packet ID – 0x8F (Erase Firmware Section) This packet initiates the erase operation on the target. It only erases the firmware portion of the Flash chip. The target returns either ACK or NAK indicating the result of the operation. Table 11.7 Erase Firmware Section BYTE 0 BYTE 1 BYTE 2 BYTE 3 BYTE 4 BYTE 5 0x02 0x00 0x8F 0x00 0x8F 0x03 Copernicus GPS Receiver 113 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. Each word must be sent with the most significant byte first. All data from the host will be written to the target in the order in which it is received. The target will not recognize any other packets until the loading is completed. If successful, the target will return ACK upon completion, or NAK if an error has occurred. C WARNING – The target does not check validity of the starting address nor the size. It is the host’s responsibility to ensure that all parameters are within the system specification. If incorrect specification of the starting address overwrites Boot Code, the module will be unusable. Table 11.8 Start Firmware Programming BYTE 0 BYTE 1 BYTE 2 BYTE 3 BYTES 4-7 BYTES 8-11 BYTE 12 BYTE 13 0x02 0x00 0x8B 0x08 Size Address CHKSM 0x03 Table 11.9 Parameter 1 14 Start Firmware Programming Data Type Description Size unsigned long Size of loadable data in bytes. Address unsigned long Starting physical address where data will be written to. Copernicus GPS Receiver 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. Note – This packet also clears all BBRAM sections to guarantee a cold start after a firmware update. Table 11.10 Restart Target BYTE 0 BYTE 1 BYTE 2 BYTE 3 BYTE 4 BYTE 5 0x02 0x00 0x8C 0x00 0x8C 0x03 Copernicus GPS Receiver 115 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. It shows how to use the Monitor protocol to implement the firmware loading procedure (see Firmware Loading Procedure, page 107). It can be used, for example, to develop a program to update firmware remotely over a network connection. FlashLoader has been created using the Microsoft Visual C++® v6.0 development environment. It uses the MFC framework to implement the graphical user interface. While the compiled executable of the tool is provided together with the source code, Microsoft Visual C++ v6.0 or .NET is required to re-compile the source files and generate a fresh executable if desired. File and Folder Structure The FlashLoader tool directory contains the following 3 sub-directories: • bin – contains the FlashLoader binary executable file; • mak – contains the project files for Microsoft Visual C++ v6.0 and .NET development environments; • src – contains the C++ source and header files. Source Code Reference All source code files referenced in this section are located in the src directory of the FlashLoader tool distribution. The source files are fully commented throughout. Parsing Firmware BIN File The function LoadBinFile() defined in Util.cpp shows how to parse the firmware BIN file, extract the loadable data, and store into a local buffer for sending to the target. Creating Packets in the Monitor Protocol Format The functions GetXxxxxPkt() defined in Util.cpp show how to format various packets using the monitor interface protocol. 1 16 Copernicus GPS Receiver 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. This will compile the source files, generate the executable, and place it in the bin directory. If using Microsoft Visual C++ .NET, open the solution file FlashLoader.sln located in the mak directory of the tool distribution. From the main menu, select Build Æ Rebuild Solution. This will compile the source files, generate the executable, and place it in the bin directory. Copernicus GPS Receiver 117 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 Parameters or Packet BB Packet Descriptions Command Packet 0x82 - SBAS Correction Status TSIP Superpackets Datums A The Trimble Standard Interface Protocol (TSIP) provides the system designer with over 20 commands that may be used to configure a GPS receiver for optimum performance in a variety of applications. TSIP enables the system designer to customize the configuration of a GPS module to meet the requirements of a specific application. This appendix provides the information needed to make judicious use of the powerful features TSIP has to offer, to greatly enhance overall system performance, and to reduce the total development time. The provided reference tables will help you determine which packets apply to your application. See page 129 for a detailed description of key setup parameters. Application guidelines are provided for each TSIP Command Packet, beginning on page 131. Copernicus GPS Receiver 119 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. The data I/O port characteristics, protocol definitions, and other options are user programmable and can be stored in nonvolatile FLASH memory. The TSIP protocol is based on the transmission of packets of information between the user equipment and the unit. Each packet includes an identification code (1 byte, representing 2 hexadecimal digits) that identifies the meaning and format of the data that follows. Each packet begins and ends with control characters. This document describes in detail the format of the transmitted data, the packet identification codes, and all available information over the output channel to allow the user to choose the data required for his particular application. As will be discussed, the receiver transmits some of the information (position and velocity solutions, etc.) automatically when it is available, while other information is transmitted only on request. Additional packets may be defined for particular products and these will be covered in the specifications for those products as necessary. The Copernicus Monitor included in the Tool Kit is designed to exercise many of the TSIP packets. Run Mode Packet Structure TSIP packet structure is the same for both commands and reports. The packet format is: Where: • is the byte 0x10 • is the byte 0x03 • is a packet identifier byte, which can have any value excepting and . The bytes in the data string can have any value. To prevent confusion with the frame sequences and , every byte in the data string is preceded by an extra byte ('stuffing'). These extra bytes must be added ('stuffed') before sending a packet and removed after receiving the packet. Notice that a simple sequence does not necessarily signify the end of the packet, as these can be bytes in the middle of a data string. The end of a packet is preceded by an odd number of bytes. 1 20 Copernicus GPS Receiver 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. • UINT32 = ULong: A 32 bit unsigned integer. • Single — Float, or 4 byte REAL has a precision of 24 significant bits, roughly 6.5 digits. • Double — 8 byte REAL has a precision of 52 significant bits. It is a little better than 15 digits. Automatic Output Packets The Lassen IQ GPS Receiver is configured to automatically output the following packets. For minimal system implementations, these output packets provide all of the information required for operation including time, position, velocity, and receiver and satellite status and health. Position and velocity are reported using one or more of the packets listed below, depending on the selected I/O options. While there are other packets automatically output, the following packets provide the information most commonly used. No input packets are required. Table A.1 Automatic Output Packets Output Packet ID Description Reporting Interval 0x41 GPS time 1 second 0x42, 0x83, 0x4A, 0x84, 0x8F20 position (choose packet with I/O options) 1 second 0x43, 0x56, 0x8F-20 velocity (choose packet with I/O options) 1 second 0x46 health of receiver 1 second 0x4B machinecode/status (includes antenna fault detect) 1 second 0x6D all-in-view satellite selection, DOPs, Fix Mode 1 second 0x82 SBAS fix mode (always the last packet of the fix information) 1 second Copernicus GPS Receiver 121 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.2 Automatic Position and Velocity Reports Packet 0x35, Byte 0 Report Packet ID Request Settings Bit 9 0x42 single precision XYZ position 1 0 0x83 double-precision 1 XYZ position 1 0x4A single-precision LLA position 0x84 double-precision LLA position 0x43 velocity fix (XYZ, ECEF) 0x56 velocity fix (ENU) 0x8F-20 LLA and ENU Bit 1 Bit 4 1 0 1 1 Packet 0x35, Byte 1 Bit 5 Bit 0 Bit 1 (default) 1 1(default) 1 Note – In packets 0x42, 0x83, 0x4A, 0x84, 0x43, 0x56, 0x8F-17 and 0x8F-18 when the Time of Fix parameter is reported as -1, this means that the fix information is not calculated by the Copernicus GPS Receiver, but comes from another source such as SRAM, Flash Memory or user input. In Packet 8F-20, this information is denoted by the Invalid Fix parameter: being set to 1 denotes that the fix comes from another source besides the Copernicus GPS Receiver. 1 22 Copernicus GPS Receiver 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. Only time and position are necessary for the hot start since the almanac and ephemeris are stored in flash. Position is also stored in flash which improves first fix accuracy. Table A.3 Initialization Packets to Speed Start-up Input Byte Description 0x2E Initial Time 0x38 Almanac (for each SV) 0x38 Ephemeris 0x38 Ionosphere Page 0x38 UTC Corrections 0x38 Almanac Health 0x2B Initial Position Packets Output at Power-Up The following table lists the messages output by the receiver at power-up. After completing its self-diagnostics, the receiver automatically outputs a series of packets which indicate the initial operating condition of the receiver. Messages are output as listed in the table below. After Packet 82 is output, the sequence is complete and the receiver is ready to accept commands. Table A.4 Packets Output at Power-up Output ID Description Notes 0x45 software version -- 0x46 receiver health -- 0x4B machine code/status -- As chosen, default: 0x84, 0x56 position/velocity output As chosen, see Table A.2. 0x41 GPS time 0x82 SBAS fix mode See command 0xBB to enable/disable SBAS Copernicus GPS Receiver 123 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.6 Satellite Data Packets Input ID Description Output ID 0x27 request signal levels 0x47 0x38 request/load satellite system data 0x58 0x3C request tracking status 0x5C Backwards Compatibility to Lassen iQ The following General Packets and Differences between TSIP Used in Lassen iQ/SQ and Copernicus GPS Receiver • 0x41, 0x46, 0x4B automatic packets are output every 1 second instead of every 5 seconds. • DGPS is not supported in the Copernicus GPS Receiver. Thus, the following packets are not supported: 0x60 /0x61 0x65/0x85 • 0x69 / 0x89 not available. The Lassen IQ GPS Receiver is a high sensitivity receiver. • 0x70 packet is not supported in the Copernicus GPS Receiver. The Copernicus GPS Receiver supports only Kalman Filter and it can not be turned off. No PV filter is available in Copernicus Module. • Packet 0xC0 – Graceful Shutdown and Go To Standby Mode is supported in the Copernicus GPS Receiver. • In “Key Setup Parameters of Packet BB”, BB packet is still the same, but: Cannot set signal mask. Fix mode/DOP mask/DOP switch/DGPS correction age are not supported. 1 24 Copernicus GPS Receiver 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’-‘ ‘-‘*’-‘*’-‘*’. • 0x35/0x55 packets – “Filtered PR’s in 5A” is not supported. • 0x3A/0x5A packets, Raw Measurement diagnostic packets have been added to the Copernicus GPS Receiver. • 0x45 packet, Byte 9, “Year number minus 1900” instead of “Year number minus 2000. • In the 0x7A packet of the Copernicus GPS Receiver, the NMEA sentences TF and BA have been added. • 0xBC, Protocol Configuration: Byte 1, Two new baud rates have been added: value 10 (57600 baud), and value 11 (115200 baud) Byte 3, only value 3 (8 data bits) is supported. Byte 4, only value 0 (No Parity) is supported. Byte 5, only value 0 (1 Stop Bit) is supported. • 8E-4A, PPS Configuration: Byte 3, Polarity, BYTE, 0 = Positive, 1 = Negative • 0x8E-17/0x8E-18, Set/Request UTM output are supported in Copernicus GPS Receiver. • The new packet 0x1C has been added to the Copernicus GPS Receiver. Lassen iQ FW v1.16 also supports this packet. Copernicus GPS Receiver 125 A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Recommended TSIP Packets Table A.7 Recommended TSIP Packets Function Protocol and port setup Navigation Satellite and tracking information Receiver settings Description Input Output set/query port configuration 0xBC 0xBC set/query NMEA configuration 0x7A 0x7B set/query I/O options (autoreport and format options) 0x35 0x55 GPS time 0x21 0x41 position & velocity (superpacket) 0x8E-20 or 0x37 or auto 0x8F-20 double-precision LLA 0x37/auto 0x84 double-precision XYZ ECEF 0x37/auto 0x83 ENU velocity 0x37/auto 0x56 XYZ ECEF velocity 0x37/auto 0x43 query receiver state (health) 0x26 0x46, 0x4B query current satellite selection 0x24 0x6D query signal levels 0x27 0x47 query satellite information (azimuth, elevation, etc.) 0x3C 0x5C query software version 0x1C 0x1C-81 query receiver ID & error status 0x26 0x4B, 0x46 set/query receiver configuration 0xBB 0xBB GPS System query/load GPS system data 0x38 0x58 Initialization full reset (clear battery backup and/or non-volatile settings) 0x1E soft reset 0x25 set GPS time 0x2E set approx. LLA 0x2B set approx. XYZ ECEF 0x23 set exact LLA 0x32 set exact XYZ ECEF 0x31 0x4E Note – Automatic output is determined by packet 0x35. See Table A.4 to determine messages output at startup. 1 26 Copernicus GPS Receiver 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.8 Command Packets Sent to the Receiver Input ID Packet Description Output ID 0x1C Hardware and firmware versions numbers 0x1C-81 0x1E clear battery back-up/reset See Note 1 0x1F software version 0x45 0x21 current time 0x41 0x23 initial position (XYZ ECEF) -- 0x24 request receiver position fix mode 0x6D 0x25 soft reset & self-test See Note 1 0x26 receiver health 0x46, 0x4B 0x27 signal levels 0x47 0x2B initial position (LLA) -- 0x2D oscillator offset 0x4D 0x2E set GPS time 0x4E 0x31 accurate initial position (XYZ ECEF) -- 0x32 accurate initial position -- 0x35 I/O options 0x55 0x37 status and values of last position and velocity 0x57 0x38 load or request satellite system data 0x58 0x3C tracking status 0x5C, see Note 2 0x7A set/request NMEA output configuration 0x7B 0x8E-20 last fix with extra information (fixed point) 0x8F-20 0x8E-26 store settings in Flash memory. 0x8F-26 0x8E-4A Set Copernicus GPS Cable Delay and PPS Polarity 0x8F-4A 0xBB set receiver configuration 0xBB 0xBC set port configuration 0xBC 0xC0 go to BBRAM backup state and/or store BBRAM to flash 0xC1 Bit mask for GPIOs in Standby Mode 0xC1 0xC2 SBAS SV Mask 0xC2 Note – Automatic output is determined by packet 0x35. See Table A.4 to determine which messages are output at power-up. No response sent if data is not available. Copernicus GPS Receiver 127 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.9 Output ID 1 28 Report Packets Sent by the Receiver to the User Packet Description Input ID 0x1C-81 Hardware and firmware version numbers 0x1C 0x41 GPS time 0x21, auto 0x42 single-precision XYZ position 0x37, auto 0x43 velocity fix (XYZ ECEF) 0x37, auto 0x45 software version information 0x1F, power-up 0x46 health of Receiver 0x26, auto, power-up 0x47 signal level for all satellites 0x27 0x4A single-precision LLA position 0x37, auto 0x4B machine code/status 0x26, auto, power-up 0x4D oscillator offset 0x2D 0x4E response to set GPS time 0x2E 0x55 I/O options 0x35 0x56 velocity fix (ENU) 0x37, auto 0x57 information about last computed fix 0x37 0x58 GPS system data/acknowledge 0x38 0x5C satellite tracking status 0x3C 0x6D all-in-view satellite selection 0x24, auto 0x82 SBAS position fix mode 0x62, auto 0x83 double-precision XYZ auto, 0x37 0x84 double-precision LLA auto, 0x37 0x8F-20 last fix with extra information (fixed point) auto, 0x37, 0x8E-20 0x8F-2A Request Fix and Channel Tracking info, Type 1 0x8E-2A 0x8F-2B Request Fix and Channel Tracking info, Type 2 0x8E-2B 0x8F-4A Set Copernicus GPS Cable Delay and PPS polarity 0x8E-4A 0xBB GPS navigation configuration 0xBB 0xBC receiver port configuration 0xBC 0xC1 Bit Mask for GPIOs in Standby Mode 0xC1 0xC2 SBAS SV Mask 0xC2 Copernicus GPS Receiver 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. If the receiver is then taken out of this environment, the specifically tuned receiver may not operate as well as a receiver with the default options Table A.10 Key Setup Parameters or Packet BB. Parameter Factory Default Dynamics code Land Elevation mask 5° SBAS on/off WAAS_Auto The default values in Table A.10 allow the receiver to operate well under the most varied and demanding conditions. A user may choose to change the default parameters if the receiver is only required to perform in a specific or limited environment. The user should be warned that when the receiver is exposed to operating conditions which are different from the conditions described by the user setup, then the performance may be degraded. Initially, the user must consider the environment in which the receiver is expected to operate. There is a trade-off between how frequently a position fix is output versus the absolute accuracy of the fix. The user must decide which takes priority and then make the appropriate selections. This becomes increasingly important when frequent satellite blockages are expected, as in downtown “urban canyon” environments and heavily foliated areas. Following is a description of the key fields in Packet 0xBB. Dynamics Code The feature default is LAND mode, where the receiver assumes a moderate dynamic environment. In this case, the satellite search and re-acquisition routines are optimized for vehicle type environments. In SEA mode, the search and re-acquisition routines assume a low acceleration environment. In AIR mode, the search and reacquisition routines are optimized for high acceleration conditions. Copernicus GPS Receiver 129 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. The benefit of a low elevation mask is that more satellites are available for use in a solution resulting in a better PDOP. The current mask is set to five degrees and provides a reasonable trade-off of the benefits and drawbacks. High accuracy users may prefer a mask angle around ten degrees, where the ionosphere and troposphere begin to be more predictable 1 30 Copernicus GPS Receiver 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.11 Command Packet 0x1C Byte Item Type Value Definition 0 Packet ID U8 0x1C Packet ID 0x1C 1 Sub-code U8 0x01 Sub-code 0x01 for software component version information request Table A.12 Byte Report Packet 0x1C: 81 Item Type Value Definition 0 Packet ID U8 0x1C Packet ID 0x1C 1 Sub-code U8 0x81 Sub-code 0x81 for software component version information report 2 Reserved U8 Any Reserved 3 Major version U8 Any Firmware major version 4 Minor version U8 Any Firmware minor version 5 Build number U8 Any Firmware build number 6 Month U8 1-12 Firmware build month 7 Day U8 1-31 Firmware build Day 8…9 Year U16 Any Firmware build Year 10 Length of first module name U8 Any The length of the product name (L1) 11… (10+L1) Product name U8 String Product name in ASCII Copernicus GPS Receiver 131 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. • ID for Copernicus GPS Receiver is COPERNICUS GPS RECEIVER. The packet format is defined below. Table A.13 Command Packet 0x1C:03 Byte Item Type Value Definition 0 Packet ID U8 0x1C Packet ID 0x1C 1 Sub-code U8 0x03 Sub-code 0x03 for hardware component version information request Report Packet 0x1C: 83 - Hardware Component Version Information Table A.14 1 32 Report Packet 0x1C:83 Byte Item Type Value Definition 0 Packet ID U8 0x1C Packet ID 0x1C 1 Sub-code U8 0x83 Sub-code 0x83 for hardware component version information report 2…5 Serial number U32 Any Board serial number 6 Build day U8 1-31 Day of the board's build date 7 Build month U8 1-12 Month of the board's build date 8…9 Build year U16 Any Year of the board's build date 10 Build hour U8 0-23 Hour of the board's build date 11…12 Hardware Code U16 Any Hardware Code associated with Hardware ID 13 Length of Hardware ID U8 Any The length of the Hardware ID (L) 14... (13+L) Hardware ID U8 String Hardware ID string in ASCII Copernicus GPS Receiver 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.15 Command Packet 0x1E Byte Item 0 Reset mode UINT 8 Type Value Definition 0x4B Cold start: Erase BBRAM and restart Factory reset: Erase BBRAM and Flash and restart Enter Monitor Mode 0x46 0x4D C WARNING – All almanac, ephemeris, current position, mode, and communication port setup information are reset to the default values when executing the “Factory Reset” command. In normal use this packet should not be sent. Command Packet 0x1F - Request Software Versions This packet requests information about the version of software running in the Navigation and Signal Processors. This packet contains no data. The GPS receiver returns Packet 0x45. Command Packet 0x21 - Request Current Time This packet requests current GPS time. This packet contains no data. The GPS receiver returns Packet 0x41. Command Packet 0x23 - Initial Position (XYZ ECEF) This packet provides the GPS receiver with an approximate initial position in XYZ coordinates. This packet is useful if the user has moved more than about 1,000 miles since the previous fix. (Note that the GPS receiver can initialize itself without any data from the user; this packet merely reduces the time required for initialization.) This packet is ignored if the receiver is already calculating positions. The data format is shown below. Note – To initialize using the Latitude-Longitude-Altitude representation, use Command Packet 0x2B. Table A.16 Command Packet 0x23 Byte Item Type Units 0-3 X Single Meters 4-7 Y Single Meters 8-11 Z Single Meters Copernicus GPS Receiver 133 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. Following completion of the reset, the receiver will output the start-up messages (see Table A.4). The GPS receiver sends Packet 0x45 only on power-up and reset (or on request); thus if Packet 0x45 appears unrequested, then either the GPS receiver power was cycled or the GPS receiver was reset. Command Packet 0x26 - Request Health This packet requests health and status information from the GPS receiver. This packet contains no data. The GPS receiver returns Packet 0x46 and 0x4B. Command Packet 0x27 - Request Signal Levels This packet requests signal levels for all satellites currently being tracked. This packet contains no data. The GPS receiver returns Packet 0x47. Command Packet 0x2B - Initial Position (Latitude, Longitude, Altitude) This packet provides the GPS receiver with an approximate initial position in latitude and longitude coordinates (WGS-84). This packet is useful if the user has moved more than about 1,000 miles since the previous fix. (Note that the GPS receiver can initialize itself without any data from the user; this packet merely reduces the time required for initialization.) This packet is ignored if the receiver is already calculating positions. The data format is shown in the table below. Table A.17 Command Packet 0x2B Byte Item Type Units 0-3 Latitude Single Radians, north 4-7 Longitude Single Radians, east 8-11 Altitude Single Meters Note – To initialize with ECEF position, use Command Packet 0x23. 1 34 Copernicus GPS Receiver 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. The GPS receiver returns Packet 0x4E. The data format is shown below. The GPS week number reference is Week # 0 starting January 6, 1980. The seconds count begins at the midnight which begins each Sunday morning. This packet is usually not required when the battery back-up voltage is applied as the internal clock keeps time to sufficient accuracy. This packet is ignored if the receiver has already calculated the time from tracking a GPS satellite. Note – See report Packet 41 for information on the Extended GPS week number. Table A.18 Command Packet 0x2E Data Formats Byte Item Type Units 0-3 GPS time of week Single Seconds 4-5 Extended GPS week number INT16 Weeks Command Packet 0x31 - Accurate Initial Position (XYZ ECEF) This packet is identical in content to Packet 0x23. This packet provides an initial position to the GPS receiver in XYZ 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. For acquisition aiding, the position provided by the user to the GPS receiver in this packet should be accurate to a few kilometers. For high-accuracy time transfer, position should be accurate to a few meters. Table A.19 Command Packet 0x31 Data Format Byte Item Type Units 0-3 X-axis Single Meters 4-7 Y-axis Single Meters 8-11 Z-axis Single Meters Copernicus GPS Receiver 135 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. For acquisition aiding, the position provided by the user to the GPS receiver in this packet should be accurate to a few kilometers. For high-accuracy time transfer, position should be accurate to a few meters. Table A.20 Byte Command Packet 0x32 Data Format Item Type Units 0-3 Latitude Single Radians, North 4-7 Longitude Single Radians, East 8-11 Altitude Single Meters Command Packet 0x35 - Set Request I/O Options This packet requests the current I/O options and allows the I/O options to be set. To request the options settings without any changes, send the packet with no data bytes. To change the options settings, include four data bytes with the values. The I/O options, their default settings, and the byte values for all possible configurations are shown below. The Set/Request I/O options are stored in battery-backed memory. To store them in non-volatile RAM (Flash), use the 0x8E-26 command. The GPS receiver returns Packet 0x55. These abbreviations are used in the following table: 1 36 • ALT Altitude • ECEF Earth-centered, Earth-fixed • XYZ Coordinates • LLA Latitude, Longitude, Altitude • HAE Height Above Ellipsoid • WGS-84 Earth Model (ellipsoid) • MSL Geoid Mean Sea Level • UTC Copernicus GPS Receiver Coordinated Universal Time 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.21 Byte Command Packet 0x35 Data Format Bit Item Type Value Definition 0 (LSB) XYZ ECEF Bit 0 1 XYZ ECEF output off XYZ ECEF output on 1 LLA Output Bit 0 1 LLA output off LLA output on 2 LLA ALT Output Bit 0 1 HAE (See Note) MSL geoid 3 Reserved 4 Precision-ofposition output Bit 0 1 Send single-precision packet Send double-precision packet 5 Super Packet Output Bit 0 1 Output no Super Packets Output all enabled Super Packets Position 0 6-7 Reserved Copernicus GPS Receiver 137 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 Auxiliary/Pseudo Range Measurements 3 0 Raw Bit Measurement 1 Reserved 2 Reserved 3 Signal Level Unit 4 Reserved 5 Signal levels for all satellites 6-7 Reserved Note – Packet 8E must be used to specify which Superpackets are output. The Lassen iQ GPS supports automatic output of 0x5A messages for backwards compatibility with older TSIP applications. 1 38 Copernicus GPS Receiver 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. Command Packet 0x38 - Request/Load Satellite System Data This packet requests current satellite data (almanac, ephemeris, etc.) or permits loading initialization data from an external source (for example, by extracting initialization data from an operating GPS receiver unit via a data logger or computer and then using that data to initialize a second GPS receiver unit). The GPS receiver returns Packet 0x58. (Note that the GPS receiver can initialize itself without any data from the user; it merely requires more time.) To request data without loading data, use only bytes 0 through 2; to load data, use all bytes. Before loading data, observe the caution notice below. The data formats are located in Report Packet 0x58. Table A.22 C Command Packet 0x38 Data Formats Byte Item Type Value Definition 0 Operation UINT8 1 2 Request data from Lassen IQ GPS Receiver; Load data into Lassen IQ GPS Receiver 1 Type of data UINT8 2 3 4 5 6 Almanac Health page, T_oa, WN_oa Ionosphere UTC Ephemeris 2 Sat PRN# UINT8 0 1 - 32 Data that is not satellite - ID specific Satellite PRN number 3 Length (n) UINT8 Number of bytes of data to be loaded 4 to n+3 Data UINT8 Satellite data WARNING – Loading all satellite data at once sends a lot of bytes to the unit, which could overwhelm the unit’s serial receive buffer. Always wait for the acknowledge packet before sending the next data block. Copernicus GPS Receiver 139 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. 1 - 32 Command Packet 0x3C - Request Current Satellite Tracking Status This packet requests the current satellite tracking status. The GPS receiver returns Packet 0x5C if data is available. Table A.24 Command Packet 0x3C Data Format Byte Item Type Value Definition 0 Satellite # UINT8 0 All satellites in the current track set. Desired satellite. 1 - 32 Report Packet 0x41 - GPS Time This packet provides the current GPS time of week and the week number. The GPS receiver sends this packet in response to Packet 0x21 and during an automatic packets update cycle. The data format is shown below. Table A.25 Report Packet 0x41 Data Formats Byte Item Type Units 0-3 4-5 GPS time of week Single seconds Extended GPS week number INT16 weeks 6-9 GPS UTC offset Single seconds Note – UTC time lags behind GPS time by an integer number of seconds; UTC = (GPS time) - (GPS UTC offset). C 1 40 WARNING – GPS week number runs from 0 to 1023 and then cycles back to week #0. week # 0 began January 6, 1980. The first cycle back to week #0 was on August 22, 1999. The extended GPS week number however, does not cycle back to 0. For example: the week # for August 22, 1999 = 1024; the Week # for April 1, 2002 = 1160. Copernicus GPS Receiver 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.26 Packets 0x41 and 0x46 Status Code Relationships Approximate Time Accuracy Time Source Sign (TOW) Packet 46 Status Code none no time at all - 0x01 unknown approximate time from + real-time clock or Packet 2E 0x01 20-50 msec + clock drift time from satellite + 0x02 - 0x0C full accuracy time from GPS solution + 0x00 Note – Before using the GPS time from Packet 0x41, verify that the Packet 0x46 status code is 00 (“Doing position fixes”). This will ensure the most accurate GPS time. Report Packet 0x42 - Single-Precision Position Fix, XYZ ECEF This packet provides current GPS position fix in XYZ ECEF coordinates. If the I/O “position” option is set to XYZ ECEF (byte 0: bit 0, Packet 0x35)and the I/O Precision-of-Position Output (byte 0: bit 4, Packet 0x35) is set to single-precision, then the GPS receiver sends this packet each time a fix is computed. The data format is shown below. Table A.27 Report Packet 0x42 Data Formats Byte Item Type Units 0-3 X Single meters 4-7 Y Single meters 8-11 Z Single meters 12-15 Time-of-fix Single seconds The time-of-fix is in GPS time or UTC as selected by the I/O “timing” option. Packet 83 provides a double-precision version of this information. Copernicus GPS Receiver 141 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.28 Report Packet 0x43 Data Formats Byte Item Type Units 0-3 X velocity Single meters/second 4-7 Y velocity Single meters/second 8-11 Z velocity Single meters/second 12-15 bias rate Single meters/second 16-19 time-of-fix Single seconds The time-of-fix is in GPS time or UTC as selected by the I/O “timing” option (byte 2, bit 0, Packet 0x35). Report Packet 0x45 - Software Version Information This packet provides information about the version of software in the Navigation and Signal Processors. The GPS receiver sends this packet after power-on and in response to Packet 0x1F. Table A.29 Report Packet 0x45 Data Formats Byte Item Type 0 Major version number UINT8 1 Minor version number UINT8 2 Month UINT8 3 Day UINT8 4 Year number minus 1900 UINT8 5 Major revision number UINT8 6 Minor revision number UINT8 7 Month UINT8 8 Day UINT8 9 Year number minus 2000 UINT8 The first 5 bytes refer to the Navigation Processor and the second 5 bytes refer to the Signal Processor. 1 42 Copernicus GPS Receiver 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.30 Byte Bit 0 Report Packet 0x46 Data Formats Item Type Value Definition Status code UINT8 0x00 0x01 0x02 0x03 0x04 0x08 0x09 0x0A 0x0B 0x0C and above Doing position fixes Don't have GPS time yet Reserved PDOP is too high The chosen SV is unusable No usable satellites Only 1 usable satellite Only 2 usable satellites Only 3 usable satellites Fix criteria not met 1 0 Battery backup Bit 0 1 OK BBRAM was not available at start-up 1 4 Antenna feedline fault Bit 0 1 OK Short or open detected 1 5 Type of fault Bit 0 1 Open detected Short detected The error codes in Byte 1 of Packet 0x46 are encoded into individual bits within the byte. The bit positions are shown below. Copernicus GPS Receiver 143 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.31 Report Packet 0x47 Data Formats Byte Item Type 0 Count UINT8 1 Satellite number 1 UINT8 2- 5 Signal level 1 Single 6 Satellite number 2 UINT8 7-10 Signal level 2 Single (etc.) (etc.) (etc.) Up to 12 satellite number/signal level pairs may be sent, indicated by the count field. Signal level is normally positive. If it is zero then that satellite has not yet been acquired. If it is negative then that satellite is not currently in lock. The absolute value of signal level field is the last known signal level of that satellite. Note – The signal level provided in this packet is a linear measurement of the signal strength after correlation or de-spreading. Units, either AMU or dBHz, are controlled by Packet 0x35. 1 44 Copernicus GPS Receiver 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. The data format is shown in below. Table A.32 Report Packet 0x4A Data Formats Byte Item Type Units 0-3 Latitude Single radians; + for north, - for south 4-7 Longitude Single radians; + for east, - for west 8-11 Altitude Single meters (HAE or MSL) 2-15 Clock Bias Single meters 6-19 Time-of-Fix Single seconds (GPS or UTC) The default datum is WGS-84. Altitude is referred to the datum ellipsoid or the MSL Geoid, depending on which I/O “LLA altitude” option is selected. The time-of-fix is in GPS time or UTC, depending on which I/O “timing” option is selected. This packet is also sent at start-up with a negative time-of-fix to report the current known position. Packet 0x84 provides a double-precision version of this information C WARNING – When converting from radians to degrees, significant and readily visible errors will be introduced by use of an insufficiently precise approximation for the constant PI). The value of the constant PI as specified in ICD-GPS-200 is 3.1415926535898. Single precision LLA has a quantization of approximately 2 meters. Copernicus GPS Receiver 145 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. Then the interpretation and use of packets can be adjusted accordingly. Table A.33 Report Packet 0x4B Data Formats Byte Item Type/ Definition 0 Machine ID UINT8 96 1 Status 1 UINT8 See Table A.1 2 Status 2 UINT8 Bit 0 set = Superpackets supported The status codes are encoded into individual bits within the bytes. The bit positions and their meanings are listed in the table below. Table A.34 Report Packet 0x4B Bit Positions and Descriptions Status 1 Bit Positions Meaning if bit value = 1 0 (LSB) Not used 1 Real-time Clock was not available at power-up. 2 Not used 3 The almanac stored in the receiver is not complete and current. 4-7 Not used Report Packet 0x4D - Oscillator Offset This packet provides the current value of the receiver master oscillator offset in Hertz at carrier. This packet contains one single precision number. The receiver sends this packet in response to Packet 0x2D. The permissible offset varies with the receiver unit. 1 46 Copernicus GPS Receiver 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. ASCII “N” The receiver does not accept the time entered via Packet 2E. The receiver has received the time from a satellite and uses that time. The receiver disregards the time in Packet 0x2E. Report Packet 0x55 - I/O Options These abbreviations apply to the following table: ALT (Altitude), ECEF (Earthcentered, Earth-fixed), XYZ (coordinates), LLA (latitude, longitude, altitude), HAE (height above ellipsoid), WGS-84 (Earth model (ellipsoid)), MSL geoid (Earth (mean sea level) mode), and UTC (coordinated universal time). Table A.36 Byte Command Packets 0x55 and 0x35 Data Descriptions Bit Item Type Value Definition 0 0 XYZ ECEF Bit 0 1 XYZ ECEF output off XYZ ECEF output on 0 1 LLA Output Bit 0 1 LLA output off LLA output on 0 2 LLA ALT Output Bit 0 1 HAE (WGS-84 datum) MSL geoid 0 3 Reserved 0 4 Precision-ofposition output Bit 0 1 Send single-precision packet. Send double-precision packet. 0 5 Super Packet Output Bit 0 1 Output no Super Packets. Output all enabled Super Packets. 0 6-7 Reserved 1 0 XYZ ECEF Bit 0 1 XYZ ECEF output off XYZ ECEF output on 1 1 ENU output Bit 0 1 ENU output off ENU output on 1 2-7 Reserved 0 Time Type Bit 0 1 GPS Time UTC 1-4 Reserved 5-6 PPS Mode Position Velocity Timing 2 Copernicus GPS Receiver 147 A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Table A.36 Byte Command Packets 0x55 and 0x35 Data Descriptions (continued) Bit Item 7 Reserved Type Value Definition Bit 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 Auxiliary/Pseudo Range Measurements 3 0 Raw Measurement 1 Reserved 2 Reserved 3 Signal Level Unit 4 Reserved 5 Sig levels for SVs 6-7 Reserved Notes – See the associated superpacket output, described later in this appendix. Packet 8E must be used to specify which superpacket is to be output. Automatic output of 0x5A raw measurement messages is supported in the Lassen IQ GPS Receiver for backwards compatibility with older TSIP applications. Report Packet 0x56 - Velocity Fix, East-North-Up (ENU) If East-North-Up (ENU) coordinates have been selected for the I/O “velocity” option (see Packet 0x35), the receiver sends this packet under the following conditions: • Each time that a fix is computed • In response to Packet 0x37 (last known fix) The data format is shown below. Table A.37 Report Packet 0x56 Data Formats Byte Item Type Units 0-3 East Velocity Single m/s; + for east, - for west 4-7 North Velocity Single m/s; + for north, - for south 8-11 Up Velocity Single m/s; + for up, - for down 12-15 Clock Bias Rate Single m/s 16-19 Time-of-Fix Single seconds (GPS or UTC) The time-of-fix is in GPS or UTC time as selected by the I/O “timing” option. 1 48 Copernicus GPS Receiver 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. diagnostic UINT8 -- 2-5 Time of last fix Single seconds, GPS time 6-7 Week of last fix INT16 weeks, GPS time Report Packet 0x58 - Satellite System Data/Acknowledge from Receiver This packet provides GPS data (almanac, ephemeris, etc.). The receiver sends this packet in response to Packet 0x38 (acknowledges the loading of data). The data format is shown below.. Table A.39 Report Packet 0x58 Data Formats Byte Item Type Value Definition 0 Operation UINT8 1 2 Request data from receiver; Load data into receiver 1 Type of data UINT8 2 3 4 5 6 Almanac Health page, T_oa, WN_oa Ionosphere UTC Ephemeris 2 Sat PRN# UINT8 0 1 - 32 Data that is not satellite - ID specific satellite PRN number 3 Length (n) UINT8 4 to n+3 Data Table A.40 Number of bytes of data to be loaded Report Packet 0x58 Almanac Data Byte Item Type Definition / ICD-GPS-200 4 t_oa_raw UINT8 Sec 20.3.3.5.1.2 5 SV_HEALTH UINT8 Sec 20.3.3.5.1.2 6-9 e Single Sec 20.3.3.5.1.2 10-13 t_oa Single Sec 20.3.3.5.1.2 14-17 i_o Single Sec 20.3.3.5.1.2 18-21 OMEGADOT Single Sec 20.3.3.5.1.2 22-25 sqrt_A Single Sec 20.3.3.5.1.2 26-29 OMEGA_0 Single Sec 20.3.3.5.1.2 30-33 omega Single Sec 20.3.3.5.1.2 34-37 M_0 Single Sec 20.3.3.5.1.2 Copernicus GPS Receiver 149 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. If data is not available, t_zc is set to -1.0. Table A.41 Report Packet 0x58 Almanac Health Data Byte Item Type Definition/ ICD-GPS-200 4 week # for health UINT8 Sec 20.3.3.5.1.3 5-36 SV_health UINT8 Sec 20.3.3.5.1.3 37 t_oa for health UINT8 Sec 20.3.3.5.1.3 38 current t_oa UINT8 units = seconds/2048 39-40 current week # INT16 Byte Item Type Definition / IDC-GPS-200 4-11 --- --- not used 12-15 alpha_0 Single Sec 20.3.3.5.1.9 16-19 alpha_1 Single Sec 20.3.3.5.1.9 20-23 alpha_2 Single Sec 20.3.3.5.1.9 24-27 alpha_3 Single Sec 20.3.3.5.1.9 28-31 beta_0 Single Sec 20.3.3.5.1.9 32-35 beta_1 Single Sec 20.3.3.5.1.9 36-39 beta_2 Single Sec 20.3.3.5.1.9 40-43 beta_3 Single Sec 20.3.3.5.1.9 Byte Item Type Definition / IDC-GPS-200 4-16 --- --- not used Table A.42 Table A.43 1 50 17-24 A_0 Double Sec 20.3.3.5.1.8 25-28 A_1 Single Sec 20.3.3.5.1.8 29-30 delta_t_LS Integer Sec 20.3.3.5.1.8 31-34 t_ot Single Sec 20.3.3.5.1.8 35-36 WN t Integer Sec 20.3.3.5.1.8 Copernicus GPS Receiver 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 20.3.3.3, Table 20-I 12 L2Pdata UINT8 Sec 20.3.3.3, Table 20-I 13 SVacc_raw UINT8 Sec 20.3.3.3, Table 20-I 14 SV_health UINT8 Sec 20.3.3.3, Table 20-I 15-16 IODC INT16 Sec 20.3.3.3, Table 20-I 17-20 T_GD Single Sec 20.3.3.3, Table 20-I 21-24 t_oc Single Sec 20.3.3.3, Table 20-I 25-28 a_f2 Single Sec 20.3.3.3, Table 20-I 29-32 a_f1 Single Sec 20.3.3.3, Table 20-I 33-36 a_f0 Single Sec 20.3.3.3, Table 20-I 37-40 SVacc Single Sec 20.3.3.3, Table 20-I 41 IODE UINT8 Sec 20.3.3.4 42 fit_interval UINT8 Sec 20.3.3.4 43-46 C_rs Single Sec 20.3.3.4 47-50 delta_n Single Sec 20.3.3.4 51-58 M_0 Double Sec 20.3.3.4 59-62 C_uc Single Sec 20.3.3.4, radians 63-70 e Double Sec 20.3.3.4 71-74 C_us Single Sec 20.3.3.4, radians 75-82 sqrt_A Double Sec 20.3.3.4 83-86 t_oe Single Sec 20.3.3.4 87-90 C_ic Single Sec 20.3.3.4, radians 91-98 OMEGA_0 Double Sec 20.3.3.4 99-102 C_is Single Sec 20.3.3.4, radians 103-110 i_0 Double Sec 20.3.3.4 111-114 C_rc Single Sec 20.3.3.4 115-122 omega Double Sec 20.3.3.4 123-126 OMEGADOT Single Sec 20.3.3.4 127-130 IDOT Single 131-138 Axis Double Sec 20.3.3.4 = (sqrt_A)2 Copernicus GPS Receiver 151 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. The data format is shows in the table below. Table A.45 Report Packet 0x5A Data Formats Byte Item Type Units 0 Satellite PRN number UINT8 ---- 1-3 reserved 4 Integer msec of pseudorange If Bit 7 =1, pseudo-range is out of bounds UINT 8 msec 5 Signal level Single AMU or dBHz 9 Code phase Single 1/16th chip 13 Doppler Single hertz 17 Time of Measurement Double sec Note – Packet 0x5A provides the raw satellite signal measurement information used in computing a fix. Satellite PRN (Byte 0) is a unique identification number for each of the 32 GPS satellites. The integer millisecond of the pseudo-range has valid values of 0 to 19 milliseconds. If the pseudo-range is out of bounds, this is indicated by setting Bit 7 of Byte 4 to 1. The codephase (Byte 9) value is the average delay over the sample interval of the received C/A code and is measured with respect to the receiver’s millisecond timing reference. Thus, it includes all receiver satellite, and propagation biases and errors. It is expressed in 1/16th of a C/A code chip. The Doppler (Byte 13) value is apparent carrier frequency offset averaged over the sample interval. It is measured with respect to the nominal GPS L1 frequency of 1575.42 MHz, referenced to the receiver’s internal oscillator. Thus int includes all receiver and satellite clock frequency errors. It is expressed in Hertz at the L1 carrier. The time of measurement (Byte 17) is the center of the sample interval adjusted by adding the receiver supplied codephase (module mS) to a user determined integer number of mS between user and satellite. 1 52 Copernicus GPS Receiver 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. Report Packet 0x5F For Trimble diagnostic use only, please ignore. Report Packet 0x5C - Satellite Tracking Status This packet provides tracking status data for a specified satellite. Some of the information is very implementation-dependent and is provided mainly for diagnostic purposes. The receiver sends this packet in response to Packet 0x3C. The data format is shown below. Table A.46 Byte Report Packet 0x5C Data Formats Bit 0 1 0-2 1 3-7 Item Type Value Satellite PRN number UINT8 number 1 - 32 reserved Bits reserved Channel Bits 0-11 Definition 2 Acquisition UINT8 flag 0 1 2 Never acquired Tracking Re-opened search 3 Ephemeris flag UINT8 0 1 Flag not set Ephemeris is decoded 4-7 Signal level Single Same as in Packet 0x47 8-11 GPS time of last measurem ent Single <0 >0 No measurements have been taken. Center of the last measurement taken from this satellite. 12-15 Elevation Singles radians Approximate elevation of this satellite above the horizon. Updated about every 15 sec.s. Used for searching and computing measurement correction factors. Copernicus GPS Receiver 153 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. The packet also provides the PDOP, HDOP, and VDOP of that set and provides the current mode (automatic or manual, 3-D or 2-D). This packet has variable length equal to 16+nSVs where “nSVs” is the number of satellites used in the solution. The GPS receiver sends this packet in response to Packet 0x24. The data format is shown below. Table A.47 Report Packet 0x6D Data Formats Byte Bit Item Type Value Definition 0 0-2 Dimension UINT8 3 4 2D 3D 0 3 0 1 Auto Manual 0 4-7 - nSVs 1-4 PDOP Single PDOP 5-8 HDOP Single HDOP 9-12 VDOP Single VDOP TDOP 13-16 TDOP Single (16+nSVvs) SV PRN UINT8 Note – The Lassen IQ GPS Receiver sends this packet automatically after a position fix or every second if no position fix occurs. Command Packet 0x7A The NMEA message determines whether or not a given NMEA message will be output. If the bit for a message is set, the message will be sent every “interval” second. Use the values shown below to determine the NMEA interval and message mask. While fixes are being generated, the output order is: ZDA, GGA, GLL, VTG, GSA, GSV, RMC. Table A.48 Byte 1 54 Bit Command Packet 0x7A and Report Packet 0x7B Data Formats Item Type Value 0 Subcode UINT8 0 1 Interval UINT8 1-255 Copernicus GPS Receiver Definition Fix interval in seconds TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) Table A.48 Byte Bit 2 A Command Packet 0x7A and Report Packet 0x7B Data Formats Item Type Value Definition Reserved 3 Reserved 4 D RMC Bit 0 1 Off On 4 1 TF Bit 0 1 Off On 4 5 BA Bit 0 1 Off On 4 6-7 Reserved 5 0 GGA Bit 0 1 Off On 5 1 GLL Bit 0 1 Off On 5 2 VTG Bit 0 1 Off On 5 3 GSV Bit 0 1 Off On 5 4 GSA Bit 0 1 Off On 5 5 ZDA Bit 0 1 Off On 5 6-7 Reserved Report Packet 0x7B This packet provides the NMEA settings and interval. Command Packet 0x7E - TAIP Message Output TSIP packet 0x7E is used to setup the output configuration for TAIP messages. This packet expands the features similar to what have been provided by packet 0x8E-40 found in some older generation Trimble receiver products.The settings provided by the packet can be divided into 4 groups: 1. Reporting Flags – byte 1. 2. The Top-of-Hour Offset – byte 2,3. This setting applies to all eight messages included in this packet. (If different values have to be applied to each message individually, use the Time-Distance feature from TAIP protocol.) 3. Automatic Output Intervals for the 8 commonly used messages – bytes 4 - 19 4. Device ID – bytes 20-23. This packet provides the capability to set the output frequencies for the eight commonly used messages individually. This is the same as the F
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