MLU Trimble ASCII Interface Protocol
Contents
1. 6 TABLE 5 TIME AND DISTANCE REPORTING MESSAGE FORMAT QUALIFIERS 8 TABLE 6 MESSAGE DATA STRING DESCRIPTIONS 10 TABLE 7 ALTITUDE UP VELOCITY DATA STRING DESCRIPTIONS 11 TABLE 8 COMPACT POSITION SOLUTION DATA STRING DESCRIPTIONS 12 TABLE 9 DC DELTA DIFFERENTIAL CORRECTIONS DATA STRING DESCRIPTIONS 13 TABLE 10 DD DELTA DIFFERENTIAL CORRECTIONS DATA STRING DESCRIPTIONS 14 TABLE 11 IDENTIFICATION NUMBER DATA STRING DESCRIPTIONS 15 TABLE 12 INITIAL POSITION DATA STRING DESCRIPTIONS 16 TABLE 13 LONG NAVIGATION MESSAGE DATA STRING D ESCRIPTIONS 17 TABLE 14 POSITION VELOCITY SOLUTION DATA STRING DESCRIPTIONS 18 TABLE 15 REPORTING MODE DATA STRING DESCRIPTIONS 19 TAB2. Response qualifier This provides an easy way to verify that the unit did in fact receive the intended data FR Flag indicates whether the unit is to report messages automatically per their individually scheduled frequency When set to false the unit will only respond when queried fora specific message CR Flag when set to True will cause the sensor to append a caniage retum and line feed CR LF to the end of each message output This is useful when viewing the un encoded sensor responses on a terminal ora PC The default value at start up for ID flag and the CR flag is false the default for CS EC and FR flags is true Example The following command will tum checksums off and carriage retum on gt SRM CS_FLAG F CR_FLAG T lt Note Note the use of semicolon before flag name TT8500ANO08 1 01a Page 19 of 30 Copyright 2005 Skypatrol LLC Skypatrol Evolution GSM GPRS MLU Trimble ASCII Interface Protocol S rol RT Reset Mode Data String Format Any one of the following data strings can be set Upper case characters are required lI COLD FACTORY SAVE CONFIG TABLE 16 RESET MODE DATA S TRING DESCRIPTIONS Message Description gt SRT lt Warm Start gt SRTCOLD lt Cold Start gt SRTFACTORY lt Factory reset gt SRTSAVE_CONFIG lt Save serial EEPROM user values The SAVE_CONFIG data string will save parameters entered to SEEPROM To save para
3. Total 4 of characters is 28 This message outputs the time and date as computed by the GPS sensor The time is most accurate when the unit is doing fixes It is less accurate but still usable when the unit is not doing fixes but the Number of Usable SVs is one or more If the GPS UTC offset is available the time will be in UTC If not the time will be in GPS Note GPS UTC Time Offset is the difference between GPS and UTC time standards in seconds The UTC time of Day is only valid if the GPS UTC Offset Valid Flag is indicating valid Note The TM message is not supported under the Set qualifier TT8500ANO06 1 01 Copyright 2005 Skypatrol LLC Page 22 of 30 Skypatrol Evolution GSM GPRS MLU Trimble ASCII Interface Protocol 5 ypatrol VR Version Number Data String Format XXXXXXX VERSION BB BB BB TABLE 23 VERSION NUMBER DATA STRING DESCRIPTIONS Item of Char Units Format Product Name N A N A N A Major Version Number 4 N A Major Release Date 8 N A BB BB BB TT8500ANO08 1 01a Copyright 2005 Skypatrol LLC Page 23 of 30 Skypatrol Evolution GSM GPRS MLU Trimble ASCII Interface Protocol S pat rol Communication Using TAIP Communication with the unit takes place in four different ways Message qualifiers are used to differentiate between these Query for Single Sentence The query Q message qualifier is used to query th
4. DM Units and scale factors are defined by RTCM 104 version 2 The SV PRN and scale factor contains the SV PRN in the lower 5 bits and the scale factor the higher 3 bits The scale factor has only three acceptable values 0 Use with low scale factor 4 Use with high scale factor 7 Do not use Range corrections are scaled by 0 02 meters forlow scale factor and 0 32 m sec for high scale factor Note DC and DD TAIP messages are used to enclose differential corrections within the TAIP format Note DC and DD messages used to input corrections require only one communications channel When the auxiliary port is used to input RTCM 104 corrections it assumes a separate communications channel is available for broadcast and receipt of differential corrections Note The TAIP Software Toolkit does not support DC and DD messages TT8500ANO08 1 01a Page 13 of 30 Copyright 2005 Skypatrol LLC Skypatrol Evolution GSM GPRS MLU Trimble ASCII Interface Protocol S rol DD Delta Differential Corrections This message provides the sensor with delta differential corrections from RTCM 104 record type 2 The values are numerical values written out in hex format thus for each byte of data there is a two digit hex number The format of the data string is as follows AAAABB CCDDDD TABLE 10 DD DELTA DIFFERENTIAL CORRECTIONS DATA STRING DESCRIPTIONS Item of Char Type
5. hour EEEE delta distance meters from last reported distance FFFF maximum time seconds interval between reports T max GGGG optional vehicle identification number user selected HH optional checksum lt End of message delimiter Note If BBBB 0 then the message output is disabled If FFFF 0 maximum time feature is disabled the unit will only report if current position is greater than or equal to the delta distance specified in EEEE Example When the message gt DPV0030000505000900 ID 0105 lt is sent to the GPS receiver it specifies that vehicle number 105 GGGG 0105 is to report the Position Velocity message AA PV whenever its curent position differs from the previously reported position by at least 500 meters EEEE 0500 but no more often than every 30 seconds BBBB 0030 orless often than every 15 minutes FFFF 0900 seconds The minimum and maximum time out reports are to be issued with a 5 second offset CCCC 0005 from the top of the hour The optional checksum was not used in this example The square brackets shown in the format description above are used to indicate optional data Note The brackets themselves are never included in the actual TAIP message string The D message qualifier was designed by Trimble for use by Ambulance Companies to limit communication traffic between mobile units and the base when the ambulances are stationary on station When the ambulance has
6. 1 3D GPS 2 2D DGPS Source 1 N A H 3 3D DGPS 6 DR 8 Degraded DR 9 Unknown 2 Fresh lt 10 seconds Age of Data Indicator 1 N A I 1 Old gt 10 seconds 0 Not available Total of characters is 30 Position is in latitude positive north and longitude positive east WGS 84 Heading is in degrees from True North increasing eastwardly The GPS time of day is the time of fix rounded to the nearest second Note The data in this message is to be considered invalid and should not be used if the Age of Data Indicator is equal to 0 signifying data not available TT8500ANO08 1 01a Page 18 of 30 Copyright 2005 Skypatrol LLC Skypatrol Evolution GSM GPRS MLU Trimble ASCII Interface Protocol S pat rol RM Reporting Mode Data String Format ID FLAG AJ CS FLAG B EC FLAG C FR FLAG D CR_FLAG E TABLE 15 REPORTING MODE DATA STRING DESCRIPTIONS Item of Char Units Format Value True ID Hag 1 N A A False True CS Hag 1 N A B F False True EC Hag 1 N A C F False T True FR Flag 1 N A D F False CRH 1 N A E 7 F False ID Flag determines whether the unit is to include the vehicles ID with each report CS Flag determines whether the unit is to include a checksum as part of each message EC Flag when set will cause the unit to echo back all complete and properly formatted set commands except for DC and DD with a
7. 2 18 46 0 00001 degrees represents approximately 3 6 feet or 1 1 meters Each second represents approximately Note At earth s equator one degree of latitude and longitude represents 68 7 miles therefore 100 76 ft 30 7 m TT8500ANO08 1 01a Page 9 of 30 Copyright 2005 Skypatrol LLC Skypatrol Evolution GSM GPRS MLU Trimble ASCII Interface Protocol S pat rol Message Data Strings The following table lists all the TAIP messages currently defined and comments regarding their application TABLE 6 MESSAGE DATA S TRING DESCRIPTIONS Frequenc Message Name Query Response Set er Report Distance AL Altitude V ertical Velocity X X X X AP Auxiliary Port Characteristic X X CP Compact Position Solution X X X X DC Differential Corrections X DD Delta Differential Corrections X ID Vehicle ID X X X X IP Initial Position X X X X LN Long Navigation Message X X X PR Protocol X X PT Port Characteristic X X PV Position V elocity Solution X X X X RM Reporting Mode X X X X RT Reset X ST Status X X X TM Time Date X X X VR Version Number X X X X The data string format of each message is described in the following pages Note TAIP message characters must be uppercase TT8500ANO06 1 01a Page 10 of 30 Copyright 2005 Skypatrol LLC Skypatrol Evolution GSM GPRS MLU Trimble ASCII Interface Protocol S pat
8. 5 ypatrol Application Note TT8500AN008 Skypatrol Evolution GSM GPRS Mobile Location Unit Trimble ASCII Interface Protocol TAIP Reference Revision 1 01a Confidential and Proprietary Information 2005 Skypatrol LLC Do not duplicate without express permission from Skypatrol LLC Version 1 01a Date 09 07 05 Status Draft Document Control ID TT8500ANO08 General All efforts have been made to ensure the accuracy of material provided in this document at the time of release However the items described in this document are subject to continuous development and improvement All specifications are subject to change without notice and do not represent a commitment on the part of Skypatrol LLC Skypatrol LLC will not be responsible for any loss or damages incurred related to the use of information contained in this document This product is not intended for use in life support appliances devices or systems where a malfunction of the product can reasonably be expected to result in personal injury Skypatrol LLC customers using integrating and or selling this product for use in such applications do so at their own risk and agree to fully indemnify Skypatrol LLC for any damages resulting from illegal use or resale Copyright Complying with all applicable copyright laws is the responsibility of the user Without limiting the rights under copyright no part of this document may be reproduced stored in or intro
9. DOP is too high 08 No usable satellites 09 Only 1 usable satellite 0A Only 2 usable satellite 0B Only 3 usable satellites 0C Chosen satellite is unusable TABLE 19 ERROR CODES NIBBLE 1 ValueofB Meaning 0 No problems reported 1 Antenna feedline fault TABLE 20 ERROR CODES NIBBLE 2 Valueof C Meaning 0 No problems reported 1 Battery backup failed RAM not available at power up see note TABLE 21 ERROR CODES NIBBLE 4 ValueofF Meaning 0 No problems reported 2 not available at power up see Note 8 Stored almanac not complete and current A RTC not available stored almanac not complete and current DX Note After the status is detected this bit remains set until the sensor is reset TT8500ANO06 1 01 Page 21 of 30 Copyright 2005 Skypatrol LLC Skypatrol Evolution GSM GPRS MLU Trimble ASCII Interface Protocol 5 ypatrol TABLE 22 TM TIME DATA DATA STRING DESCRIPTIONS y TM Time Date Data String Format AABBCCDDDEEFFGGGGHHIJJKLLLLL Item of Char Units Format Value Hour 2 Hour AA Minutes 2 Min BB Seconds 5 Sec CC DDD Date Day 2 Day EE Date Month 2 Month FF Date Year 4 Year GGGG GPS UTC Time Offset 2 0 2D GPS 1 3D GPS 2 20 DGPS Current fix Source 1 N A I 3 3D DGPS 6 DR 8 Degraded DR 9 Unknown Numberof Usable SVs 2 N A JJ GPS UTC Offset Flag 1 N A 0 0700 1 Valid Reserved 5 N A LLLLL
10. IP messages This document is designed for easy reference to TAIP message formats and describes all the TAIP messages defined at the time of printing The Skypatrol Evolution MLU supports the following TAIP messages TT8500ANO08 1 01a Page 3 of 30 Copyright 2005 Skypatrol LLC Skypatrol Evolution GSM GPRS MLU Trimble ASCII Interface Protocol S Ky pat rol TABLE 1 SKYPATROL EVOLUTION MLU GPS SUPPORTED TAIP MESSAGES INCLUDE AL Altitude Up Velocity PR Protocol AP Auxiliary Port Characteristics PT Port Characteristic CP Compact Position Solution PV Position Velocity Solution DC Differential Corrections RM Reporting Mode DD Delta Differential Corrections RT Reset Mode ID Identification Number ST Status IP Initial Position TM Time Date LN Long Navigation Message VR Version Number Skypatrol Evolution MLU uses the following commands to communicate TAIP messages with the Trimble GPS receiver To enable TAIP messages to be sent from the GPS receiver to the local serial port send the following AT command AT GPSLCL 3 To send TAIP commands from the serial port to the GPS receiver use the following command AT TAIP gt TAIP_command lt There are certain cases where the PV data may not automatically report every 5 seconds To enable this reporting send the following command AT TAIP gt FPV0005 lt Message Format All TAIP communication uses printable uppercase ASCII characters
11. LC Skypatrol Evolution GSM GPRS MLU Trimble ASCII Interface Protocol S pat rol End of Document TT8500AN008 1 01a Page 27 of 30 Copyright 2005 Skypatrol LLC
12. LE 16 RESET MODE DATA STRING DESCRIPTIONS 20 TABLE 17 DATA STRING HEX CHARACTERBS 21 TABLE 18 TRACKING S TATUS CoptE 21 TABLE 19 ERROR CODES NIBBLE em 21 TABLE 20 ERROR CODES NIBBLE 2 21 TABLE 21 ERROR CODES NIBBLE 4 21 TABLE 22 TM TIME DATA DATA STRING DESCRIPTIONS 22 TABLE 23 VERSION NUMBER DATA STRING DESCRIPTIONS 23 TT8500AN008 1 01a Page 2 of 30 Copyright 2005 Skypatrol LLC Skypatrol Evolution GSM GPRS MLU Trimble ASCII Interface Protocol S pat rol Objective The intent of this document is to provide the Trimble ASCII Interface Protocol TAIP reference information that allows the user to configure the Trimble TAIP features if selected as the reporting format Supported de
13. Longitude 8 Deg DDDDEEEE 0 2D GPS 1 3D GPS 2 2D DGPS Source 1 N A F 3 3D DGPS 6 DR 8 Degraded DR 9 Unknown 2 Fresh 10 seconds Age of Data Indicator 1 N A G 1 Old gt 10 seconds 0 Not available Total of characters is 22 Position is in latitude positive north and longitude positive east WGS 84 The GPS time of day is the time of fix rounded to the nearest second Note The data in this message is to be considered invalid and should not be used if the Age of Data Indicator is equal to 0 signifying data not available TT8500ANO08 1 01a Page 12 of 30 Copyright 2005 Skypatrol LLC Skypatrol Evolution GSM GPRS MLU Trimble ASCII Interface Protocol S pat rol DC Differential Corrections The DC message provides the sensor with differential corrections from type 1 and type 9 RTCM 104 records The numerical values are written out in hex format producing a two character hexadecimal number for each data byte Data String Format AAAABBCC DDEEEEFFGG TABLE 9 DC DELTA DIFFERENTIAL CORRECTIONS DATA STRING DESCRIPTIONS Item of Char Type Units Format Modified Z count 4 Word 6 sec AAAA Station health 2 Byte N A BB Number of SVs 2 Byte N A The next five bytes 10 characters are repeated for each SV SV PRN amp scale factor 2 Byte N A DD Range correction 4 Word RTCM 104 EEEE Range rate correction 2 Byte RTCM 104 FF IODE 2 Byte N A GG D lt D lt
14. RSIONN 9 MESSAGE DATA STRINGS 10 AL AL TITUDE UP V ELOCITY u q unn s q CP POSITION SOLUTION se DC DIFFERENTIAL CORRECTIONS DD DELTA DIFFERENTIAL CORRECTIONS ID IDENTIFICATION NUMBER IP INITIAL POSITION LN LONG NAVIGATION MESSAGE PV PosiTION V ELOCITY SOLUTION RM REPORTING Mopt Skypatrol Evolution GSM GPRS MLU Trimble ASCII Interface Protocol S pat rol Table of Figures TABLE 1 SKYPATROL EVOLUTION MLU GPS SUPPORTED TAIP MESSAGES INCLUDE 4 TABLE 2 MESSAGE QUO HEN ce 4 TABLE 3 MESSAGE FORMAT QUALIBIERS scssssssssssssssscsccscssccsssssseccsssessccsscsessscscsscsecssssscsccsecsessessecscssecessessscsecsessesseceoes 5 TABLE 4 SAMPLE PV MESSAGE FIELDS
15. The interface provides the means to configure the unit to output various sentences in response to queries or on a scheduled basis Each sentence has the following general format gt ABB C ID DDDD FF lt wher TABLE 2 MESSAGE FORMATS gt Start of new message A Message qualifier BB A two character message identifier Data sting DDDD Optional 4 character vehicle ID FF Optional 2 character checksum Delimiting character x Signifies that x can occur any number of times x Signifies that x may optionally occur once Start of a New Message The gt character ASCII code 62 decimal is used to specify the start of a new sentence Message Qualifier A one character message qualifier is used to describe the action to be taken on the message The following table lists the valid qualifiers TT8500ANO08 1 01a Page 4 of 30 Copyright 2005 Skypatrol LLC Skypatrol Evolution GSM GPRS MLU Trimble ASCII Interface Protocol S pat rol TABLE 3 MESSAGE FORMAT QUALIFIERS Qualifier Action Query for a single sentence sent to GPS sensor Response to a query or a scheduled report from the sensor Schedule reporting frequency interval in seconds Enables equipment to be initialized and sets various message types Specify a minimum distance traveled and a minimum and maximum time interval for the next report gum Ao Details on the use of mes
16. Units Format Modified Z count 4 Word 6 sec AAAA Number of SVs 2 Byte N A BB The next three bytes 6 characters are repeated for each SV SV PRN 2 Byte N A CC Delta Range correction 4 Word RTCM 104 DDDD y Note The units and scale factors are as defined by RTCM 104 version 1 The health UDRE scale factor given for the specific SV in the most recent message DC is used Delta range corrections are scaled by 0 02 meters times 2 raised to the health power The DC and DD TAIP messages described herein apply only to differential ready sensors and are provided to enclose differential corrections within the TA IP format Use of DC and DD messages to input corrections requires only one communications channel Use of the auxiliary port to input RTCM 104 corrections assumes a separate communications channel is available for broadcast and receipt of differential corrections Note The TAIP software toolkit GPSSK does not support DC and DD messages TT8500ANO08 1 01a Page 14 of 30 Copyright 2005 Skypatrol LLC Skypatrol Evolution GSM GPRS MLU Trimble ASCII Interface Protocol S rol ID Identification Number Data String Format AAAA TABLE 11 IDENTIFICATION NUMBER DATA STRING DESCRIPTIONS of Item CEA Units Format Vehicle ID 4 N A AAAA Total number of characters is 4 This message is used to report orset the vehicle s or sensors unique four character
17. all characters from the beginning of the sentence up to and including the character If provided the checksum is always the last element of the sentence before the message delimiter The default mode of operation is to include checksum in sentences The use of checksums can help in instances where the communication channel is noisy Example TT8500ANO08 1 01a Page 5 of 30 Copyright 2005 Skypatrol LLC Skypatrol Evolution GSM GPRS MLU Trimble ASCII Interface Protocol S pat rol The following message to set the vehicle ID flag on includes checksum gt SRM ID_FLAG T 6F lt The checksum 6F was generated by XOR ing the ASCII codes for gt and S then XORing that result with the ASCII code for R and so forth up to and including the character Message Delimiter The lt character signifies end of a sentence and is used as the message delimiter Sample PV Message The Position Velocity Solution PV message is one of the more commonly used TAIP messages and most sensors using TAIP are set by default to output the PV message once every 5 seconds The following analysis of a typical PV message is provided to further explain the TAIP message protocol gt RPV15714 3739438 1220384601512612 ID 1234 7F lt TABLE 4 SAMPLE PV MESSAGE FIELDS ID Meaning gt Start of Message Delimiter R Response Qualifier PV PV message Identifier 15714 GPS Time of Day 3739438 Latit
18. alpha numeric user assigned ID The default at cold start is 0000 Example The following message will set the vehicle ID to 101 gt SID0101 lt The following is simply a response to a query for vehicle ID gt RID0101 lt the sensor s memory If no ID is included in the message the sensor will assume a match and accept the message If the message sent to the sensor does contain a vehicle ID but that ID does not match the ID previously set in the sensor the message will be ignored This process is followed even when the ID Flag is turned off refer to the message RM Note The sensor will always check incoming messages for ID and compare with the vehicle ID set in TT8500ANO08 1 01a Page 15 of 30 Copyright 2005 Skypatrol LLC Skypatrol Evolution GSM GPRS MLU Trimble ASCII Interface Protocol 5 ypatrol IP Initial Position Data String Format AAABBBBCCCCC TABLE 12 INITIAL POSITION DATA STRING DESCRIPTIONS of Item CEA Units Format Initial Latitude 3 Deg AAA Initial Longitude 4 Deg BBBB M 10 Initial Altitude 5 Mieten CCCCC Total of characters is 12 This is a very coarse initial position that the user can provide to aid the sensor in obtaining its first fix This is particulady useful with sensors that do not have non volatile Battery Backed up memory In such cases every time the unit is powered up it goes through a complete cold start and it has absolutely n
19. duced into a retrieval system or transmitted in any form or by any means electronic mechanical photocopying recording or otherwise or for any purpose without the express written permission of Skypatrol LLC Skypatrol may have patents patent applications trademarks copyrights or other intellectual property rights covering subject matter in this document Except as expressly provided in any written license agreement from Skypatrol the fumishing of this document does not give you any license to these patents trademarks copyrights or other intellectual property 2005 Skypatrol LLC All rights reserved Enabler is a registered trademark or trademark of Enfora L P in the United States Revision History Skypatrol Evolution GSM GPRS MLU Trimble ASCII Interface Protocol TT8500ANOO08 Dae Rev Author Description Table of Contents 63530 1 u M 3 SUPPORTED DEVICES IL a I I I a era PL eo sesso suada ae Teen e bU Ue eV raodo saa pase pa 3 OVERVIEW 1 G Sans 3 MESSAGE FORMAT T uW S u sS q a s es ee S a a E oeeo dosana bsar siopio ror eps epe aetas aee 4 SAMPLE PV MESSAGE s FESKT 6 TIME AND DISTANCE REPORTING 8 LATITUDE AND LONGITUDE CONVE
20. e GPS sensor to respond immediately with a specific message The format is QAALTID BBBB CC where AA is the requested message identifier Messages supported by this qualifier are AL AP CP ID IP LN PT PV RM ST TM and VR Scheduled Reporting Frequency Interval The scheduled reporting frequency interval F message qualifieris used to tell the unit how often and when to report a specific message The format is gt FAABBBBCCCC ID DDDD FF lt where sending this sentence tells the unit to report message specified by the two digit identifier AA at the time interval of BBBB seconds with time epoch at CCCC seconds from top of the hour Specifying time interval of 0000 stops scheduled reporting of the message The default is 0000 time interval for all messages except PV The output frequency for PV at cold start is set at once every five seconds zero seconds from top of the hour Messages supported by this qualifier are AL AP CP ID IP LN PT PV RM ST TM and VR Note The data specified by this qualifieris timing of the message output and may be different from the time tag of the data in the message The Response to Query or Scheduled Report The response R qualifier caries various types of data between the unit and the user equipment The format is gt RAA B ID CCCC DD lt where is the two character message identifier and specifies the data string within the message For the
21. eading 4 Deg MMM N Number of S Vs used 2 N A SV Id see note 2 N A PP IODE see note 2 N A QQ Reserved 10 N A RRRRRRRRRR 0 2D GPS 1 3D GPS 2 2D DGPS Source 1 N A S 3 3D DGPS 6 DR 8 Degraded DR 9 Unknown 2 Fresh 10 seconds Age of Data Indicator 1 N A T 1 Old gt 10 seconds 0 Not available Total of characters is 65 4x number of SV s used Note Atleast 2 satellites are required to get LN Message Position is in Degrees minutes decimal minutes And latitude is positive north and longitude positive east WGS 84 Heading is in degrees from True North increasing eastwardly The GPS time of day is the time of fix rounded to the nearest second Note The data in this message is to be considered invalid and should not be used if the Age of Data Indicator is equal to 0 signifying data not available TT8500ANO08 1 01a Page 17 of 30 Copyright 2005 Skypatrol LLC Skypatrol Evolution GSM GPRS MLU Trimble ASCII Interface Protocol S pat rol PV Position Velocity Solution Note The first character of latitude or longitude is lt Data String Format AAAAABBBCCCCCDDDDEEEEEFFFGGGHI TABLE 14 POSITION VELOCITY SOLUTION DATA STRING DESCRIPTIONS Item of Char Units Format Value GPS Time of day 5 Sec Latitude 8 Deg BBB CCCCC Longitude 9 Deg DDDD EEEEE Speed 3 MPH FFF Heading 3 Deg GGG 0 2D GPS
22. format of please refer to the message definitions in the previous section Messages supported by the response qualifier are AL AP CP ID IP LN PT PV RM ST TM and VR TT8500ANO08 1 01a Page 24 of 30 Copyright 2005 Skypatrol LLC Skypatrol Evolution GSM GPRS MLU Trimble ASCII Interface Protocol S Ky pat rol The Set Qualifier The set S qualifier enables the user equipment to initialize set up various types of data in the GPS unit The format is SAA B ID CCCC DD lt where is the two character message identifier and specifies the data string within the message For the format of B please refer to the message definitions in the previous section Note that all the messages have very specific formats and are length dependent Messages normally supported by the set qualifier are AL AP CP DC DD ID IP LN PT PV and RM The set qualifier may be used with the AL CP LN or PV message to set more precise initial position data into the GPS sensor than can be set with the IP message Sample Communication Session The following is a sample communication session to illustrate how message qualifiers are used Query the sensor for version number for the TAIP firmware gt lt The sensor responds with a message in the following form gt RVR Lassen SQ VERSION 1 04 01 23 03 35 lt version number and release dates then included the checksum for the message the default for t
23. he CS Hag is TRUE Also notice that the sensor did respond to our query even though we did not send a checksum Note The sensor identified its product name firmware version number core signal processing Query the sensor for its ID number gt QID lt The sensor will respond assuming factory default settings gt RID0000 70 lt Set the ID to match the number fora vehicle in your fleet and then tell the sensor to include the Vehicle ID in its responses gt SID1234 lt gt SRM ID_FLAG T lt The Lassen SQ GPS sensoris set by default to report the PV message once every 5 seconds To schedule the PV message from vehicle 1234 to respond once every 10 seconds starting at 5 seconds after the top of the hour use the following command TT8500ANO08 1 01a Page 25 of 30 Copyright 2005 Skypatrol LLC Skypatrol Evolution GSM GPRS MLU Trimble ASCII Interface Protocol S rol gt FPV00100005 ID 1234 lt The sensor will check the ID included in the message for a match with its own and then reschedule the PV message At the next scheduled time the sensor will respond with gt RPV15714 3739438 1220384601512612 ID 1234 7F lt Note The time given in the message is the time of the last GPS fix 04 21 54 GPS not necessarily the time of the message response If the time of last fix is 10 or more seconds old the age flag will be set to 1 TT8500AN008 1 01a Page 26 of 30 Copyright 2005 Skypatrol L
24. meters to a TAIP speaking receiver follow these steps 1 Change the protocol to TSIP using the TAIP PR command 2 Enter parameters via TSIP commands see section 3 7 3 Change the protocol to TAIP using TSIP command 0xBC 4 Save to SEEPROM using the TAIP command gt SRTSA VE_CONFIG lt TT8500ANO08 1 01a Page 20 of 30 Copyright 2005 Skypatrol LLC Skypatrol Evolution GSM GPRS MLU Trimble ASCII Interface Protocol SKy pat rol ST Status Data String Format AABCDDEFGG of the sensor This information is contained in five status bytes which are output as five 2 digit Note This message provides information about the satellite tracking status and operational health hexadecimal values The data format and the meanings of the hex characters are given in the following tables TABLE 17 DATA STRING HEX CHARACTERS Item of Char Units Format Definition Tracking Status Code 2 N A AA see table below Status Codes Nibble 1 1 N A B see table below Status Codes Nibble 2 1 N A C see table below Machine ID 2 N A DD Status Codes Nibble 3 1 N A E not currently used Status Codes Nibble 4 1 N A F see table below Reserved 2 N A GG not currently used TABLE 18 TRACKING S TATUS CODE Value AA Meaning 00 Doing position fixes 01 Don t have GPS time yet 02 Not used 03 P
25. o knowledge of where it is Providing this message improves performance by decreasing the time to first fix and enhances the accuracy of the initial two dimensional navigation solutions by providing a reference altitude In case of units with non volatile memory sending this message is only helpful if the unit has moved more than 1 000 miles since its previous fix In either case the sensor can initialize itself appropriately without any data from the user it merely requires more time Note Forall the above values the first character specifies the sign Example The following message will set the initial position to 37 North 122 West altitude 10 meters gt SIP 37 122 0001 lt TT8500ANO08 1 01a Copyright 2005 Skypatrol LLC Page 16 of 30 Skypatrol Evolution GSM GPRS MLU Trimble ASCII Interface Protocol S pat rol LN Long Navigation Message DX Note The first character of latitude longitude altitude or vertical speed is or lt Data String Format AAAAA BBBCCCDDDDDDDEEEEFFFFFFFGGGGGGGHHIIIJKKKKLM MMNOOPPQQPPQQ PPQQRRRRRRRRRRST TABLE 13 LONG NAVIGATION MESSAGE DATA STRING DESCRIPTIONS Item of Char Units Format Value GPS Time of day 8 Sec AAAAA BBB Latitude 10 Deg CCC DDDDDDD Longitude 11 Deg EEEE FFFFFFF Altitude above MSL 9 Ft GGGGGGG HH Horizontal Speed 4 MPH IILJ Vertical Speed 5 MPH KKKK L H
26. reached its stationary dispatch site the operator signals the base by voice or by pushing a button on a Mobile Data Terminal MDT signifying that the unit is now on station Once this TT8500ANO08 1 01a Page 8 of 30 Copyright 2005 Skypatrol LLC Skypatrol Evolution GSM GPRS MLU Trimble ASCII Interface Protocol S pat rol communication is made the base operator issues D qualifier and message so that the ambulance will only report either when it moves off station or at specific reporting intervals Latitude and Longitude Conversion The TAIP protocol reports latitude as positive north decimal degrees and longitude as positive east decimal degrees using the WGS 84 datum For your application you may wish to convert to degrees minutes and seconds The following example illustrates the conversion of decimal degrees to degrees minutes and seconds Example Given latitude and longitude in decimal degrees Latitude 37 39438 degrees Longitude 122 03846 degrees Convert latitude by multiplying the decimal fraction of degrees by 60 to convert to minutes 0 39438 x 60 23 6628 minutes Retain the integer 23 portion as the minutes then multiply the decimal fraction by 60 to convert to seconds 0 6628 x 60 39 768 seconds Since the sign of the latitude in this example is positive the result is Latitude N 37 o 23 39 77 The longitude is converted in the same fashion Longitude W 122 o 0
27. rol AL Altitude Up Velocity Note The first character of altitude or vertical velocity is or Data String Format AAAAABBBBBBCCCCDE TABLE 7 ALTITUDE UP V ELOCITY DATA STRING DESCRIPTIONS Item of Char Units Format Value GPS Time of day 5 Sec AAAAA Altitude 6 Meter BBBBBB Vertical Velocity 4 MPH CCCC 0 2D GPS 1 3D GPS 2 2D DGPS Soure 1 N A D 3 3D DGPS 6 DR 8 Degraded DR 9 Unknown 2 Fresh lt 10 seconds Age of Data Indicator 1 N A E 1 Old gt 10 seconds 0 Not available Total of characters is 17 Altitude is above mean sea level in WGS 84 The GPS time of day is the time of fix rounded to the nearest second This message contains data obtained from the last 3 dimensional fix and may not be cument Note The data in this message is to be considered invalid and should not be used if the Age of Data Indicator is equal to 0 signifying data not available TT8500ANO08 1 01a Page 11 of 30 Copyright 2005 Skypatrol LLC Skypatrol Evolution GSM GPRS MLU Trimble ASCII Interface Protocol S pat rol CP Compact Position Solution DX Note The first character of latitude or longitude is or lt Data String Format AAAAABBBCCCCDDDDEEEEFG TABLE 8 COMPACT POSITION SOLUTION DATA STRING DESCRIPTIONS Item of Char Units Format Value GPS Time of day 5 Sec AAAAA Latitude 7 Deg BBBCCCC
28. sage qualifiers are given in section entitled Communication Using TAIP Note TAIP message characters must be in upper case Message Identifier A unique two character message identifier consisting of alphabetical characters is used to identify type messages For example PR for Protocol or VR for Version Number Data String The format and length of a data string is dictated by the message qualifier and the message identifier The data string may contain any printable ASCII character with the exception of the gt lt and characters Detailed descriptions of each message format are provided in the specific message sections of this Appendix Most messages are length sensitive and unless otherwise specified field separators including spaces are not used Vehicle ID A vehicle identification ID may optionally be used in all the communications with the sensor Each sensor in the fleet may be assigned a four character alpha numeric ID and be forced to output that ID in all messages The default is ID set to 0000 and the ID Flag set to F false The sensor will check all incoming messages for ID If no ID is specified the sensor will accept the message If the ID is included in messages but does not compare with the ID previously set the message will be ignored This applies even when the ID Flag is tumed off Checksum The checksum field provides for an optional two digit hex checksum value which is computed as XOR of
29. ude 12203846 Longitude 015 Speed 126 Heading 1 Source of Data 2 Age of Data sID 1234 Vehicle ID STE Checksum End of Message Delimiter Note Refer to the discussion of the PV message data string for more details on how this message is interpreted TT8500ANO08 1 01a Page 6 of 30 Copyright 2005 Skypatrol LLC Skypatrol Evolution GSM GPRS MLU Trimble ASCII Interface Protocol S pat rol TT8500AN008 1 01a Page 7 of 30 Copyright 2005 Skypatrol LLC Skypatrol Evolution GSM GPRS MLU Trimble ASCII Interface Protocol S pat rol Time and Distance Reporting The D message qualifier allows you to specify a minimum distance traveled as well as a minimum and maximum time interval for the next report Units that are stationed at a fixed location can be programmed to report only when the unit moves off station or after a certain elapsed time since last report but no more often than the specified minimum time interval The message format used with the D qualifieris shown below DAABBBBCCCCEEEEFFFF IDZGGGG HH TABLE 5 TIME AND DISTANCE REPORTING MESSAGE FORMAT QUALIFIERS ID Meaning gt start of message delimiter D the Distance message qualifier AA message to report i e PV means Position Velocity message BBBB minimum time seconds interval between reports T interval CCCC report epoch number of seconds from top of the
30. vices TT8540 Skypatrol Evolution MLU Note Some features may not be available on some hardware or firmware revisions Please consult the applicable hardware documentation and firmware release notes References e TT8540AN001 Evolution MLU Quick Start Guide e TT8540PB001IMAN Evolution MLU User Manual e TT8500PB001IMAN Evolution MLU AT Command Set Overview Trimble ASCII Interface Protocol TAIP is a Trimble specified digital communication interface based on printable ASCII characters over a serial data link TAIP was designed specifically for vehicle tracking applications but has become common in a number of other applications because of its ease of use TAIP supports both scheduled and polled responses TAIP messages may be scheduled for output at a user specified rate starting on a given epoch from top of the hour For communication robustness the protocol optionally supports checksums on all messages It also provides the user with the option of tagging all messages with the unit s user specified identification number ID This greatly enhances the functional capability of the unit in a network environment Additionally given the printable ASCII format of all communication TAIP is ideal for use with mobile data terminals seven bit modems and portable computers Although sensors incorporating this protocol are shipped from the factory with a specific serial port setting the port characteristics are fully programmable through TA
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