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1. 94 Copernicus GPS Receiver FIRMWARE UPGRADE 12 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 12 5 Change Baud Rate BYTEO BYTE1 BYTE2 BYTE3 BYTE4 BYTE 5 0x02 0x00 0x86 Baud CHKSM 0x03 Table 12 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 Ox8F 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 12 7 Erase Firmware Section BYTEO BYTE1 BYTE2 BYTE3 BYTE4 BYTE 5 0x02 0x00 Ox8F 0x00 Ox8F 0x03 Copernicus GPS Receiver 95 12 96 FIRMWARE UPGRADE Packet ID 0x8B Start Firmware Programming This packet initiates firmware loading It has two parameters The first parameter 4 byte value contains the size of the firmware
2. 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 126 Copernicus GPS Receiver Reference Manual TRIMBLE STANDARD INTERFACE PROTOCOL TSIP 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 five seconds Packet 0x4B is always sent along with this packet Note
3. Trimble Datum Local Geodetic Datum Index Name 0 WGS 84 6 WGS 72 7 NAD 83 8 NAD 02 9 Mexican 10 Hawaii 11 Astronomic 12 U S Navy Table A 68 Africa Trimble Datum Local Geodetic Datum Index Name Code 15 Adindan Mean Solution Ethiopia and Sudan ADI M 16 Adindan Ethiopia ADI A 17 Adindan Mali ADI C 18 Adindan Senegal ADI D 19 Adindan Sudan ADI B 20 Afgooye Somalia AFG 23 ARC 1950 Mean Solution ARF M 24 ARC 1950 Botswana ARF A 25 ARC 1950 Lesotho ARF B 26 ARC 1950 Malawi ARF C 27 ARC 1950 Swaziland ARF D 28 ARC 1950 Zaire ARF E 29 ARC 1950 Zambia ARF F 30 ARC 1950 Zimbabwe ARF G 31 ARC 1960 Mean Solution ARS 32 ARC 1960 Kenya ARS 33 ARC 1960 Tanzania ARS 45 Cape South Africa CAP Copernicus GPS Receiver Reference Manual 159 TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Table A 68 Africa Trimble Datum Local Geodetic Datum Index Name Code 47 Carthage Tunisia CGE 82 Liberia 1964 Liberia LIB 87 Massawa Eritrea Ethiopia MAS 88 Merchich Morocco MER 90 Minna Nigeria MIN B 94 Schwarzeck Namibia SCK 118 Old Egyptian 1907 Egypt OEG Table A 69 Asia Trimble Datum Local Geodetic Datum Index Name Code 1 Tokyo 21 Ain El Abd 1970 Bahrain Island AIN A 51 Djakarta Batavia Sumatra Indonesia BAT 71 Hong Kong 1963 Hong Kon
4. Sdd Sdd T wwz uid g 8 L 9 s v Z L B peidnooep 25q Ajjeusaqul S NI HH Snorujedo2 moAe Dad eui uo puedep sanjen QNO 9 80X4 2 i A Sdd 9 VOXH S sjueuoduuoo Hulyoyew eouepeduul ale yO pue LO JAY O VOXL E SOSA RP AEZ SOXLU Duiweiq lquiessy eu u pue WO eui uo l l j or sr pepnjoul eq 0 pasinbes ase sjeduinf pz 3 1ON o m vOIN DLN Z LW LOIN 13S38X oz Lo amp 13s3ux d vr Ovslva aan en snojuledog EN r 1008 8zaN9 SZaN Ce v g 13 34X a Sa EIL iz Y axa 1009 Or er Y XL 1HOHS 3 1uHS SV Oldo 27 SV Oldo HOLINOW 5 lt lt HOLINOW 5 axi Nado 7 Ndo ES ade soo lw zr 99 HV Oldo TT LLY Old9 9 Z oz E MX OLY Old9 sr CE K A ASGNVLSX AGGNVLSX N3X WNT N3X WNT vy oido 27 Node Sdd LZ gt gt Sdd 8081 uiuo os uBue nDO Y PR 9V Oldo SONO LZ XOW 3H S amp Oldo 4 8 Old9 Ni dH he E n urewA lt LzQN9 ONO Hog ES R 9ZONO LOS fet n 9 t T T R x 4061 LO X wen S arto eo Copernicus Reference Board Schematic Page 1 Figure 10 4 Note Reference board schematics may differ from the recommendations outlined in Table 2 1 due to the test mode requirements for Trimble s internal use COPERNICUS REFERENCE BOARD 10 Z li N Z li Z li Z l LLIZONLISOW LETZONLJSOW LETEONLJSOW LETZONLJSO
5. 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 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 88 Copernicus GPS Receiver FIRMWARE UPGRADE 12 Wait 0 5 secs Change local serial port settings Send hand shaking packet ENO 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 load
6. Dn CS CR LF The signifies the start of a message ID The identification is a two letter mnemonic which describes the source of the navigation information The GP identification signifies a GPS source MSG The message identification is a three letter mnemonic which describes the message content and the number and order of the data fields 6699 Commas serve as delimiters for the data fields Dn Each message contains multiple data fields Dn which are delimited by commas The length of the fields can be variable FUIS The asterisk serves as a checksum delimiter CS The checksum field contains two ASCII characters which indicate the hexadecimal value of the checksum CR LF The carriage return CR and line feed LF combination terminate the message NMEA 0183 standard messages vary in length but each message is limited to 79 characters or less This length limitation excludes the and the CR LF The standard message data field block including delimiters is limited to 74 characters or less Note Trimble proprietary messages can exceed 79 characters and the data field block of these messages can exceed 74 characters Copernicus GPS Receiver Reference Manual 169 NMEA 0183 170 Field Definitions Many of the NMEA data fields are of variable length and the user should always use the comma delineators to parse the NMEA message date field Table B 2 specifies the definitions of all fi
7. 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 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 of Position 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
8. Graceful Shutdown command Graceful Shutdown The Graceful Shutdown command is issued by using TSIP packet OxXCO or NMEA command RT with store RAM to flash flag enabled After storing the almanac to the Flash Memory the unit will perform a reset The reset type will depend on the other Graceful Shutdown command parameters On start up the unit will use the almanac from RAM first If RAM is not available the unit will use the almanac from the Flash Memory Almanac in Flash Updating Process The unit automatically updates the almanac in RAM from satellite data It does NOT update the almanac in the Flash Memory automatically To update the almanac in the Flash Memory the Graceful Shutdown command must be issued to the unit Copernicus GPS Receiver 29 4 OPERATING MODES 18 Hour RTC Roll Over 33mA 30 mA Current Standby Current Running 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 current draw levels after initiating a Standby Command as well as the service time for the 18 hour real time clock roll over 10 200 msec_ gt 10 msec 10 msec e A Standby Command sees E 18 hours Lund 1
9. If receiver status changes between five second outputs no notification is given until the next cycle Table A 30 Report Packet 0x46 Data Formats Byte Bit Item Type Value Definition 0 Status code UINT8 0x00 Doing position fixes 0x01 Don t have GPS time yet 0x02 Reserved 0x03 PDOP is too high 0x08 No usable satellites 0x09 Only 1 usable satellite 0x0A Only 2 usable satellites OxOB Only 3 usable satellites 1 0 Battery Bit 0 OK backup 1 BBRAM was not available at start up 1 4 Antenna Bit 0 OK feedline 1 Short or open detected fault 1 5 Type of fault Bit 0 Open detected 1 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 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 1 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 Copernicus GPS Receiver Reference Manual 127 TRIMBLE STANDARD INTERFACE PROTOCOL TSIP
10. Quick Start Guide 1 Confirm that you have the following The Copernicus 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 11 5 Connecting Power 4 Plug the power cable into a wall outlet 5 Connect the magnetic mount GPS antenna to the interface unit Figure 11 6 Antenna Connection 6 Place the antenna on the window sill or put the antenna outside 7 Connect the USB cable to the USB connector on the interface unit 82 Copernicus GPS Receiver COPERNICUS STARTER KIT 11 Figure 11 7 Connecting the PC 8 9 10 11 12 13 Power on your computer Insert the CD found in the Starter Kit box into your computer CD drive Install the Copernicus Monitor Program from the CD Download and install the appropriate FTDI driver on your PC see Loading the FTDI Driver page 76 Execute the Copernicus Monitor Program 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 simple select a different USB virtual COM port Copernicus GPS Receiver 83 11 COPERNICUS STARTER KIT 84 Copernicus GPS Receiver CHAPTER FIRMWARE UPGRADE In this chapter Introduction Software Architecture Boot Monitor Firmware Binary File Format Firmware Loading Procedure Monitor Interface Protocol F
11. 1 Total number of GSV messages Message number 1 to 3 Total number of satellites in view Satellite PRN number Satellite elevation in degrees 90 Maximum oO oo AJ wy Pp Satellite azimuth in degrees true 000 to 359 7 Satellite SNR C No null when not tracking 8 9 10 11 PRN elevation azimuth and SNR for second satellite 12 13 14 15 PRN elevation azimuth and SNR for third satellite 16 17 18 19 PRN elevation azimuth and SNR for fourth satellite hh Checksum RMC Recommended Minimum Specific GPS Transit Data The RMC message contains the time date position course and speed data provided by the GPS navigation receiver A checksum is mandatory for this message and the transmission interval may not exceed 2 seconds All data fields must be provided unless the data is temporarily unavailable Null fields may be used when data is temporarily unavailable SGPRMC hhmmss ss A llll ll a yyyyy yy a X X X X XXXXXX X X a 1 hh lt CR gt lt LF gt Table B 9 RMC Recommended Minimum Specific GPS Transit Data Message Parameters Field 4 Description 1 UTC of Position Fix when UTC offset has been decoded by the receiver 2 Status A Valid V navigation receiver warning 3 4 Latitude N North or S South 5 6 Longitude E East or W West Copernicus GPS Receiver Reference Manual 177 NMEA 0183 Table B 9 RMC Recommended M
12. Note To request the current datum send Packet 8E015 with no data bytes Eccentricity Squared is related to flattening by the following equation 2 2 e 2p p 150 Copernicus GPS Receiver Reference Manual TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Command Packet Ox8E 17 Request Last Position or Auto Report Position in UTM Single Precision Format This packet requests the most recent UTM Universal Transverse Mercator position in single precision format The auto report data byte turns on and off auto reporting of Ox8F 17 packet at 1 second rate If the packet is sent without the auto report data byte the GPS receiver returns packet Ox8F 17containing the last position if position is available Table A 58 Command Packet 8E 17 Byte Item Type Meaning 0 Auto report UINT8 O auto report off 1 auto report on Command Packet 8E 18 Request Last Position or Auto Report Position in UTM Double Precision Format This packet requests the most recent UTM Universal Transverse Mercator position in double precision format The auto report data turns on and off auto reporting of packet Ox8F 18 at a 1 second rate If the packet is sent without the auto report data byte the GPS receiver returns packet Ox8F 18 containing the last position if it is available Table A 59 Command Packet 8E 18 Byte Item Type Meaning 0 Auto report UINT8 O auto report off 1 auto report on Copernicus GPS
13. Receiver Status and Position Fix This sentence may be issued by the user to get receiver status and position fix The Query sentence format is SPTNLOTF hh lt CR gt lt LF gt The Response to query sentence format is SPTNLRF b c xXxxxxx xx X 1111 11111 d yyyyy yyyyy e XXX XX X X X X X X hh CR LF Table B 30 Receiver Status and Position Fix Field Description a Mode Q query R Response b BBRAM status on startup A valid V invalid C Almanac completion status A complete V incomplete XXXXXX GPS time of week in seconds Xx Number of satellites in use 00 12 may be different from the number in view x Position fix source 0 no fix 2 2D fix 3 3D fix HIT Latitude of the current position fix d NIS yyyyy yyyyy Longitude of the current position fix e EJW XXXXX Antenna altitude re mean sea level MSL geoid meters X X East component of ENU velocity m s X X North component of ENU velocity m s X X Up component of ENU velocity m s Copernicus GPS Receiver Reference Manual NMEA0183 UT UTC This sentence can be used to query or set UTC data SPTNLaUT hhhhhhhh hhhhhh hh hh hhhh hhhh hh hh hh lt CR gt lt LE Table B 31 Field Description a Mode Q query S set R Response hhhhhhhh A 0 HEX data conforming to GPS ICD 200 hhhhhh A 1 HEX data conform
14. lt 2 dB The specifications are provided so that a cascaded noise figure design calculation can be used Active antennas must be powered with a single bias Tee circuit See applications circuits in Chapter 5 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 If using an active antenna Trimble recommends that the user implement an antenna detection circuit with short circuit protection There are two pins provided for reporting the antenna status OPEN and SHORT The following logic level inputs 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 below These input pins conform to the Input Output Pin threshold levels specified in Table 3 2 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 Copernicus GPS Receiver INTERFACE CHARACTERISTICS 2 Table 2 2 Antenna Status Truth
15. Both in and out Input only O Output only F Off N Not available Port B protocol Sending the following message will set the receiver to TAIP IN and TAIP OUT on PORT A and NMEA OUT on Port B gt SPR TAIP TF TSIP FF NMEA FO Notes Bi directional TSIP TAIP and NMEA are supported on Ports 1 and 2 If a protocol is not implemented within the application x and or y will have the value N and any set message for that protocol is ignored It is possible to turn off all input processing on a port If this is done neither TAIP nor TSIP can be used to change the active protocols If you do not use battery back up and you do not have the settings saved in FLSAH memory all port characteristics will reset to the default after power is removed 212 Copernicus GPS Receiver Reference Manual TRIMBLE ASCII INTERFACE PROTOCOL TAIP PT Port Characteristic This message defines the characteristics for the TAIP port Data String Format AAAA B C D Table C 13 Port Characteristic Data String Descriptions Item of Char Units Format Value Baud Rate 4 n a AAAA 4800 9600 19200 38400 of data bits 1 n a B of stop bits 1 n a C 1 Parity 1 n a D N 2 None Total number of characters is 10 includes commas Most TAIP using receivers use the following default port characteristics e 4800 baud e 8 data bits e I stop bit e No parity Note The characteris
16. For details regarding the firmware upgrading process please refer to the Firmware Upgrading Section of this manual 26 Copernicus GPS Receiver OPERATING MODES 4 Changing the RUN STANDBY modes Copernicus provides the user with two methods of switching the receiver between RUN and STANDBY modes 1 Using the XSTANDBY pin or 2 Using the serial ports under user control Note Only one method can be used at a time If you are using the XSTANDBY pin you should 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 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 warm restart and return to normal operation Note Excessive noise on the XSTANDBY pin could trigger the receiver to reset see Table 3 2 Using Serial Ports to Switch Modes Entering Standby Mode The second method for putting the receiver into Standby Mode is using TSIP packet OxCO or NMEA packet RT to comman
17. Horizontal speed 4 MPH ill J Vertical soeed 5 MPH S KKK L Heading 4 Deg MMM N Number of SVs 2 n a 00 used SV ID see note 2 n a PP IODE see note 2 n a QQ Reserved 10 n a RRRRRRRRRR Fix Mode 1 n a X 0 2D GPS 1 3D GPS 2 8 reserved 9 no fix avail Age of Data 1 n a T 2 fresh lt 10 sec indicator 1 old gt 10 sec O not available Total number of characters is 65 4x number of SVs used Note At least 2 satellites are required to get the LN Message Position is in degrees minutes and decimal minutes Latitude is positive north longitude is 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 Copernicus GPS Receiver Reference Manual 211 TRIMBLE ASCII INTERFACE PROTOCOL TAIP PR Protocol The protocol message PR is the method used to control which I O protocols are active on the serial ports Off e Input only e Output only e Both input and output The PR data string format is TAIP xy TSIP xy NMEA xy Table C 12 PR Data String Descriptions Item of Char Units Format Value Port A protocol 1 n a X T Both in and out Input only O Output only F Off N Not available n a y T
18. complete amp current Version VR Name CT COPERNICUS APP Number 1 05 TAIP Data Logging O Off LogFile Txo Rx COM4 9600 8 N 1 Figure E 2 Data Logging TAIP Monitor Main Window TAIP MONITOR USER S GUIDED TAIP Monitor provides for file storage of the TAIP stream directly from the serial port To turn data collection on or off use the Setup pull down menu and select the TAIP Data Logging menu item Copernicus GPS Receiver Reference Manual 231 TAIP MONITOR USER S GUIDE D 232 Copernicus GPS Receiver Reference Manual
19. 1 start up after RTC alarm 1 elapsed 3 Number of UINT32 O to 2147483647 seconds seconds to stay or in Standby 31 vods 0 to 2 1 Copernicus GPS Receiver Reference Manual TRIMBLE STANDARD INTERFACE PROTOCOL TSIP TSIP Superpackets Several packets have been added to the core TSIP protocol to provide additional capability for OEM receivers In OEM Packets 0x8E and their Ox8F responses the first data byte is a sub code which indicates the superpacket type For example in Packet 0x8E 15 15 is the sub code that indicates the superpacket type Therefore the ID code for OEM packets is 2 bytes long followed by the data Command packet 0x35 is used to enable superpackets Command Packet 8E 4A Set Request Copernicus GPS Cable Delay and PPS Polarity Using this packet you can query and control the Copernicus GPS cable delay characteristics The receiver responds to a query or control command with packet 8F 4A The packet contains 16 bytes Table A 55 Command Packet 8E 4A Byte Item Type Meaning 0 Sub packet ID BYTE Always 0x4A 1 Reserved 2 Reserved 3 Polarity BYTE 0 Positive 1 Negative 4 11 PPS Offset of Cable Delay DOUBLE Seconds default 0 0 12 15 Reserved Copernicus GPS Receiver Reference Manual 149 TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Command Packet 8E 4A Set Request Copernicus GPS Cable Delay and PPS Polarity Using this packet you can query and control t
20. 3D Automatic Dimension 2 Reserved 3 Dynamics Code UINT8 1 Land Land 2 Sea 3 Air 4 Reserved 5 8 Elevation Mask Single 0 0 1 57 Lowest satellite 0 0873 5 radian elevation for fixes 9 12 AMU Mask Single 0 25 Minimum signal level 0 6 AMU for fixes 13 16 Reserved 17 20 Reserved 21 Reserved 22 39 Reserved Note The dynamic limits for Dynamics Codes are Land max velocity 120m s mac acc 1g 10m s 2 Air max velocity 515m s max acc 4g 40m s 2 Sea max velocity 45m s max acc 1g 10m s 2 144 Copernicus GPS Receiver Reference Manual TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Command Packet 0xBC Protocol Configuration TSIP Packet 0xBC is used to query the port characteristics In query mode Packet OxBC is sent with a single data byte and returns Report Packet OxBC See Table A 4 for information on saving the settings to non volatile memory TSIP Packet OxBC is used to set the communication parameters on port A The table below lists the individual fields within the Packet 0xBC and provides query field descriptions The BC command settings are retained in battery backed RAM Table A 53 Command Packet OxBC Port Characteristics Byte Bit Item Type Value Definition 0 Port to Set UINT 8 0 Port A 1 Port B OxFF Current port 1 Input Baud Rate UINT 8 2 Reserved 3 Reserved 4 Reserved 5 Reserved 6 4800 baud 7 9600 baud 8 19200 baud 9 384
21. 50 msec clock time from satellite 0x02 Ox0C drift 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 O 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 Reference Manual 125 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
22. 69 Copernicus Reference Board Top Side o oo e 72 Copernicus Reference Board Schematic Bottom Side LL 72 Interface Ut ut ace tine vec BA Orbe LA eme d A dfe sec A ef apu 74 AC DC Power Supply Converter s s sora pand eA 75 USB Cables 22 uo ue uote Rhe ru eod SE RCNH REN ei fraud 75 Front side of the Interface Unit ee TI Connecting POWer anitz sAn a E aa AE Re ae aoe Fara e 82 Antenna Connection 2 sso ee ho s 82 Connecting the PC uS EE ea Vatt NR eA Seu 83 Copernicus GPS Receiver xiii List of Figures Figure D 1 Copernicus Monitor Serial Port Selection llle 227 Figure D 2 Copernicus Monitor Main Window 2 000002 0G 227 Figure E 1 TAIP Monitor Serial Port Selection 2 2 e 230 Figure E 2 TAIP Monitor Main Window ers 231 xiv Copernicus GPS Receiver GENERAL DESCRIPTION In this chapter Receiver Overview Starter Kit Key Features Block Diagram Performance Specifications Interface Characteristics Electrical Characteristics Physical Characteristics Environmental Specifications Ordering Information CHAPTER 1 6 GENERAL DESCRIPTION Receiver Overview Trimble s Copernicus GPS receiver delivers proven performance and Trimble quality for a new generation of position enabled products It features the Trimble revolutionary TrimCore software technology for extremely fast startup times and high performance in foliage canopy
23. America NAS N 110 NAD 27 Cuba NAS T 111 NAD 27 Greenland NAS U 112 NAD 27 Mexico NAS V 113 NAD 83 Alaska NAR A 114 NAD 83 Canada NAR B 115 NAD 83 CONUS NAR C 116 NAD 83 Mexico and Central America NAR D Table A 73 South America Trimble Datum Local Geodetic Datum Index Name Code 42 Bogota Observatory Columbia BOO 43 Compo Inchauspe 1969 Argentina CAI 49 Chua Astro Paraguay CHU 50 Corrego Alegre Brazil COA 132 Provisional South Chilean 1963 Southern Chile near 53 S HIT 133 Provisional South American 1956 Mean Solution Bolivia PRP M Chile Columbia Ecuador Guyana Peru Venezuela 134 Provisional South American 1956 Bolivia Chile PRP A 135 Provisional South American 1956 Northern Chile near 19 S PRP B Copernicus GPS Receiver Reference Manual TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Table A 73 South America Trimble Datum Local Geodetic Datum Index Name Code 136 Provisional South American 1956 Southern Chile near 43 S PRP C 137 Provisional South American 1956 Columbia PRP D 138 Provisional South American 1956 Ecuador PRP E 139 Provisional South American 1956 Guyana PRP F 140 Provisional South American 1956 Peru PRP G 141 Provisional South American 1956 Venezuela PRP H 149 South American 1969 Mean Solution Argentina Bolivia SAN M Brazil Chile Columbia Ecuador Guyana Paraguay Peru Trinidad Tobago Venezuela 150 South American 19
24. Cable Length Compensation Default 0 Units in nanoseconds Can be positive or negative Negative value will mean PPS comes out earlier e g to compensate for cable delay NMEA0183 Copernicus GPS Receiver Reference Manual 191 NMEA 0183 PT Serial Port Configuration This sentence may be issued by the user for configuring the current serial port The Query sentence format is PTNLQPT hh lt CR gt lt LF gt The Response to query or Set sentence format is PTNLRPT xxxxxx b b b hh lt CR gt lt LF gt When the Set is issued the first Response sentence will be sent using the old parameters and the second response sentence will be sent using the new parameters If there is an error there will be an error response sent If there is no error no additional response is sent Table B 28 Serial Port Configuration Field Description a Mode Q query R Response S Set XXXXXX Baud rate 4800 9600 19200 38400 57600 115200 Default baud rate is 4800 b Reserved b Reserved b Reserved 192 Copernicus GPS Receiver Reference Manual NMEA0183 RT Reset This sentence can be used to Set the reset type No query is supported SPTNLaRT b c d x hh lt CR gt lt LF gt Table B 29 Reset Type Field Description a Mode S set R Response b Command C Cold software reset Erase SRAM including the customer configuration in SRAM and restarts W Warm software reset Er
25. Copernicus GPS module can withstand one rework cycle The module can heat up to the reflow temperature to precede the rework Users should never remove the metal shield and rework on the module itself Conformal Coating Conformal coating on the Copernicus module is not allowed Conformal coating will void the warranty Copernicus GPS Receiver SHIPPING and HANDLING 9 Grounding the Metal Shield This module 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 61 9 SHIPPING and HANDLING 62 Copernicus GPS Receiver CHAPTER COPERNICUS REFERENCE BOARD In this chapter e Introduction e Copernicus Reference Board Block Diagram e Copernicus Reference Board Schematic e Copernicus Reference Board I O and power Connector e Copernicus Reference Board Power Requirement e Copernicus Reference Board Jumper Table e Reference Board Component Locations Drawing 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 The Reference board gives the designer a visual layout of the Copernicus module on a PCB including the RF signal trace and RF connector as well as the I O connection
26. E OM DES J22 f E R13 Ris R16 v S ORI BOSS SCOR O Q 2 a y Ise 2 R19 R21 R22 Li 2 f e E lx lt PPS C 9 s 6 9 Bs E g a 9 J16 418 l J19 N Za 2 mao 5 J8 ye 5 deri Ri EN uus Mi dale ATAR y PIG MD GPIO_A4 a amp C2 R6 CPI0_B5 RS GPlO A6 R2 GPIO_A r mi le g S je fe J J21 se 320 d 27 3 g m S j e 1 o Sl 2e 3 rex 1 14 gt 3 3 e j Ie 9 C3IC4 z R24 R23 R20 up 829 Sas sib RICO Ri ej RB m L Qu 8 2 d n 213 R18 R17 R14 E amp S E i D6 D5 D2 Figure 10 7 Copernicus Reference Board Top Side e 1 barcode L Figure 10 8 Copernicus Reference Board Schematic Bottom Side 72 Copernicus GPS Receiver RESET CHAPTER COPERNICUS STARTER KIT In this chapter Introduction Serial Port Interface Starter Kit Interface Connections Removing the Reference Board from the Interface Unit Antenna Pulse Per Second PPS Quick Start Guide 11 74 COPERNICUS STARTER KIT Introduction This chapter provides technical information regarding the RoHS compliant lead free Copernicus starter kit This kit includes the following parts Copernicus interface unit with Copernicus reference board 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 SMT receivers 3 pieces 14 Jumpers Quic
27. 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 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 128 Copernicus GPS Receiver Reference Manual 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 34 2 Status 2 UINT8 Bit 0 set Superpackets supported The status codes are
28. Internal Qualification Test Data Assumed Duty Cycle 8760 Hours per year MTBE at Rated Dutv Cvcle 819050 Hours MTBF Copernicus GPS Receiver 9 1 1 10 GENERAL DESCRIPTION Ordering Information Ordering Information Copernicus GPS Receiver Module Reference Board Starter Kit Copernicus GPS Receiver Single module in metal enclosure P N 58048 00 P N 58054 00 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 RoHS Lead free version P N 58050 05 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 software toolkit and manual on CD ROM CHAPTER 2 INTERFACE CHARACTERISTICS In this chapter Pin Assignments Pin Description Protocols Serial Ports Default Settings Pulse Per Second PPS in Copernicus Receiver 2 INTERFACE CHARACTERISTICS Pin Assignments GND GND RF IN GND LNA Reserved Open Short Reserved Reserved Xreset Vcc GND GND Figure 2 1 Copernicus Pin Assignments 12 Copernicus GPS Receiver Pin Description INTERFACE CHARACTERISTICS 2 Table 2 1 Pin Description Pin Name Description Function Note 1 GND Ground G Sig
29. K 59 European 1950 Greece EUR B 60 European 1950 Iran EUR H 61 European 1950 Sardinia EUR I 62 European 1950 Sicily EUR J 63 European 1950 Norway and Finland EUR C 64 European 1950 Portugal and Spain EUR D 65 European 1979 Mean Solution EUS 74 Ireland 1965 Ireland IRL 125 Ordnance Survey of Great Britain Mean Solution OGB M 126 Ordnance Survey of Great Britain England OGB M 127 Ordnance Survey of Great Britain Isle of Man OGB M 128 Ordnance Survey of Great Britain Scotland and Shetland OGB M Islands 129 Ordnance Survey of Great Britain Wales OGB M 145 Rome 1940 Sardinia MOD Table A 72 North America Trimble Datum Local Geodetic Datum Index Name Code 0 WGS 84 2 North American 1927 Mean Solution CONUS NAS C TRIMBLE STANDARD INTERFACE PROTOCOL TSIP 162 Table A 72 North America Trimble Datum Local Geodetic Datum Index Name Code 3 Alaska Canada 46 Cape Canaveral Mean Solution Florida and Bahamas CAC 96 NAD 27 Western United States NAS B 97 NAD 27 Eastern United States NAS A 98 NAD 27 Alaska NAS D 99 NAD 27 Bahamas NAS Q 100 NAD 27 San Salvador NAS R 101 NAD 27 Canada NAS E 102 NAD 27 Alberta BC NAS F 103 NAD 27 East Canada NAS G 104 NAD 27 Manitoba Ontario NAS H 105 NAD 27 Northwest Territories Saskatchewan NAS I 106 NAD 27 Yukon NAS J 107 NAD 27 Canal Zone NAS O 108 NAD 27 Caribbean NAS P 109 NAD 27 Central
30. 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 Ox3C tracking status 0x5C see Note 2 Ox7A set request NMEA output configuration 0x7B OxBB set receiver configuration OxBB OxBC Set port configuration OxBC 0xCO go to BBRAM backup state and or store BBRAM to flash 0x8E 20 last fix with extra information fixed point 0x8F 20 0x8E 26 store settings in Flash memory 0x8F 26 Note Automatic output is determined by packet 0x35 See Table A 4 to determine which messages are output at power up Note No response sent if data is not available Copernicus GPS Receiver Reference Manual 111 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 21 Table A 9 User Selected Report Packet Options Output ID Packet Description Input ID 0x41 GPS time 0x21 auto 0x42 single precision XYZ position 0x37 auto 0x43 velocity fix XYZ ECEF 0x37 auto 0x45 software version information Ox1F power up 0x46 health of Receiver 0x26 auto power up 0x47 signal level f
31. PROTOCOL TSIP OxBC 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 Ox8E 17 0x8E 18 Set Request UTM output are supported in Copernicus GPS Receiver The new packet Ox1C has been added to the Copernicus GPS Receiver Lassen iQ FW v1 16 also supports this packet Copernicus GPS Receiver Reference Manual 109 TRIMBLE STANDARD INTERFACE PROTOCOL TSIP 110 Recommended TSIP Packets Table A 7 Recommended TSIP Packet Data Function Description Input Output Protocol and port setup set query port configuration OxBC OxBC set query NMEA configuration Ox7A 0x7B set query I O options autoreport and 0x35 0x55 format options Navigation GPS time 0x21 0x41 position amp velocity superpacket Ox8E 20 or Ox8F 20 0x37 or auto double precision LLA Ox37 auto 0x84 double precision XYZ ECEF Ox37 auto 0x83 ENU velocity Ox37 auto 0x56 XYZ ECEF velocity Ox37 auto 0x43 Satellite and tracking query receiver state health 0x26 0x46 information 0x4B query current satellite selection 0x24 0x6D query signal levels 0x27 0x47 query satellite information azimuth 0x3C 0x5C ele
32. Receiver Reference Manual 133 TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Table A 43 Byte Item Type Definition IDC GPS 200 4 16 xx zzz not used 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 WNt Integer Sec 20 3 3 5 1 8 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 9 10 weeknum INT16 Sec 20 3 3 3 Table 20 1 11 codeL2 UINT8 Sec 20 3 3 3 Table 20 12 L2Pdata UINT8 Sec 20 3 3 3 Table 20 13 SVacc_raw UINT8 Sec 20 3 3 3 Table 20 1 14 SV_health UINT8 Sec 20 3 3 3 Table 20 I 15 16 IODC INT16 Sec 20 3 3 3 Table 20 17 20 T_GD Single Sec 20 3 3 3 Table 20 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 1 29 32 a f Single Sec 20 3 3 3 Table 20 l 33 36 a IU Single Sec 20 3 3 3 Table 20 l 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 MO 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 Do
33. Receiver Reference Manual 151 152 TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Report Packet 0x8F 15 Current Datum Values This packet contains 43 data bytes with the values for the datum currently in use and is sent in response to Packet Ox8E 15 Both the datum index and the 5 double precision values for that index will be returned Table A 60 Command Packet 8E 17 Byte Type Meaning 0 UINT8 ID for this sub packet always x15 1 2 INT16 Datum index 3 10 Double DX 11 18 Double DY 19 26 Double DZ 27 34 Double A axis 35 42 Double Eccentricity Squared Note A complete list of datums is provided at the end of this appendix Eccentricity Squared is related to flattening by the following equation e 2p p Copernicus GPS Receiver Reference Manual TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Report Packet 8F 17 UTM Single Precision Output This packet reports position in UTM Universal Transverse Mercator format The UTM coordinate system is typically used for U S and international topographical maps The UTM coordinate system lays out a world wide grid consisting of the following e 60 North South zones in 6 increments extending eastward from the International Data Line e 10 East West zones in 8 increments extending above and below the equator Coordinates within these boundaries cover all surface locations from 80 South to 84 North and encircle the earth
34. Table B 22 Ephemeris Message Format Field Description a Mode S set R Response 2 Sentence number for EP sentence 1 must be sent or received before sentence 2 and sentence 2 must be sent or received before sentence 3 and all three sentences must be sent together XX Satellite id hh IODE Hex data conforming to GPS ICD 200 hh Fit_interval Hex data conforming to GPS ICD 200 hhhh C_rs Hex data conforming to GPS ICD 200 hhhh Delta_n Hex data conforming to GPS ICD 200 hhhhhhhh M_0 Hex data conforming to GPS ICD 200 hhhh C uc Hex data conforming to GPS ICD 200 hhhhhhhh E Hex data conforming to GPS ICD 200 hhhh C us Hex data conforming to GPS ICD 200 Following is the third sentence of ephemeris format PTNLaEP 3 xx hhhh hhhhhhhh hhhh hhhhhhhh hhhh hhhhhhhh hhhhhh hhhh hh lt CR gt lt LF gt Table B 23 Ephemeris Message Format Field Description a Mode S set R Response Sentence number for EP sentence 1 must be sent or received before sentence 2 and sentence 2 must be sent or received before sentence 3 and all three sentences must be sent together XX Satellite id hh C_ic Hex data conforming to GPS ICD 200 hh OMEGA 0 Hex data conforming to GPS ICD 200 hhhh C ri Hex data conforming to GPS ICD 200 hhhh I O Hex data conforming to GPS ICD 200 hhhhhhhh C rc Hex data conforming to GPS ICD 200 hhhh OMEGA Hex data conforming to GPS ICD 200 hhhhhhhh OMEGA DOT Hex data
35. You must keep an open cavity underneath the Copernicus module No copper traces or solder mask shall be placed underneath the module The following diagram shows the required user solder mask The units in brackets are in millimeters TYPICAL 059017 5861 No solder mask PITCH or copper traces under the unit 0 798L20 2691 0 768 19 507 0 768 19 5671 SUGGESTED CUSTOMER SUL DER MASK Figure 7 3 Solder Mask Diagram Copernicus GPS Receiver 47 7 MECHANICAL SPECIFICATIONS Pad Pattern Below is the required user pad pattern The units in brackets are in millimeter TYPICAL _0 68C17 272 PITCH 0 0511 27 No solder mask or copper traces under the unit 0 03L0 7621 0 788 20 015 ey NO o ON F N f a SUGGESTED CUSTOMER PAD PATTERN Figure 7 4 Pad Pattern Diagram 48 Copernicus GPS Receiver MECHANICAL SPECIFICATIONS 7 Paste Mask To ensure good mechanical bonding with sufficient solder in order to form a castellation solder joint the solder mask ratio is 1 1 with the solder pad When using a 5 1 Mil stencil to deposit the solder paste we recommend 4 Mil toe extension on the stencil The units in brackets are in millimeter TYPICAL PITCH 1 2710 05 UUUUUUOUUUUUU 0 68 17 271 20 2151 m a OV o 00 a c 00 X o 0 96530 038 0 688 17 4751 SUGGESTED CUSTUMER PASIE PATTERN Figure 7 5 Paste Mask Dia
36. a scheduled basis Each sentence has the following general format gt ABB C ID DDDD FF lt where Table C 2 Message Formats Message Description gt Start of new message A Message qualifier BB Two character message identifier C Data string 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 Copernicus GPS Receiver Reference Manual 199 TRIMBLE ASCII INTERFACE PROTOCOL TAIP 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 Table C 3 Message Format Qualifiers Qualifier Action Q Query for a single sentence sent to GPS receiver R Response to a query or a scheduled report from the receiver Schedule reporting frequency interval in seconds S Enables equipment to be initialized and sets various message types D Specify a minimum distance traveled and a minimum and maximum time interval for the next report Note All TAIP message characters must be in uppercase Message Identifier A unique two character message identifier consisting of alphabetical characters is used
37. ge d RA Macs P 4 42 Microstrip Transmission Lines aaa 42 Stripline Transmission Lines e 43 7 MECHANICAL SPECIFICATIONS Mechanical Outline Drawing ees 46 Guidelines for soldering the Copernicus module toa PCB ooo 47 Solder mask pys ais wo Ede ba let ceed wa os ed a deg usd us 47 Pad Patten cod uu in tp an OE AB eh what ad ands eh OD ada esq eon 48 Paste Maske 2 3 Liege a do V SACER SA BEES gg qos Y bun dr 49 8 PACKAGING MEGEN oi T Bo en Bee Boke toe RRO Sn head ee dete ee hd A 9 5 52 Reeli is Spee tee i Bh ce a BAS ae A es a LE a S 53 Weights 3 208 ob eine a wh eee eu SR ee A hes 53 Tapes 4 deca Pad ow Ee a ego ee ba ewe Sad en ele Bade Sad Ur eu 54 9 SHIPPING AND HANDLING Handling 2000 y dp eem dep OR amen Bae hema ot ae ae E 56 Shipimentosa ey a hE Ee PAU we geret e erede ues 56 StOrage s sc e Sate vui pee opu ode Ole vod dusk dele dd eo deb eue sg ru 56 Moisture Indicator 2 22 lla 56 Flor LAS 220324 a OE RE ya e ae won ve omar God y oO duse as 56 Moisture Precondition ssid Ra waned ak OS ed os EUER auus denis 57 Recommended Baking Procedure 22e 57 Soldering Paste ee Late Mu abere uova vez IRR Ga ECRIRE as 58 solder Reflow 4a a Rue ud oad dk REOR US E SE Sa dhe eR ui 58 Recommended Soldering Profile aaa 59 Optical Inspections 2 2 e eGo R aum rhum ove dede t uve pr S most T 59 Cleaning edo oS Eee see xr Eds eed e dh ue o 60 Repeated Reflow Soldering 22s 6
38. 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 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 Trimble can provide details of a hardware initiated recovery procedure if the Boot Code has been overwritten Contact Trimble technical support for design in details of this recovery procedure Table 12 8 Start Firmware Programming BYTE 0 BYTE 1 BYTE2 BYTE3 BYTES4 7 BYTES 8 11 BYTE12 BYTE13 0x02 0x00 0x8B 0x08 Size Address CHKSM _ 0x03 Table 12 9 Start Firmware Programming Parameter Data Type Description Size unsigned long Size of loadable data in bytes Address unsigned long Starting physical address where data w
39. 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 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 Starter Kit USB Port are as follows Table 11 1 Serial Port Default Settings Virtual Port Protocol Baud Rate Data Bits Parity Stop Bits Flow Ports Direction Control A TXD A TSIP Out 38 4 K 8 None 1 NO RXD A TSIP IN 38 4 K 8 None 1 NO B TXD B NMEA Out 4800 8 None 1 NO RXD B NMEA IN 4800 8 None 1 NO 76 Copernicus GPS Receiver COPERNICUS STARTER KIT 11 Starter Kit Interface Connections Following is a description of the interface unit numbered references correlate to numbers in the image below B lo 0000 L 1 1 os 7 6543 2 O Figure 11 4 Front side of the Interface Unit if 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 reference board antenna connector USB Connector The USB connector is an A
40. low the unit will go to STANDBY mode See Table 3 2 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 delay is controllable by TSIP packet 0x35 This output meets the Input Output Pin Threshold Specifications in Table 3 2 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 These inputs meet the Input Output Pin Threshold Specifications in Table 3 2 The baud rate for the two ports is under software control Copernicus GPS Receiver 15 2 TXD_A and TXD_B INTERFACE CHARACTERISTICS These logic level outputs are the primary A and secondary B serial port transmit lines data moving away from the module These outputs meet the Input Output Pin Threshold Specifications in Table 3 2 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 please refer to Table 2 1 DO NOT CONNECT RESERVED PINS Protocols Table 2 3 Copernicus GPS Receiver Available protocols Protocols Specification Direction Serial Port Support NMEA NMEA 0183 v3 0 Bi directional Input Output Both Serial Ports with extended NMEA sentences TSIP Trimble Standard Trimble propriety binary protocol Input Output Both Ser
41. message 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 gt SAA B ID CCCC DD lt where AA is the two character message identifier and B specifies the data string within the message For the format of B please refer to the message definitions in the previous section Note that all the messages have very specific formats and are length dependent 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 receiver than can be set with the IP message Note The Copernicus GPS Receiver does not support the AP TAIP message Sample Communication Session The following is a sample communication session to illustrate how message qualifiers are used Query the receiver for version number for the TAIP firmware gt QVR lt The receiver responds with a message in the following form gt RVR CT COPERNICUS APP VERSION 01 05 05 23 06 6E lt Note The receiver identified its product name firmware version number core signal processing version number and release dates then included the checksum for the message the default for the CS Flag is TRUE Also notice that the receiver did respond to our query even though we did not send a checksum 222 Copernicus GPS Re
42. period means the corresponding message is not to be output at all Copernicus GPS Receiver Reference Manual 141 TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Report Packet 0x83 Double Precision XYZ Position Fix and Bias Information This packet provides current GPS position fix in XYZ ECEF coordinates If the I O Position option is set to XYZ ECEF and the I O Precision of Position option is set to Double see Packet 0x35 the receiver sends this packet each time a fix is computed The data format is shown below Table A 49 Report Packet 0x83 Data Formats Byte Item Type Units 0 7 X Double meters 8 15 Y Double meters 16 23 Z Double meters 24 31 clock bias Double meters 32 35 time of fix Single seconds The time of fix is in GPS time or UTC as selected by the I O timing option Packet 42 provides a single precision version of this information 142 Copernicus GPS Receiver Reference Manual TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Report Packet 0x84 Double Precision LLA Position Fix and Bias Information This packet provides current GPS position fix in LLA coordinates If the I O Position option is set to LLA and the Precision of Position option is set to Double see Packet 0x35 the receiver sends this packet each time a fix is computed The data format is shown below Table A 50 Report Packet 0x84 Data Formats Byte Item Type Units 0 7 latitude Double radians
43. report the antenna status see Table 2 2 34 Copernicus GPS Receiver Note When using two power sources main and standby an external diode pair must be COPERNICUS GPS APPLICATION CIRCUITS 5 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 1 Active Antenna Components Component Description Manufacturer Part Number C1 18 PF 0402 capacitor COG KEMET C0402C180J5GAC C2 0 1 uF 0402 capacitor XZR CAL CHIP GMC04X7R104K16NTLF J1 MCX Connector Johnson Components 133 3711 312 L1 100 nH 0603 inductor Coil Craft 0603CS R10XJLU surface mount Q2 PNP Transistor Central Semiconductor CMPT404A MMBTA7OLT1 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 35 COPERNICUS GPS APPLICATION CIRCUITS 5 Active Antenna No Antenna Status UE AY ABONYLSX anpeui smiwedon ukd sz MANOSVEO weA gt 53958 Zo Pl POPS nio 19 08p95 Hr Application Drawing Active antenna No Antenna Status Figure 5 4 Copernicus GPS Receiver 36 COPERNICUS GPS APPLICATION CIRCUITS 5 Following is a description of this schematic without antenna detection
44. 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 e Application firmware checksum verification failed at power up e RAM test failed at power up e 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 e Cycle the main power or Toggle the reset pin or e Senda Restart Target packet described on page 97 The default settings for the Copernicus GPS receiver s serial ports in the monitor mode are e Serial port A 38400 baud 8 data bits 1 stop bit and no parity e Serial port B 4800 baud 8 data bits 1 stop bit and no parity 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 expect
45. 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 Copernicus GPS Receiver does not support the AP TAIP message The data specified by this qualifier is the timing of the message output and may be different from the time tag of the data in the message Copernicus GPS Receiver Reference Manual 221 TRIMBLE ASCII INTERFACE PROTOCOL TAIP The Response to Query or Scheduled Report The response R qualifier carry various types of data between the unit and the user equipment The format is gt RAA B ID CCCC DD lt where AA is the two character message identifier and B specifies the data string within the message For the format of B please refer to the message definitions in the previous section Messages supported by the response qualifier are AL AP CP ID IP LN PT PV RM ST TM and VR Note The Copernicus GPS Receiver does not support the AP TAIP
46. such cases every time the unit is powered up it goes through a complete cold start and it has absolutely no 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 battery backed 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 receiver can initialize itself appropriately without any data from the user it merely requires more time Note For all the above values the first character S specifies the sign NT or c w Example The following message will set the initial position to 37 North 122 West altitude 10 meters gt SIP 37 122 0001 lt Copernicus GPS Receiver Reference Manual TRIMBLE ASCII INTERFACE PROTOCOL TAIP LN Long Navigation Message Note The first character of latitude longitude altitude or vertical speed S is p Or A Data String Format AAAAA BBB S CCDDDDDDD S EEEFFFFFFF S GGGGGGHHIIIJ S JKKKLMMMNOOPPQQPPQQ PPOQRRRRRRRRRRXT Table C 11 Long Navigation Message Data String Descriptions Item of Char Units Format Value GPS Time of Day 8 Sec AAAAA BBB Latitude 10 Deg S CC DDDDDDD Longitude 11 Deg S EEE FFFFFFF Altitude above 9 Ft S GGGGGG HH MSL
47. three 3 NULL characters for exiting Standby Mode 30 Application Drawing Passive Antenna Minimum Connections 32 Passive antenna HW Activated Standby Mode Available 33 Application Drawing Active antenna Full connection o s ooa aaa 34 Application Drawing Active antenna No Antenna Status aoaaa aaaea 36 Microstrip Transmission Lines ees 42 PCB Microstrip Topology R R R a E R R TT 42 Stripline Transmission Lines e 43 Copernicus GPS Receiver Footprint 2 eee 46 Copernicus GPS Receiver Outline Dimensions ooo a 46 Solder Mask Diagram 3 pane s anh ood m Re A oP ma PR pp EC 47 Pad Pattern Diagram 48 Paste Mask Diagram s auem or ee A dee da 49 Copernicus GPS Receiver Packaged in Tape o ooo o 52 Reel Diagrant san uiu uc o o em bae fe ii Sea ia ate a 53 Tape Diagram 2 2 ur GA thar o Nem ad Use AS AE acu 54 Feeding Direction Diagram s sars s euo eA 54 Moisture Precondition Label 2A 57 Recommended Soldering Profile ee 59 Copernicus Reference Board Frontside llle 64 Copernicus Reference Board Backside o o o 65 Copernicus Reference Board Block Diagram o oo len 66 Copernicus Reference Board Schematic Page 1 o o 67 Copernicus Reference Board Schematic Page 2 oo o 68 Copernicus Reference Board Schematic Page 3 o o
48. 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 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 receiver Each receiver 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 receiver will check all incoming messages for ID If no ID is specified the receiver 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 turned off 200 Copernicus GPS Receiver Reference Manual TRIMBLE ASCII INTERFACE PROTOCOL TAIP Checksum The checksum field provides for an optional two digit hex checksum value which is computed as XOR of 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 sent
49. will be powered only by the standby regulator or battery Note For the Copernicus receiver to operate with standby power the power source must be from the main power connector 6 and 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 interface unit mother board includes a number of configuration jumpers for use with various Trimble GPS receivers Jumpers JP5 and JP15 must be in place for use with the Copernicus reference board There are also a number of jumpers on the Copernicus reference board see Table 10 2 78 Copernicus GPS Receiver COPERNICUS STARTER KIT 11 Removing the Reference Board from the Interface Unit The following procedure should be followed to remove the Copernicus 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 The interface unit motherboard contains a 3 6V lithium battery Exercise caution when removing it from the Copernicus starter kit 2 Remove the four screws which secure the botto
50. 0 Wave Soldering tbe d ee ie ee ME SIR e bec deed 60 Hand Sold ring 22 2 ei oe he d pomme a ha 60 Rewok kaver hk ae ead EI ocv eme ang dede duke aed due bd a 60 vi Copernicus GPS Receiver 10 11 12 Table of Contents Conformal Coating sre s u ok ek oe ea Le ek a eae ue ee ee de a Ae ye a Ow 60 Grounding the Metal Shield a 5a og A Sek aoe Ree aS 61 COPERNICUS REFERENCE BOARD Introduction iios gol ee RE x bob Redes d guru wild gef eR Athos 64 Copernicus Reference Board Block Diagram ee 66 Copernicus Reference Board Schematic o e 67 Copernicus Reference Board I O and power Connector llle 70 Copernicus Reference Board Power Requirement a a 70 Copernicus Reference Board Jumper Table o o 71 Reference Board Component Locations Drawing een 72 COPERNICUS STARTER KIT Introduction 125 4 e VEU at dx te st a ee ee BL ee hte ah eee s 74 Interface Units uo Rui S woah og a a t UR aoa d Bj reds i ia 74 Serial Port Interface i rea ees qp Eo EA er od pede pow e desley ud 76 Loading the ETDI Driver 2 zi mannm gone epum gaa Se Wn ee es 76 Default Settings se eee ada a P y 3 9 00x 3 B ET 8 E p 76 Starter Kit Interface Connections o ooa a TI Removing the Reference Board from the Interface Unit o oo 79 Antenna ofer A oe Sn elem tcs eles da L A 80 Using Passive Antenna ano ne oe om bos E SUR og RU a 80 Pulse Per Second PPS cuts wo eke ews Sk o
51. 0 Send single precision packet position 1 Send double precision packet output 5 Super Packet Bit 0 Output no Super Packets Output 1 Output all enabled Super Packets 6 7 Reserved Copernicus GPS Receiver Reference Manual 121 TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Table A 21 Command Packets 0x35 and 0x55 Data Descriptions Byte Bit Item Type Value Definition Velocity 1 0 XYZ ECEF Bit 0 XYZ ECEF output off 1 XYZ ECEF output on 1 ENU Output Bit 0 ENU output off 1 ENU output on 2 7 Reserved Timing 2 0 Time Type Bit 0 GPS Time 1 UTC 1 4 Reserved 5 6 PPS Mode Bits 00 Always On 01 Fix Based 10 Always Off 11 Reserved 7 Reserved Auxiliary Pseudo Range Measurements 3 0 Raw Bit 0 Raw measurements off Measurement 1 Raw measurements on 1 Reserved 2 Reserved Signal Level Bit 0 Output AMUs Unit 1 Output dB Hz Reserved Signal levels Bit 0 Signal levels Off for all 1 Signal levels On satellites 6 7 Reserved Notes Packet RE must be used to specify which Superpackets are output The Copernicus GPS supports automatic output of OxSA messages for backwards compatibility with older TSIP applications 122 Copernicus GPS Receiver Reference Manual TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Command Packet 0x37 Request Status and Values of Last Position and Velocity This packet requests information regarding the last position fix
52. 0 Single Sec 20 3 3 5 1 2 Copernicus GPS Receiver Reference Manual TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Table A 40 Report Packet 0x58 Almanac Data 30 33 omega Single Sec 20 3 3 5 1 2 34 37 M 0 Single Sec 20 3 3 5 1 2 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 UINT8 Sec 20 3 3 5 1 3 health 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 Table A 42 Byte Item Type Definition IDC GPS 200 4 11 ses 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 Copernicus GPS
53. 00 baud 10 57600 baud 11 115200 baud 2 Output Baud Rate UINT 8 As above As above Note 1 3 Data Bits UINT 8 3 8 bits 4 Parity UINT 8 0 None 5 Stop Bits UINT 8 0 1 bit 6 Flow Control UINT 8 0 0 none 7 0 TAIP Bit 0 Off 1 On 1 TSIP input Bit 0 Off 1 On 2 Reserved 3 Reserved 4 7 Reserved Copernicus GPS Receiver Reference Manual 145 TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Table A 53 Command Packet OxBC Port Characteristics Continued Byte Bit Item Type Value Definition 8 0 TAIP Bit 0 Off 1 On 1 TSIP output Bit 0 Off 1 On 2 NMEA output Bit 0 Off 1 On 3 7 Reserved 9 Reserved Note The Copernicus GPS receiver requires that the input and output baud rates be identical Warning TSIP input or output must have 8 databits byte 3 146 Copernicus GPS Receiver Reference Manual TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Command Packet 0xC0 Graceful Shutdown and Go To Standby Mode TSIP Packet OxCO is used to issue a reset or graceful shutdown to the unit and or command the unit into Standby Mode The table below lists the individual fields within the Packet OxCO and provides query field descriptions Any combination of conditions in byte 2 can be specified for starting up the unit from standby mode The condition that happens first will trigger the unit to start up If byte 2 bit 2 is set to 1 then byte 3 must be greater than 0 Note that although it is p
54. 0x4A 0x84 position choose packet with I O options 1 second 0x8F 20 0x43 0x56 0x8F 20 velocity choose packet with 1 O options 1 second 0x46 health of receiver 1 second 0x4B machinecode status includes antenna fault 1 second detect Ox6D all in view satellite selection DOPs Fix Mode 1 second 0x82 DGPS position fix mode 1 second 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 Packet 35 Automatic Position and Velocity Reports Control Setting Bits Packet 0x35 Byte 0 Packet 0x35 Byte 1 Report Requested z z z n A Packet ID Setting Bit 0 Bit 1 Bit 4 Bit 5 Bit 0 Bit 1 0x42 single precision 1 0 XYZ position 0x83 double precision 1 1 XYZ position 0x4A single precision 1 0 LLA position 0x84 double precision 1 default 1 LLA position 0x43 velocity fix XYZ 1 ECEF 0x56 velocity fix 1 default ENU Ox8F 20 LLA and ENU 1 Note In packets 0x42 0x83 Ox4A 0x64 0x43 0x56 OxSF 17 and Ox8F 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 ano
55. 13 TRIMBLE STANDARD INTERFACE PROTOCOL TSIP 114 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 Signal Level Mask This mask defines the minimum signal strength for a satellite used in a solution There is some internal hysteresis on this threshold which allows brief excursions below the threshold if lock is maintained and the signal was previously above the mask The factory default mask has been set to 0 6 AMU One should resist the temptation to set the elevation and SNR masks too low The satellite geometry is sometimes improved considerably by selecting low elevation satellites They are however subject to significant signal degradation by the greater ionospheric and tropospheric at
56. 30 Report Packet 0x56 Velocity Fix East North Up ENU 131 Report Packet 0x57 Information About Last Computed Fix 132 Report Packet 0x58 Satellite System Data Acknowledge from Receiver 132 Report Packet 0x5A Raw Measurement Data o o 135 Report Packet OxSC Satellite Tracking Status ee ee 137 Report Packet 0x6D All In View Satellite Selection 00 138 Command Packet Ox7A KR aa ER R R T a a ea 138 Report PacketOx7 Bis 2 ee iile deus p SH weit Sd V X eS 139 Command Packet OX7E TAIP Message Output lees 140 Report Packet 0x83 Double Precision XYZ Position Fix and Bias Information 142 Report Packet 0x84 Double Precision LLA Position Fix and Bias Information 143 Packets Ox8E and Ox8F Superpacket 2e 143 Command Packet OxBB Navigation Configuration ooa 144 Command Packet OxBC Protocol Configuration o o 145 Command Packet 0xCO Graceful Shutdown and Go To Standby Mode aaa 147 T SIP Supetpackets a cue A Ba Ray ee EON a baa eU bow ah GA es 149 Command Packet 8E 4A Set Request Copernicus GPS Cable Delay and PPS Polarity oo eo ho oboe ee ee yes 149 Command Packet 8E 4A Set Request Copernicus GPS Cable Delay and PPS Polarity moto Goce Wee e AD ERs uri ue hom eR deti re 150 Command Packet SE 15 Set Request Datum llle 150 Command Packet Ox8E 17 Request L
57. 43 East Falkland Islands SAP 162 Porto Santo 1936 Porto Santo and Madera Islands POS 163 Graciosa Base Southwest 1948 Faial Graciosa Pico San GRA Jorg and Terceira Islands Azores 168 Tristan Astro 1968 Tristan Da Cunha TDC Table A 75 Indian Ocean Trimble Datum Local Geodetic Datum Index Name Code 22 Anna 1 Astro 1965 Cocos Islands ANO 66 Gan 1970 Republic of Maldives GAA 75 ISTS 073 Astro 1969 Diego Garcia IST 78 Kerguelen Island 1949 Kerguelen Island KEG 80 Reunion Mascarene Island REU 85 Mahe 1971 Mahe Island MIK Table A 76 Pacific Ocean Trimble Datum Local Geodetic Datum Index Name Code 35 Astro Beacon E 1945 Iwo Jima ATF 36 Astro Tern Island FRIG 1961 Tern Island TRN 38 Astronomical Station 1952 Marcus Island TRN 40 Bellevue IGN Efate Erromango Island IBE 44 Canton Astro1966 Phoenix Island CAO 48 Chatham Island Astro 1971 Chatham Island New Zealand CHI 52 Dos 1968 Gizo Island New Georgia Islands GIZ 53 Easter Island 1967 Easter Island EAS 67 Geodetic Datum 1948 New Zealand GEO 68 Guam 1963 Guam GUA 69 Gux 1 Astro Guadalcanal Islands DOB 76 Johnstone Island 1961 Johnstone Island JOH 83 Luzon Philippines LUZ A 84 Luzon Mindanao Island LUZ B 89 Midway Astro 1961 Midway Islands MID Copernicus GPS Receiver Reference Manual TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Table A 76 Pacific Ocean Trimble Datum Local Geodetic Datum Index Name C
58. 69 Argentina SAN A 151 South American 1969 Bolivia SAN B 152 South American 1969 Brazil SAN C 153 South American 1969 Chile SAN D 154 South American 1969 Columbia SAN E 155 South American 1969 Ecuador Excluding Galapagos Islands SAN F 156 South American 1969 Guyana SAN G 157 South American 1969 Paraguay SAN H 158 South American 1969 Peru SAN I 159 South American 1969 Trinidad and Tobago SAN K 160 South American 1969 Venezuela SAN L 171 Zanderij Surinam ZAN Table A 74 Atlantic Ocean Trimble Datum Local Geodetic Datum Index Name Code 34 Ascension Island 1958 Ascension Island ASC 37 Astro Dos 71 4 St Helena Island SHB 41 Bermuda 1957 Bermuda Islands BER 70 Hjorsey 1955 Iceland HJO 81 L C 5 Astro 1961 Cayman Brac Island LCF 86 Selvagem Grande 1938 Salvage Islands SGM 95 Naparima BWI Trinidad and Tobago NAP 117 Observatorio Meteorologico 1939 Corvo and Flores Islands FLO Azores 130 Pico De Las Nieves Canary Islands PLN 142 Puerto Rico Puerto Rico and Virgin Islands PUR Copernicus GPS Receiver Reference Manual 163 TRIMBLE STANDARD INTERFACE PROTOCOL TSIP 164 Table A 74 Atlantic Ocean Trimble Datum Local Geodetic Datum Index Name Code 144 Qornoq South Greenland QUO 146 Santa Braz Sao Miguel Santa Maria Islands Azores SAO 148 Sapper Hill 19
59. 8 hours h Figure 4 1 Current Draw Levels in Standby Mode During the 10 msec RTC service is time there exists a 91 6 usec 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 3Nul 91 6 usec 70 usec Figure 4 2 Issuing three 3 NULL characters for exiting Standby Mode 30 Copernicus GPS Receiver CHAPTER a COPERNICUS GPS APPLICATION CIRCUITS In this chapter Passive antenna Minimum Connections Active Antenna Full Connection Active Antenna No Antenna Status 5 COPERNICUS GPS APPLICATION CIRCUITS Passive antenna Minimum Connections ANTI ANTENNA NU DRAGONFLY 2 GNO GND 27 3 RF IN RESERVED SS GND RESERVED SU LNA XEN 2 RESERVED gt gt TXD A OPEN 2 SHORT lt lt RXD A RESERVED mo RESERVED XRESET 12 vee Vmain gt 28 pin Copernicus module Figure 5 1 Application Drawing Passive Antenna Minimum Connections This is the minimum connection set for Copernicus GPS Receiver The following describes the schematic A passive antenna is used The Copernicus has an on board LNA and an Automatic Gain Control circuit The Pin LNA_XEN is not necessary and not
60. ATIONS 6 Table 6 1 shows typical track widths for an FR4 material PCB substrate permittivity e 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 Permittivity Substrate Thickness Track Width Er H mm W MM 1 6 2 91 1 2 2 12 1 0 1 81 FR4 46 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 should 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 Stripline Transmission Lines Figure 6 3 Stripline Transmission Lines Copernicus GPS Receiver 43 6 44 RF LAYOUT CONSIDERATIONS Ground plane design in stripline topology e 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 e The top layer must be flooded with ground plane and connected to all ground castellations on the Copernicus GPS module e The RF input should be connected to the signal laye
61. B 4 Copernicus GPS Receiver Proprietary NMEA Messages Messages Description AH Query or set Almanac Health AL Query or set almanac data for a specific satellite AS Query or set almanac status BA Query and response to antenna status CR Query or set GPS receiver configuration information DM Query or set datum information EM Set receiver into Monitor Mode Set only EP Query or set ephemeris data for a specific satellite IO Query or set ionosphere data KG Set initial position and time info data for to aid navigation startup NM Query or set NMEA automatic message output control PS Query or set PPS configuration PT Query or set serial port configuration RT Set Reset type cold TF Query or set receiver status and position fix information UT Query or set UTC data VR Query and response to version information 174 Copernicus GPS Receiver Reference Manual NMEA0183 NMEA 0183 Message Formats GGA GPS Fix Data The GGA message includes time position and fix related data for the GPS receiver SGPGGA hhmmss ss 1111 111 a nnnnn nnn b t uu V V W W M x x M y y Zzzzz hh lt CR gt lt LF gt Table B 5 GGA GPS Fix Data Message Parameters Field Description 4 UTC of Position when UTC offset has been decoded by the receiver 2 3 Latitude N North or S South 4 5 6 Longitude E East or W West GPS Quality Indicator 0 No
62. Codes Nibble 3 Value E Meaning Not used Not used Table C 23 Error Codes Nibble 4 Value F Meaning 0 No problems reported 2 RTC not available at power up see Note below 8 Stored almanac not complete and current A RTC not available stored almanac not complete and current Table C 24 Error Codes Reserved Value GG Meaning Not used Reserved Note After the status is detected this bit remains set until the receiver is reset 218 Copernicus GPS Receiver Reference Manual TRIMBLE ASCII INTERFACE PROTOCOL TAIP TM Time Date Data String Format AABBCCDDDEEFFGGGGHHIJJKLLLLL Table C 25 TM Time Data String Descriptions Item of Char Units Format Value Hours 2 Hour AA Minutes 2 Min BB Seconds 5 Sec CC DDD Date Day 2 Day EE Date Month 2 Month FF Date Year 4 Year GGGG GPS UTC Time 2 Sec HH Offset Fix Mode 1 n a f 0 2D GPS 1 3D GPS 2 8 reserved 9 no fix avail Number of 2 n a JJ usable satellites GPS UTC Offset 1 n a K 1 valid flag 0 invalid Reserved 5 n a LLLLL Total number of characters is 28 This message outputs the time and date as computed by the GPS receiver 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
63. GPS 1 GPS 7 Number of Satellites in Use 8 Horizontal Dilution of Precision HDOP 9 10 Antenna Altitude in Meters M Meters 11 12 Geoidal Separation in Meters M Meters Geoidal separation is the difference between the WGS 84 earth ellipsoid and mean sea level mean sea level surface below WG 84 ellipsoid surface 13 Age of Differential GPS Data Time in seconds since the last Type 1 or 9 Update 14 Differential Reference Station ID 0000 to 1023 hh Checksum Copernicus GPS Receiver Reference Manual 175 NMEA 0183 GLL Geographic Position Latitude Longitude The GLL message contains the latitude and longitude of the present vessel position the time of the position fix and the status GPGLL 1111 111 a yyyyy yyy a hhmmss ss A i hh lt CR gt lt LF gt Table B 6 GLL Geographic Position Latitude Longitude Message Parameters Field Description 1 2 Latitude N North or S South 3 4 Longitude E East or W West 5 UTC of position when UTC offset has been decoded by the receiver 6 Status A Valid V Invalid 7 Mode Indicator A Autonomous Mode D Differential Mode E Estimated dead reckoning Mode M Manual Input Mode S Simulated Mode N Data Not Valid hh Checksum GSA GPS DOP and Active Satellites The GSA messages indicates the GPS receiver s operating mode and lists the satellites used for na
64. GPS UTC offset Single seconds Note UTC time lags behind GPS time by an integer number of seconds UTC GPS time GPS UTC offset 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 Reference Manual TRIMBLE STANDARD INTERFACE PROTOCOL TSIP 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 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 Time Source Sign TOW Packet 46 Accuracy Status Code none no time at all 0x01 unknown approximate time from 0x01 real time clock or Packet 2E 20
65. GSA GPS DOP and Active Satellites o o o 176 GSV GPS Satellitesin View 177 RMC Recommended Minimum Specific GPS Transit Data aoaaa aaa aaa 177 VTG Track Made Good and Ground Speed llle 178 ZDA Time amp Date 2 org oe ee a ed e a p E e ense 179 AH Almanac Health 1p doe pee moe e eoe de 180 Aly Almanac Page 225a eed Ree wo et ume ES du 182 AS Almanac Sta JL wn a rub bee ee rx EU ETE 183 BA AntennaSt tus o e seice ee rre 184 CR Configure Receiver ns 185 DM Datum iue Rte etus le osse uia e qe top Ero Qood ds 186 EM Enter Monitor Mode 2s 186 EP s Ephemers2 4 v lg otis Gee eques ee TR RETE E NAI RE 187 IG Ionosphiere unio cosas m SA Annie E dew SN BO eh ped E deii 189 KG Set Initial Position es 189 NM Automatic Message Output 22s 190 PS PPS Configuration aoaaa aaa 191 PT Serial Port Configuration a 192 R Reset Sucia aina bar d aus b Os ed aus hired salts Gul qe ls da 193 TF Receiver Status and Position Fix 2 2 2 00 0 e 194 UT UTG 00 ad A Bie ny ak ated om o RC M A ite aes 195 VR VEFSION Sos ede na peter eren ded ue wu u diode eus d E 195 TRIMBLE ASCII INTERFACE PROTOCOL TAIP Message Formator cerro de ax v dee dx wr tl Vu ee od BAM oes 199 Start of a New Message L R vos ck aR eed ox e eg Reed wd TR 199 Message Qualifier o oie mo oem me eR uh ee XR SU ye 200 Message Identifier seci a ian uuo no venum Bole GP po Se w
66. H 3 Devices require baking before mounting if a Humidity card is gt 20 when read at 23C 5C or b 2a or 2b are not met 4 if baking is required devices may be baked for 24 hrs minimum at 125C 0 5C Bag Seal Date mm dd yy expiration date 12 months from seal date Figure 9 1 Moisture Precondition Label Recommended Baking Procedure If baking is necessary Trimble recommends baking in a nitrogen purge oven Temperature 125 C Duration 24 Hours After Baking Store in a nitrogen purged cabinet or dry box to prevent absorption of moisture Warning Repeated baking processes will reduce the solderablity Warning Do not bake the units within the tape and reel packaging Copernicus GPS Receiver 57 9 58 SHIPPING and HANDLING 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 Trimble recommends using Type 3 or above soldering paste to maximize the solder volume Please see example of the solder paste 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 Please consult solder paste manufacturer and the assembly process for the appr
67. Locations are indicated by offset from the equator and in the zones east of the International Date Line These offsets are known as Northing and Easting and are expressed in meters UTM is not usable in polar regions Table A 61 Report Packet 8E 17 Byte Item Type Value 0 Subcode 0x17 1 Gridzone Designation Char 2 3 Gridzone INT16 4 7 Northing Single Meters 8 11 Easting Single Meters 12 15 Altitude Single Meters 16 19 Clock Bias Single Meters 20 23 Time of Fix Single Seconds Copernicus GPS Receiver Reference Manual 153 TRIMBLE STANDARD INTERFACE PROTOCOL TSIP 154 Report Packet 8F 18 UTM Double Precision Output This packet reports position in UTM Universal Transverse Mercator format The UTM coordinate system is typically used for U S and international topographical maps The UTM coordinate system lays out a world wide grid consisting of the following e 60 North South zones in 6 increments extending eastward from the International Data Line e 0 East West zones in 8 increments extending above and below the equator Coordinates within these boundaries cover all surface locations from 80 South to 84 North and encircle the earth Locations are indicated by offset from the equator and in the zones east of the International Date Line These offsets are known as Northing and Easting and are expressed in meters UTM is not usable in polar regions Table A 62 R
68. Monitor can be used to setup diagnose and monitor your sensor and provides the following capabilities e Program the GPS sensor for automatic message reporting with individually configurable output intervals for each message type Log the TAIP Monitor session with the GPS sensor to disk e Auto Query for LN ST and VR TAIP messages Conduct an interactive terminal session with the GPS sensor TAIP Monitor requires Windows 2000 or Windows XP Once the program is started it immediately prompts for the serial port connected to the GPS receiver R TAIP_Monitor Select Serial Port COM 9600 Figure E 1 TAIP Monitor Serial Port Selection The main window is displayed after selecting the serial port configuration Empty fields indicate that the information is not yet available 230 Copernicus GPS Receiver Reference Manual REI mitor Setup Messages Window Help Time and Position LN GPS Time Latitude Longitude Altitude 37 3846113 17 58 42 001 122 0062880 65 80 sec deg deg feet Speed Heading Source Age Vert Speed 0 0 0 0 Fix Information LN 3D GPS Fresh Speed and Heading LN gt mph mph 0 0 deg SVs Used LN 1 3 7 9 11 14 15 18 19 21 22 Status ST Doing Position Fixes Machine ID 0x00 BBRAM 9 available at start feed line fault Status Antenna ATC O available at start Almanac
69. NN LETZONLJSONN LETEONLJSOW N 90 so vo 0 eo LD cK K cK cK K kK Oxzo s o DZY S o DAZ9 S o DZIS o DZY S o o vou zd eau teu oza oz9 s 61d 0z 95 Oz9s Oz 95 uzos 0z 9S 0z 9S 81H 218 91H Siu via ely 0 0 E a 2 S8 OldO 9V Oldo SV OldO YW Oldo HV Oldo ENT Lar oer err sir zur lv Oldd oc M M M N N G N L sr o o N o N o N o o N 03198 Oldo Q319V Old9 037 SY Old9 a31 Yy Oldo N Q3111V Oldo 31 0lV Oldo 9a sa va a ea ta J9mog G31 aaa o zo da sir on on on on on on le Le ol su su ze e o e e e e 4 e 88 Old HA 9V Oldo e SV old e tY Old 4 LUV old e OLY old 4 por eei Z ear 4 pur E gor eer A E A n A EN A Es A E A E Sd Old 9v Oldo SV Oldo vw Oldo LIV Oldo 01V Oldo ou ou 2 ou ou DIL ou 90 su va eu zu ty s EUA lt lt ureuA Note Reference board schematics may differ from recommendations in Table 2 1 due to test modes required for Trimble internal use only Figure 10 5 Copernicus Reference Board Schematic Page 2 Copernicus GPS Receiver 68 10 COPERNICUS REFERENCE BOARD ufu SIN3X VNT 40 pe ouiei si Jeduinf samog euuejuy ueuw uoys euuejue sejeorpul plea jou s 9160 jeuBis 4HOHS pue N3dO 310N L pauepun 0 0 0 l1HOHS L N3dO S NdO S upwa A AO L Z O NIX YNI O00 12d Jewog euuejuv 1uHs lt lt
70. NS 6 For a microstrip RF transmission line topology it is recommended that the layer immediately below the one to which the Copernicus GPS module is mounted be ground plane Pins 2 and 3 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 Design considerations for RF Track Topologies The following items need to be considered for the Copernicus GPS module 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 a
71. Note The receiver occasionally adjusts its clock to maintain time accuracy within I msec At this time all pseudo range values for all satellites are adjusted upward or downward by one millisecond Report packet Ox5A checks packet 0x83 or 0x84 for clock bias Copernicus GPS Receiver Reference Manual TRIMBLE STANDARD INTERFACE PROTOCOL TSIP 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 Report Packet 0x5C Data Formats Byte Bit Item Type Value Definition 0 Satellite UINT8 number PRN 1 32 number 1 0 2 reserved Bits reserved 1 3 7 Channel Bits 0 11 2 Acquisition UINT8 0 Never acquired flag 1 Tracking 2 Re opened search 3 Ephemeris UINT8 0 Flag not set flag 1 Ephemeris is decoded 4 7 Signal level Single Same as in Packet 0x47 8 11 GPS time Single lt 0 No measurements have been taken of last gt 0 Center of the last measurement measurem taken from this satellite ent 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 16 19 Azimuth Single radians Approximate azimuth from true no
72. O0L ONL ved eeu DAZ y OV zed Ley DO ocd NO o o 9066 LAW 906e LENIN E LLO T T oro E m N N 0z 9S T ou ezu vLeagnn vOGELSIIN c 838 60 Ob LENIN 80 dglegoas 8 0 e peunbai jou S egueJajo oB ejjoA xoeq ut T H0A Z 1 80 104 pasn eq Aew J0jsISU 1 1107 VLGIWIN hug xnv ver prah d L d9LC9O02 Jamo xny z vO indino xny E ol zo EX 2 o 20 eer eer NOY NadO ASONVLS 01 8210 0 MOT Nn 01 DIU L ASQNVLSX 3 Jepeoy uid e 8r w TN weis IVEON 7 N3dO weis VAHON 40 UBIH HOLINOW U Hes 0 MOT YOLINOW HOLINOW gt _ 2 L Ler HSV H NadO gu un o UBU pajind 20 IsnW NN 0 UBU HSV14 0 01 1008 gt gt UOL Sed upewa gt 19591 0 MOT 2 MS 13838 13838X d IMS Copernicus Reference Board Schematic Page 3 Figure 10 6 Note Reference board schematics may differ from recommendations in Table 1 Pin Description Table due to test modes required for Trimble internal use only 69 Copernicus GPS Receiver 10 COPERNICUS REFERENCE BOARD Copernicus Reference Board I O and power Connector The Copernicus 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 Refer to the Copernicus Reference Board Schematics Table 10 1 Copernicus Reference Board P
73. REFERENCE MANUAL USER GUIDE Copernicus GPS Receiver The right one Trimble NORTH AMERICA EUROPE KOREA CHINA Trimble Navigation Limited Trimble Navigation Europe Trimble Export Ltd Korea Trimble Navigation Ltd China Corporate Headquarters Phone 49 6142 2100 161 Phone 82 2 555 5361 Phone 86 21 6391 7814 935 Stewart Drive Sunnyvale CA 94086 1 800 787 4225 1 408 481 7741 gt The right one Trimble www trimble com Corporate Office Trimble Navigation Limited 935 Stewart Drive Sunnyvale CA 94085 U S A Phone 1 408 481 8000 1 800 827 8000 www trimble com Support 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 amp 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 March 2007 release Revision B of the Copernicus GPS Receiver System Designer Reference Manual part number 58052 00 The following limi
74. S ARE PROVIDED AS IS 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 PEC
75. 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 If using a passive antenna and the SHORT and OPEN pins are 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 if desired 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 Table 3 2 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 If it is desired to have 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
76. The Copernicus 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 OxCO 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 The default signal mask is changed to 0 6 Fix mode DOP mask DOP switch DGPS correction age are not supported The dynamic modes are Land Sea and Air In packet description of OXBB Navigation Configuration Byte 1 only value 0 automatic is supported Byte 2 reserved DGPS is not supported Byte 3 only values 1 2 and 3 are supported Bytes 9 12 change AMU mask default value to 0 6 Bytes 13 21 are changed to reserved In packet Ox 1E byte 0 add Ox4D for enter Monitor Mode The response packet is OxSF FF ek M O N TP T O R SCURMCUNO 6x 0x35 0x55 packets Filtered PR s in 5A is not supported Ox3A 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 Copernicus GPS Receiver Reference Manual TRIMBLE STANDARD INTERFACE
77. UNIARY 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 GENERAL DESCRIPTION Receiver Overview z Z woe fus ete es eee woe te oS se BS eke S ERU 6 Starter Kit s A rd US nb hte dat OB Dad Rep ch OS edt oe Dosis 6 Key Features uu ku mese m be tee pe Re mre uh pee ite dye emo 4 7 0 4 7 Block Diagrams ico lr o a pex En tub aros 7 Performance Specifications es 8 Interface Characteristics od xoc RE poe ecu ERR ESSE R ae ee Re Sue 8 Electrical Characteristics R R E RR E RER R N R TN a 9 Physical Characteristics ee 9 Environmental Specifications lt E e ee R a 9 MITBEz 43e a a Slate eat ane we TB qyuwreqeqes 9 Ordering Information ss ier os A a oe a a be lA Ba 10 2 INTERFACE CHARACTERISTICS Pin Assignments A hei ed ik Re e Dae EE etd Boe hh edo 12 Pin Description o e coea ld R Ro bI be eb ee d ta ba Se m Se 13 Detailed Pin Descriptions 2 rE Z TR RR R RR ee 14 Protocol 6 eee ch rere eate ux eeu uo ted aee ee a dedos a A 16 Serial Ports Default Settings re 17 GPS Iming it a bees deeem ue s p 17 Serial Time Output ca ss hors eom mo s o
78. Vehicle ID 4 n a AAAA Total number of characters is 4 This message is used to report or set the vehicle s or receiver s unique four character alpha numeric user assigned ID The default at cold start is 0000 Example The following message will set the vehicle ID to 101 gt SIDO101 lt The following is simply a response to a query for vehicle ID gt RIDO101 lt Note The receiver will always check incoming messages for ID and compare with the vehicle ID set in the receiver s memory If no ID is included in the message the receiver will assume a match and accept the message If the message sent to the receiver does contain a vehicle ID but that ID does not match the ID previously set in the receiver the message will be ignored This process is followed even when the ID_Flag is turned off refer to the message RM Copernicus GPS Receiver Reference Manual 209 TRIMBLE ASCII INTERFACE PROTOCOL TAIP 210 IP Initial Position Data String Format S AA S BBB S CCCC Table C 10 Initial Position Data String Descriptions Item of Char Units Format Initial Latitude 3 Deg S AA Initial Longitude 4 Deg S BBB Initial Altitude 5 10 meters S CCCC Total number of characters is 12 This is a very coarse initial position that can be used to aid the receiver in obtaining its first fix This is particularly useful with a receiver that does not have battery backup enabled In
79. X X X X X X x hh lt CR gt lt LF gt Table B 19 Datums Field Description a Mode Q query S set R Response X X Datum index from table or 9 for custom datum X X Dx X X Dy X X Dz X X Axis X X Eccentricity Squared Note To create a custom datum the ellipsoid model applicable to the user s current location in relation to WGS 64 must be known Note Eccentricity squared is related to flattening by the following equation e 2p p See Appendix A for a list of available Datums Enter Monitor Mode This sentence is used to set the Copernicus GPS Receiver into Monitor Mode This is Set only no query supported The sentence format is SPTNLSEM hh lt CR gt lt LF gt This sentence will be used by the Firmware Uploading Program 186 Copernicus GPS Receiver Reference Manual NMEA0183 EP Ephemeris This sentence can be used to query or set ephemeris data for a specific satellite Since the maximum number of bytes that can be contained in a single NMEA sentence is less than the total ephemeris data length the ephemeris data must be sent in three sentences The three sentences have to be sent or received together in correct sequence Following is the query format SPTNLOEP xx hh lt CR gt lt LF gt Table B 20 Ephemeris Query Format Field Description Q Query XX Satellite After receiving the query the receiver should send out three mess
80. 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 Ox8E 4A and NMEA PS Packet After a specific mode is selected it can be stored in non volatile memory FLASH using TSIP command Ox8E 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 Copernicus GPS Receiver 19 2 INTERFACE CHARACTERISTICS 20 Copernicus GPS Receiver CHAPTER 3 ELECTRICAL SPECIFICATIONS In this chapter Absolute Minimum and Maximum Limits Normal Operating Conditions Power Consumption over Temperature and Voltage ESD Protec
81. age 214 for more detail on the interpretation of this message 202 Copernicus GPS Receiver Reference Manual TRIMBLE ASCII INTERFACE PROTOCOL TAIP Time and Distance Reporting The D message qualifier allows you to specify a minimum distance traveled as well as a minimum and maximum time interval for the next report Units that are stationed at a fixed location can be programmed to report only when the unit moves off station or after a certain elapsed time since last report but no more often than the specified minimum time interval The message format used with the D qualifier is shown below DAABBBBCCCCEEEEFFFF IDZGGGG HH The distance D in the message refers to the radial distance A message would be issued if the receiver has moved farther than a radius of D away from where it was previously reported If the accumulated distance traveled is longer than D but the final location is still within the radius of D e g circling many times around a closed perimeter of radius smaller than D then no message would be issued Table C 5 Time and Distance Reporting Message Format Qualifiers ID Meaning Start of message delimiter D Distance message qualifier AA Message to report i e PV means Position Velocity message BBBB Minimum time seconds interval between reports interval CCCC Report epoch number of seconds from top of the hour EEEE Delta distance meters fr
82. ages Following is the first message of ephemeris format SPTNLaEP 1 xx x x x x hh hh hh hh hhh hh hhhh hh hhhh hhhhhh x x hh lt CR gt lt LF gt Table B 21 Ephemeris Message Format Field Description a Mode S set R Response 1 Message number for EP message 1 must be sent or received before message 2 and message 2 must be sent or received before message 3 and all three messages must be sent together with correct sequence XX Satellite id X X T_ephem This is a double precision floating point number X X Week number for health variable length integer 4 digits maximum hh CodeL2 HEX data conforming to GPS ICD 200 hh L2Pdata HEX data conforming to GPS ICD 200 hh Svacc_raw HEX data conforming to GPS ICD 200 hh SV_health HEX data conforming to GPS ICD 200 hhh IODC HEX data conforming to GPS ICD 200 hh T_GD HEX data conforming to GPS ICD 200 hhhh T_oc HEX data conforming to GPS ICD 200 hh A f2 HEX data conforming to GPS ICD 200 hhhh A f1 HEX data conforming to GPS ICD 200 hhhhhh A f0 HEX data conforming to GPS ICD 200 X X Svacc Satellite accuracy ranger maximum 5 digits number Copernicus GPS Receiver Reference Manual 187 NMEA 0183 188 Following is the second sentence of ephemeris format PTNLAaEP 2 xx hh hh hhhh hhhh hhhhhhhh hhhh hhhhhhhh hhhh hhhhh hhh hhhh hh lt CR gt lt LF gt
83. al port A receive l Logic level primary serial port receive 22 Reserved Reserved 1 0 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 1 0 Do not connect 26 Reserved Reserved 1 0 Do not connect 27 GND Ground G Signal ground Connect to common ground 28 GND Ground G Signal ground Connect to common ground Index G Ground I Input O Output P Power Copernicus GPS Receiver 13 2 14 INTERFACE CHARACTERISTICS Detailed Pin Descriptions RF Input This pin is the 50 ohm unbalanced GPS RF input It can be used with active or passive antennas Passive antennas This pin may be connected by a low loss 50 ohm unbalanced transmission system to the passive GPS antenna if loss is minimal lt 2 dB Active Antennas It can also be connected to the output of an external low noise amplifier which is amplifying GPS signals from an 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 lt 3 dB at room temperature and lt 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 lt 1 dB The noise figure of the LNA should be as low as possible preferably
84. alth one byte for each satellite HEX data conforming to GPS ICD 200 hhhhhhhh Satellite 9 12 health one byte for each satellite HEX data conforming to GPS ICD 200 hhhhhhhh hh Satellite 13 16 health one byte for each satellite HEX data conforming to GPS ICD 200 t oa HEX data conforming to GPS ICD 200 Copernicus GPS Receiver Reference Manual NMEA0183 Message 2 SPTNLaAH 2 hh hhhhhhhh hhhhhhhh hhhhhhhh hhhhhhhh hh hh x x hh lt CR gt lt LF gt Table B 13 Almanac Health Message 2 Field Description a Mode Q query S set R Response hh Week number for health variable length integer 4 digits maximum hhhhhhhh Satellite 17 20 health one byte for each satellite HEX data conforming to GPS ICD 200 hhhhhhhh Satellite 21 24 health one byte for each satellite HEX data conforming to GPS ICD 200 hhhhhhhh Satellite 25 28 health one byte for each satellite HEX data conforming to GPS ICD 200 hhhhhhhh Satellite 29 32 health one byte for each satellite HEX data conforming to GPS ICD 200 hh t_oa HEX data conforming to GPS ICD 200 Copernicus GPS Receiver Reference Manual 181 NMEA 0183 AL Almanac Page This sentence can be used to query or set almanac data for a specific satellite Following is the query format PTNLQAL xx hh lt CR gt lt LF gt Table B 14 Almanac Page Field Description XX Satelli
85. and integrate the Copernicus GPS module and create GPS applications These programs run on a PC running Windows 2000 or Windows XP The GPS Tool Kit program CD includes the following programs Copernicus Monitor User s Guide Copernicus Monitor Copernicus Monitor is a windows application that interfaces with a TSIP and or NMEA speaking receiver through a serial port The program accepts reports from the user selected protocol TSIP or NMEA and displays them in a window with fields for position velocity time receiver status and satellite track status It allows the user to exercise some basic TSIP NMEA commands Copernicus Monitor can also log the received data in raw or parsed format Note that not all commands and options are available in NMEA TSIP Reader TSIP Reader is a windows application for parsing raw TSIP logs such as can be logged by Copernicus Monitor be careful to select the raw format in Copernicus Monitor and that you are connected to the TSIP not NMEA port TSIP Demo TSIP Demo is a demonstration program with documented source code This program demonstrates how to implement a TSIP parser Please see the program s own documentation for more details 226 Copernicus GPS Receiver Reference Manual Copernicus Monitor User s Guide Copernicus Monitor Copernicus Monitor requires Windows 2000 or Windows XP Once the program is started it immediately prompts for the serial port connected to the GPS rec
86. 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 Command Packet 0x38 Data Formats Byte Item Type Value Definition 0 Operation UINT8 1 Request data from Copernicus 2 GPS receiver Load data into Copernicus GPS receiver 1 Type of data UINT8 2 Almanac 3 Health page T_oa WN_oa 4 lonosphere 5 UTC 6 Ephemeris 2 Sat PRN UINT8 0 Data that is not satellite ID 1 32 specific Satellite PRN number 3 Length n UINT8 Number of bytes of data to be loaded 4ton 3 Data UINT8 Satellite data Warning Loading all satellit
87. ases the ephemeris information in SRAM and restarts H Hot software reset Uses the entire SRAM data F Factory software reset Erases the customer configuration the almanac ephemeris and last position in Flash Memory and in SRAM S Set the receiver into Standby Mode C Flash operation 0 do not store Almanac ephemeris and last position from SRAM to Flash Memory 1 store Almanac ephemeris and last position from SRAM to Flash Memory 2 store user configuration to Flash Memory 3 store Almanac ephemeris last position and user configuration from SRAM to Flash Memory 4 Erase Almanac ephemeris and last position from Flash Memory 5 Erase user configuration from Flash Memory Erase Almanac ephemeris last position and user configuration from Flash Memory d Wakeup from Standby Mode flags 001 Wakeup with serial Port A activity 010 Wakeup with serial Port B activity 011 Wakeup with serial Port A or B activity 100 Wakeup after elapsed time specified in the next field 101 Wakeup after elapsed time specified in the next field or serial Port A activity 110 Wakeup after elapsed time specified in the next field or serial Port B activity 111 Wakeup after elapsed time specified in the next field or serial Port A or B activity X X If command is S this field specifies time to stay in Backup Standby Mode in seconds Maximum value 2432 1 Copernicus GPS Receiver Reference Manual 193 NMEA 0183 194 TF
88. assive antenna designs 12 channel simultaneous operation Supports NMEA 0183 TSIP and TAIP protocols Reference board and starter kit available RoHS compliant Lead free High quality low price Block Diagram External Active Antenna VCC Copernicus Module Application Processor Figure 1 1 Copernicus Block Diagram Copernicus GPS Receiver 7 1 1 GENERAL DESCRIPTION Performance Specifications Performance Specifications L1 1575 42 MHz frequency C A code 12 channel continuous tracking receiver Update Rate TSIP 1Hz NMEA 1Hz TAIP 1 Hz Accuracy Horizontal lt 3 meters 50 lt 8 meters 90 Altitude lt 10 meters 50 lt 16 meters 90 Velocity 0 06 m sec PPS static 50 ns 1 Sigma Acquisition Autonomous Operation Reacquisition 2 sec Hot Start 9 sec Warm Start 35 sec Cold Start 39 sec Out of the Box 41 sec Sensitivity Tracking 152 dBm Acquisition 142 dBm Operational Speed Limit 515 m s Interface Characteristics Interface Characteristics 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 TSIP TAIP and NMEA 0183 v3 0 Bi directional NMEA Messages The following abbreviations are used to refer to the interface protocols N Trimble Standard Interface Protocol TSIP Trimble ASCII Interface Protocol TAIP National Marine Electronics A
89. ast Position or Auto Report Position in UTM Single Precision Format nce oe as os br AREE 151 Command Packet 8E 18 Request Last Position or Auto Report Position in UTM Double Precisi n Format Lu ore Ba dre d fake Ye erp a a 151 Report Packet OX8F 15 Current Datum Values llle 152 Report Packet 8F 17 UTM Single Precision Output o o 153 Report Packet 8F 18 UTM Double Precision Output o 154 Command Packet Ox8E 20 Request Last Fix with Extra Information 155 Report Packet Ox8F 20 Last Fix with Extra Information binary fixed point 155 Command Packet Ox8E 26 Non Volatile Memory Storage 157 Report Packet Ox8F 26 Non Volatile Memory Status o o 158 Datums ili ies a As A a aa A NE a a 159 Copernicus GPS Receiver ix Table of Contents B C NMEA 0183 The NMEA 0183 Communication Interface 2 2 ee ee 168 NMEA 0183 Message Format ee 169 Field Definitions a uo Sce cents Be Be Es T Ub em ve Boe gt teas 170 EhecksUM e VERLA E ROSE RE EU eR e e 171 Exception Behavior e ss s oo a mo a 172 Power up with No Back up Data on SRAM eee 172 Power up with Back up Data on SRAI leen 172 Interruption of GPS Signal e 172 NMEA 0183 Message Options s 173 NMEA 0183 Message Formats 2s 175 GGA GPS HX D ta cn ced o eed uomo Re de ok ed OM Rd epe 175 GLL Geographic Position Latitude Longitude a a 176
90. ated 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 e bin contains the FlashLoader binary executable file e mak contains the project files for Microsoft Visual C v6 0 and NET development environments e 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 Loading Firmware to the Target The function FlashProgrammingThread defined in FlashLoaderDlg cpp shows how to implement the firmware loading procedure described above Copernicus GPS Receiver FIRMWARE UPGRADE 12 Compiling and Genera
91. ax 85 C 3 3 V 79 93 9 115 mW Continuous Tracking Min 40 C 2 7V Typ 25 C 3 0 V 22 Copernicus GPS Receiver ELECTRICAL SPECIFICATIONS 3 Parameter Conditions Min Typ Max Unit Power Consumption 50 mA Absolute Maximum 165 mW Current Draw Max 85 C 7 1 8 5 60 uA Standby Mode Min 40 C Typ 25 C 3 0 V Current Draw Standby 30 mA Mode RTC Service Please see section Serial Port Activity Supply Ripple Noise 1Hz to 1MHz 50 mVpp GPS TCXO 1 mVpp Frequency 5kHz Hardware RESET Assert XRESET pin to 100 us clear STANDBY memory The rise time to VCC MUST be greater than 140 usecs 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 Copernicus GPS Receiver 23 3 24 ELECTRICAL SPECIFICATIONS Power Consumption over Temperature and Voltage Run Mode Tracking with Almanac Complete lt 90 mW average 2 7 VDC 40 to 85 C Standby Mode lt 30 uW 3 0 VDC typical at 25 C lt 200 uW under all conditions except during ser
92. being generated the output order is ZDA GGA GLL VTG GSA GSV RMC Table A 47 Command Packet 0x7A and Report Packet 0x7B Data Formats Byte Bit Item Type Value Definition 0 Subcode UINT8 0 1 Interval UINT8 1 255 Fix interval in seconds 2 Reserved 3 Reserved 4 D RMC Bit 0 Off 1 On 4 1 TF Bit 0 Off 1 On 138 Copernicus GPS Receiver Reference Manual TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Table A 47 Command Packet 0x7A and Report Packet 0x7B Data Formats Byte Bit Item Type Value Definition 4 5 BA Bit 0 Off 1 On 4 6 7 Reserved 5 0 GGA Bit 0 Off 1 On 5 1 GLL Bit 0 Off 1 On 5 2 VTG Bit 0 Off 1 On 5 3 GSV Bit 0 Off 1 On 5 4 GSA Bit 0 Off 1 On 5 5 ZDA Bit 0 Off 1 On 5 6 7 Reserved Report Packet 0x7B This packet provides the NMEA settings and interval Copernicus GPS Receiver Reference Manual 139 TRIMBLE STANDARD INTERFACE PROTOCOL TSIP 140 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 Ox8E 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 i
93. by 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 GPS almanac can also be stored in non volatile Flash memory Even without time or ephemeris the receiver can use almanac 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 In the Standby Mode the power consumption of the unit is very low Please refer to section 5 3 for the application note on how to power the receiver from battery in the Standby Mode Monitor Mode Monitor Mode is the operating mode for upgrading the firmware stored in the Flash memory
94. ceiver Reference Manual TRIMBLE ASCII INTERFACE PROTOCOL TAIP Query the receiver for its ID number gt QID lt The receiver will respond assuming factory default settings gt RIDO000 70 lt Set the ID to match the number for a vehicle in your fleet and then tell the receiver to include the Vehicle ID in its responses gt SID1234 lt gt SRM ID_FLAG T lt The Copernicus GPS Receiver receiver is 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 gt FPV00100005 ID 1234 lt The receiver will check the ID included in the message for a match with its own and then reschedule the PV message At the next scheduled time the receiver will respond with gt RPV15714 3739438 12203846015 12612 ID 1234 7F lt Note The Copernicus GPS Receiver does not support the AP TAIP message The time given in the message is the time of the last GPS fix 04 21 54 GPS not necessarily the time of the message response If the time of last fix is 10 or more seconds old the age flag will be set to 1 Copernicus GPS Receiver Reference Manual 223 TRIMBLE ASCII INTERFACE PROTOCOL TAIP 224 Copernicus GPS Receiver Reference Manual APPENDIX COPERNICUS MONITOR USER S GUIDE The GPS Tool Kit program CD includes several programs designed to help developer s evaluate
95. cket Ox2E These abbreviations apply to the following table ALT Altitude ECEF Earth centered Earth fixed X YZ 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 Command Packets 0x55 and 0x35 Data Descriptions Byte Bit Item Type Value Definition Position 0 0 XYZ ECEF Bit 0 XYZ ECEF output off 1 XYZ ECEF output on 0 1 LLA Output Bit 0 LLA output off 1 LLA output on 0 2 LLA ALT Output Bit 0 HAE WGS 84 datum 1 MSL geoid 0 3 Reserved 0 4 Precision of Bit 0 Send single precision packet position output 1 Send double precision packet 0 5 Super Packet Bit 0 Output no Super Packets Output 1 Output all enabled Super Packets 0 6 7 Reserved Velocity 1 0 XYZ ECEF Bit 0 XYZ ECEF output off 1 XYZ ECEF output on 1 1 ENU output Bit 0 ENU output off 1 ENU output on 1 2 7 Reserved 130 Copernicus GPS Receiver Reference Manual TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Table A 36 Command Packets 0x55 and 0x35 Data Descriptions Continued Byte Bit Item Type Value Definition Timing 2 0 Time Type Bit 0 GPS time 1 UTC 2 1 7 reserved Auxiliary Range Measurements 3 0 Raw measuring Bit 0 Raw measurements off 1 Raw measurements on 3 1 reserved 3 2 r
96. conforming to GPS ICD 200 hhhh IDOT Hex data conforming to GPS ICD 200 Copernicus GPS Receiver Reference Manual NMEA0183 IO lonosphere This sentence can be used to query or set ionosphere data PTNLalO hh hh hh hh hh hh hh hh hh lt CR gt lt LF gt Table B 24 lonosphere Field Description a Mode Q query S set R Response hh Alpha_0 HEX data conforming to GPS ICD 200 hh Alpha_1 HEX data conforming to GPS ICD 200 hh Alpha_2 HEX data conforming to GPS ICD 200 hh Alpha_3 HEX data conforming to GPS ICD 200 hh Beta_0 HEX data conforming to GPS ICD 200 hh Beta_1 HEX data conforming to GPS ICD 200 hh Beta_2 HEX data conforming to GPS ICD 200 hh Beta_3 HEX data conforming to GPS ICD 200 KG Set Initial Position This sentence can be used to set initial position and time info data for accelerating navigation startup Query is not supported SPTNLaKG x x x x llll lllll a vyyyyy yyyyy a x x hh CR LP Table B 25 Set Initial Position Field Description a Mode S set R Response X X GPS week number maximum 4 digits X X GPS time of week in milliseconds TL HUI Latitude a N S yyyyy yyyyy Longitude a EJW X X Altitude from the sea level in meters maximum 5 digits Note When uploading a position it should be within 100 Km of the actual position and time within 5 minutes of UTC Coperni
97. 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 reports an open antenna condition If a normal condition report is desired tie Open low and Short high See Table 2 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 32 Copernicus GPS Receiver ANTI ANTENNA COPERNICUS GPS APPLICATION CIRCUITS 5 N DRAGONFLY GNO GND az GND RESERVED FS 5 z GND RESERVED 4 TXD B NV TXD A 432 gt gt TXD A RESERVED 1 KRXD A RESERVED 2 o RESERVED E SETI XRESET RESERVED Vmain gt VCC RESERVED 441 GND XSTANDBY lt XSTANDBY GND GND NS 28 pin Copernicus module Og Figure 5 2 Passive antenna HW Activated Standby Mode Available Following is a description of the schematic Passive Antenna is used Copernicus 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
98. contains data obtained from the last 3 dimensional fix and may not be current 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 Copernicus GPS Receiver Reference Manual 207 208 TRIMBLE ASCII INTERFACE PROTOCOL TAIP CP Compact Position Solution Note The first character of latitude or longitude S is or Data String Format AAAAA S BBCCCC S DDDEEEEFG Table C 8 Compact Position Solution Data String Descriptions Item Hof Char Units Format Value GPS Time of Day 5 Sec AAAAA Latitude 7 Deg S BBCCCC Longitude 8 Deg S DDDEEEE Fix Mode 1 n a F 0 2D GPS 1 3D GPS 2 8 reserved 9 no fix avail Age of Data 1 n a G 2 Fresh 10 sec Indicator 1 Old gt 10 sec OzNot available Total number 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 that data is not available Copernicus GPS Receiver Reference Manual TRIMBLE ASCII INTERFACE PROTOCOL TAIP ID Identification Number Data String Format AAAA Table C 9 Identification Number Data String Descriptions Item of Char Units Format
99. crostrip 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 if desired Please see the Copernicus GPS Application Circuits In the printed circuit board PCB layout it is recommended to keep the copper layer on which the Copernicus GPS module 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 module causing it to lift during the re flow solder process Copernicus GPS Receiver RF LAYOUT CONSIDERATIO
100. cus GPS Receiver Reference Manual 189 NMEA 0183 190 NM Automatic Message Output This sentence may be issued by the user to configure automatic message output The Query sentence format is SPTNLONM hh lt CR gt lt LF gt The Response to query sentence or Set sentence format is SPTNLaNM hhhh xx hh lt CR gt lt LF gt Table B 26 Automatic Message Output Field Description a Mode Q query S set R Response hhhh Bit 0 GGA Bit 1 GLL Bit 2 VTG Bit 3 GSV Bit 4 GSA Bit 5 ZDA Bit 8 RMC Bit 9 TF Bit 13 BA XX Automatic Report Interval 1 99 Examples GGA Only 0001 GLL Only 0002 VTG Only 0004 GSV Only 0008 GSA Only 0010 ZDA Only 0020 RMC Only 0100 TF Only 0200 BA Only 2000 GGA and GLL 0003 GGA and TF 0201 RMC and TF 0300 GGA GLL and TF 0203 Copernicus GPS Receiver Reference Manual PS PPS Configuration This sentence can query or set PPS configuration data SPTNLaPS b xX X 6 X x hh lt CR gt lt LF gt Table B 27 PPS Configuration Description Mode Q query S set R Response PPS mode default is 1 0 PPS OFF Always Off 1 PPS ON Always On or Early PPS 2 PPS FIX BASED Output pulse length in 100 nanoseconds default is 42 corresponding to 4200 nanoseconds Output pulse polarity default is 1 O output pulse is active low 1 output pulse is active high Field a b X X C X X Antenna
101. d Bit 0 Unfiltered 1 Filtered 5 7 reserved 28 NumSVs UINT8 Number of satellites used for fix Will be zero if no fix avail 29 UTC Offset UINT8 Number of leap seconds between UTC and GPS time 30 31 Week INT16 GPS time of fix weeks 32 0 5 PRN 1 UINT8 1 32 PRN of first satellite 6 7 reserved 33 IODE 1 UINT8 IODE of first satellite 34 0 5 PRN 2 UINT8 1 32 PRN of second satellite 6 7 reserved 35 IODE 2 UINT8 IODE of second satellite 36 0 5 PRN 3 UINT8 1 32 PRN of third satellite 6 7 reserved 37 IODE 3 UINT8 IODE of third satellite 38 0 5 PRN 4 UINT8 1 32 PRN of fourth satellite 6 7 reserved 39 IODE 4 UINT8 IODE of fourth satellite 40 0 5 PRN 5 UINT8 1 32 PRN of fifth satellite 6 7 reserved 41 IODE 5 UINT8 IODE of fifth satellite 42 0 5 PRN 6 UINT8 1 32 PRN of sixth satellite 6 7 reserved 43 IODE 6 UINT8 ODE of sixth satellite 156 Copernicus GPS Receiver Reference Manual TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Table A 64 Report Packet 0x8F 20 Data Formats Continued Byte Bit Item Type Value Definition 44 0 5 PRN 7 UINT8 1 32 PRN of seventh satellite 6 7 reserved 45 IODE 7 UINT8 IODE of seventh satellite 46 0 5 PRN 8 UINT8 1 32 PRN of eighth satellite 6 7 reserved 47 IODE 8 UINT8 IODE of eighth satellite 48 0 5 PRN 9 UINT8 1 32 PRN of ninth satellite 6 7 reserved 49 IODE 9 UNIT8 IODE of ninth satellite 50 0 5 PRN 10 UINT8 1 32 PRN of tenth
102. d stored in Flash memory then at power up the receiver will output the messages according to the customized setting Otherwise GGA and VTG messages are output every second Before fixes are available the message fields will be empty Power up with Back up Data on SRAM In this case a previous fix is available in battery backed memory at power up If the output message list and output rate has been customized using TSIP command packet Ox7A and stored in Flash memory then at power up the receiver will output the messages according to the customized setting Otherwise GGA and VTG messages are output every second Before fixes are available the message fields will be empty except for the Time field assuming the back up battery power is present so that time can be tracked continuously by the RTC Real Time Clock Interruption of GPS Signal If the GPS signal is interrupted temporarily the NMEA will continue to be output according to the user specified message list and output rate Position and velocity fields will be blank until the next fix but most other fields will be filled 172 Copernicus GPS Receiver Reference Manual NMEA0183 NMEA 0183 Message Options The Copernicus GPS Receiver can output any or all of the messages listed in Table B 3 and Table B 4 In its default configuration as shipped from the factory the Copernicus GPS Receiver outputs two messages GGA and VTG These messages are output at a 1 second interval with th
103. d the unit into Standby Mode Exiting Standby Mode In this case there are two possible conditions that would trigger the receiver to reset and operate normally again 1 Serial Port Activity 2 Exit after X elapsed seconds Copernicus GPS Receiver 27 4 28 OPERATING MODES 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 e 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 seria
104. dog oe YU N RR dogs 81 QuickeStart Guides 274 Bn rte oae amp Boats A oe om A Bhat a Se RIS 82 FIRMWARE UPGRADE Introduction A Z A ue RUE dur Beth ee ec US di o ae e en 86 Software Architecture 2 2l lll rs 86 Boot Monitor nasio ia baie wo Row ode le eee 229 PRG e S9 Pow ovd 87 Firmware Binary File Format 87 Firmware Loading Procedure 88 Pseudocode uo sue Vet hie Ble er SU We ld ists deut 88 Pseudo Code Explanation 2 22e 90 Error Recovery cs gos votes e mh uto AU RERO hU te ee EA v ge es ge 92 Monitor Interface Protocol eh dvo spe o oe tok RO ER Ro Ro dos 93 Protocol Formato ib ue a b URGE er Wa rcs 93 Data Transmission tic d uos oes Reg eee e eU Sg eR A R 93 Monitor Mode Packet Descriptions ee 94 ENQ ACK NAK 22 3 v oboe A E aw mum dn des 94 Packet ID 0x96 Boot ROM Version Report lees 94 Packet ID Ox8F Erase Firmware Section ee ee 95 FlashLoader Tool Reference Guide 2 2 e 98 Introduction 424 LU oo Fa ee ee eae Bie Ee tU Boe ae ee Eee 98 Copernicus GPS Receiver vii Table of Contents viii File and Folder Structure 0 se oot ues a sa ae dev gatos bod d y ae ad 98 Source Code Referentes 1 5 4o ane do tete a end a shee or m sess 98 Compiling and Generating the Executable llle 99 TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Interface COPE oy Bote ado etes o e d RS S Aras tw e e n e v mts 102 Run Mode Packet Structure e 103 Automatic O
105. ds Copernicus GPS Receiver FIRMWARE UPGRADE 12 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 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 95 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 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 Ox8F must be sent to the target The target will respond with ACK when the section is erased See page page 95 for details on
106. e GP ID and checksums These messages are output at all times during operation with or without a fix If a different set of messages has been selected using Packet 0x7A and this setting has been stored in Flash memory using Packet Ox8E 26 the default messages are permanently replaced until the receiver is returned to the factory default settings Another methodology for changing NMEA output messages is using the Trimble proprietary NMEA commands listed in Table B 4 Use the NM command to select the NMEA message and the RT command to store the message in Flash Memory Note The user can configure a custom mix of the messages listed in Table B 3 See command packets OxBC 0x7A and 8E 26 in Appendix A and the NM and RT command descriptions in this appendix for details on configuring NMEA output Warning If too many messages are specified for output you may need to increase the unit s baud rate Table B 3 Copernicus GPS Receiver NMEA 0183 Messages Message Description Default GGA GPS fix data Output GLL Geographic position Latitude Longitude GSA GPS DOP and active satellites GSV GPS satellites in view RMC Recommended minimum specific GPS Transit data Default VTG Track made good and ground speed Output ZDA Time amp Date The format for each message in Table B 3 is described in more detail in the next section Copernicus GPS Receiver Reference Manual 173 NMEA 0183 Table
107. e 0x83 for hardware component version information report 2 5 Serial U32 Any Board serial number number 6 Build day U8 1 31 Day of the board s build date T 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 U16 Any Hardware Code associated with Code Hardware ID 13 Length of U8 Any The length of the Hardware ID L Hardware ID 14 13 L Hardware U8 String Hardware ID string in ASCII ID Copernicus GPS Receiver Reference Manual TRIMBLE STANDARD INTERFACE PROTOCOL TSIP 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 Ox1E Format Byte Item Type Value Definition 0 Reset UINT 8 0x4B Cold start Erase BBRAM and mode restart 0x46 Factory reset Erase BBRAM and Flash and restart Ox4D Enter Monitor Mode Warning All almanac ephemeris current position mode and communication port setup information is lost 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
108. e A 2 position Velocity output As chosen see default 0x84 0x56 Table A 2 0x41 GPS time 0x82 DGPS position fix mode DGPS is always DGPS is not supported off Output of this packet will always report 0x02 106 Copernicus GPS Receiver Reference Manual TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Timing Packets If you are using the Copernicus GPS receiver as a timing reference you may need to implement the following TSIP control commands Table A 5 Timing Packet TSIP Control Commands 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 Packet Data I O Descriptions Input ID Description Output ID 0x27 request signal levels 0x47 0x38 request load satellite system data 0x58 0x3C request tracking status 0x5C Copernicus GPS Receiver Reference Manual 107 TRIMBLE STANDARD INTERFACE PROTOCOL TSIP 108 Backwards Compatibility 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 0x62 0x82 0x65 0x85 0x69 0x89 not available
109. e 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 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 comman
110. e actual time must be taken from the timing messages because position messages contain a time a timestamp which is usually 1 to 2 seconds in the past Note 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 2005 the GPS UTC offset was 13 seconds The offset has historically increased by 1 second about every 18 months The GPS Control Organization has not added leap seconds on its usual 18 month schedule As a result the offset remains at 13 seconds 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 Copernicus GPS Receiver INTERFACE CHARACTERISTICS 2 Pulse Per Second PPS in Copernicus Receiver The Copernicus GPS receiver provides a CMOS compatible TTL level Pulse Per Second PPS The PPS is a positive pulse available on pin 19 of Copernicus GPS Receiver The rising edge of the PPS pulse is synchronized with respect to UTC The timing accuracy is 50 ns 1 Sigma 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 500 ns 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
111. e 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 Reference Manual 123 TRIMBLE STANDARD INTERFACE PROTOCOL TSIP 124 Command Packet 0x3A Request Last Raw Measurement This packet requests the most recent raw measurement data for one specified satellite The GSP receiver returns packet Ox5A 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 1 32 Desired satellite 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 1 32 Desired satellite 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 GPS time of week Single seconds 4 5 Extended GPS week number INT16 weeks 6 9
112. e unencoded receiver responses on a terminal or a 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 turn checksums off and carriage return on gt SRM CS_FLAG F CR_FLAG T lt Note Notice the use of semicolon before the flag name Copernicus GPS Receiver Reference Manual 215 216 TRIMBLE ASCII INTERFACE PROTOCOL TAIP RT Reset Mode Data String Format Any one of the following data strings can be set Upper case characters are required COLD FACTORY SAVE CONFIG Table C 16 Reset Mode Data String Descriptions Message Description gt SRT lt Warm Start gt SRTCOLD lt Cold Start gt SRTFACTORY lt Factory Reset gt SRTSAVE_CONFIG lt Save settings to Flash memory The following procedure is used to change the Copernicus GPS Receiver protocol from TSIP to TAIP 1 Use the TSIP Ox7E command to setup the TAIP output configuration 2 Change the protocol to TAIP using TSIP command OxBC 3 Save the TAIP settings to Flash memory using the TAIP command gt SRTSAVE_CONFIG lt Copernicus GPS Receiver Reference Manual TRIMBLE ASCII INTERFACE PROTOCOL TAIP ST Status Data String Format AABCDDEFGG Note This message provides information about the satellite tracking status and the operational health of the receiver This information is contained in five status bytes
113. ect its internal clock which is not as stable or accurate as the GPS atomic clocks GPS receivers like the Copernicus GPS receiver output a highly accurate timing pulse PPS generated by its internal clock which is constantly corrected using the GPS clocks This timing pulse is synchronized to UTC within 50 ns 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 The 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 Copernicus GPS Receiver 17 2 18 INTERFACE CHARACTERISTICS Serial Time Output The TSIP TAIP and NMEA protocols include time messages See report packets 41 and 8F 20 in Appendix A for a description of the time reports for the TSIP protocol See the TAIP Appendix for a description of the TM message See the NMEA Appendix for a description of the ZDA message Note Note Th
114. ed 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 Copernicus GPS Receiver 87 12 FIRMWARE UPGRADE 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
115. eiver EJ Copernicus Mo Local Serial Port com 38400 Figure D 1 Copernicus Monitor Serial Port Selection The main window is displayed after selecting the serial port configuration Fields with question marks indicate that the information is not yet available amp Gopermicus Momtor Initialize Configure Logging Window Diagnostics Help Timing LLA Position Satellite Data Time 17 01 47 00 UTC Latitude N 37 23 07576 Sv CNO Az Elev D Jun 12 2006 pane SE te 3 jit i L lt o M M em acia EH c fa Ci GPs TOW 147721 Altitude 180 mMSL Datum L 43 34 34 46 260 46 Velocity E East 0 00 m s Status Lol EN s 187 57 North 000 m s Mode Autonomous Mode EH o is 3 E 5 1 33 ep B Up 000 m s Fix 3D UE InUse 105V DOPs BBRAM 45 BI 3 n S 3 BB 9 available at start e PEN NUT 38 205 16 PDOP 1 80 HDOP 0 90 Antenna feed line short ea RTC e Info Unavailable _Txall e Almanac complete amp current FP VDOP 1 50 TDOF Logging Off Tre Rxe Firmware Version 105 NMEA COM4 4800 8 N 1 Figure D 2 Copernicus Monitor Main Window Copernicus GPS Receiver Reference Manual 227 Copernicus Monitor User s Guide Data Logging Copernicus Monitor provides for file storage of the raw binary TSIP stream directly from the
116. eld types in the NMEA messages supported by Trimble Table B 2 Field Type Summary Type Symbol Definition Status A Single character field A Yes data valid warning flag clear V No data invalid warning flag set Special Format Fields Latitude Longitude yyyyy yyy Fixed variable length field Degreesminutes decimal 2 fixed digits of degrees 2 fixed digits of minutes and a variable number of digits for decimal fraction of minutes Leading zeros always included for degrees and minutes to maintain fixed length The decimal point and associated decimal fraction are optional if full resolution is not required Fixed Variable length field Degreesminutes decimal 3 fixed digits of degrees 2 fixed digits of minutes and a variable number of digits for decimal fraction of minutes Leading zeros always included for degrees and minutes to maintain fixed length The decimal point and associated decimal fraction are optional if full resolution is not required Time hhmmss ss Fixed Variable length field hoursminutesseconds decimal 2 fixed digits of minutes 2 fixed digits of seconds and a variable number of digits for decimal fraction of seconds Leading zeros always included for hours minutes and seconds to maintain fixed length The decimal point and associated decimal fraction are optional if full resolution is not required Defined Some fields are specified to contain pre defined con
117. ellite signal measurement information used in computing a fix Copernicus GPS Receiver Reference Manual 135 TRIMBLE STANDARD INTERFACE PROTOCOL TSIP 136 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 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
118. ence 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 The following message used to set the vehicle ID flag includes checksum gt SRM ID_FLAG T 6F lt In this example the checksum 6F was generated by XOR ing the ASCII codes for gt and S then XOR ing 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 Copernicus GPS Receiver Reference Manual 201 TRIMBLE ASCII INTERFACE PROTOCOL TAIP Sample PV Message The Position Velocity Solution PV message is one of the more commonly used TAIP messages and most receivers using TAIP are set by default to output the PV message once every 5 seconds The following analysis of a typical PV message is provided to further explain the TAIP message protocol 2RPV1571443739438 1220384601512612 ID21234 7F Table C 4 Sample PV Message Fields ID Meaning Start of message delimiter R Response qualifier PV PV message identifier 15714 GPS time of day 43739438 Latitude 12203846 Longitude 015 Speed 126 Heading 1 Source of data 2 Age of data ID 1234 Vehicle ID STF Checksum End of message delimiter Note See PV Position Velocity Solution p
119. 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 Meaning if bit value 1 Positions 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 Copernicus GPS Receiver Reference Manual 129 TRIMBLE STANDARD INTERFACE PROTOCOL TSIP 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 Report Packet 0x55 I O Options 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 Pa
120. eport Packet 8E 18 Byte Item Type Value 0 Subcode 0x17 1 Gridzone Designation Char 2 8 Gridzone INT16 4 7 Northing Double Meters 8 11 Easting Double Meters 12 15 Altitude Double Meters 16 19 Clock Bias Double Meters 20 23 Time of Fix Single Seconds Copernicus GPS Receiver Reference Manual TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Command Packet 0x8E 20 Request Last Fix with Extra Information This packet requests Packet 0x8F 20 or marks it for automatic output If only the first byte 20 is sent an 0x8F 20 report containing the last available fix will be sent immediately If two bytes are sent the packet is marked unmarked for auto report according to the value of the second byte as shown in below 0x37 can also be used for requesting Ox8F 20 if the 0x8F 20 is scheduled for auto output Table A 63 Command Packet 0x8E 20 Field Descriptions Byte Item Type Definition 0 Sub packet id UINT8 0x20 1 Mark for Auto report See Packet UINT8 0 do not auto 35 byte 0 bit 5 report 1 mark for auto report Note Auto report requires that superpacket output is enabled Refer to Command Packet 35 Report Packet Ox8F 20 Last Fix with Extra Information binary fixed point This packet provides complete information about the current position velocity fix in a compact fixed length 56 byte packet The fields are fixed point with precision matched to
121. er 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 Copernicus GPS Receiver Reference Manual 119 Byte Item Type Units 0 3 X axis Single Meters 4 7 Y axis Single Meters 8 11 Z axis Single Meters TRIMBLE STANDARD INTERFACE PROTOCOL TSIP 120 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 Command Packet 0x32 Data Format Byte Item Type Units 0 3 Latitude Single Rad
122. eserved 3 3 Signal Strength Unit Bit 1 Output dB Hz 0 Output AMU s 3 4 7 reserved Notes See the associated superpacket output described later in this appendix Packet SE must be used to specify which superpacket is to be output Automatic output of 0x5A raw measurement messages is supported in the Copernicus 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 e Each time that a fix is computed e 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 Copernicus GPS Receiver Reference Manual 131 TRIMBLE STANDARD INTERFACE PROTOCOL TSIP 132 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 t
123. est 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 Copernicus GPS Receiver Reference Manual TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Run Mode Packet Structure TSIP packet structure is the same for both commands and reports The packet format is lt DLE gt lt id gt lt data string bytes gt lt DLE gt lt ETX gt Where e DLE is the byte 0x10 e lt ETX gt is the byte 0x03 e id is a packet identifier byte which can have any value excepting ETX and DLE The bytes in the data string can have any value To prevent confusion with the frame sequences DLE ID and DLE ETX every DLE byte in the data string is preceded by an extra DLE byte stuffing These extra DLE bytes must be added stuffed before sending a packet and removed after receiving the packet Notice that a simple DLE lt ETX gt 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 lt ETX gt preceded by an odd number of DLE bytes 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 in
124. fluids or lotions to come in contact the bottom of the module Warning The Copernicus GPS module is packed according to ANSI EIA 481 B and J STD 033A All of the handling and precaution procedures must be followed Not following these 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 Please handle with care and avoid breaking the moisture barrier Storage The shelf life for the sealed DryPac is 12 months and must be stored at lt 40 C and 9096 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 Please see Recommended Baking Procedure on page 57 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 then follow the baking instruction printed on the moisture barrier The Copernicus is a lead free component for RoHS compliance This unit is a
125. for north for south 8 15 longitude Double radians for east for west 16 23 altitude Double meters 24 31 clock bias Double meters 32 35 time of fix Single seconds The time of fix is in GPS time or UTC as selected by the I O timing option 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 p PI The value of the constant PI as specified in ICD GPS 200 is 3 1415926535898 Packets Ox8E and Ox8F Superpacket See page 149 for information on Packets Ox8E and Ox8F Copernicus GPS Receiver Reference Manual 143 TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Command Packet 0xBB Navigation Configuration In query mode Packet OxBB is sent with a single data byte and returns Report Packet OxBB Note This Command Packet replaces Packets 0x2C 0x62 0x75 and 0x77 Table A 51 Command Packet 0xBB Query Mode Data Format Byte Item Type Value Definition Default 0 Subcode UINT8 0x00 Query mode TSIP Packet OxBB is used to set GPS Processing options The table below lists the individual fields within the 0xBB Packet Table A 52 Command and Report Packet OxBB Field Descriptions Byte Item Type Value Definition Default 0 Subcode UINT8 0x00 Query mode 0x03 1 Operating UINT8 0 Automatic 2D
126. g HKD 72 Indian 1975 Thailand INH A 73 Indian India and Nepal IND I 77 Kandawala Sri Lanka KAN 79 Kertau 1948 West Malaysia and Singapore KEA 91 Nahrwan Masirah Island Oman NAH A 92 Nahrwan United Arab Emirates NAH B 93 Nahrwan Saudi Arabia NAH C 124 Oman Oman FAH 143 Quatar National Qatar QAT 161 South Asia Singapore SOA 164 Timbalai 1948 Brunei and East Malaysia Sarawak and Sabah TIL 165 Tokyo Mean Solution Japan Okinawa and South Korea TOY M 166 Tokyo South Korea TOY B 167 Tokyo Okinawa TOY C 176 Hu Tzu Shan Taiwan HTN 179 Tokyo GIS Coordinates TOY B 160 Copernicus GPS Receiver Reference Manual TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Table A 70 Australia Copernicus GPS Receiver Reference Manual 161 Trimble Datum Local Geodetic Datum Index Name Code 5 Australian Geodetic 1966 Australia and Tasmania AUA 14 Australian Geodetic 1984 Australia and Tasmania AUG 39 Australian Geodetic 1966 Australia and Tasmania AUA Table A 71 Europe Trimble Datum Local Geodetic Datum Index Name Code 4 European 1950 Mean Solution EUR M 13 European 1950 Mean Solution EUR M 54 European 1950 Mean Solution EUR M 55 European 1950 Cyprus EUR E 56 European 1950 Egypt EUR F 57 European 1950 England Ireland Scotland Shetland Islands EUR G 58 European 1950 England Ireland Scotland Shetland Islands EUR
127. gram Copernicus GPS Receiver 49 7 MECHANICAL SPECIFICATIONS 50 Copernicus GPS Receiver CHAPTER o PACKAGING In this chapter Introduction Reel Tapes 8 PACKAGING Introduction The Copernicus GPS module 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 modules are packaged in two quantities Reel with 100 pieces and reel with 500 pieces Figure 8 1 Copernicus GPS Receiver Packaged in Tape 52 Copernicus GPS Receiver PACKAGING 8 Reel The reel is a 13 inch reel that can be mounted in a standard feeder for the surface mount pick and place machine The dimension of the reel is the same regardless of the quantity on the reel Lock Feature 6 places Bin ance NY DETAIL A All Dimensions in Millimeters 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 Ibs 100 pcs with reel packaging desiccant humidity indicator white pizza box approximately 1 02Kg 2 24 Ibs 500 pcs with reel packaging desiccant humidity indicator white pizza box approximately 1 70Kg 3 74 Ibs Copernicus GPS Receiver 53 8 PACKAGING Tapes The details of the tape dimension as shown below are in i
128. he Copernicus GPS cable delay characteristics The receiver responds to a query or control command with packet 8F 4A The packet contains 16 bytes Command Packet 8E 15 Set Request Datum This packet allows the user to change the default datum from WGS 84 to one of 180 selected datums or a user entered custom datum The datum is a set of 5 parameters which describe an ellipsoid to convert the GPS receiver s internal coordinate system of XYZ ECEF into Latitude Longitude and Altitude LLA This affects all calculations of LLA in packets Ox4A and 0x84 The datum can be changed to match coordinates with another system such as a map Most maps are marked with the datum used In the US the most popular datum for maps is NAD 27 You may choose a datum optimized for the local shape of the earth however optimized datums are truly local and provide very different results when used outside of the area for which they are intended WGS 84 is an excellent general ellipsoid valid around the world To request the current datum setting one data byte is sent Report Packet Ox8F is returned Table A 56 Command Packet 8E 15 Byte Type Meaning 0 Superpacket 0x15 To change to one of the internally held datums the packet must contain exactly 2 bytes representing the integer value of the index of the desired datum Table A 57 Command Packet 8E 15 Byte Type Meaning 0 Superpacket ID 0x15 1 2 INT16 Datum index
129. his 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 UINT8 00 temporary no fix information 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 Request data from receiver 2 Load data into receiver 1 Type of data UINT8 2 Almanac 3 Health page T oa WN oa 4 lonosphere 5 UTC 6 Ephemeris 2 Sat PRN UINT8 0 Data that is not satellite ID specific 1 32 satellite PRN number 3 Length n UINT8 Number of bytes of data to be loaded 4ton 3 Data Table A 40 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 io 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
130. ial Ports Interface Protocol TAIP Trimble ASCII Trimble propriety ASCII protocol Input Output Both Serial Ports Interface Protocol 16 Copernicus GPS Receiver INTERFACE CHARACTERISTICS 2 Serial Ports Default Settings Copernicus GPS receiver supports two serial ports The default settings are provided in the table below Table 2 4 Copernicus GPS Receiver Serial ports default settings Port Port Direction Pin Protocol Characteristics A TXD A RXD A B TXD B RXD B Baud Rate Data Bits Parity Stop Bits Flow Control 23 TSIP Out 38 4 K 8 None 1 NO 21 TSIP IN 38 4 K 8 None 1 NO 24 NMEA Out 4800 8 None 1 NO 20 NMEA IN 4800 8 None 1 NO Data Bits Parity Stop Bits and Flow Control are not configurable Only Protocol and Baud rates are configurable by the user Note Detailed descriptions of the protocols are defined in the Appendices 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 corr
131. ians North 8 11 Altitude Single Meters Copernicus GPS Receiver Reference Manual TRIMBLE STANDARD INTERFACE PROTOCOL TSIP 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 Ox8E 26 command The GPS receiver returns Packet 0x55 These abbreviations are used in the following table e ALT Altitude N ECEF Earth centered Earth fixed e XYZ Coordinates LLA Latitude Longitude Altitude e HAE Height Above Ellipsoid e WGS 84 Earth Model ellipsoid MSL Geoid Mean Sea Level N UTC Coordinated Universal Time This packet can also be used to set the Automatic output to 1 second for packets 0x47 and 0x5A Table A 21 Command Packets 0x35 and 0x55 Data Descriptions Byte Bit Item Type Value Definition Position 0 0 LSB XYZ ECEF Bit 0 XYZ ECEF output off 1 XYZ ECEF output on 1 LLA Output Bit 0 LLA output off 1 LLA output on 2 LLA ALT Bit 0 HAE See Note Output 1 MSL geoid 3 Reserved Precision of Bit
132. ier Message Format Frequency and Query Response Set Distance Report AL Altitude Vertical Velocity X X X X AP Auxiliary Port n a n a n a n a Characteristic CP Compact Position X X X X Solution DC Differential Corrections n a n a n a n a 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 X PT Port Characteristic X X X X PV Position Velocity 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 K J x Note The Copernicus GPS Receiver does not support these TAIP messages All TAIP message characters must be in uppercase Copernicus GPS Receiver Reference Manual TRIMBLE ASCII INTERFACE PROTOCOL TAIP AL Altitude Up Velocity Note The first character of altitude or vertical velocity S is or Data String Format AAAA S BBBBB S CCCDE Table C 7 Altitude Up Velocity Data String Descriptions Item Hof Char Units Format Value GPS Time of Day 5 Sec AAAAA Altitude 6 Meter S BBBBB Vertical Velocity 4 MPH S CCC Fix Mode 1 n a D 0 2D GPS 1 3D GPS 2 8 reserved 9 no fix avail Age of Data 1 n a E 2 Fresh 10 sec Indicator 1 Old gt 10 sec OzNot 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
133. ill be written to Copernicus GPS Receiver FIRMWARE UPGRADE 12 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 12 10 Restart Target BYTEO BYTE1 BYTE2 BYTE3 BYTE4 BYTE 5 0x02 0x00 0x8C 0x00 0x8C 0x03 Copernicus GPS Receiver 97 12 98 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 88 It can be used for example to develop a program to update firmware remotely over a network connection FlashLoader has been cre
134. in 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 Copernicus Reference Board Power Requirement The Copernicus 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 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 70 Copernicus GPS Receiver COPERNICUS REFERENCE BOARD 10 Copernicus Reference Board Jumper Table Table 10 2 Copernicus Reference Board Jumper Table Reference Designator J1 J4 SW1 J5 J6 J7 J8 J9 J21 J25 J27 J28 J22 24 J26 Name RF Input XRESET Reset Switch VCC Vback 8 Pin Header PPS Reserved Reserved Reserved XSTANDBY Spare Antenna Power Description MCX Jack Female Connector 50 Ohms unbalanced Normal Operation Jumper in place connects XRESET to VCC Reset Operation Re
135. ing 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 Copernicus GPS Receiver 89 12 90 FIRMWARE UPGRADE 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 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 th
136. ing to GPS ICD 200 hh Delta t Is HEX data conforming to GPS ICD 200 hh T oa HEX data conforming to GPS ICD 200 hhhh Wn t HEX data conforming to GPS ICD 200 hhhh Wn LSF HEX data conforming to GPS ICD 200 hh DN HEX data conforming to GPS ICD 200 hh Delta t LSF HEX data conforming to GPS ICD 200 VR Version This sentence may be issued by the user to get version information The Query sentence format is PTNLOVR a hh lt CR gt lt LF gt The Response to query sentence format is SPTNLRVR b C C XX XX XX XX XX XXXX hh CR LF Table B 32 Field Description a Mode Q query R Response b Reserved C C Receiver Name XX Major version XX Minor version XX Build version XX Month XX Day XXXX Year Copernicus GPS Receiver Reference Manual 195 NMEA 0183 196 Copernicus GPS Receiver Reference Manual APPENDIX TRIMBLE ASCII INTERFACE PROTOCOL TAIP 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 opt
137. inimum Specific GPS Transit Data Message Parameters 7 Speed over the ground SOG in knots 8 Track made good in degrees true 9 Date dd mm yy 10 11 Magnetic variation in degrees E East W West 12 Position System Mode Indicator A Autonomous D Differential E Estimated Dead Reckoning M Manual Input S Simulation Mode N Data Not Valid hh Checksum Mandatory for RMC VTG Track Made Good and Ground Speed The VTG message conveys the actual track made good COG and the speed relative to the ground SOG SGPVTG x x T x x M x x N xX xX K i hh lt CR gt lt LF gt Table B 10 VTG Track Made Good and Ground Speed Message Parameters Field Description 1 Track made good in degrees true 2 Track made good in degrees magnetic 3 4 Speed over the ground SOG in knots 5 6 Speed over the ground SOG in kilometer per hour 7 Mode Indicator A Autonomous Mode D Differential Mode E Estimated dead reckoning Mode M Manual Input Mode S Simulated Mode N Data Not Valid hh Checksum 178 Copernicus GPS Receiver Reference Manual NMEA0183 ZDA Time amp Date The ZDA message contains UTC the day the month the year and the local time zone SGPZDA hhmmss ss xx xx xxxx hh CR LF Table B 11 ZDA Time amp Date Message Parameters Field Description 1 UTC when UTC offset has been decoded by the receiver 2 Day 01
138. ion fixes are being reported 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 from the starter kit can drive a load up to 50ohm the Copernicus receiver alone can drive RL 3kQ without damaging the module The falling edge of the pulse should not be used The default PPS output mode is Always On sometimes called 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 is getting fixes In early PPS 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 Ox8E 4A and NMEA PS Packet After a specific mode is selected it can be stored in non volatile memory FLASH using TSIP command Ox8E 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 Copernicus GPS Receiver 81 11 COPERNICUS STARTER KIT
139. ionally 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 modems and portable computers Although receivers incorporating this protocol are shipped from the factory with a specific serial port setting the port characteristics are fully programmable through TAIP messages TRIMBLE ASCII INTERFACE PROTOCOL TAIP The Copernicus GPS Receiver supports the following TAIP messages Table C 1 Copernicus GPS ReceiverSupported Messages Message Description 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 Note The Copernicus GPS Receiver does not support the AP and DC TAIP messages 198 Copernicus GPS Receiver Reference Manual TRIMBLE ASCII INTERFACE PROTOCOL TAIP Message Format All TAIP communication uses printable uppercase ASCII characters The interface provides the means to configure the output of various sentences in response to queries or on
140. itting a 4 byte memory address 0x004101F0 means sending byte 0x00 first Ox41 second 0x01 third and OxFO last Copernicus GPS Receiver 93 12 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 93 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 12 3 Boot ROM Version Query BYTEO BYTE1 BYTE2 BYTE3 BYTE4 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 12 4 Boot ROM Version Report BYTE 0 BYTE1 BYTE2 BYTE3 BYTE4 BYTES BYTE6 BYTE7 BYTES 8 9 BYTE 10 BYTE 11 0x02 0x96 0x06 Major Ver Minor Month Day Year CHKSM 0x03 Ver
141. ize with ECEF position use Command Packet 0x23 Copernicus GPS Receiver Reference Manual TRIMBLE STANDARD INTERFACE PROTOCOL TSIP 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 Ox2E 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 Ox2E Data Formats Byte Item Type Units 0 3 GPS time of week Single Seconds 4 5 Extended GPS week INT16 Weeks number 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 receiv
142. k Start Guide CD containing the SW tools and the Copernicus Reference Manual Interface Unit Inside the interface unit the Copernicus reference board sits atop a shelf that is supported by 4 standoffs above the motherboard There is an antenna transition cable mounted to the outside of the unit that 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 Figure 11 1 Interface Unit Copernicus GPS Receiver COPERNICUS STARTER KIT 11 Figure 11 2 AC DC Power Supply Converter Figure 11 8 USB Cable Copernicus GPS Receiver 75 11 COPERNICUS STARTER KIT Serial Port Interface The interface unit has a dual port USB interface This dual port USB is available through a single A type USB connection Before the starter kit can be used with an 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 starter kit uses an USB 2 0 interface chip from Future Technology Devices International Ltd FTDI In order to use the Copernicus Monitor software tool to communicate with the Copernicus you must first download and install the appropriate FTDI driver on your PC Download the correct driver for your operating system as follows 1 Use the following URL to access the FTDI drivers http www ftdichip com Drivers VCP htm 2 Download and
143. l port activity to return the unit to Run mode is 3 seconds Standby time cannot be less than 3 seconds e During the 10 msec RTC service time During the 10 msec RTC service time there exists a 91 6 usec 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 on page 30 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 0xCO 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 OPERATING MODES 4 Saving the Almanac into the Flash Memory Almanac information contained in RAM can be saved into the Flash Memory by issuing the
144. lashLoader Tool Reference Guide 12 FIRMWARE UPGRADE Introduction 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 Warning This information 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 Software Architecture 86 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 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 12 1 Functional Software Components and Memory Map Word Address Software Component Section 0x3FC000 Ox3FFFFF Boot ROM 0x3F8000 Ox3FBFFF lt reserved gt 0x3E0000 Ox3F7FFF User Data 0x360000 Ox3DFFFF Copernicus GPS Firmware 0x300000 0x35FFFF reserved Copernicus GPS Receiver FIRMWARE UPGRADE 12 Boot Monitor The boot monitor module is a part of the Boot ROM
145. lm The corresponding response for the Set is SPTNLRAS a hh lt CR gt lt LF gt where a means action status A success V failure Copernicus GPS Receiver Reference Manual 183 NMEA 0183 BA Antenna Status This sentence can be used to query the antenna connection status This sentence should only be issued when the antenna detection circuit is implemented The Query sentence format is SPTNLOBA hh lt CR gt lt LF gt The Response to query sentence format is SPINLABA a b hh lt CR gt lt LF gt Table B 17 Antenna Status Field Description a Status 0 status unavailable 1 status available Antenna feedline fault 0 normal 1 open 2 short 184 Copernicus GPS Receiver Reference Manual CR Configure Receiver This sentence can query or set NMEA receiver configuration information SPTNLaCR X X X X X X X X X X a a a hh CR LF Table B 18 Configure Receiver NMEA0183 Field Description a Mode Q query S set R Response X X Signal Level Mask default 0 6 AMU X X Elevation mask in degrees default 5 degrees X X Reserved X X Reserved X X Reserved a Constellation Mode default is 0 0 AUTO a Dynamics default is 0 1 land 2 sea 3 air a Reserved Copernicus GPS Receiver Reference Manual 185 NMEA 0183 DM EM Datum This sentence can query or set datum information SPTNLaDM X X X X X
146. lso 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 Warning Operators should not touch the bottom silver solder pads by hand or by 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 which is followed by swelling delamination and even cracking the plastic Components that do not exhibit external cracking can have internal delamination or cracking which affects the yield and reliability CAUTION THIS BAG CONTAINS MOISTURE SENSITIVE DEVICES Do not open except under controlled conditions shelf life in sealed bag 12 months 40C and 9096 RH 1 Peak package body temperature 245C 2 After this bag is opened devices that will be subjected to IR reflow vapor phase reflow or equivalent processing must be a Mounted within 72 hrs factory conditions of lt 30C 60 RH or b Stored at 2096 R
147. ltitude 118 Command Packet 0x2D Request Oscillator Offset len 119 Command Packet 0x2E Set GPS Time ees 119 Command Packet 0x31 Accurate Initial Position XYZ ECEF 119 Command Packet 0x32 Accurate Initial Position Latitude Longitude Altitude 120 Command Packet 0x35 Set Request I O Options o o o 121 Command Packet 0x37 Request Status and Values of Last Position and Velocity 123 Command Packet 0x38 Request Load Satellite System Data 123 Command Packet 0x3A Request Last Raw Measurement les 124 Command Packet 0x3C Request Current Satellite Tracking Status 124 Report Packet 0x41 GPS Time lr 124 Report Packet 0x42 Single Precision Position Fix XYZ ECEF 125 Copernicus GPS Receiver Table of Contents Report Packet 0x43 Velocity Fix XYZ ECR o o 126 Report Packet 0x45 Software Version Information ooo a 126 Report Packet 0x46 Health of Receiver o o 0000004 127 Report Packet 0x47 Signal Levels for all Satellites n 127 Report Packet 0x4A Single Precision LLA Position Fix 128 Report Packet 0x4B Machine Code ID and Additional Status 129 Report Packet 0x4D Oscillator Offset le 129 Report Packet Ox4E Response to Set GPS Time o o 130 Report Packet 0x55 I O Options 2e 1
148. m plate to the base of the metal enclosure Set the bottom plate aside 3 Remove the two screws securing the Copernicus Reference Board to the standoffs on the motherboard These screws are located at opposite ends of the receiver module Copernicus GPS Receiver 79 11 COPERNICUS STARTER KIT Antenna The Copernicus 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 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 antenna open condition If antenna power jumper is removed the antenna is reported as shorted 80 Copernicus GPS Receiver COPERNICUS STARTER KIT 11 Pulse Per Second PPS The Copernicus GPS receiver provides a CMOS compatible TTL level Pulse Per Second PPS The PPS is a positive pulse available on the BNC connector on the back side of the starter kit The rising edge of the PPS pulse is synchronized with respect to UTC The timing accuracy is 50 ns 1 Sigma when valid posit
149. men mur a ea dero ee 18 Pulse Per Second PPS in Copernicus Receiver 22s 19 3 ELECTRICAL SPECIFICATIONS Absolute Minimum and Maximum Limits es 22 Normal Operating Conditions 2s 22 Power Consumption over Temperature and Voltage lees 24 EBSD Protection 4 2 05 xe Bath ee xeu RU SR Osce E eu ae equi as 24 4 OPERATING MODES Copernicus Receiver Operating Modes 2 2 20 0000 eee eee eee 26 Run Mode Ds ABSENTEE RE RETE aon a ame he Oe eee as 26 Standby Mod s oret o EE Reda i arn lo tee Gat Bde 4 Bena ek a o ele hati d 26 Monitor Mode as E TERE aT Rer ovas Bolas Ge Bo an ee Pe 26 Changing the RUN STANDBY modes e 27 Using the XSTANDBY Pin to Switch Modes llle 27 Using Serial Ports to Switch Modes o o e e 27 Saving the Almanac into the Flash Memory o o e 29 Graceful Shutdown ee 29 Almanac in Flash Updating Process ee 29 Copernicus GPS Receiver v Table of Contents 18 Ho r RTC RollOv r L x sod ca ca ae eek dem eek e hr Rom de d Aa aa rs end wd 30 5 COPERNICUS GPS APPLICATION CIRCUITS Passive antenna Minimum Connections o oaoa o e a a 32 Active Antenna Full Connection ee 34 Active Antenna No Antenna Status 36 6 RF LAYOUT CONSIDERATIONS General Recommendations soa a 2 Les 40 Design considerations for RF Track Topologies o o eee A PCB Considerations o 2 udis oue gogo woo moe goo
150. moving 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 Press the button resets the unit Normal Operation Jumper in place Applies VCC to unit Test Mode Jumper may be removed and ampere meter may be inserted for current measurement Normal Operation Jumper in place Applies VBack to unit The user can use VCC as the STANDBY Supply See Table 10 for Reference Board pin Description 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 Reserved Reserved Normal Operation No Jumper Run Mode Reserved 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 Spare driver transistor 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 Note See Table 10 7 for pin numbers indicates pin 1 Copernicus GPS Receiver 71 10 COPERNICUS REFERENCE BOARD Reference Board Component Locations Drawing AUX QUT XSTANDBY LED PWR 28 15
151. multipath and urban canyon environments Designed for the demands of automated pick and place high volume production processes 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 reflow solderable 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 94 mW typically at full power with continuous tracking The Copernicus GPS receiver has been designed to meet restrictions on the use of hazardous substances under the RoHS European Directive The Copernicus GPS module is a complete drop in ready to go receiver that provides position velocity and time data in a choice of three protocols Trimble s powerful 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 in
152. n 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 lt message type gt lt output interval gt command in TAIP In contrast to packet Ox8E 40 the settings in this packet are not just for the so called Heartbeat messages meaning the output frequency settings are not only applied when the receiver is not generating a position fix In practice this packet provides a comprehensive but straightforward means to set up the TAIP output configuration It can also be used to reset the output configuration For example if any of these eight messages was set up as Time Distance mode from the TAIP protocol this packet would reset any such message back to plain periodic output mode or no automatic output mode frequency 0 For customization the settings in this packet can be stored into the Flash by either TSIP packet Ox8E 26 or TAIP command SRTSAVE CONFIG The flash storage commands store the latest output configuration which may be set up by either this packet or any other commands from the TAIP protocol For example if this packet was executed first from the TSIP protocol and then the Copernicus GPS was switched to TAIP p
153. n 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 Ox8B 92 Copernicus GPS Receiver FIRMWARE UPGRADE 12 Monitor Interface Protocol Protocol Format The following packet structure is used by the Monitor Mode Protocol Table 12 2 Monitor Mode Protocol BYTEO BYTE1 BYTE2 BYTE3 BYTES4 N BYTE N 1 BYTE N42 STX NULL C ID LEN DATA CHKSM ETX 0x02 0x00 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 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 O DATA N 1 Data Transmission Data values are transmitted with the most significant byte of the value sent first For example transm
154. nal 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 l 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 1 0 Do not connect 7 OPEN Antenna OPEN Logic level from external antenna detection circuit See Antenna Detect Truth Table 8 SHORT Antenna SHORT l Logic level from external antenna detection circuit See Antenna Detect Truth Table 9 Reserved Reserved l Connect to VCC 10 Reserved Reserved l Connect to VCC 11 XRESET Reset l 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 l Selects RUN or STANDBY mode Connect to VCC if not used run only 17 Reserved Reserved 1 0 Do not connect 18 Reserved Reserved 1 0 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 l Logic level secondary serial port receive 21 RXD_A Seri
155. nches The metric units are shownin 0 945 24 000 0 079 2 00mm 1101 0059 L Sinn Q1 Q0nnl TYP 0457 L400nnl 0 014 L 35nnz Bn 0 079 Lpe 00nn MINI 0 059 L1 50mm TYP rea CE E 0on020 4 T T Ire i H T 0 559 114 200 Imm 0 858 21 80 i 4 J 4 4 1118 28 40m2 J nm Q071 U S0nns 10m R0 018 LRO 30mm1 U L i 1 260 32 0002 3009 0 789 Le005nnl A EFSESTPISKUEN EX t 77 4 0146 3 7001 be Been c 0 008 L020nn 05mm 0 773 L19 64nn 1 P 0 789 20 050 0 858 21 801 0 079 2 0000 SECTION A A R0 75 LRO 7 Smm Feeding direction Figure 8 3 Tape Diagram eulu ui epew ROUND HOLE FEZ L 10S0 N S 00 626 S ejquinag TL HEM R Tp RL Y Hp euin ej de 7 AULA AQUILES QUILL Feeding direction Figure 8 4 Feeding Direction Diagram 54 Copernicus GPS Receiver CHAPTER SHIPPING and HANDLING In this chapter Handling Shipment Storage Moisture Indicator Floor Life Moisture Precondition Recommended Baking Procedure Soldering Paste Solder Reflow Recommended Soldering Profile Optical Inspection Cleaning Repeated Reflow Soldering Wave Soldering Hand Soldering Rework Conformal Coating Grounding the Metal Shield 9 56 SHIPPING and HANDLING Handling The Copernicus GPS module is shipped in tape and reel for use with automated surface mount machine This module is a Lead Free with silver plating Please do not allow bodily
156. 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 Ox2B Table A 16 Command Packet 0x23 Data Format Byte Item Type Units 0 3 X Single Meters 4 7 Y Single Meters 8 11 Z Single Meters Copernicus GPS Receiver Reference Manual 117 TRIMBLE STANDARD INTERFACE PROTOCOL TSIP 118 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 amp 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 co
157. 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 Longitude 122 03846 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 23 39 77 The longitude is converted in the same fashion Longitude W 122 02 18 46 Note At the earth s equator one degree of latitude and longitude represents 68 7 miles therefore 0 00001 degrees represents approximately 3 6 feet or 1 1 meters Each second represents approximately 100 76 ft 30 7 m Copernicus GPS Receiver Reference Manual 205 TRIMBLE ASCII INTERFACE PROTOCOL TAIP 206 Message Data Strings The following table lists all the TAIP messages currently defined and comments regarding their application The data string format of each message is described in the following pages Table C 6 Message Data String Descriptions Identif
158. ntains 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 Ox4B 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 Data Format Byte Item Type Units 0 3 Latitude Single Radians north 4 7 Longitude Single Radians east 8 11 Altitude Single Meters Note To initial
159. ode 119 Old Hawaiian Mean Solution OHA M 120 Old Hawaiian Hawaii OHA A 121 Old Hawaiian Kauai OHA B 122 Old Hawaiian Maui OHA C 123 Old Hawaiian Oahu OHA D 131 Pitcairn Astro 1967Pitcairn Island PIT 147 Santo DOS 1952 Espirito Santo Island SAE 169 Viti Levu 1916 Viti Levu Island Fiji Islands MVS 170 Wake Eniwetok 1960 Marshall Islands ENW Table A 77 Non Satellite Derived Datums Trimble Datum Local Geodetic Datum Index Name Code 172 Bukit Rimpah Bangka and Belitung Islands Indonesia BUR 173 Camp Area Astro Camp McMurdo Area Antarctica CAZ 174 Gunung Segara Kalimantan Indonesia GSE 175 Herat North Afghanistan HEN Copernicus GPS Receiver Reference Manual 165 TRIMBLE STANDARD INTERFACE PROTOCOL TSIP 166 Copernicus GPS Receiver Reference Manual APPENDIX NMEA 0183 This appendix provides a brief overview of the NMEA 0183 protocol and describes both the standard and optional messages offered by the Copernicus GPS Receiver NMEA 0183 is a simple yet comprehensive ASCII protocol which defines both the communication interface and the data format The NMEA 0183 protocol was originally established to allow marine navigation equipment to share information Since it is a well established industry standard NMEA 0183 has also gained popularity for use in applications other than marine electronics The Copernicus GPS receiver supports the latest release of NMEA 0183 Version 3 0 July 1 2000 The primary change in relea
160. om last reported distance FFFF Maximum time seconds interval between reports Tmax 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 Copernicus GPS Receiver Reference Manual 203 TRIMBLE ASCII INTERFACE PROTOCOL TAIP 204 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 current position differs from the previously reported position by at least 500 meters EEEE 0500 but no more often than every 30 seconds BBBB 0030 or less 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 The brackets themselves are never included in the actual TAIP message string Copernicus GPS Receiver Reference Manual TRIMBLE ASCII INTERFACE PROTOCOL TAIP Latitude and Longitude Conversion The TAIP protocol reports latitude as positive
161. onse to Query or Scheduled Report o o 222 The Set Oualifiet o ae oue oT eee WR em et e s xs 222 Sample Communication Session ee 222 COPERNICUS MONITOR USER S GUIDE Copernicus Monitors oso tas Sea Saale id due mex pua mde uses 226 TSIP Reader lt 9 22 sa dh ace tust pd Gud gas fawn oud doe Te day ue ed Ads 226 ISIP DeMO i ptos ae A Ske aoe and mes ee a moss 24 226 Copernicus Monitor oo 8 4 mos sd Se eb ek do eee BE RUP Wy T 227 Data Lossing eis BA ae oce ect BA eeu VU RUE ea Res 228 TSP and NMBA SuUppott RLE us eR Row RO een Roe 69 ah a ee ek a 228 TAIP MONITOR USER S GUIDE TAIP Monitor uen Se fh A SUR A ee a m RUN EUER Pon ose s 230 D ta Eoggimng opt oce eem EUR amio quem a bn mH 231 Copernicus GPS Receiver xi Table of Contents xii Copernicus GPS Receiver List of Figures List of Figures Figure 1 1 Figure 2 1 Figure 4 1 Figure 4 2 Figure 5 1 Figure 5 2 Figure 5 3 Figure 5 4 Figure 6 1 Figure 6 2 Figure 6 3 Figure 7 1 Figure 7 2 Figure 7 3 Figure 7 4 Figure 7 5 Figure 8 1 Figure 8 2 Figure 8 3 Figure 8 4 Figure 9 1 Figure 9 2 Figure 10 1 Figure 10 2 Figure 10 3 Figure 10 4 Figure 10 5 Figure 10 6 Figure 10 7 Figure 10 8 Figure 11 1 Figure 11 2 Figure 11 3 Figure 11 4 Figure 11 5 Figure 11 6 Figure 11 7 Copernicus Block Diagram ee 7 Copernicus Pin Assignments 4 opor ee RA 12 Current Draw Levels in Standby Mode o a 30 Issuing
162. 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 2 2 Copernicus GPS Receiver 37 5 COPERNICUS GPS APPLICATION CIRCUITS 38 Copernicus GPS Receiver CHAPTER 6 RF LAYOUT CONSIDERATIONS In this chapter General Recommendations Design considerations for RF Track Topologies PCB Considerations 6 40 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 o
163. or 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 differential 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 Ox8E 20 OxBB GPS navigation configuration OxBB OxBC receiver port configuration OxBC 112 Copernicus GPS Receiver Reference Manual TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Key Setup Parameters or Packet BB Selecting the correct operating parameters has significant impact on receiver performance Packet OxBB 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 Setup Parameters in Packet 0xBB Parameter Factory Defa
164. ossible to do graceful shutdown and enter Standby Mode with the same command i e set byte 0 to S and set byte 1 to 1 such command would not make sense Storing BBRAM to Flash is necessary only when the unit will be turned off completely If the unit is being commanded into standby mode the BBRAM will be maintained and does not need to be stored to Flash Table A 54 Packet 0xCO Byte Bit Item Type Value Definition 0 Reset type or BYTE H hot start go to standby WW warm start mode cold start Ss standby mode P factory reset 1 Store BBRAM BYTE 0 Do not store Almanac to Flash flag ephemeris and last position from SRAM to Flash Memory 1 Store Almanac ephemeris and last position from SRAM to Flash Memory 2 Store user configuration to Flash Memory 3 Store Almanac ephemeris last position and user configuration from SRAM to Flash Memory 4 Erase Almanac ephemeris and last position from Flash Memory 5 Erase user configuration from Flash Memory 6 Erase Almanac ephemeris last position and user configuration from Flash Memory Copernicus GPS Receiver Reference Manual 147 TRIMBLE STANDARD INTERFACE PROTOCOL TSIP 148 Table A 54 Packet 0xCO Byte Bit Item Type Value Definition 2 0 Start up from BYTE 0 1 start up on serial port A Standby Mode 1 activity condition flags 1 0 1 start up on serial port B 1 activity 2 0
165. ounded 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 Copernicus GPS Receiver Reference Manual TRIMBLE ASCII INTERFACE PROTOCOL TAIP RM Reporting Mode Data String Format ID_FLAG A CS_FLAG B EC_FLAG C FR FLAG D CR_FLAG E Table C 15 Reporting Mode Data String Descriptions Item of Char Units Format Value ID Flag 1 n a A T True F False CS Flag 1 n a B T True F False EC Flag 1 n a C T 2 True F False FR Flag 1 n a D T True F False CR Flag 1 n a E T True F False ID Flag determines whether the unit is to include the vehicles ID with each report 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 with a 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 for a specific message CR Flag when set to True will cause the receiver to append a carriage return and line feed CR LF to the end of each message output This is useful when viewing th
166. oved procedures Solder Reflow A hot air convection oven is strongly recommended for solder reflow For the lead free solder reflow we recommend using a nitrogen purged oven to increase the solder wetting Please reference to IPC 610D for the lead free solder surface appearance Warning Following 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 Copernicus GPS Receiver SHIPPING and HANDLING Recommended Soldering Profile SnAgCu Alloys xl 235 245 C 2 0 min max time above 217 C 60 90 sec typical 90 sec max Pre heating 60 75 sec typica a E D 120 150 160 N o 240 270 300 Time sec Courtesy of Figure 9 2 Recommended Soldering Profile The user must carefully select the final soldering thermal profile 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 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 please follow IPC 610 specification to visually inspect using 3X magnification lens for the following e Verify that each pin is properly aligned with mount pad e The pads are prope
167. ows the checksum delimiter character The checksum is the 8 bit exclusive OR no start or stop bits of a character in the sentence including between but not including the and the delimiters The hexadecimal value of the most significant and less significant 4 bits of the result is converted to two ASCII characters 0 9 AOF upper case for transmission The most significant character is transmitted first Examples of the use of the checksum field are GPGLL 5057 970 N 00146 110 E 142451 A 27 lt CR gt lt LF gt GPVTG089 0 T 15 2 N 7F lt CR gt lt LF gt Copernicus GPS Receiver Reference Manual 171 NMEA 0183 Exception Behavior When no position fix is available some of the data fields in the NMEA messages will be blank A blank field has no characters between the commas There are three general cases when no fix is available at power up without back up data on SRAM cold start at power up with without back up data on SRAM warm start and when the GPS signal is temporarily blocked These three cases have different NMEA output behavior in the Copernicus GPS Receiver This section describes the behavior for the current product The specification for this behavior may change in future products Power up with No Back up Data on SRAM In this case no previous fix is available in battery backed memory If the output message list and output rate has been customized using TSIP command packet 0x7A an
168. pon 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 MATERIAL
169. r below using a via e The layer below the signal layer is the second ground plane e Connect the two ground planes with vias typically adjacent to the signal trace e 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 Permittivity Substrate Thickness Track Width Er H mm W MM 1 6 0 631 1 2 0 438 1 0 0 372 FR4 4 6 0 8 0 286 0 6 0 2 0 4 0 111 0 2 N A Copernicus GPS Receiver CHAPTER f MECHANICAL SPECIFICATIONS In this chapter Mechanical Outline Drawing Guidelines for soldering the Copernicus module to a PCB 7 MECHANICAL SPECIFICATIONS Mechanical Outline Drawing 1 28 2 27 3 26 4 25 5 24 E 52 x E 90 Top View 10 9 U O 11 18 12 17 13 14 L2 LE E I I a 5 gt Bottom View g Figure 7 1 Copernicus GPS Receiver Footprint l Inch 0004 Outline Dimensions mm 0 10 B E I E F G H I J K 075 075 0049 0 256 0197 0293 0 050 0100 0 045 0 030 0 050 19 00 19 00 125 650 300 750 127 254 114 O76 1287 Figure 7 2 Copernicus GPS Receiver Outline Dimensions 46 Copernicus GPS Receiver MECHANICAL SPECIFICATIONS 7 Guidelines for soldering the Copernicus module to a PCB Solder mask
170. rly soldered e Verify that no solder is bridged to the adjacent pads and X ray the bottom pad if necessary Copernicus GPS Receiver 59 9 9 60 SHIPPING and HANDLING Cleaning When the Copernicus 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 module may discolor with cleaning agent or chlorinated faucet water Any other form of cleaning solder residual may cause permanent damage and voids the warranty Repeated Reflow Soldering The Copernicus lead free silver plated module can withstand two reflow solder processes If the unit must mount on the first side for surface mount reflow we suggest adding additional glue on the bottom of the module to prevent falling off when processing the second side Wave Soldering The Copernicus 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 We recommend measuring the temperature on the module and keeping it under 180 C Hand Soldering For the lead free Copernicus module we recommend using a lead free solder core such as Kester 275 Sn96 5 Ag3 Cu0 5 When soldering the module by hand please keep the soldering iron below 260 C Rework The
171. rotocol and the output settings were changed e g changed to Time Distance mode or vise versa then the latest settings would be stored into the Flash when the flash storage command is used Note See Appendix D for a full explanation of the TAIP protocol messages Copernicus GPS Receiver Reference Manual TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Table A 48 Command Packet 0 x 7E Data Formats Byte Bit Item Type Value Definition Default 0 Subcode UINT8 0 Setting the packet 0 1 0 ID Flag Bit 0 1 On Off 0 1 CS Flag Bit 0 1 On Off 1 2 EC Flag Bit 0 1 On Off 1 3 FR Flag Bit 0 1 On Off 1 4 CR Flag Bit 0 1 On Off 0 5 7 Reserved 2 3 TOH UINT16 0 3599 Top of hour offset 0 4 5 AL output UINT16 0 3599 Auto output period for AL sec 0 see period note 6 7 CP output UINT16 0 3599 Auto output period for CP sec O period 8 9 ID output UINT16 0 3599 Auto output period for ID sec 0 period 10 11 LN output UINT16 0 3599 Auto output period for LN sec 0 period 12 13 PV output UINT16 0 3599 Auto output period for PV sec O period 14 15 ST output UINT16 0 3599 Auto output period for ST sec 0 period 16 17 TM output UINT 16 0 3599 Auto output period for TM sec O period 18 19 VR output UINT 16 0 3599 Auto output period for VR sec 0 period 20 23 Veh ID String See Vehicle ID 0000 TAIP ID Note 0 second
172. rs in certifying this Product as RoHS compliant Hardware Limited Warranty 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 Software and Firmware License Limited Warranty 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 u
173. rth to this satellite Updated typically about every 3 to 5 minutes Used for computing measurement correction factors 20 23 reserved UINT8 0 Copernicus GPS Receiver Reference Manual 137 TRIMBLE STANDARD INTERFACE PROTOCOL TSIP 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 13 1 Report Packet 0x6D Data Formats Byte Bit Item Type Value Definition 0 0 2 Dimension UINT8 3 2D 4 3D 0 3 0 Auto 1 Manual 0 4 7 nSVs 1 4 PDOP Single PDOP 5 8 HDOP Single HDOP 9 12 VDOP Single VDOP 13 16 TDOP Single TDOP 16 nSVvs SV PRN UINT8 Note The Copernicus 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
174. s 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 Reference Board is built RoHS compliant lead free Trimble 200060008401 S N 0601062 Figure 10 1 Copernicus Reference Board Frontside 64 Copernicus GPS Receiver COPERNICUS REFERENCE BOARD 10 Figure 10 2 Copernicus Reference Board Backside The Copernicus Reference GPS 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 65 10 66 COPERNICUS REFERENCE BOARD Copernicus Reference Board Block Diagram Copemicus Interface Board Block Diagram or W E LL O Ww or o am O o O z X H a O O LI Figure 10 3 Copernicus Reference Board Block Diagram Copernicus GPS Receiver 1R maem Lk tm Al ris jeg imm pe md LED Far cur Le dica Dy or 10 COPERNICUS REFERENCE BOARD 67 Copernicus GPS Receiver Copernicus Reference Board Schematic Here is the Copernicus Reference Board Schematic Page 1
175. s 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 Sharp bends Components overlaying the track Routing between components to avoid undesirable coupling Copernicus GPS Receiver 41 6 RF LAYOUT CONSIDERATIONS 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 It is suggested that a complete ground plane is used under the PCB with signal tracks on the same layer as the module It is possible to flood or copper pour the top layer 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 e Track width W e PCB substrate thickness H e PCB substrate permittivity Toalesser extent PCB copper thickness T and proximity of same layer ground plane H tT Figure 6 2 PCB Microstrip Topology 42 Copernicus GPS Receiver RF LAYOUT CONSIDER
176. satellite 6 7 reserved 51 IODE 10 UNIT8 IODE of tenth satellite 52 0 5 PRN 11 UINT8 1 32 PRN of eleventh satellite 6 7 reserved 53 IODE 11 UNIT8 IODE of eleventh satellite 54 0 5 PRN 12 UINT8 1 32 PRN of twelfth satellite 6 7 reserved 55 IODE 12 UINT8 IODE of twelfth satellite 56 63 lonospheric parameters Note Velocity scale controlled by byte 24 bit 1 Overflow 0x8000 Command Packet 0x8E 26 Non Volatile Memory Storage The 0x8E 26 command is issued with no data to cause the current settings to be saved to non volatile memory The 0x8F 26 report is generated after the values have been saved Table A 65 Command Packet Ox8E 26 Definitions Byte Item Type Value Definition 0 Subcode UINT8 0x26 Save Settings Copernicus GPS Receiver Reference Manual 157 TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Report Packet 0x8F 26 Non Volatile Memory Status This report will be issued after an 0x8E 26 command Table A 66 Report Packet 0x8F 26 Field Descriptions Byte Item Type Value Definition 0 Subcode UINT8 0x26 Save Settings 1 4 reserved 158 Copernicus GPS Receiver Reference Manual TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Datums Reference DMA TR 8350 2 Second Edition 1 Sept 1991 DMA Technical Report Department of Defense World GEodetic System 1984 Definition and Relationships with Local Geodetic Systems Table A 67 International Datums
177. se 3 0 is the addition of the mode indicators in the GLL RMC and VTG messages In addition the Copernicus GPS supports bi directional NMEA with the description of the Trimble proprietary NMEA sentences found in this Appendix For those applications requiring output only from the GPS receiver the standard NMEA 0183 sentences are a popular choice Many standard application packages support the standard NMEA output messages With the addition of the Trimble proprietary bi directional NMEA the user can now gain complete control of the Copernicus module including configuration and program control The standard NMEA output only messages are GGA GLL GSA GSV RMC VTC and ZDA NMEA National Office 7 Riggs Ave Severna Park MD 21146 1 410 975 9425 info nmea org NMEA 0183 The NMEA 0183 Communication Interface Below are the default NMEA characteristics for Port 2 of the Copernicus GPS receiver Table B 1 NMEA 0183 Standard Characteristics Signal Characteristic NMEA Standard Baud Rate 4800 Data Bits 8 Parity None Disabled Stop Bits 1 168 Copernicus GPS Receiver Reference Manual NMEA0183 NMEA 0183 Message Format The NMEA 0183 protocol covers a broad array of navigation data The entire protocol encompasses over 50 messages but only a sub set of these messages apply to a GPS receiver like the Copernicus GPS Receiver The NMEA message structure is described below SIDMSG D1 D2 D3 D4
178. 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 reports an open antenna condition If a normal condition is desired tie Open Low and Short High Please also refer to the Table 2 2 Antenna Status Truth Table Copernicus GPS Receiver 33 5 COPERNICUS GPS APPLICATION CIRCUITS Active Antenna Full Connection M WF MX SM mnt CPAGCNI Y Figure 5 3 Application Drawing Active antenna Full connection In the following you will find a description of this schematic with antenna detection when using a second source to power the unit when in Standby Mode 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 Please see the Note below Both serial ports are utilized Antenna open and short detection and protection is provided The combination of the two pins Open Pin 7 and Short Pin 8
179. serial port To turn data collection on or off use the Logging pull down menu Note that the Raw Data window needs to be open for raw logging to continue and that clicking pause in that window will pause both the data scrolling in the window as well as the logging itself The recorded binary data stream can be translated into an ASCII file with TSIP Reader TSIP and NMEA Support 228 Copernicus Monitor supports both TSIP and NMEA However not all commands are available under NMEA and out of the commands that are available not all options available in TSIP are supported under NMEA You can select which protocol to use by clicking the Configuration pull down menu and selecting the Communication Mode menu item You can also click on the TSIP NMEA indicator in the status bar Note that changing this setting in Copernicus Monitor does not cause a corresponding reconfiguration of the GPS receiver you will need to manually connect the serial cable to the appropriate port on the receiver and or issue a separate reconfiguration command prior to switching protocol in Copernicus Monitor Copernicus GPS Receiver Reference Manual APPENDIX TAIP MONITOR USER S GUIDE TAIP Monitor is a software program available from Trimble Navigation to assist users of the Trimble ASCII Interface Protocol TAIP TAIP Monitor supports all Trimble receivers that use TAIP TAIP MONITOR USER S GUIDE D TAIP Monitor TAIP
180. setup parameters Application guidelines are provided for each TSIP Command Packet beginning on page 115 TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Interface Scope 102 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 Copernicus GPS receiver has two serial I O communications ports These are bi directional control and data ports The data I O port characteristics protocol definitions and other options are user programmable and can be stored in non volatile 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 requ
181. sion 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 U8 Any The length of the product name module name L1 11 10 L1 Product name U8 String Product name in ASCII Copernicus GPS Receiver Reference Manual 115 TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Command Packet 0x1C 03 Hardware Component Version Information e The command packet Ox1C 03 may be issued to obtain the hardware component version information e 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 e The hardware code for Copernicus GPS Receiver is 1002 e ID for Copernicus GPS Receiver is COPERNICUS GPS RECEIVER The packet format is defined as the following 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 Report Packet 0x1C 83 Byte Item Type Value Definition 0 Packet ID U8 0x1C Packet ID 0x1C 1 Sub code U8 0x83 Sub cod
182. ssociation NMEA 8 Copernicus GPS Receiver GENERAL DESCRIPTION Electrical Characteristics 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 Characteristics 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 Specifications MTBF Environmental Specifications Operating Temperature 40 C to 85 C Storage Temperature 55 C to 105 C Vibration 0 008 g Hz 5 Hz to 20 Hz 0 05 g 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 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 to establish the MTBF This is generally referred to as the Trimble Navigation Reliability Database and it consists of the following components 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
183. stants most often alpha characters Such a field is indicated in this standard by the presence of one or more valid characters Excluded from the list of allowable characters are the following that are used to indicated field types within this standard A a c hh hhmmss ss MIP x yyyyy yy Numeric Value Fields Variable X X Variable length integer or floating numeric field Optional leading and trailing zeros The decimal point and associated decimal fraction are optional if full resolution is not required example 73 10 73 1 073 1 73 Fixed HEX hh Fixed length HEX numbers only MSB on the left Copernicus GPS Receiver Reference Manual NMEA0183 Table B 2 Field Type Summary Continued Type Symbol Definition Information Fields Fixed Alpha aa Fixed length field of upper case or lower case alpha characters Fixed number xx Fixed length field of numeric characters Notes Spaces are only used in variable text fields Units of measure fields are appropriate characters from the Symbol column see Table B 2 unless a specified unit of measure is indicated Fixed length field definitions show the actual number of characters For example a field defined to have a fixed length of 5 HEX characters is represented as hhhhh between delimiters in a sentence definition Checksum The checksum is the last field in an NMEA sentence and foll
184. te ID Following is the set or response format PTNLaAL xx x x hh hhhh hh hhhh hhhh hhhhhh hhhhhh hhhhhh hhhhh h hhh hhh hh lt CR gt lt LF gt Table B 15 Almanac Page Set or Response Format Field Description a Mode S set R Response XX Satellite ID 01 32 X X GPS week number variable length integer 4 digits maximum hh SV health HEX data conforming to GPS ICD 200 hhhh Eccentricity HEX data conforming to GPS ICD 200 hh t oa almanac reference time HEX data conforming to GPS ICD 200 hhhh sigma Il HEX data conforming to GPS ICD 200 hhhh OMEGADOT HEX data conforming to GPS ICD 200 hhhhhh root a HEX data conforming to GPS ICD 200 hhhhhh Omega HEX data conforming to GPS ICD 200 hhhhhh Omega 0 HEX data conforming to GPS ICD 200 hhhhhh M O HEX data conforming to GPS ICD 200 hhh a fO HEX data conforming to GPS ICD 200 hhh a fl HEX data conforming to GPS ICD 200 182 Copernicus GPS Receiver Reference Manual AS Almanac Status NMEA0183 This sentence can be used to query or set almanac status The format is SPTNLaAS hh xxxx hh hh hh hh hh hh lt CR gt lt LF gt Table B 16 Query Almanac Status Field Description a Mode Q query S Set Hh TimeOfAlm Time of almanac XXXX Week number of almanac hh HaveTimeOfAlm hh HaveAlmHealth hh NeedAlmHealth Need Almanac Health hh NeedlonUtc hh HaveA
185. ted 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 supplie
186. tenuation that occurs They are also subject to more obscuration by the passing scenery when the receiver is in a moving vehicle The code phase data from those satellites is therefore more difficult to decode and therefore has more noise Note A level of hysteresis in the signal level mask is allowed in the core operating software The hysteresis allows the receiver to continue using satellite signals which fall slightly below the mask and prevents the receiver from incorporating a new signal until the signal level slightly exceeds the mask Copernicus GPS Receiver Reference Manual TRIMBLE STANDARD INTERFACE PROTOCOL TSIP 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 Setup Parameters in 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 Report Packet 0x1C 81 Report Firmware Version Table A 12 Report Firmware Version Byte 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 ver
187. terface 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 Starter Kit The Copernicus Starter Kit provides everything you need to get started integrating state of the art GPS capability into your application The kit includes the reference interface board which gives designers a visual layout of the Copernicus module on a PCB including the RF signal trace and RF connector as well as the I O connections of the 28 signal pins Also included are a power converter power adapter GPS antennas and the software for the user to readily evaluate the ease of adding Copernicus GPS to an application Copernicus GPS Receiver GENERAL DESCRIPTION Key Features 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 amp place assembly Tape amp reel packaging Reflow solderable No I O or RF connector 28 Edge castellations Ultra low power usage less than 94 mW typical Highly sensitive 152 dBm Tracking Sensitivity 142 dBm Acquisition Sensitivity Fast TTFF cold start 39 sec Supports active or p
188. the receiver accuracy It can be used for automatic position velocity reports The latest fix can also be requested by 0x8E 20 or 0x37 commands The data format is shown below Table A 64 Report Packet Ox8F 20 Data Formats Byte Bit Item Type Value Definition 0 Sub packet id UINT8 Id for this sub packet always 0x20 1 Reserved UINT8 Reserved 2 3 East velocity INT16 0 005 m s or 0 020 m s See Note 1 4 5 North velocity INT16 0 005 m s or 0 020 m s See Note 1 6 7 Up velocity INT16 0 005 m s or 0 020 m s See Note 1 8 11 Time Of Week UINT32 GPS Time in milliseconds 12 15 Latitude INT32 230 to 230 WGS 84 latitude 271 semicircle 90 90 16 19 Longitude UINT32 0to 232 WGS 84 longitude 231 semicircle 0 360 20 23 Altitude INT32 Altitude above WGS 84 ellipsoid mm Copernicus GPS Receiver Reference Manual 155 TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Table A 64 Report Packet 0x8F 20 Data Formats Continued Byte Bit Item Type Value Definition 24 0 Velocity Scaling 0 0 005 m s 1 0 020 m s 1 7 reserved 25 reserved 26 Datum Datum index 1 O unknown 27 0 Invalid Fix Bit 0 No Valid Fix 1 Yes Invalid Fix 1 Reserved Bit 0 Reserved 2 Fix Dimension Bit 0 3D 1 2D 3 Alt Hold Bit 0 Last 3D Altitude 1 User entered altitude 4 Filtere
189. ther 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 Copernicus GPS Receiver Reference Manual 105 TRIMBLE STANDARD INTERFACE PROTOCOL TSIP 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 Table A 3 Initialization Packets to Speed Start up Input Byte Description Ox2E Initial Time 0x38 Almanac for each SV 0x38 lonosphere 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 Packet Power up Output Messages Output ID Description Notes 0x45 software version 0x46 receiver health 0x4B machine code status As chosen see Tabl
190. this packet 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 Ox8B This packet initiates the firmware loading process The target will respond with ACK as soon as this packet is received See page 96 for details on this packet 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 Restart the target Once firmware loading is complete the Restart Target Monitor Mode packet Ox8C should be issued to reset the GPS receiver Upon reset the new firmware will start up See page 97 for details on this packet Copernicus GPS Receiver 91 12 FIRMWARE UPGRADE Error Recovery The GPS receiver is designed in such way that the system will not be damaged during a firmware update When there is a
191. tics set by this message will be stored in the receiver s battery backed ram The Copernicus GPS Receiver family of receivers do not include an internal battery but provide a battery back up input line that may be used to retain memory when main power is removed If you do not use battery back up all port characteristics will reset to either the default settings after power is removed or to the settings previously stored in Flash The PT command uses commas between data fields Copernicus GPS Receiver Reference Manual 213 TRIMBLE ASCII INTERFACE PROTOCOL TAIP 214 PV Position Velocity Solution Note The first character of latitude or longitude S is or Data String Format AAAAA S BBCCCCC S DDDEEEEEFFFGGGHI Table C 14 Position Velocity Solution Data String Descriptions Position is in latitude positive north and longitude positive east WGS Item of Char Units Format Value GPS Time of Day 5 Sec AAAAA Latitude 8 Deg SJBBCCCCC BB degrees CCCC decimal degrees Longitude 8 Deg S DDDEEEEE DDD degrees EEEE decimal degrees Speed 3 MPH FFF Heading 3 Deg GGG Fix Mode 1 n a H 0 2D GPS 1 3D GPS 2 8 reserved 9 no fix avail Age of Data 1 n a l 2 fresh lt 10 sec Indicator 1 old gt 10 sec O not available Total number of characters is 30 84 Heading is in degrees from True North increasing eastwardly The GPS time of day is the time of fix r
192. ting 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 gt 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 sin located in the mak directory of the tool distribution From the main menu select Build gt Rebuild Solution This will compile the source files generate the executable and place it in the bin directory Copernicus GPS Receiver 99 12 FIRMWARE UPGRADE 100 Copernicus GPS Receiver APPENDIX TRIMBLE STANDARD INTERFACE PROTOCOL TSIP 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 113 for a detailed description of key
193. tion 3 ELECTRICAL SPECIFICATIONS 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 Table 3 1 Copernicus GPS Receiver Absolute Limits Parameter Min Max Unit Power Supply Power Supply Voltage VCC on Pin 12 0 3 3 6 V STANDBY Voltage VCC on Pin 12 0 3 3 6 V Antenna Input Power at RF Input 10 dBm Input Gain at RF Input 0 passive antenna 36 dB See the application note on STANDBY circuitry Table 3 2 Input Output Pin Threshold levels Input Output Pin Threshold levels Input Pin Voltage RXD A RXD B Open Short Reserved Pins Xreset Xstandby Status High Low Output Pin Voltage TXD A TXD B LNA_XEN Status High loh 1 mA Low lol 1 mA Min 2 0 0 Min 0 8 VCC 0 Max 3 6 0 8 Max VCC 0 22 VCC Unit V V Unit V Normal Operating Conditions Minimum and maximum limits apply over full operating temperature range unless otherwise noted Table 3 3 Copernicus GPS Receiver Normal Operating Conditions Parameter Conditions Min Typ Max Unit Primary Supply Voltage The rise time to VCC 2 7 3 3 V MUST be greater than 140 usecs Current Draw Max 85 C 3 3 V 23 9 34 8 38 3 mA Continuous Tracking Min 40 C 2 7V Typ 25 C 3 0 V Power Consumption M
194. to 31 3 Month 01 to 12 4 Year 5 unused 6 unused hh Checksum Note Fields 5 and 6 are null fields in the Copernicus GPS Receiver output A GPS receiver cannot independently identify the local time zone offsets Warning If UTC offset is not available time output will be in GPS time until the UTC offset value is collected from the GPS satellites When the offset becomes available the time will jump to UTC time Note The time can be used as a timetag for the 1PPS The ZDA message comes out 100 500 msec after the PPS Copernicus GPS Receiver Reference Manual 179 180 NMEA 0183 AH Almanac Health This sentence can be used to query or set almanac health data Since the maximum number of bytes that can be contained in a single NMEA sentence is less than the total almanac health length the almanac health must be sent in two sentences The two sentences have to be sent or received together in correct sequence After receiving the query the receiver sends out two messages Message 1 SPTNLaAH 1 hh hhhhhhhh hhhhhhhh hhhhhhhh hhhhhhhh hh h h x x hh lt CR gt lt LF gt Table B 12 Almanac Health Message 1 Field Description a Mode Q query S set R Response hh Week number for health variable length integer 4 digits maximum hhhhhhhh Satellite 1 4 health one byte for each satellite HEX data conforming to GPS ICD 200 hhhhhhhh Satellite 5 8 he
195. 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 It is recommended when using the USB connection for power that the PC is running from AC power and not battery power to guarantee proper voltage levels to the starter kit interface unit Port A TX LED When blinking red user is transmitting data to the Copernicus GPS Receiver on port A Port A RX LED When blinking red the Copernicus GPS Receiver is transmitting data to the user device on port A Port B TX LED When blinking red user is transmitting data to the Copernicus GPS Receiver on port B Port B RX LED When blinking red the Copernicus GPS Receiver is transmitting data to the user device on port B Power Connector The power connector is a barrel connector on the front right side of the Interface Box The power connector will be connected to the AC DC power converter that is 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 Copernicus GPS Receiver 77 11 COPERNICUS STARTER KIT 8 Power LED The Power LED indicates when main power VCC is available to the receiver This main power is controlled by the Power Switch 8 When the switch is in the ON position the LED will illuminate Green and VCC will be supplied to the receiver When the switch is in the OFF position the LED will be off and the receiver
196. uble Sec 20 3 3 4 83 86 t_oe Single Sec 20 3 3 4 134 Copernicus GPS Receiver Reference Manual TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Table A 44 Continued Byte Item Type Definition IDC GPS 200 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 1340 iO 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 Sec 20 3 3 4 191 138 Axis Double sqrt Aj 139 146 n Double derived from delta_n 147 154 rime2 Double 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 pseudo UINT 8 msec range If Bit 7 1 pseudo range is out of bounds 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 Ox5A provides the raw sat
197. ult Dynamics code Land Elevation mask 5 Signal mask 0 6 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 OxBB 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 re acquisition routines are optimized for high acceleration conditions Copernicus GPS Receiver Reference Manual 1
198. utput Packets 2e 104 Automatic Position and Velocity Reports ee 105 Initialization Packets to Speed Start up 22e 106 Packets Output at Power Up ee 106 Timing Packet sii edu ES he ES eR Rede ES e e aaa 107 satellite Data P ckets 4 6 oom Sa Ro Ae Eae S iA Sm Rod uio ade 107 Backwards Compatibility 108 Recommended TSIP Packets sintenta sek m meom ae ee EORR Red 110 Command Packets Sent to the Receiver aa 111 Report Packets Sent by the Receiver to the User lee 112 Key Setup Parameters or Packet BB o ee ee 113 Dynamics Ode e nao homo oy bo be eR Som BU Pen v m Ed 113 Elevation Mask loe arar a eedem a SUE E eh 114 Signal Leyel Masks uo eder e xe Paetus 114 Packet Descriptions 300 9er tk Be dc UE dE Ede BE Res 115 Packet Descriptions Used in Run Mode o e o 115 Command Packet Ox1E Clear Battery Backup then Reset 117 Command Packet OXIF Request Software Versions len 117 Command Packet 0x21 Request Current Time o o 117 Command Packet 0x23 Initial Position XYZ ECEF o 117 Command Packet 0x24 Request GPS Receiver Position Fix Mode 118 Command Packet 0x25 Initiate Soft Reset amp Self Test lll les 118 Command Packet 0x26 Request Health lens 118 Command Packet 0x27 Request Signal Levels o ee 118 Command Packet Ox2B Initial Position Latitude Longitude A
199. utput 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 module 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 mi
200. vation etc Receiver settings query software version Ox1F 0x45 query receiver ID amp error status 0x26 Ox4B 0x46 set query receiver configuration OxBB OxBB GPS System query load GPS system data 0x38 0x58 Initialization full reset clear battery backup and or non Ox1E volatile settings soft reset 0x25 set GPS time 0x2E 0x4E set approx LLA 0x2B set approx XYZ ECEF 0x23 set exact LLA 0x32 set exact XYZ ECEF 0x31 Note Automatic output is determined by packet 0x35 See Table A 4 to determine messages output at startup Copernicus GPS Receiver Reference Manual 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 115 TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Table A 8 User Selected Command Packet Options Input ID Packet Description Output ID Ox1E clear battery back up reset See Note 1 Ox1F software version 0x45 0x21 current time 0x41 0x23 initial position XYZ ECEF 0x24 request receiver position fix mode Ox6D 0x25 soft reset amp self test See Note 1 0x26 receiver health 0x46 0x4B 0x27 signal levels 0x47 0x2B initial position
201. vice time for the 18 hour real time clock roll over See Chapter 4 for more information Table 3 4 Copernicus GPS Receiver Power Consumption At 2 7 volts 40 C Room Temp 85 C At 3 0 volts 40 C Room Temp 85 C At 3 3 volts 40 C Room temp 85v Avg Current mA 29 7 30 7 31 5 Avg Current mA 30 3 31 3 34 9 Avg Current mA 31 5 31 4 31 9 Avg power consumption mW 80 2 82 9 85 1 Avg power consumption mW 90 9 93 4 104 7 Avg power consumption mW 104 104 105 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 IkV If a higher level of compliance is required additional electrostatic and surge protection must be added Copernicus GPS Receiver CHAPTER OPERATING MODES In this chapter Copernicus Receiver Operating Modes Run Mode Standby Mode Monitor Mode Changing the RUN STANDBY modes Saving the Almanac into the Flash Memory 18h RTC Rollover 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 Stand
202. vigation and the DOP values of the position solution SGPGSA a X XX XX XX XX XX XX XX XX XX XX XX XX X X X X X x hh lt CR gt lt LF gt Table B 7 GSA GPS DOP and Active Satellites Message Parameters Field Description 1 Mode M Manual A Automatic In manual mode the receiver is forced to operate in either 2D or 3D mode In automatic mode the receiver is allowed to switch between 2D and 3D modes subject to the PDOP and satellite masks 2 Current Mode 1 fix not available 2 2D 3 3D 3to14 PRN numbers of the satellites used in the position solution When less than 12 satellites are used the unused fields are null 15 Position dilution of precision PDOP 16 Horizontal dilution of precision HDOP 17 Vertical dilution of precision VDOP hh Checksum 176 Copernicus GPS Receiver Reference Manual NMEA0183 GSV GPS Satellites in View The GSV message identifies the GPS satellites in view including their PRN number elevation azimuth and SNR value Each message contains data for four satellites Second and third messages are sent when more than 4 satellites are in view Fields 1 and 2 indicate the total number of messages being sent and the number of each message respectively SGPGSV X X XX XX XX XXX XX XX XX XXX XX XX XX XXX XX XX XX XXX XX hh lt CR gt lt LF gt Table B 8 GSV GPS Satellites in View Message Parameters Field 4 Description
203. volve switching the order of the bytes as they are normally stored in Intel based machines Specifically e UINTS8 Byte An 8 bit unsigned integer e UINT16 Word A 16 bit unsigned integer INT16 Integer A 16 bit integer e INT32 Long A 32 bit integer e UINT32 ULong A 32 bit unsigned integer e Single Float or 4 byte REAL has a precision of 24 significant bits roughly 6 5 digits e Double 8 byte REAL has a precision of 52 significant bits It is a little better than 15 digits Copernicus GPS Receiver Reference Manual 103 TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Automatic Output Packets 104 The Copernicus 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 DGPS is not supported Output of this packet will always report 0x02 Copernicus GPS Receiver Reference Manual Output Packet ID Description Reporting Interval 0x41 GPS time 1 second 0x42 0x83
204. which are output as five 2 digit hexadecimal values The data format and the meanings of the hex characters are given in the following tables Table C 17 Data String HEX Characters Item Hof Char Units Format Definition Tracking Status Code 2 n a AA see table below Error Codes Nibble 1 1 Error Codes Nibble2 1 Machine ID 2 n a DD 1 n a B see table below n a C see table below Error Code Nibble 3 n a E not currently used Error Code Nibble 4 1 n a F see table below Reserved 2 n a GG see table below Table C 18 Tracking Status Code Value AA Meaning 00 Doing position fixes 01 Don t have GPS time yet 02 Not used 03 PDOP is too high 08 No usable satellites 09 Only 1 usable satellite OA Only 2 usable satellites OB Only 3 usable satellites OC Chosen satellite is unusable Table C 19 Error Codes Nibble 1 Value B Meaning 0 No problems reported 2 Antenna feedline open fault 6 Antenna feedline short fault Copernicus GPS Receiver Reference Manual 217 TRIMBLE ASCII INTERFACE PROTOCOL TAIP Table C 20 Error Codes Nibble 2 Value C Meaning 0 No problems reported 1 Battery back up failed RAM not available at power up see Note below Table C 21 Machine ID Code Value DD Meaning DD Displays the machine ID Table C 22 Error
205. 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 Copernicus GPS Receiver Reference Manual 219 TRIMBLE ASCII INTERFACE PROTOCOL TAIP VR Version Number Data String Format XXXXXXX VERSION A AA BB BB BB Table C 26 Version Number Data String Descriptions Item of Char Units Format Product Name variable n a n a Major version number 4 n a A AA Major release date 8 n a BB BB BB 220 Copernicus GPS Receiver Reference Manual TRIMBLE ASCII INTERFACE PROTOCOL TAIP X1 Extended Status The Copernicus GPS Receiver does not support this message Communication Scheme for TAIP Communication with the unit takes place in four different ways Message qualifiers are used to differentiate between these Query for Single Sentence The query Q message qualifier is used to query the GPS receiver to respond immediately with a specific message The format is gt QAA ID BBBB CC lt 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 qualifier is used to tell the unit how often and when to report a
206. y ded pe d posent te 200 Data SUIS uer ute Ex ded cha eh Cd uec ake an at ot Rois dg oO s 200 Vehicle ID es pe eh E EID SES edd dove qu 200 x Copernicus GPS Receiver Table of Contents Checksum ew e domua ce eek ee li uh obe eg s ep DA Ae tage OS os 201 Message Delimiter s ese dca pe ome ee She pone dG obe are EUR d 201 Sample PV Message e ee 202 Time and Distance Reporting 2 2 es 203 Latitude and Longitude Conversion a 205 Message Data Strings a 206 AL Altitude Up Velocity iDa doe dose a AAA Be ee dence 207 CP Compact Position Solution ee 208 ID Identification Number 5 ose utero m e ce Rem eae BI e ue 209 IP Initial Position a vu ec ERES E Ei else 210 LN Long Navigation Message s 211 PR Protocol uc omes e metus e odas nA uk Ep Av yw de E de 212 PE Port Characteristic zudem I cere Reed Po We i RTE ee da 213 PV Position Velocity Solution es 214 RM Reporting Modes 2 2 pie gos ped dee Oh ee i ee bleue EB 215 RT Reset Mode ca c nux pa has be e a De he A S Rum dede RA ab ue 216 ST Status coon ddd eed ae er eue decks bole wes bole e oe HV Sg quede 217 TM Time Dat ez oa Fe age eee x ute teeth aM Berd Qa 219 VR Version Number rR E n yop p wA EU RITU S RUM Dee SR MUS y Ros 220 XT Extended Statuses a sot o err eet See eR 221 Communication Scheme for TAIP e 221 Query for Single Sentence 2 2 ee 221 Scheduled Reporting Frequency Interval ens 221 The Resp

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