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Trimble Mini-T GPS Disciplined Clock Module User Guide

1. Report Packet 0x5C Satellite Tracking Status The receiver sends this packet in response to command packet 0x3C Table A 41 Report Packet 0 x 5C Data Format Byte Bit Item Type Value Meaning 0 SV PRN number UINT8 1 32 PRN 1 0 2 slot number bit field 000 Not used 52 Trimble Mini T GPS Disciplined Clock Module User Guide Trimble Standard Interface Protocol A Table A 41 Report Packet 0 x 5C Data Format Byte Bit Item Type Value Meaning 1 3 7 channel number bit field 0000 Channel 1 0001 Channel 2 0010 Channel 3 0011 Channel 4 0100 Channel 5 0101 Channel 6 0110 Channel 7 0111 Channel 8 1000 Channel 9 1001 Channel 10 1010 Channel 11 1011 Channel 12 2 acquisition flag UNIT8 0 Never acquired 1 Acquired 2 Re opened search 3 ephemeris flag UNIT8 0 Flag not set gt 0 Good ephemeris 4 7 signal level Single AMU or dBHz 8 11 time of last Single secs GPS time of week measurement 12 15 elevation angle Single Radians 16 19 azimuth angle Single Radians 20 old measurement flag UINT8 0 Flag not set gt 0 Measurement old 21 integer msec flag UINT8 0 Don t know msec 1 Known from subframe 2 Verified by bit crossing 3 Verified by good fix 4 Suspect msec error 22 bad data flag UINT8 0 Flag not set 1 Bad parity 2 Bad ephemeris health 23 data collection flag UINT8 0 Flag not set gt 0 Collection in progress Report Packet 0x6D Satellite Selection List This packet provides a list of satellite
2. 1 Sub code U8 0x01 Sub code 0x01 for software component version information request Report packet 0x1C Report firmware version Table A 12 Report firmware version Byte Item Type Value Definition 0 Packet ID U8 Ox1C Packet ID Ox1C 1 Sub code U8 0x01 Sub code 0x81 for software component version information request 2 Reserved U8 Any Reserved 3 Major version U8 Any Firmware major version 4 Minor version U8 Any Firmware minor version 5 Build number U8 Any Firmware build number 6 Month U8 1 12 Firmware build month 7 Day U8 1 31 Firmware build day 8 9 Year U16 Any Firmware build year 10 Length of first U8 Any The length of the product name L1 module name 11 10 L1 Product name U8 String Firmware ID string in ASCII 38 Trimble Mini T GPS Disciplined Clock Module User Guide Trimble Standard Interface Protocol A Command packet 0x1C 03 Hardware component version information e The command packet 0x1C 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 e The serial number build date fields and the hardware ID are programmed into the Mini Thunderbolt at production The hardware code is 3003 e The hardware ID is Mini Thunderbolt Table A 13 Command Packet 0x1C 03 Byte Item Type Value Definition 0 Packet ID U8 Ox1C Pa
3. 7 8 UTC Offset SINT16 UTC Offset seconds 9 0 Timing Flag bit field 0 GPS time 1 1 UTC time 2 0 GPS PPS 3 1 UTC PPS 4 0 time is set 1 time is not set 0 have UTC info 1 no UTC info 0 time from GPS 1 time from user 10 Seconds UINT8 0 59 Seconds 11 Minutes UINT8 0 59 Minutes 12 Hours UINT8 0 23 Hours 70 Trimble Mini T GPS Disciplined Clock Module User Guide Trimble Standard Interface Protocol A Table A 70 Report Packet Ox8F AB Byte Bit Item Type Value Description 13 Day of Month UINT8 1 31 Day of Month 14 Month UINT8 1 12 Month of Year 15 16 Year UINT16 Four digits of Year Report Packet 0x8F AC Supplemental Timing Packet This packet provides supplemental timing information once per second Information regarding position unit status and health and the operational state of the unit is provided This packet can be requested or enabled for automatic broadcast once per second When enabled this packet is transmitted once per second shortly after packet SF AB The position sent in packet 8F AC depends on the Receiver Operating Mode and on self survey activity When a self survey is in progress the position sent is the running average of all of the position fixes collected so far When the self survey ends or whenever the receiver is using a time only operating mode then the position sent is the accurate position the receiver is using to perform time only fixes When the self survey is disabled or otherwise in
4. The Mini T and the Bullet antenna are compatible with either 50 or 75 Q cable However a 75 Q cable provides superior transmission for the 1 5 GHz GPS signal Mismatched impedance is not a problem Power connector pin out The pin out information for the 6 pin Molex power connector P N 70543 0005 is as follows Pin Description 1 NC 2 GPS TXD 3 3 V CMOS level GPS RXD 3 3 V CMOS level 5 V tolerant Pulled to 3 3 V using a 10 kQ resistor 4 Ground V antenna Supports 3 3 V 10 at up to 100 mA 6 5 V 0 25 V at 750 mA cold and 350 mA warm 1 0 connector pin out The pin out information for the I O connector that connects to J1 on the Mini T board is as follows Pin Description 1 Spare Do not connect square pad 2 TxD Output from board 3 RxD Input to board 4 Ground 5 V antenna 2 7 5 5 V 6 V prime 5 V 5 26 Trimble Mini T GPS Disciplined Clock Module User Guide CHAPTER Firmware Interface In this chapter The Trimble Standard Interface Protocol TSIP is described completely in Appendix A Trimble Standard Interface Protocol The information in Upgrades this section helps you to understand the structure of the Mini T firmware Configuration Features Windows control program Trimble Mini T GPS Disciplined Clock Module User Guide 27 4 Firmware Interface Configuration Upgrades Features The Mini T module maintains its configuration parameters in a non volatil
5. 41 afo Single 42 45 ag Single 46 49 Axis Single 50 53 n Single 54 57 OMEGA n Single Derived 58 61 ODOT n Single Derived 62 65 tic Single Time of collection set to 1 0 if there is no data available 66 67 week number UINT16 GPS week number 68 69 WN UINT16 Sec 2 4 5 2 3 Trimble Mini T GPS Disciplined Clock Module User Guide 49 A Trimble Standard Interface Protocol Note All angles are in radians Table A 35 Report Packet 0 x 58 Almanac Health Data Type 3 Byte Item Type Meaning 4 Week number UINT8 Sec 2 4 5 3 for health 5 36 SV health UINT8 Sec 2 4 5 3 37 toa for health UINT8 Sec 2 4 5 2 3 38 current toa UINT8 Time of collection 39 40 current week UINT16 Time of collection number Table A 36 Table 31 Report Packet 0 x 58 lonosphere Data Type 4 Byte Item Type Meaning 4 11 not used 12 15 A Single Sec 2 4 5 6 16 19 Oy Single 20 23 a2 Single 24 27 3 Single 28 31 Bo Single 32 35 By Single 36 39 B2 Single 40 43 Bs Single Table A 37 Report Packet 0 x 58 UTC Data Type 5 Byte Item Type Meaning 4 16 not used 17 24 Ao Double Sec 2 4 5 5 25 28 Ay Single 29 30 Atis SINT16 3134 a Single 35 36 WN UINT16 37 38 WN se UINT16 39 40 DN UINT16 41 42 Atis SINT16 Table A 38 Report Packet 0 x 58 Ephemeris Data Type 5 Byte Item Type Meaning 4 SV number UINT8 SV PRN number 5 8 t ephem Single Time o
6. Byte Data Type Bit Value Meaning Associated Packet 0 Position 0 0 ECEF off 0x42 or 0x83 1 ECEF on 1 0 LLA off 0x4A or 0x84 1 LLA on 2 0 HAE datum Ox4A or 0x84 1 MSL geoid Note 1 0 reserved 4 0 single precision position 0x42 4A 1 double precision position 0x83 84 5 7 0 reserved 1 Velocity 0 0 ECEF off 0x43 1 ECEF on 1 0 ENU off 0x56 1 ENU on 2 7 0 reserved 2 Timing 0 0 GPS time reference 0x42 0x43 0x4A 1 UTC time reference 0x83 0x84 0x56 3 Auxiliary 0 0 packet 5A off 0x5A 1 packet 5A on 1 0 reserved 2 0 reserved 0 output AMU 0x5A 0x5C 0x47 1 output dB Hz 4 7 0 reserved Note 1 When using the MSL altitude output the current datum must be set to WGS 84 Command Packet 0x37 Request Status and Values of Last Position This packet requests information regarding the last position fix normally used when the GPS receiver is not automatically outputting fixes The GPS receiver returns the position velocity auto packets specified in the 0x35 message as well as message 0x57 This packet contains no data Trimble Mini T GPS Disciplined Clock Module User Guide 43 A Trimble Standard Interface Protocol Table A 22 Command Packet 0x38 Request Satellite System Data This packet requests current satellite data The GPS receiver returns packet 0x58 Command Packet 0x38 Data Format Byte Item Type Value Meaning 0 Operation UINT8 Must always be 1 1 Type of data UINT8 Almanac Health page to
7. Report Packet 0x55 1 0 Options This packet provides the current I O option states in response to packet 0x35 request The data format is the same as for packet 0x35 see Command Packet 0x35 Set or Request I O Options page 42 Trimble Mini T GPS Disciplined Clock Module User Guide 47 A Trimble Standard Interface Protocol Report Packet 0x56 Velocity Fix East North Up ENU If East North Up ENU coordinates have been selected for the I O velocity option the receiver sends this packet each time that a fix is computed or in response to packet 0x37 The data format for this packet is shown below Table A 31 Report Packet 0 x 56 Data Format 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 Note The time of fix is in GPS or UTC time as selected by the I O timing option Report Packet 0x57 Information about Last Computed Fix This packet provides information concerning the time and origin ofthe previous position fix The receiver sends this packet among others in response to packet 0x37 The data format is shown below Table A 32 Report Packet 0x57 Data Format Byte Item Type Value Meaning 0 Source of info UINT8 Old fix New fix 1 Fix mode 2 5 Time of last fix UINT8 Sin
8. UINT16 Bit field Bit 0 DAC near rail Bit 1 Antenna open Bit 2 Antenna shorted Bit 3 Not tracking satellites Bit 4 Not disciplining oscillator Bit 5 Survey in progress Bit 6 No stored position Bit 7 Leap second pending Bit 8 In test mode Bit 9 Position is questionable Bit 10 Not used Bit 11 Almanac not complete Bit 12 PPS not generated Trimble Mini T GPS Disciplined Clock Module User Guide 73 A Trimble Standard Interface Protocol Table A 71 Report Packet Ox8F AC continued Byte Item Type Value Description 12 GPS Decoding Status UINT8 0x00 Doing fixes 0x01 Don t have GPS time 0x03 PDOP is too high 0x08 No usable sats 0x09 Only 1 usable sat 0x0A Only 2 usable sats 0x0B Only 3 usable sats 0x0C The chosen sat is unusable 0x10 TRAIM rejected the fix 13 Disciplining Activity UINT8 0 Phase locking 1 Oscillator warm up 2 Frequency locking 3 Placing PPS 4 Initializing loop filter 5 Compensating OCXO holdover 6 Inactive 7 Not used 8 Recovery mode 9 Calibration control voltage 14 Spare Status 1 UINT8 0 15 Spare Status 2 UINT8 0 16 19 PPS Offset Single ns 20 23 Clock Offset Single ppb 24 27 DAC Value UINT32 28 31 DAC Voltage Single Volts 32 35 Temperature Single degrees C 36 43 Latitude Double radians 44 51 Longitude Double radians 52 59 Altitude Double meters 60 63 PPS Quantization Error Single ns 64 67 Spare Future expansion 74 Trimble Mini T GPS Disciplined Cl
9. after reset 0x27 Request signal levels 0x47 0x31 Set accurate position XYZ ECEF 0x32 Set accurate position Lat Long Alt 0x34 Set satellite selection for one satellite mode 0x35 Set request I O options 0x55 0x37 Request status and value of last position and velocity fixes 0x57 and other enabled packets 0x38 Load request satellite system data 0x58 0x39 Set request satellite disable or ignore health 0x59 0x3A Request last raw measurement 0x5A 0x3C Request current satellite tracking status Ox5C OxBB Set request receiver configuration OxBB OxBC Set request serial port configuration OxBC Ox8E 15 Set request current datum Ox8F 15 Ox8E 26 Save configuration 0x45 after reset Ox8E 41 Request manufacturing parameters Ox8F 41 Ox8E 42 Request production parameters Ox8F 42 Ox8E 4A Set request PPS characteristics Ox8F 4A Ox8E 4E Set request PPS output option Ox8F 4E Ox8E AO Set request DAC value Ox8F AO Ox8E A2 Set request UTC GPS timing Ox8F A2 Ox8E A3 Issue oscillator disciplining command Ox8F A3 Trimble Mini T GPS Disciplined Clock Module User Guide 35 A Trimble Standard Interface Protocol Table A 9 Command packets continued Input ID Packet Description Output ID Ox8E A4 Set test modes Ox8F A4 Ox8E A5 Set request packet broadcast mask Ox8F A5 Ox8E A6 Issue self survey command Ox8F A6 Ox8E A8 Set request oscillator disciplining parameters Ox8F A8 Ox8E A9 Set request self survey paramet
10. descriptions Trimble Mini T GPS Disciplined Clock Module User Guide 31 A Trimble Standard Interface Protocol Introduction TSIP is a powerful and compact interface protocol which has been designed to allow the system developer a great deal of flexibility in interfacing to a Trimble product Many TSIP data packets are common to all products which use TSIP An example would be a single precision position output packet Other packets may be unique to a product Custom packets are only used in the products for which they have been created Note This appendix has been generated and reviewed with care however Trimble is always grateful to receive reports of any errors in either products or documentation Interface scope Mini T GPS module has one configurable serial I O communication port which is a bi directional control and data port utilizing a Trimble Standard Interface Protocol TSIP The data I O port characteristics and other options are user programmable and stored in non volatile memory Flash EPROM The TSIP protocol is based on the transmission of packets of information between the user equipment and the GPS receiver Each packet includes an identification code that identifies the meaning and format of the data that follows Each packet begins and ends with control characters Automatic output packets Mini T is configured to automatically output the Ox8F AB and Ox8F AC packets For most system implementations these ou
11. or the double precision version of this packet may be used however we recommend using the double precision version for greatest accuracy The GPS receiver uses this position for performing time only fixes Ifa survey is in progress when this command is issued the survey is aborted and this position data is used immediately The coordinates entered must be in the WGS 84 datum Mini T will automatically switch to the overdetermined timing mode when this command is issued Note that this position is not automatically saved to Flash memory If you want to save this position first set the position wait at least 2 seconds and then use packet Ox8E A6 to save the position Note When converting from degrees to radians use the following value for T 3 1415926535898 Table A 19 Command Packet 0x32 Data Format single precision 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 Trimble Mini T GPS Disciplined Clock Module User Guide 41 A Trimble Standard Interface Protocol Table A 20 Command Packet 0x32 Data Format double precision Byte Item Type Units 0 7 Latitude Double Radians 4 for north for south 8 15 Longitude Double Radians 4 for east for west 16 23 Altitude Double Meters Command Packet 0x34 Satellite Selection For One Satellite Mode This packet allows the user to control the choic
12. position when self survey is complete Self Survey Length Use this field to specify the number of position fixes that are to be averaged together to form the self surveyed position used for clock only fixes Limits 1 to 232 1 fixes Table A 63 Command Packet 8E A9 Data Format Byte Item Type Value Description 0 Subcode UINT8 OxA9 1 Self Survey Enable UINT8 0 Disabled 1 Enabled 2 Position Save Flag UINT8 0 Don t save position 1 Save self surveyed position at the end of the survey 3 6 Self Survey Length UINT32 see above Number of fixes 7 10 Reserved UINT32 0 0 Command Packet 0x8E AB Request Primary Timing Packet Use command packet 8E AB to request the Primary Timing packet Ox8F AB By default the Mini T automatically sends packet Ox8F AB once per second so it is not necessary to request it To receive Ox8F AB information by request only use packe Ox8E A5 to disable the automatic output Trimble Mini T GPS Disciplined Clock Module User Guide 65 A Trimble Standard Interface Protocol The Request Type item determines how the Mini T will reply to this command Type Description 0 The most current primary timing values will be sent in packet Ox8F AB immediately 1 The response is not sent immediately Instead packet Ox8F AB is sent after the next PPS output This is the same time that the packet would be automatically sent if enabled 2 Same as type 1 except that both Ox8F AB and Ox8F AC are sent
13. power cycle This value is therefore ignored by the Mini_T This field carries the minimum most negative control voltage that can be applied to the 10 MHz oscillator s control voltage input OCXO Maximum Control Voltage This field carries the maximum most positive control voltage that can be applied to the 10 MHz oscillator s control voltage input Trimble Mini T GPS Disciplined Clock Module User Guide 63 A Trimble Standard Interface Protocol Type Data field Description 2 Type A 2 inthis field indicates that the packet contains Recovery Mode parameters These parameters allow the user to control the recovery process During Recovery Mini T will remove any PPS offset accumulated during periods of Holdover by either shifting the PPS into alignment or by shifting the frequency of the 10 MHz oscillator by a specified amount until the PPS has slewed back into alignment or by using both methods The following two parameters control these methods e If a fast recovery is desired allow jam syncs to be used e If it is important to maintain 10 million clock cycles per PPS pulse then disable jam syncs and set the maximum frequency offset to a tolerable value Jam Sync Threshold This field carries the jam sync threshold in nanoseconds used during Recovery mode While in Recovery Mode if the PPS offset is above this threshold Mini T will automatically perform a jam sync to shift the PPS into alignment with GPS The minim
14. shown in the table below Table A 50 Command Packet 0x8E 4E Data Format Byte Item Type Value Meaning 0 Subcode UINT8 Ox4E 1 PPS driver switch UINT8 0x02 PPS is always on PPS is generated every second 0x03 PPS is output when at least one satellite is tracking PPS is generated every second 0x04 PPS is output when at least three satellites are tracking PPS is generated every second 0x82 PPS is always on PPS is generated every even second 0x83 PPS is output when at least one satellite is tracking PPS is generated every even second 0x84 PPS is output when at least three satellites are tracking PPS is generated every even second Command Packet 0x8E A0 Set DAC Value Use command packet Ox8E AO0 to set the DAC output voltage or to request the current DAC output voltage plus the parameters describing the DAC The DAC output voltage is used to control the frequency of the OCXO Oven Controlled Crystal Oscillator Send this packet with no data to request the DAC voltage Mini T responds with packet Ox8F AO The Command Packet Data Fields are as follows Field Voltage Value flag Description Use this field to specify that the DAC is to be set either by value or by voltage Setting 0 Set DAC by voltage 1 Set DAC by value DAC Voltage Value When the Voltage Value Flag is set to voltage use this field to specify the numeric value of the DAC as the 32 bit unsigned number Vol
15. software All applicable software programs for the Mini T starter kit are available online from the Trimble website at http www trimble com timing shtml These programs enable you to monitor the Mini T module and change its settings Set up the software before you set up the Mini T this enables you to load the monitor and after you have set up the Mini T start it and watch progress on the timing monitor DSP GPS Timing Monitor software DPS_Mon 8 DSP GPS Timing Monitor Control Setup Monitor View Help 215 xl Time Status Signal Levels Time te Antenna Open SV Level Da 5 Antenna Short e O Satellite Tracking J Week TOW ie O Self Survey Active Stored Position UTC Offset seconds Leap Second Pending Position Decimal Degrees Test Mode i i Latitude degrees 0 Position Questionable TEC gt d Almanac pica epoca O PPS Generated Altitude meters Temperature degC GPS Status Timing LE ENG Self Survey Progress Bias ns Revr Mode Bias Rate ppb i Log Status GPS Status PPS Quant Error ns TSIP O Data O Tx 0 Rx o No Com Port The DSP_Mon software can be downloaded from www trimble com Install the software on a computer running a version of the Microsoft Windows operating system Windows NT or later 2
16. 0 3 X Single meters 4 7 Y Single meters 8 11 Z Single meters 12 15 time of fix Single seconds Report Packet 0x43 Velocity Fix XYZ ECEF This packet provides current GPS velocity fix in XYZ ECEF coordinates If the I O velocity option packet 0x35 is set to XYZ ECEE then the GPS receiver sends this packet each time a fix is computed or in response to packet 0x37 The data format is shown below The time of fix is in GPS or UTC as selected by the I O timing option Table A 27 Report Packet 0x43 Data Format Byte Item Type Units 0 3 X velocity Single meters second 4 7 Y velocity Single meters second Trimble Mini T GPS Disciplined Clock Module User Guide 45 A Trimble Standard Interface Protocol Table A 27 Report Packet 0x43 Data Format continued Byte Item Type Units 8 11 Z velocity Single meters second 12 15 bias rate Single meters second 16 19 time of fix Single seconds Report Packet 0x45 Software Version Information This packet provides information about the version of firmware running on the Mini T The GPS receiver sends this packet after power on and in response to packet Ox1F Table A 28 Report Packet 0x45 Data Format Byte Item Type 0 Major version number of application UINT8 1 Minor version number of application UINT8 2 Month UINT8 3 Day UINT8 4 Year number minus 1900 UINT8 5 Major revision number of GPS core UINT8 6 Minor revision number of GPS core UIN
17. 1 Introduction Overview The Mini T GPS disciplined clock module compares the 1 pulse per second PPS from a GPS receiver to the 1 PPS derived from an oscillator The Mini T module integrates the GPS receiver and timing circuitry on a single board and uses the GPS measurements of bias and bias rate to steer the oscillator The ovenized quartz oscillator is used as the local clock for GPS and as the reference for down converting the GPS signal A 5 V DC power supply regulator is included in the Starter Kit and ensures clean robust power to the GPS However the Mini T module can be integrated into applications without the power supply This GPS board can support several different oscillators for applications having stringent hold over requirements The Mini T is ready to use out of the box for most applications When the oscillator has warmed up and a single satellite is accessed for GPS data the Mini T outputs 1 PPS and a reference frequency It then begins a self survey mode which allows use of an overdetermined time solution To get the most from your time reference you can customize the Mini T using the TSIP Trimble Standard Interface Protocol interface TSIP and its ability to make the Mini T an even more powerful tool is discussed in Appendix A Trimble Standard Interface Protocol Starter kit The Mini T Starter Kit is designed for quick and easy installation and is used for evaluation and engineering purposes To set up the
18. 2 5 Jam Sync Threshold Single nanoseconds 6 9 Maximum Frequency Offset Single ppb parts per billion or 1x10 64 Trimble Mini T GPS Disciplined Clock Module User Guide Trimble Standard Interface Protocol A Table A 62 Command Packet 0x8E A8 Type 3 Data Format Byte Item Type Description 0 Subcode UINT8 0xA8 1 Type UINT8 3 initial DAC voltage 2 5 Initial DAC voltage Single Volts Command Packet 0x8E A9 Self Survey Parameters Use command packet 8E A9 to set the self survey parameters or to request the current settings Mini T replies to requests with response packet 8F A9 Data field Description Self Survey Enable Use this field to enabled or disabled the self survey mechanism 0 Disable the self survey mechanism 1 Enable the self survey mechanism Position Save Flag Use this field to tell the self survey mechanism to automatically save or to not save the self surveyed position at the end of the self survey procedure This flag also determines how the Mini T will respond to the saved position it is using for Over Determined clock mode when the position appears questionable i e if the position may off by a large amount If the flag is set to 0 then a questionable position will be flagged in packet Ox8F AC If the flag is set to 1 then a questionable position will automatically be deleted 0 Don t automatically save the surveyed position when self survey is complete 1 Automatically save the surveyed
19. IMITATION MAY NOT APPLY TO YOU PLEASE NOTE THE ABOVE TRIMBLE LIMITED WARRANTY PROVISIONS WILL NOT APPLY TO PRODUCTS PURCHASED IN THOSE JURISDICTIONS E G MEMBER STATES OF THE EUROPEAN ECONOMIC AREA IN WHICH PRODUCT WARRANTIES ARE THE RESPONSIBILITY OF THE LOCAL TRIMBLE AUTHORIZED DEALER FROM WHOM THE PRODUCTS ARE ACQUIRED IN SUCH A CASE PLEASE CONTACT YOUR LOCAL TRIMBLE AUTHORIZED DEALER FOR APPLICABLE WARRANTY INFORMATION Official Language THE OFFICIAL LANGUAGE OF THESE TERMS AND CONDITIONS IS ENGLISH IN THE EVENT OF A CONFLICT BETWEEN ENGLISH AND OTHER LANGUAGE VERSIONS THE ENGLISH LANGUAGE SHALL CONTROL Notice to Our European Union Customers For product recycling instructions and more information please go to www trimble com ev shtml Recycling in Europe To recycle Trimble WEEE Waste Electrical and Electronic Equipment products that run on electrical power Call 31 497 53 24 30 and ask for the WEEE Associate YE Or mail a request for recycling instructions to Trimble Europe BV c o Menlo Worldwide Logistics Meerheide 45 5521 DZ Eersel NL Restriction of Use of Certain Hazardous Substances in Electrical and Electronic Equipment RoHS 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 ele
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21. T32 13 14 Reserved UINT16 Trimble Mini T GPS Disciplined Clock Module User Guide 67 A Trimble Standard Interface Protocol Table A 68 Stored Production Parameters Byte Item Type Value 15 16 Reserved UINT16 17 18 Reserved UINT16 Report Packet Ox8F 4A Set PPS Characteristics This is sent in response to a query by packet Ox8E 4A See the corresponding command packet for information about the data format Report Packet Ox8F 4E PPS Output This report packet is output after the command packet 8E 4E has been executed See the corresponding command packet for information about the data format Report Packet 0x8F A0 DAC Value This packet is sent in response to packet Ox8E AO Data field Description DAC Value The current numeric value of the DAC DAC Voltage The current output voltage of the DAC in Volts DAC Resolution The number of bits used in the DAC DAC Data Format The format of the DAC value Minimum DAC Voltage The minimum most negative voltage that the DAC can produce Maximum DAC Voltage The maximum most positive voltage that the DAC can produce Table A 69 Report Packet Ox8F AO Data Format Byte Item Type Value Description 0 Subcode UINT8 OxAO 1 4 DAC Value UINT32 Value 5 8 DAC Voltage Single Volts 9 DAC Resolution UINT8 Number of bits 10 DAC data format UINT8 0 Offset binary 1 2 s complement 11 14 Min DAC voltage Single Volts 15 18 Max DAC voltage Single V
22. T8 7 Month UINT8 8 Day UINT8 9 Year number minus 1900 UINT8 Note Bytes 0 through 4 are part of the application layer of the firmware while bytes 5 through 9 are part of the GPS core layer of the firmware Report Packet 0x47 Signal Level for All Satellites Tracked This packet provides received signal levels for all satellites currently being tracked or on which tracking is being attempted i e above the elevation mask and healthy according to the almanac The receiver sends this packet in response to packet 0x27 or automatically as listed in the Automatic Output Packets section The data format is shown below Up to 12 satellite number signal level pairs may be sent as 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 Table A 29 Report Packet 0x47 Data Format Byte Item Type 0 Count UINT8 1 Satellite number 1 UINT8 2 5 Signal level 1 Single 6 Satellite number 2 UINT8 46 Trimble Mini T GPS Disciplined Clock Module User Guide Trimble Standard Interface Protocol A Table A 29 Report Packet 0x47 Data Format continued Byte Item Type 7 10 Signal level 2 Single etc etc etc Note The signal level provided in this packet is a linear measure of the signal stren
23. The software enables you to view the process of satellite tracking and time to establish a fully functional GPS disciplined Timing board The software also enables you to customize and test the configuration changes to meet your requirements The DPSMon program is a Windows based application designed to help the programmer in the development environment The program reads TSIP report packets and prints them to the screen It allows you to exercise TSIP commands by translating the keystroke codes into commands which are output over the serial port Trimble Mini T GPS Disciplined Clock Module User Guide 15 2 Setting up and Running the Mini T Module Receiver COM port settings Packet BC sets the Mini T GPS port characteristics To change these settings do one of the following from the DSP_Mon software e Right click on the com port lower right to change the receiver port and set request the Input Output baud rate data bits parity stop bits and flow control parameters e Select Setup Serial Communications The Trimble Standard Interface Protocol TSIP consists of command packets and report packets The basic features that are described here include some of the more commonly used commands and reports For a complete description of TSIP see Appendix A Trimble Standard Interface Protocol Note The packet number is not necessary if using the Windows control program Cable delay compensation packet 8E 4A allows y
24. USER GUIDE Trimble Mini T GPS Disciplined Clock Module The right one Trimble USER GUIDE Trimble Mini T GPS Disciplined Clock Module Version 1 00 Revision B Part Number 53110 XX September 2007 Trimble Corporate Office Trimble Navigation Limited Advanced Devices Group 935 Stewart Avenue Sunnyvale CA 94086 USA 1 800 787 4225 toll free in USA 1 408 481 7741 timing trimble com www trimble com Legal Notices Copyright and Trademarks 2007 Trimble Navigation Limited Trimble and the Globe amp Triangle logo are trademarks of Trimble Navigation Limited registered in the United States Patent and Trademark Office and in other countries Bullet and Mini T are trademarks of Trimble Navigation Limited Microsoft and Windows are either registered trademarks or trademarks of Microsoft Corporation in the United States and or other countries All other trademarks are the property of their respective owners Release Notice This is the September 2007 release Revision B of the Trimble Mini T GPS Disciplined Clock Module User Guide part number 53110 XX and 57303 05 Please see the website for updated part number information Product Limited Warranty Information For applicable product Limited Warranty information please consult your local Trimble authorized sales manager For applicable product Limited Warranty information please refer to Legal Notices in the Help for this produc
25. a WNa lonosphere UTC Ephemeris Table A 23 Byte Sat PRN UINT8 Data not satellite ID specific 32 Satellite PRN number ojou A W N Command Packet 0x39 Set or Request SV Disable and Health Use Normally the GPS receiver selects only healthy satellites based on transmitted values in the ephemeris and almanac which satisfy all mask values This packet allows overriding the internal logic and forces the receiver to either unconditionally disable a particular satellite or to ignore a bad health flag The GPS receiver returns packet 0x59 if operation 3 or 6 is requested otherwise there is no reply It should be noted that when viewing the satellite disables list the satellites are not numbered but are in numerical order The disabled satellites are signified by a 1 and enabled satellites are signified by a 0 Command Packet 0x39 Data Format Item Type Value Meaning 0 Operation UINT8 Enable satellite default Disable satellite Request enable disable status of all 32 satellites Heed health default Request heed or ignore health on all 32 satellites Sat PRN UINT8 All 32 satellites 7 2 3 4 5 Ignore health 6 0 1 32 Any one satellite PRN number N Note At power on and after a reset the default values are set for all satellites CAUTION Improperly ignoring health can cause the GPS receiver software to lock up as an unhealthy satellite may contain defective data Use extre
26. able Take care to avoid sharp bends or kinks in the cable hot surfaces for example exhaust manifolds or stacks rotating or reciprocating equipment sharp or abrasive surfaces door and window jambs and corrosive fluids or gases CAUTION Be careful not to exceed the manufacturer s specifications for sharp bends and radius turns when routing the l O and R F frequency and pulse cables Trimble Mini T GPS Discipline Clock Module User Guide 5 Safety Information 6 Trimble Mini T GPS Discipline Clock Module User Guide Contents Safety information caca Bk Sac e woe ae A A we 5 Warnings and Cautions 25422 222r o go n ee a aa e 5 Operation and Storage estoy ios ce e Vo feo OE A c So Gabi aS ge Sw 5 Routing any Cables 4 2 trios bp es ERG a be Andee ee eu air aw he oa bats 5 1 Introduction i cea et OES AA 9 OVERVIEW wii a Sd s x o aue e oue TAS ei BERD ek wale ew a BS Een 10 Starter bia MET pe be od ee TT 10 BCaturesis ssi see et a peat Mes eee ede eee be ded a 10 Use and sso ke ee Si e eR a a ie ae eee ee Se 11 Related mformation 1 sme EUR A RA dia hug bad ee 11 Techiiical assistance diie a iei s m done ok oh ix t Ph dos Doo d heir Died ok OR dos aides 11 YOU COIDIDenLs gue xc em a Te hh Oe Y OY e P ROGR CE EGRE b m e PUR 11 2 Setting up and Running the Mini T Module 13 System requirement s sonas o la a AP ee a e oe o EN em gd a m Ba 14 Installing and using the software ces 15 DSP GPS Timing Mo
27. acket 0x8E A4 Test Mode 3 Data Format Byte Item Type Description 0 Subcode UINT8 0xA4 1 Test Mode UINT8 3 Send user UTC parameter 2 5 AO Single Seconds 6 9 A1 Single Seconds second 10 11 delta_t_LS SINT16 Seconds 12 15 t_ot UINT32 Seconds 16 17 WN_t UINT16 Week number 18 19 WN LSF UINT16 Week number 20 21 DN UINT16 Day number 1 7 22 23 delta t LSF SINT16 Seconds Command Packet 0x8E A5 Packet Broadcast Mask Use command packet 8E A5 to set the packet broadcast masks or to request the current mask settings Mini T replies to requests with response packet 8F A5 The broadcast mask is bitwise encoded to allow the user to turn on and off the broadcast of certain packets For each bit in the mask that is used the coding is as follows 0 Turn off broadcast of this packet 1 Turn on broadcast of this packet Table A 57 Command and Report Packet 0x8E A5 Data Format Byte Bit Item Type Description 0 Subcode UINT8 OxA5 1 2 0 Mask 0 bit field 8F AB Primary Timing Information 1 Reserved 2 8F AC Supplemental Timing Information 3 Reserved 4 Reserved 5 Reserved 6 Automatic Output Packets 3 4 Mask 2 bit field Reserved 62 Trimble Mini T GPS Disciplined Clock Module User Guide Type Trimble Standard Interface Protocol A Command Packet 0x8E A6 Self Survey Command Use command packet 8E A6 to issue a self survey command to save the current position in flash or to delete the position saved in flash There is n
28. active and the receiver is using a position fix operating mode then the position sent is the position fix computed on the last second Data field Description Receiver Mode This field shows the fix mode that the GPS receiver is currently configured for Mini T spends most of its time in the Overdetermined Clock mode where it uses all available satellites to perform the best time only fix possible See packet OxBB for a description of all available receiver modes Self Survey When a self survey procedure is in progress this field shows the progress of the survey as a Progress percentage of fixes collected so far The self survey will be complete when the self survey progress reaches 100 percent This field only has meaning while a self survey is in progress Holdover When in the Manual or Auto Holdover state this field shows the amount of time spent in Duration holdover in seconds When the unit is not in a holdover state this field shows the amount of time the Mini T spent the last time it was in a holdover state Critical Alarms This field is bitwise encoded with critical alarms indicators A critical alarm indicates a condition that would tend to severely impair the function of the Mini T For each bit a value of 0 means that the condition is not indicated Bits not described below should be ignored e Bit4 When 1 indicates that the oscillator control voltage is at a rail If this condition persists then the Min T ca
29. after the next PPS output Table A 64 Command Packet 0x8E AB Data Format Byte Item Type Value Meaning 0 Subcode UINT8 OxAB 1 Request type UINT8 0 Send Ox8F AB immediately 1 Send 0x8F AB on time next second 2 Send Ox8F AB and Ox8F AC on time next second Command Packet 0x8E AC Request Supplementary Timing Packet Use command packet 8E AC to request the Supplemental Timing packet Ox8F AC By default the Mini T automatically sends packet Ox8F AC once per second so it is not necessary to request it To receive Ox8F AC information by request only use packed Ox8E A5 to disable the automatic output The Request Type item determines how the Mini T will reply to this command Type Description 0 The most current primary timing values will be sent in packet Ox8F AC immediately 1 The response is not sent immediately Instead packet Ox8F AC is sent after the next PPS output This is the same time that the packet would be automatically sent if enabled 2 Same as type 1 except that both Ox8F AB and Ox8F AC are sent after the next PPS output Table A 65 Command Packet Ox8bE AC Data Format Byte Item Type Value Meaning 0 Subcode UINT8 OxAC 1 Request type UINT8 O0 Send 0x8F AC immediately 1 Send 0x8F AC on time next second 2 Send Ox8F AB and Ox8F AC on time next second Report Packet 0x8F 15 Current Datum Values This packet contains the values for the datum currently in use and is sent in respons
30. arameters osanaan ee ees 33 Packets output at power up see e 35 Command packets User to Mini T 2 ee eee 35 Report packets Mini T to User 2 ee ee 36 Packet stE ctule sou e or PR O Male deed wee 37 Packet descriptions sas ee Rub do edm aee rro be de RO eae a s dg 38 Packet descriptions used in run mode o ooo ooo 38 Report packet 0X13 unparsable packet o o o oooooooomoooooooo o 40 TSIP Sup rpacketss Luc does Re e oe dS ee ie eee kh 57 Report Packet 0x8F 15 Current Datum Values llle 66 8 Trimble Mini T GPS Discipline Clock Module User Guide Introduction In this chapter Overview Starter kit Features Use and care Related information Technical assistance Your comments CHAPTER Welcome to the Trimble Mini T GPS Disciplined Clock Module User Guide The Trimble Mini T GPS disciplined clock module is a low cost precise time and frequency reference in a small form factor It uses the latest in GPS technology combined with a precision ovenized oscillator for near atomic clock precision timing For more information on GPS go to http www trimble com gps index shtml Trimble created the Mini T module using clock technology proved in generations of deployed units using CDMA WLL WiMAX and broadcasting applications This manual describes how to install set up and use the Mini T GPS disciplined clock module Trimble Mini T GPS Disciplined Clock Module User Guide 9
31. ase price paid by you at Trimble s option upon your return of the Product in accordance with Trimble s product return procedures then in effect 2 Trimble Mini T GPS Disciplined Clock Module User Guide How to Obtain Warranty Service To obtain warranty service for the Product please contact your local Trimble authorized dealer Alternatively you may contact Trimble to request warranty service at 1 408 481 6940 24 hours a day or e mail your request to trimble_support trimble com Please be prepared to provide your name address and telephone numbers proof of purchase adescription of the nonconforming Product including the model number and serial number an explanation of the problem The customer service representative may need additional information from you depending on the nature of the problem Warranty Exclusions and Disclaimer This Product limited warranty shall only apply in the event and to the extent that a the Product is properly and correctly installed configured interfaced maintained stored and operated in accordance with Trimble s applicable operator s manual and specifications and b the Product is not modified or misused This Product limited warranty shall not apply to and Trimble shall not be responsible for defects or performance problems resulting from i the combination or utilization ofthe Product with hardware or software products information data systems interfaces or d
32. cable assembly to J1 on the Mini T module 10 Connect the 10 MHz SMA f connector to J2 on the Mini T board 11 Connect the 1 PPS SMA f connector to J3 on the Mini T board 12 Connect the DB 9 I O connector part of the Power and I O interface cable assembly to the computer cable and then connect the other end of the cable to the computer Note Use the F F DB 9 adapter and the additional 4 foot cable if this is required Note The TSIP serial port is set at 9600 baud No Parity 8 bit 1 stop start bit 13 Connect the DC power input part of the Power and I O interface cable assembly to the power converter FW 1805 14 Use the adaptor cable to connect the power converter to the main power and then switch on the mains power After power is applied the Mini T takes 5 minutes for the ovenized oscillator to warm up During this time it will begin acquiring satellites in less than 60 seconds as shown in the DSP_Mon software on your computer Once the Mini T has warmed up and acquired satellites it performs a self survey and if at least one satellite is currently available will output 1PPS and 10 MHz data to the DSP_Mon software see page 15 The complete process can take an hour Overall performance will improve after several days of continuous operation 1PPS and 10 MHz is not synchronized with GPS until the unit enters overdetermined clock mode 20 Trimble Mini T GPS Disciplined Clock Module User Guide CHAPTER Hardware I
33. cket ID Ox1C 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 firmware version Byte Item Type Value Definition 0 Packet ID U8 0x1C Packet ID Ox1C 1 Sub code U8 0x83 Sub code 0x83 for hardware component version information report 2 5 Serial number U32 Any Board serial number 6 Build day U8 1 31 Day of the board s build date 7 Build month U8 1 12 Month of the board s build date 8 9 Build year U16 Any Year of the board s build date 10 Build hour U8 0 23 Hour of the board s build date 11 12 Hardware code U16 Any Hardware code associated with the hardware ID 13 Length of U8 Any The length of the hardware ID L hardware ID 14 13 L Hardware ID U8 String Hardware ID string in ASCII Trimble Mini T GPS Disciplined Clock Module User Guide 39 A Trimble Standard Interface Protocol Report packet 0X13 unparsable packet This packet is sent in response to a received packet that was unparsable A packet is unparsable if the packet ID is not recognized or if the length or content of the packet is not correct for the packet ID Table A 15 Report Packet 0x13 data format Byte Type Item 0 UINT8 Packet ID of unparsable packet 1 N UINT8 Packet data bytes of unparsable packet Command Packet Ox1E Initiate Cold Warm or Factory Reset This packet commands Mini T to perform either a cold reset warm re
34. ctrical 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 ofthe Annex to the RoHS Directive applied The foregoing is limited to Product placed on the market in the Member States ofthe European Union on or after 1 July 2006 Trimble has relied on representations made by its suppliers in certifying this Product as RoHS compliant Trimble Mini T GPS Disciplined Clock Module User Guide 3 4 Trimble Mini T GPS Disciplined Clock Module User Guide Safety Information Warnings and Cautions A A An absence of specific alerts does not mean that there are no safety risks involved Always follow the instructions that accompany a Warning or Caution The information they provide is intended to minimize the risk of personal injury and or damage to the equipment In particular observe safety instructions that are presented in the following formats WARNING A Warning alerts you to a likely risk of serious injury to your person and or damage to the equipment CAUTION A Caution alerts you to a possible risk of damage to the equipment and or loss of data Operation and storage A WARNING Operating or storing the GPS disciplined clock module outside the specified temperature range can damage it For more information see the product specifications on the data sheet Routing any cable A A CAUTION Be careful not to damage the c
35. describes the current self survey parameters See the corresponding command packet for information about the data format Report Packet Ox8F AB Primary Timing Packet This packet provides time information once per second GPS week number GPS time of week TOW UTC integer offset time flags date and time of day TOD information is provided This packet can be requested or enabled for automatic broadcast once per second If enabled this packet will be transmitted shortly after the PPS pulse to which it refers Data field Description Time of Week This field represents the number of seconds since Sunday at 00 00 00 GPS time for the current GPS week Time of week is often abbreviated as TOW Week Number This field represents the current GPS week number GPS week number 0 started on January 6 1980 Trimble Mini T GPS Disciplined Clock Module User Guide 69 A Trimble Standard Interface Protocol Data field Description UTC Offset This field represents the current integer leap second offset between GPS and UTC according to the relationship Time UTC Time GPS UTC Offset The UTC offset information is reported to the Mini T by the GPS system and can take up to 12 5 minutes to obtain Before Mini T has received UTC information from the GPS system it is only capable of representing time in the GPS time scale and the UTC offset will be shown as 0 Timing Flags This field is bitwise encoded to provide information abou
36. dictable 16 Trimble Mini T GPS Disciplined Clock Module User Guide Setting up and Running the Mini T Module 2 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 zero High accuracy users may use a slightly higher mask of 6 0 to 8 0 since weaker measurements may be slightly noisier and are often caused by reflected signals which provide erroneous ranges 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 that fall slightly below the mask and prevent the receiver from incorporating a new signal until the signal level slightly exceeds the mask This feature minimizes constellation changes caused by temporary fluctuations in signal levels Reference position If the host has not uploaded a reference position the GPS module automatically conducts a position survey on startup By default the GPS module will average position fixes for 2000 fixes before entering the clock only mode The survey period may be adjusted by the host system using Packet 8E A6 While the GPS module is performing its survey the accuracy of the timing outputs is degraded Once the antenna is con
37. e to packet 8E 15 Ifa built in datum is being used both the datum index and the five double precision values for that index are returned If the receiver is operating on a 66 Trimble Mini T GPS Disciplined Clock Module User Guide Trimble Standard Interface Protocol A custom user entered datum the datum index is set to 1 and the five values are displayed These five values describe an ellipsoid to convert ECEF XYZ coordinate system into LLA Table A 66 Datums Byte Type Value Description 0 Super Packet ID 14 1 2 Datum index 1 for custom Datum Index 3 10 DOUBLE DX meters 11 18 DOUBLE DY meters 19 26 DOUBLE DZ meters 27 34 DOUBLE A axis meters 35 42 DOUBLE Eccentricity squared none Report Packet Ox8F 41 Stored Manufacturing Operating Parameters This packet is sent in response to a command 0x8E 41 Table A 67 Stored Manufacturing Operating Parameters Byte Item Type Value 0 Subcode UINT8 0x41 1 2 Reserved UINT16 3 6 Board serial number UINT32 7 Year of build UINT8 8 Month of build UINT8 9 Day of build UINT8 10 Hour of build UINT8 11 14 Reserved Single 15 16 Reserved UINT16 Report Packet 0x8F 42 Stored Production Parameters This packet is sent in response to Ox8E 42 Table A 68 Stored Production Parameters Byte Item Type Value 0 Subcode UINT8 0x42 1 Reserved UINT8 2 Reserved UINT8 3 4 Reserved UINT16 5 8 Reserved UINT32 9 12 Reserved UIN
38. e memory device called an EEPROM Electrically Erasable Programmable Read Only Memory Related configuration parameters are grouped together and stored in an area of EEPROM called a segment there are seven user configurable segments Immediately after a reset the Mini T module reads the contents of these segments from the EEPROM and stores a working copy in RAM The Mini T module then configures itself based on the working copy of the segments You can modify the contents of these working copies using the Set command packets listed in Appendix A Trimble Standard Interface Protocol Likewise the working copies of the segments can be read by issuing the Request command packet and waiting for the Report packet response When the user alters a parameter the Mini T reconfigures itself accordingly but the contents of the EEPROM are not changed automatically The Mini T provides two command packets to control the contents of the segments stored in EEPROM Command packet Ox8E 4C allows you to save the contents of any or all working copies of the segments to EEPROM Command packet Ox8E 45 allows the user to set the contents of any or all the segments stored in EEPROM to the Factory Default setting The tables in Appendix A Trimble Standard Interface Protocol provide details on each of the seven user configurable segments When firmware upgrades are available Trimble will provide software and instructions on the Mini T Support site at www tr
39. e ofthe satellite to be used for the one satellite time only fix mode This packet contains one byte If the byte value is 0 the GPS receiver automatically chooses the best satellite This automatic selection of the best satellite is the default action and the GPS receiver does this unless it receives this packet If the byte value is from 1 to 32 the packet specifies the PRN number of the satellite to be used Command Packet 0x35 Set or Request I O Options This packet requests the current I O option states and allows the I O option states to be set as desired To request the option states without changing them the user sends this packet with no data bytes To change any option states the user includes 4 data bytes with the values The I O options their default states and the byte values for all possible states are shown below These options can be set into non volatile memory flash ROM with the Ox8E 26 command The GPS receiver returns packet 0x55 These abbreviations apply to the following table e ALT Altitude ECEF Earth centered Earth fixed e XYZ Cartesian coordinates e LLA latitude longitude altitude e HAE height above ellipsoid e WGS 84 Earth model ellipsoid e MSL geoid mean sea level e UTC universal coordinated time 42 Trimble Mini T GPS Disciplined Clock Module User Guide Trimble Standard Interface Protocol A Table A 21 Command Packet 0x35 Data Format
40. ed in the fields associated with packet OxBB Note When sending packet OxBB fields that are specified as do not alter or if you do not want to alter a specific field send a value of OxFF for UINTS types and avalueof 1 0 for floating point types Mini T will ignore these values Command Packet OxBC Set Port Configuration TSIP packet OxBC is used to set and query the port characteristics In query mode packet OxBC is sent with a single data byte and returns report packet OxBC Note The input and output baud rates must be the same Table A 47 Command Packet O x BC Data Format Query Mode Byte Item Type Value Meaning 0 Port Number UINT8 0 Port 1 standard 1 Port 2 not available OxFF Current port 56 Trimble Mini T GPS Disciplined Clock Module User Guide Trimble Standard Interface Protocol A The table below lists the individual fields within the packet OxBC when used in the set mode and when read in the query mode Table A 48 Command and Report Packet OxBC Field Data Format Byte Item Type Value Meaning 0 Port to Change UINT8 0 Port 1 standard 1 Port 2 factory only OxFF Current port 1 Input Baud Rate UINT8 6 4800 baud 7 9600 baud 8 19200 baud 9 38400 baud 10 57600 baud 11 115200 baud Output Baud Rate UINT8 As above As above Data Bits UINT8 2 7 bits 3 8 bits 4 Parity UINT8 0 None 1 Odd 2 Even 5 Stop Bits UINT8 0 1 bit 1 2 bits Flow Control UINT8 0 None In
41. ermanent installation Mini T GPS disciplined clock module Trimble Bullet antenna 75 100 feet of approved cable RG 59 or RG 8 with an M M SMA F connector GPS is 50 and 50 or 75 Q RF cable can be used Typical impedance mis match will reflect only 0 5 dB of additional attenuation at 1575 42 MHz 5 V DC power supply regulator Power and I O interface cable assembly to provide signal and power interface connections to the board This includes a Molex 6 pin female connector DB 9 I O male connector DC power connector User provided equipment to analyze the 10 MHz output frequency and the 1 PPS accuracy and SMA f connectors to connect them to the Mini T module User provided connectors and extension cords to connect the Mini T module to the computer antenna interface and other devices as required An office computer running a version ofthe Microsoft Windows operating system Windows NT or later System software DSP Mon GPS Timing Monitor software DPS Mon version 1 53 or later This is available online at the Trimble website This enables you to monitor the Mini T and change its settings See DSP GPS Timing Monitor software DPS Mon page 15 Trimble Standard Interface Protocol TSIP consists of command packets and report packets see Appendix A Trimble Standard Interface Protocol 14 Trimble Mini T GPS Disciplined Clock Module User Guide Setting up and Running the Mini T Module Installing and using the
42. ers Ox8F A9 Ox8E AB Request primary timing packet Ox8F AB Ox8bE AC Request supplemental timing packet Ox8F AC Report packets Mini T to User The table below summarizes the packets output by Mini T The table includes the output packet ID a short description of each packet and the associated input packet In some cases the response packets depend on user selected options Table A 10 Report packets Output ID Packet Description Input ID Ox1C Firmware Hardware Versions Ox1C 0x42 Single precision XYZ position 0x37 auto 0x43 Velocity fix XYZ ECEF 0x37 auto 0x45 Software version information Ox1E 0x1F power up 0x47 Signal level for all satellites 0x27 auto 0x4A Single precision LLA position 0x37 auto 0x55 I O options 0x35 0x56 Velocity fix ENU 0x37 auto 0x57 Information about last computed fix 0x37 0x58 GPS system data acknowledge 0x38 0x59 Sat enable disable amp health flag 0x39 0x5A Raw measurement data 0x3A 0x5C Satellite tracking status 0x3C 0x6D Satellite selection list 0x24 auto 0x83 Double precision XYZ 0x37 auto 0x84 Double precision LLA 0x37 auto OxBB Receiver configuration OxBB OxBC Serial port configuration OxBC Ox8F 15 Current datum values Ox8E 15 Ox8F 41 Stored manufacturing operating parameters Ox8E 41 0x8F 42 Stored production parameters 0x8E 42 Ox8F 4A PPS characteristics Ox8E 4A Ox8F 4E PPS output option Ox8E 4E Ox8F AO DAC settin
43. evices not made supplied or specified by Trimble ii the operation of the Product under any specification other than or in addition to Trimble s standard specifications for its products iii the unauthorized installation modification or use of the Product iv damage caused by accident lightning or other electrical discharge fresh or salt water immersion or spray outside of Product specifications or exposure to environmental conditions for which the Product is not intended v normal wear and tear on consumable parts e g batteries or vi cosmetic damage Trimble does not warrant or guarantee the results obtained through the use of the Product or that software components will operate error free NOTICE REGARDING PRODUCTS EQUIPPED WITH TECHNOLOGY CAPABLE OF TRACKING SATELLITE SIGNALS FROM SATELLITE BASED AUGMENTATION SYSTEMS SBAS WAAS EGNOS AND MSAS OMNISTAR GPS MODERNIZED GPS OR GLONASS SATELLITES OR FROM IALA BEACON SOURCES TRIMBLE IS NOT RESPONSIBLE FOR THE OPERATION OR FAILURE OF OPERATION OF ANY SATELLITE BASED POSITIONING SYSTEM OR THE AVAILABILITY OF ANY SATELLITE BASED POSITIONING SIGNALS THE FOREGOING LIMITED WARRANTY TERMS STATE TRIMBLES ENTIRE LIABILITY AND YOUR EXCLUSIVE REMEDIES RELATING TO THE TRIMBLE PRODUCT EXCEPT AS OTHERWISE EXPRESSLY PROVIDED HEREIN THE PRODUCT AND ACCOMPANYING DOCUMENTATION AND MATERIALS ARE PROVIDED AS IS AND WITHOUT EXPRESS OR IMPLIED WARRANTY OF ANY KIND BY EITHER T
44. f collection seconds 9 10 week number UINT16 GPS week number 0 through 1023 11 retired 12 retired 13 SV accuracy raw UINT8 URA index of SV 0 through 15 50 Trimble Mini T GPS Disciplined Clock Module User Guide Trimble Standard Interface Protocol A Table A 38 Report Packet 0 x 58 Ephemeris Data Type 5 Byte Item Type Meaning 14 SV health UINT8 6 bit health code 15 16 IODC UINT16 Issue of data clock 17 20 tap Single L1 L2 correction term 21 24 toc Single Sec 20 4 3 5 25 28 ag Single 29 32 an Single Sec 2 4 3 6 33 36 afo Single 37 40 SV accuracy Single URA of SV 41 IODE UINT8 Issue of data ephemeris 42 retired 43 46 C Single 47 50 An Single 51 58 Mo Double 59 62 Cuc Single 63 70 e Double 71 74 Cus Single 75 82 sqtA Double Table 2 5 83 86 toe Single 87 90 Cic Single 91 98 OMEGA o Double 99 102 Cis Single 103 110 lo Double 111 114 es Single 115 122 OMEGA Double 123 126 OMEGADOT Single 127 130 IDOT Single 131 138 Axis Double 139 146 n Double 147154 rime Double sqt 10o amp i ssst lt isi sSS 155 162 OMEGA n Double Derived from OMEGA 0 OMEGADOT 163 170 ODOT n Double Derived from OMEGADOT Note All angles are in radians Reference numbers refer to Global Positioning System Standard Positioning Service Signal Specification This specification is currently available in Adobe Acrobat format at www navcen uscg gov pub
45. g Ox8E AO Ox8F A2 UTC GPS timing Ox8E A2 36 Trimble Mini T GPS Disciplined Clock Module User Guide Trimble Standard Interface Protocol A Table A 10 Report packets continued Output ID Packet Description Input ID Ox8F A3 Oscillator disciplining command Ox8E A3 Ox8F A4 Test modes Ox8E A4 Ox8F A5 Packet broadcast mask Ox8E A5 Ox8F A6 Self survey command Ox8E A6 Ox8F A8 Oscillator disciplining parameters Ox8E A8 Ox8F A9 Self survey parameters Ox8E A9 Ox8F AB Primary timing packet Ox8E AB auto Ox8F AC Supplemental timing packet Ox8E AC auto Packet structure TSIP packet structure is the same for both commands and reports The packet format is DLE id data string bytes DLE lt ETX gt Where e DLE is the byte 0x10 e lt ETX gt is the byte 0x03 e lt id gt is a packet identifier byte which can have any value except lt ETX gt and lt DLE gt The bytes in the data string can have any value To prevent confusion with the frame sequences lt DLE gt lt id gt and lt DLE gt lt ETX gt every lt DLE gt byte in the data string is preceded by an extra lt DLE gt byte stuffing These extra lt DLE gt bytes must be added stuffed before sending a packet and removed after receiving the packet Notice that a simple lt DLE gt lt ETX gt sequence does not necessarily signify the end of the packet as these can be bytes in the middle ofa data string The end of a packet i
46. gle Au bh wNn O No previous fix Time only 1 SV 2D clock hold not used 2D 3D Overdetermined clock DGPS reference not used Seconds GPS time 6 7 Week of last fix UINT16 Weeks 48 Trimble Mini T GPS Disciplined Clock Module User Guide Trimble Standard Interface Protocol A Report Packet 0x58 GPS System Data from Receiver This packet provides GPS data almanac ephemeris etc The receiver sends this packet in response to packet 0x38 The data format is shown below The table and section numbers referred to in the Meaning column reference the Global Positioning System Standard Positioning Service Signal Specification document Table A 33 Report Packet 0x58 Data Format Byte Item Type Value Meaning 0 operation UINT8 2 Data out 3 no data on SV 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 to 32 Satellite PRN number 3 Length n UINT8 Byte count 4 to n 3 Data Note Ifdata is not available byte 3 is set to O and no data is sent Table A 34 Report Packet 0 x 58 Almanac Data Type 2 Byte Item Type Value Meaning 4 Toa raw UINT8 Table 2 8 5 SVHEATH UNa 6 9 e Single 10 13 tja Single 14 17 lo Single 18 21 OMEGADOT Single 22 25 sqrt A Single 26 29 OMEGA Single 30 33 OMEGA Single 34 37 Mo Single 38
47. gth after correlation or de spreading Units are either AMU or dB Hz as controlled by packet 0x35 Report Packet 0x4A Single Precision LLA Position Fix The 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 then the receiver sends this packet each time a fix is computed The data format is shown below Table A 30 Report Packet 0x4A Single Precision LLA Position Fix 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 12 15 Clock Bias Single meters 16 19 Time of fix Single seconds The LLA conversion is done according to the datum selected using packet 8E 15 The default is WGS 84 Altitude is referred to the datum or the MSL Geoid depending on which I O LLA altitude option is selected with packet 0x35 The time of fix is in GPS time or UTC depending on which I O timing option is selected CAUTION When converting from radians to degrees significant and readily visible errors will be introduced by use of an insufficiently precise approximation for the constant TU pi The value of a constant TT as specified in ICD GPS 200 is 3 1415926535898 CAUTION The MSL option is only valid with the WGS 84 datum When using other datums only the HAE option is valid
48. he position using packet 8E A9 Trimble Mini T GPS Disciplined Clock Module User Guide 17 2 Setting up and Running the Mini T Module Mini T starter kit 75 feet of Belden RG 6 cable CET Power adapter terminated with two male TNC connectors f Trimble Bullet antenna Provides high immunity to jamming SMA m TNC f connector Ay te yl ttt Antenna extension cable with M F DB 9 connectors de Mini T module Ped Te Power and I O interface cable assembly p 4 E RS 232 TTL Adaptor cables US UK connector Note The Mini T starter kit is not CE marked Setting up the Mini T GPS disciplined clock module 1 Connect the male connector of the antenna cable to the Bullet antenna 2 Place the antenna so that it has the fullest possible view of the sky To mount the antenna permanently place it on a high point such as a roof Make sure that it is placed away from obstructions such as neighboring buildings that may block its view ofthe sky or overhanging objects such as trees or towers 18 Trimble Mini T GPS Disciplined Clock Module User Guide Setting up and Running the Mini T Module 2 Note Ifrequired you can mount the antenna on a 1 marine pipe with 14 threads per inch or on a 3 4 plumbers pipe 3 Route the antenna cable to the receiver CAUTION Be careful not to damage the cable Take care to avoid sharp bends or kinks in the cable hot surfaces for example exhaust manifolds or
49. he subcode to request packet Ox8F 42 Command Packet 0x8E 4A Set PPS Characteristics This packet allows the user to query by sending the packet with no data bytes or set Mini T PPS characteristics Mini T responds to a query or set command with packet 8F 4A Table A 49 Command and Report Packet 0 x 8E 4A Data Format Byte Item Type Value Meaning 0 Subode UNB OdA 1 PPS driver switch UINT8 0 off 1 on 2 Reeved UINTS 3 PPS polarity UINT8 0 positive 1 negative 4 11 PPS offset or cable delay see note Double seconds 12 15 Bias uncertainty threshold Single 300 0 meters Note Negative offset values advance the PPS and are normally used to compensate for cable delay Useful values for the PPS offset are between 50 ms Command Packet 0x8E 4E Set PPS output option This command packet sets the PPS driver switch to one of the values listed in Table A 52 The current driver switch value can be requested by sending the packet with no data bytes except the subcode byte Driver switch values 3 and 4 only make sense in Overdetermined Timing mode In any position fix mode the effective choices are always on or during fixes which you get if you set the driver switch to 3 or 4 58 Trimble Mini T GPS Disciplined Clock Module User Guide Trimble Standard Interface Protocol A Mini T can also be configured to generate an Even Second pulse in place of the PPS pulse by setting the value as
50. i T GPS Disciplined Clock Module User Guide Trimble Standard Interface Protocol A Command Packet 0x31 Accurate Initial Position XYZ Cartesian ECEF This packet provides an accurate initial position to the GPS receiver in XYZ coordinates Either the single precision or the double precision version of this packet may be used however we recommend using the double precision version for greatest accuracy Mini T uses this position for performing time only fixes Ifa survey is in progress when this command is sent the survey is aborted and this position data is used immediately Mini T will automatically switch to the overdetermined timing mode when this command is issued Note that this position is not automatically saved to Flash memory If you want to save this position first set the position wait at least 2 seconds and then use packet Ox8E A6 to save the position Table A 17 Command Packet 0x31 Data Format single precision Byte Item Type Units 0 3 X axis Single Meters 4 7 Y axis Single Meters 8 11 Z axis Single Meters Table A 18 Command Packet 0x31 Data Format double precision Byte Item Type Units 0 7 X axis Double Meters 8 15 Y axis Double Meters 16 23 Z axis Double Meters Command Packet 0x32 Accurate Initial Position Latitude Longitude Altitude This packet provides an accurate initial position to the GPS receiver in latitude longitude and altitude coordinates Either the single precision
51. imble com The firmware includes e Kalman filtering for better performance during holdover for more information see Operations 1 PPS calibrated to the USNO master clock for a more accurate out of box performance e New Position Integrity Monitor that warns if the receiver is using an incorrect position e User Selectable Recovery Algorithm that allows you to define how the clock will recover from holdover e Silent TSIP Options that allows you to choose which packets if any are to be reported 28 Trimble Mini T GPS Disciplined Clock Module User Guide Firmware Interface 4 Windows control program A Windows program is available that demonstrates the abilities of the Mini T The program is highly intuitive and is excellent as a familiarization tool but is not intended for development or implementation The source code is not available Trimble Mini T GPS Disciplined Clock Module User Guide 29 4 Firmware Interface 30 Trimble Mini T GPS Disciplined Clock Module User Guide APPENDIX Trimble Standard Interface Protocol In this appendix The Trimble Standard Interface Protocol TSIP may be characterized as a set of data packets m Introduction used to transmit information to and receive W Packet structure information from a Trimble GPS receiver Trimble products commonly support a version of TSIP which is customized to the attributes of the product This appendix describes the Mini T customization W Packet
52. ion 0 Subcode UINT8 OxA3 1 Disciplining Command UINT8 0 Place PPS on time jam sync 1 Transition to recovery state 2 Transition to manual holdover 3 Transition from manual holdover 4 Disable oscillator disciplining 5 Enable oscillator disciplining 60 Trimble Mini T GPS Disciplined Clock Module User Guide Trimble Standard Interface Protocol A Command Packet 0x8E A4 Test Modes Mini T provides a test mode of operation that allows the user to set the time and UTC parameters Packet Ox8F AC provides a status bit minor alarm bit 8 to warn the user that Mini T is operating in a test mode Mini T replies with response packet 8F A4 Note Test mode 3 does not actually cause Mini T to enter a test mode but instead provides a means for the user to send UTC parameters to Mini T that will be used in test mode 1 Test mode Data field Description 0 Test mode Set this field to 0 to exit test mode and return the Mini T to normal operations A reset or power cycle will also cause the Mini T to exit test mode 1 Test mode Setting this field to 1 tells Mini T to enter the user time test mode Mini T will set the time to the week number and TOW sent with this packet Mini T will then increment this time once per second The time in packet 8F AB will show the user test time but all other packets that have time fields will be unaffected Week number This field contains the week number f
53. ists re survey the position of the unit e Bit 10 This bit is not used Bit 11 When 1 indicates that the Almanac is not current or complete e Bit 12 When 1 indicates that the PPS was not generated this second This could mean that there wasn t enough usable satellites to generate an accurate PPS output It could also mean that the unit is generating an Even Second output see Packet Ox8E 4E and the unit did not output a PPS on the odd second This field indicates the decoding status of the GPS receiver Disciplining This field indicates the current activity of the disciplining mechanism Activity PPS Offset This field carries the estimate of the offset of the PPS output relative to UTC or GPS as reported by the GPS receiver in nanoseconds Positive values indicate that the Mini T s PPS is coming out late relative to GPS or UTC Frequency This field carries the estimate of the frequency offset of the 10MHz output relative to UTC or Offset GPS as reported by the GPS receiver in ppb parts per billion Positive values indicate that the Mini T s clock is running slow relative to GPS or UTC DAC Value This field shows the numeric value of the DAC used to produce the voltage that controls the frequency of the 10MHz oscillator DAC Voltage This field shows the voltage output of the DAC 72 Trimble Mini T GPS Disciplined Clock Module User Guide Trimble Standard Interface Protocol A Data field Descrip
54. me caution in ignoring satellite health 44 Trimble Mini T GPS Disciplined Clock Module User Guide Trimble Standard Interface Protocol A Command Packet 0x3A Request Last Raw Measurement This packet requests the most recent raw measurement data for one specified satellite The GPS receiver returns packet 0x5A if data is available Table A 24 Command Packet 0x3A Data Format Byte Item Type Value Meaning 0 Satellite PRN UINT8 0 All satellites in current tracking set 1 32 Specific desired satellite Command Packet 0x3C Request Satellite Tracking Status This packet requests the current satellite tracking status The GPS receiver returns packet 0x5C if data is available Table A 25 Command Packet 0x3C Data Format Byte Item Type Value Meaning 0 Satellite PRN UINT8 0 All satellites in current tracking set 1 32 Specific desired satellite Report Packet 0x42 Single precision Position Fix 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 output is set to single precision then the GPS receiver sends this packet each time a fix is computed or in response to packet 0x37 The data format is shown below The time of fix is in GPS or UTC as selected by the I O timing option in packet 0x35 Packet 0x83 provides a double precision version of this information Table A 26 Report Packet 0x42 Data Format Byte Item Type Units
55. meters 24 31 clock bias Double meters 32 35 time of fix Single seconds Note The time of fix is in GPS time or UTC as selected by the I O timing option Packet 0x42 provides a single precision version of this information 54 Trimble Mini T GPS Disciplined Clock Module User Guide Trimble Standard Interface Protocol A 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 double position option is selected see packet 0x35 the receiver sends this packet each time a fix is computed Table A 44 Report Packet 0 x 84 Data Format Byte Item Type Units 0 7 latitude Double radians 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 Note The time of fix is in GPS time or UTC time as selected by the I O timing option CAUTION When converting from radians to degrees significant and readily visible errors will be introduced by use of an insufficiently precise approximation for the constant TT The value of the constant T as specified in ICD GPS 200 is 3 1415926535898 Command Packet OxBB Set Receiver Configuration In query mode packet OxBB is sent with a single data byte and returns report packet OxBB in the format shown below Table A 45 Co
56. mmand Packet OxBB Data Format Query Only Byte Item Type Value Meaning 0 Subcode UINT8 0 Query mode TSIP packet OxBB is used to set the GPS Receiver options The table below lists the individual fields within the OxBB packet Table A 46 Report Packet OxBB Data Format Byte Item Type Value Meaning 0 Subcode UINT8 0 Primary receiver configuration block 1 receiver mode UINT8 0 Automatic 2D 3D 1 Single satellite 1 SV time 3 Horizontal 2D 4 Full position 3D 7 Over determined clock 2 reserved UINT8 OxFF do not alter Dynamics Code UINT8 1 Land 2 Sea 3 Air 4 Stationary 5 Automobile Trimble Mini T GPS Disciplined Clock Module User Guide 55 A Trimble Standard Interface Protocol Table A 46 Report Packet OxBB Data Format continued Byte Item Type Value Meaning 4 reserved UINT8 OxFF do not alter 5 8 Elevation Mask Single 0 1 2 Lowest satellite elevation for fixes radians 9 12 AMU Mask Single Minimum signal level for fixes 13 16 PDOP Mask Single Maximum DOP for fixes 17 20 PDOP Switch Single Switches 2D 3D mode 21 reserved UINT8 OxFF do not alter 22 Foliage Mode UINT8 0 Never 1 Sometimes 2 Always 23 reserved UINT8 OxFF do not alter 24 reserved UINT8 OxFF do not alter 25 reserved UINT8 OxFF do not alter 26 reserved UINT8 OxFF do not alter 27 39 reserved UINT8 OxFF do not alter N CAUTION The operation of Mini T can be affected adversely if incorrect data is enter
57. n no longer bring the frequency of the oscillator into alignment with GPS and is most likely in need of a new oscillator This condition should not occur within 15 years of operation Trimble Mini T GPS Disciplined Clock Module User Guide 71 A Trimble Standard Interface Protocol Data field Description Minor Alarms GPS Decoding Status This field is bitwise encoded with several minor alarm indicators A minor alarm indicates a condition that the user should be alerted to but does not indicate an immediate or necessarily any impairment of functionality For each bit a value of 0 means that the condition is not indicated Bits not described below should be ignored e Bit 0 When 1 indicates that the oscillator control voltage is near a rail If this condition persists then the oscillator is within 2 years of becoming untunable at which point the unit will need a new oscillator This condition should not occur for at least 12 years of use and is a result of oscillator crystal aging Bit 1 When 1 indicates that the antenna input connection is open More precisely this bit indicates that the antenna input is not drawing sufficient current Normally Mini T provides power to the antenna s LNA Low Noise Amplifier through the center conductor of the antenna cable On board circuitry senses this current draw and if low this condition will be indicated However when the antenna is powered elsewhere e g when using a spli
58. nd cannot find the information you need in the product documentation contact your local dealer Your comments Your feedback about the supporting documentation helps us to improve it with each revision E mail your comments to ReaderFeedback trimble com Trimble Mini T GPS Disciplined Clock Module User Guide 11 1 Introduction 12 Trimble Mini T GPS Disciplined Clock Module User Guide CHAPTER Setting up and Running the Mini T Module In this chapter System requirements Installing and using the software Mini T starter kit Setting up the Mini T GPS disciplined clock module This section describes the system requirements Trimble recommends that you install the DSP_Mon test software before setting up the Mini T module as this will enable you to monitor the acquisition of satellites once you start up the module A starter kit is available for testing evaluation and engineering purposes This section describes the components of the starter kit and how to set it up for testing The procedure for setting up the starter kit also applies if you are embedding the Mini T module However the hardware integration is described in Chapter 3 Hardware Integration Trimble Mini T GPS Disciplined Clock Module User Guide 13 2 Setting up and Running the Mini T Module System requirements Hardware Computer For evaluation or engineering purposes The Trimble Mini T starter kit see Mini T starter kit page 18 For p
59. nected and power is applied the GPS module generates a precise PPS pulse per second signal a 10 MHz frequency output and several miscellaneous periodic outputs It calculates a clock only solution from the GPS data In clock only position hold mode a static reference position is established and all of the available satellites are used for a time solution The reference position may be determined automatically by the Mini T self survey or may be uploaded to the Mini T by the host if the position is known The accuracy and integrity of the timing solution is highly dependent on the accuracy of the reference position Entering a reference position You may use Packet 31 XYZ ECEF or Packet 32 Latitude Longitude Altitude to upload an accurate reference position This reference position will be stored in EEPROM Electrically Erasable Programmable Read Only Memory and will be retained during power loss With a reference position stored in EEPROM the GPS module bypasses the position survey procedure and enters clock only mode If the antenna is moved you must send Packet 8E 45 to clear the position stored in EEPROM When the reference position is cleared the GPS module initiates a self survey unless the host uploads a new position using Packet 31 or Packet 32 To store the reference position from the self survey procedure in the EEPROM send Packet 8E 4C to the receiver Alternatively the Mini T can be configured to automatically save t
60. nitor software DPS Mon eee 15 TSIP cick detail eae Sek dette sds de de Rate ise he at Hole ee Goede atte dw Ban lee de aw a 16 Mini T starter kit a ob 68 da Sw elie he a EUR ID a aed e ae 18 Setting up the Mini T GPS disciplined clock module 00 0 0 002 a eee 18 3 Hardwarelntegration eee ee 21 Mini T system architecture s ses o eee cw C baa a ee ee a aw eee ee 22 Mini T module 2 3 24m be ae RE Und SA ge id SA 22 Physical charact risties s s babosa nd heb boa ee Rm P Ro Son e oed s 22 Environmentalspecifications leen 23 Mechanical outline 22e 23 Bullet antenna specifications cler 25 Physicalcharacteristics eee 25 Environmentalspecifications llle 25 Antenna Cable se 2 do A a ni eg br o Bed ce n eun iot d RR o b eed e ia 25 Power connector pin out hh hh n 26 T O connector pint oir dee e dt i Rae oo De dot e CADRE UR ge de Cp Ae Co uote quac 26 4 Firmware Interface ee 27 Configuration PP 28 Upgrad68 2 tate ae dune 8 dd row e Ew oon eo we mo ete Mus Delo qe fd ates acted 28 liinc p E M I LLTTTT 28 Windows control progra 29 Trimble Mini T GPS Discipline Clock Module User Guide 7 Contents A Trimble Standard Interface Protocol 31 Introduction aede Pete ete A obe d uk ties da 32 Interface SCOPES CT 32 Automatic output packets 22er 32 Customizing operations p
61. ntegration In this chapter The setup procedures for the Mini T GPS u disciplined clock module are described in Setting m Mini T system architecture up and Running the Mini T Module page 13 This m Mini T module chapter describes the hardware components to n EUR e pecifications assist you when you integrate the Mini T module into a system W Antenna cable W Power connector pin out m O connector pin out Trimble Mini T GPS Disciplined Clock Module User Guide 21 3 Hardware Integration Mini T system architecture a p Serial GPS receiver GPS data CPU and support 1 0 electronics circuitry gt p 1 PPS output 10 MHz clock 10 MHz output Digital to Analog converter 10 MHz OCXO Control voltage Mini T module Physical characteristics Dimensions 123 27 mm x 30 07 mm 5 05 inch x 1 18 inch Connector SMA Mounting Four 0 130 diameter mounting holes 22 Trimble Mini T GPS Disciplined Clock Module User Guide Hardware Integration 3 Environmental specifications Operating temperature 0 C to 60 C 32 F to 140 F Storage temperature 40 C to 85 C 40 F to 185 F Operating humidity 5 to 95 non condensing Operating altitude 18 000 m Mechanical outline The following diagram shows the mechanical outline of the Mini T board The base mounting screw holes 4 accommodates 6 32 x 3 8 machine screws When mou
62. nting the Mini T onto a plate for permanent mounting take into consideration the length of the screw and the thickness of the plate so that the screws do not protrude into the Mini T and potentially damage electronics Trimble Mini T GPS Disciplined Clock Module User Guide 23 3 Hardware Integration The Mini T is offered with two connector configurations Contact your Trimble Sales Representative for ordering information The mechanical drawings with dimensions are shown below Option 1 5 05 0 01 128 27 0 06310 005 1 591 4 70 0 003 119 38 0 13 0 005 03 30 f 0092001 222 118 30 07 1 050 003 26 67 1380 03 35 051 MON 1060 1 41 35 711 0 7740 015 19 51 249 6314 0 7520 05 19 0 2 99 75 84 bh 46 0 01 11 61 NS 1 30t0 01 33 01 0 4040 005 10 193 3 29t00e 83 6 Option 2 5 0510 02 128 271 0 063 10 005 1 591 4 705001 119 381 20 350 005 03 30 T 10510003 26 67 1385003 35 05 0953002 R41 0 75 0 05 19 01 L 046 117932001 0 5210 02 13 181 E i 1 40 35 41 1 3010 02 33 01 2 48 62 9 2 98 75 6 3 621008 83 6 0 77 0 015 19 5 0 3510 02 8 8 019 4 817 FILE 53110 15 MS 24 Trimble Mini T GPS Disciplined Clock Module User Guide Hardware Integration Bullet antenna specifications Physical characteristics 3 Dimensions 77 5 mm diameter x 66 2 mm height 3 05 x 2 61 Bullet enclosure Te
63. o response to this packet Table A 58 Command and Report Packet Ox8bE A6 Data Format Byte Item Type Value Meaning 0 Subcode UINT8 OxA6 1 Self survey command UINT8 0 Restart self survey 1 Save position to Flash 2 Delete position from Flash Command Packet 0x8E A8 Set or Request Disciplining Parameters Note This packet allows the user to change key disciplining parameters in the Mini T This packet is usually intended to be used only when instructed by the factory Incorrect use of this packet will most likely cause Mini T timing outputs to be degraded severely However the Type 2 Recovery Mode parameters are intended to be set by the user to suit the application Send this packet with the type field only to request the current settings Mini T replies to sets and requests with the packet Ox8F A8 Data field Description Type A zero in this field indicates that the packet contains loop dynamics information Time Constant This field carries the time constant of the disciplining control loop Damping Factor This field carries the damping of the disciplining control loop Type A 1 in this field indicates that the packet contains 10MHz oscillator parameters EXCO Constant OCXO Minimum Control Voltage This field carries the OCXO constant into Hz Volt Note The Mini T determines this value automatically during a calibration step run during the Power Up mode following a reset or
64. ock Module User Guide 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 timing trimble com gt The right one Trimble www trimble com
65. olts Report Packet Ox8F A2 UTC GPS Timing This packet is sent in response to command packet Ox8E A2 See the corresponding command packet for information about the data format 68 Trimble Mini T GPS Disciplined Clock Module User Guide Trimble Standard Interface Protocol A Report Packet 0x8F A3 Oscillator Disciplining Command This packet is sent in response to command packet Ox8E A3 See the corresponding command packet for information about the data format Report Packet Ox8F A4 Test Modes This packet is sent in response to command packet 0x8E A4 See the corresponding command packet for information about the data format Report Packet Ox8F A5 Packet Broadcast Mask This packet is sent in response to Ox8E A5 command and describes which packets are currently automatically broadcast A 0 in a bit field turns off broadcast and a l in a bit field enables broadcast See the corresponding command packet for information about the data format Report Packet 0x8F A6 Self Survey Command This packet is sent in response to command packet Ox8E A6 See the corresponding command packet for information about the data format Report Packet 0x8F A8 Oscillator Disciplining Parameters This packet is sent in response to command packet Ox8E A8 See the corresponding command packet for information about the data format Report Packet 0x8F A9 Self Survey Parameters Packet Ox8F A9 is sent in response to command packet 0x8E A9 and
66. or the user time test mode Time of Week This field contains the TOW for the user time test mode 3 Note For a more detailed description of UTC parameters GPS SPS Signal Specification Test Mode Setting this field to 3 tells Mini T that the following fields contain the user UTC parameters that are to be used while in test mode 1 A O0 This field is the fractional second offset of GPS from UTC at the reference time in seconds A 1 This field is the rate of change of fractional second offset of GPS from UTC in seconds second delta t LS Current integer leap seconds t ot This field is the reference time of week for the A 0 A 1 parameters WNt This field is the reference week number for the A 0 A 1 parameters WN_LSF This field is the week number of a future leap second event DN This field is the day number of a future leap second event delta_t_LSF This field is the integer number of future leap seconds Table A 54 Command Packet 0x8E A4 Test Mode O Data Format Byte Item Type Description 0 Subcode UINT8 OxA4 1 Test Mode UINT8 0 Exit test mode Table A 55 Command Packet 0x8E A4 Test 1 Mode 1Data Format Byte Item Type Description 0 Subcode UINT8 0xA4 1 Test Mode UINT8 1 Set absolute time ignore GPS time 2 3 Week Number UINT16 Week number 0 1023 4 7 Time of Week UINT32 Seconds 0 604799 Trimble Mini T GPS Disciplined Clock Module User Guide 61 A Trimble Standard Interface Protocol Table A 56 Command P
67. ou to delay or advance the 1 PPS For example a negative value advances the 1 PPS to compensate for delay caused by along cable run The factory default is zero Timing information packets 8F AB primary timing information and Packet 8F AC supplemental timing information contain most of the information that you need to monitor the operation ofthe Mini T In the default configuration these packets are broadcast once per second Elevation mask This is the minimum elevation angle for satellites to be used in a solution output by the receiver see command BB in Appendix A Trimble Standard Interface Protocol Typically satellites that are near the horizon are 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 However when this mask is set too low the receiver may experience frequent constellation switching due to low elevation satellites being obscured Frequent constellation switching is associated with undesirable timing jumps A mask setting that is too high may reject good satellites The current mask is set to ten degrees and provides a reasonable trade off of the benefits and drawbacks High accuracy users may prefer a mask angle of around ten degrees where the ionosphere and troposphere begin to be more pre
68. put Protocols UINT8 0 None 2 TSIP 8 Output Protocols UINT8 0 None 2 TSIP 9 Reserved UINT8 0 Reserved TSIP Superpackets Several packets have been added to the core TSIP protocol to provide additional capability for the receivers In packets Ox8E and their 0x8F responses the first data byte is a subcode which indicates the superpacket type For example in packet Ox8E 15 15 is the subcode that indicates the superpacket type Therefore the ID code for these packets is 2 bytes long followed by the data Command Packet 0x8E 15 Request current Datum values This packet contains only the subpacket ID 0x15 The response to this packet is 8F 15 Command Packet 0x8E 26 Write Configuration to Flash ROM This command packet causes the current configuration settings to be written to the flash ROM This packet contains only a single byte the sub packet ID The unit will reset itself following the execution of this command Trimble Mini T GPS Disciplined Clock Module User Guide 57 A Trimble Standard Interface Protocol Command Packet 0x8E 41 Request Manufacturing Parameters This packet is used to request the manufacturing parameters stored in non volatile memory Send this packet with no data bytes don t forget the subcode to request packet Ox8F 41 Command Packet 0x8E 42 Stored Production Parameters This packet is used to request the production parameters stored in non volatile memory Send this packet with no data bytes don t forget t
69. puted Ox8F AB Primary timing packet Ox8E A5 bit 0 Ox8E AB Once per second Ox8F AC Secondary timing packet Ox8E A5 bit 2 Ox8E AC Once per second Customizing operations parameters Mini T provides a number of user configurable parameters that allow the user to customize its operation These parameters are stored in flash memory to be retained during loss of power and through resets At reset or power up Mini T configures itself based on the parameters stored in the flash The user can change the values of these parameters to achieve the desired operation using a variety of TSIP packets Mini T configures itself based upon the new parameters immediately but the new parameter is not automatically saved to flash The user must direct Mini T to save the parameters to flash To change the parameter values stored in flash the user sends packet 0x8E 26 to direct Mini T to save the current parameters in the flash Users can also direct Mini T to set the parameter values to their factory default with packet Ox1E Note Whenever configuration data is saved to the Flash EPROM using 0x8E 26 or other packets Mini T will automatically perform a reset To customize Mini T output for your application 1 Setup Mini T using TSIP commands until the desired operation is achieved 2 Use command 0x8E 26 to store the settings in non volatile memory except for position which is saved or deleted with packet 0x8E A6 These settings will control Mini T ope
70. rations whenever it is cold reset or power cycled The following tables illustrate how the user configurable data is mapped The Trimble factory defaults are also provided Factory defaults can be set with packet Ox1E Table A 2 Factory default settings Parameter Factory Default Set Request Report Receiver mode 4 Full Position 3D Dynamics code 1 Land Elevation mask 0 175 radians 10 deg Signal level mask 4 AMU OxBE OxBE PDOP mask 12 PDOP switch 6 Foliage mode 1 Sometimes Trimble Mini T GPS Disciplined Clock Module User Guide 33 A Trimble Standard Interface Protocol Self survey count 34 Trimble Mini T GPS Disciplined Clock Module User Guide 2000 fixes Table A 3 Packet I O control Parameter Factory Default Set Request Report Packet broadcast mask Mask 0 0x05 Ox8E A5 Ox8E A5 Ox8E A5 Mask 1 0x00 Packet 0x35 data Position Byte 0 0x12 Velocity Byte 1 0x02 0x35 0x35 0x35 Timing Byte 2 0x00 Auxiliary Byte 3 0x00 Datum 0 WGS 84 Ox8E 15 Ox8E 15 Ox8F 15 Table A 4 Serial port configuration Parameter Factory Default Set Request Report Input baud rate 7 9600 baud Output baud rate 7 9600 baud Data bits 3 8 bits Parity 0 none OxBC OxBC OxBC Stop bits 0 1 bit Input protocol 2 TSIP Output protocol 2 TSIP Table A 5 Timing outputs Parameter Factory Default Set Request Repor
71. s lt ETX gt preceded by an odd number of lt DLE gt bytes Floating point numbers single double follow the IEEE Standard for Binary Floating Point Arithmetic IEEE 754 Multiple byte numbers integer single and double are sent most significant byte first Note that switching the byte order will be required on Intel based little endian machines The data types used in Mini T TSIP are defined below Data type Description UINT8 An 8 bit unsigned integer 0 to 255 SINT8 An 8 bit signed integer 128 to 127 INT16 A 16 bit unsigned integer 0 to 65 535 SINT16 A 16 bit signed integer 32 768 to 32 767 UINT32 A 32 bit unsigned integer 0 to 4 294 967 295 SINT32 A 32 bit signed integer 2 147 483 648 to 2 147 483 647 Trimble Mini T GPS Disciplined Clock Module User Guide 37 A Trimble Standard Interface Protocol Data type Description Single Single precision float 4 bytes 1 2x10 38 to 3 4x1038 Double Double precision float 8 bytes 2 2x10 308 to 1 8x10308 Note Default serial port settings are 9600 8 None 1 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 version ID is Mini Thunderbolt The packet format is defined in the following table Table A 11 Setup parameters in Packet Ox1C Byte Item Type Value Definition 0 Packet ID U8 Ox1C Packet ID Ox1C
72. s gps sigspec Trimble Mini T GPS Disciplined Clock Module User Guide 51 A Trimble Standard Interface Protocol Report Packet 0x59 Status of Satellite Disable or Ignore Health This packet is sent in response to command packet 0x39 Table A 39 Report Packet 0x59 Data Format Byte Item Type Value Meaning 0 Operation UINT8 3 The remaining bytes tell whether the receiver has enabled each satellite for selection 6 The remaining bytes tell whether the receiver heeds or ignores each satellite s health as a criterion for selection 1to32 Sat PRN UINTS 1 per SV o Enable satellite selection or heed satellite s health Disable satellite selection or ignore satellite s health Report Packet 0x5A Raw Data Measurement Data Packet 0x5A provides raw GPS measurement data This packet is sent in response to packet 0x3A or automatically if enabled with packet 0x35 Table A 40 Report Packet 0x5A Data Format Byte Item Type Units 0 SV PRN number UINT8 1 4 Sample length Single milliseconds 5 8 Signal level Single AMU or dB Hz 9 12 Code phase Single 1 16 chip 13 16 Doppler Single Hertz L1 17 24 Time of measurement Double seconds Note The sample length is the number of milliseconds over which the sample was averaged Note The code phase 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
73. s used for position or time only fixes by the GPS receiver The packet also provides the PDOP HDOP VDOP and TDOP of that set and provides the current mode automatic or manual 3 D or 2 D overdetermined clock etc This packet has variable length equal to 17 nsvs where nsvs is the number of satellites used in the solution If an SV is rejected for use by the T RAIM algorithm then the SV PRN value will be negative Trimble Mini T GPS Disciplined Clock Module User Guide 53 A Trimble Standard Interface Protocol The GPS receiver sends this packet in response to packet 0x24 or automatically The data format is shown below Table A 42 Report Packet 0x6D Data Format Byte Bit Item Type Value Meaning 0 0 2 fix dimension bit field 1 1D clock fix 3 2D fix 4 3D fix 5 OD clock fix 3 fix mode bit field 0 Auto 1 Manual 4 7 Number of SVs in fix bit field 0 12 Count 1 4 PDOP Single PDOP 5 8 HDOP Single HDOP 9 12 VDOP Single VDOP 13 16 TDOP Single TDOP 17 n SV PRN SINT8 1 32 PRN Report Packet 0x83 Double Precision XYZ 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 double position option is selected the receiver sends this packet each time a fix is computed The data format is shown below Table A 43 Report Packet 0 x 83 Data Format Byte Item Type Units 0 7 X Double meters 8 15 Y Double meters 16 23 Z Double
74. set or a factory reset A cold reset will clear the GPS data almanac ephemeris etc stored in RAM and is equivalent to a power cycle A factory reset will additionally restore the factory defaults of all configuration parameters stored in flash memory A warm reset clears ephemeris and oscillator uncertainty but retains the last position time and almanac This packet contains one data byte The data format is shown below Table A 16 Command Packet Ox1E Data Format Byte Item Type Value Meaning 0 Reset UINT8 Ox4B Cold reset OxOE Warm reset 0x46 Factory reset Note The factory reset command will delete the stored position and cause a self survey to restart Command Packet 0x1F Request Software Version This packet requests information about the version of software in Mini T This packet contains no data Mini T returns packet 0x45 Command Packet 0x24 Request GPS Satellite Selection This packet requests a list of satellites used for the current position time fix This packet contains no data Mini T returns packet Ox6D Command Packet 0x25 Initiate Hot Reset This packet commands the GPS receiver to perform a hot reset This is not equivalent to cycling the power RAM is not cleared This packet contains no data Command Packet 0x27 Request Signal Levels This packet requests signal levels for all satellites currently being tracked This packet contain no data The GPS receiver returns packet 0x47 40 Trimble Min
75. stacks rotating or reciprocating equipment sharp or abrasive surfaces door and window jambs and corrosive fluids or gases 4 Secure the cable using tie wraps starting at the antenna and working towards the Mini T module Ensure that the cable is secured at points close to the antenna and the Mini T module Note Additional protection for example heat shrink tubing may be required to protect the cable jacket at points where the opening is rough or sharp such as where it enters or exits bulkheads 5 Ifrequired cut the cable to the required length and terminate it correctly using the correct connectors Make sure that There is enough slack for a service loop near the antenna to allow for disconnection for moisture to drip away from the connection and for normal movements of the antenna All contact surfaces are clean and firm before crimping 6 Attach the SMA F SMA f connector to the other end of the antenna cable 7 Connect the female connector of the of the antenna interface cable to the antenna cable using the SMA f connector 8 Connect the 90 SMA connector on the antenna interface cable to J4 on the Mini T module J1 power and I O connection J2 10 MHz connector J3 1 PPS connector J4 Antenna interface Trimble Mini T GPS Disciplined Clock Module User Guide 19 2 Setting up and Running the Mini T Module 9 Connect the female Molex 6 pin connector part of the Power and I O interface
76. starter kit see page 18 Features The Trimble Mini T GPS disciplined clock module features the following Asingle board containing Aprecision ovenized oscillator An Ll frequency C A code SPS 12 channel continuous tracking GPS receiver An update rate of 1 Hz 1 PPS output with an overdetermined solution synchronized to GPS or Universal Coordinated Time UTC 1 PPS accuracy Low phase noise 10 MHz reference output signal Selfsurvey mode performed automatically on start up 10 Trimble Mini T GPS Disciplined Clock Module User Guide Introduction 1 e Signal validation using the Trimble Time Receiver Autonomous Integrity Monitor T RAIM algorithm Easy integration with the Trimble Bullet antenna Use and care The Mini T GPS disciplined clock module is a high precision electronic instrument and should be treated with reasonable care Ifa problem arises with the unit you receive a visual alarm through the monitor program Contact Trimble for technical direction and repair There are no user serviceable parts inside the Mini T module and any modification to the unit by the user voids the warranty Related information An electronic copy of this manual is available in portable document format PDF Use Adobe Reader to view the file Contact your local dealer for more information about the support agreement contracts for software and firmware Technical assistance If you have a problem a
77. t PPS enable 1 enabled PPS sense 1 rising edge Ox8E 4A Ox8E 4A OX8F 4A PPS offset 0 0 seconds Bias Uncertainty Threshold 300 0 Meters Ox8E 4A Ox8E 4A Ox8F 4A PPS Output Qualifier 2 always on Ox8E 4E Ox8E 4E Ox8F 4E UTC GPS Date Time 0 GPS Ox8E A2 Ox8E A2 Ox8F A2 UTC GPS PPS Alignment 0 GPS Ox8E A2 Ox8E A2 Ox8F A2 Table A 6 Accurate position Parameter Factory Default Set Request Report Position No stored position 0x31 0x32 Ox8E AC Ox8F AC self survey Table A 7 Self survey Self Survey Factory Default Set Request Report Self survey enable 1 enabled Position save flag 1 save Ox8E A9 Ox8E A9 Ox8F A9 Trimble Standard Interface Protocol A Packets output at power up After completing its self diagnostics Mini T automatically outputs the following packets Table A 8 Packet power up output messages Output ID Description Notes 0x45 Software version Command packets User to Mini T The table below summarizes the packets that can be sent to the Mini T by the user The table includes the input packet ID a short description of each packet and the associated output packet Table A 9 Command packets Input ID Packet Description Output ID Ox1C Firmware Hardware versions Ox1C Ox1E Initiate cold warm or factory reset 0x45 after reset Ox1F Request software version 0x45 0x24 Request GPS satellite selection 0x6D 0x25 Initiate hot reset 0x45
78. t or consult your local Trimble authorized dealer LIMITED WARRANTY TERMS AND CONDITIONS Product Limited Warranty Subject to the following terms and conditions Trimble Navigation Limited Trimble warrants that for a period of one 1 year from date of purchase this Trimble product the Product will substantially conform to Trimble s publicly available specifications for the Product and that the hardware and any storage media components of the Product will be substantially free from defects in materials and workmanship Product Software Product software whether built into hardware circuitry as firmware provided as a standalone computer software product embedded in flash memory or stored on magnetic or other media is licensed solely for use with or as an integral part of the Product and is not sold If accompanied by a separate end user license agreement EULA use of any such software will be subject to the terms of such end user license agreement including any differing limited warranty terms exclusions and limitations which shall control over the terms and conditions set forth in this limited warranty Software Fixes During the limited warranty period you will be entitled to receive such Fixes to the Product software that Trimble releases and makes commercially available and for which it does not charge separately subject to the procedures for delivery to purchasers of Trimble products generally If yo
79. t the timing outputs Unused bits are should be ignored Bit 0 When 0 the date and time fields broadcast in packet 8F AB are in the GPS time scale When 1 these fields are in the UTC time scale and are adjusted for leap seconds Use command packet 8E A2 to select either GPS or UTC time scales Bit 1 When 0 the PPS output is aligned to GPS When 1 the PPS output is aligned to UTC Use command packet 8E A2 to select either GPS or UTC PPS alignment e Bit 2 When O time has been set from GPS When 1 time has net yet been set from GPS e Bit 3 When 0 UTC offset information has been received When 1 UTC offset information is not yet known e Bit 4 When 0 time is coming from GPS When 1 Mini T is in a test mode and time is being generated by the test mode selected by the user See packet 8E A4 Test Modes Time of Day The time of day is sent in hours minutes seconds format and varies from 00 00 00 to 23 59 59 except when time is in UTC and a leap second insertion occurs In this case the time will transition from 23 59 59 to 23 59 59 to 00 00 00 Use command packet 8E A2 to select either the GPS or UTC time scale Date The date is sent in day month year format Use command packet 8E A2 to select either the GPS or UTC time scale Table A 70 Report Packet Ox8F AB Byte Bit Item Type Value Description 0 Subcode UINT8 OxAB 1 4 Time of week UINT32 GPS seconds of week 5 6 Week Number UINT16 GPS Week Number
80. tage 0 0 V to 4 0 V Value 0x00000 to OxFFFFF 20 bits Trimble Mini T GPS Disciplined Clock Module User Guide 59 A Trimble Standard Interface Protocol To set the DAC voltage send packet Ox8E AO0 in the format shown below Note Oscillator disciplining must be disabled see packet Ox8E A3 to use this command to set the DAC voltage Table A 51 Command Packet 0x8E A0 Data Format Byte Item Type Value Description 0 Subcode UINT8 OxAO 1 Voltage Value Flag UINT8 0 Set DAC voltage 1 Set DAC value 7 2 5 DAC Voltage Value Single UINT3 DAC voltage Value 2 Command Packet 0x8E A2 UTC GPS Timing Command packet 8E A2 sets the UTC GPS timing mode time and date fields in packet 0x8F AB and the temporal location of Mini T output PPS Send packet 8E A2 with no data to request the current settings Mini T replies with response packet 8F A2 Table A 52 Command Packet 0x8E A2 Data Format Byte Bit Item Type Value Meaning 0 Subcode UINT8 OxA2 1 0 UTC GPS time bit field 0 GPS time date in packet Ox8F AB 1 1 UTC time date in packet Ox8F AB bit field 0 PPS referenced to GPS time 1 PPS referenced to UTC time Command Packet 0x8E A3 Issue Oscillator Disciplining Command Use command packet Ox8E A3 to issue an oscillator disciplining command Mini T responds with packet Ox8F A3 in the same format as packet Ox8E A3 Table A 53 Command Packet 0x8E A1 Data Format Byte Item Type Value Descript
81. tion Temperature This field shows the temperature in Celsius as reported by Mini T s on board temperature sensor Latitude This field carries the latitude of the position being shown The units are in radians and vary from pi 2 to pi 2 Negative values represent southern latitudes Positive values represent northern latitudes Longitude This field carries the longitude of the position being shown The units are in radians and vary from pi to pi Negative values represent western longitudes Positive values represent eastern longitudes Altitude This field carries the altitude of the position being shown The units are in meters WGS 84 PPS This field carries the PPS quantization error in units of nanoseconds of an internal PPS signal Quantization Error This value is not useful on a Mini T since the PPS output is derived from a disciplined oscillator and therefore does not have any quantization error Table A 71 Report Packet Ox8F AC Byte Item Type Value Description 0 Subcode UINT8 OxAC 1 Receiver Mode UINT8 0 Automatic 2D 3D 1 Single Satellite Time 3 Horizontal 2D 4 Full Position 3D 7 Overdetermined Clock 2 Disciplining Mode UINT8 0 Normal Locked to GPS 1 Power Up 2 Auto Holdover 3 Manual Holdover 4 Recovery 5 Not used 6 Disciplining Disabled 3 Self Survey Progress UINT8 0 100 4 7 Holdover Duration UINT32 0 Seconds 8 9 Critical Alarms UINT16 Bit field Bit 4 DAC at rail 10 11 Minor Alarms
82. tput packets provide all of the information required for operation including time position GPS status and health The following packets can be broadcast if enabled with packet Ox8E A5 and 0x35 By default only packets Ox8F AB and Ox8F AC are enabled for output Table A 1 Broadcast output packets Broadcast Description Masking Packet Request When Sent Packet ID ID Packet ID 0x42 Position XYZ ECEF single precision 0x35 and 0x37 When a position fix is Ox8E A5 bit 6 computed 0x43 Velocity XYZ single precision 0x35 and 0x37 When a position fix is Ox8E A5 bit 6 computed 0x47 Signal Levels Ox8E A5 bit 6 0x27 Once per second Ox4A Position LLA single precision 0x35 and 0x37 When a position fix is Ox8E A5 bit 6 computed 0x56 Velocity ENU single precision 0x35 and 0x37 When a position fix is Ox8E A5 bit 6 computed 0x5A Raw Measurements 0x35 and 0x3A When new Ox8E A5 bit 6 measurements are available 0x6D Satellite list DOPS mode Ox8E A5 bit 6 0x24 Once per second 32 Trimble Mini T GPS Disciplined Clock Module User Guide Trimble Standard Interface Protocol A Table A 1 Broadcast output packets continued Broadcast Description Masking Packet Request When Sent Packet ID ID Packet ID 0x83 Position XYZ ECEF double precision 0x35and0x37 Whena position fix is Ox8E A5 bit 6 computed 0x84 Position LLA double precision 0x35 and 0x37 When a position fix is Ox8E A5 bit 6 com
83. tter then an antenna open condition is expected and does not imply a fault nor does it impair the operation of Mini T e Bit 2 When 1 indicates that the antenna input is shorted More precisely this bit indicates that the antenna input is drawing too much current On board protection circuitry prevents any damage to Mini T when its antenna input is shorted to ground This condition tends to indicates a fault in either the antenna cable or the antenna itself e Bit 3 When 1 indicates that no satellites are usable In order for a satellite to be usable it must be tracked long enough to obtain ephemeris and health data e Bit 4 When 1 indicates that the oscillator is not being disciplined to GPS Before the Mini T can begin disciplining the oscillator it must begin receiving information from the GPS receiver This occurs any time that the receiver is performing fixes e Bit 5 When 1 indicates that a self survey procedure is in progress e Bit 6 When 1 indicates that there is no accurate position stored in Flash ROM Bit 7 When 1 indicates that the GPS system has alerted Mini T that a leap second transition is pending e Bit 8 When 1 indicates that Mini T is operating in one of its test modes see packet Ox8E A4 Bit 9 When 1 indicates that the accuracy of the position used for time only fixes is questionable This alarm may indicate that the unit has been moved since the unit completed the last self survey If this alarm pers
84. u have purchased the Product from an authorized Trimble dealer rather than from Trimble directly Trimble may at its option forward the software Fix to the Trimble dealer for final distribution to you Minor Updates Major Upgrades new products or substantially new software releases as identified by Trimble are expressly excluded from this update process and limited warranty Receipt of software Fixes or other enhancements shall not serve to extend the limited warranty period For purposes of this warranty the following definitions shall apply 1 Fix es means an error correction or other update created to fix a previous software version that does not substantially conform to its Trimble specifications 2 Minor Update occurs when enhancements are made to current features in a software program and 3 Major Upgrade occurs when significant new features are added to software or when a new product containing new features replaces the further development of a current product line Trimble reserves the right to determine in its sole discretion what constitutes a Fix Minor Update or Major Upgrade Warranty Remedies Ifthe Trimble Product fails during the warranty period for reasons covered by this limited warranty and you notify Trimble of such failure during the warranty period Trimble will repair OR replace the nonconforming Product with new equivalent to new or reconditioned parts or Product OR refund the Product purch
85. um allowed value is 50 nanoseconds Setting a value less than or equal to 0 nanoseconds will disable automatic jam syncs during Recovery though the user can still issue a jam sync command with packet 0x8E A3 Maximum This field carries the maximum allowable frequency offset in ppb parts per Frequency Offset billion or 1x10 of the 10 MHz oscillator during Recovery Mode While in Recovery Mode Mini T will remove any PPS offset accumulated during periods of Holdover by shifting the frequency of the oscillator by an amount up to the value specified The minimum allowed value is 5ppb 3 Type A 3 in this field indicates that the packet contains the initial DAC voltage parameter Initial DAC voltage At reset the oscillator s frequency control voltage is set to this value Table A 59 Command Packet 0x8E A8 Type 0 Data Format Byte Item Type Description 0 Subcode UINT8 0xA8 1 Type UINT8 0 loop dynamics 2 5 Time Constant Single Seconds 6 9 Damping Factor Single Dimensionless Table A 60 Command Packet 0x8E A8 Type 1 Data Format Byte Item Type Description 0 Subcode UINT8 0xA8 1 Type UINT8 1 oscillator parameters 2 5 Oscillator Gain Constant Single Hz Volt 6 9 Minimum Control Voltage Single Volts 10 13 Maximum Control Voltage Single Volts Table A 61 Command Packet 0x8E A8 Type 2 Data Format Byte Item Type Description 0 Subcode UINT8 0xA8 1 Type UINT8 2 recovery mode parameters
86. xtured off white plastic Antenna weight 170 grams 6 oz Connector F type or TNC Mount 1 14 thread or 3 4 pipe thread Environmental specifications Operating temperature 40 C to 85 C 40 F to 185 F Storage temperature 40 C to 100 C 40 F to 212 F Vibration 0 04g Hz 10 Hz to 500 Hz 0 03g Hz 500 Hz to 850 Hz 0 029 Hz 850 Hz to 1200 Hz Shock 50 g vertical 30 g all axes Humidity Mil STD 810E Salt Fog Mil Std 202F Method 101D Condition B Waterproof Submersion to 1 meter Antenna cable Trimble recommends that you use an RG 59 cable to connect the Mini T and the Bullet antenna This cable type is widely available and inexpensive RG 8 cable is lower loss than RG 59 and can be used when trying to maximize a cable run without the use of in line amplifiers Two RG 59 cables qualify for use with the Trimble GPS modules e Belden P N 82108 Times Fiber P N 32245 Trimble recommends that you select a cable that meets or exceeds the following specifications Type RG 59 Impedance 75Q Note The input impedance of the Mini T RF input and its antenna is 50 Q Capacitance 54 1 pF meter 16 5 pF Foot Vel of Propagation 84 Shielding Foil and copper braid 10096 coverage Trimble Mini T GPS Disciplined Clock Module User Guide 25 3 Hardware Integration Connectors Waterproof F type Signal attenuation lt 10 dB for cable and connectors Note RG 59 is a 75 Q2 coaxial cable

Trimble Mini-T GPS Disciplined Clock Module User Guide

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