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Trimble Outdoors 58052-00 GPS Receiver User Manual

1. Figure 10 5 Copernicus Reference Board Schematic Bottom Side 104 Copernicus GPS Receiver CHAPTER FIRMWARE UPGRADE In this chapter m This chapter describes an interface for programming loading firmware into the Copernicus GPS receiver The interface can be used to develop a tool to upgrade firmware in the field Sample source code of a tool for Microsoft Windows is available to demonstrate implementation of the interface described in this document m Software Architecture Boot Monitor m Firmware Binary File Format m Firmware Loading Procedure Monitor Interface Protocol m FlashLoader Tool Reference Guide This chapter describes an interface for programming loading firmware into the Copernicus GPS receiver The interface can be used to develop a tool to upgrade firmware in the field Sample source code of a tool for Microsoft Windows is available to demonstrate implementation of the interface described in this document The information contained in this chapter is applicable only to the Copernicus GPS receiver developed by the Advanced Devices group of Trimble Navigation Ltd It may not be relevant to other products Copernicus GPS Receiver 105 11 FIRMWARE UPGRADE
2. Table C 4 Copernicus GPS Receiver Proprietary NMEA Messages Message Description AH Query or set Almanac Health AL Query or set almanac data for a specific satellite AS Query or set almanac status BA Query and response to antenna status CR Query or set GPS receiver configuration information EM Set receiver into Monitor Mode Set only EP Query or set ephemeris data for a specific satellite IO Query or set ionosphere data KG Set initial position and time info data for to aid navigation startup NM Query or set NMEA automatic message output control PS Query or set PPS configuration PT Query or set serial port configuration RT Set Reset type cold TF Query or set receiver status and position fix information UT Query or set UTC data VR Query and response to version information NMEA 0183 C Copernicus GPS Receiver 219 C NMEA 0183 NMEA 0183 Message Formats GGA GPS Fix Data The GGA message includes time position and fix related data for the GPS receiver SGPGGA hhmmss ss 1111 11111 a nnnnn nnnnn b t uu V V W W M xX x M y y zzzz hh lt CR gt lt LF gt Table C 5 GGA GPS Fix Data Message Parameters Field Description 1 UTC of Position when UTC offset has been decoded by the receiver 2 3 Latitude N North or S South 4 5 Longitude E East or W West 6 GPS Quality Indicator O invalid fix 1 GPS fix no SBAS correction 2 SBAS c
3. Table 11 6 Change Baud Rate Parameter Data Type Description Baud Rate Byte Baud Rate 5 2400 bps 6 4800 bps 7 9600 bps 8 19200 bps 9 38400 bps 10 57600 bps 11 115200 bps Packet ID 0x8F Erase Firmware Section This packet initiates the erase operation on the target It only erases the firmware portion of the Flash chip The target returns either ACK or NAK indicating the result of the operation Table 11 7 Erase Firmware Section BYTEO BYTE 1 BYTE 2 BYTE 3 BYTE 4 BYTE 5 0x02 0x00 Ox8F 0x00 Ox8F 0x03 Copernicus GPS Receiver 113 11 FIRMWARE UPGRADE Packet ID 0x8B Start Firmware Programming This packet initiates firmware loading It has two parameters The first parameter 4 byte value contains the size of the firmware in bytes This is the actual number of bytes that will be written to Flash The second parameter contains the starting address in Flash where the data will be written Once the target receives this packet it will respond with ACK and wait for the actual data one word at a time Each word must be sent with the most significant byte first All data from the host will be written to the target in the order in which it is received The target will not recognize any other packets until the loading is completed If successful the target will return ACK upon completion or NAK if an error has occurred AN WARNING The t
4. 150 Copernicus GPS Receiver TRIMBLE STANDARD INTERFACE PROTOCOL TSIP A Table A 43 Byte Item Type Definition IDC GPS 200 37 38 WN_LSF Integer Sec 20 3 3 5 1 8 39 40 DN Integer Sec 20 3 3 5 1 8 41 42 delta_t_LSF Integer Sec 20 3 3 5 1 8 Table A 44 Byte Item Type Definition IDC GPS 200 4 sv_number UINT8 SV PRN number 5 8 t_ephem Single time of collection note if data is missing or invalid t_ephem will be negative 9 10 weeknum INT16 Sec 20 3 3 3 Table 20 1 11 codeL2 UINT8 Sec 20 3 3 3 Table 20 1 12 L2Pdata UINT8 Sec 20 3 3 3 Table 20 1 13 SVacc_raw UINT8 Sec 20 3 3 3 Table 20 1 14 SV_health UINT8 Sec 20 3 3 3 Table 20 1 15 16 IODC INT16 Sec 20 3 3 3 Table 20 1 17 20 T_GD Single Sec 20 3 3 3 Table 20 1 21 24 t_oc Single Sec 20 3 3 3 Table 20 1 25 28 a_f2 Single Sec 20 3 3 3 Table 20 1 29 32 a_f1 Single Sec 20 3 3 3 Table 20 1 33 36 a_f0 Single Sec 20 3 3 3 Table 20 1 37 40 SVacc Single Sec 20 3 3 3 Table 20 1 41 IODE UINT8 Sec 20 3 3 4 42 fit_interval UINT8 Sec 20 3 3 4 43 46 C_rs Single Sec 20 3 3 4 47 50 delta_n Single Sec 20 3 3 4 51 58 M_0 Double Sec 20 3 3 4 59 62 C_uc Single Sec 20 3 3 4 radians 63 70 e Double Sec 20 3 3 4 71 74 C_us Single Sec 20 3 3 4 radians 75 82 sqrt_A Double Sec 20 3 3 4 83 86 t_oe Single Sec 20 3 3 4 87 90 C_ic Single Sec 20 3 3 4 radians 91 98
5. GPS Core 2 01 0 07 17 07 Tx Rx 7637 TSIP 00 02 29 coMms5 2 A Multiport Data Recorder Fie Action Options Available Ports Log File for COM 5 com E File F Trimble Ddrive TrimbleManuals OngoingMarkups TGM dr mm COMS C Append to file if exists COM 6 Use standard file naming Unit ID Test Case Port Settings for COM 5 Miscellaneous Settings for COM 5 Command 1sip w Split 0 MB Baud Rate 9600 v Protocol Parity None Log SY tracking info C Log GPS time v Data Bits 8 Me Generate csv MS Streets Stop Bits 1 Si C Generate kml Google Earth EM Status Info for COM 5 Activity Ready to start TH O AMO BB S s nja Received 0 bytes RX FIX RTC Dim n a Logging Calendar Start Logging Copernicus GPS Receiver 27 1 STARTER KIT 3 Create a filename and path in the file field Use standard file naming if appropriate with the Unit ID and Test Case number 4 Select the correct protocol and logging options 5 Click Start Logging Sending Raw Data to device 1 From the Tools Menu select the Generic Packets option Trimble GPS Monitor File Initialize View Configure BEAS Window Help com r y 5 PEO li pout O g Time GPS Receiver Mode amp Status Satellite Data Time Thu 21 25 57 Mode 3 D Auto 7S5 Date August 30 2007 Status doing position fixes Week 1442 Tow 422757 Almanac complete amp current velocity DO
6. component version information request Report Packet 0x1C 83 Hardware Component Version Information Table A 14 Report Packet 0x1C 83 Byte Item Type Value Definition 0 Packet ID U8 0x1C Packet ID 0x1C 1 Sub code U8 0x83 Sub code 0x83 for hardware component version information report 2 5 Serial U32 Any Board serial number number 6 Build day U8 1 31 Day of the board s build date Build U8 1 12 Month of the board s build date month 8 9 Build year U16 Any Year of the board s build date 10 Build hour U8 0 23 Hour of the board s build date 11 12 Hardware U16 Any Hardware Code associated with Code Hardware ID 13 Length of U8 Any The length of the Hardware ID L Hardware ID 14 13 L Hardware U8 String Hardware ID string in ASCII ID 132 Copernicus GPS Receiver TRIMBLE STANDARD INTERFACE PROTOCOL TSIP A Command Packet 0x1E Clear Battery Backup then Reset A This packet commands the GPS receiver to clear all battery back up data and to perform a software reset This packet contains one data byte Table A 15 Command Packet 0x1E Byte Item Type Value Definition 0 Reset mode UINT8 0x4B Cold start Erase BBRAM and restart 0x46 Factory reset Erase BBRAM and Flash and restart 0x4D Enter Monitor Mode WARNING All almanac ephemeris current position mode and communication port setup information are reset to the
7. 38 41 a_f0 Single Sec 20 3 3 5 1 2 42 45 a_f1 Single Sec 20 3 3 5 1 2 46 49 Axis Single Sec 20 3 3 5 1 2 50 53 n Single Sec 20 3 3 5 1 2 54 57 OMEGA_n Single Sec 20 3 3 5 1 2 58 61 ODOT_n Single Sec 20 3 3 5 1 2 62 65 t_zc Single Sec 20 3 3 5 1 2 see Note 2 66 67 weeknum INT16 Sec 20 3 3 5 1 2 68 69 wn_oa INT16 Sec 20 3 3 5 1 2 Note All angles are in radians If data is not available t_zc is set to 1 0 Table A 41 Report Packet 0x58 Almanac Health Data Byte Item Type Definition ICD GPS 200 4 week for UINT8 Sec 20 3 3 5 1 3 health 5 36 SV_health UINT8 Sec 20 3 3 5 1 3 37 t_oa for health UINT8 Sec 20 3 3 5 1 3 38 current t_oa UINT8 units seconds 2048 39 40 current week INT16 Table A 42 Byte Item Type Definition IDC GPS 200 4 11 not used 12 15 alpha_0 Single Sec 20 3 3 5 1 9 16 19 alpha_1 Single Sec 20 3 3 5 1 9 20 23 alpha_2 Single Sec 20 3 3 5 1 9 24 27 alpha_3 Single Sec 20 3 3 5 1 9 28 31 beta_0 Single Sec 20 3 3 5 1 9 32 35 beta_1 Single Sec 20 3 3 5 1 9 36 39 beta_2 Single Sec 20 3 3 5 1 9 40 43 beta_3 Single Sec 20 3 3 5 1 9 Table A 43 Byte Item Type Definition IDC GPS 200 4 16 not used 17 24 A0 Double Sec 20 3 3 5 1 8 25 28 A1 Single Sec 20 3 3 5 1 8 29 30 delta_t_LS Integer Sec 20 3 3 5 1 8 31 34 t_ot Single Sec 20 3 3 5 1 8 35 36 WN t Integer Sec 20 3 3 5 1 8
8. 1 Read firmware BIN file and load into a memory buffer See Appendix A for an example function that shows how this is achieved Establish a serial port connection to the target in the TSIP or NMEA mode Communication with the target over its serial port must be established first Change the local host s port settings to match those of the target Refer to the GPS receiver s user manual for details If using TSIP issue a TSIP version request packet 0x1F and wait for the response packet 0x45 The receipt of the packet 0x45 shows that the host port settings and the target port settings match and the host is communicating with the target If the packet 0x45 is not received the host and target port settings are not in agreement If using NMEA issue NMEA version request packet VR and wait for the response The user manual includes the TSIP and NMEA protocol specification The receipt of the response of the packet VR shows that the host port settings and the target port settings match and the host is communicating with the target If the response of the packet VR is not received the host and target port settings are not in agreement In some cases the target may enter the monitor mode automatically when power is applied For example if the previous firmware loading process has not been finished the firmware checksum won t match and the target will automatically start up in the monitor mode In such cases Step 2 will fail
9. 2 2 20 0 0 200000 0 00 02 eee 25 Configure TAIP Output 2 ee 26 Creating a Log sagas weed Ede aR eed bees bade ek oe wee 27 Sending Raw Data to device 2 2 2 2 ee 28 2 PRODUCT DESCRIPTION 2 2 2 0 6 lt lt lt twee eee ee 2 a 31 Key Features ie oe oe A par ee ae E ee ee RO Het Sak 32 Block Diagram 2 ee 33 Specifications i420 e 6 ee ele A a Oe aoe we a eee ee ew ee ew 34 Performance s o aia eed ra Ra a cas od 34 Interface A BE ES ee ee we EE ER BE 34 Electrical sarro e tee a 0 eses a bok eed 35 Physical 34 4 4 40 Shea Be ede eee a ae a ee ewe ee ew a aa 35 Environmental isa g e a Be eee ed ak a oe eh ad ew A 35 MTBE e o ca fadoa a Reba a eh ee eee eae 36 Absolute Minimum and Maximum Limits 000000000 e 37 Normal Operating Conditions 2 2 a 38 Power Consumption Over Temperature and Voltage 20 4 4 39 Run Mode ses pardo a a a aa hee Ee be wae RE 39 ESD Protections s ai a a RR A Sw ea 39 Ordering Information s s s soka aane A a da A ee 40 Copernicus GPS Receiver 1 Table of Contents 2 INTERFACE CHARACTERISTICS o o 41 Pin Assignments ca nara daa ed ea a ed a ae dd wa A 42 Pin Description 2 666 66 dadas ee Oe a ee a e a 43 Detailed Pin Descriptions 2 0 0 000000 eee ee ee 44 Protocols aos ii en bo Oe awh wh eee ee hed ee he ew a 46 Serial Port Default Settings 2 2 2 ee ee 47 GPS Timm e o a se Ee we E
10. 5 Click on the initialized pull down menu and use the download features on the bottom of the pull down to download the almanac position time and ephemeris files on your PC 6 Now that you have collected these files you can upload them using the upload features on the initialize pull down window in TGM Note The collected ephemeris is only good for approximately 2 hours 50 Copernicus GPS Receiver INTERFACE CHARACTERISTICS 3 Enabling A GPS with TSIP 1 Allow the receiver to run long enough to collect a current almanac Note It takes 12 5 minutes of uninterrupted Copernicus operation to collect almanac from the satellites 2 5 Use packet O x 26 to request the health of the receiver The response packets 0x46 and 0x4B indicate when the almanac is complete and current Use packet 0x38 to request the almanac and the ephemeris The receiver responds with packet 0 x 58 Use packet 0 x 21 to request time from the receiver The receiver responds with packet Ox 41 This data can be used to set your own off board clock Use packets 0x42 Ox4A 0x83 Or 0x84 to request a position from the receiver To upload this information back to the receiver follow this procedures in the specified order 1 Upload the time using TSIP packet 0x2E Wait for upload confirmation report packet 0x41 Upload position using TSIP packet 0x31 or 0x32 No confirmation report packet available Upload the ephemeris using TSI
11. Hes 0 MOT i YOLINOW L vrobvlann za wool 80 di HOLINOW gt gt oz Lo g 138 zar dgleg5ds z ond gt que Y azo SEEI BUUB UY pauinbay you V 4 otl Zo s aoueJajo aBeyon q0eq HSW14 N3dO E oer k WOA ZL 1 BO 10 pasn aq sa uns o Kew JOJSISUEN OLVLAWN yBiy pelind oO 99 FNN a o NNY 0 BIH lo HSV1 0 MOT 1008 V 1008 z L sar m VOL 3 seu o hug xny ver urewa gt gt gL eee e L D d94 9904 Toii 7 19M0d XNY zZ YO indino xny MS 13838 Po o zo T y 3 o z al 13838 gt mN _ eer zar LMS 101 Copernicus GPS Receiver 10 COPERNICUS REFERENCE BOARD Reference Board I O and Power Connector The Copernicus GPS reference board power and data I O functions are integrated into a single 8 pin header connector designated J7 The J7 connector uses 0 15 inch 3 8 mm high pins on 0 0787 inch 2 mm spacing See the Copernicus GPS reference board schematics earlier in this chapter Table 10 1 Copernicus Reference Board Pin Description Pin Function Description 1 TXD B Port B transmit CMOS TTL 2 Vcc 3 0 VDC to 3 6 VDC 3 TXD A Port A transmit CMOS TTL 4 VBack 3 0 VDC to 3 3 VDC The STANDBY supply shall be at least 0 3V less than vcc 5 RXD A Port A receive CMOS TTL 6 1 PPS Pulse Per Second CMOS TTL 7 RXD B Port B receive CMOS TTL 8 GND Ground Power and Signal Reference Board Power Requirement The Copernicus GPS reference board requires 3
12. Coil Craft 0603CS R10XJLU surface mount Q2 PNP Transistor Central Semiconductor CMPT404A MMBTA7OLT1 may be used if 12 Volt back voltage tolerance is not required Q3 NPN Transistor Philips MMBT3904 Q4 PNP Transistor Philips MMBT3906 Q5 PNP Transistor Philips MMBT3906 U1 Dual schottky diode Diodes Inc BAT 54 CT DI Switching Diode ON Semiconductor MMBD914LTIG Copernicus GPS Receiver 65 5 APPLICATION CIRCUITS Active Antenna No Antenna Status uIEW A gt EN anpow sromedos uxd 9z AGON LSX gt 03143538 LYOHS N3dO 0343538 NaX WNT MNOOVEO pol 5 wer gt Se988 3L Zo Wi was nro y 19 08p9s 1 Active antenna No Antenna Status Figure 5 4 66 Copernicus GPS Receiver APPLICATION CIRCUITS 5 Following is a description of this schematic without antenna detection or a separate power source for Standby Mode An active Antenna is used The Pin LNA_XEN is not connected There is no HW reset ability through the pin XRESET since XRESET pin is tied High to VCC HW initiated Standby Mode through the Pin XSTANDBY is possible since XSTANDBY pin is not tied High to VCC Serial Command to Standby Mode can still apply as the second method to force the module to Standby Mode There is no separate power for STANDBY power Both serial ports are utilized Antenna open and short detection or protection is not provided If pins 7 and 8 are left floating they will caus
13. 16 19 time of fix Single seconds The time of fix is in GPS time or UTC as selected by the I O timing option byte 2 bit O Packet 0x35 Report Packet 0x45 Software Version Information This packet provides information about the version of software in the Navigation and Signal Processors The GPS receiver sends this packet after power on and in response to Packet 0x1F Table A 29 Report Packet 0x45 Data Formats Byte Item Type 0 Major version number UINT8 1 Minor version number UINT8 2 Month UINT8 3 Day UINT8 4 Year number minus 1900 UINT8 5 Major revision number UINT8 6 Minor revision number UINT8 7 Month UINT8 8 Day UINT8 9 Year number minus 2000 UINT8 The first 5 bytes refer to the Navigation Processor and the second 5 bytes refer to the Signal Processor 142 Copernicus GPS Receiver TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Report Packet 0x46 Health of Receiver This packet provides information about the satellite tracking status and the operational health of the receiver The receiver sends this packet after power on or software initiated resets in response to Packet 0x26 and every second Packet 0x4B is always sent along with this packet Table A 30 Report Packet 0x46 Data Formats Byte Bit Item Type Value Definition 0 Status code UINT8 0x00 Doing position fixes 0x01 Don t have GPS time yet 0x02 Reserved 0x03 PDOP is too high 0x04 The cho
14. 2 2 2 0 0 2 000000 000000045 208 Query for Single Sentence 2 2 ee ee 208 Scheduled Reporting Frequency Interval oaoa 208 The Response to Query or Scheduled Report o oo 208 The Set Qualifier ius ee ak ee eae hee ha Be be ha Pa ae wes 209 Sample Communication Session o ee 209 NMEA 0183 ooo ico Ok ASD ee ee ee 211 OVEIVICW seek tee edie howe hes ae eo ae eb e Rok ee ae a a a 212 The NMEA 0183 Communication Interface 2 2 ee eee 213 NMEA 0183 Message Format oa o es esa 0 000 eee e a 213 Field Definitions o a ss csd 42 44 eee ba Pes pa aa Led basa da de 214 Invalid Command Set aaa ee 215 CHECKSUM a a Me he Bebe oe la OQ Re Ea wee oS es ark Pave 215 Exception Behavior a 216 Power up with No Back up Data on SRAM o o 216 Power up with Back up Data on SRAM oo o o 216 Interruption of GPS Signal o e e 216 General NMEA Parser Requirements e e 217 NMEA 0183 Message Options 2 a 218 NMEA 0183 Message ForMatS a 220 GGA GPS Fix Data ee 220 GLL Geographic Position Latitude Longitude o 221 GSA GPS DOP and Active Satellites o o 221 GSV GPS Satellites in View o e e e o 222 RMC Recommended Minimum Specific GPS Transit Data 223 VTG Track Made Good and Ground Speed o
15. 4 5 El Raw Data Monitor Show Received Data Y Show Sent Data _ Display packet IDs only Copy to Clipboard 10 10 10 10 10 10 10 10 10 10 10 10 10 10 5C SF 46 4B 6D 84 56 41 46 4B 6D 82 SF SG se 5c se sc 1D 48 11 Di D2 3F E4 oo CE 01 02 3F 10 oo oo 08 10 18 20 01 oo 10 o1 E4 F Do 61 10 o1 E4 03 Do 01 0i Di o1 o1 Di oo 03 10 DE 7D 00 04 03 10 41 Do 03 47 DE 38 os 03 47 52 41 42 42 41 41 98 oo Do oo oo oo 48 oo CE Do 80 oo E4 oo 3F Do DA OD oo 00 98 oo 40 oo AF oo EQ oo D4 Do oo 004 oo 00 To view the sent and received data select the Show Sent Data box Copernicus GPS Receiver 29 1 STARTER KIT 30 Copernicus GPS Receiver PRODUCT DESCRIPTION In this chapter Key Features Specifications Interface MTBF Absolute Minimum and Maximum Limits Normal Operating Conditions Power Consumption Over Temperature and Voltage ESD Protection Ordering Information CHAPTER This chapter describes the Copernicus GPS Receiver features and performance specifications Copernicus GPS Receiver 31 2 32 PRODUCT DESCRIPTION Key Features The Copernicus module is a complete 12 channel GPS receiver in a 19mm x 19mm x 2 54mm thumbnail sized shielded unit The small thin single sided module is packaged in tape and reel for pick and place manufactu
16. 4ton 3 Data UINT8 Satellite data 1 Type of data UINT8 2 Sat PRN UINT8 O DU BWN WARNING Loading all satellite data at once sends a lot of bytes to the unit which could overwhelm the unit s serial receive buffer Always wait for the acknowledge packet before sending the next data block Copernicus GPS Receiver 139 A TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Command Packet 0x3A Request Last Raw Measurement This packet requests the most recent raw measurement data for one specified satellite The GPS receiver returns packet Ox5A if data is available Table A 23 Command Packet 0x3C Data Format Byte Item Type Value Definition 0 Satellite UINT8 10 All satellites in the current track set 1 32 Desired satellite Command Packet 0x3C Request Current Satellite Tracking Status This packet requests the current satellite tracking status The GPS receiver returns Packet 0x5C if data is available Table A 24 Command Packet 0x3C Data Format Byte Item Type Value Definition 0 Satellite UINT8 10 All satellites in the current track set 1 32 Desired satellite Report Packet 0x41 GPS Time This packet provides the current GPS time of week and the week number The GPS receiver sends this packet in response to Packet 0x21 and during an automatic packets update cycle The data format is shown below Table A 25 Report Packet
17. C Vibration 0 008 g2 Hz 5 Hz to 20 Hz 0 05 g Hz 20 Hz to 100 Hz 3 dB octave 100 Hz to 900 Hz Operating Humidity 5 to 95 R H non condensing at 60 C Copernicus GPS Receiver 35 2 PRODUCT DESCRIPTION MTBF The Mean Time Between Failures MTBF of the GPS receiver module was calculated based on parts count serial reliability using Telecordia Analysis and Industry field data for the PCB and Trimble Navigation s field return data i e similar product or technology parts This is generally referred to as the Trimble Navigation Reliability Database and it consists of the following components Repair Center Data and Field Assessment Analysis Supplier FIT goals collected through Commodities Engineering Commercial Databases i e Telecordia and MIL STD 217 Trirnble Navigation s Internal Qualification Test Data Assumed Duty Cycle 8760 hours per year MTBF at Rated Duty Cycle 819050 hours MTBF 36 Copernicus GPS Receiver Absolute Minimum and Maximum Limits Absolute maximum ratings indicate conditions beyond which permanent damage to the device may occur Electrical specifications shall not apply when operating the device outside its rated operating conditions PRODUCT DESCRIPTION 2 Parameter Min Max Unit Power Supply Power Supply Voltage VCC on 0 3 3 6 V Pin 12 STANDBY Voltage VCC on Pin 0 3 3 6 V 12 Antenna Input Power at RF Input 10 dBm Input Gain at
18. FlashLoader Tool Reference Guide Introduction Flash Loader is a tool for Microsoft Windows that loads firmware into the Flash chip of the GPS receiver This tool is used to upload new firmware into the Copernicus GPS Receiver mounted on the Reference Board installed in the Copernicus Starter Kit The source code of the tool is documented to provide an example of how to develop a custom application to perform firmware updates It shows how to use the Monitor protocol to implement the firmware loading procedure see Firmware Loading Procedure page 107 It can be used for example to develop a program to update firmware remotely over a network connection FlashLoader has been created using the Microsoft Visual C v6 0 development environment It uses the MFC framework to implement the graphical user interface While the compiled executable of the tool is provided together with the source code Microsoft Visual C v6 0 or NET is required to re compile the source files and generate a fresh executable if desired File and Folder Structure The FlashLoader tool directory contains the following 3 sub directories e bin contains the FlashLoader binary executable file e mak contains the project files for Microsoft Visual C v6 0 and NET development environments e src contains the C source and header files Source Code Reference All source code files referenced in this section are located in the src directory of the FlashLoa
19. For the recommended pin connections for these reserved pins see Table 3 1 Protocols Table 3 3 Copernicus GPS Receiver Available protocols Protocols Specification Direction Serial Port Support NMEA NMEA 0183 v3 0 Bi Input Output Both Serial Ports directional with extended NMEA sentences TSIP Trimble Trimble propriety binary Input Output Both Serial Ports Standard Interface protocol Protocol TAIP Trimble ASCII Trimble propriety ASCII Input Output Both Serial Ports Interface Protocol protocol 46 Copernicus GPS Receiver Serial Port Default Settings The Copernicus GPS Receiver supports two serial ports The default settings are provided in the table below INTERFACE CHARACTERISTICS 3 Table 3 4 Copernicus GPS Receiver Serial Port Default Settings Port Port Pin Protocol Characteristics Direction Baud Rate Data Bits Parity Stop Bits Flow Control A TXD A 23 TSIP Out 38 4 K 8 None 1 NO RXD A 21 TSIP IN 38 4 K 8 None 1 NO B TXD B 24 NMEA Out 4800 None 1 NO RXD B 20 NMEA IN 4800 8 None 1 NO Note Data Bits Parity Stop Bits and Flow Control are not configurable Only Protocol and Baud rates are configurable Detailed descriptions of these protocols are defined in the Appendices Copernicus GPS Receiver 47 3 INTERFACE CHARACTERISTICS GPS Timing In many timing applications such as time frequency standards
20. Retain the integer 23 portion as the minutes then multiply the decimal fraction by 60 to convert to seconds 0 6628 x 60 39 768 seconds Since the sign of the latitude in this example is positive the result is Latitude N 37 23 39 77 The longitude is converted in the same fashion Longitude W 122 02 18 46 Note At the earth s equator one degree of latitude and longitude represents 68 7 miles therefore 0 00001 degrees represents approximately 3 6 feet or 1 1 meters Each second represents approximately 100 76 ft 30 7 m Copernicus GPS Receiver 191 B TRIMBLE ASCII INTERFACE PROTOCOL TAIP Message Data Strings The following table lists all the TAIP messages currently defined and comments regarding their application The data string format of each message is described in the following pages Identifie Message Format Frequency Query Response Set r and Distance Report AL Altitude Vertical Velocity X Xx Xx Xx AP Auxiliary Port n a n a n a n a Characteristic cP Compact Position Solution X X X X DC Differential Corrections n a n a n a n a ID Vehicle ID X X Xx Xx IP Initial Position Xx Xx Xx Xx LN Long Navigation Message X x x PR Protocol Xx Xx Xx PT Port Characteristic Xx Xx Xx Xx PV Position Velocity Solution X x X x RM Reporting Mode Xx Xx Xx Xx RT Reset X ST Status X X X TM Time Date X X X VR Version Number X Xx Xx Xx Note T
21. Software Architecture The Flash memory chip of the GPS receiver is divided into several functional sections The Boot ROM section is loaded during production and cannot be changed or erased without special packets with password protection The User Data section is maintained by the application The Copernicus GPS Receiver Firmware section holds the main software application and can be erased and loaded with a newer version through the GPS receiver s serial port Table 11 1 Functional Software Components and Memory Map Word Address Software Component Section 0x3FC000 Ox3FFFFF Boot ROM 0x3F8000 Ox3FBFFF lt reserved gt 0x3E0000 0x3F7FFF User Data 0x360000 0x3DFFFF Copernicus GPS Firmware 0x300000 0x35FFFF lt reserved gt Boot Monitor The boot monitor module is a part of the Boot ROM section It provides facilities to perform checksum verification and RAM tests and to read write data from to a specified location in RAM or Flash thus allowing the user to update the firmware The GPS receiver will enter the boot monitor mode if either of the following conditions occurs e Application firmware checksum verification failed at power up e RAM test failed at power up e A special protocol packet is issued by the user Once the system is in the monitor mode a special Monitor protocol is used to communicate with the Copernicus GPS Receiver here after referred as the Target The necessa
22. TSIP Trimble Datum Local Geodetic Datum Index Name Code 1 Tokyo 21 Ain El Abd 1970 Bahrain Island AIN A 51 Djakarta Batavia Sumatra Indonesia BAT 71 Hong Kong 1963 Hong Kong HKD 72 Indian 1975 Thailand INH A 73 Indian India and Nepal IND I 77 Kandawala Sri Lanka KAN 79 Kertau 1948 West Malaysia and Singapore KEA 91 Nahrwan Masirah Island Oman NAH A 92 Nahrwan United Arab Emirates NAH B 93 Nahrwan Saudi Arabia NAH C 124 Oman Oman FAH 143 Quatar National Qatar QAT 161 South Asia Singapore SOA 164 Timbalai 1948 Brunei and East Malaysia Sarawak and Sabah TIL 165 Tokyo Mean Solution Japan Okinawa and South Korea TOY M 166 Tokyo South Korea TOY B 167 Tokyo Okinawa TOY C 176 Hu Tzu Shan Taiwan HTN 179 Tokyo GIS Coordinates TOY B Trimble Datum Local Geodetic Datum Index Name Code 5 Australian Geodetic 1966 Australia and Tasmania AUA 14 Australian Geodetic 1984 Australia and Tasmania AUG 39 Australian Geodetic 1966 Australia and Tasmania AUA Trimble Datum Local Geodetic Datum Index Name Code 4 European 1950 Mean Solution EUR M 13 European 1950 Mean Solution EUR M 54 European 1950 Mean Solution EUR M 55 European 1950 Cyprus EUR E 56 European 1950 Egypt EUR F 57 European 1950 England Ireland Scotland Shetland Islands EUR G 58 European 1950 England Ireland Scotland Shetland Islands EUR K 59 Eur
23. The Trimble Standard Interface Protocol is used extensively in Trimble receiver designs The protocol was originally created for the Trimble Advanced Navigation Sensor TANS and is colloquially known as the TANS protocol even though the protocol applies to many other devices The Lassen IQ GPS Receiver has two serial I O communications ports These are bi directional control and data ports The data I O port characteristics protocol definitions and other options are user programmable and can be stored in non volatile FLASH memory The TSIP protocol is based on the transmission of packets of information between the user equipment and the unit Each packet includes an identification code 1 byte representing 2 hexadecimal digits that identifies the meaning and format of the data that follows Each packet begins and ends with control characters This document describes in detail the format of the transmitted data the packet identification codes and all available information over the output channel to allow the user to choose the data required for his particular application As will be discussed the receiver transmits some of the information position and velocity solutions etc automatically when it is available while other information is transmitted only on request Additional packets may be defined for particular products and these will be covered in the specifications for those products as necessary The Copernicus Monitor included i
24. Units Format Value Baud Rate 4 n a AAAA 4800 4800 bps 9600 9600 bps 1920 19200 bps 3840 38400 bps 5760 57600 bps 1152 115200 bps of data bits 1 n a B of stop bits 1 n a C 1 Parity 1 n a D N None Total number of characters is 10 includes commas Most TAIP using receivers use the following default port characteristics e 4800 baud e 8 data bits e 1 stop bit e No parity Note The characteristics set by this message will be stored in the receiver s battery backed ram The Lassen iQ receiver family of receivers do not include an internal battery but provide a battery back up input line that may be used to retain memory when main power is removed If you do not use battery back up all port characteristics will reset to either the default settings after power is removed or to the settings previously stored in Flash The PT command uses commas between data fields Copernicus GPS Receiver 199 TRIMBLE ASCII INTERFACE PROTOCOL TAIP PV Position Velocity Solution 200 Note The first character of latitude or longitude S is or Data String Format AAAAA S BBCCCCC S DDDEEEEEFFFGGGHI Item of Char Units Format Value GPS Time of Day 5 Sec AAAAA Latitude 8 Deg S BBCCCCC BB degrees CCCC decimal degrees Longitude 8 Deg S DDDEEEEE DDD degrees EEEE decimal degrees Speed 3 MPH FFF Heading 3 Deg GGG Fix Mo
25. e a Display adapters Intel R 828656 Graphics Controller LogMeIn Mirror Driver NVIDIA GeForce FX 5200 DVD CD ROM drives 4 2 Floppy disk controllers 2 IDE ATAJATAPI controllers 38 Imaging devices ae Keyboards 15 Mice and other pointing devices F Microsoft Serial BallPoint 15 P5 2 Compatible Mouse E Modems J Monitors Network adapters Ports COM amp LPT Communications Port COM1 Y ECP Printer Port LPT1 aF USB Serial Port COMS 4 USB Serial Port COM6 RR Processors 5 Open the Ports Com amp LPT section and note down the two USB Serial Port COM numbers In the example above they are COMS and COME In general Port A of the GPS device will be on the lower COM number and Port B will be on the higher Copernicus GPS Receiver 19 1 STARTER KIT Start the TGM Application 1 Goto the directory in which the Trimble GPS Monitor application is stored and open the application The main window displays E Trimble GPS Monitor os aed TE Ti ee Se ee esc Ec eee a a ll al EP als Elsa e 1 ee a e E a A A E a E Jn E ea ES El 20 Copernicus GPS Receiver Connect to the GPS Receiver l Select Initialize gt Detect Receiver Trimble GPS Monitor File POLES View Configure Tools Window Help Connect Detect Receiver Cold Reset Ctrl C Warm Reset Ctrl w Hot Reset Ctrl H Semi Hot Reset Semi Warm Reset Factory Reset Initialize Rece
26. 0 VDC to 3 6 VDC The receiver power is supplied through pin 2 of the I O connector The Copernicus GPS reference board also provides an input for back up power used when Copernicus is put in Standby mode and prime power is turned off Back up power is used to keep the Copernicus RAM memory alive and to power the real time clock RAM memory is used to store the GPS almanac ephemeris last position and user configuration data including port parameters 102 Copernicus GPS Receiver Reference Board Jumper Table Table 10 2 COPERNICUS REFERENCE BOARD Copernicus Reference Board Jumper Table 10 Reference Designator Name Description J1 RF Input MCX Jack Female Connector 50 Ohms unbalanced J4 Sw1 XRESET Reset Switch Normal Operation Jumper in place connects XRESET to VCC Reset Operation Removing the Jumper and asserting pin 2 of J4 low for greater than 100 usec resets the unit Switch SW1 can also reset the unit Please see below Press the button resets the unit J5 VCC Normal Operation Jumper in place Applies VCC to unit Test Mode Jumper may be removed and ampere meter may be inserted for current measurement J6 Vback Normal Operation Jumper in place Applies VBack to unit The user can use VCC as the STANDBY Supply J7 8 Pin Header See Table 10 for Reference Board pin Description J8 PPS Normal Operation Jumper in place It outputs PPS
27. 0773 119 641 0146 3 701 0 079 2 009 SECTION A A Figure 8 3 Tape Diagram eulyo Ul SpelN 60 059 Lol S0mm 01 0 001 TYP 0157 4 0001 Pi Q071 11 80mm2 10m 20 079 192 000 MINI 0 059 11 50m TYP A csoclacascaslaca 900 4 1118 28 40002 10m 1 1 260 L32 00mmt 3mm 0 773 UJ dnm 0 008 LO20mm t 05mm 0 789 L20 05mm 0 858 L21 80mm PROFS LRO 7Smm Feeding direction ROUND HOLE YEZ L LOSO N S 0 00 6 6cS 9 quIuL E veziu osons A 0 00 6262 Figure 8 4 86 Copernicus GPS Receiver vez 1050 NS 1050 us CO A 00082629 Gr Lec AQUI AUS AUS UL 11050 NS vez 1050 NS sez CO VE 00 56 Feeding direction Feeding Direction Diagram CHAPTER SHIPPING and HANDLING In this chapter This chapter provides detailed guidelines for Shipping and Handling shipping and handling the Copernicus GPS Guidelines Receiver to ensure compliance with the product 3 a watranty m Moisture Precondition m Baking Procedure m Soldering Paste m Solder Reflow Recommended Soldering Profile m Optical Inspection m Cleaning m Soldering Guidelines m Rework m Conformal Coating Grounding the Metal Shield Copernicus GPS Receiver 87 9 SHIPPING and HANDLING Shipping and Handling Guidelines Handling The Copernicus GPS module is shipped in tape and reel for use with an automated surface mount machine This is a lead free module with silver plating Do not allow bodily fluids or
28. 0x82 SBAS fix mode See command OxBB to enable disable SBAS Copernicus GPS Receiver 123 A TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Timing Packets If you are using the Lassen IQ GPS Receiver as a timing reference you may need to implement the following TSIP control commands Table A 5 Timing Packets Input ID Description Output ID 0x21 get the current GPS time 0x41 0x38 05 request UTC parameters 0x58 05 Satellite Data Packets The following packets contain a variety of GPS satellite data Table A 6 Satellite Data Packets Input ID Description Output ID 0x27 request signal levels 0x47 0x38 request load satellite system data 0x58 0x3C request tracking status 0x5C Backwards Compatibility to Lassen iQ The following General Packets and Differences between TSIP Used in Lassen 1Q SQ and Copernicus GPS Receiver e 0x41 0x46 0x4B automatic packets are output every 1 second instead of every 5 seconds e DGPS is not supported in the Copernicus GPS Receiver Thus the following packets are not supported 0x60 0x61 0x65 0x85 e 0x69 0x89 not available The Lassen IQ GPS Receiver is a high sensitivity receiver e 0x70 packet is not supported in the Copernicus GPS Receiver The Copernicus GPS Receiver supports only Kalman Filter and it can not be turned off No PV filter is available in Copernicus Module e Packet 0xC0 Graceful Shutdown and Go To Stan
29. 0x8F 20 is scheduled for auto output Table A 60 Command Packet Ox8E 20 Field Descriptions Byte Item Type _ Definition 0 Sub packet id UINT8 0x20 1 Mark for Auto report See Packet UINT8 0 do not auto 35 byte 0 bit 5 report 1 mark for auto report Note Auto report requires that superpacket output is enabled Refer to Command Packet 35 Command Packet 0x8E 26 Non Volatile Memory Storage The 0x8E 26 command is issued with no data to cause the current settings to be saved to non volatile memory The 0x8F 26 report is generated after the values have been saved Table A 61 Command Packet 0x8E 26 Definitions Byte Item Type Value Definition 0 Subcode UINT8 0x26 Save Settings Command Packet 0x8E 2A Request Fix and Channel Tracking Info Type 1 This packet requests Packet Ox8F 2A or marks it for automatic output If only the first byte packet sub code 0x2A is sent an Ox8F 2A report containing the last available data will be sent immediately If two bytes are sent the packet is marked unmarked for auto report according to the value of the second byte as shown in below To retain the auto report setting for this packet first set the setting accordingly and then save to non volatile memory by issuing the packet Ox8E 26 Table A 62 Command Packet 0x8E 2A Byte Item Type Value Definition 0 Packet sub code UINT8 0x2A Packet sub code 1 Mark for Auto
30. 10 East West zones in 8 increments extending above and below the equator Coordinates within these boundaries cover all surface locations from 80 South to 84 North and encircle the earth Locations are indicated by offset from the equator and in the zones east of the International Date Line These offsets are known as Northing and Easting and are expressed in meters UTM is not usable in polar regions Table A 68 Report Packet 8F 18 Byte Item Type Value 0 Subcode 0x17 1 Gridzone Designation Char 2 3 Gridzone INT16 4 7 Northing Double Meters 8 11 Easting Double Meters 12 15 Altitude Double Meters 16 19 Clock Bias Double Meters 20 23 Time of Fix Single Seconds Copernicus GPS Receiver 171 A TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Report Packet 0x8F 20 Last Fix with Extra Information binary fixed point This packet provides complete information about the current position velocity fix in a compact fixed length 56 byte packet The fields are fixed point with precision matched to the receiver accuracy It can be used for automatic position velocity reports The latest fix can also be requested by 0x8E 20 or 0x37 commands The data format is shown below Table A 69 Report Packet 0x8F 20 Data Formats Byte Bit Item Type Value Definition 0 Sub packet id UINT8 Id for this sub packet always 0x20 1 Reserved UINT8 Re
31. 11llll a yyyyy yyyyy a x x hh lt CR gt lt LF gt Table C 24 Set Initial Position Field Description a Mode S set R Response X X GPS week number maximum 4 digits X X GPS time of week in milliseconds HINN Latitude a N S yyyyy yyyyy Longitude a E W X X Altitude from the sea level in meters maximum 5 digits Note When uploading a position it should be within 100 Km of the actual position and time within 5 minutes of UTC Copernicus GPS Receiver 231 C NMEA 0183 NM Automatic Message Output This sentence may be issued by the user to configure automatic message output The Query sentence format is SPTNLONM hh lt CR gt lt LF gt The Response to query sentence or Set sentence format is SPTNLaNM hhhh xx hh lt CR gt lt LF gt Table C 25 Automatic Message Output Field Description a Mode Q query S set R Response hhhh Bit 0 GGA Bit 1 GLL Bit 2 VTG Bit 3 GSV Bit 4 GSA Bit 5 ZDA Bit 8 RMC Bit 9 TF Bit 13 BA XX Automatic Report Interval 1 99 Examples GGA Only 0001 GLL Only0002 VTG Only0004 GSV Only0008 GSA Only0010 ZDA Only0020 RMC Only0100 TF Only0200 BA Only2000 GGA and GLL0003 GGA and TF0201 RMC and TF0300 GGA GLL and TF0203 232 Copernicus GPS Receiver PS PPS Configuration This sentence can query or set PPS configuration data SPTNLaPS b xX X 6 X x hh lt CR gt l
32. 5 Extended GPS week number INT16 Weeks Command Packet 0x31 Accurate Initial Position XYZ ECEF This packet is identical in content to Packet 0x23 This packet provides an initial position to the GPS receiver in XYZ coordinates However the GPS receiver assumes the position provided in this packet to be accurate This packet is used for satellite acquisition aiding in systems where another source of position is available For acquisition aiding the position provided by the user to the GPS receiver in this packet should be accurate to a few kilometers For high accuracy time transfer position should be accurate to a few meters Table A 19 Command Packet 0x31 Data Format Byte Item Type Units 0 3 X axis Single Meters 4 7 Y axis Single Meters 8 11 Z axis Single Meters Copernicus GPS Receiver 135 A TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Command Packet 0x32 Accurate Initial Position Latitude Longitude Altitude This packet is identical in content to Packet 0x2B This packet provides the GPS receiver with an accurate initial position in latitude longitude and altitude coordinates However the GPS receiver assumes the position provided in this packet to be accurate This packet is used for satellite acquisition aiding in systems where another source of position is available For acquisition aiding the position provided by the user to the GPS receiver in this packet should be
33. 64 Active Antenna No Antenna Status o 66 RF LAYOUT CONSIDERATIONS o o lt o 69 General Recommendations 2 0 0 0 a 70 Design considerations for RF Track Topologies o o o 72 PCB Considerations ecs 44 be u o a eee ee ee we ee ee ww ee 73 Microstrip Transmission Lines o ee ee 73 Stripline Transmission Lines o ee ee 75 Copernicus GPS Receiver 10 Table of Contents MECHANICAL SPECIFICATIONS lt lt 77 Mechanical Outline DraWidg e 78 Soldering the Copernicus GPS ReceivertoaPCB o o o o 79 Solder m sk sus o ad So bade a aa aa a a Bed 79 Pad Patterson bee ee ee a e 80 Paste Mask od o a ee a ee be a eae se A e 81 PACKAGING 6445 6444 he bch Oke ON Oe eS ww ROG Be 83 IntrOduchons s eck ae a Sat ko ea DR hale he BH ee Gus we te dew a ee ed 84 Reels po hae Re eee he ee eee he a e dee etd eh ee 85 Weilcht sins sac ad abd eS ode ed oa back d Bes bat ce ede old 85 LAP S so a A RE OG we EE BE AA Bi Bae RA 86 SHIPPING and HANDLING 87 Shipping and Handling Guidelines o ee e o 88 Handling ses ok ea Bebe dia adas a oh ee Soe oy 88 SHIPMEME 2er gio ee Begs dy oko howe AA epee A how ae ate Ae 88 SIAP aie oho Gah aed gabe Eek be bee Bele we Ma na 88 Moisture Indicator lt s a eos esasa auey auena E e E E L a 88 Ploor Liten a Saad oe a
34. 9 SHIPPING and HANDLING Cleaning When the Copernicus GPS module is attached to the user board a cleaning process voids the warranty Please use a no clean process to eliminate the cleaning process The silver plated Copernicus GPS module may discolor with cleaning agent or chlorinated faucet water Any other form of cleaning solder residual may cause permanent damage and will void the warranty Soldering Guidelines Repeated Reflow Soldering The Copernicus GPS lead free silver plated module can withstand two reflow solder processes If the unit must mount on the first side for surface mount reflow add glue on the bottom of the module to prevent falling off when processing the second side Wave Soldering The Copernicus GPS module cannot soak in the solder pot If the carrier board is mixed with through hole components and surface mount devices it can be processed with one single lead free wave process The temperature of the unit will depend on the size and the thickness of the board Measure the temperature on the module to ensure that it remains under 180 C Hand Soldering For the lead free Copernicus GPS module use a lead free solder core such as Kester 275 Sn96 5 Ag3 Cu0 5 When soldering the module by hand keep the soldering iron below 260 C Rework The Copernicus GPS module can withstand one rework cycle The module can heat up to the reflow temperature to precede the rework Never remove the metal shield and
35. Command Packet 0x37 Request Status and Values of Last Position and Velocity This packet requests information regarding the last position fix and should only be used when the receiver is not automatically outputting positions The GPS receiver returns Report Packet 0x57 followed by the position velocity packets specified in Command Packet 0x35 Command Packet 0x38 Request Load Satellite System Data A This packet requests current satellite data almanac ephemeris etc or permits loading initialization data from an external source for example by extracting initialization data from an operating GPS receiver unit via a data logger or computer and then using that data to initialize a second GPS receiver unit The GPS receiver returns Packet 0x58 Note that the GPS receiver can initialize itself without any data from the user it merely requires more time To request data without loading data use only bytes 0 through 2 to load data use all bytes Before loading data observe the caution notice below The data formats are located in Report Packet 0x58 Table A 22 Command Packet 0x38 Data Formats Byte Item Type Value Definition 0 Operation UINT8 1 Request data from Lassen IQ 2 GPS Receiver Load data into Lassen IQ GPS Receiver Almanac Health page T_oa WN_oa lonosphere UTC Ephemeris Data that is not satellite ID 32 specific Satellite PRN number 3 Length n UINT8 Number of bytes of data to be loaded
36. E Meaning Not used Not used Value F Meaning 0 No problems reported 2 RTC not available at power up see Note below 8 Stored almanac not complete and current A RTC not available stored almanac not complete and current Value GG Meaning Not used Reserved Note After the status is detected this bit remains set until the receiver is reset Copernicus GPS Receiver TRIMBLE ASCII INTERFACE PROTOCOL TAIP B TM Time Date Data String Format AABBCCDDDEEFFGGGGHHIJIKLLLLL Item of Char Units Format Value Hours 2 Hour AA Minutes 2 Min BB Seconds 5 Sec CC DDD Date Day 2 Day EE Date Month 2 Month FF Date Year 4 Year GGGG GPS UTC Time 2 Sec HH Offset Fix Mode 1 n a f 0 2D GPS 1 3D GPS 2 8 reserved 9 no fix avail Number of 2 n a JJ usable satellites GPS UTC Offset 1 n a K 1 valid flag 0 invalid Reserved 5 n a LLLLL Total number of characters is 28 This message outputs the time and date as computed by the GPS receiver The time is most accurate when the unit is doing fixes It is less accurate but still usable when the unit is not doing fixes but the Number of Usable SVs is one or more If the GPS UTC offset is available the time will be in UTC If not the time will be in GPS Note GPS UTC Time Offset is the difference between GPS and UTC time standards in seconds The UTC time of Day is only valid if the GPS UTC
37. Negative Ox8E 17 0x8E 18 Set Request UTM output are supported in Copernicus GPS Receiver The new packet 0x1C has been added to the Copernicus GPS Receiver Lassen iQ FW v1 16 also supports this packet Copernicus GPS Receiver 125 A TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Recommended TSIP Packets Table A 7 Recommended TSIP Packets Function Description Input Output Protocol and port setup set query port configuration OxBC OxBC set query NMEA configuration Ox7A 0x7B set query I O options autoreport and 0x35 0x55 format options Navigation GPS time 0x21 0x41 position amp velocity superpacket Ox8E 20 or Ox8F 20 0x37 or auto double precision LLA 0x37 auto 0x84 double precision XYZ ECEF 0x37 auto 0x83 ENU velocity 0x37 auto 0x56 XYZ ECEF velocity Ox37 auto 0x43 Satellite and tracking query receiver state health 0x26 0x46 information 0x4B query current satellite selection 0x24 0x6D query signal levels 0x27 0x47 query satellite information azimuth 0x3C Ox5C elevation etc Receiver settings query software version 0x1C 0x1C 81 query receiver ID amp error status 0x26 Ox4B 0x46 set query receiver configuration OxBB OxBB GPS System query load GPS system data 0x38 0x58 Initialization full reset clear battery backup and or Ox1E non volatile settings soft reset 0x25 set GPS time Ox2E Ox4E set approx LLA 0x2B set approx XYZ ECEF 0x2
38. OMEGA_0 Double Sec 20 3 3 4 99 102 C_is Single Sec 20 3 3 4 radians 103 110 0 Double Sec 20 3 3 4 111 114 Cre Single Sec 20 3 3 4 115 122 omega Double Sec 20 3 3 4 123 126 OMEGADOT Single Sec 20 3 3 4 127 130 IDOT Single Sec 20 3 3 4 131 138 Axis Double sqrt_A 2 Copernicus GPS Receiver 151 A TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Table A 44 continued Byte Item Type Definition IDC GPS 200 139 146 n Double derived from delta_n 147 154 rime2 Double sqrt 1 0 e2 155 162 OMEGA_n Double derived from OMEGA_0 OMEGADOT 163 170 ODOT_n Double derived from OMEGADOT Report Packet 0x5A Raw Measurement Data This packet provides raw GPS measurement data If the I O Auxiliary options has been selected the receive sends this data automatically as measurements are taken The data format is shows in the table below Table A 45 Report Packet 0x5A Data Formats Byte Item Type Units 0 Satellite PRN number UINT8 1 3 reserved 4 Integermsecofpseudo UINT8 msec range If Bit 7 1 pseudo range is out of bounds l5 Signallevel Singe AMUordBHz 9 Code phase Single 1 16th chip 13 Doppler Single hertz 17 Time of Measurement Double sec Note Packet Ox5A provides the raw satellite signal measurement information used in computing a fix Satellite PRN Byte 0 is a unique identification number for each
39. PCB Substrate in Microstrip Topology Substrate Material Permittivity Substrate Thickness Track Width H mm W MM 1 6 2 91 1 2 2 12 1 0 1 81 FR4 4 6 0 8 1 44 0 6 1 07 0 4 0 71 0 2 0 34 Microstrip Design Recommendations It is recommended that the antenna connection PCB track be routed around the outside of the module outline kept on a single layer and have no bends greater than 45 degrees It is not recommended for production reasons to route the track under the module 74 Copernicus GPS Receiver RF LAYOUT CONSIDERATIONS 6 Stripline Transmission Lines Figure 6 3 Stripline Transmission Lines Ground plane design in stripline topology e The stripline topology requires three PCB layers two for ground planes and one for signal One of the ground plane layers may be the layer to which the Copernicus GPS module is mounted If this is the case e The top layer must be flooded with ground plane and connected to all ground castellations on the Copernicus GPS module e The RF input should be connected to the signal layer below using a via e The layer below the signal layer is the second ground plane e Connect the two ground planes with vias typically adjacent to the signal trace e Other signals of the Copernicus GPS module may be routed to additional layer using vias For the symmetric stripline topology where the signal trace is equal distance from each ground plane the follow
40. Packet 0x2E Set GPS Time o o 135 Command Packet 0x31 Accurate Initial Position XYZ ECEF 135 Command Packet 0x32 Accurate Initial Position Latitude Longitude Altitude o 2 2 2 0 02000084 136 Command Packet 0x35 Set Request VO Options 136 Command Packet 0x37 Request Status and Values of Last Position and Velocity 139 Command Packet 0x38 Request Load Satellite System Data 139 Command Packet 0x3A Request Last Raw Measurement 140 Command Packet 0x3C Request Current Satellite Tracking Status 140 Report Packet 0x41 GPS Time e e 140 Report Packet 0x42 Single Precision Position Fix XYZ ECEF 141 Report Packet 0x43 Velocity Fix XYZ ECEF 142 Report Packet 0x45 Software Version Information 142 Report Packet 0x46 Health of Receiver o o o 143 Report Packet 0x47 Signal Levels for all Satellites 144 Report Packet 0x4A Single Precision LLA Position Fix 145 Report Packet 0x4B Machine Code ID and Additional Status 146 Report Packet 0x4D Oscillator Offset 0 0 o o 146 Report Packet Ox4E Response to Set GPS Time o o 147 Report Packet 0x55 I O Options o o e 00000000 147 Report Packet 0x56 Velocity Fix East North U
41. Power Up 2 2 a 123 Timing Packets o peoe ae oy ge ako wh we Elena Pa ae eG ae eee 124 Satellite Data PacketS o ee 124 Backwards Compatibility to Lassen iQ o ee 124 Recommended TSIP Packets o o a 126 Command Packets Sent to the Receiver o o e e e 127 Report Packets Sent by the Receiver to the User o o 128 Key Setup Parameters or Packet BB 0 o e e 129 Dynamics Codes iste e a a eee a 129 Elevation Mask a 130 Packet Descriptions a s s o s soc s Gok a ee ee ee a 131 Packet Descriptions Used in Run Mode o o 131 Command Packet 0x1E Clear Battery Backup then Reset 133 Command Packet Ox1F Request Software Versions 133 Command Packet 0x21 Request Current Time o o 133 Command Packet 0x23 Initial Position XYZ ECEP 133 Command Packet 0x24 Request GPS Receiver Position Fix Mode 134 Command Packet 0x25 Initiate Soft Reset amp Self Test 134 4 Copernicus GPS Receiver Table of Contents Command Packet 0x26 Request Health o 134 Command Packet 0x27 Request Signal Levels 134 Command Packet 0x2B Initial Position Latitude Longitude Altitude 134 Command Packet 0x2D Request Oscillator Offset 135 Command
42. RF Input 0 passive 36 dB antenna Note See Copernicus Standby Current page 55 for information on the standby current Input Output Pin Threshold Levels Input Pin Voltage RXD A RXD B Open Short Reserved Pins Xreset Xstandby Status Min Max Unit High 2 0 3 6 V Low 0 0 8 V Output Pin Voltage TXD A TXD B LNA_XEN Status Min Max Unit High loh 1 mA 0 8 VCC VCC V Low lol 1 mA 0 0 22 VCC V Copernicus GPS Receiver 37 2 PRODUCT DESCRIPTION Normal Operating Conditions Minimum and maximum limits apply over full operating temperature range unless otherwise noted Parameter Conditions Min Typ Max Unit Primary Supply Voltage The rise time to VCC MUST 2 7 3 3 V be greater than 140 secs Current Draw Max 85 C 3 3 V 23 9 34 8 38 3 mA Continuous Tracking Min 40 C 2 7V Typ 25 C 3 0 V Power Consumption Max 85 C 3 3 V 79 93 9 115 mW Continuous Tracking Min 40 C 2 7V Typ 25 C 3 0 V Power Consumption 50 mA Absolute Maximum 165 mW Current Draw Max 85 C 7 1 8 5 60 uA Standby Mode Min 40 C Typ 25 C 3 0 V Current Draw Standby 30 mA Mode RTC Service Please see section Serial Port Activity Supply Ripple Noise 1Hz to 1MHz 50 mVpp GPS TCXO 1 mVpp Frequency 5kHz Hardware RESET Assert XRESET pin to clear 100 us STANDBY memory The rise time to VCC MUST be greater than 140 u
43. Revision B of the Copernicus GPS Receiver System Designer Reference Manual part number 58052 00 The following limited warranties give you specific legal rights You may have others which vary from state jurisdiction to state jurisdiction Waste Electrical and Electronic Equipment WEEE Notice This Trimble product is furnished on an OEM basis By incorporating this Trimble product with your finished goods product s you shall be deemed the producer of all such products under any laws regulations or other statutory scheme providing for the marking collection recycling and or disposal of electrical and electronic equipment collectively WEEE Regulations in any jurisdiction whatsoever such as for example national laws implementing EC Directive 2002 96 on waste electrical and electronic equipment as amended and shall be solely responsible for complying with all such applicable WEEE Regulations Restriction on Hazardous Substances As of July 1 2006 the Product is compliant in all material respects with DIRECTIVE 2002 95 EC OF THE EUROPEAN PARLIAMENT AND OF THE COUNCIL of 27 January 2003 on the restriction of the use of certain hazardous substances in electrical and electronic equipment RoHS Directive and Amendment 2005 618 EC filed under C 2005 3143 with exemptions for lead in solder pursuant to Paragraph 7 of the Annex to the RoHS Directive applied The foregoing is limited to Product placed on the market i
44. Sub code U8 0x01 Sub code 0x01 for software component version information request Table A 12 Report Packet 0x1C 81 Byte Item Type Value Definition 0 Packet ID U8 0x1C Packet ID 0x1C 1 Sub code U8 0x81 Sub code 0x81 for software component version information report 2 Reserved U8 Any Reserved 3 Major 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 module name name L1 11 10 L1 Product name U8 String Product name in ASCII Copernicus GPS Receiver 131 A TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Command Packet 0x1C 03 Hardware Component Version Information The packet format is defined below The command packet 0x1C 03 may be issued to obtain the hardware component version information The report packet is of variable length depending on the length of the hardware ID The serial number build date fields and the hardware ID are programmed into the Copernicus GPS at production The hardware code for Copernicus GPS Receiver is 1002 ID for Copernicus GPS Receiver is COPERNICUS GPS RECEIVER Table A 13 Command Packet 0x1C 03 Byte Item Type Value Definition 0 Packet ID U8 0x1C Packet ID 0x1C 1 Sub code U8 0x03 Sub code 0x03 for hardware
45. The RoHS compliant lead free Copernicus GPS Starter Kit includes the following e Interface unit with reference board and Copernicus GPS receiver e AC DC power supply converter e Universal power adapters for the major standard wall outlets e Magnetic mount GPS antenna 3 3 V MCX connector 5 meter cable e USB cable e Cigarette lighter adapter power cable e Copernicus GPS SMT receivers 3 pieces e 14 Jumpers e Quick Start Guide e CD containing the SW tools and the Copernicus GPS Reference Manual Copernicus GPS Receiver 7 1 STARTER KIT Interface Unit Inside the starter kit interface unit the Copernicus GPS reference board sits on a shelf supported by 4 standoffs above the motherboard The antenna transition cable is mounted to the outside of the unit and connects to the MCX connector on the reference board An 8 wire ribbon cable interfaces the power and I O between the reference board and motherboard Figure 1 1 Starter Kit Interface Unit Figure 1 2 AC DC Power Supply Converter 8 Copernicus GPS Receiver STARTER KIT 1 Figure 1 3 USB Cable Copernicus GPS Receiver 9 1 STARTER KIT Serial Port Interface The Copernicus GPS interface unit has a dual port USB interface that is available through a single A type USB connection Before the starter kit can be used with a USB 2 0 equipped Microsoft Windows 2000 XP based PC the appropriate USB 2 0 drivers must be installed on the PC Loading the FTDI Driver Th
46. Time Clock was not available at power up Bit 6 if set the almanac stored in the receiver is not complete and current Bit 7 if set the measurement clock bias is unknown 35 lt reserved gt UINT8 0x00 Reserved for future use Channel Tracking information for Channels 0 1 1 N NOTE2 36 N 4 37 N 4 Satellite ID Signal Strength UINT8 UINT8 1 to 32 or 120 to 138 0 to 55 Satellite PRN GPS or SBAS Signal strength in dB Hz Copernicus GPS Receiver 177 A TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Code Byte Offset Item Type Value Definition 38 N 4 Measurement UINT8 Bit masks Bit 2 if set time ambiguity Status is resolved channel is acquired Bit 4 if set ephemeris is decoded Other bits are reserved 39 N 4 Fix Mode Rejection UINT8 Any 0x00 SV is used in computing the current position fix 0x01 0xFF SV is not used in fix The value indicates the internal rejection code Note To convert to radians multiply the received latitude or longitude value by P1 2 For longitude if the converted value is greater than PI subtract 2 PI PI 3 1415926535898 to bring the final value to the PI PI range The channel tracking block 4 bytes in length is repeated for all 12 channels Report Packet 0x8F 4F Set PPS Width Note This report packet is output after the command packet O
47. Wake Eniwetok 1960 Marshall Islands ENW Trimble Datum Local Geodetic Datum Index Name Code 172 Bukit Rimpah Bangka and Belitung Islands Indonesia BUR 173 Camp Area Astro Camp McMurdo Area Antarctica CAZ 174 Gunung Segara Kalimantan Indonesia GSE 175 Herat North Afghanistan HEN This report will be issued after an 0x8E 26 command Table A 73 Report Packet 0x8F 26 Non Volatile Memory Status Byte Item Type Value Definition 0 Subcode UINT8 0x26 Save Settings 1 4 reserved 184 Copernicus GPS Receiver APPENDIX TRIMBLE ASCII INTERFACE PROTOCOL TAIP In this appendix This appendix describes the Trimble ASCII f Interface Protocol TAIP Trimble s digital m Protocol Overview communication interface m Message Format m Sample PV Message m Time and Distance Reporting m Latitude and Longitude Conversion Message Data Strings Communication Scheme for TAIP Copernicus GPS Receiver 185 186 TRIMBLE ASCII INTERFACE PROTOCOL TAIP Protocol Overview Trimble ASCII Interface Protocol TAIP is a Trimble specified digital communication interface based on printable ASCII characters over a serial data link TAIP was designed specifically for vehicle tracking applications but has become common in a number of other applications because of its ease of use TAIP supports both scheduled and polled responses TAIP messages may be scheduled for output at a user specified rate starting on a given epoch from
48. and the loading procedure should continue at Step 4 as described below Force the target into the monitor mode Assuming the communication has been established issue the Force to Monitor command If using TSIP the following byte string hex values must be sent to the target to force it into the monitor mode 10 1E 4D 10 03 If using NMEA the following character string must be sent to the target to force it into the monitor mode PTNLSEM Once the system is in the monitor mode a special Monitor protocol is used to communicate with the Copernicus GPS Receiver See the Appendices in this manual for detailed information on both TSIP and NMEA Force to Monitor commands After issuing the command wait 0 5 seconds before proceeding with the next step to allow the target to switch to the monitor mode and be ready to accept Monitor mode commands Copernicus GPS Receiver 109 11 FIRMWARE UPGRADE Establish a serial port connection to the target in the Monitor mode Once the target enters the monitor mode it changes the GPS receiver s serial port settings to 38400 baud port A or 4800 baud port B 8 data bits 1 stop bit and no parity To establish communication to the target in the monitor mode the local host s settings must be changed to the same value and the ENQ packet sent to the target The target will respond with ACK to indicate the communication has been established Refer to Section ENQ ACK NAK for det
49. at pin 9 of both DB9 connectors of the Starter Kit through J7 pin 6 of the Reference Board J9 J21 Reserved Reserved J25 Reserved Reserved Normal Operation No Jumper Run Mode J27 J28 Reserved XSTANDBY Reserved Normal Operation Jumper between pins 1 and 2 of the jumper J28 Run Mode Standby Mode Jumper between pins 2 and 3 of J28 For external control Jumper may be removed and pin 2 of the jumper can be externally controlled e g via a host processor J22 24 Spare Spare driver transistor J26 Antenna Power Normal Operation Jumper in place Active antenna powered from VCC If a separate power supply is desired for active antenna jumper may be removed and an external antenna power can be applied to pin 2 of J26 See Copernicus Reference Board Schematics in this chapter Note See Table 3 1 for pin numbers e indicates pin 1 Copernicus GPS Receiver 1 03 10 COPERNICUS REFERENCE BOARD Reference Board Component Locations Drawing R1 R3 oant GPIO_A4 GPIO_B5 R5
50. default values when executing the Factory Reset command In normal use this packet should not be sent Command Packet 0x1F Request Software Versions This packet requests information about the version of software running in the Navigation and Signal Processors This packet contains no data The GPS receiver returns Packet 0x45 Command Packet 0x21 Request Current Time This packet requests current GPS time This packet contains no data The GPS receiver returns Packet 0x41 Command Packet 0x23 Initial Position XYZ ECEF This packet provides the GPS receiver with an approximate initial position in XYZ coordinates This packet is useful if the user has moved more than about 1 000 miles since the previous fix Note that the GPS receiver can initialize itself without any data from the user this packet merely reduces the time required for initialization This packet is ignored if the receiver is already calculating positions The data format is shown below Note To initialize using the Latitude Longitude Altitude representation use Command Packet 0x2B Table A 16 Command Packet 0x23 Byte Item Type Units 0 3 x Single Meters 4 7 Y Single Meters 8 11 Z Single Meters Copernicus GPS Receiver 133 A TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Command Packet 0x24 Request GPS Receiver Position Fix Mode This packet requests current position fix mode of the GPS receiver This packet conta
51. gt lt id gt lt byte 3 gt lt byte 2 gt lt byte 1 gt lt byte 0 gt lt DLE gt lt ETX gt To disable WAAS PRN 135 send 10 C2 00 00 80 00 10 03 To disable WAAS PRN 138 send 10 C2 00 04 00 00 10 03 To enable all WAAS send 10 C2 00 00 00 00 10 03 164 Copernicus GPS Receiver TRIMBLE STANDARD INTERFACE PROTOCOL TSIP A TSIP Superpackets Several packets have been added to the core TSIP protocol to provide additional capability for OEM receivers In OEM Packets 0x8E and their 0x8F responses the first data byte is a sub code which indicates the superpacket type For example in Packet 0x8E 15 15 is the sub code that indicates the superpacket type Therefore the ID code for OEM packets is 2 bytes long followed by the data Command packet 0x35 is used to enable superpackets Command Packet 8E 15 Set Request Datum This packet allows the user to change the default datum from WGS 84 to one of 180 selected datums The datum is a set of 5 parameters which describe an ellipsoid to convert the GPS receiver s internal coordinate system of XYZ ECEF into Latitude Longitude and Altitude LLA This affects all calculations of LLA in packets 0x4A and 0x84 The datum can be changed to match coordinates with another system such as a map Most maps are marked with the datum used In the US the most popular datum for maps is NAD 27 You may choose a datum optimized for the local shape of the earth however optimized datums are truly local and p
52. memory See Chapter 11 for the firmware upgrade procedure 54 Copernicus GPS Receiver OPERATING MODES 4 Changing the Run Standby Modes There are two methods you can follow to switch the receiver between the Run Mode and the Standby Mode Only one of these methods may be used at a time 1 Using the XSTANDBY pin or 2 Using the serial ports under user control Note If you are using the XSTANDBY pin do not use the serial ports for controlling the modes If you are using the serial port option the XSTANDBY pin should always be held high You cannot use serial ports to switch to RUN mode if the XSTANDBY pin was used to enter STANDBY mode Copernicus Standby Current When the Copernicus GPS Receiver is sent a command to go into Standby Mode there is a period of time between 10 and 200 ms milli seconds when the power supply still has to supply almost full operating current Only after this period has elapsed will the current draw go down to the specified standby current which is typically 8 5 uA micro Amps Running 33 mA 10 200 ms 30 mA 4 gt Current Standby Command Standby Current Time ms Copernicus GPS Receiver 55 4 OPERATING MODES Using the XSTANDBY Pin to Switch Modes The first method for putting the receiver into Standby Mode or exiting this mode back to the Run Mode is through the pin XSTANDBY pin 16 As long as the pin is held high the receiver will operate normally in Run Mo
53. must be located such that the loss from the GPS antenna connection to the LNA input is minimized preferably lt 1 dB The noise figure of the LNA should be as low as possible preferably lt 2 dB This specification is provided to enable a cascaded noise figure design calculation Active antennas must be powered with a single bias Tee circuit LNA_XEN This logic level output can be used to control power to an external LNA or other circuitry The logic of this signal is such that when the module is running not in standby this signal is low During STANDB Y mode this signal is high This pin may be used to control the gate of a p channel FET used as a switch Open Short Pins When using an active antenna it is recommended that you implement an antenna detection circuit with short circuit protection There are two pins provided for reporting the antenna status OPEN and SHORT The logic level inputs outlined in Table 3 2 may be used with a detection circuit with or without protection to monitor the status of the external LNA of an active antenna by the module The truth table for the logic of these signals is provided in Table 3 2 These input pins conform to the Input Output Pin threshold levels specified in A typical active antenna draws between 10 to 20mA The antenna Protect Detect circuit will trip as a short circuit at around 100mA It is best to keep the antenna current below 75mA An open circuit will be determined if t
54. o UNZ9 S o o ved eze zza bey Ozu UNZO S 6lH UzZ 9S UZ 99 0z 9S 0z 95 0z 9S 0z 9S gly 218 oly Sty bly elu 9 Oldd sv Old bv Oldd LLY OIdD a ber oer iy sir aur oly Old N is N a N i N is N K our is 0 0 0 Q o N N N E N 0 ES A 03758 0149 a31 91 Old A a31 9V Old a31 tY Oldd a31 LIY Old A a31 0lV Old 9a sa va sa za ta 4 m0d 037 aa Ol zo lt dan sir UAL DAL DL Dm OL OL A85 LH ota su su id eo eo w eo wo eo e 4 el e e e ral e as Ha 98 Old HA N Old e SY Old HG rv Old9 e HIY Old9 e OLY Old9 Z evr E per Z ozir Zer eor cee R A a R a A m A Li A sq Old 9 Oldd sv Old9 bv Old LLY Old OLY Old OL OAL OAL OWL OWL OL su su vu eu ze lH ej UA lt upew 100 Copernicus GPS Receiver 10 COPERNICUS REFERENCE BOARD Reference Board Schematic page 3 of 3 urew L8Hs lt lt Dro a m ved eeu po yy NOY NadO e S NIX YNI 10 panoual s a AgONVLS 0 Jedunfseamog euuajuy uym 8210 0 MOT es a uoys euuajue seyeolpul NANY 0 UBIH pijen Jou si 3160 eubis DAL Y DAL Y Y LHOHS PUE NO LON zed Ley MIONVLSX gt 2peey uid e DIOL Z e er e ocd 0 pauyepun nv Ndo o L 0 yO w w lt 0 0 LHOHS 906 LENIN 906 LENIN Un L Lo Nado PDA E oD o K IHHS NdO ARIS is gt 5 a uzos els IVINEON o T UAL Geu vL6agnnw wee Wane g POBELAWW o 82H 104 UBIH 5 a 60 YOLINOW U N3X VNI X
55. of the 32 GPS satellites The integer millisecond of the pseudo range has valid values of O to 19 milliseconds If the pseudo range is out of bounds this is indicated by setting Bit 7 of Byte 4 to 1 The codephase Byte 9 value is the average delay over the sample interval of the received C A code and is measured with respect to the receiver s millisecond timing reference Thus it includes all receiver satellite and propagation biases and errors It is expressed in 1 16th of a C A code chip The Doppler Byte 13 value is apparent carrier frequency offset averaged over the sample interval It is measured with respect to the nominal GPS L1 frequency of 1575 42 MHz referenced to the receiver s internal oscillator Thus int includes all receiver and satellite clock frequency errors It is expressed in Hertz at the L1 carrier The time of measurement Byte 17 is the center of the sample interval adjusted by adding the receiver supplied codephase module mS to a user determined integer number of mS between user and satellite 152 Copernicus GPS Receiver TRIMBLE STANDARD INTERFACE PROTOCOL TSIP A The receiver codephase is expressed in 1 16th of a C A code chip This corresponds to 1 16 x C A code chip 977 517ns 16 61 0948 ns 61 0948 x speed of light m s 18 3158 meter Note The receiver occasionally adjusts its clock to maintain time accuracy within 1 msec At this time all pseudo range values for all satellites are
56. rate Position and velocity fields will be blank until the next fix but most other fields will be filled 216 Copernicus GPS Receiver NMEA 0183 C General NMEA Parser Requirements When no position fix is available some of the data fields in the NMEA messages will be blank i e no characters between commas but selected messages will output every second Trimble varies the number of digits of precision in variable length fields so customer parsers should be able to handle variable lengths NMEA parsers should be built to be forward compatible Future versions of a standard message may have more fields or more choices per field Checksum matching is strongly recommended 9600 baud may be required if GSV messages are output When multiple NMEA settings are implemented save them to Flash memory For GGA GLL RMC messages time is GPS time not UTC until leap second parameter is known There is no way to tell which time your are running in until the time output suddenly decreases by 14 seconds or by the current offset For GGA GLL RMC messages if the datum is changed there is no regular DTM warning of non WGS 84 datum as required by NMEA 2 1 You must query the datum for this information Copernicus GPS Receiver 217 C NMEA 0183 NMEA 0183 Message Options The Copernicus GPS Receiver can output any or all of the messages listed in Table C 3 and Table C 4 In its default configuration as shipped from the factory t
57. rework on the module itself Conformal Coating Conformal coating on the Copernicus GPS module is not allowed Conformal coating will void the warranty 92 Copernicus GPS Receiver SHIPPING and HANDLING 9 Grounding the Metal Shield The Copernicus GPS Receiver is designed with numerous ground pins that along with the metal shield provide the best immunity to EMI and noise Any alteration by adding ground wires to the metal shield is done at the customer s own risk and may void the warranty Copernicus GPS Receiver 93 9 SHIPPING and HANDLING 94 Copernicus GPS Receiver CHAPTER COPERNICUS REFERENCE BOARD In this chapter This chapter provides schematics for the Referelasd Block Copernicus GPS Receiver board Diagram m Reference Board Schematic page 1 of 3 m Reference Board Schematic page 2 of 3 m Reference Board Schematic page 3 of 3 m Reference Board I O and Power Connector m Reference Board Power Requirement m Reference Board Jumper Table m Reference Board Component Locations Drawing Copernicus GPS Receiver 95 10 COPERNICUS REFERENCE BOARD Introduction The Copernicus surface mount GPS receiver is installed on a carrier board defined as the Copernicus Reference Board This board can also be used as a design reference providing a visual layout of the Copernicus module on a PCB including the RF signal trace RF connector and the I O connections of the 28 signal pins The reference b
58. second Copernicus GPS Receiver 49 3 INTERFACE CHARACTERISTICS A GPS A The Copernicus GPS Receiver is equipped with assisted GPS A GPS which enables the receiver to obtain a position fix within seconds using almanac ephemeris time and position data This position data can be uploaded to the device via TSIP packets or the Trimble GPS Monitor TGM application When A GPS is enabled the Copernicus GPS Receiver can achieve fast start up times characteristic of a hot start Follow the procedures below to download current almanac ephemeris time and position information and then upload this data to the starter kit module via TGM or TSIP to upload position data within the customer application Warning To ensure proper format of the ephemeris file and almanac file a Trimble receiver must be used to gather this data Almanac files from non Trimble receivers may not be in proper format and thus may not work i e almanac files downloaded from the Internet Enabling A GPS with the Trimble GPS Monitor Application TGM 1 Attach the Copernicus GPS interface unit to your PC 2 Place the GPS antenna where there is a clear view of sky 3 Allow the starter kit to run and calculate fixes 4 On the main screen wait for the almanac indicator to turn green confirming that the receiver has collected a current almanac Note It takes 12 5 minutes of uninterrupted Copernicus operation to collect almanac from the satellites
59. site synchronization systems and event measurement systems GPS receivers are used to discipline local oscillators The GPS constellation consists of 24 orbiting satellites Each GPS satellite contains a highly stable atomic Cesium clock which is continuously monitored and corrected by the GPS control segment Consequently the GPS constellation can be considered a set of 24 orbiting clocks with worldwide 24 hour coverage GPS receivers use the signals from these GPS clocks to correct their internal clock which is not as stable or accurate as the GPS atomic clocks GPS receivers like the Copernicus GPS output a highly accurate timing pulse PPS generated by an internal clock which is constantly corrected using the GPS clocks This timing pulse is synchronized to UTC within 100 ns rms In addition to serving as a highly accurate stand alone time source GPS receivers are used to synchronize distant clocks in communication or data networks This synchronization is possible since all GPS satellite clocks are corrected to a common master clock Therefore the relative clock error is the same regardless of which satellite or satellites are used For timing applications requiring a common clock GPS 1s the ideal solution Position and time errors are related by the speed of light Therefore a position error of 100 meters corresponds to a time error of approximately 333 ns The hardware and software implementation affects the GPS receiver s PPS a
60. such warranty Nonconforming Product or refund the purchase price paid by you for any such Nonconforming Product upon your return of any Nonconforming Product to Trimble in accordance with Trimble s standard return material authorization procedures Warranty Exclusions and Disclaimer These warranties shall be applied only in the event and to the extent that i the Products and Software are properly and correctly installed configured interfaced maintained stored and operated in accordance with Trimble s relevant operator s manual and specifications and 11 the Products and Software are not modified or misused The preceding warranties shall not apply to and Trimble shall not be responsible for defects or performance problems resulting from i the combination or utilization of the Product or Software with products information data systems or devices not made supplied or specified by Trimble ii the operation of the Product or Software under any specification other than or in addition to Trimble s standard specifications for its products 111 the unauthorized modification or use of the Product or Software iv damage caused by accident lightning or other electrical discharge fresh or salt water immersion or spray or v normal wear and tear on consumable parts e g batteries THE WARRANTIES ABOVE STATE TRIMBLE S ENTIRE LIABILITY AND YOUR EXCLUSIVE REMEDIES RELATING TO PERFORMANCE OF THE PRODUCTS AND S
61. the antenna detection circuit is implemented The Query sentence format is SPTNLOBA hh lt CR gt lt LF gt The Response to query sentence format is SPINLARBA a b hh lt CR gt lt LF gt Table C 17 Antenna Status Field Description Status 0 status unavailable 1 status available b Antenna feedline fault 0 normal 1 open 2 short Copernicus GPS Receiver 227 C NMEA 0183 CR Configure Receiver This sentence can query or set NMEA receiver configuration information SPTINLaCR X X X X X X X X X X a a a a hh lt CR gt lt LF gt Table C 18 Configure Receiver Field Description a Mode Q query S set R Response X X Reserved X X Elevation mask in degrees default 5 degrees X X Reserved X X Reserved X X Reserved a Constellation Mode default is 0 0 AUTO a Dynamics default is 1 1 land 2 sea 3 air a Reserved a O WAAS_OFF 1 WAAS_AUTO this applies to all SBAS EM Enter Monitor Mode This sentence is used to set the Copernicus GPS Receiver into Monitor Mode This is Set only no query supported The sentence format is SPTNLSEM hh lt CR gt lt LF gt This sentence will be used by the Firmware Uploading Program 228 Copernicus GPS Receiver EP Ephemeris NMEA 0183 C This sentence can be used to query or set ephemeris data for a specific satellite Since the maximum number of bytes that can be contained in
62. the checksum 6F was generated by XOR ing the ASCII codes for gt and S then XOR ing that result with the ASCII code for R and so forth up to and including the character Message Delimiter The lt character signifies end of a sentence and is used as the message delimiter 188 Copernicus GPS Receiver Sample PV Message TRIMBLE ASCII INTERFACE PROTOCOL TAIP B The Position Velocity Solution PV message is one of the more commonly used TAIP messages and most receivers using TAIP are set by default to output the PV message once every 5 seconds The following analysis of a typical PV message is provided to further explain the TAIP message protocol gt RPV 15714 3739438 12203846015 12612 ID 1234 7F lt ID Meaning gt Start of message delimiter Response qualifier PV PV message identifier 15714 GPS time of day 3739438 Latitude 12203846 Longitude 015 Speed 126 Heading 1 Source of data 2 Age of data 1D 1234 Vehicle ID TF Checksum lt End of message delimiter Note See PV Position Velocity Solution page 200 for more detail on the interpretation of this message Copernicus GPS Receiver 189 TRIMBLE ASCII INTERFACE PROTOCOL TAIP Time and Distance Reporting 190 The D message qualifier allows you to specify a minimum distance traveled as well as a minimum and maximum time interval for the next report Units that are stati
63. the interface unit Figure 1 5 Connecting Power 4 Plug the power cable into a wall outlet 5 Connect the magnetic mount GPS antenna to the interface unit Figure 1 6 Antenna Connection 6 Place the antenna on the window sill or put the antenna outside Copernicus GPS Receiver 15 1 STARTER KIT 7 Connect the USB cable to the USB connector on the interface unit Figure 1 7 Connecting the PC 8 9 10 11 12 13 Power on your computer Insert the CD found in the starter kit box into your computer CD drive Install the Trimble GPS Monitor Program from the supplied CD see Trimble GPS Monitor Toolkit page 17 Download and install the appropriate FTDI driver on your PC see Install the FTDI USB Serial Driver Software page 17 Execute the Trimble GPS Monitor Program Select one of the USB virtual COM ports Either the TSIP or NMEA data stream is visible on your monitor To view the other protocol select a different USB virtual COM port 16 Copernicus GPS Receiver STARTER KIT 1 Trimble GPS Monitor Toolkit The Trimble GPS Monitor Tookit is designed to assist you in configuring your Trimble GPS receiver The application works with a standard RS 232 serial interface or the USB interface supplied in the Copernicus GPS starter kit TGM includes helpful features such as Detect Receiver to test a GPS receiver port for protocol and baud rate in the event that these settings are lost th
64. to VCC The software serial command to Standby Mode will still apply e There is no separate power for STANDBY power e One serial port is utilized Copernicus GPS Receiver APPLICATION CIRCUITS 5 ANTI oe DRAGONFLY GND GND RF_IN RESERVED GND RESERVED LNA_XEN TXD_B RESERVED TXD_A OPEN RESERVED SHORT RXD_A RESERVED RXD_B RESERVED PPS aa RESERVED RESERVED XSTANDBY GND 28 pin Copernicus module Figure 5 2 Passive antenna HW Activated Standby Mode Available Following is a description of the schematic e Passive Antenna is used The Copernicus GPS Receiver has an on board LNA and an Automatic Gain Control circuit e The Pin LNA_XEN is not necessary and not connected e There is no HW reset ability through the pin XRESET since XRESET pin is tied High to VCC e HW initiated Standby Mode through the Pin XSTANDBY is possible since XSTANDBY pin is not tied High to VCC The software serial command to Standby Mode can still be used as a second method to force the module into Standby Mode e There is no separate power for STANDBY power e One serial port is utilized e No Antenna open and short detection or protection is provided When Open Pin 7 and Short Pin 8 are kept unconnected floating the Copernicus GPS Receiver reports an open antenna condition If a normal condition is desired tie Open Low and Short High See Table 3 2 Copernicus GPS Receiver 63 5 APPLICAT
65. to be permanent click Save Configuration 24 Copernicus GPS Receiver STARTER KIT 1 Configure PPS Output 1 Select the Configure pull down menu from the main screen 2 Select Receiver Configuration 3 Select the PPS Configuration tab EJ Receiver Configuration GPS Configuration Port Configuration Outputs PPS Configuration Position Filter SYMasks NMEA TAIP Output Always ON O Fixed based O Always OFF Polarity E Positive O Negative Offset o sec Note Always ON the PPS is present even without a GPS fix it will free run until fix is obtained Fixed based the PPS will only be output when the receiver has a fix 4 After selecting the required setup options click on Set 5 If the configuration is to be permanent click Save Configuration Configure NMEA Output 1 Select the Configure pull down menu from the main screen 2 Select Receiver Configuration 3 Select the NMEA tab E Receiver Configuration GPS Configuration I Port Configuration Outputs PPS Configuration Position Filter SYMasks NMEA TAIP Sentences General GGA RMC Output Interval 1 255 sec 1 Deu YTG Oesa zoa Des OTF Save Configuration 4 After selecting the required setup options click on Set 5 Ifthe configuration is to be permanent click Save Configuration Copernicus GPS Receiver 25 1 STARTER KIT Configure TAIP Output 1 Select the Configure p
66. 0 0 12 15 Reserved Command Packet 0x8E 4F Set PPS Width This command packet sets the PPS width to a value in the range of 100 microseconds to 500 milliseconds The receiver returns packet Ox8F 4F The current PPS width can be requested by sending this packet with no data bytes except the subcode byte Table A 65 Command Packet 0x8E 4F Byte Item Type Value Meaning 0 Subcode BYTE Ox4F 1 8 PPS width DOUBLE Seconds 168 Copernicus GPS Receiver Report Packet 0x8F 15 Current Datum Values TRIMBLE STANDARD INTERFACE PROTOCOL TSIP A This packet contains 43 data bytes with the values for the datum currently in use and is sent in response to Packet Ox8E 15 Both the datum index and the 5 double precision values for that index will be returned Table A 66 Report Packet 0x8F 15 Byte Type Meaning 0 UINT8 ID for this sub packet always x15 1 2 INT16 Datum index 3 10 Double DX 11 18 Double DY 19 26 Double DZ 27 34 Double A axis 35 42 Double Eccentricity Squared Note A complete list of datums is provided at the end of this appendix Eccentricity S dis rel pe ae quared is related to flattening by the following equation e 2p p Copernicus GPS Receiver 169 A TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Report Packet 8F 17 UTM Single Precision Output This packet reports position in UTM Universal Transverse Mercator format The UTM coord
67. 0 7 X Double meters 8 15 Y Double meters 16 23 Z Double meters 24 31 clock bias Double meters 32 35 time of fix Single seconds The time of fix is in GPS time or UTC as selected by the I O timing option Packet 42 provides a single precision version of this information Report Packet 0x84 Double Precision LLA Position Fix and Bias Information This packet provides current GPS position fix in LLA coordinates If the I O Position option is set to LLA and the Precision of Position option is set to Double see Packet 0x35 the receiver sends this packet each time a fix is computed The data format is shown below Table A 51 Report Packet 0x84 Data Formats 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 The time of fix is in GPS time or UTC as selected by the I O timing option WARNING When converting from radians to degrees significant and readily visible errors will be introduced by use of an insufficiently precise approximation for the constant p PI The value of the constant Pl as specified in ICD GPS 200 is 3 1415926535898 158 Copernicus GPS Receiver Packets 0x8E and 0x8F Superpacket TRIMBLE STANDARD INTERFACE PROTOCOL TSIP A See page 159 for information on Packets Ox8E and Ox8
68. 00 hhhh A_f1 HEX data conforming to GPS ICD 200 hhhhhh A_f0 HEX data conforming to GPS ICD 200 Following is the second sentence of ephemeris format PTNLaEP 2 xx hh hh hhhh hhhh hhbhbhbh hhhh hhhbhbhbh hhbh hhhhhhhh hhhh hh lt CR gt lt LF gt Copernicus GPS Receiver 229 C NMEA 0183 Table C 21 Ephemeris Message Format Field Description a Mode S set R Response 2 Sentence number for EP sentence 1 must be sent or received before sentence 2 and sentence 2 must be sent or received before sentence 3 and all three sentences must be sent together XX Satellite id hh IODE Hex data conforming to GPS ICD 200 hh Fit_interval Hex data conforming to GPS ICD 200 hhhh C_rs Hex data conforming to GPS ICD 200 hhhh Delta_n Hex data conforming to GPS ICD 200 hhhhhhhh M_0 Hex data conforming to GPS ICD 200 hhhh C_uc Hex data conforming to GPS ICD 200 hhhhhhhh E Hex data conforming to GPS ICD 200 hhhh C_us Hex data conforming to GPS ICD 200 Following is the third sentence of ephemeris format PTNLaEP 3 xx hhhh hhhhhhhh hhhh hhhhhhhh hhhh hhhhhhhh hhhhhh hhhh hh lt CR gt lt LF gt Table C 22 Ephemeris Message Format Field Description a Mode S set R Response 3 Sentence number for EP sentence 1 must be sent or received before sentence 2 and sentence 2 must be sent or received before sentence 3 and all th
69. 0x41 Data Formats Byte Item Type Units 0 3 GPS time of week Single seconds 4 5 Extended GPS week number INT16 weeks 6 9 GPS UTC offset Single seconds Note UTC time lags behind GPS time by an integer number of seconds UTC GPS time GPS UTC offset AN WARNING GPS week number runs from 0 to 1023 and then cycles back to week 0 week 0 began January 6 1980 The first cycle back to week 0 was on August 22 1999 The extended GPS week number however does not cycle back to 0 For example the week for August 22 1999 1024 the Week for April 1 2002 1160 140 Copernicus GPS Receiver TRIMBLE STANDARD INTERFACE PROTOCOL TSIP A The seconds count begins with 0 each Sunday morning at midnight GPS time A negative indicated time of week indicates that time is not yet known in that case the packet is sent only on request The following table shows the relationship between the information in Packet 0x41 and the Packet 0x46 status code Table A 26 Packets 0x41 and 0x46 Status Code Relationships Approximate Time Source Sign TOW Packet 46 Time Accuracy Status Code none no time at all 0x01 unknown approximate time from 0x01 real time clock or Packet 2E 20 50 msec clock time from satellite 0x02 0x0C drift full accuracy time from GPS solution 0x00 Note Before using the GPS time from Packet 0x41 verify that the Packet 0x46 status
70. 2 Pin 8 SHORT Bit 0 0 is pull down 1 1 is pull up default is pull down 3 Pin 17 Bit 0 0 is pull down 1 Reserved 1 is pull up default is pull down 4 Pin 18 Bit 0 0 is pull down 1 Reserved 1 is pull up default is pull down 5 Bit 5 Pin 19 Bit 0 0 is pull down 1 PPS 1 is pull up default is pull down 6 Pin 20 RxDB_ Bit 0 0 is pull down 1 1 is pull up default is pull down 7 Pin 21 RxDA Bit 0 0 is pull down 1 1 is pull up default is pull down 1 0 Pin 22 Bit 0 0 is pull down 1 Reserved 1 is pull up default is pull down 1 Pin 23 TxDA Bit 0 0 is pull down 1 1 is pull up default is pull down 2 Pin 24 TxDB_ Bit 0 0 is pull down 1 1 is pull up default is pull down 3 Pin 25 Bit 0 0 is pull down 1 Reserved is pull up default is pull down 4 Pin 26 Bit 0 0 is pull down 1 Reserved 1 is pull up default is pull down 5 Pin 16 Bit 0 0 is pull down 1 XSTANDBY 1 is pull up default is pull up 6 7 Reserved Bit Reserved The settings will be saved to flash when the user issues the command to Save User Configuration to Flash Copernicus GPS Receiver 163 A TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Command Packet 0xC2 SBAS SV Mask This packet provides the SBAS SV bit mask in four bytes The user data packet contains four bytes to specify 19 possible SBAS prn numbers Bit O represents PRN 120 Available WAAS PRN numbers are 135 and 138 Message format is lt DLE
71. 3 set exact LLA 0x32 set exact XYZ ECEF 0x31 Note Automatic output is determined by packet 0x35 See Table A 4 to determine messages output at startup 126 Copernicus GPS Receiver TRIMBLE STANDARD INTERFACE PROTOCOL TSIP A Command Packets Sent to the Receiver The table below summarizes the command packets sent to the receiver The table includes the input Packet ID a short description of each packet and the associated response packet In some cases the response packets depend on user selected options These selections are covered in the packet descriptions beginning on page 131 Table A 8 Command Packets Sent to the Receiver Input ID Packet Description Output ID 0x1C Hardware and firmware versions numbers 0x1C 81 0x1E clear battery back up reset See Note 1 Ox1F software version 0x45 0x21 current time 0x41 0x23 initial position XYZ ECEF 0x24 request receiver position fix mode 0x6D 0x25 soft reset amp self test See Note 1 0x26 receiver health 0x46 0x4B 0x27 signal levels 0x47 0x2B initial position LLA 0x2D oscillator offset 0x4D Ox2E set GPS time Ox4E 0x31 accurate initial position XYZ ECEF 0x32 accurate initial position 0x35 I O options 0x55 0x37 status and values of last position and velocity 0x57 0x38 load or request satellite system data 0x58 0x3C tracking status 0x5C see Note 2 0x7A set request NMEA outpu
72. 50 lt 8 m 90 Altitude with SBAS lt 3 m 50 lt 5 m 90 Velocity 0 06 m sec PPS static 100 ns RMS Acquisition Autonomous Operation Reacquisition 2 sec Hot Start 3 1 sec Warm Start 35 4 sec Cold Start 39 4 sec Out of the Box 41 sec Sensitivity Tracking 150 dBm Acquisition 142 dBm Operational Speed Limit 515 m s Interface Characteristics Connectors 28 surface mount edge castellations Serial Port 2 serial ports transmit receive PPS 3 0 V CMOS compatible TTL level pulse once per second Protocols Supports the Trimble Standard Interface Protocol TSIP the Trimble ASCII Interface Protocol TAIP and the National Marine Electronics Association NMEA 0183 v3 0 Bi directional NMEA Messages 34 Copernicus GPS Receiver PRODUCT DESCRIPTION 2 Electrical Electrical Specifications Prime Power 2 7 VDC to 3 3 VDC Power Consumption typ 30 7 mA 82 9 mW O 2 7 V typ 31 3 mA 93 9 mW 3 0 V Backup Power 2 7 VDC to 3 3 VDC Ripple Noise Max 50 mV peak to peak from 1 Hz to 1 MHz Physical Physical Specifications Enclosure Metal shield Dimensions 19 mm W x 19 mm L x 2 54 mm H 0 75 W x 0 75 Lx0 1 H Weight 1 7 grams 0 06 ounce including shield Environmental Environmental Specifications Operating Temperature 40 Cto 85 C Storage Temperature 55 Cto 105
73. ACE PROTOCOL TSIP A Byte Offset Item Type Value Definition 18 Receiver Health UINT8 Bit masks Bit 0 if set antenna line fault is detected Bit 1 if set antenna line is shorted if not set antenna line is open This bit is valid only if Bit 0 is set Bit 2 if set the current fix is 2 D if not set the fix is 3 D This bit is valid only if Receiver Status Code byte is 0x00 Bit 3 if set the current fix is SBAS corrected This bit is valid only if Receiver Status Code byte is 0x00 Bit 4 if set BBRAM was not available at power up Bit 5 if set Real Time Clock was not available at power up Bit 6 if set the almanac stored in the receiver is not complete and current Bit 7 if set the measurement clock bias is unknown 19 lt reserved gt UINT 8 0x00 Reserved for future use Channel Tracking 20 N 12 information for Channels 0 11 N NOTE2 Satellite ID UINT8 1 to 32 or 120 to 138 Satellite PRN GPS or SBAS 21 N 12 22 N 12 Signal Strength Acquisition Status UINT8 UINT16 0 to 55 Bit masks Signal strength in dB Hz Bit 0 if set Doppler is valid Bit 1 if set code phase is valid Bit 2 if set time ambiguity is resolved Bit 3 if set measurement is valid Other bits are reserved 24 N 12 Pseudo Range UINT32 any Pseudo range in cm 28 N 12 Range Rate INT32 an
74. AS a bE RA ee Balke eee eee ale 48 Serial Time Output isi ee ga ar OO a ele ee ol ee ae a 48 A GPS of 4 a0 Oe eee eed eed bE ee ddd oo ged ole Me dee ed 50 Enabling A GPS with the Trimble GPS Monitor Application TGM 50 Enabling A GPS with TSIP 2 2 ee 51 Pulse Per Second PPS 0 ee 52 OPERATING MODES lt a ecards 53 Copernicus Receiver Operating Modes 0 000002 eee eee 54 Run Mode xao co ord 5 eo 2b cal nares pe PER Pewee Pea was 54 Standby Mode s s se tn a eo ea ae a ee oe 54 Monitor Mode 24 228 0 2 a paea dey 64 Bae ba ee bE ae alee Soe a 54 Changing the Run Standby Modes 00000002 eee eee 55 Copernicus Standby CUTE 55 Using the XSTANDBY Pin to Switch Modes o 56 Using Serial Ports to Switch Modes o o o 56 18 Hour RTC Roll Over o 58 Saving Almanac Ephemeris and Position to Flash Memory 59 Graceful ShutdowWN ee 59 SBAS saa unis dan e a e ae a we a AA A a we a 59 WAAS e iog ario a a o eG Lara ee a AE A a 59 Number of channels e 59 ACQUISIION o gcd a ale a a de ee Re ee ad 60 US ALO i aa ra o a e ld a oe aS 60 Almanac collection e 60 Ephemeris collection 2 2 o o 60 APPLICATION CIRCUITS oo o oo o eee eee 61 Passive antenna Minimum Connections 0 0000 eee ee ee 62 Active Antenna Full Connection e
75. CE PROTOCOL TAIP Note This message provides information about the satellite tracking status and the operational health of the receiver This information is contained in five status bytes which are output as five 2 digit hexadecimal values The data format and the meanings of the hex characters are given in the following tables Item of Char Units Format Definition Tracking Status Code n a AA see table below Error Codes Nibble 1 n a B see table below Error Codes Nibble 2 n a C see table below Machine ID n a DD Error Code Nibble 3 n a E not currently used Error Code Nibble 4 n a F see table below Reserved n a GG see table below Value AA Meaning 00 Doing position fixes 01 Don t have GPS time yet 02 Not used 03 PDOP is too high 08 No usable satellites 09 Only 1 usable satellite OA Only 2 usable satellites OB Only 3 usable satellites oc Chosen satellite is unusable Value B Meaning 0 No problems reported 2 Antenna feedline open fault 6 Antenna feedline short fault Copernicus GPS Receiver 203 204 TRIMBLE ASCII INTERFACE PROTOCOL TAIP Value C Meaning 0 No problems reported 1 Battery back up failed RAM not available at power up see Note below Value DD Meaning DD Displays the machine ID Value
76. D 27 Cuba NAS T 111 NAD 27 Greenland NAS U 112 NAD 27 Mexico NAS V 113 NAD 83 Alaska NAR A 114 NAD 83 Canada NAR B 115 NAD 83 CONUS NAR C 116 NAD 83 Mexico and Central America NAR D Copernicus GPS Receiver 181 A TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Trimble Datum Local Geodetic Datum Index Name Code 42 Bogota Observatory Columbia BOO 43 Compo Inchauspe 1969 Argentina CAI 49 Chua Astro Paraguay CHU 50 Corrego Alegre Brazil COA 132 Provisional South Chilean 1963 Southern Chile near 53 S HIT 133 Provisional South American 1956 Mean Solution Bolivia PRP M Chile Columbia Ecuador Guyana Peru Venezuela 134 Provisional South American 1956 Bolivia Chile PRP A 135 Provisional South American 1956 Northern Chile near PRP B 19 S 136 Provisional South American 1956 Southern Chile near PRP C 43 S 137 Provisional South American 1956 Columbia PRP D 138 Provisional South American 1956 Ecuador PRP E 139 Provisional South American 1956 Guyana PRP F 140 Provisional South American 1956 Peru PRP G 141 Provisional South American 1956 Venezuela PRP H 149 South American 1969 Mean Solution Argentina Bolivia SAN M Brazil Chile Columbia Ecuador Guyana Paraguay Peru Trinidad Tobago Venezuela 150 South American 1969 Argentina SAN A 151 South American 1969 Bolivia SAN B 152 South American 1969 Brazil SAN C 153 South Americ
77. D GPS 2 8 reserved 9 no fix avail Age of Data 1 n a G 2 Fresh lt 10 sec Indicator 1 Old gt 10 sec O Not available Total number of characters is 22 Position is in latitude positive north and longitude positive east WGS 84 The GPS time of day is the time of fix rounded to the nearest second Note The data in this message is to be considered invalid and should not be used if the Age of Data Indicator is equal to 0 signifying that data is not available Copernicus GPS Receiver TRIMBLE ASCII INTERFACE PROTOCOL TAIP B Identification Number Data String Format AAAA Item of Char Units Format Vehicle ID 4 n a AAAA Total number of characters is 4 This message is used to report or set the vehicle s or receiver s unique four character alpha numeric user assigned ID The default at cold start is 0000 Example The following message will set the vehicle ID to 101 gt SIDO101 lt The following is simply a response to a query for vehicle ID gt RIDO101 lt Note The receiver will always check incoming messages for ID and compare with the vehicle ID set in the receiver s memory If no ID is included in the message the receiver will assume a match and accept the message If the message sent to the receiver does contain a vehicle ID but that ID does not match the ID previously set in the receiver the message will be ignored This process is followed ev
78. DM Drivers have been successfully installed Click the OK button Copernicus GPS Receiver 17 1 STARTER KIT Connect the PC via the USB Cable 1 Right click the MyComputer icon 2 Select the Properties option to view the System Properties Window System Properties System Restore Automatic Updates I Remote General Computer Name Hardware Advanced System Microsoft Windows xP Professional Version 2002 Service Pack 2 Registered to juliand 76488 020 7244353 22732 Manufactured and supported by Dell Dimension DIM3000 Intel R Pentium R 4 CPU 2 80GHz DSL L 2 79 GHz 1 00 GB of RAM 3 Select the Hardware tab 18 Copernicus GPS Receiver STARTER KIT 1 System Properties System Restore Jl Automatic Updates Remote General Computer Name Hardware Advanced Device Manager The Device Manager lists all the hardware devices installed on your computer Use the Device Manager to change the properties of any device Device Manager Drivers Driver Signing lets you make sure that installed drivers are compatible with Windows Windows Update lets you set up how Windows connects to Windows Update for drivers Driver Signing Windows Update Hardware Profiles a Hardware profiles provide a way for you to set up and store different hardware configurations Hardware Profiles Appl 4 Click the Device Manager button Device Manager File Action View Help gt H
79. E ASCII INTERFACE PROTOCOL TAIP B Long Navigation Message Note The first character of latitude longitude altitude or vertical speed S is or Data String Format AAAAA BBB S CCDDDDDDD S EEEFFFFFFF GGGGGGHHIILJ S KKKLM MMNOOPPQQPPQQ PPQQRRRRRRRRRRXT Item of Units Format Value Char GPS Time of Day 8 Sec AAAAA BBB Latitude 10 Deg S CC DDDDDDD Longitude 11 Deg S EEE FFFFFFF Altitude above 9 Ft S GGGGGG HH MSL Horizontal speed 4 MPH Ill J Vertical speed 5 MPH S KKK L Heading 4 Deg MMM N Number of SVs 2 n a 00 used SV ID see note 2 n a PP IODE see note 2 n a QQ Reserved 10 n a RRRRRRRRRR Fix Mode 1 n a Xx 0 2D GPS 1 3D GPS 2 8 reserved 9 no fix avail Age of Data 1 n a T 2 fresh lt 10 sec indicator 1 old gt 10 sec O not available Total number of characters is 65 4x number of SVs used Note At least 2 satellites are required to get the LN Message Position is in degrees minutes and decimal minutes Latitude is positive north longitude is positive east WGS 84 Heading is in degrees from True North increasing eastwards The GPS time of day is the time of fix rounded to the nearest second Note The data in this message is to be considered invalid and should not be used if the Age of Data Indicator is equal to O signifying data not available Copernicus GPS Receiver 197 198 TRIMBLE ASC
80. E response to set GPS time Ox2E 0x55 1 O options 0x35 0x56 velocity fix ENU 0x37 auto 0x57 information about last computed fix 0x37 0x58 GPS system data acknowledge 0x38 0x5C satellite tracking status 0x3C 0x6D all in view satellite selection 0x24 auto 0x82 SBAS position fix mode 0x62 auto 0x83 double precision XYZ auto 0x37 0x84 double precision LLA auto 0x37 Ox8F 20 last fix with extra information fixed point auto 0x37 0x8E 20 Ox8F 2A Request Fix and Channel Tracking info Type 1 Ox8E 2A 0x8F 2B Request Fix and Channel Tracking info Type 2 0x8E 2B Ox8F 4A Set Copernicus GPS Cable Delay and PPS polarity Ox8E 4A OxBB GPS navigation configuration OxBB OxBC receiver port configuration OxBC 0xC1 Bit Mask for GPIOs in Standby Mode 0xC1 0xC2 SBAS SV Mask 0xC2 128 Copernicus GPS Receiver TRIMBLE STANDARD INTERFACE PROTOCOL TSIP A Key Setup Parameters or Packet BB Selecting the correct operating parameters has significant impact on receiver performance Packet OxBB set receiver configuration controls the key setup parameters The default operating parameters allow the receiver to perform well in almost any environment The user can optimize the receiver to a particular application if the vehicle dynamics and expected level of obscuration are understood If the receiver is then taken out of this environment the specifically tuned receiver may not operate as well as a receiver with the default op
81. F Command Packet OxBB Navigation Configuration In query mode Packet 0xBB is sent with a single data byte and returns Report Packet OxBB Note This Command Packet replaces Packets 0x2C 0x62 0x75 and 0x77 Table A 52 Command Packet OxBB Query Mode Data Format Byte Item Type Value Definition Default 0 Subcode UINT8 0x00 Query mode TSIP Packet OxBB is used to set GPS Processing options The table below lists the individual fields within the 0xBB Packet Table A 53 Command and Report Packet OxBB Field Descriptions Byte Item Type Value Definition Default 0 Subcode UINT8 0x00 Query mode 0x03 1 Reserved 2 SBAS UINT8 0 WAAS_OFF WAAS_AUT 1 WAAS_AUTO O 3 Dynamics Code UINT8 1 Land Land 2 Sea 3 Air 4 Reserved 5 8 Elevation Mask Single 0 0 1 57 Lowest satellite 0 0873 50 radian elevation for fixes 9 12 Reserved 13 16 Reserved 17 20 Reserved 21 Reserved 22 39 Reserved Note The dynamic limits for Dynamics Codes are Land acceleration lt 1 Om s velocity lt 120m s altitude lt 9000m Sea acceleration lt 1 Om s velocity lt 45m s altitude lt 9000m Air acceleration lt 1 Om s velocity lt 515m s altitude lt 50000m Note Byte 2 is for all SBAS not just WAAS Command Packet OxBC Protocol Configuration TSIP Packet OxBC is used to query the port characteristics In query mode Packet OxBC is sent with
82. Format e 166 Copernicus GPS Receiver 5 Table of Contents 6 Command Packet 8E 18 Request Last Position or Auto Report Position in UTM Double Precision Format o e ee 166 Command Packet 0x8E 20 Request Last Fix with Extra Information 167 Command Packet 0x8E 26 Non Volatile Memory Storage 167 Command Packet 0x8E 2A Request Fix and Channel Tracking Info Type 1 167 Command Packet 0x8E 2B Request Fix and Channel Tracking Info Type 2 168 Command Packet 8E 4A Set Request Lassen iQ GPS Cable Delay and PPS Polarity ui a a aa Da ed Aaa BA 168 Command Packet Ox8E 4F Set PPS Width o o 168 Report Packet Ox8F 15 Current Datum Values 169 Report Packet 8F 17 UTM Single Precision Output 170 Report Packet 8F 18 UTM Double Precision Output 171 Report Packet 0x8F 20 Last Fix with Extra Information binary fixed point 172 Report Packet 0x8F 26 Non Volatile Memory Status 174 Report Packet Ox8F 2A Fix and Channel Tracking Info Type 174 Report Packet Ox8F 2B Fix and Channel Tracking Info Type2 176 Report Packet Ox8F 4F Set PPS Width o 178 Datums cio eB BAS A A A OR A we Wl ae oe 179 TRIMBLE ASCII INTERFACE PROTOCOL TAIP 185 Protocol OVervieW sce c e avse eh ee eee ee e 186 Message Format eca aa ato a
83. GSA GSV RMC Table A 48 Command Packet 0x7A and Report Packet 0x7B Data Formats Byte Bit Item Type Value Definition 0 Subcode UINT8 0 1 Interval UINT8 1 255 Fix interval in seconds 154 Copernicus GPS Receiver TRIMBLE STANDARD INTERFACE PROTOCOL TSIP A Table A 48 Command Packet 0x7A and Report Packet 0x7B Data Formats Byte Bit Item Type Value Definition 2 Reserved 3 Reserved 4 D RMC Bit 0 Off 1 On 4 1 TF Bit 0 Off 1 On 4 5 BA Bit 0 Off 1 On 4 6 7 Reserved 5 0 GGA Bit 0 Off 1 On 5 1 GLL Bit 0 Off 1 On 5 2 VTG Bit 0 Off 1 On 5 3 GSV Bit 0 Off 1 On 5 4 GSA Bit 0 Off 1 On 5 5 ZDA Bit 0 Off 1 On 5 6 7 Reserved Report Packet 0x7B This packet provides the NMEA settings and interval Command Packet 0x7E TAIP Message Output TSIP packet 0x7E is used to setup the output configuration for TAIP messages This packet expands the features similar to what have been provided by packet 0x8E 40 found in some older generation Trimble receiver products The settings provided by the packet can be divided into 4 groups 1 Reporting Flags byte 1 2 The Top of Hour Offset byte 2 3 This setting applies to all eight messages included in this packet If different values have to be applied to each message individually use the Time Distance feature from TAIP protocol 3 Automatic Output Intervals fo
84. II INTERFACE PROTOCOL TAIP PR Protocol The protocol message PR is the method used to control which I O protocols are active on the serial ports Off e Input only e Output only e Both input and output The PR data string format is TAIP xy TSIP xy NMEA xy Item of Char Units Format Value Port A protocol 1 n a x T Both in and out Input only O Output only F Off N Not available Port B protocol 1 n a y T Both in and out Input only O Output only F Off N Not available Sending the following message will set the receiver to TAIP IN and TAIP OUT on PORT A and NMEA OUT on Port B gt SPR TAIP TF TSIP FF NMEA FO Note Bi directional TSIP TAIP and NMEA are supported on Ports 1 and 2 If a protocol is not implemented within the application x and or y will have the value N and any set message for that protocol is ignored It is possible to turn off all input processing on a port If this is done neither TAIP nor TSIP can be used to change the active protocols If you do not use battery back up and you do not have the settings saved in FLSAH memory all port characteristics will reset to the default after power is removed Copernicus GPS Receiver PT Port Characteristic This message defines the characteristics for the TAIP port Data String Format TRIMBLE ASCII INTERFACE PROTOCOL TAIP B AAAA B C D Item of Char
85. INT8 IODE of second satellite 36 0 5 PRN 3 UINT8 1 32 PRN of third satellite 6 7 reserved 37 IODE 3 UINT8 IODE of third satellite 38 0 5 PRN 4 UINT8 1 32 PRN of fourth satellite 6 7 reserved 39 IODE 4 UINT8 IODE of fourth satellite 40 0 5 PRN 5 UINT8 1 32 PRN of fifth satellite 6 7 reserved 41 IODE 5 UINT8 IODE of fifth satellite 42 0 5 PRN 6 UINT8 1 32 PRN of sixth satellite 6 7 reserved 43 IODE 6 UINT8 IODE of sixth satellite 44 0 5 PRN 7 UINT8 1 32 PRN of seventh satellite 6 7 reserved 45 IODE 7 UINT8 IODE of seventh satellite 46 0 5 PRN 8 UINT8 1 32 PRN of eighth satellite 6 7 reserved 47 IODE 8 UINT8 IODE of eighth satellite 48 0 5 PRN 9 UINT8 1 32 PRN of ninth satellite 6 7 reserved 49 IODE 9 UNIT8 IODE of ninth satellite 50 0 5 PRN 10 UINT8 1 32 PRN of tenth satellite 6 7 reserved 51 IODE 10 UNIT8 IODE of tenth satellite 52 0 5 PRN 11 UINT8 1 32 PRN of eleventh satellite 6 7 reserved 53 IODE 11 UNIT8 IODE of eleventh satellite 54 0 5 PRN 12 UINT8 1 32 PRN of twelfth satellite 6 7 reserved 55 IODE 12 UINT8 IODE of twelfth satellite 56 63 lonospheric parameters Note Velocity scale controlled by byte 24 bit 1 Overflow 0x8000 Copernicus GPS Receiver 173 A TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Report Packet 0x8F 26 Non Volatile Memory Status This report will be issued after an Ox8E 26 command Table A 70 Report Packet 0x8F 26 Byte Item Type Value Definit
86. INTERFACE PROTOCOL TSIP In this appendix Interface Scope Run Mode Packet Structure Appendix Automatic Output Packets Automatic Position and Velocity Reports Initialization Packets to Speed Start up Packets Output at Power Up Timing Packets Satellite Data Packets Backwards Compatibility to Lassen Q Recommended TSIP Packets Command Packets Sent to the Receiver Report Packets Sent by the Receiver to the User Key Setup Parameters or Packet BB Packet Descriptions Command Packet 0x82 SBAS Correction Status TSIP Superpackets Datums The Trimble Standard Interface Protocol TSIP provides the system designer with over 20 commands that may be used to configure a GPS receiver for optimum performance in a variety of applications TSIP enables the system designer to customize the configuration of a GPS module to meet the requirements of a specific application This appendix provides the information needed to make judicious use of the powerful features TSIP has to offer to greatly enhance overall system performance and to reduce the total development time The provided reference tables will help you determine which packets apply to your application See page 129 for a detailed description of key setup parameters Application guidelines are provided for each TSIP Command Packet beginning on page 131 Copernicus GPS Receiver 119 A TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Interface Scope
87. ION CIRCUITS Active Antenna Full Connection FICA QA HON Figure 5 3 Active antenna Full connection Following is a description of the schematic with antenna detection when using a second source to power the unit when in Standby Mode An active antenna is used The Pin LNA_XEN is connected HW reset ability through the pin XRESET is possible since XRESET pin is not tied High to VCC HW initiated Standby Mode through the Pin XSTANDBY is possible since XSTANDBY pin is not tied High to VCC Serial Command to Standby Mode can still apply as the second method to force the module to Standby Mode A second power source for the standby voltage is applied see the note below Both serial ports are utilized 64 Copernicus GPS Receiver APPLICATION CIRCUITS 5 e Antenna open and short detection and protection is provided The combination of the two pins Open Pin 7 and Short Pin 8 report the antenna status see Table 3 2 Note When using two power sources main and standby an external diode pair must be used to OR the Vcc and Vbackup power to ensure that the voltage at the module VCC pin is always 2 7 3 3 VDC Table 5 2 Component Information Component Description Manufacturer Part Number C1 18 PF 0402 capacitor KEMET C0402C180J5GAC COG C2 0 1 uF 0402 capacitor CAL CHIP GMC04X7R104K16NTLF X7R J1 MCX Connector Johnson Components 133 3711 312 L1 100 nH 0603 inductor
88. OFTWARE EXCEPT AS OTHERWISE EXPRESSLY PROVIDED HEREIN THE PRODUCTS SOFTWARE AND ACCOMPANYING DOCUMENTATION AND MATERIALS ARE PROVIDED AS IS AND WITHOUT EXPRESS OR IMPLIED WARRANTY OF ANY KIND BY EITHER TRIMBLE NAVIGATION LIMITED OR ANYONE WHO HAS BEEN INVOLVED IN ITS CREATION PRODUCTION INSTALLATION OR DISTRIBUTION INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE TITLE AND NONINFRINGEMENT THE STATED EXPRESS WARRANTIES ARE IN LIEU OF ALL OBLIGATIONS OR LIABILITIES ON THE PART OF TRIMBLE ARISING OUT OF OR IN CONNECTION WITH ANY PRODUCTS OR SOFTWARE SOME STATES AND JURISDICTIONS DO NOT ALLOW LIMITATIONS ON DURATION OR THE EXCLUSION OF AN IMPLIED WARRANTY SO THE ABOVE LIMITATION MAY NOT APPLY TO YOU TRIMBLE NAVIGATION LIMITED IS NOT RESPONSIBLE FOR THE OPERATION OR FAILURE OF OPERATION OF GPS SATELLITES OR THE AVAILABILITY OF GPS SATELLITE SIGNALS Limitation of Liability TRIMBLE S ENTIRE LIABILITY UNDER ANY PROVISION HEREIN SHALL BE LIMITED TO THE GREATER OF THE AMOUNT PAID BY YOU FOR THE PRODUCT OR SOFTWARE LICENSE OR U S 25 00 TO THE MAXIMUM EXTENT PERMITTED BY APPLICABLE LAW IN NO EVENT SHALL TRIMBLE OR ITS SUPPLIERS BE LIABLE FOR ANY INDIRECT SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES WHATSOEVER UNDER ANY CIRCUMSTANCE OR LEGAL THEORY RELATING IN ANY WAY TO THE PRODUCTS SOFTWARE AND ACCOMPANYING DOCUMENTATION AND MATERIALS INCLUDING WITHO
89. Offset Valid Flag is indicating valid Note The TM message is not supported under the Set qualifier Copernicus GPS Receiver 205 206 VR Data String Format XXXXXXX VERSION A AA BB BB BB Version Number TRIMBLE ASCII INTERFACE PROTOCOL TAIP Item of Char Units Format Product Name variable n a n a Major version number 4 n a A AA Major release date 8 n a BB BB BB Copernicus GPS Receiver TRIMBLE ASCII INTERFACE PROTOCOL TAIP B X1 Extended Status The Lassen iQ receiver does not support this message Copernicus GPS Receiver 207 208 TRIMBLE ASCII INTERFACE PROTOCOL TAIP Communication Scheme for TAIP Communication with the unit takes place in four different ways Message qualifiers are used to differentiate between these Query for Single Sentence The query Q message qualifier is used to query the GPS receiver to respond immediately with a specific message The format is gt QAA ID BBBB CC lt where AA is the requested message identifier Messages supported by this qualifier are AL AP CP ID IP LN PT PV RM ST TM and VR Scheduled Reporting Frequency Interval The scheduled reporting frequency interval F message qualifier is used to tell the unit how often and when to report a specific message The format is gt FAABBBBCCCC ID DDDD FF lt where sending this sentence tells the unit to report message specified by the two digit id
90. P packet 0x38 Wait for the upload confirmation report TSIP packet 0x58 Note See Appendix A for details on the TSIP protocol Copernicus GPS Receiver 51 3 52 INTERFACE CHARACTERISTICS Pulse Per Second PPS The Copernicus GPS receiver provides a CMOS compatible TTL level Pulse Per Second PPS The PPS is a positive pulse available on pin 19 of the Copernicus GPS Receiver The rising edge of the PPS pulse is synchronized with respect to UTC The timing accuracy is 100 rms when valid position fixes are being reported The precise UTC or GPS time is reported in TSIP message 0x41 and NMEA message EDA The line reports are sent within 500ms after the corresponding PPS The rising edge of the pulse is typically less than 6 nanoseconds The distributed impedance of the attached signal line and input circuit can affect the pulse shape and rise time The PPS can drive a load up to 1mA without damaging the module The falling edge of the pulse should not be used The Copernicus default PPS output mode is Always On sometimes called or Early PPS In Always On mode PPS is output immediately after main power is applied The PPS is driven by the Real Time Clock RTC until the receiver acquires GPS time from the satellite and begins outputting fixes In Always On mode the PPS continues even if the receiver loses GPS lock The drift of the PPS when the Copernicus GPS receiver is not tracking satellites is unspecified and should n
91. Ps Status West 0 000 mis PDOP 2 83 BBRAM O North 0 000 m s HDOP 2 40 RTC o ANT OK Up 0 000 m s Osc ppb Speed 0 0 mifhr TDOP 1 90 24817 02 YDOP 1 50 Position Firmware Info Latitude NM 37 32 45066 Application 2 01 0 07 17 07 Longitude W 122 18 22109 Altitude 2 07 mHAE GPS Core 2 01 0 07 17 07 Tx Rx Monitoring Copernicus GPS Receiver 8366 TSIP 00 14 38 COM5 2 Select the required protocol to send the raw data Generic Packets Protocol TSIP v Presets lt select gt v Enter packet data according to the Following rules for the selected protocol For TSIP protocol enter each byte as a hex number separated by a space Do not enter the starting DLE and trailing DLE ETX Do not stuff DLE bytes Packet Data 10 1E 0E 1003 To view a response to this packet click View Raw Data button below to open a raw data window Make sure to pause the raw output after sending the command as there may be multiple packets coming in 28 Copernicus GPS Receiver 3 STARTER KIT 1 Select one of the provided messages from the Presets pull down or enter your own data in the Packet Data field Note If entering your own message in the Packet Data the TGM only requires the user data not the surrounding start and end bytes In the example above TSIP user data is being entered but TGM already adds the starting DLE and ending DLE ETX Click View Raw Data
92. REFERENCE MANUAL Copernicus GPS Receiver For Modules with firmware version 2 01 or later Part Number 58052 00 The right one Trimble NORTH AMERICA EUROPE KOREA CHINA TAIWAN Trimble Navigation Limited Trimble Navigation Europe Trimble Export Ltd Korea Trimble Navigation Ltd China Trimble Navigation Taiwan Corporate Headquarters Phone 49 6142 2100 161 Phone 82 2 555 5361 Phone 86 21 6391 7814 Phone 886 02 85096574 935 Stewart Drive Sunnyvale CA 94086 1 800 787 4225 1 408 481 7741 gt The right one Trimble www trimble com Corporate Office Trimble Navigation Limited 935 Stewart Drive Sunnyvale CA 94085 U S A Phone 1 408 481 8000 1 800 827 8000 www trimble com Support 1 800 767 4822 USA and Canada 1 913 338 8225 International Copyright and Trademarks 2007 Trimble Navigation Limited All rights reserved No part of this manual may be copied reproduced translated or reduced to any electronic medium or machine readable form for any use other than with the Copernicus GPS Receiver The Globe amp Triangle logo Trimble Colossus FirstGPS and Lassen are trademarks of Trimble Navigation Limited The Sextant logo with Trimble is a trademark of Trimble Navigation Limited registered in the United States Patent and Trademark Office All other trademarks are the property of their respective owners Release Notice This is the October 2007 release
93. S ICD 200 hhhhhhhh Satellite 13 16 health one byte for each satellite HEX data conforming to GPS ICD 200 hh t_oa HEX data conforming to GPS ICD 200 Message 2 PTNLaAH 2 hh hhhhhhhh hhhhhhhh hhhhhhhh hhhhhhhh hh hh x x hh lt CR gt lt LF gt Table C 13 Almanac Health Message 2 Field Description a Mode Q query S set R Response hh Week number for health variable length integer 4 digits maximum hhhhhhhh Satellite 17 20 health one byte for each satellite HEX data conforming to GPS ICD 200 hhhhhhhh Satellite 21 24 health one byte for each satellite HEX data conforming to GPS ICD 200 hhhhhhhh Satellite 25 28 health one byte for each satellite HEX data conforming to GPS ICD 200 hhhhhhhh Satellite 29 32 health one byte for each satellite HEX data conforming to GPS ICD 200 hh t_oa HEX data conforming to GPS ICD 200 Copernicus GPS Receiver 225 C NMEA 0183 AL Almanac Page This sentence can be used to query or set almanac data for a specific satellite Following is the query format PTNLQAL xx hh lt CR gt lt LF gt Table C 14 Almanac Page Field XX Description Satellite ID Following is the set or response format PTNLaAL xx x x hh hhhh hh hhhh hhhh hhhhhh hhhhhh hhhhhh hhhhhh hhh hhh hh lt CR gt lt LF gt Table C 15 Almanac Page Set or Response Format Field Description a Mo
94. S Receiver will NOT collect or store WAAS ephemeris data The module stores 1 set of WAAS corrections 60 Copernicus GPS Receiver CHAPTER APPLICATION CIRCUITS In this chapter This chapter describes the Copernicus GPS Passive a M Receiver passive and active antenna connections Connections m Active Antenna Full Connection m Active Antenna No Antenna Status Copernicus GPS Receiver 61 5 62 APPLICATION CIRCUITS Passive antenna Minimum Connections ANTI eo DRAGONFLY RESERVED OPEN RESERVED SHORT RXD_A RESERVED RXD_B RESERVED 28 pin Copernicus module Figure 5 1 Passive Antenna Minimum Connections The minimum connection set for the Copernicus GPS Receiver is illustrated in Figure 5 1 Following is a description of the schematic e A passive antenna is used The Copernicus GPS Receiver has an on board LNA and an Automatic Gain Control circuit e The Pin LNA_XEN is not necessary and not connected e No Antenna open and short detection or protection is provided e Ifthe Open Pin 7 and Short Pin 8 are kept unconnected floating the Copernicus GPS Receiver reports an open antenna condition If a normal condition report is desired tie Open low and Short high See Table 3 2 e There is no HW reset ability through the pin XRESET since XRESET pin is tied High to VCC e There is no HW initiated Standby Mode through the Pin XSTANDBY since XSTANDBY pin is tied High
95. SCII protocol which defines both the communication interface and the data format The NMEA 0183 protocol was originally established to allow marine navigation equipment to share information Since it is a well established industry standard NMEA 0183 has also gained popularity for use in applications other than marine electronics The Copernicus GPS receiver supports the latest release of NMEA 0183 Version 3 0 July 1 2000 The primary change in release 3 0 is the addition of the mode indicators in the GLL RMC and VTG messages In addition the Copernicus GPS supports bi directional NMEA with the description of the Trimble proprietary NMEA sentences found in this Appendix For those applications requiring output only from the GPS receiver the standard NMEA 0183 sentences are a popular choice Many standard application packages support the standard NMEA output messages With the addition of the Trimble proprietary bi directional NMEA the user can now gain complete control of the Copernicus module including configuration and program control The standard NMEA output only messages are GGA GLL GSA GSV RMC VTG and ZDA NMEA National Office 7 Riggs Ave Severna Park MD 21146 1 410 975 9425 info nmea org 212 Copernicus GPS Receiver NMEA 0183 C The NMEA 0183 Communication Interface The Copernicus GPS receiver can be configured for NMEA on either port A or port B at any baud rate Below are the default NMEA characteristics f
96. Serial port B receive l Logic level secondary serial port receive 21 RXD_A Serial port A receive l Logic level primary serial port receive 22 Reserved Reserved 1 0 Do not connect 23 TXD_A Serial port A transmit O Logic level primary serial port transmit 24 TXD_B Serial port B transmit O Logic level secondary serial port transmit 25 Reserved Reserved 1 0 Do not connect 26 Reserved Reserved 1 0 Do not connect 27 GND Ground G Signal ground Connect to common ground 28 GND Ground G Signal ground Connect to common ground G Ground I Input O Output P Power Copernicus GPS Receiver 43 3 INTERFACE CHARACTERISTICS Detailed Pin Descriptions RF Input The RF input pin is the 50 ohm unbalanced GPS RF input and can be used with active or passive antennas Passive antennas The RF input pin may be connected by a low loss 50 ohm unbalanced transmission system to the passive GPS antenna if loss is minimal lt 2 dB It is recommend that you use an external LNA with a passive antenna Active Antennas The RF input pin can also be connected to the output of an external low noise amplifier which is amplifying GPS signals from the antenna The gain of the LNA must be great enough to overcome transmission losses from the LNA output to this pin The specification for noise figure for the module is lt 3 dB at room temperature and lt 4 dB over the specified temperature range 40 to 85 C The external LNA
97. The standard message data field block including delimiters is limited to 74 characters or less Note Trimble proprietary messages can exceed 79 characters and the data field block of these messages can exceed 74 characters Copernicus GPS Receiver 213 C NMEA 0183 Field Definitions Many of the NMEA data fields are of variable length and the user should always use the comma delimiter to parse the NMEA message date field The table below specifies the definitions of all field types in the NMEA messages supported by Trimble Table C 2 Field Definitions Type Symbol Definition Status A Single character field A Yes data valid warning flag clear V No data invalid warning flag set Special Format Fields Latitude Fixed variable length field Degreesminutes decimal 2 fixed digits of degrees 2 fixed digits of minutes and a variable number of digits for decimal fraction of minutes Leading zeros always included for degrees and minutes to maintain fixed length The decimal point and associated decimal fraction are optional if full resolution is not required Longitude yyyyy yyy Fixed Variable length field Degreesminutes decimal 3 fixed digits of degrees 2 fixed digits of minutes and a variable number of digits for decimal fraction of minutes Leading zeros always included for degrees and minutes to maintain fixed length The decimal point and associated decimal fraction are optional if full resolutio
98. UINT8 0 1 0 do not auto report report 1 mark for auto report Copernicus GPS Receiver 167 A TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Command Packet 0x8E 2B Request Fix and Channel Tracking Info Type 2 This packet requests Packet Ox8F 2B or marks it for automatic output If only the first byte packet sub code 0x2B is sent an Ox8F 2B report containing the last available data will be sent immediately If two bytes are sent the packet is marked unmarked for auto report according to the value of the second byte as shown in below To retain the auto report setting for this packet first set the setting accordingly and then save to non volatile memory by issuing the packet Ox8E 26 Table A 63 Command Packet 0x8E 2B Byte Item Type Value Definition 0 Packet sub code UINT8 0x2B Packet sub code 1 Mark for Auto report UINT8 0 1 0 do not auto report 1 mark for auto report Command Packet 8E 4A Set Request Lassen iQ GPS Cable Delay and PPS Polarity Using this packet you can query and control the Lassen iQ GPS cable delay characteristics The receiver responds to a query or control command with packet 8F 4A The packet contains 16 bytes Table A 64 Command Packet 8E 4A Byte Item Type Meaning 0 Sub packet ID BYTE Always 0x4A 1 Reserved 2 Reserved 3 Polarity BYTE 0 Positive 1 Negative 4 11 PPS Offset of Cable Delay DOUBLE Seconds default
99. UT LIMITATION DAMAGES FOR LOSS OF BUSINESS PROFITS BUSINESS INTERRUPTION LOSS OF BUSINESS INFORMATION OR ANY OTHER PECUNIARY LOSS REGARDLESS OF WHETHER TRIMBLE HAS BEEN ADVISED OF THE POSSIBILITY OF ANY SUCH LOSS AND REGARDLESS OF THE COURSE OF DEALING WHICH DEVELOPS OR HAS DEVELOPED BETWEEN YOU AND TRIMBLE BECAUSE SOME STATES AND JURISDICTIONS DO NOT ALLOW THE EXCLUSION OR LIMITATION OF LIABILITY FOR CONSEQUENTIAL OR INCIDENTAL DAMAGES THE ABOVE LIMITATION MAY NOT APPLY TO YOU Table of Contents Table of Contents 1 SIARIER KIT lt lt 2 ica ar a a a Ew a A 5 Receiver Overview 6 Starter A Shs Reap oad vee Be are ek Se ee apy fos ges Be eg 7 Starter Kit Components 7 Interface Ult a RG a a Ske BA 8 Serial Port Interface e 10 Removing the Reference Board from the Interface Unit 13 AMENDA a a E a A E a ewe Ra 14 Using a Passive Antema o 14 QuickStart Guides 6 Valdano a aia a dd a OE eek RA 15 Trimble GPS Monitor Toolkit 2 2 o e 17 Install the FTDI USB Serial Driver Software o o 17 Connect the PC via the USB Cable o o o 18 Start the TGM Application ee ee 20 Connect to the GPS Receiver o e o 21 Configure GPS Ports aoaaa 23 Configure Output Formats e 24 Configure GPS ica co o da a a 24 Configure PPS Output sich o gt ek a a de la ea we a N 25 Configure NMEA Output
100. a distance specified in EEEE Example When the message gt DPV0030000505000900 ID 0105 lt is sent to the GPS receiver it specifies that vehicle number 105 GGGG 0105 is to report the Position Velocity message AA PV whenever its current position differs from the previously reported position by at least 500 meters EEEE 0500 but no more often than every 30 seconds BBBB 0030 or less often than every 15 minutes FFFF 0900 seconds The minimum and maximum time out reports are to be issued with a 5 second offset CCCC 0005 from the top of the hour The optional checksum was not used in this example The square brackets shown in the format description above are used to indicate optional data The brackets themselves are never included in the actual TAIP message string Copernicus GPS Receiver TRIMBLE ASCII INTERFACE PROTOCOL TAIP B Latitude and Longitude Conversion The TAIP protocol reports latitude as positive north decimal degrees and longitude as positive east decimal degrees using the WGS 84 datum For your application you may wish to convert to degrees minutes and seconds The following example illustrates the conversion of decimal degrees to degrees minutes and seconds Example Given latitude and longitude in decimal degrees Latitude 37 39438 Longitude 122 03846 Convert latitude by multiplying the decimal fraction of degrees by 60 to convert to minutes 0 39438 x 60 23 6628 minutes
101. a single NMEA sentence is less than the total ephemeris data length the ephemeris data must be sent in three sentences The three sentences have to be sent or received together in correct sequence Following is the query format SPTNLOEP xx hh lt CR gt lt LF gt Table C 19 Ephemeris Query Format Field Description Q Query XX Satellite After receiving the query the receiver should send out three messages Following is the first message of ephemeris format SPTNLaEP 1 xx x x x x hh hh hh hh hhh hh hhhh hh h hhh hhhhhh x x hh lt CR gt lt LF gt Table C 20 Ephemeris Message Format Field Description a Mode S set R Response 1 Message number for EP message 1 must be sent or received before message 2 and message 2 must be sent or received before message 3 and all three messages must be sent together with correct sequence XX Satellite id X X T_ephem This is a double precision floating point number X X Week number for health variable length integer 4 digits maximum hh CodeL2 HEX data conforming to GPS ICD 200 hh L2Pdata HEX data conforming to GPS ICD 200 hh Svacc_raw HEX data conforming to GPS ICD 200 hh SV_health HEX data conforming to GPS ICD 200 hhh IODC HEX data conforming to GPS ICD 200 hh T_GD HEX data conforming to GPS ICD 200 hhhh T_oc HEX data conforming to GPS ICD 200 hh A_f2 HEX data conforming to GPS ICD 2
102. a single data byte and returns Report Packet 0xBC See Table A 4 for information on saving the settings to non volatile memory Copernicus GPS Receiver 159 A TRIMBLE STANDARD INTERFACE PROTOCOL TSIP TSIP Packet OxBC is used to set the communication parameters on port A The table below lists the individual fields within the Packet OxBC and provides query field descriptions The BC command settings are retained in battery backed RAM Table A 54 Command Packet OxBC Port Characteristics Byte Bit Item Type Value Definition 0 Port to Set UINT 8 0 Port A 1 Port B OXxFF Current port 1 Input Baud Rate UINT 8 2 Reserved 3 Reserved 4 Reserved 5 Reserved 6 4800 baud 7 9600 baud 8 19200 baud 9 38400 baud 10 57600 baud 11 115200 baud 2 Output Baud Rate UINT 8 As above As above Note 1 3 Data Bits UINT 8 3 8 bits 4 Parity UINT 8 0 None 5 Stop Bits UINT 8 0 1 bit 6 Flow Control UINT 8 0 0 none 7 0 TAIP Bit 0 Off 1 On 1 TSIP input Bit 0 Off 1 On 2 NMEA input Bit 0 Off 1 On 3 Reserved 4 7 Reserved 8 0 TAIP Bit 0 Off 1 On 1 TSIP output Bit 0 Off 1 On 2 NMEA output Bit 0 Off 1 On 3 7 Reserved 9 Reserved Note The Copernicus GPS receiver requires that the input and output baud rates be identical Command Packet 0xC0 Graceful Shutdown and Go To Standby Mode TSIP Packet OxCO is used to issue a reset or graceful shutdown to the unit and or
103. able 3 1 Pin Description Pin Name Description Function Note 1 GND Ground G Signal ground Connect to common ground 2 GND RF Ground G One of two RF grounds adjacent to RF input Connect to RF ground system 3 RF Input GPS RF input 50 ohm unbalanced coaxial RF input 4 GND RF Ground G One of two RF grounds adjacent to RF input Connect to RF ground system 5 LNA_XEN LNA Enable O Can be used with active antennas only Active low logic level signal to control external LNA Reserved Reserved 1 0 Do not connect OPEN Antenna OPEN l Logic level from external antenna detection circuit See Antenna Detect Truth Table 8 SHORT Antenna SHORT l Logic level from external antenna detection circuit See Antenna Detect Truth Table 9 Reserved Reserved l Connect to VCC 10 Reserved Reserved l Connect to VCC 11 XRESET Reset l Active low logic level reset Connect to VCC with or without a pullup resistor if not used 12 VCC Supply voltage P Module power supply 2 7 3 3 VDC 13 GND Ground G Signal ground Connect to common ground 14 GND Ground G Signal ground Connect to common ground 15 GND Ground G Signal ground Connect to common ground 16 XSTANDBY Run Standby l Selects RUN or STANDBY mode Connect to VCC if not used run only 17 Reserved Reserved 1 0 Do not connect 18 Reserved Reserved 1 0 Do not connect 19 PPS Pulse per second O Logic level timing signal at 1 Hz Do not connect if not used 20 RXD_B
104. accurate to a few kilometers For high accuracy time transfer position should be accurate to a few meters Table A 20 Command Packet 0x32 Data Format Byte Item Type Units 0 3 Latitude Single Radians North 4 7 Longitude Single Radians East 8 11 Altitude Single Meters Command Packet 0x35 Set Request I O Options This packet requests the current I O options and allows the I O options to be set To request the options settings without any changes send the packet with no data bytes To change the options settings include four data bytes with the values The I O options their default settings and the byte values for all possible configurations are shown below The Set Request I O options are stored in battery backed memory To store them in non volatile RAM Flash use the Ox8E 26 command The GPS receiver returns Packet 0x55 These abbreviations are used in the following table e ALT Altitude e ECEF Earth centered Earth fixed e XYZ Coordinates e LLA Latitude Longitude Altitude HAE Height Above Ellipsoid e WGS 84 Earth Model ellipsoid e MSL Geoid Mean Sea Level UTC Coordinated Universal Time 136 Copernicus GPS Receiver TRIMBLE STANDARD INTERFACE PROTOCOL TSIP A This packet can also be used to set the Automatic output to 1 second for packets 0x47 and OxSA Table A 21 Command Packet 0x35 Data Format Byte Bit Item Type Value Definitio
105. achieved via a network of ground stations located throughout North America which monitor and measure the GPS signal Measurements from the reference stations are routed to two master stations which generate and send the correction messages to geostationary satellites Those satellites broadcast the correction messages back to Earth where WAAS enabled GPS receivers apply the corrections to their computed GPS position Number of channels The Copernicus GPS Receiver tracks one WAAS satellite at a time When acquiring and tracking a WAAS satellite one tracking channel is set aside for this purpose leaving eleven tracking channels which are used for the GPS satellites Copernicus GPS Receiver 59 4 OPERATING MODES Acquisition The Copernicus GPS Receiver will acquire a WAAS satellite after it has a GPS based position fix After a two minute position fix outage the Copernicus module will stop tracking and acquiring the WAAS satellite The WAAS satellite will be re acquired after a GPS based position fix is re established Usage The Copernicus GPS Receiver will only use the data from a WAAS satellite for position fix corrections It shall not use a WAAS satellite for the position solution computation Almanac collection The Copernicus GPS Receiver collects WAAS almanac data and automatically stores the WAAS Satellite location and abbreviated almanac and health data to BBRAM and NVS storage Ephemeris collection The Copernicus GP
106. adjusted upward or downward by one millisecond Report packet Ox5A checks packet 0x83 or 0x84 for clock bias Report Packet 0x5F For Trimble diagnostic use only please ignore Report Packet 0x5C Satellite Tracking Status This packet provides tracking status data for a specified satellite Some of the information is very implementation dependent and is provided mainly for diagnostic purposes The receiver sends this packet in response to Packet 0x3C The data format is shown below Table A 46 Report Packet 0x5C Data Formats Byte Bit Item Type Value Definition 0 Satellite UINT8 number PRN 1 32 number 1 0 2 reserved Bits reserved 1 3 7 Channel Bits 0 11 2 Acquisition UINT8 0 Never acquired flag 1 Tracking 2 Re opened search 3 Ephemeris UINT8 0 Flag not set flag 1 Ephemeris is decoded 4 7 Signal Single Same as in Packet 0x47 level 8 11 GPS time Single lt 0 No measurements have been taken of last gt 0 Center of the last measurement measurem taken from this satellite ent 12 15 Elevation Singles radians Approximate elevation of this satellite above the horizon Updated about every 15 sec s Used for searching and computing measurement correction factors Copernicus GPS Receiver 153 A TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Table A 46 Report Packet 0x5C Data Formats continued Byte Bit Item Type Value Definition 16 19 Azimuth Single radians Appr
107. ails on this packet Change baud rate for faster loading If the local host s hardware can support higher baud rates it is better to change the baud rate to maximum possible for the fastest loading time First send Change Baud Monitor Mode packet 0x86 to the target with the desired baud rate See page 113 for details on this packet Wait 0 5 seconds to let the packet be transmitted change the local baud rate to the same settings and send ENQ packet to the target The target will respond with ACK at the new baud rate to indicate the communication has been established Erase firmware section Before the firmware can be programmed the GPS firmware section in Flash must be erased The Erase Firmware Section Monitor Mode packet Ox8F must be sent to the target The target will respond with ACK when the section is erased See page page 113 for details on this packet Send size and start address of the firmware In this step the size and start base address of the firmware is sent to the target using the Start Firmware Programming Monitor Mode packet 0x8B This packet initiates the firmware loading process The target will respond with ACK as soon as this packet is received See page 114 for details on this packet Send firmware data Once the Start Firmware Programming packet is sent the target expects a stream of 2 byte words The host must send this data one word at a time with the most significant byte of eac
108. ain any printable ASCII character with the exception of the gt lt and characters Detailed descriptions of each message format are provided in the specific message sections of this Appendix Most messages are length sensitive and unless otherwise specified field separators including spaces are not used Vehicle ID A vehicle identification ID may optionally be used in all the communications with the receiver Each receiver in the fleet may be assigned a four character alpha numeric ID and be forced to output that ID in all messages The default is ID set to 0000 and the ID Flag set to F false The receiver will check all incoming messages for ID If no ID is specified the receiver will accept the message If the ID is included in messages but does not compare with the ID previously set the message will be ignored This applies even when the ID Flag is turned off Checksum The checksum field provides for an optional two digit hex checksum value which is computed as XOR of all characters from the beginning of the sentence up to and including the character If provided the checksum is always the last element of the sentence before the message delimiter The default mode of operation is to include checksum in sentences The use of checksums can help in instances where the communication channel is noisy Example The following message used to set the vehicle ID flag includes checksum gt SRM ID_FLAG T 6F lt In this example
109. an 1969 Chile SAN D 154 South American 1969 Columbia SAN E 155 South American 1969 Ecuador Excluding Galapagos SAN F Islands 156 South American 1969 Guyana SAN G 157 South American 1969 Paraguay SAN H 158 South American 1969 Peru SAN I 159 South American 1969 Trinidad and Tobago SAN K 160 South American 1969 Venezuela SAN L 171 Zanderij Surinam ZAN Trimble Datum Local Geodetic Datum Index Name Code 34 Ascension Island 1958 Ascension Island ASC 37 Astro Dos 71 4 St Helena Island SHB 41 Bermuda 1957 Bermuda Islands BER 70 Hjorsey 1955 Iceland HJO 81 L C 5 Astro 1961 Cayman Brac Island LCF 86 Selvagem Grande 1938 Salvage Islands SGM 182 Copernicus GPS Receiver TRIMBLE STANDARD INTERFACE PROTOCOL TSIP A Trimble Datum Local Geodetic Datum Index Name Code 95 Naparima BWI Trinidad and Tobago NAP 117 Observatorio Meteorologico 1939 Corvo and Flores Islands FLO Azores 130 Pico De Las Nieves Canary Islands PLN 142 Puerto Rico Puerto Rico and Virgin Islands PUR 144 Qornog South Greenland QUO 146 Santa Braz Sao Miguel Santa Maria Islands Azores SAO 148 Sapper Hill 1943 East Falkland Islands SAP 162 Porto Santo 1936 Porto Santo and Madera Islands POS 163 Graciosa Base Southwest 1948 Faial Graciosa Pico San GRA Jorg and Terceira Islands Azores 168 Tristan Astro 1968 Tristan Da Cunha TDC Trimble D
110. are in millimeters TYPICAL 02017526 No solder mask PITCH or copper traces under the unit 0 798 20 269 0 768 19 507 0 768 19 567 SUGGESTED CUSTOMER SULDER MASK Figure 7 3 Solder Mask Diagram Copernicus GPS Receiver 79 7 MECHANICAL SPECIFICATIONS Pad Pattern Below is the required user pad pattern The units in brackets are in millimeters TYPICAL 0 68 17 272 PITCH _ 0 0511 27 No solder mask or copper traces under the unit 0 788 20 015 ey Oo O oy N N S 0 03 0 7621 SUGGESTED CUSTOMER PAD PATTERN Figure 7 4 Pad Pattern Diagram 80 Copernicus GPS Receiver MECHANICAL SPECIFICATIONS 7 Paste Mask To ensure good mechanical bonding with sufficient solder to form a castellation solder joint use a solder mask ratio of 1 1 with the solder pad When using a 5 1 Mil stencil to deposit the solder paste we recommend a 4 Mil toe extension on the stencil The units in brackets are in millimeters TYPICAL PITCH 1 2710 05 ETETETT TTT 0 68 17 27 20 215 m om Oo mn 00 par wu 00 o 0 762 000000008000 0 96510 038 0 688 17 475 SUGGESTED CUSTUMER PASTE PATTERN Figure 7 5 Paste Mask Diagram Copernicus GPS Receiver 81 7 MECHANICAL SPECIFICATIONS 82 Copernicus GPS Receiver In this ch ow the instructions in this chapter to ensure egrity of the packaged and shipped us GPS Receiver modules Coper
111. arget does not check validity of the starting address nor the size It is the host s responsibility to ensure that all parameters are within the system specification If incorrect specification of the starting address overwrites Boot Code the module will be unusable Table 11 8 Start Firmware Programming BYTE O BYTE1 BYTE 2 BYTE 3 BYTES 4 7 BYTES 8 11 BYTE 12 BYTE 13 0x02 0x00 0x8B 0x08 Size Address CHKSM 0x03 Table 11 9 Start Firmware Programming Parameter Data Type Description Size unsigned long Size of loadable data in bytes Address unsigned long Starting physical address where data will be written to 114 Copernicus GPS Receiver Packet ID 0x8C Restart Target This packet returns the target from the monitor to the normal operating mode As at startup the target will initialize all system resources and perform all system tests The target returns ACK to acknowledge the received packet before the execution This packet is designed to bring the receiver from the monitor mode to the normal mode after a firmware update FIRMWARE UPGRADE 11 Note This packet also clears all BBRAM sections to guarantee a cold start after a firmware update Table 11 10 Restart Target BYTE 0 BYTE 1 BYTE 2 BYTE 3 BYTE 4 BYTE 5 0x02 0x00 0x8C 0x00 Ox8C 0x03 Copernicus GPS Receiver 115 11 FIRMWARE UPGRADE
112. art and when the GPS signal is temporarily blocked These three cases have different NMEA output behavior in the Copernicus GPS Receiver This section describes the behavior for the current product The specification for this behavior may change in future products Power up with No Back up Data on SRAM In this case no previous fix is available in battery backed memory If the output message list and output rate has been customized using TSIP command packet Ox7A and stored in Flash memory then at power up the receiver will output the messages according to the customized setting Otherwise GGA and VTG messages are output every second Before fixes are available the message fields will be empty Power up with Back up Data on SRAM In this case a previous fix is available in battery backed memory at power up If the output message list and output rate has been customized using TSIP command packet 0x7A and stored in Flash memory then at power up the receiver will output the messages according to the customized setting Otherwise GGA and VTG messages are output every second Before fixes are available the message fields will be empty except for the Time field assuming the back up battery power is present so that time can be tracked continuously by the RTC Real Time Clock Interruption of GPS Signal If the GPS signal is interrupted temporarily the NMEA will continue to be output according to the user specified message list and output
113. ation 01 good current fix 1 Mfg diagnostic UINT8 2 5 Time of last fix Single seconds GPS time 6 7 Week of last fix INT16 weeks GPS time Report Packet 0x58 Satellite System Data Acknowledge from Receiver This packet provides GPS data almanac ephemeris etc The receiver sends this packet in response to Packet 0x38 acknowledges the loading of data The data format is shown below Table A 39 Report Packet 0x58 Data Formats Byte Item Type Value Definition 0 Operation UINT8 1 Request data from receiver 2 Load data into receiver 1 Type of data UINT8 2 Almanac 3 Health page T_oa WN_oa 4 lonosphere 5 UTC 6 Ephemeris 2 Sat PRN UINT8 0 Data that is not satellite ID specific 1 32 satellite PRN number 3 Length n UINT8 Number of bytes of data to be loaded 4ton 3 Data Table A 40 Report Packet 0x58 Almanac Data Byte Item Type Definition ICD GPS 200 4 t_oa_raw UINT8 Sec 20 3 3 5 1 2 5 SV_HEALTH UINT8 Sec 20 3 3 5 1 2 6 9 e Single Sec 20 3 3 5 1 2 10 13 t_oa Single Sec 20 3 3 5 1 2 14 17 i_o Single Sec 20 3 3 5 1 2 18 21 OMEGADOT Single Sec 20 3 3 5 1 2 22 25 sqrt_A Single Sec 20 3 3 5 1 2 26 29 OMEGA_0 Single Sec 20 3 3 5 1 2 30 33 omega Single Sec 20 3 3 5 1 2 34 37 M_0 Single Sec 20 3 3 5 1 2 Copernicus GPS Receiver 149 A TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Table A 40 Report Packet 0x58 Almanac Data
114. atum _ Local Geodetic Datum Index Name Code 22 Anna 1 Astro 1965 Cocos Islands ANO 66 Gan 1970 Republic of Maldives GAA 75 ISTS 073 Astro 1969 Diego Garcia IST 78 Kerguelen Island 1949 Kerguelen Island KEG 80 Reunion Mascarene Island REU 85 Mahe 1971 Mahe Island MIK Trimble Datum Local Geodetic Datum Index Name Code 35 Astro Beacon E 1945 Iwo Jima ATF 36 Astro Tern Island FRIG 1961 Tern Island TRN 38 Astronomical Station 1952 Marcus Island TRN 40 Bellevue IGN Efate Erromango Island IBE 44 Canton Astro1966 Phoenix Island CAO 48 Chatham Island Astro 1971 Chatham Island New Zealand CHI 52 Dos 1968 Gizo Island New Georgia Islands GIZ 53 Easter Island 1967 Easter Island EAS 67 Geodetic Datum 1948 New Zealand GEO 68 Guam 1963 Guam GUA 69 Gux 1 Astro Guadalcanal Islands DOB 76 Johnstone Island 1961 Johnstone Island JOH 83 Luzon Philippines LUZ A 84 Luzon Mindanao Island LUZ B 89 Midway Astro 1961 Midway Islands MID 119 Old Hawaiian Mean Solution OHA M 120 Old Hawaiian Hawaii OHA A Copernicus GPS Receiver 183 A TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Trimble Datum Local Geodetic Datum Index Name Code 121 Old Hawaiian Kauai OHA B 122 Old Hawaiian Maui OHA C 123 OldHawaiianOahu OHAD 131 Pitcairn Astro 1967Pitcairn Island PIT 147 Santo DOS 1952 Espirito Santo Island SAE 169 Viti Levu 1916 Viti Levu Island Fiji Islands MVS 170
115. ccuracy level The receiver s clocking rate determines the PPS steering resolution Serial Time Output Time must be taken from the timing messages in the TSIP TAIP or NMEA protocols because position messages contain a timestamp which is usually 1 to 2 seconds in the past Table 3 5 Serial Time Output Protocol Timing Message TSIP Report packets 41 and 8F 21 TAIP TM message NMEA ZDA message Note GPS time differs from UTC Universal Coordinated Time by a variable integer number of seconds UTC GPS time GPS UTC offset As of January 2006 the GPS UTC offset was 14 seconds The offset has historically increased by 1 second about every 18 months System designers should plan to read the offset value as a part of the timing interface to obtain UTC The GPS week number is in reference to a base week Week 0 starting January 6 1980 48 Copernicus GPS Receiver INTERFACE CHARACTERISTICS 3 Acquiring the Correct Time To acquire the correct time 1 Confirm that the almanac is complete and the receiver is generating 3D fixes This will eliminate the UTC offset jump 2 Confirm that the receiver is configured for the late PPS option i e it is only outputting a PPS on a 3D fix 3 Capture the time from TSIP packet 0x41 or TSIP packet Ox8F 20 if using TSIP 4 Once time is acquired on the next PPS add 1 to the whole second to read the correct time Note The minimum time resolution is 1
116. ceiver This packet contains only one data byte to specify the mode If SBAS is enabled in packet OxBB Copernicus will acquire a SBAS satellite after it has a GPS based position fix The packet is sent in response to Packet 0x62 Table A 49 Command Packet 0x82 SBAS Correction Status Byte Bit Item Type Value Definition 0 0 LSB Last fix status Bit 0 0 not corrected 1 SBAS 1 corrected 1 Reserved Bit 0 Reserved 2 Last fix Bit 0 0 is no correction 1 is correction 1 SBAS corrected source 3 Reserved Bit 0 Reserved 4 Reserved Bit 0 Reserved 5 Reserved Bit 0 Reserved 6 Reserved Bit 0 Reserved 7 Reserved Bit 0 Reserved To allow the user to disable enable individual SBAS SVs TSIP new packet 0xC2 bytes 0 4 for SBAS SV bit masks NMEA new packet SV field O is for GPS SV bit masks field 1 is for SBAS SV bit masks PTNLRSV xxXXXXXX XXXXXXXX 10 C2 00 04 80 00 10 03 Copernicus GPS Receiver 157 A TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Report Packet 0x83 Double Precision XYZ Position Fix and Bias Information This packet provides current GPS position fix in XYZ ECEF coordinates If the I O Position option is set to XYZ ECEF and the I O Precision of Position option is set to Double see Packet 0x35 the receiver sends this packet each time a fix is computed The data format is shown below Table A 50 Report Packet 0x83 Data Formats Byte Item Type Units
117. code is 00 Doing position fixes This will ensure the most accurate GPS time Report Packet 0x42 Single Precision Position Fix XYZ ECEF This packet provides current GPS position fix in XYZ ECEF coordinates If the I O position option is set to XYZ ECEF byte 0 bit O Packet 0x35 and the I O Precision of Position Output byte 0 bit 4 Packet 0x35 is set to single precision then the GPS receiver sends this packet each time a fix is computed The data format is shown below Table A 27 Report Packet 0x42 Data Formats Byte Item Type Units 0 3 Xx Single meters 4 7 Y Single meters 8 11 Z Single meters 12 15 Time of fix Single seconds The time of fix is in GPS time or UTC as selected by the I O timing option Packet 83 provides a double precision version of this information Copernicus GPS Receiver 141 TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Report Packet 0x43 Velocity Fix XYZ ECEF This packet provides current GPS velocity fix in XYZ ECEF coordinates If the I O velocity option is set to XYZ ECEF byte 1 bit 0 Packet 0x35 then the GPS receiver sends this packet each time a fix is computed The data format is shown below Table A 28 Report Packet 0x43 Data Formats Byte Item Type Units jo 3 Xvelocity Singe meters second 4 7 Y velocity Single meters second 8 11 Z velocity Single meters second 12 15 bias rate Single meters second
118. command the unit into Standby Mode 160 Copernicus GPS Receiver TRIMBLE STANDARD INTERFACE PROTOCOL TSIP A The table below lists the individual fields within the Packet OxCO and provides query field descriptions Any combination of conditions in byte 2 can be specified for starting up the unit from standby mode The condition that happens first will trigger the unit to start up If byte 2 bit 2 is set to 1 then byte 3 must be greater than 0 Byte Bit Item Type Value Definition 0 Reset type or BYTE H hot start go to standby ww warm start mode C cold start S standby mode F factory reset 1 Store BBRAM BYTE 0 Reserved to Flash flag Reserved 2 Store user configuration to Flash Memory 3 Store user configuration to Flash memory 4 Erase Almanac ephemeris and last position from Flash Memory 5 Erase user configuration from Flash Memory 6 Erase Almanac ephemeris last position and user configuration from Flash Memory 2 0 Start up from BYTE 0 1 start up on serial port A Standby Mode 1 activity dition fl 1 yea yee TAIS 0 1 start up on serial port B 1 activity 2 0 1 start up after RTC alarm 1 elapsed 3 4 Number of UINT32 0 to 2147483647 seconds seconds to stay or in Standby 0 to 231 1 mode Copernicus GPS Receiver 161 A TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Command Packet 0xC1 Set Bit Mask for GPIOs in Standby Mode Users may designate individua
119. cond fix information Copernicus GPS Receiver 121 A TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Automatic Position and Velocity Reports The receiver automatically outputs position and velocity reports at set intervals Automatic report packets are controlled by Packet 35 Setting the control bits as indicated in the table below allows you to control which position and velocity packets are output Table A 2 Automatic Position and Velocity Reports Packet 0x35 Byte 0 Packet 0x35 Byte 1 Report Request Bit 9 Bit 1 Bit 4 Bit 5 Bit 0 Bit 1 Packet ID Settings 0x42 single precision 1 0 XYZ position 0x83 double precision 1 1 XYZ position 0x4A single precision 1 0 LLA position 0x84 double precision 1 1 LLA position default 0x43 velocity fix XYZ 1 ECEF 0x56 velocity fix ENU 1 default 0x8F 20 LLA and ENU 1 Note In packets 0x42 0x83 0x4A 0x84 0x43 0x56 0x8F 17 and 0x8F 18 when the Time of Fix parameter is reported as 1 this means that the fix information is not calculated by the Copernicus GPS Receiver but comes from another source such as SRAM Flash Memory or user input In Packet 8F 20 this information is denoted by the Invalid Fix parameter being set to 1 denotes that the fix comes from another source besides the Copernicus GPS Receiver 122 Copernicus GPS Receiver TRIMBLE STANDARD INTERFACE PROTOCOL TSIP A Initialization Packets
120. d description of the starter kit components and instructions for getting started with interface hardware setup and configuration procedures Copernicus GPS Receiver 5 1 STARTER KIT Receiver Overview Trimble s Copernicus GPS receiver delivers proven performance and Trimble quality for a new generation of position enabled products The Copernicus GPS features the Trimble revolutionary TrimCore software technology enabling extremely fast startup times and high performance in foliage canopy multipath and urban canyon environments Designed for the demands of automated pick and place high volume production processes the Copernicus is a complete 12 channel GPS receiver in a 19mm x 19mm x 2 54mm thumbnail sized shielded unit The small thin single sided module is packaged in tape and reel for pick and place manufacturing processes 28 reflow solderable edge castellations provide interface to your design without costly I O and RF connectors Each module is manufactured and factory tested to Trimble s highest quality standards The ultra sensitive Copernicus GPS receiver can acquire GPS satellite signals and generate fast position fixes with high accuracy in extremely challenging environments and under poor signal conditions The module consumes less than 94mW typically at full power with continuous tracking It has been designed to meet restrictions on the use of hazardous substances under the RoHS European Directive The Cope
121. dby Mode is supported in the Copernicus GPS Receiver e In Key Setup Parameters of Packet BB BB packet is still the same but Cannot set signal mask Fix mode DOP mask DOP switch DGPS correction age are not supported 124 Copernicus GPS Receiver TRIMBLE STANDARD INTERFACE PROTOCOL TSIP A The dynamic modes are Land Sea and Air In packet description of OxBB Navigation Configuration Byte 1 only value 0 automatic is supported Byte 2 is now used for SBAS Byte 3 only values 1 2 and 3 are supported Bytes 9 12 change AMU mask not supported Bytes 13 21 are changed to reserved In packet Ox1E byte 0 add 0x4D for enter Monitor Mode The response packet is OxSF FF tk sk _ 6k _ M 0 N T T 0 R A eae 0x35 0x55 packets Filtered PR s in 5A is not supported Ox3A 0x5A packets Raw Measurement diagnostic packets have been added to the Copernicus GPS Receiver 0x45 packet Byte 9 Year number minus 1900 instead of Year number minus 2000 In the 0x7A packet of the Copernicus GPS Receiver the NMEA sentences TF and BA have been added OxBC Protocol Configuration Byte 1 Two new baud rates have been added value 10 57600 baud and value 11 115200 baud Byte 3 only value 3 8 data bits is supported Byte 4 only value 0 No Parity is supported Byte 5 only value 0 1 Stop Bit is supported 8E 4A PPS Configuration Byte 3 Polarity BYTE 0 Positive 1
122. de Entering Standby Mode When the pin is taken low the receiver will go to the STANDBY mode Exiting Standby Mode When the pin is taken high again the receiver will perform a hot or warm restart and return to normal operation The receiver will hot start if the ephemeris is still valid Note Excessive noise on the XSTANDBY pin could trigger the receiver to reset Using Serial Ports to Switch Modes The second method for putting the receiver into Standby Mode is with TSIP packet OxCO or NMEA packet RT There are two possible conditions that would trigger the receiver to exit Standby Mode and reset to normal operations 1 Serial port activity 2 Exit after X elapsed seconds 56 Copernicus GPS Receiver OPERATING MODES 4 Serial Port Activity When the receiver enters Standby Mode through the software protocol commands the first condition for exiting Standby Mode is using serial port A activity or serial port B activity The condition is identical for both ports A and B To ensure the receiver detects and responds to serial port activity issue a NULL character on the selected serial port to bring the unit out of Standby Mode In Standby Mode the receiver samples for serial port activity at a rate of 32 768 kHz A NULL character will bring the selected RX line low for 9 bits so even at the highest baud rate of 115200 a NULL character should be detectable at the sample rate There are two exceptions where serial activit
123. de S set R Response XX Satellite ID 01 32 X X GPS week number variable length integer 4 digits maximum hh SV health HEX data conforming to GPS ICD 200 hhhh Eccentricity HEX data conforming to GPS ICD 200 hh t_oa almanac reference time HEX data conforming to GPS ICD 200 hhhh sigma_l HEX data conforming to GPS ICD 200 hhhh OMEGADOT HEX data conforming to GPS ICD 200 hhhhhh root_a HEX data conforming to GPS ICD 200 hhhhhh Omega HEX data conforming to GPS ICD 200 hhhhhh Omega_0 HEX data conforming to GPS ICD 200 hhhhhh M_O HEX data conforming to GPS ICD 200 hhh a_fO HEX data conforming to GPS ICD 200 hhh a_fl HEX data conforming to GPS ICD 200 226 Copernicus GPS Receiver NMEA 0183 C AS Almanac Status This sentence can be used to query or set almanac status The format is SPTNLaAS hh xxxx hh hh hh hh hh hh lt CR gt lt LF gt Table C 16 Query Almanac Status Field Description a Mode Q query S Set Hh TimeOfAlm Time of almanac XXXX Week number of almanac hh HaveTimeOfAlm hh HaveAlmHealth hh NeedAlmHealth Need Almanac Health hh NeedlonUtc hh HaveAlm The corresponding response for the Set is SPTNLRAS a hh lt CR gt lt LF gt where a means action status A success V failure BA Antenna Status This sentence can be used to query the antenna connection status This sentence should only be issued when
124. de 1 n a H 0 2D GPS 1 3D GPS 2 8 reserved 9 no fix avail Age of Data 1 n a 2 fresh lt 10 sec Indicator 1 old gt 10 sec O not available Total number of characters is 30 Position is in latitude positive north and longitude positive east WGS 84 Heading is in degrees from True North increasing eastwards The GPS time of day is the time of fix rounded to the nearest second Note The data in this message is to be considered invalid and should not be used if the Age of Data Indicator is equal to O signifying data not available Copernicus GPS Receiver TRIMBLE ASCII INTERFACE PROTOCOL TAIP B Reporting Mode Data String Format ID_FLAG A CS_FLAG B EC_FLAG C FR_FLAG D CR_FLAG E Item of Char Units Format Value ID Flag 1 n a A T True F False CS Flag 1 n a B T True F False EC Flag 1 n a C T True F False FR Flag 1 n a D T True F False CR Flag 1 n a E T True F False ID Flag determines whether the unit is to include the vehicles ID with each report CS Flag determines whether the unit is to include a checksum as part of each message EC Flag when set will cause the unit to echo back all complete and properly formatted set commands with a response qualifier This provides an easy way to verify that the unit did in fact receive the intended data FR Flag indicates whether the unit is to report messages automatically per their indivi
125. de UINT8 0x17 Packet sub code 1 Mark for auto UINT8 0 1 O do not mark for auto report report 1 mark for auto report Command Packet 8E 18 Request Last Position or Auto Report Position in UTM Double Precision Format This packet requests Packet Ox8F 18 or marks it for automatic output If only the first byte packet sub code 0x18 is sent an Ox8F 18 report containing the last available data will be sent immediately If two bytes are sent the packet is marked unmarked for auto report according to the value of the second byte as shown in below To retain the auto report setting for this packet first set the setting accordingly and then save to non volatile memory by issuing the packet Ox8E 26 Table A 59 Command Packet 8E 18 Byte Item Type Value Definition 0 Packet sub code UINT8 0x18 Packet sub code 1 Mark for auto UINT8 0 1 O do not mark for auto report report 1 mark for auto report 166 Copernicus GPS Receiver TRIMBLE STANDARD INTERFACE PROTOCOL TSIP A Command Packet 0x8E 20 Request Last Fix with Extra Information This packet requests Packet 0x8F 20 or marks it for automatic output If only the first byte 20 is sent an 0x8F 20 report containing the last available fix will be sent immediately If two bytes are sent the packet is marked unmarked for auto report according to the value of the second byte as shown in below 0x37 can also be used for requesting 0x8F 20 if the
126. de the Vehicle ID in its responses gt SID1234 lt gt SRM ID_FLAG T lt The Lassen iQ receiver receiver is set by default to report the PV message once every 5 seconds To schedule the PV message from vehicle 1234 to respond once every 10 seconds starting at 5 seconds after the top of the hour use the following command gt FPV00100005 ID 1234 lt Copernicus GPS Receiver 209 B TRIMBLE ASCII INTERFACE PROTOCOL TAIP The receiver will check the ID included in the message for a match with its own and then reschedule the PV message At the next scheduled time the receiver will respond with gt RPV15714 3739438 1220384601512612 ID 1234 7F lt Note The Lassen PT GPS does not support the AP TAIP message The time given in the message is the time of the last GPS fix 04 21 54 GPS not necessarily the time of the message response If the time of last fix is 10 or more seconds old the age flag will be set to l 210 Copernicus GPS Receiver NMEA 0183 In this appendix Overview The NMEA 0183 Communication Interface NMEA 0183 Message Format Field Definitions Checksum Exception Behavior NMEA 0183 Message Options NMEA 0183 Message Formats APPENDIX This appendix provides a brief overview of the NMEA 0183 protocol and describes both the standard and optional messages offered by the Copernicus GPS Receiver Copernicus GPS Receiver 211 C NMEA 0183 Overview NMEA 0183 is a simple yet comprehensive A
127. ded to the receiver in the serial command packet and the user can specify any combination of these conditions as desired For exiting the Standby Mode either of the 2 methods can be applied The first one that occurs will bring the receiver to the RUN Mode to start normal operations Copernicus GPS Receiver 57 4 OPERATING MODES 18 Hour RTC Roll Over If the Standby Mode lasts longer than 18 hours a special condition will occur The real time clock has a maximum time count of 18 hours so that every 18 hours the receiver must briefly power on the processor and read the elapsed time before the real time clock rolls over The Diagram below describes the Copernicus GPS Receiver current draw levels after initiating a Standby command as well as the service time for the 18 hour real time clock roll over 33 mA 30 mA Current Standby Current Running v 4 10 200 mec 10 msec 10 msec 4 gt A Standby Command eee p 18 hours td 18 hours Lal Figure 4 1 Current Draw Levels in Standby Mode During the 10 msec RTC service is time there exists a 91 6 usec window where the receiver cannot detect state transitions on the RX pins If NULL characters are being used to bring the unit out of Standby as described earlier using three NULL characters in a row should ensure that one of the NULL characters happens outside of the vulnerable window so that the serial port activity is detected 70
128. der tool distribution The source files are fully commented throughout Parsing Firmware BIN File The function LoadBinFile defined in Util cpp shows how to parse the firmware BIN file extract the loadable data and store into a local buffer for sending to the target Creating Packets in the Monitor Protocol Format The functions GetXxxxxPkt defined in Util cpp show how to format various packets using the monitor interface protocol 116 Copernicus GPS Receiver FIRMWARE UPGRADE 11 Loading Firmware to the Target The function FlashProgrammingThread defined in FlashLoaderDlg cpp shows how to implement the firmware loading procedure described above Compiling and Generating the Executable The FlashLoader tool can be re compiled using the provided project make files If using Microsoft Visual C v6 0 open the workspace file FlashLoader dsw located in the mak directory of the tool distribution From the main menu select Build gt Rebuild All This will compile the source files generate the executable and place it in the bin directory If using Microsoft Visual C NET open the solution file FlashLoader sin located in the mak directory of the tool distribution From the main menu select Build gt Rebuild Solution This will compile the source files generate the executable and place it in the bin directory Copernicus GPS Receiver 117 11 FIRMWARE UPGRADE 118 Copernicus GPS Receiver APPENDIX TRIMBLE STANDARD
129. dually scheduled frequency When set to false the unit will only respond when queried for a specific message CR Flag when set to True will cause the receiver to append a carriage return and line feed CR LF to the end of each message output This is useful when viewing the unencoded receiver responses on a terminal or a PC The default value at start up for ID flag and the CR flag is false the default for CS EC and FR flags is true Example The following command will turn checksums off and carriage return on gt SRM CS_FLAG F CR_FLAG T lt Note Notice the use of semicolon before the flag name Copernicus GPS Receiver 201 202 TRIMBLE ASCII INTERFACE PROTOCOL TAIP RT Reset Mode Data String Format Any one of the following data strings can be set Upper case characters are required COLD FACTORY SAVE_CONFIG Message Description gt SRT lt Warm Start gt SRTCOLD lt Cold Start gt SRTFACTORY lt Factory Reset gt SRTSAVE_CONFIG lt Save settings to Flash memory The following procedure is used to change the Lassen iQ receiver protocol from TSIP to TAIP 1 Use the TSIP 0x7E command to setup the TAIP output configuration 2 Change the protocol to TAIP using TSIP command OxBC 3 Save the TAIP settings to Flash memory using the TAIP command gt SRTSAVE_CONFIG lt Copernicus GPS Receiver ST Status Data String Format AABCDDEFGG TRIMBLE ASCII INTERFA
130. e AA is the two character message identifier and B specifies the data string within the message For the format of B please refer to the message definitions in the previous section Note that all the messages have very specific formats and are length dependent Messages normally supported by the set qualifier are AL AP CP DC DD ID IP LN PT PV and RM The set qualifier may be used with the AL CP LN or PV message to set more precise initial position data into the GPS receiver than can be set with the IP message Note The Lassen PT GPS does not support the AP TAIP message Sample Communication Session The following is a sample communication session to illustrate how message qualifiers are used Query the receiver for version number for the TAIP firmware gt QVR lt The receiver responds with a message in the following form gt RVR CT COPERNICUS APP VERSION 01 05 05 23 06 6E lt Note The receiver identified its product name firmware version number core signal processing version number and release dates then included the checksum for the message the default for the CS Flag is TRUE Also notice that the receiver did respond to our query even though we did not send a checksum Query the receiver for its ID number gt QID lt The receiver will respond assuming factory default settings gt RIDO000 70 lt Set the ID to match the number for a vehicle in your fleet and then tell the receiver to inclu
131. e Copernicus GPS uses a USB 2 0 interface chip from Future Technology Devices International Ltd FTDI The FTDI driver must be downloaded and installed on your PC before you can run the Trimble GPS Monitor TGM application used to communicate with the Copernicus GPS 1 Use the following URL to access the FTDI drivers http www ftdichip com Drivers VCP htm 2 Download and install the appropriate VCP Virtual COM Port driver for your operating system Win 98 ME 2000 XP Select the option with FT2232C series support Follow the instructions provided on the Web site and with the driver http www ftdichip com Documents InstallGuides htm 3 Use the supplied USB cable to connect the Copernicus GPS interface unit to your PC The FTDI driver automatically assigns two 2 virtual COM ports to the USB port Use the Windows Device Manager to determine which COM Ports have been assigned to the USB port Default Settings The default settings on the interface unit USB Port are provided in Table 1 1 Table 1 1 Serial Port Default Settings Virtual Port Protocol Baud Rate Data Bits Parity Stop Bits Flow Ports Direction Control A TXD A TSIP Out 38 4 K 8 None 1 NO RXD A TSIP IN 38 4 K 8 None 1 NO B TXD B NMEA Out 4800 8 None 1 NO RXD B NMEA IN 4800 8 None 1 NO 10 Copernicus GPS Receiver STARTER KIT 1 Interface Connections Following is a description of the Copernicus GPS interface unit
132. e INT32 any Altitude above WGS 84 ellipsoid in millimeters 21 East West Velocity INT32 any East West velocity in mm s Positive value East velocity negative West 25 North South INT32 any North South velocity in Velocity mm s Positive value North velocity negative South 29 Up Down Velocity INT32 any Up Down velocity in mm s Positive value Up velocity negative Down 176 Copernicus GPS Receiver TRIMBLE STANDARD INTERFACE PROTOCOL TSIP A Byte Offset Item Type Value Definition 33 Receiver Status Code UINT8 Any 0x00 Doing position fixes 0x01 Don t have GPS time yet 0x03 PDOP is too high 0x08 No usable satellites 0x09 Only 1 usable satellite Ox0A Only 2 usable satellites 0x0B Only 3 usable satellites Other values indicate internal status codes when the receiver is not generating valid position fixes 34 Receiver Health UINT8 Bit masks Bit 0 if set antenna line fault is detected Bit 1 if set antenna line is shorted if not set antenna line is open This bit is valid only if Bit 0 is set Bit 2 if set the current fix is 2 D if not set the fix is 3 D This bit is valid only if Receiver Status Code byte is 0x00 Bit 3 if set the current fix is SBAS corrected This bit is valid only if Receiver Status Code byte is 0x00 Bit 4 if set BBRAM was not available at power up Bit 5 if set Real
133. e ability to log the output of multiple GPS devices simultaneously and the ability send and view received raw data Prior to using the TGM application with a USB interface you must first download and install the FTDI USB serial driver software see instructions below Note The Trimble GPS Monitor application TGM replaces many of the previous monitor and chat programs used for Trimble Embedded and Resolution T products Install the FTDI USB Serial Driver Software The Copernicus GPS starter kit uses a USB 2 0 dual serial port emulator interface chip from Future Technology Devices International Ltd FTDD Prior to using the TGM application with a USB interface you must first download and install the FTDI USB serial driver software on your PC 1 Confirm that you have the following APC with Windows Vista Windows XP Service Pack 2 or Windows 2000 Service Pack 4 installed and a free USB port Internet access to complete the installation 2 Download the software for your Trimble product from the Trimble Support web site http www trimble com support shtml and select the relevant product link and then the Software Tools option Select and Save all files to a directory on the hard drive 4 Install the FTDI driver on your PC Locate the file called CDM_Setup exe you just saved and double click it If properly installed you should see a FTDI CDM Driver Installation popup window with the message FTDI C
134. e are properly grounded for ESD protection 2 Remove the four screws which secure the bottom plate of the interface unit to the base of the metal enclosure Set the bottom plate aside 3 Remove the two screws securing the Copernicus GPS reference board to the standoffs These screws are located at opposite ends of the receiver module Copernicus GPS Receiver 13 1 STARTER KIT Antenna The Copernicus GPS Starter Kit comes with an active mini magnetic mount 3 0 V GPS antenna This antenna mates with the MCX connector on the interface unit The reference board supplies power to the active antenna through the RF transition cable Using a Passive Antenna To test performance with a passive antenna not supplied in the Copernicus GPS Starter Kit the passive antenna should be connected directly to the MCX connector on the reference board to ensure minimal signal loss Since the passive antenna has no LNA the antenna detection and short circuit will not report a true antenna condition If the passive antenna is a DC open patch antenna the FW reports an antenna open condition If the antenna power jumper is removed the antenna is reported as shorted 14 Copernicus GPS Receiver STARTER KIT 1 Quick Start Guide 1 Confirm that you have the following The Copernicus GPS Starter Kit Windows desktop or laptop computer with a USB port 2 Connect the computer s power cable to the power converter 3 Plug the power cable into
135. e current known position Packet 0x84 provides a double precision version of this information AN WARNING When converting from radians to degrees significant and readily visible errors will be introduced by use of an insufficiently precise approximation for the constant PI The value of the constant PI as specified in ICD GPS 200 is 3 1415926535898 Single precision LLA has a quantization of approximately 2 meters Copernicus GPS Receiver 145 A TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Report Packet 0x4B Machine Code ID and Additional Status The receiver transmits this packet in response to packets 0x25 and 0x26 and following a change in state In conjunction with Packet 0x46 health of receiver this packet identifies the receiver and may present status messages The machine ID can be used by equipment communicating with the receiver to determine the type of receiver to which the equipment is connected Then the interpretation and use of packets can be adjusted accordingly Table A 33 Report Packet 0x4B Data Formats Byte Item Type Definition 0 Machine ID UINT8 96 Status 1 UINT8 See Table A 1 2 Status 2 UINT8 Bit 0 set Superpackets supported The status codes are encoded into individual bits within the bytes The bit positions and their meanings are listed in the table below Table A 34 Report Packet 0x4B Bit Positions and Descriptions Status 1 Bit Meaning if bit value 1 Po
136. e ge Bard a ete ee Go 88 Moisture Precondition oaa a 89 Baking Procedure se x a oee e e Ra ae 90 Soldering Paste lt o s 2 sace im Re ee e e a a a 90 Solder Retlow soe goe dd ara a e el a a Re ee a Aa 90 Recommended Soldering Profile oaoa a 91 Optical Inspecti ns s s v s ecaa a e E a a RR AA A 91 Cleanings g oa ss ode Oh ac as be daa da do edad Real dir 92 Soldering Guidelines ee 92 Repeated Reflow Soldering o e o e 92 Wave Soldering ee 92 Hand Soldering oido be ek a ee de PR eB ae are ae 92 ReWork soso acidos bul age PES eave d OR ba ds Ph ee ed he aeste 92 Conformal Coating s s esce 4 dA ee ee a a RR A 92 Grounding the Metal Shield 2 2 ee ee ee 93 COPERNICUS REFERENCE BOARD 95 Introduction o lt s ee Se ea EEA A ER ee ee ee ee eae 96 Reference Board Block Diagram 00 0000 00 bee eee eee 98 Reference Board Schematic page lof 3 2 0 2 2 0 2 00200 00004 99 Reference Board Schematic page 2 of 3 2 2 2 o ooo o 100 Reference Board Schematic page 3 of 3 2 2 ee ee 101 Reference Board I O and Power Connector o 000000000048 102 Reference Board Power Requirement e 102 Reference Board Jumper Table o oo e e 103 Reference Board Component Locations Drawing o e 104 Copernicus GPS Receiver 3 Table of Content
137. e the unit to report an antenna open condition see Table 3 2 Copernicus GPS Receiver 67 5 APPLICATION CIRCUITS 68 Copernicus GPS Receiver CHAPTER 6 RF LAYOUT CONSIDERATIONS In this chapter This chapter outlines RF design considerations Genera en iene for the Copernicus GPS Receiver m Design considerations for RF Track Topologies m PCB Considerations Copernicus GPS Receiver 69 6 RF LAYOUT CONSIDERATIONS General Recommendations The design of the RF transmission line that connects the GPS antenna to the Copernicus GPS Receiver is critical to system performance If the overall RF system 1s not implemented correctly the Copernicus GPS Receiver performance may be degraded The radio frequency RF input on the Copernicus GPS module is a 50 ohm unbalanced input There are ground castellations pins 2 and 4 on both sides of the RF input castellation on pin 3 This RF input may be connected to the output of an LNA which has a GPS antenna at its input or to a passive antenna via a low loss 50 ohm unbalanced transmission line system In the case where the GPS antenna must be located any significant distance from the Copernicus GPS Receiver the use of an LNA at the antenna location is necessary to overcome the transmission losses from the antenna to the Copernicus GPS module It is recommended that in the case of a passive antenna the transmission line losses from the antenna to the module be less than 2 dB Othe
138. ea level mode and UTC coordinated universal time Table A 36 Command Packets 0x55 and 0x35 Data Descriptions Byte Bit Item Type Value Definition Position 0 0 XYZ ECEF Bit 0 XYZ ECEF output off 1 XYZ ECEF output on 0 1 LLA Output Bit 0 LLA output off 1 LLA output on 0 2 LLA ALT Output Bit 0 HAE WGS 84 datum 1 MSL geoid 3 Reserved 4 Precision of Bit 0 Send single precision packet position output 1 Send double precision packet 0 5 Super Packet Bit 0 Output no Super Packets Output 1 Output all enabled Super Packets 0 6 7 Reserved Velocity 1 0 XYZ ECEF Bit 0 XYZ ECEF output off 1 XYZ ECEF output on 1 1 ENU output Bit 0 ENU output off 1 ENU output on 1 2 7 Reserved Timing 2 0 Time Type Bit 0 GPS Time 1 UTC 1 4 Reserved 5 6 PPS Mode Copernicus GPS Receiver 147 TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Table A 36 Command Packets 0x55 and 0x35 Data Descriptions continued Byte Bit Item Type Value Definition 7 Reserved Auxiliary Pseudo Range Measurements 3 0 Raw Measurement Bit 0 Raw measurements off 1 Raw measurements on 1 Reserved 2 Reserved Signal Level Unit Bit 0 Output AMUs 1 Output dB Hz 4 Reserved 5 Sig levels for SVs Bit 0 Signal levels Off 1 Signal levels On 6 7 Reserved Notes See the associated superpacket output described later in this appendix Pack
139. ed 1 is pull up default is pull down 5 Pin 16 Bit 0 0 is pull down 1 XSTANDBY 1 is pull up default is pull up 6 7 Reserved Bit Reserved NMEA 0183 C Note The settings will be saved to Flash memory when the user issues the command to Save User Configuration to Flash Copernicus GPS Receiver 237 C NMEA 0183 SV Set Bit Mask for SBAS SV This packet provides the SBAS SV bit mask The user data packet contains four bytes to specify 19 possible SBAS prn numbers Bit 0 represents PRN 120 PTNLSSV XXXXXXXX XXXXXXXx lt CR gt lt LF gt This packet provides the SBAS SV bit mask in four bytes The user data packet contains four bytes to specify 19 possible SBAS prn numbers Bit 0 represents PRN 120 Available WAAS PRN numbers are 135 and 138 To disable WAAS PRN 135 send PTNLSSV 00000000 00008000 58 To disable WAAS PRN 138 send PTNLSSV 00000000 00048000 5C To enable all WAAS send PTNLSSV 00000000 00000000 50 238 Copernicus GPS Receiver TF Receiver Status and Position Fix NMEA 0183 C This sentence may be issued by the user to get receiver status and position fix The Query sentence format is SPTNLOTF hh lt CR gt lt LF gt The Response to query sentence format is SPTNLaTF b c XXXXXX Xx X 1111 11111 d yyyyy yyyyy e XXXXX X X X X X x hh lt CR gt lt LF gt Table C 30 Receiver Status and Position Fix Field Descript
140. en when the ID_Flag is turned off refer to the message RM Copernicus GPS Receiver 195 B TRIMBLE ASCII INTERFACE PROTOCOL TAIP IP 196 Initial Position Data String Format S AA S BBB S CCCC Item of Char Units Format Initial Latitude 3 Deg S AA Initial Longitude 4 Deg S BBB Initial Altitude 5 10 meters S CCCC Total number of characters is 12 This is a very coarse initial position that can be used to aid the receiver in obtaining its first fix This is particularly useful with a receiver that does not have battery backup enabled In such cases every time the unit is powered up it goes through a complete cold start and it has absolutely no knowledge of where it is Providing this message improves performance by decreasing the time to first fix and enhances the accuracy of the initial two dimensional navigation solutions by providing a reference altitude In case of units with battery backed memory sending this message is only helpful if the unit has moved more than 1 000 miles since its previous fix In either case the receiver can initialize itself appropriately without any data from the user it merely requires more time Note For all the above values the first character S specifies the sign 4 op e Example The following message will set the initial position to 37 North 122 West altitude 10 meters gt SIP 37 122 0001 lt Copernicus GPS Receiver LN TRIMBL
141. entifier AA at the time interval of BBBB seconds with time epoch at CCCC seconds from top of the hour Specifying time interval of 0000 stops scheduled reporting of the message The default is 0000 time interval for all messages except PV The output frequency for PV at cold start is set at once every five seconds zero seconds from top of the hour Messages supported by this qualifier are AL AP CP ID IP LN PT PV RM ST TM and VR Note The Copernicus GPS Receiver does not support the AP TAIP message The data specified by this qualifier is the timing of the message output and may be different from the time tag of the data in the message The Response to Query or Scheduled Report The response R qualifier carry various types of data between the unit and the user equipment The format is gt RAA B ID CCCC DD lt where AA is the two character message identifier and B specifies the data string within the message For the format of B please refer to the message definitions in the previous section Messages supported by the response qualifier are AL AP CP ID IP LN PT PV RM ST TM and VR Note The Lassen PT GPS does not support the AP TAIP message Copernicus GPS Receiver TRIMBLE ASCII INTERFACE PROTOCOL TAIP B The Set Qualifier The set S qualifier enables the user equipment to initialize set up various types of data in the GPS unit The format is gt SAA B ID CCCC DD lt wher
142. erify that the target is alive and running in the Monitor Mode The target sends ACK for every ENQ received Packet ID 0x76 Boot ROM Version Query This packet requests the boot ROM version information Upon receiving this packet the target replies with packet 0x96 Table 11 3 Boot ROM Version Query BYTEO BYTE 1 BYTE 2 BYTE 3 BYTE 4 BYTE 5 0x02 0x00 0x76 0x00 0x76 0x03 Packet ID 0x96 Boot ROM Version Report This packet is sent by the target in response to packet 0x76 It returns Boot ROM version information Note The field Year is 2 bytes long with the most significant byte sent first Table 11 4 Boot ROM Version Report BYTE O BYTE 1 BYTE 2 BYTE3 BYTE4 BYTE 5 BYTE 6 BYTE 7 BYTES 8 9 BYTE 10 BYTE 11 0x02 0x00 0x96 0x06 Major Minor Month Day Year CHKSM 0x03 Ver Ver 112 Copernicus GPS Receiver FIRMWARE UPGRADE 11 Packet ID 0x86 Change Baud Rate This packet forces the target system to change the serial baud rate to the specified rate The valid baud rate values are listed in the table below The target system returns ACK in the old baud rate before the change and another ACK in the new baud rate if the change succeeds If the baud rate change fails the unit returns NAK in the old baud rate Table 11 5 Change Baud Rate BYTEO BYTE 1 BYTE 2 BYTE 3 BYTE 4 BYTE 5 0x02 0x00 0x86 Baud CHKSM 0x03
143. et 8E must be used to specify which superpacket is to be output Automatic output of Ox5A raw measurement messages is supported in the Lassen IQ GPS Receiver for backwards compatibility with older TSIP applications Report Packet 0x56 Velocity Fix East North Up ENU If East North Up ENU coordinates have been selected for the I O velocity option see Packet 0x35 the receiver sends this packet under the following conditions e Each time that a fix is computed e In response to Packet 0x37 last known fix The data format is shown below Table A 37 Report Packet 0x56 Data Formats Byte Item Type Units 0 3 East Velocity Single m s for east for west 4 7 North Velocity Single m s for north for south 8 11 Up Velocity Single m s for up for down 12 15 Clock Bias Rate Single m s 16 19 Time of Fix Single seconds GPS or UTC The time of fix is in GPS or UTC time as selected by the I O timing option 148 Copernicus GPS Receiver TRIMBLE STANDARD INTERFACE PROTOCOL TSIP A Report Packet 0x57 Information About Last Computed Fix This packet provides information concerning the time and origin of the previous position fix The receiver sends this packet among others in response to Packet 0x37 The data format is shown below Table A 38 Report Packet 0x57 Data Formats Byte Item Type Units Byte 0 Value Velocity 0 Source of UINT8 00 temporary no fix inform
144. f the position solution GPGSA a X XX XX XX XX XX XX XX XX XX XX XX XX X X X X X X hh lt CR gt lt LF gt Table C 7 GSA GPS DOP and Active Satellites Message Parameters Field Description 1 Mode M Manual A Automatic In manual mode the receiver is forced to operate in either 2D or 3D mode In automatic mode the receiver is allowed to switch between 2D and 3D modes subject to the PDOP and satellite masks 2 Current Mode 1 fix not available 2 2D 3 3D 3to 14 PRN numbers of the satellites used in the position solution When less than 12 satellites are used the unused fields are null 15 Position dilution of precision PDOP 16 Horizontal dilution of precision HDOP 17 Vertical dilution of precision VDOP hh Checksum Copernicus GPS Receiver 221 C NMEA 0183 GSV GPS Satellites in View The GSV message identifies the GPS satellites in view including their PRN number elevation azimuth and SNR value Each message contains data for four satellites Second and third messages are sent when more than 4 satellites are in view Fields 1 and 2 indicate the total number of messages being sent and the number of each message respectively SGPGSV X X XX XX XX XXX XX XX XX XXX XX XX XX XXX XX XX XX XXX XX hh lt CR gt lt LF gt Table C 8 GSV GPS Satellites in View Message Parameters Field Description Total number of GSV message
145. h word sent first There is no protocol formatting for this data stream For faster loading data can be sent up to 200 bytes at a time Note that whatever the size it must be a multiple of 2 bytes See Appendix A for example source code which shows how this is done Once the target received and programmed all of the data into Flash it will send ACK to indicate success If NAK is received an error occurred and the process must be repeated from Step 6 Restart the target Once firmware loading is complete the Restart Target Monitor Mode packet Ox8C should be issued to reset the GPS receiver Upon reset the new firmware will start up See page 115 for details on this packet 110 Copernicus GPS Receiver FIRMWARE UPGRADE 11 Error Recovery The GPS receiver is designed in such way that the system will not be damaged during a firmware update When there is an unexpected error while loading firmware the target can always be restarted by cycling the main power At power up the target will automatically enter the monitor mode if the firmware loading process has not completed successfully In such a case the host will able to repeat the firmware loading procedure as described above If the Boot Code in the Flash memory is inadvertently overwritten the module can become unusable See Warning at the end of the description of the Monitor Mode Packet ID Ox8B Monitor Interface Protocol Protocol Format The following packet str
146. he Copernicus GPS Receiver outputs two messages GGA and VTG These messages are output at a 1 second interval with the GP ID and checksums These messages are output at all times during operation with or without a fix If a different set of messages has been selected using Packet 0x7A and this setting has been stored in Flash memory using Packet 0x8E 26 the default messages are permanently replaced until the receiver is returned to the factory default settings Another methodology for changing NMEA output messages is using the Trimble proprietary NMEA commands listed in Table C 4 Use the NM command to select the NMEA message and the RT command to store the message in Flash Memory Note The user can configure a custom mix of the messages listed in Table C 4 See command packets OxBC 0x7A and 8E 26 in Appendix A and the NM and RT command descriptions in this Appendix for details on configuring NMEA output AN WARNING If too many messages are specified for output you may need to increase the unit s baud rate Table C 3 Copernicus GPS Receiver NMEA 0183 Messages Message Description Default GGA GPS fix data Output GLL Geographic position Latitude Longitude GSA GPS DOP and active satellites GSV GPS satellites in view RMC Recommended minimum specific GPS Transit data Default VTG Track made good and ground speed Output ZDA Time amp Date 218 Copernicus GPS Receiver
147. he Lassen PT GPS does not support these TAIP messages All TAIP message characters must be in uppercase 192 Copernicus GPS Receiver TRIMBLE ASCII INTERFACE PROTOCOL TAIP B Altitude Up Velocity Note The first character of altitude or vertical velocity S is or Data String Format AAAA S BBBBB S CCCDE Item of Char Units Format Value GPS Time of Day 5 Sec AAAAA Altitude 6 Meter S BBBBB Vertical Velocity 4 MPH S CCC Fix Mode 1 n a D 0 2D GPS 1 3D GPS 2 8 reserved 9 no fix avail Age of Data 1 n a E 2 Fresh lt 10 sec Indicator 1 Old gt 10 sec O Not available Total of Characters is 17 Altitude is above mean sea level in WGS 84 The GPS time of day is the time of fix rounded to the nearest second This message contains data obtained from the last 3 dimensional fix and may not be current Note The data in this message is to be considered invalid and should not be used if the Age of Data Indicator is equal to 0 signifying data not available Copernicus GPS Receiver 193 194 TRIMBLE ASCII INTERFACE PROTOCOL TAIP CP Compact Position Solution Note The first character of latitude or longitude S is or Data String Format AAAAA S BBCCCC S DDDEEEEFG Item of Char Units Format Value GPS Time of Day 5 Sec AAAAA Latitude 7 Deg S BBCCCC Longitude 8 Deg S DDDEEEE Fix Mode 1 n a F 0 2D GPS 1 3
148. he antenna current falls below approximately 2mA 44 Copernicus GPS Receiver INTERFACE CHARACTERISTICS 3 Table 3 2 Antenna Status Truth Table Condition of logic signals ANTENNA REPORTS SHORT OPEN Antenna Open Reported 1 1 Antenna Normal Reported Ojo 1 Antenna Shorted Reported 0 Undefined 0 When using a passive antenna with the SHORT and OPEN pins floating the receiver will report an open condition If a normal condition from the receiver is desired when using a passive antenna set the logic levels of the SHORT pin High and the OPEN pin Low XRESET This logic level active low input is used to issue hardware or power on reset to the module It may be connected to external logic or to a processor to issue reset To reset the module take this pin low for at least 100 microseconds This pin must be tied to VCC with a resistance of less than 10 K Ohms if not used The hardware reset deletes all the information saved in SRAM position time almanac ephemeris and customers user set configurations if not previously saved in non volatile Flash memory and restarts the Copernicus receiver See Absolute Minimum and Maximum Limits page 37 for pin threshold values vcc This is the primary voltage supply pin for the module This pin also provides power during Standby Mode Backup Mode To setup separate power supplies for main power and Standby Mode Backup Mode power an external diode pair m
149. he data format is shown in the table below Table A 17 Command Packet 0x2B Byte Item Type Units 0 3 Latitude Single Radians north 4 7 Longitude Single Radians east 8 11 Altitude Single Meters Note To initialize with ECEF position use Command Packet 0x23 134 Copernicus GPS Receiver TRIMBLE STANDARD INTERFACE PROTOCOL TSIP A Command Packet 0x2D Request Oscillator Offset This packet requests the calculated offset of the GPS receiver master oscillator This packet contains no data The GPS receiver returns Packet 0x4D This packet is used mainly for service The permissible oscillator offset varies with the particular GPS receiver unit Command Packet 0x2E Set GPS Time This packet provides the approximate GPS time of week and the week number to the GPS receiver The GPS receiver returns Packet 0x4E The data format is shown below The GPS week number reference is Week 0 starting January 6 1980 The seconds count begins at the midnight which begins each Sunday morning This packet is usually not required when the battery back up voltage is applied as the internal clock keeps time to sufficient accuracy This packet is ignored if the receiver has already calculated the time from tracking a GPS satellite Note See report Packet 41 for information on the Extended GPS week number Table A 18 Command Packet 0x2E Data Formats Byte Item Type Units 0 3 GPS time of week Single Seconds 4
150. in the Copernicus GPS Receiver output A GPS receiver cannot independently identify the local time zone offsets AN WARNING If UTC offset is not available time output will be in GPS time until the UTC offset value is collected from the GPS satellites When the offset becomes available the time will jump to UTC time Note The time can be used as a timetag for the 1PPS The ZDA message comes out 100 500 msec after the PPS 224 Copernicus GPS Receiver NMEA 0183 C AH Almanac Health This sentence can be used to query or set almanac health data Since the maximum number of bytes that can be contained in a single NMEA sentence is less than the total almanac health length the almanac health must be sent in two sentences The two sentences have to be sent or received together in correct sequence After receiving the query the receiver sends out two messages Message 1 SPTNLaAH 1 hh hhhhhhhh hhhhhhhh hhhhhhhh hhhhhhhh hh hh x x hh lt CR gt lt LF gt Table C 12 Almanac Health Message 1 Field Description a Mode Q query S set R Response hh Week number for health variable length integer 4 digits maximum hhhhhhhh Satellite 1 4 health one byte for each satellite HEX data conforming to GPS ICD 200 hhhhhhhh Satellite 5 8 health one byte for each satellite HEX data conforming to GPS ICD 200 hhhhhhhh Satellite 9 12 health one byte for each satellite HEX data conforming to GP
151. inate system is typically used for U S and international topographical maps The UTM coordinate system lays out a world wide grid consisting of the following e 60 North South zones in 6 increments extending eastward from the International Data Line e 10 East West zones in 8 increments extending above and below the equator Coordinates within these boundaries cover all surface locations from 80 South to 84 North and encircle the earth Locations are indicated by offset from the equator and in the zones east of the International Date Line These offsets are known as Northing and Easting and are expressed in meters UTM is not usable in polar regions Table A 67 Report Packet 8F 17 Byte Item Type Value 0 Subcode 0x17 1 Gridzone Designation Char 2 3 Gridzone INT16 4 7 Northing Single Meters 8 11 Easting Single Meters 12 15 Altitude Single Meters 16 19 Clock Bias Single Meters 20 23 Time of Fix Single Seconds 170 Copernicus GPS Receiver TRIMBLE STANDARD INTERFACE PROTOCOL TSIP A Report Packet 8F 18 UTM Double Precision Output This packet reports position in UTM Universal Transverse Mercator format The UTM coordinate system is typically used for U S and international topographical maps The UTM coordinate system lays out a world wide grid consisting of the following e 60 North South zones in 6 increments extending eastward from the International Data Line e
152. ing table applies Table 6 2 Typical track widths for an FR4 material PCB substrate in Stripline topology Substrate Material Permittivity Substrate Thickness Track Width H mm W MM 1 6 0 631 1 2 0 438 1 0 0 372 FR4 4 6 0 8 0 286 0 6 0 2 0 4 0 111 0 2 N A Copernicus GPS Receiver 75 6 RF LAYOUT CONSIDERATIONS 76 Copernicus GPS Receiver CHAPTER 7 MECHANICAL SPECIFICATIONS In this chapter This chapter provides product drawings and Mecha mi line instructions for soldering the Copernicus GPS Drawing Receiver to a PCB m Soldering the Copernicus GPS Receiver to a PCB Copernicus GPS Receiver 77 7 MECHANICAL SPECIFICATIONS Mechanical Outline Drawing 20 Top View RESVOARUA wY Bottom View Figure 7 1 Copernicus GPS Receiver Footprint Inch 0 Dutline Dimensions lt ara mm 0 10 B C D E F G H I J K 0 75 075 0049 0256 0197 0293 0 050 0100 0 045 0 030 0 050 1900 1900 125 650 300 750 127 254 114 O76 127 Figure 7 2 Copernicus GPS Receiver Outline Dimensions 78 Copernicus GPS Receiver MECHANICAL SPECIFICATIONS 7 Soldering the Copernicus GPS Receiver to a PCB Solder mask When soldering the Copernicus GPS Receiver to a PCB keep an open cavity underneath the Copernicus module i e do not place copper traces or solder mask underneath the module The diagram below illustrates the required user solder mask The units in brackets
153. ins no data The GPS receiver returns Packet 0x6D Command Packet 0x25 Initiate Soft Reset amp Self Test This packet commands the GPS receiver to perform a software reset The GPS receiver performs a self test as part of the reset operation This packet contains no data Following completion of the reset the receiver will output the start up messages see Table A 4 The GPS receiver sends Packet 0x45 only on power up and reset or on request thus if Packet 0x45 appears unrequested then either the GPS receiver power was cycled or the GPS receiver was reset Command Packet 0x26 Request Health This packet requests health and status information from the GPS receiver This packet contains no data The GPS receiver returns Packet 0x46 and 0x4B Command Packet 0x27 Request Signal Levels This packet requests signal levels for all satellites currently being tracked This packet contains no data The GPS receiver returns Packet 0x47 Command Packet 0x2B Initial Position Latitude Longitude Altitude This packet provides the GPS receiver with an approximate initial position in latitude and longitude coordinates WGS 84 This packet is useful if the user has moved more than about 1 000 miles since the previous fix Note that the GPS receiver can initialize itself without any data from the user this packet merely reduces the time required for initialization This packet is ignored if the receiver is already calculating positions T
154. integer e UINT16 Word A 16 bit unsigned integer e INT16 Integer A 16 bit integer e INT32 Long A 32 bit integer e UINT32 ULong A 32 bit unsigned integer e Single Float or 4 byte REAL has a precision of 24 significant bits roughly 6 5 digits e Double 8 byte REAL has a precision of 52 significant bits It is a little better than 15 digits Automatic Output Packets The Lassen IQ GPS Receiver is configured to automatically output the following packets For minimal system implementations these output packets provide all of the information required for operation including time position velocity and receiver and satellite status and health Position and velocity are reported using one or more of the packets listed below depending on the selected I O options While there are other packets automatically output the following packets provide the information most commonly used No input packets are required Table A 1 Automatic Output Packets Output Packet ID Description Reporting Interval 0x41 GPS time 1 second 0x42 0x83 0x4A 0x84 0x8F position choose packet with I O options 1 second 20 0x43 0x56 0x8F 20 velocity choose packet with I O options 1 second 0x46 health of receiver 1 second 0x4B machinecode status includes antenna fault 1 second detect 0x6D all in view satellite selection DOPs Fix Mode 1 second 0x82 SBAS fix mode always the last packet of the 1 se
155. ion 0 Subcode UINT8 0x26 Save settings 1 4 Reserved Report Packet 0x8F 2A Fix and Channel Tracking Info Type 1 This packet provides compact fix and channel tracking information This packet can be requested or set up for automatic output by Ox8E 2A Total packet length including header DLE packet ID Ox8F packet data as described below and trailing DLE ETX bytes 168 bytes Table A 71 Report Packet Ox8F 2A Byte Offset Item Type Value Definition 0 Packet sub code UINT8 0x2A Packet sub code always 0x2A 1 lt reserved gt UINT8 0x00 Reserved for future use 2 lt reserved gt UINT8 0x00 Reserved for future use 3 GPS Week Number UINT16 0 to 10 bit GPS week number of 1023 measurement in weeks 5 GPS Millisecond UINT32 0 to GPS time of week of 603799999 measurement in milliseconds 9 Fractional GPS INT32 500000 to Fractional part of the GPS Nanosecond 500000 millisecond in nanoseconds See Note 1 13 Altitude INT32 Any Altitude above WGS 84 ellipsoid in millimeters 17 Receiver Status UINT8 Any 0x00 Doing position fixes 174 Copernicus GPS Receiver Code 0x01 Don t have GPS time yet 0x03 PDOP is too high 0x08 No usable satellites 0x09 Only 1 usable satellite Ox0A Only 2 usable satellites 0x0B Only 3 usable satellites Other values indicate internal status codes when the receiver is not generating valid position fixes TRIMBLE STANDARD INTERF
156. ion Mode Q query R Response b BBRAM status on startup A valid V invalid c Almanac completion status A complete V incomplete XXXXXX GPS time of week in seconds XX Number of satellites in use 00 12 may be different from the number in view x Position fix source 0 no fix 2 2D fix 3 3D fix MLINI Latitude of the current position fix d N S YYYYY YYYYY Longitude of the current position fix e E W XXXXX Antenna altitude re mean sea level MSL geoid meters X X East component of ENU velocity m s X X North component of ENU velocity m s X X Up component of ENU velocity m s Copernicus GPS Receiver 239 C NMEA 0183 UT UTC This sentence can be used to query or set UTC data SPTNLaUT hhhhhhhh hhhhhh hh hh hhhh hhhh hh hh hh lt CR gt lt LF gt Table C 31 UTC Field Description a Mode Q query S set R Response hhhhhhhh A_0 HEX data conforming to GPS ICD 200 hhhhhh A_1 HEX data conforming to GPS ICD 200 hh Delta_t_ls HEX data conforming to GPS ICD 200 hh T_oa HEX data conforming to GPS ICD 200 hhhh Wn_t HEX data conforming to GPS ICD 200 hhhh Wn_LSF HEX data conforming to GPS ICD 200 hh DN HEX data conforming to GPS ICD 200 hh Delta_t_LSF HEX data conforming to GPS ICD 200 240 Copernicus GPS Receiver NMEA 0183 C VR Version This sentence may be issued by the user to get version infor
157. ion silver for better solderability The silver may tarnish over time and show yellow in color but tarnish should not affect the solderability AN WARNING Operators should not touch the bottom silver solder pads by hand or with contaminated gloves No hand lotion or regular chlorinated faucet water can be in contact with this module before soldering 88 Copernicus GPS Receiver SHIPPING and HANDLING 9 Moisture Precondition Precautions must be taken to minimize the effects of the reflow thermal stress on the module Plastic molding materials for integrated circuit encapsulation are hygroscopic and absorb moisture dependent on the time and the environment Absorbed moisture will vaporize during the rapid heating of the solder reflow process generating pressure to all the interface areas in the package followed by swelling delamination and even cracking of the plastic Components that do not exhibit external cracking can have internal delamination or cracking which affects yield and reliability CAUTION THIS BAG CONTAINS MOISTURE SENSITIVE DEVICES Do not open except under controlled conditions shelf life in sealed bag 12 months lt 40C and lt 90 RH 1 Peak package body temperature 245C 2 After this bag is opened devices that will be subjected to IR reflow vapor phase reflow or equivalent processing must be a Mounted within 72 hrs factory conditions of lt 30C 60 RH or b Stored at lt 20 RH 3 Devices requ
158. ire baking before mounting if a Humidity card is gt 20 when read at 23C 5C or b 2a or 2b are not met 4 if baking is required devices may be baked for 24 hrs minimum at 125C 0 5C Bag Seal Date mm dd yy expiration date 12 months from seal date Figure 9 1 Moisture Precondition Label Copernicus GPS Receiver 89 9 SHIPPING and HANDLING Baking Procedure A If baking is necessary Trimble recommends baking in a nitrogen purge oven Temperature 125 C Duration 24 Hours After Baking Store in a nitrogen purged cabinet or dry box to prevent absorption of moisture WARNING Do not bake the units within the tape and reel packaging Repeated baking processes will reduce the solderablity Soldering Paste The Copernicus GPS module itself is not hermetically sealed Trimble strongly recommends using the No Clean soldering paste and process The castellation solder pad on this module is plated with silver plating Use Type 3 or above soldering paste to maximize the solder volume An example is provided below Solder paste Kester EM909 Alloy composition Sn96 5Ag3Cu 5 SAC305 96 5 Tin 3 Silver 0 5 Copper Liquidus Temperature 221 C Stencil Thickness 5 Mil 0 005 Stencil opening requires 4 mil toe over paste in the X and Y directions Note Consult solder paste manufacturer and the assembly process for the approved procedures Solder Reflow A A hot air convection oven is strongl
159. ity 011 Wakeup with serial Port A or B activity 100 Wakeup after elapsed time specified in the next field 101 Wakeup after elapsed time specified in the next field or serial Port A activity 110 Wakeup after elapsed time specified in the next field or serial Port B activity 111 Wakeup after elapsed time specified in the next field or serial Port A or B activity X X If command is S this field specifies time to stay in Backup Standby Mode in seconds Maximum value 231 Copernicus GPS Receiver 235 C NMEA 0183 SG Set Bit Mask for GPIOs in Standby Mode Users may designate individual pins for pull down and pull up while the unit is in Standby Mode This allows the user to select external pull down or pull up resistors to suit their application Examples e In serial port configuration one option would be to power down the serial port during standby in which case the corresponding GPIOs would be pull downs e To keep the serial port running during standby the corresponding GPIOs would be set to pull ups Note The pins that are not connected should remain in their default state pull down Use bit 5 of byte 1 to select the pull down or pull up resistor for the XTANDBY pin as appropriate for the application Unlike the other GPIOs the selection of the pull down or pull up resistor is applied during Run Mode Examples e When the XSTANDBY pin is tied to main power as shown in the reference desig
160. iver Get from Receiver Upload Download AE 04 STARTER KIT Speed Position Latitude Longitude Altitude Receiver Mode amp Status Mode Status Satellite Data sv C No Az Elev Almanac DOPs PDOP HDOP YDOP TDOP Firmware Info Status BBRAM RTC o ANT nja Osc ppb Application GPS Core 2 Select the port and protocol being used on the module If you do not know which protocol is being used you can select TSIP TAIP and NMEA TGM will try each in turn at different baud rates GPS Receiver Detection This Feature allows to identify the communication settings and protocol of a GPS receiver connected to the PC Tt may take some time to cycle through all ports settings and protocols To speed things up select the COM port to which the receiver is connected and which protocols to check COM Port eY v C Check even parities C Check non Trimble product baud rates Protocols TsIp _ NMEA Citar TEP Select COM port protocol s and click Start Copernicus GPS Receiver 1 21 1 STARTER KIT 3 Click on Yes to accept the discovered connection parameters Trimble GPS Monitor The serial port settings are 38400 8 None 1 A A GPS receiver outputting TSIP data is detected on COM 5 Would you like to connect to the receiver and start monitori
161. l pins for pull down and pull up while the unit is in Standby Mode This allows the user to select external pull down or pull up resistors to suit their application Examples e In serial port configuration one option would be to power down the serial port during standby in which case the corresponding GPIOs would be pull downs e To keep the serial port running during standby the corresponding GPIOs would be set to pull ups Note The pins that are not connected should remain in their default state pull down Use bit 5 of byte 1 to select the pull down or pull up resistor for the XTANDBY pin as appropriate for the application Unlike the other GPIOs the selection of the pull down or pull up resistor is applied during Run Mode Examples e When the XSTANDBY pin is tied to main power as shown in the reference design select the pull down resistor for the XTANDBY pin so when main power is removed XTANDBY is immediately pulled low to go into Standby Mode e When the XTANDBY pin is controlled with GPIO on the user s processor the pull down or pull up resistor may be selected depending on the GPIO state 162 Copernicus GPS Receiver TRIMBLE STANDARD INTERFACE PROTOCOL TSIP A Table A 55 Command Packet 0xC1 Byte Bit Item Type Value __ Definition Position 0 O LSB Pin 6 Bit 0 Reserved Reserved 1 Pin 7 OPEN Bit 0 0 is pull down 1 1 is pull up default is pull down
162. ld is the last known signal level of that satellite Note The signal level provided in this packet is a linear measurement of the signal strength after correlation or de spreading Units either AMU or dBHz are controlled by Packet 0x35 144 Copernicus GPS Receiver TRIMBLE STANDARD INTERFACE PROTOCOL TSIP A Report Packet 0x4A Single Precision LLA Position Fix This packet provides current GPS position fix in LLA latitude longitude and altitude coordinates If the I O Position option is set to LLA and the I O Precision of Position Output is set to single precision all controlled by Packet 35 then the receiver sends this packet each time a fix is computed Command Packet 35 controls position output XYZ or LLA and single or double output precision The data format is shown in below Table A 32 Report Packet 0x4A Data Formats Byte Item Type Units 0 3 Latitude Single radians for north for south 4 7 Longitude Single radians for east for west 8 11 Altitude Single meters HAE or MSL 2 15 Clock Bias Single meters 6 19 Time of Fix Single seconds GPS or UTC The default datum is WGS 84 Altitude is referred to the datum ellipsoid or the MSL Geoid depending on which I O LLA altitude option is selected The time of fix is in GPS time or UTC depending on which I O timing option is selected This packet is also sent at start up with a negative time of fix to report th
163. lotions to come in contact with the bottom of the module AN WARNING The Copernicus GPS module is packed according to ANSI EIA 481 B and J STD 033A All of the handling and precaution procedures must be followed Deviation from following handling procedures and precautions voids the warranty Shipment The reel of Copernicus GPS modules is packed in a hermetically sealed moisture barrier bag DryPac then placed in an individual carton Handle with care to avoid breaking the moisture barrier Storage The shelf life for the sealed DryPac is 12 months and it must be stored at lt 40 C and lt 90 relative humidity Moisture Indicator A moisture indicator is packed individually in each DryPac to monitor the environment All five indicating spots are shown blue from the factory If the indicator shows pink follow the instructions printed on the indicator and bake as necessary See Baking Procedure page 90 for baking instructions Floor Life The reel of Copernicus GPS modules is vacuum sealed in a moisture barrier bag DryPac Once the bag is opened moisture will bond with the modules In a production floor environment an open reel needs to be processed within 72 hours unless it is kept in a nitrogen purged dry chamber If the moisture indicator has changed to pink follow the baking instructions printed on the moisture barrier The Copernicus GPS is a lead free component for RoHS compliance This unit is also plated with immers
164. lt baud rate is 4800 h input protocol hex value bit 0 TAIP bit1 TSIP bit2 NMEA Bits can be combined to enable multiple input protocols This field may not be 0 h output protocol hex value bit 0 TAIP bit1 TSIP bit2 NMEA It is not recommended to combine multiple output protocols Reserved Reserved Reserved 234 Copernicus GPS Receiver NMEA 0183 C RT Reset This sentence can be used to Set the reset type No query is supported SPTNLaRT b c d x hh lt CR gt lt LF gt Table C 28 Reset Type Field Description a Mode S set R Response b Command Cold software reset Erase SRAM including the customer configuration in SRAM and restarts W Warm software reset Erases the ephemeris information in SRAM and restarts H Hot software reset Uses the entire SRAM data F Factory software reset Erases the customer configuration the almanac ephemeris and last position in Flash Memory and in SRAM S Set the receiver into Standby Mode c Flash operation 0 reserved 1 reserved 2 store user configuration to Flash Memory 3 store user configuration to Flash Memory 4 Erase Almanac ephemeris and last position from Flash Memory 5 Erase user configuration from Flash Memory 6 Erase Almanac ephemeris last position and user configuration from Flash Memory d Wakeup from Standby Mode flags 001 Wakeup with serial Port A activity 010 Wakeup with serial Port B activ
165. lumn see Table C 2 unless a specified unit of measure is indicated Fixed length field definitions show the actual number of characters For example a field defined to have a fixed length of 5 HEX characters is represented as hhhhh between delimiters in a sentence definition Invalid Command Set In the case that a command is sent with incorrect data the NMEA sentence PTNERxx V xx is a generic response Checksum The checksum is the last field in an NMEA sentence and follows the checksum delimiter character The checksum is the 8 bit exclusive OR no start or stop bits of a character in the sentence including between but not including the and the delimiters The hexadecimal value of the most significant and less significant 4 bits of the result is converted to two ASCII characters 0 9 AOF upper case for transmission The most significant character is transmitted first Examples of the use of the checksum field are GPGLL 5057 970 N 00146 110 E 142451 A 27 lt CR gt lt LF gt GPVTG 089 0 T 15 2 N 7F lt CR gt lt LF gt Copernicus GPS Receiver 215 C NMEA 0183 Exception Behavior When no position fix is available some of the data fields in the NMEA messages will be blank A blank field has no characters between the commas There are three general cases when no fix is available at power up without back up data on SRAM cold start at power up with without back up data on SRAM warm st
166. mation The Query sentence format is SPTNLOVR a hh lt CR gt lt LF gt where a is S Application firmware H Hardware and N Nav The Response to query sentence format is SPTNLRaAVR b c C XX XX XX XX XX XXxx hh lt CR gt lt LF gt Table C 32 Version Field Description a Mode Q query R Response b Reserved C C Receiver Name XX Major version XX Minor version XX Build version XX Month XX Day XXXX Year Copernicus GPS Receiver 241 C NMEA 0183 242 Copernicus GPS Receiver
167. n Position 0 0 LSB XYZ ECEF Bit 0 XYZ ECEF output off 1 XYZ ECEF output on 1 LLA Output Bit 0 LLA output off 1 LLA output on 2 LLA ALT Bit 0 HAE See Note Output 1 MSL geoid 3 Reserved 4 Precision of Bit 0 Send single precision packet position 1 Send double precision packet output 5 Super Packet Bit 0 Output no Super Packets Output 1 Output all enabled Super Packets 6 7 Reserved Copernicus GPS Receiver 137 A TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Byte Bit Item Type Value Definition Velocity 1 0 XYZ ECEF Bit 0 XYZ ECEF output off 1 XYZ ECEF output on 1 ENU Output Bit 0 ENU output off 1 ENU output on 2 7 Reserved Timing 2 0 Time Type Bit 0 GPS Time 1 UTC 1 4 Reserved 5 6 PPS Mode Bits 00 Always On 01 Fix Based 10 Always Off 11 Reserved 7 Reserved Auxiliary Pseudo Range Measurements 3 0 Raw Bit 0 Raw measurements off Measurement 1 Raw measurements on 1 Reserved 2 Reserved 3 Signal Level Bit 0 Output AMUs Unit 1 Output dB Hz 4 Reserved Signal levels Bit 0 Signal levels Off for all 1 Signal levels On satellites 6 7 Reserved Note Packet SE must be used to specify which Superpackets are output The Lassen iQ GPS supports automatic output of Ox5A messages for backwards compatibility with older TSIP applications 138 Copernicus GPS Receiver TRIMBLE STANDARD INTERFACE PROTOCOL TSIP A
168. n select the pull down resistor for the XTANDBY pin so when main power is removed XTANDBY is immediately pulled low to go into Standby Mode e When the XTANDBY pin is controlled with GPIO on the user s processor the pull down or pull up resistor may be selected depending on the GPIO state PTNLxSGhhhh hh lt CR gt lt LF gt 236 Copernicus GPS Receiver Table C 29 SG Set Bit Mask for GPIOs in Standby Mode Byte Bit Item Type Value __ Definition Position 0 O LSB Pin 6 Bit 0 Reserved Reserved 1 Pin 7 OPEN Bit 0 0 is pull down 1 1 is pull up default is pull down 2 Pin 8 SHORT Bit 0 0 is pull down 1 1 is pull up default is pull down 3 Pin 17 Bit 0 0 is pull down 1 Reserved 1 is pull up default is pull down 4 Pin 18 Bit 0 0 is pull down 1 Reserved 1 is pull up default is pull down 5 Bit 5 Pin 19 Bit 0 0 is pull down 1 PPS 1 is pull up default is pull down 6 Pin 20 RxDB_ Bit 0 0 is pull down 1 1 is pull up default is pull down 7 Pin 21 RxDA Bit 0 0 is pull down 1 1 is pull up default is pull down 1 0 Pin 22 Bit 0 0 is pull down 1 Reserved 1 is pull up default is pull down 1 Pin 23 TxDA Bit 0 0 is pull down 1 1 is pull up default is pull down 2 Pin 24 TxDB_ Bit 0 0 is pull down 1 1 is pull up default is pull down 3 Pin 25 Bit 0 0 is pull down 1 Reserved is pull up default is pull down 4 Pin 26 Bit 0 0 is pull down 1 Reserv
169. n is not required Time hhmmss ss Fixed Variable length field hoursminutesseconds decimal 2 fixed digits of minutes 2 fixed digits of seconds and a variable number of digits for decimal fraction of seconds Leading zeros always included for hours minutes and seconds to maintain fixed length The decimal point and associated decimal fraction are optional if full resolution is not required Defined Some fields are specified to contain pre defined constants most often alpha characters Such a field is indicated in this standard by the presence of one or more valid characters Excluded from the list of allowable characters are the following that are used to indicated field types within this standard A ai Kan hh hhmmss ss LH myn yyyyy yy Numeric Value Fields Variable X X Variable length integer or floating numeric field Optional leading and trailing zeros The decimal point and associated decimal fraction are optional if full resolution is not required example 73 10 73 1 073 1 73 Fixed HEX hh Fixed length HEX numbers only MSB on the left Information Fields Fixed Alpha aa Fixed length field of upper case or lower case alpha characters Fixed number xx Fixed length field of numeric characters 214 Copernicus GPS Receiver NMEA 0183 C Note Spaces are only used in variable text fields Units of measure fields are appropriate characters from the Symbol co
170. n routines are optimized for high acceleration conditions Copernicus GPS Receiver 129 A TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Elevation Mask This is the minimum elevation angle for satellites to be used in a solution output by the receiver Satellites which are near the horizon are typically more difficult to track due to signal attenuation and are also generally less accurate due to higher variability in the ionospheric and tropospheric corruption of the signal When there are no obstructions the receiver can generally track a satellite down to near the horizon The benefit of a low elevation mask is that more satellites are available for use in a solution resulting in a better PDOP The current mask is set to five degrees and provides a reasonable trade off of the benefits and drawbacks High accuracy users may prefer a mask angle around ten degrees where the ionosphere and troposphere begin to be more predictable 130 Copernicus GPS Receiver Packet Descriptions Packet Descriptions Used in Run Mode TRIMBLE STANDARD INTERFACE PROTOCOL TSIP A Command Packet 0x1C Firmware Version 01 The command packet 0x1C 01 may be issued to obtain the firmware version The product name is Copernicus GPS Receiver The packet format is defined in the following table Table A 11 Command Packet 0x1C Byte Item Type Value Definition 0 Packet ID U8 0x1C Packet ID 0x1C 1
171. n the Member States of the European Union on or after 1 July 2006 Trimble has relied on representations made by its suppliers in certifying this Product as RoHS compliant Hardware Limited Warranty Trimble warrants that this Trimble hardware product the Product shall be free from defects in materials and workmanship and will substantially conform to Trimble s applicable published specifications for the Product for a period of one 1 year starting from the date of delivery The warranty set forth in this paragraph shall not apply to software firmware products Software and Firmware License Limited Warranty This Trimble software and or firmware product the Software is licensed and not sold Its use is governed by the provisions of the applicable End User License Agreement EULA if any included with the Software In the absence of a separate EULA included with the Software providing different limited warranty terms exclusions and limitations the following terms and conditions shall apply Trimble warrants that this Trimble Software product will substantially conform to Trimble s applicable published specifications for the Software for a period of ninety 90 days starting from the date of delivery Warranty Remedies Trimble s sole liability and your exclusive remedy under the warranties set forth above shall be at Trimble s option to repair or replace any Product or Software that fails to conform to
172. n the Tool Kit is designed to exercise many of the TSIP packets Run Mode Packet Structure TSIP packet structure is the same for both commands and reports The packet format is lt DLE gt lt id gt lt data string bytes gt lt DLE gt lt ETX gt Where e lt DLE gt 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 excepting 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 of a data string The end of a packet is lt ETX gt preceded by an odd number of lt DLE gt bytes 120 Copernicus GPS Receiver TRIMBLE STANDARD INTERFACE PROTOCOL TSIP A Multiple byte numbers integer float and double follow the ANSVIEEE Std 754 IEEE Standard for binary Floating Point Arithmetic They are sent most significant byte first This may involve switching the order of the bytes as they are normally stored in Intel based machines Specifically e UINTS8 Byte An 8 bit unsigned
173. nal electrostatic and surge protection must be added Copernicus GPS Receiver 39 2 PRODUCT DESCRIPTION Ordering Information Ordering Information Copernicus GPS Receiver Module Single module in metal enclosure P N 58048 10 Reference Board P N 58054 10 Copernicus GPS module mounted on a carrier board with I O and RF connectors for evaluation purposes including the RF circuitry with the antenna open detection as well as antenna short detection and protection Starter Kit RoHS Lead free version P N 58050 20 Includes Copernicus Reference Board mounted on interface motherboard in a durable metal enclosure AC DC power converter compact magnetic mount GPS antenna serial interface cable cigarette lighter adapter TSIP NMEA and TAIP protocols 40 Copernicus GPS Receiver CHAPTER 3 INTERFACE CHARACTERISTICS In this chapter This chapter provides a detailed description of Pin Assignments the Copernicus GPS Receiver interface Pin Description Serial Port Default Settings GPS Timing A GPS Pulse Per Second PPS Copernicus GPS Receiver 41 3 INTERFACE CHARACTERISTICS Pin Assignments GND GND RF IN GND LNA Reserved Open Short Reserved Reserved Xreset Vcc GND GND Figure 3 1 Copernicus Pin Assignments 42 Copernicus GPS Receiver Pin Description INTERFACE CHARACTERISTICS 3 T
174. nea e a a a e e a a a e an a a i 187 Start ofa New Message sacr ee u a Oe wk ea a 187 Message Qualifier ee 187 Message Identifier s e s soa sote e e OR a e Re A 188 Data Stings 24 codos dr a aa a a aa a e 188 Vehicle ID et awe de A hee ee eee ew we Ee 188 Checksum asus 06483 edad og eaten dd od awe kd Ge Gace ees 188 Message Delimiter 2 eee 188 Sample PV Message ica ba Pe ew a had ee ea ee ek eS 189 Time and Distance Reporting 2 2 a 190 Latitude and Longitude Conversion 2 2 ee ee 191 Message Data Strings a3 s Hod earhea Gees ad Paha dade eheda Qaeee sd 192 AL Altitude Up Velocity a 193 CP Compact Position Solution 2 2 2 e 194 ID Identification Number ee 195 TP Initial Position e ee oa ee aoe it a ae ie ek ee ge we W AO 196 LN Long Navigation Message oaaao 197 PR Protocols s sosti a e a a ee a e do eo ew ee o ed 198 PY Port Characteristic 2 34448 s2 0 n 0 raras aaa adedsa ca awed 199 PV Position Velocity Solution 2 o o 200 RM Reporting Mod er o ce ee be eo es ee ee ee ee ee et 201 RT Reset Mode cp eb ea ek eee eee ee eee ee eee 202 ST Statusi ona at od a poke a de E ad we ee A od Ae Bd E 203 TM Time Dat cs wed canaaee mat ea aaa dea be Pad ee bas 205 VR Version Number s a a e sre i acea 02 ee e a 206 Copernicus GPS Receiver Table of Contents X1 Extended Stats cil ae ad RR a a ek oe eS 207 Communication Scheme for TAIP
175. ng 22 Copernicus GPS Receiver Configure GPS Ports 1 2 NAF w Receiver Configuration E Trimble GPS Monitor File Initialize View coms v Time GPS Time T Date Au Week Velocity West North Up Speed Position Latitude N Longitude w Altitude Data Logging ivy Auto Query Receiver Configuration Sawe Configuration Settings 1442 row tzeveu mifhr m HAE E Tools Window Help Ctrl L g ptatus Auto 8 SY position Fixes DOPs m s PDOP 2 88 RTC ANT mis HDOP 2 43 mis ypop 1 53 TDOP 1 87 Firmware Info 32 44975 Status BBRAM Osc ppb 24816 43 Almanac compete amp current o OK Application 2 01 0 07 17 07 18 22055 GPS Core 2 01 0 07 17 07 sv NY oa STARTER KIT Select the Configure pull down menu from the main screen and select Satellite Data C No 21 0 44 0 46 0 26 0 22 0 46 0 33 0 50 0 10 0 Tx Rx Receiver Configuration _PPS Configuration Position Filter Port Configuration GPS Configuration Receiver Port Port A vj Baud Rate 38400 Parity None Data Bits Stop Bits Save Configuration Select the Port Configuration tab SY Masks NMEA f Outputs Protocols Input TSIP Cinmea NMEA Orar tare AUX AU Output TSIP Change local COM settings to match receiver s port settings Select one input and one output
176. nicus GPS Receiver 83 8 PACKAGING Introduction The Copernicus GPS modules is packaged in tape and reel for mass production The reel is sealed in a moisture proof Dry Pack bag Please follow all the directions printed on the package for handling and baking The Copernicus GPS modules are packaged in two quantities reel with 100 pieces and reel with 500 pieces Figure 8 1 Copernicus GPS Receiver Packaged in Tape 84 Copernicus GPS Receiver PACKAGING 8 Reel The 13 inch reel that can be mounted in a standard feeder for the surface mount pick and place machine The reel dimensions are the same regardless of the quantity on the reel Lock Feature 6 places A e DETAIL N All Dimensions in Millimeters Figure 8 2 Reel Diagram Weight 100 pcs with reel packaging desiccant humidity indicator approximately 0 79Kg 1 74 lbs 500 pcs with reel packaging desiccant humidity indicator approximately 1 47Kg 3 24 lbs 100 pcs with reel packaging desiccant humidity indicator white pizza box approximately 1 02Kg 2 24 Ibs 500 pcs with reel packaging desiccant humidity indicator white pizza box approximately 1 70Kg 3 74 lbs Copernicus GPS Receiver 85 8 PACKAGING Tapes The tape dimensions illustrated in the diagram below are in inches The metric units appear in brackets 0 945 24 000 0 079 L2 00mm 2 101 0 014 ASS mt 05m RO 012 LRO 30mm1 0 858 21 801 0 789 L20 05mm1
177. numbered references correlate to numbers in the image below a o 0000 CJ 1 os 7 6543 O Figure 1 4 Front side of the Interface Unit 1 Antenna Connector The antenna connector is an MCX type connector that is intended to be used with the supplied 3 0V antenna This interfaces to the Copernicus GPS reference board antenna connector USB Connector The USB connector is an A type USB connector that is USB 2 0 and 1 1 compatible This connection can also be used to power the starter kit and GPS receiver When using the USB connection for power the PC should be running on AC power not battery power to ensure proper voltage levels to the interface unit Port A TX LED When blinking red user is transmitting data to the Copernicus GPS receiver on port A Port A RX LED When blinking red the Copernicus GPS receiver is transmitting data to the user device on port A Port B TX LED When blinking red user is transmitting data to the Copernicus GPS receiver on port B Port B RX LED When blinking red the Copernicus GPS receiver is transmitting data to the user device on port B Copernicus GPS Receiver 11 1 12 STARTER KIT Power Connector The power connector barrel connector is located on the front right side of the starter kit The power connector connects to the AC DC power converter supplied with the starter kit The power converter converts 100 240 VAC To 12 or 24VDC The power connecto
178. o moAe Dad 24 uo puadap sane ANO 8 8OXY iZ r A lo Sdd 9 VOXY S sjuauodulo9 Bulyoyew souepaduu aie yy pue LO he PQA ip VOXL E San MEZ BOX Buymeiq lquiessy au u pue WO au uo l l or sr papnjoul aq 0 pasinba ase siadun yz ALON N pa vDIN DLN ZOLW LOLI 13S38X oz Lo lt L3S38X Ne de vr orena y D ama snoujedog KK 1008 8ZaN9 SZaN9 EN 5 t vZONO iasaux 2p Sy ra v_Oxd 1008 Or a Y OXL LHOHS y K HS sv Oldo K g7 SV Old HOLINOW Hg lt lt HOLINOW ve 8 OXL Nado 7 gt XK Ndo det ajo ola ZI 39A LLY Old9 TI LLY Old 9 Oz a OXY OLY Old9 Sr SE a 6 AGNVLSX ASONVLSX N3X YNT NIX WN rroo EN a SE pv oldo Sdd Lr Y Sdd ji a021 WYO OS Yua unuu T 9V OIdD 7 9v_Oldd SONO XOW Jel se Old amp 4 sq old NI dH e i Jdi r uwa lt lt 1Z0N9 OND HuDoL 9Z0N9 FOND Ema n 0 T a B 081 19 lt quer aryo z Note Reference board schematics may differ from the recommendations outlined in Table 3 1 due to the test mode requirements for Trimble s internal use 99 Copernicus GPS Receiver 10 COPERNICUS REFERENCE BOARD Reference Board Schematic page 2 of 3 sg Oldd LEIZONLSSON mo LITZONLISON fro LIIZONLSSON mo HLITZONFSSDN ro LEIZONLSSOW fwo LIIZONLSSON mo 90 so vo 0 zo bo i i i n i n DAZY S o DAZY S o DAZ9 S o UNZ9 S
179. o o 223 ZDA Tim amp Dates seega be Ga cba ed ba diba eS e e a a Baws 224 AH Almanac Health s s es ona ee ee 225 AL Almanac Page cams ea eds 6 Sate Bh a dah el hw a G a E a 226 AS Almanac Status lt o s s see ee ee 227 BA Antenna Stat s gt o o oe srs ee ee 227 CR Configure Receiver a 228 EM Enter Monitor Mode a nauau a 228 EP EphemerlS sco ec cea 644 8 6 6S oe ta eR bea thea ee eS 229 TO Jonosphete oe es io e he eo a o ee E 231 KG Set Initial Position o ee ee 231 NM Automatic Message Output 2 2 o 002000000000 232 PS PPS Contiguration a recalar e ed 233 PT Serial Port Configuration 2 2 e 234 RT Reset s iio ieee bt o Bae a ew ees be had ooh OS 235 SG Set Bit Mask for GPIOs in Standby Mode 0 236 SV Set Bit Mask for SBASSV 2 2 0 2 ee ee 238 TF Receiver Status and Position Fix 0 2 00 0000 239 WOU Loco eters dee ee er ah ae Md Goudie we Bape ard OA es a 240 VR Version 4 ba eee ba eee eho A De Be ee a A 241 Copernicus GPS Receiver 7 Table of Contents 8 Copernicus GPS Receiver STARTER KIT In this chapter Receiver Overview Starter Kit Antenna Quick Start Guide Trimble GPS Monitor Toolkit CHAPTER The Copernicus GPS module is a drop in receiver solution that provides position velocity and time data in a choice of three protocols This chapter provides a detaile
180. oard demonstrates how an 8 pin header connector can be connected to the I O and power sections of Copernicus and how an RF connector can be attached to the RF section An antenna open and short detection and protection application circuit has also been included on the reference board The Copernicus GPS reference board is RoHS compliant lead free Figure 10 1 Copernicus Reference Board Frontside 96 Copernicus GPS Receiver COPERNICUS REFERENCE BOARD 10 Figure 10 2 Copernicus GPS Reference Board Backside The Copernicus GPS reference board is installed on the starter kit motherboard to facilitate testing and evaluation of the Copernicus GPS Receiver It provides everything the user needs to get started integrating state of the art GPS capability into an application Copernicus GPS Receiver 97 10 COPERNICUS REFERENCE BOARD Reference Board Block Diagram 4 sii i Iy fofi OG di DIOS Yh wd Copas Starr KE interface Peot Copemicus Interface Board Block Diagram or Ll 2 T O uw o 0 a Q Z or ul Q O O 98 Copernicus GPS Receiver e beer eee ae AA Spl po ng PU ee LED Ear car te daama by eee 10 COPERNICUS REFERENCE BOARD Reference Board Schematic page 1 of 3 Sdd Sdd JF wuz udg 8 Z 9 s v z l 7 pajdnosap 9q Ajjeusaqu S NI 4H snojuado
181. oned at a fixed location can be programmed to report only when the unit moves off station or after a certain elapsed time since last report but no more often than the specified minimum time interval The message format used with the D qualifier is shown below gt DAABBBBCCCCEEEEFFFF ID GGGG HH lt The distance D in the message refers to the radial distance A message would be issued if the receiver has moved farther than a radius of D away from where it was previously reported If the accumulated distance traveled is longer than D but the final location is still within the radius of D e g circling many times around a closed perimeter of radius smaller than D then no message would be issued ID Meaning gt Start of message delimiter Distance message qualifier AA Message to report i e PV means Position Velocity message BBBB Minimum time seconds interval between reports interval cccc Report epoch number of seconds from top of the hour EEEE Delta distance meters from last reported distance FFFF Maximum time seconds interval between reports Tmax GGGG Optional vehicle identification number user selected HH Optional checksum lt End of message delimiter Note If BBBB 0 then the message output is disabled If FFFF 0 maximum time feature is disabled the unit will only report if current position is greater than or equal to the delt
182. opean 1950 Greece EUR B 60 European 1950 Iran EUR H 61 European 1950 Sardinia EUR I 62 European 1950 Sicily EUR J 63 European 1950 Norway and Finland EUR C 180 Copernicus GPS Receiver TRIMBLE STANDARD INTERFACE PROTOCOL TSIP A Trimble Datum Local Geodetic Datum Index Name Code 64 European 1950 Portugal and Spain EUR D 65 European 1979 Mean Solution EUS 74 Ireland 1965 Ireland IRL 125 Ordnance Survey of Great Britain Mean Solution OGB M 126 Ordnance Survey of Great Britain England OGB M 127 Ordnance Survey of Great Britain Isle of Man OGB M 128 Ordnance Survey of Great Britain Scotland and Shetland OGB M Islands 129 Ordnance Survey of Great Britain Wales OGB M 145 Rome 1940 Sardinia MOD Trimble Datum Local Geodetic Datum Index Name Code 0 WGS 84 2 North American 1927 Mean Solution CONUS NAS C 3 Alaska Canada 46 Cape Canaveral Mean Solution Florida and Bahamas CAC 96 NAD 27 Western United States NAS B 97 NAD 27 Eastern United States NAS A 98 NAD 27 Alaska NAS D 99 NAD 27 Bahamas NAS Q 100 NAD 27 San Salvador NAS R 101 NAD 27 Canada NAS E 102 NAD 27 Alberta BC NAS F 103 NAD 27 East Canada NAS G 104 NAD 27 Manitoba Ontario NAS H 105 NAD 27 Northwest Territories Saskatchewan NAS I 106 NAD 27 Yukon NAS J 107 NAD 27 Canal Zone NAS O 108 NAD 27 Caribbean NAS P 109 NAD 27 Central America NAS N 110 NA
183. or Port B of the Copernicus GPS receiver Table C 1 Signal Characteristics Signal Characteristic NMEA Standard Baud Rate 4800 Data Bits 8 Parity None Disabled Stop Bits 1 NMEA 0183 Message Format The NMEA 0183 protocol covers a broad array of navigation data The entire protocol encompasses over 50 messages but only a sub set of these messages apply to a GPS receiver like the Copernicus GPS Receiver The NMEA message structure is described below SIDMSG D1 D2 D3 D4 Dn CS CR LF The signifies the start of a message ID The identification is a two letter mnemonic which describes the source of the navigation information The GP identification signifies a GPS source MSG The message identification is a three letter mnemonic which describes the message content and the number and order of the data fields S Commas serve as delimiters for the data fields Dn Each message contains multiple data fields Dn which are delimited by commas The length of the fields can be variable ee The asterisk serves as a checksum delimiter CS The checksum field contains two ASCII characters which indicate the hexadecimal value of the checksum CR LF The carriage return CR and line feed LF combination terminate the message NMEA 0183 standard messages vary in length but each message is limited to 79 characters or less This length limitation excludes the and the CR LF
184. orrected fix Number of Satellites in Use Horizontal Dilution of Precision HDOP 9 10 11 12 Antenna Altitude in Meters M Meters Geoidal Separation in Meters M Meters Geoidal separation is the difference between the WGS 84 earth ellipsoid and mean sea level mean sea level surface below WG 84 ellipsoid surface 13 Age of Differential GPS Data Time in seconds since the last Type 1 or 9 Update 14 Differential Reference Station ID 0000 to 1023 hh Checksum 220 Copernicus GPS Receiver NMEA 0183 C GLL Geographic Position Latitude Longitude The GLL message contains the latitude and longitude of the present vessel position the time of the position fix and the status GPGLL 1111 11111 a yyyyy yyyyy a hhmmss ss A i hh lt CR gt lt LF gt Table C 6 GLL Geographic Position Latitude Longitude Message Parameters Field Description 1 2 Latitude N North or S South 3 4 Longitude E East or W West 5 UTC of position when UTC offset has been decoded by the receiver 6 Status A Valid V Invalid Mode Indicator A Autonomous Mode D Differential Mode E Estimated dead reckoning Mode M Manual Input Mode S Simulated Mode N Data Not Valid hh Checksum GSA GPS DOP and Active Satellites The GSA messages indicates the GPS receiver s operating mode and lists the satellites used for navigation and the DOP values o
185. ot be used for synchronization The PPS output modes can be controlled with TSIP packet 0x35 and NMEA PS Packet The modes are Always On default Fix Based or Always Off Cable delay compensation is available through the use of TSIP packet Ox8E 4A and NMEA PS Packet PPS pulse width is controlled by TSIP packet Ox8E 4F and the NMEA PS Packet After a specific mode is selected it can be stored in non volatile memory FLASH using TSIP command Ox8E 26 Note PPS can be configured as positive or negative polarity factory default is positive The PPS pulse width is also configurable factory default is 4 2 microseconds Copernicus GPS Receiver CHAPTER OPERATING MODES In this chapter This chapter describes the primary Copernicus Copernicus Receiver GPS Receiver operating modes and provides Operating Modes guidelines for receiver operation Run Mode Standby Mode Monitor Mode Changing the Run Standby Modes 18 Hour RTC Roll Over Saving Almanac Ephemeris and Position to Flash Memory WAAS Copernicus GPS Receiver 53 4 OPERATING MODES Copernicus Receiver Operating Modes Table 4 1 Copernicus GPS Receiver Operating Modes Operating Modes Description Run Mode Continuous tracking or normal mode Standby Mode Backup power or low power mode Monitor Mode Flash upgrading mode Run Mode The RUN mode is the continuous tracking or the normal mode Standby Mode The Cope
186. oximate azimuth from true north to this satellite Updated typically about every 3 to 5 minutes Used for computing measurement correction factors 20 23 reserved UINT8 0 Report Packet 0x6D All In View Satellite Selection Table A 47 This packet provides a list of satellites used for position fixes by the GPS receiver The packet also provides the PDOP HDOP and VDOP of that set and provides the current mode automatic or manual 3 D or 2 D This packet has variable length equal to 16 nSVs where nSVs is the number of satellites used in the solution The GPS receiver sends this packet in response to Packet 0x24 The data format is shown below Report Packet 0x6D Data Formats Byte Bit Item Type Value Definition 0 0 2 Dimension UINT8 3 2D 4 3D 0 3 0 Auto 1 Manual 0 4 7 nsvs 1 4 PDOP Single PDOP 5 8 HDOP Single HDOP 9 12 VDOP Single VDOP 13 16 TDOP Single TDOP 16 nSVvs SV PRN UINT8 Note The Lassen IQ GPS Receiver sends this packet automatically after a position fix or every second if no position fix occurs Command Packet 0x7A The NMEA message determines whether or not a given NMEA message will be output If the bit for a message is set the message will be sent every interval second Use the values shown below to determine the NMEA interval and message mask While fixes are being generated the output order is ZDA GGA GLL VTG
187. p ENU 148 Report Packet 0x57 Information About Last Computed Fix 149 Report Packet 0x58 Satellite System Data Acknowledge from Receiver 149 Report Packet Ox5A Raw Measurement Data o 152 Report Packet OREA 153 Report Packet Ox5C Satellite Tracking Status 2 ee 153 Report Packet 0x6D All In View Satellite Selection 154 Command Packet OxX7A e 154 Report Packet OX7B iri ias dos e e e the del de 155 Command Packet 0x7E TAIP Message Output 155 Command Packet 0x82 SBAS Correction Status o e 157 Report Packet 0x83 Double Precision XYZ Position Fix and Bias Information 158 Report Packet 0x84 Double Precision LLA Position Fix and Bias Information 158 Packets Ox8E and Ox8F Superpacket o o 159 Command Packet OxBB Navigation Configuration 159 Command Packet OxBC Protocol Configuration 159 Command Packet 0xCO Graceful Shutdown and Go To Standby Mode 160 Command Packet 0xC1 Set Bit Mask for GPIOs in Standby Mode 162 Command Packet 0xC2 SBAS SV Mask o 164 TSIP Superp acketS wise dare ee Pee Te hee a 165 Command Packet 8E 15 Set Request Datum o o 165 Command Packet 0x8E 17 Request Last Position or Auto Report Position in UTM Single Precision
188. protocol Click the Set button LAI TSIP 00 02 29 Select the required receiver port baud rate parity data bits and stop bits If the configuration is to be permanent click Save Configuration Copernicus GPS Receiver 1 23 1 STARTER KIT Configure Output Formats 1 Select the Configure pull down menu from the main screen 2 Select Receiver Configuration 3 Select the Outputs tab EJ Receiver Configuration PPS Configuration Position Filter SYMasks NMEA TAIP GPS Configuration Port Configuration Outputs Position LLA O ECEF Double precision Altitude HAE OMSL C Position super packet Ox8F 20 Velocity ENU Q ECEF Time GPs Outc Sig Level O AMU dB Hz C Raw measurements 0x54 C Signal Levels 0x47 4 After selecting the required setup options click on Set 5 Ifthe configuration is to be permanent click Save Configuration Configure GPS 1 Select the Configure pull down menu from the main screen 2 Select Receiver Configuration 3 Select the GPS Configuration tab E Receiver Configuration _PPS Configuration Position Filter SV Masks NMEA TAIP GPS Configuration Port Configuration Outputs Receiver Mode Auto 2D 3D vw Elevation Mask deg 5 Dynamics Land w Signal Level Mask AMU 0 6 Datum WGS 84 v 4 After selecting the required setup options click on Set 5 If the configuration is
189. r can accept 9 to 32 VDC Power LED The Power LED indicates when main power VCC is available to the receiver Main power is controlled by the Power Switch 8 When the switch is in the ON position the LED illuminates Green and VCC is supplied to the receiver When the switch is in the OFF position the LED is not lit and the receiver is powered only by the standby regulator or battery Note For the Copernicus GPS receiver to operate with standby power the power source must be from the main power connector 6 not from the USB connector 9 10 Power Switch The power switch is used to enable or disable VCC to the receiver PPS BNC located on the backside of the interface unit The BNC connector provides a5V TTL level PPS pulse output by the receiver The output configuration is controlled by the receiver not the starter kit driver circuit This output is able to drive a 50ohm load Note The Copernicus GPS receiver reference board contains a number of configuration jumpers for use with various Trimble GPS receivers Jumpers JP5 and JP15 must be in place for use with Copernicus GPS receiver Copernicus GPS Receiver STARTER KIT 1 Removing the Reference Board from the Interface Unit Follow this procedure to remove the Copernicus GPS reference board from the interface unit 1 Before disassembling the interface unit disconnect the unit from any external power source and confirm that both you and your work surfac
190. r the 8 commonly used messages bytes 4 19 4 Device ID bytes 20 23 This packet provides the capability to set the output frequencies for the eight commonly used messages individually This is the same as the F lt message type gt lt output interval gt command in TAIP In contrast to packet Ox8E 40 the settings in this packet are not just for the so called Heartbeat messages meaning the output Copernicus GPS Receiver 155 A TRIMBLE STANDARD INTERFACE PROTOCOL TSIP frequency settings are not only applied when the receiver is not generating a position fix In practice this packet provides a comprehensive but straightforward means to set up the TAIP output configuration It can also be used to reset the output configuration For example if any of these eight messages was set up as Time Distance mode from the TAIP protocol this packet would reset any such message back to plain periodic output mode or no automatic output mode frequency 0 For customization the settings in this packet can be stored into the Flash by either TSIP packet Ox8E 26 or TAIP command SRTSAVE_CONFIG The flash storage commands store the latest output configuration which may be set up by either this packet or any other commands from the TAIP protocol For example if this packet was executed first from the TSIP protocol and then the Lassen iQ GPS was switched to TAIP protocol and the output settings were changed e g changed to Time Distance mode or vi
191. r the Copernicus GPS Receiver RF layout PCB track connection to the RF antenna input must have impedance of 50 ohms PCB track connection to the RF antenna input must be as short as possible If an external antenna is used PCB track connection to the RF antenna input must transition from the circuit board to the external antenna cable which is typically a RF connector If there are any ground planes on the same layer as the microstrip trace please refer to the Coplaner Waveguide design Not covered in this manual PCB track connection to the RF antenna input must be routed away from potential noise sources such as oscillators transmitters digital circuits switching power supplies and other sources of noise RF and bypass grounding must be direct to the ground plane through its own low inductance via Active or passive antennas may be used If using a passive antenna the connection to the antenna input shall be very short It is possible to mount the patch antenna on the same PCB as the Copernicus GPS module Designers must be aware of noise generating circuitry and proper design precautions taken shielding The PCB track connection to the RF antenna input must not have Sharp bends Components overlaying the track Routing between components to avoid undesirable coupling Copernicus GPS Receiver RF LAYOUT CONSIDERATIONS 6 PCB Considerations The minimum implementation is a two layer PCB substrate with all the RF
192. ree sentences must be sent together XX Satellite id hh C_ic Hex data conforming to GPS ICD 200 hh OMEGA_ 0 Hex data conforming to GPS ICD 200 hhhh C_ri Hex data conforming to GPS ICD 200 hhhh 1_O Hex data conforming to GPS ICD 200 hhhhhhhh C_rc Hex data conforming to GPS ICD 200 hhhh OMEGA Hex data conforming to GPS ICD 200 hhhhhhhh OMEGA_DOT Hex data conforming to GPS ICD 200 hhhh IDOT Hex data conforming to GPS ICD 200 230 Copernicus GPS Receiver NMEA 0183 C 10 lonosphere This sentence can be used to query or set ionosphere data SPTNLaIO hh hh hh hh hh hh hh hh hh lt CR gt lt LF gt Table C 23 lonosphere Field Description a Mode Q query S set R Response hh Alpha_0 HEX data conforming to GPS ICD 200 hh Alpha_1 HEX data conforming to GPS ICD 200 hh Alpha_2 HEX data conforming to GPS ICD 200 hh Alpha_3 HEX data conforming to GPS ICD 200 hh Beta_0 HEX data conforming to GPS ICD 200 hh Beta_1 HEX data conforming to GPS ICD 200 hh Beta_2 HEX data conforming to GPS ICD 200 hh Beta_3 HEX data conforming to GPS ICD 200 KG Set Initial Position This sentence can be used to set initial position or time info data or both for accelerating navigation startup To set time only send valid time fields and NULL position fields To set position only send valid position fields and NULL time fields Query is not supported SPTNLaKG x x x x 1llll
193. ring processes 28 reflow solderable edge castellations provide interface to your design without costly I O and RF connectors Each module is manufactured and factory tested to Trimble s highest quality standards Thumbnail sized 19 mm W x 19 mm L 0 75 W x 0 75 L Ultra thin design 2 54 mm H 0 1 Fast manufacturing Pick amp place assembly Tape amp reel packaging Reflow solderable No I O or RF connector 28 Edge castellations Ultra low power usage less than 94 mW typical Highly sensitive 150 dBm Tracking Sensitivity 142 dBm Acquisition Sensitivity Fast TTFF cold start 39 7 sec Supports active or passive antenna designs 12 channel simultaneous operation Supports SBAS Supports NMEA 0183 TSIP and TAIP protocols Reference board and starter kit available RoHS compliant lead free Copernicus GPS Receiver PRODUCT DESCRIPTION 2 Block Diagram VCC Copernicus Module SRAM Application Processor Figure 2 1 Copernicus GPS Block Diagram Copernicus GPS Receiver 33 2 PRODUCT DESCRIPTION Specifications Performance Interface Performance Specifications L1 1575 42 MHz frequency C A code 12 channel continuous tracking receiver Update Rate TSIP 1 Hz NMEA 1 Hz TAIP 1 Hz Accuracy 24 hour static Horizontal without SBAS Horizontal with SBAS lt 2 5 m 50 lt 5 m 90 lt 2 0 m 50 lt 4 m 90 Altitude without SBAS lt 5 m
194. rnicus GPS Receiver provides a Standby Mode in which the module s RAM memory is kept alive and the real time clock is running while the rest of the receiver is turned off RAM memory is used to store the GPS almanac ephemeris and last position Using this information together with the time information provided by the real time clock the receiver normally provides faster startup times The type of start up after Standby Mode depends on the state of the receiver prior to entering Standby Mode and on the length of time the receiver spent in the Standby Mode If the receiver has almanac ephemeris and position information before entering Standby Mode and the time spent in Standby Mode is less than two hours the receiver will typically perform a hot start If the receiver has all of the information listed above but the time spent in Standby Mode is more than two hours the receiver will typically perform a warm start The GPS almanac ephemeris and recent position are automatically stored in non volatile Flash memory Even without time the receiver can use the information stored in Flash memory to shorten the start up time In all cases the receiver will use all of the available information to do the fastest start up possible Note In the Standby Mode the power consumption of the unit is very low See Copernicus Standby Current page 55 Monitor Mode Monitor Mode is the operating mode for upgrading the firmware stored in the Flash
195. rnicus GPS receiver provides position velocity and time data in a choice of three protocols TSIP TAIP and NMEA Trimble s TSIP protocol offers complete control over receiver operation and provides detailed satellite information The TAIP protocol is an easy to use ASCII protocol designed specifically for track and trace applications The bi directional NMEA 0183 v3 0 protocol offers industry standard data messages and a command set for easy interface to mapping software Compatible with active or passive antenna designs the Copernicus GPS receiver is perfect for portable handheld battery powered applications The receiver s small size and low power requirement make it ideal for use in Bluetooth appliances sport accessories personal navigators cameras computer and communication peripherals as well as vehicle and asset tracking navigation and security applications 6 Copernicus GPS Receiver STARTER KIT 1 Starter Kit The Copernicus GPS Starter Kit provides everything you need to get started integrating state of the art GPS capability into your application The reference board provides a visual layout of the Copernicus GPS receiver on a PCB including the RF signal trace the RF connector and the I O connections of the 28 signal pins In addition the starter kit contains a power converter power adapter a GPS antenna and software to evaluate the ease with which you can add Copernicus GPS to your application Starter Kit Components
196. rovide very different results when used outside of the area for which they are intended WGS 84 is an excellent general ellipsoid valid around the world To request the current datum setting one data byte is sent Report Packet Ox8F is returned Table A 56 Command Packet 8E 15 Byte Type Meaning 0 Superpacket 0x15 To change to one of the internally held datums the packet must contain exactly 2 bytes representing the integer value of the index of the desired datum Table A 57 Command Packet 8E 15 Byte Type Meaning 0 Superpacket ID 0x15 1 2 INT16 Datum index Note To request the current datum send Packet 8E015 with no data bytes Copernicus GPS Receiver 165 A TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Command Packet 0x8E 17 Request Last Position or Auto Report Position in UTM Single Precision Format This packet requests Packet Ox8F 17 or marks it for automatic output If only the first byte packet sub code 0x17 is sent an Ox8F 17 report containing the last available data will be sent immediately If two bytes are sent the packet is marked unmarked for auto report according to the value of the second byte as shown in the table below To retain the auto report setting for this packet first set the setting accordingly and then save to non volatile memory by issuing the packet Ox8E 26 Table A 58 Command Packet 0x8E 17 Byte Item Type Value Definition 0 Packet sub co
197. rwise an LNA should be added to the system The specifications for the external LNA required can be determined as follows The specification of noise figure for the Copernicus GPS module is 3 dB at room temperature and 4 dB over the temperature range 40 C to 85 C The noise figure for this external LNA should be as low as possible with a recommended maximum of 1 5 dB It is recommended that the gain of this LNA exceed the loss as measured from the LNA output to the module input by 10 dB For example if the loss from the external LNA output is 10 dB the recommended minimum gain for the LNA is 20 dB In order to keep losses at the LNA input to a minimum it is recommended that the antenna be connected directly to the LNA input with as minimum loss as possible Connections to either the LNA output or to a passive antenna must be made using a 50 ohm unbalanced transmission system This transmission system may take any form such as microstrip coaxial stripline or any 50 ohm characteristic impedance unbalanced low loss system It is important to keep any noise sources with frequencies at or near 1575 MHz away from the RF input In the case of a passive antenna it is important that the antenna is not placed in a noisy location such as too close to digital circuitry or performance may be degraded Shielded transmission line systems stripline coaxial may be used to route this signal if noise ingress is a concern If an active antenna is u
198. ry details about this protocol are presented in Appendix A To return from the monitor to the normal GPS operating mode i e execute the application firmware either e Cycle the main power or e Toggle the reset pin or e Senda Restart Target packet described on page 115 The default settings for the Copernicus GPS receiver s serial ports in the monitor mode are e Serial port A 38400 baud 8 data bits 1 stop bit and no parity e Serial port B 4800 baud 8 data bits 1 stop bit and no parity 106 Copernicus GPS Receiver FIRMWARE UPGRADE 11 Firmware Binary File Format The firmware is distributed as a 16 Mbit binary file that includes the whole Flash image i e the Copernicus GPS Firmware Boot ROM and all the other Flash sections The Monitor protocol requires that the actual loadable raw data bytes be sent to the target to program into Flash The loadable data is expected to be sent in a sequential manner in the order from the lowest to the highest loading address Data will be programmed starting at the base address specified when initiating firmware loading Therefore the GPS Firmware portion of the binary file must be extracted prior to sending it to the target Appendix A provides a reference to example source code that shows how to extract data from the binary file Firmware Loading Procedure This section describes the procedure for loading firmware into the Flash chip of the Copernicus GPS receiver referred
199. s Message number 1 to 3 Total number of satellites in view Satellite PRN number Satellite elevation in degrees 90 Maximum Satellite azimuth in degrees true 000 to 359 7 Satellite SNR C No null when not tracking 8 9 10 11 PRN elevation azimuth and SNR for second satellite 12 13 14 15 PRN elevation azimuth and SNR for third satellite 16 17 18 19 PRN elevation azimuth and SNR for fourth satellite hh Checksum HDi um A wW N 222 Copernicus GPS Receiver NMEA 0183 C RMC Recommended Minimum Specific GPS Transit Data The RMC message contains the time date position course and speed data provided by the GPS navigation receiver A checksum is mandatory for this message and the transmission interval may not exceed 2 seconds All data fields must be provided unless the data is temporarily unavailable Null fields may be used when data is temporarily unavailable SGPRMC hhmmss ss A 1111 11111 a yyyyy yyyyy a X X X X XXXXXX X X a 1 hh lt CR gt lt LF gt Table C 9 RMC Recommended Minimum Specific GPS Transit Data Message Parameters Field Description 1 UTC of Position Fix when UTC offset has been decoded by the receiver 2 Status A Valid V navigation receiver warning 3 4 Latitude N North or S South 5 6 Longitude E East or W West 7 Speed over the ground SOG in knots 8 Track made good in degrees true 9 Da
200. s 11 FIRMWARE UPGRADE 4 c 6 ao a a 105 Software Architecture ee 106 Boot Monitor vespa amd dada la 106 Firmware Binary File Format 2 o e 107 Firmware Loading Procedure e 107 Pseud0 code s ei ie te a r dd Ea e e AE eee a aE A we a 107 Pseudo Code Explanation 2 2 0 e 109 Error RECOVETY o it Bite go ae aoe we eae ode e Be ce et 111 Monitor Interface Protocol o o ee 111 Protocol Format 111 Data Transmission oa es ceres srac ee 111 Monitor Mode Packet Descriptions ooa a 112 ENQ ACK NAK eas sce ka ras a iia i a aa A 112 Packet ID 0x96 Boot ROM Version Report o o o 112 Packet ID Ox8F Erase Firmware Section 2 0 a eee 113 FlashLoader Tool Reference Guide o 000200000000 2G 116 TNtPOdUCHON sos eh oe a AE Hee Rh th a A eee E 116 File and Folder Structure 2 ee 116 Source Code Reference ee a 116 Compiling and Generating the Executable 00 117 TRIMBLE STANDARD INTERFACE PROTOCOL TSIP 119 Interface Scop o soa e BR eee da ee ee ee 120 Run Mode Packet Structure o su ai ee 120 Automatic Output Packets 2 o o a 121 Automatic Position and Velocity Reports 0 20200000002 eee 122 Initialization Packets to Speed Start up 2 2 2 2 0000000000000 8 123 Packets Output at
201. sage Description gt Start of new message A Message qualifier BB Two character message identifier C Data string DDDD Optional 4 character vehicle ID FF Optional 2 character checksum lt Delimiting character x Signifies that x can occur any number of times x Signifies that x may optionally occur once Start of a New Message The gt character ASCII code 62 decimal is used to specify the start of a new sentence Message Qualifier A one character message qualifier is used to describe the action to be taken on the message The following table lists the valid qualifiers Qualifier Action Q Query for a single sentence sent to GPS receiver R Response to a query or a scheduled report from the receiver F Schedule reporting frequency interval in seconds S Enables equipment to be initialized and sets various message types D Specify a minimum distance traveled and a minimum and maximum time interval for the next report Note All TAIP message characters must be in uppercase Copernicus GPS Receiver 187 B TRIMBLE ASCII INTERFACE PROTOCOL TAIP Message Identifier A unique two character message identifier consisting of alphabetical characters is used to identify type messages For example PR for Protocol or VR for Version Number Data String The format and length of a data string is dictated by the message qualifier and the message identifier The data string may cont
202. se versa then the latest settings would be stored into the Flash when the flash storage command is used Note See Appendix D for a full explanation of the TAIP protocol messages Byte Bit Item Type Value Definition Defaul t 0 Subcode UINT8 0 Setting the packet 0 1 0 ID Flag Bit 0 1 On Off 0 1 CS Flag Bit 0 1 On Off 1 2 EC Flag Bit 0 1 On Off 1 3 FR Flag Bit 0 1 On Off 1 4 CR Flag Bit 0 1 On Off 0 5 7 Reserved 2 3 TOH UINT16 0 3599 Top of hour offset 0 4 5 AL output UINT16 0 3599 Auto output period for AL 0 see period sec note 6 7 CP output UINT16 0 3599 Auto output period for CP 0 period sec 8 9 ID output UINT16 0 3599 Auto output period for ID sec 0 period 10 11 LN output UINT16 0 3599 Auto output period for LN 0 period sec 12 13 PV output UINT16 0 3599 Auto output period for PV 0 period sec 14 15 ST output UINT16 0 3599 Auto output period for ST sec 0 period 16 17 TM output UINT 16 0 3599 Auto output period for TM 0 period sec 18 19 VR output UINT 16 0 3599 Auto output period for VR 0 period sec 20 23 Veh ID String See TAIP ID Vehicle ID 0000 Note 0 second period means the corresponding message is not to be output at all 156 Copernicus GPS Receiver TRIMBLE STANDARD INTERFACE PROTOCOL TSIP A Command Packet 0x82 SBAS Correction Status This packet provides the SBAS position fix mode of the re
203. secs The user can use one source of power on Pin 12 VCC for both main and Standby power lf using two sources of power the Main and Standby power must be connected to VCC via an external diode pair During the Standby Mode the main power can be removed so the unit can be run on Standby power Standby power must be at least 0 3V less than main power The voltage at Pin 12 must be 2 7V to 3 3V including the diode voltage drop See Chapter 5 for information on application circuits 38 Copernicus GPS Receiver Run Mode PRODUCT DESCRIPTION 2 Power Consumption Over Temperature and Voltage Tracking with Almanac Complete lt 90 mW average 2 7 VDC 40 to 85 C Standby Mode lt 30 uW 3 0 VDC typical at 25 C lt 200 uW under all conditions except during service time for the 18 hour real time clock roll over At 2 7 volts Avg Current mA Avg power consumption mW 40 C 29 7 80 2 Room Temp 30 7 82 9 85 C 31 5 85 1 At 3 0 volts Avg Current mA Avg power consumption mW 40 C 30 3 90 9 Room Temp 31 3 93 4 85 C 34 9 104 7 At 3 3 volts Avg Current mA Avg power consumption mW 40 C 31 5 104 Room temp 31 4 104 85 v 31 9 105 ESD Protection ESD testing was performed using JDEC test standard JESD A114C 01 All inputs and outputs are protected to 500 volts ESD level The RF IN pin is protected up to 1kV If a higher level of compliance is required additio
204. sed and it is desired to power this antenna from the RF transmission line a bias tee will be required at the Copernicus GPS module end A simple series inductor that is parallel resonant at 1575 MHz and shunt capacitor series resonant at 1575 MHz to which the bias voltage is supplied is sufficient An open short detection and over current protection circuit may also be employed Please see Chapter 5 APPLICATION CIRCUITS 70 Copernicus GPS Receiver RF LAYOUT CONSIDERATIONS 6 In the printed circuit board PCB layout it is recommended to keep the copper layer on which the Copernicus GPS Receiver is mounted clear of solder mask and copper vias or traces under the module This is to insure mating of the castellations between the Copernicus GPS module and the board to which it is mounted and that there is no interference with features beneath the Copernicus GPS Receiver causing it to lift during the re flow solder process For a microstrip RF transmission line topology it is recommended that the layer immediately below the one to which the Copernicus GPS Receiver is mounted be ground plane Pins 2 and 4 should be directly connected to this ground plane with low inductance connections Pin 3 the RF input can be routed on the top layer using the proper geometry for a 50 ohm system Copernicus GPS Receiver 71 6 72 RF LAYOUT CONSIDERATIONS Design considerations for RF Track Topologies The following items need to be considered fo
205. sen SV is unusable 0x08 No usable satellites 0x09 Only 1 usable satellite 0x0A Only 2 usable satellites 0x0B Only 3 usable satellites Ox0C and above _ Fix criteria not met 1 0 Battery Bit 0 OK backup 1 BBRAM was not available at start up 1 4 Antenna Bit 0 OK feedline 1 Short or open detected fault 1 5 Type of fault Bit 0 Open detected 1 Short detected A The error codes in Byte 1 of Packet 0x46 are encoded into individual bits within the byte The bit positions are shown below Copernicus GPS Receiver 143 A TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Report Packet 0x47 Signal Levels for all Satellites This packet provides received signal levels for all satellites currently being tracked or on which tracking is being attempted i e above the elevation mask and healthy according to the almanac The receiver sends this packet only in response to Packet 0x27 The data format is shown below Table A 31 Report Packet 0x47 Data Formats Byte Item Type 0 Count UINT8 1 Satellite number 1 UINT8 2 5 Signal level 1 Single 6 Satellite number 2 UINT8 7 10 Signal level 2 Single etc etc etc Up to 12 satellite number signal level pairs may be sent indicated by the count field Signal level is normally positive If it is zero then that satellite has not yet been acquired If it is negative then that satellite is not currently in lock The absolute value of signal level fie
206. served 2 3 East velocity INT16 0 005 m s or 0 020 m s See Note 1 4 5 North velocity INT16 0 005 m s or 0 020 m s See Note 1 6 7 Up velocity INT16 0 005 m s or 0 020 m s See Note 1 8 11 Time Of Week UINT32 GPS Time in milliseconds 12 15 Latitude INT32 2 to 2 WGS 84 latitude 2 semicircle 90 90 16 19 Longitude UINT32 0 to 232 WGS 84 longitude 231 semicircle 0 360 20 23 Altitude INT32 Altitude above WGS 84 ellipsoid mm 24 0 Velocity Scaling 0 0 005 m s2 1 0 020 m s 1 7 reserved 25 reserved 26 Datum Datum index 1 0 unknown 27 0 Invalid Fix Bit 0 No Valid Fix 1 Yes Invalid Fix 1 Reserved Bit 0 Reserved 2 Fix Dimension Bit 0 3D 1 2D 3 Alt Hold Bit 0 Last 3D Altitude 1 User entered altitude 4 Filtered Bit 0 Unfiltered 1 Filtered 5 7 reserved 28 NumSVs UINT8 Number of satellites used for fix Will be zero if no fix avail 29 UTC Offset UINT8 Number of leap seconds between UTC and GPS time 30 31 Week INT16 GPS time of fix weeks 172 Copernicus GPS Receiver TRIMBLE STANDARD INTERFACE PROTOCOL TSIP A Table A 69 Report Packet 0x8F 20 Data Formats continued Byte Bit Item Type Value Definition 32 0 5 PRN 1 UINT8 1 32 PRN of first satellite 6 7 reserved 33 IODE 1 UINT8 IODE of first satellite 34 0 5 PRN 2 UINT8 1 32 PRN of second satellite 6 7 reserved 35 IODE 2 U
207. signals on one side and a solid ground plane on the other Multilayer boards can also be used Two possible RF transmission line topologies include microstrip and stripline Microstrip Transmission Lines Figure 6 1 Microstrip Transmission Lines Ground Plane Design Recommendation Use a complete ground plane immediately under the PCB layer on which the Copernicus module is mounted Around the signal tracks on the same layer as the module flood or copper pour and connect to the ground plane using low inductance vias A single ground plane is adequate for both analog and digital signals Design of Microstrip Transmission Line Connections to either the LNA output or to a passive antenna must be made using a 50 ohm unbalanced transmission system The PCB parameters that affect impedance are e Track width W e PCB substrate thickness H e PCB substrate permittivity Copernicus GPS Receiver 73 6 RF LAYOUT CONSIDERATIONS e Toa lesser extent PCB copper thickness T and proximity of same layer ground plane ak H Figure 6 2 PCB Microstrip Topology T Table 6 1 shows typical track widths for an FR4 material PCB substrate permittivity of 4 6 at 1 5 GHz and different PCB thickness One ounce copper is assumed for the thickness of the top layer If a Multi layer PCB is used the thickness is the distance from signal track to nearest ground plane Table 6 1 Typical Track Widths for an FR4 material
208. sitions 0 LSB Not used 1 Real time Clock was not available at power up 2 Not used 3 The almanac stored in the receiver is not complete and current 4 7 Not used Report Packet 0x4D Oscillator Offset This packet provides the current value of the receiver master oscillator offset in Hertz at carrier This packet contains one single precision number The receiver sends this packet in response to Packet 0x2D The permissible offset varies with the receiver unit 146 Copernicus GPS Receiver TRIMBLE STANDARD INTERFACE PROTOCOL TSIP A Report Packet 0x4E Response to Set GPS Time Indicates whether the receiver accepted the time given in a Set GPS time packet the receiver sends this packet in response to Packet 0x2E This packet contains one byte Table A 35 Report Packet 0x4E Data Formats Value Meaning ASCII Y The receiver accepts the time entered via Packet 2E The receiver has not yet received the time from a satellite ASCII N The receiver does not accept the time entered via Packet 2E The receiver has received the time from a satellite and uses that time The receiver disregards the time in Packet 0x2E Report Packet 0x55 1 0 Options These abbreviations apply to the following table ALT Altitude ECEF Earth centered Earth fixed XYZ coordinates LLA latitude longitude altitude HAE height above ellipsoid WGS 84 Earth model ellipsoid MSL geoid Earth mean s
209. t LF gt Table C 26 PPS Configuration NMEA 0183 C Field Description Mode Q query S set R Response PPS mode default is 1 O PPS_OFF Always Off 1 PPS_ON Always On or Early PPS 2 PPS_FIX_BASED Output pulse length in 100 nanoseconds default is 42 corresponding to 4200 nanoseconds Pulse length range is 100ns to 500ms Field value range is 1 to 5000000 Output pulse polarity default is 1 0 output pulse is active low 1 output pulse is active high Antenna Cable Length Compensation Default 0 Units in nanoseconds Can be positive or negative Negative value will mean PPS comes out earlier e g to compensate for cable delay Copernicus GPS Receiver 233 C NMEA 0183 PT Serial Port Configuration This sentence may be issued by the user for configuring the current serial port The Query sentence format is PINLQPT hh lt CR gt lt LF gt The Response to query or Set sentence format is PTNLRPT xxxxxx b b b h h hh lt CR gt lt LF gt When the Set is issued the first Response sentence will be sent using the old parameters and the second response sentence will be sent using the new parameters If there is an error there will be an error response sent If there is no error no additional response is sent Table C 27 Serial Port Configuration Field Description a Mode Q query R Response S Set XXXXXX Baud rate 4800 9600 19200 38400 Defau
210. t configuration 0x7B 0x8E 20 last fix with extra information fixed point 0x8F 20 Ox8E 26 store settings in Flash memory Ox8F 26 Ox8E 4A Set Copernicus GPS Cable Delay and PPS Polarity Ox8F 4A OxBB set receiver configuration OxBB OxBC set port configuration OxBC OxCO go to BBRAM backup state and or store BBRAM to flash 0xC1 Bit mask for GPIOs in Standby Mode 0xC1 0xC2 SBAS SV Mask 0xC2 Note Automatic output is determined by packet 0x35 See Table A 4 to determine which messages are output at power up No response sent if data is not available Copernicus GPS Receiver 127 A TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Report Packets Sent by the Receiver to the User The table below summarizes the packets output by the receiver The auto response and power up packets may depend on user selected options see Table A 22 Table A 9 Report Packets Sent by the Receiver to the User Output ID Packet Description Input ID 0x1C 81 Hardware and firmware version numbers 0x1C 0x41 GPS time 0x21 auto 0x42 single precision XYZ position 0x37 auto 0x43 velocity fix XYZ ECEF 0x37 auto 0x45 software version information 0x1F power up 0x46 health of Receiver 0x26 auto power up 0x47 signal level for all satellites 0x27 0x4A single precision LLA position 0x37 auto 0x4B machine code status 0x26 auto power up 0x4D oscillator offset 0x2D Ox4
211. t received Exit power cycle target and repeat from beginning If the local host s hardware can support it change Monitor mode baud rate and local serial port settings to 115200 baud for faster loading Send Change Baud packet 0x86 Wait 0 5 secs Change local serial port settings Send hand shaking packet ENQ Wait for response packet ACK If ACK packet not received Exit power cycle target and repeat from beginning Send Erase Firmware packet 0x8F Wait for response packet ACK If ACK packet not received Exit power cycle target and repeat from beginning Send Start Firmware Programming packet 0x8B Wait for response packet ACK If ACK packet not received Exit power cycle target and repeat from beginning Send firmware data bytes one word 2 bytes at a time For faster loading data can be sent up to 200 bytes at a time must be a multiple of 2 bytes Wait for response packet ACK after all data has been sent If NAK packet received Try again starting with the Erase Firmware step If ACK packet not received at all Power cycle target and repeat from beginning If ACK packet received Send Restart Target packet 0x8C Loading was successful 108 Copernicus GPS Receiver FIRMWARE UPGRADE 11 Pseudo Code Explanation The following provides details about the steps shown in the above pseudo code for the firmware loading procedure
212. te dd mm yy 10 11 Magnetic variation in degrees E East W West 12 Position System Mode Indicator A Autonomous D Differential E Estimated Dead Reckoning M Manual Input S Simulation Mode N Data Not Valid hh Checksum Mandatory for RMC VTG Track Made Good and Ground Speed The VTG message conveys the actual track made good COG and the speed relative to the ground SOG SGPVTG x x T X x M x x N X x K i hh lt CR gt lt LF gt Table C 10 VTG Track Made Good and Ground Speed Message Parameters Field Description 1 Track made good in degrees true 2 Track made good in degrees magnetic 3 4 Speed over the ground SOG in knots 5 6 Speed over the ground SOG in kilometer per hour 7 Mode Indicator A Autonomous Mode D Differential Mode E Estimated dead reckoning Mode M Manual Input Mode S Simulated Mode N Data Not Valid hh Checksum Copernicus GPS Receiver 223 C NMEA 0183 ZDA Time amp Date The ZDA message contains Time of Day in UTC the day the month the year and the local time zone SGPZDA hhmmss ss XX XX XXXX hh lt CR gt lt LF gt Table C 11 ZDA Time amp Date Message Parameters Field Description UTC when UTC offset has been decoded by the receiver 2 Day 01 to 31 3 Month 01 to 12 4 Year 5 Null empty 6 Null empty hh Checksum Note Fields 5 and 6 are null fields
213. tions Table A 10 Key Setup Parameters or Packet BB Parameter Factory Default Dynamics code Land Elevation mask 5 SBAS on off WAAS_Auto The default values in Table A 10 allow the receiver to operate well under the most varied and demanding conditions A user may choose to change the default parameters if the receiver is only required to perform in a specific or limited environment The user should be warned that when the receiver is exposed to operating conditions which are different from the conditions described by the user setup then the performance may be degraded Initially the user must consider the environment in which the receiver is expected to operate There is a trade off between how frequently a position fix is output versus the absolute accuracy of the fix The user must decide which takes priority and then make the appropriate selections This becomes increasingly important when frequent satellite blockages are expected as in downtown urban canyon environments and heavily foliated areas Following is a description of the key fields in Packet OxBB Dynamics Code The feature default is LAND mode where the receiver assumes a moderate dynamic environment In this case the satellite search and re acquisition routines are optimized for vehicle type environments In SEA mode the search and re acquisition routines assume a low acceleration environment In AIR mode the search and re acquisitio
214. to Speed Start up If you are not supplying the receiver with battery power when main power is off you can still warm start the receiver by sending the following sequence of commands after the receiver has completed its internal initialization and has sent Packet 82 Hot start times can be achieved using packet 0x38 06 to upload the ephemeris Only time and position are necessary for the hot start since the almanac and ephemeris are stored in flash Position is also stored in flash which improves first fix accuracy Table A 3 Initialization Packets to Speed Start up Input Byte Description Ox2E Initial Time 0x38 Almanac for each SV 0x38 Ephemeris 0x38 lonosphere Page 0x38 UTC Corrections 0x38 Almanac Health 0x2B Initial Position Packets Output at Power Up The following table lists the messages output by the receiver at power up After completing its self diagnostics the receiver automatically outputs a series of packets which indicate the initial operating condition of the receiver Messages are output as listed in the table below After Packet 82 is output the sequence is complete and the receiver is ready to accept commands Table A 4 Packets Output at Power up Output ID Description Notes 0x45 software version 0x46 receiver health 0x4B machine code status As chosen default 0x84 position velocity output As chosen see 0x56 Table A 2 0x41 GPS time
215. to as target throughout this document The following pseudo code shows the general sequence of steps The details of each step are provided later in this section Appendix A provides a reference to the sample C source code that shows how to implement this pseudo code Pseudo code Load Firmware to Target Read the firmware BIN file extract the application firmware and load into a memory buffer Set local serial port settings depending on serial port used For Port A set 38400 8 none 1 for Port B set 4800 8 none 1 If using TSIP establish connection using the TSIP protocol Send TSIP version request packet 0x1F Wait for TSIP version response packet 0x45 If TSIP version response packet not received Exit power cycle target and repeat from beginning If using NMEA establish connection using NMEA protocol Send NMEA version request packet VR Wait for NMEA version response packet VR If NMEA version response packet not received Exit power cycle target and repeat from beginning Force target into Monitor mode Copernicus GPS Receiver 107 11 FIRMWARE UPGRADE Send force to monitor command TSIP or NMEA depending on the port used Wait 0 5 secs to let the target switch to the monitor mode Establish connection to target using Monitor mode protocol Send hand shaking packet ENQ Wait for response packet ACK If ACK packet no
216. top of the hour For communication robustness the protocol optionally supports checksums on all messages It also provides the user with the option of tagging all messages with the unit s user specified identification number ID This greatly enhances the functional capability of the unit in a network environment Additionally given the printable ASCII format of all communication TAIP is ideal for use with mobile data terminals modems and portable computers Although receivers incorporating this protocol are shipped from the factory with a specific serial port setting the port characteristics are fully programmable through TAIP messages The Copernicus GPS Receiver supports the following TAIP messages Message Description AL Altitude Up Velocity cP Compact Position Solution ID Identification Number IP Initial Position LN Long Navigation Message PR Protocol PT Port Characteristic PV Position Velocity Solution RM Reporting Mode RT Reset Mode ST Status TM Time Date VR Version Number Copernicus GPS Receiver Message Format TRIMBLE ASCII INTERFACE PROTOCOL TAIP B All TAIP communication uses printable uppercase ASCII characters The interface provides the means to configure the output of various sentences in response to queries or on a scheduled basis Each sentence has the following general format gt ABB C ID DDDD FF lt where Mes
217. ucture is used by the Monitor Mode Protocol Table 11 2 Monitor Mode Protocol BYTEO BYTE 1 BYTE 2 BYTE 3 BYTES 4 N BYTE N 1 BYTE N 2 STX NULL_C ID LEN DATA CHKSM ETX 0x02 0x00 0x03 Byte 0 start of new packet value 0x02 Byte 1 delimiter byte value 0x00 Byte 2 packet ID Byte 3 size in bytes of packet data DATA field only Bytes 4 N packet data Byte N 1 packet checksum NOTET Byte N 2 end of packet value 0x03 Note The checksum is computed as the sum of all bytes from the packet ID to the end of the packet data truncated to an 8 bit value i e CHKSM unsigned char ID LEN DATA O DATA N 1 Data Transmission Data values are transmitted with the most significant byte of the value sent first For example transmitting a 4 byte memory address 0x004101F0 means sending byte 0x00 first 0x41 second 0x01 third and OxFO last Copernicus GPS Receiver 111 11 FIRMWARE UPGRADE Moni ENQ tor Mode Packet Descriptions ACK NAK ENQ ACK and NAK are special bytes that are sent out without being formatted as described in Protocol Format page 111 The target responds to a formatted packet with either ACK hex byte 0x06 or NAK hex byte 0x15 unless specified otherwise ACK indicates a successful operation NAK indicates a failure in executing the command ENQ hex byte 0x05 provides a simple hand shaking mechanism to v
218. ull down menu from the main screen 2 Select Receiver Configuration 3 Select the TAIP tab Receiver Configuration GPS Configuration Port Configuration Outputs _PPS Configuration Position Filter SW Masks NMEA TAIP Output Period General Save Configuration Set 4 After selecting the required setup options click on Set 5 If the configuration is to be permanent click Save Configuration Note This screen can only be edited if TAIP is enabled as a port output 26 Copernicus GPS Receiver STARTER KIT 1 Creating a Log Follow these steps to log the output of the GPS receiver 1 Select Configure gt Data Logging Trimble GPS Monitor File Initialize View Kan Tools Window Help o e er ob Time GPS Receiver Configuration status Satellite Data Time Th save Configuration Auto 8 Sv sy CiNa Aa Elev 21 0 154 6 21 6 Date Aut position fixes Settings Week 1442 row zzuzu amanar compete amp current 44 0 52 0 27 5 46 0 113 7 9 6 26 0 185 3 18 9 22 0 261 3 65 0 46 0 68 2 62 6 33 0 360 0 67 3 50 0 92 4 43 4 l 10 0 320 8 13 7 Velocity DOPs Status West mis PDOP 2 88 BBRAM O RIC 0 ANT OK Osc ppb Speed i o mijhr TDOP 1 87 24816 43 North mis HDOP 2 43 oa mis ypop 1 53 N a Position Firmware Info Latitude N 37 32 44975 Longitude W 122 18 22055 Altitude 0 75 m HAE Application 2 01 0 07 17 07
219. usec 3Null 91 6 usec Figure 4 2 Issuing three 3 NULL Characters for Exiting Standby Mode 58 Copernicus GPS Receiver OPERATING MODES 4 Saving Almanac Ephemeris and Position to Flash Memory The Almanac Ephemeris and recent Position data contained in RAM is automatically saved to Flash memory Graceful Shutdown SBAS WAAS The Graceful Shutdown command is issued using TSIP packet OxCO or NMEA command RT with the store RAM to flash flag enabled The reset type will depend on the Graceful Shutdown command parameters On start up the unit will use the almanac ephemeris and position from RAM first If RAM is not available the unit will use the almanac from the Flash Memory The Satellite Based Augmentation System SBAS includes implementation of the current standard for WAAS and the European Geostationary Navigation Overlay Service EGNOS operated by the European Space Agency and other compatible systems that will come online in the future Wide Area Augmentation System WAAS is an extremely accurate navigation system developed for civil aviation by the Federal Aviation Administration FAA The system augments GPS to provide the additional accuracy integrity and availability necessary to enable users to rely on GPS for all phases of flight for all qualified airports within the WAAS coverage area The worst case accuracy is within 7 6 meters of the true position 95 of the time This is
220. ust be provided XSTANDBY This logic level input is used to control the RUN STANDBY state of the module If this signal is High the unit will run normally If this signal is Low the unit will go to STANDBY mode See Absolute Minimum and Maximum Limits page 37 for pin threshold values PPS Pulse per second This logic level output provides a 1 Hz timing signal to external devices The positive going 4 2 usec pulse width is controllable by TSIP packet Ox8E 4F The cable delay and polarity is controllable by TSIP packet Ox8E 4A The PPS mode is set by TSIP packet 0x35 This output meets the input output pin threshold specifications see Absolute Minimum and Maximum Limits page 37 Copernicus GPS Receiver 45 3 INTERFACE CHARACTERISTICS RXD_A and RXD_B These logic level inputs are the primary A and secondary B serial port receive lines data input to the module This output meets the input output pin threshold specifications see Absolute Minimum and Maximum Limits page 37 The baud rate for the two ports is under software control TXD_A and TXD_B These logic level outputs are the primary A and secondary B serial port transmit lines data moving away from the module This output meets the input output pin threshold specifications see Absolute Minimum and Maximum Limits page 37 The baud rate for the two ports is under firmware control Reserved Pins There are 8 reserved pins on the Copernicus GPS Receiver
221. x8E 4E has been executed See the corresponding command packet for information about the data formats 178 Copernicus GPS Receiver Datums TRIMBLE STANDARD INTERFACE PROTOCOL TSIP A Reference DMA TR 8350 2 Second Edition 1 Sept 1991 DMA Technical Report Department of Defense World GEodetic System 1984 Definition and Relationships with Local Geodetic Systems Trimble Datum Local Geodetic Datum Index Name 0 WGS 84 6 WGS 72 7 NAD 83 8 NAD 02 9 Mexican 10 Hawaii 11 Astronomic 12 U S Navy Trimble Datum Local Geodetic Datum Index Name Code 15 Adindan Mean Solution Ethiopia and Sudan ADI M 16 Adindan Ethiopia ADI A 17 Adindan Mali ADI C 18 Adindan Senegal ADI D 19 Adindan Sudan ADI B 20 Afgooye Somalia AFG 23 ARC 1950 Mean Solution ARF M 24 ARC 1950 Botswana ARF A 25 ARC 1950 Lesotho ARF B 26 ARC 1950 Malawi ARF C 27 ARC 1950 Swaziland ARF D 28 ARC 1950 Zaire ARF E 29 ARC 1950 Zambia ARF F 30 ARC 1950 Zimbabwe ARF G 31 ARC 1960 Mean Solution ARS 32 ARC 1960 Kenya ARS 33 ARC 1960 Tanzania ARS 45 Cape South Africa CAP 47 Carthage Tunisia CGE 82 Liberia 1964 Liberia LIB 87 Massawa Eritrea Ethiopia MAS 88 Merchich Morocco MER 90 Minna Nigeria MIN B 94 Schwarzeck Namibia SCK 118 Old Egyptian 1907 Egypt OEG Copernicus GPS Receiver 179 A TRIMBLE STANDARD INTERFACE PROTOCOL
222. y Range rate in millimeters sec Note This value is valid only if Bit 7 of the Receiver Health byte is not set To compute the complete GPS time of measurement to I ns resolution use the following formula GPS Time of Measurement nanosec GPS Millisec 1000000 Fractional GPS Nanosec Note The channel tracking block 12 bytes in length is repeated for all 12 channels Copernicus GPS Receiver 175 A TRIMBLE STANDARD INTERFACE PROTOCOL TSIP Report Packet 0x8F 2B Fix and Channel Tracking Info Type 2 This packet provides compact fix and channel tracking information This packet can be requested or set up for automatic output by Ox8E 2B Total packet length including header DLE packet ID Ox8F packet data as described below and trailing DLE ETX bytes 88 bytes Table A 72 Report Packet 0x8F 2B Byte Offset Item Type Value Definition 0 Packet sub code UINT8 0x2B Packet sub code always 0x2B 1 lt reserved gt UINT8 0x00 Reserved for future use 2 lt reserved gt UINT8 0x00 Reserved for future use 3 GPS week number UINT16 0 to 10 bit GPS week number of 1023 measurement in weeks 5 GPS millisecond UINT32 0 to GPS time of week of 603799999 measurement in milliseconds 9 Latitude INT32 230 to 230 Latitude WGS 84 2 31 semicircle 90 90 See Note 1 13 Longitude UINT32 0 to 232 Longitude WGS 84 2 31 semicircle 0 360 See Note 1 17 Altitud
223. y may not trigger the unit to exit Standby Mode e During the 3 seconds following the command to enter Standby Mode The Copernicus GPS receiver may not detect serial port activity during the 3 seconds immediately after receiving a software command to enter Standby Mode During that 3 seconds the unit is processing the shut down command and will ignore serial port activity Therefore the minimum time between issuing the shut down command and the use of serial port activity to return the unit to Run Mode is 3 seconds Standby time cannot be less than 3 seconds e During the 10 msec RTC service time During the 10 msec RTC service time there exists a 91 6 usec window where the receiver cannot detect serial port activity Using a series of three NULL characters in a row should ensure that the unit responds See 18 Hour RTC Roll Over page 58 for an explanation of the RTC service time Exit after X elapsed seconds The second condition that will trigger the receiver to exit Standby Mode is the elapse of a pre defined time When the receiver is placed into the Standby Mode using protocol commands the receiver can be made to exit the Standby Mode after a defined elapsed time using TSIP command Packet 0xC0 or NMEA packet RT In this case the user specifies the number of seconds the receiver should stay in Standby Mode After this time has elapsed the unit will perform a reset and start operating normally Note These conditions are provi
224. y recommended for solder reflow For the lead free solder reflow we recommend using a nitrogen purged oven to increase the solder wetting Reference IPC 610D for the lead free solder surface appearance WARNING Follow the thermal reflow guidelines from the IPC JEDEC J STD 020C The size of this module is 916 9 mm3 According to J STD 020C the peak component temperature during reflow is 245 0 C 90 Copernicus GPS Receiver SHIPPING and HANDLING 9 Recommended Soldering Profile SnAgCu Alloys 235 245 C 2 0 min max time above 217 C 60 90 sec typical 90 sec max Pre heating 60 75 sec typica 0 30 60 90 120 150 160 210 240 270 300 Time sec Courtesy of Figure 9 2 Recommended Soldering Profile Select the final soldering thermal profile very carefully The thermal profile depends on the choice of the solder paste thickness and color of the carrier board heat transfer and size of the penalization AN WARNING For a double sided surface mount carrier board the unit must be placed on the secondary side to prevent falling off during reflow Optical Inspection After soldering the Copernicus GPS module to the carrier board follow IPC 610 specification to visually inspect using 3X magnification lens to verify the following e Each pin is properly aligned with mount pad e Pads are properly soldered e No solder is bridged to the adjacent pads X ray the bottom pad if necessary Copernicus GPS Receiver 91

Trimble Outdoors 58052-00 GPS Receiver User Manual

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