MICROpod User Manual v3.01
Contents
1. Version 3 01 The table below shows the specifications of each GNSS TSD SE Accessible USB CAN GPS Model 100Mhz Micro GNSS com Micro com ports Receivers com ports Ports Strobes controller ports 8 MICROpod 1 1 2 1 1 configuration 2 1 port 8 MICROpod 1 2 1 4 2 1 configuration 2 2 HDG port MICROpod 1 0 3 1 0 0 1 GNS 8 3 Included in the kit Your MICROpod kit includes the following 1x MICROpod unit 1x Vehicle power plug assembly MICROpod requires 12vDC 1x Null Modem Cable 1x COM 1 5 cable assembly 1x COM 6 9 cable assembly 1x GPS I O cable 1x CD containing MICROpod User Manual 1x CD containing NovAtel OEMV and installation manuals and PC drivers Your MICROpod HDG kit includes additional following parts 1x Null modem loop back cable 1x Dual GPS I O cable replaces GPS I O cable Your MICROpod GNS kit includes the following 1x MICROpod GNS unit 1x Vehicle power plug assembly MICROpod requires 12vDC 1x Null Modem Cable 1x GNSS model GPS I O cable 1x CD containing MICROpod User Manual 1x CD containing NovAtel OEMV and installation manuals and PC drivers Page 15 A0016 09 0001 MICROpod User Manual Version 3 01 8 4 Features The MICROpod enclosure offers protection against environmental conditions and RF interference The connectors have been positioned on the unit to allow use in a vertical or horizontal position to suit a variety of installation requirements The MICROpod contains the following featur2. GPS Data Build Frame for E ALMANAC r Frame ID Data Rate e AVEPOS a 106 al H BESTPOS BESTIA A ME Transmission BESTVEL m D Name Precision Brief Description D 1 BESTVEL Velocity over ground Double Velocity Latency gt Lag time for differential solution Velocity over ground Compass direction of travel 4 _ lt lt Remove Figure 12 Removing a variable 11 1 8 7 Frame Display Once a frame has been committed the information for that frame will be shown in the display area The display shows Data rate Offset Variable precision in brackets Variable A0016 09 0001 Page 34 MICROpod User Manual Version 3 01 SJBESTPOS pos type HJBESTPOS lat HIBESTPOS lon S BESTUTM northing SJBESTUTM easting SJBESTUTM undulation S BESTUTM datum idit HIBESTUTM N s HJBESTUTM E s HIBESTUTM hgt s HJBESTUTM stn id Figure 13 CAN Frame display The display is used to show details of each CAN frame and also as a means of quickly accessing and editing a desired frame A frame can be selected to edit from this display by double clicking on the frame line 11 1 8 8 Adding the frame Once a CAN frame has been created it can be added to the configuration Click the button add frame at the bottom of the application The CAN frame will then appear in the display area 11 1 8 9 Setting CAN PPS on CAN port 2 EDGE CAN can be co
3. Important Notes in the MICROpod commands section for micro com port functionality notes 10 3 Connecting to the com ports Connecting to the MICROpod can be done through a PC running a terminal communications program such as HyperTerminal When using HyperTerminal all data is sent as ASCII or raw 8 bit binary Connection to the MICROpod is through a null modem cable from the PC serial port to one of the MICROpod com ports 10 4 Resetting GPS Com 2 GPS COM 2 is internally connected to the micro processor with the relevant firmware The micro processor utilises this com port to provide 8 separate independent com ports It is therefore important to ensure that GPS COM 2 is not configured through the GPS COM ports The following commands will alter the GPS COM 2 configuration and therefore remove comms between the micro and the GPS receiver They will also affect the data output through the micro com ports These commands should be avoided e INTERFACEMODE COM2 e COM COM2 e FRESET e RESET e SENDHEX In the event of the one of these commands being entered the functionality can be retained using either of the methods outlined below Power cycle Remove power from the MICROpod unit by removing the connector plug and ensure that the unit is off then re apply power The unit will configure itself for full functionality Reconfigure GPS com 2 A0016 09 0001 Page 25 MICROpod User Manual Version 3 01 Connect to GPS COM
4. s are provided on the front panel of the MICROpod to provide status indications GPS ERROR RED SOFTWARE STATUS RED AMBER GREEN GPS LOCK GREEN POWER GREEN Figure 3 MICROpod LED Indicators Colour LED Description GPS Error Err Red Not available with OEMV 1 OEM STAR Firmware status No Light Firmware error Red Connection error s w Tri State Red Green Amber Data timeout Blinking Green Ok Not available with MICROpod GNS model Pwr Green Page 21 MICROpod User Manual Version 3 01 Lock Green GPS Lock has been obtained 9 10 Error States The software LED illuminates red on start up until the software initialises this is normal operation If the software LED continuously illuminates RED re cycle power to the MICROpod If the error still persists there could be a problem with the connectivity between the internal GPS receiver and the micro This problem may be due to wrong baud rate settings on the GNSS receiver on Com 2 See Retaining Functionality sections for a possible solution If an error persists please contact Forsberg Services Ltd for support If the software LED fails to illuminate please contact Forsberg Services Ltd for support E mail support forsbergservices co uk Tel 44 0 1524 383320 A0016 09 0001 Page 22 9 11 Additional Features 9 11 1 Strobes MICROpod User Manual Version 3 01 Through the GPS I O port a set of inputs and outputs provide s
5. provide heading and pitch information through NovAtel messages Figure 14 MICROpod HDG Unit To obtain the heading information the two internal receivers need to be connected to each other via the external com ports A loopback null modem cable is provided in the heading kit that allows the two GPS Com3 serial ports to be connected together This will pass the corrections required from the master GPS receiver to the rover internal receiver The diagram below shows the required connectivity to set up the MICROpod HDG unit Rover Antenna GPS 2 Master Antenna GPS 1 Loop back Null Modem Cable Figure 15 MICROpod HDG Connectivity The internal receivers are pre configured when they leave FSL to provide heading information A0016 09 0001 Page 37 MICROpod User Manual Version 3 01 12 2 MICROpod connectivity The following diagram shows the default set up for the MICROpod HDG The antenna that is connected to the master receiver is positioned as the point of reference for the heading system The rover antenna is positioned in a forward facing position where the heading will be the angle between True North and the vector between the master and rover antenna The master receiver will send the RTCAOBS and RTCAREF messages out of the GPS1 COM3 port and this will be received through the GPS2 COM3 port The rover receiver will calculate the relative heading and output the heading message Rover Antenna N GPS Ant 2 GPS
6. the following commands to the unit COM COM2 96008n 1n off on INTERFACEMODE COM2 NOVATEL NOVATEL ON SAVECONFIG Power cycle A0016 09 0001 Page 10 MICROpod User Manual Version 3 01 If SAVECONFIG has not been applied remove power from the MICROpod unit by removing the connector plug and ensure that the unit is off then re apply power The unit will configure itself for full functionality A0016 09 0001 Page 11 MICROpod User Manual Version 3 01 7 Firmware Support EDGE firmware is designed for use with MICROpod system The EDGE firmware may not be copied sold or re issued in any form without the prior written consent from Forsberg Services Limited The software is authorised for use only by the original licensed owner of the software Forsberg Services Limited assumes no liability or warranty associated with its use In no event shall Forsberg Services Limited be liable for any indirect special or consequential damages whether through tort contract or otherwise This warranty is expressly in lieu of all other warranties Expressed or implied including without limitation the implied warranties of merchantability or fitness for a particular purpose The foregoing states the entire liability of Forsberg Services Limited with respect to the products herein In the event of the firmware being upgraded new firmware and appropriate instructions shall be distributed by Forsberg Services Ltd Should you have any observations
7. 7 4 3 PXA NOU le EEN 7 4 4 sisse P 7 5 Warranty information usasse nia 8 6 Functionality NOTE pier vor Race ek eua dida diri tau Fk vo e ED XM CY P Ua cara 10 6 1 Important functionality note 5 53 e da 10 6 2 Reconfig ring GPS com Zin T rec ves aids EE 10 7 Firmware Support nro oce eere ena ep n o nana ENEE cise an o va na aono eo Eo Ee ga penu atas s 12 por cria 14 8 1 MICRO p0d TEE 14 8 2 MICRO pod Bet TE EE 14 8 3 Included in the Kits ca am ER 15 8 4 up fe R M 16 8 5 eremum 16 SR CAN MICRO POE W CARI sb a 16 85 2 INSTMICRODOG EW INS ssec sob tetti dare tein pen ba rna px uA 16 8 5 3 Heading MiCROpod EW HDGl ennemi en nnns nennen nnns 16 8 6 GNSS RECEIVESS n dd REESS REENDER 17 8 6 1 NovAtel Manual References ir cnc cnn can crnn aran narra crac 17 8 6 2 GNSS Firmware requireMents ener nennen nnn nnne tenens nnne 17 9 Installation and Set UP aii ii ERA dee skr p MEE Pe RV UP oe FE aiii 18 9 1 acne M 18 9 2 MICROpod BIC TR La 18 LT COM PO eiii 18 9 272 AGAN ele EC 19 9 3 Required We el E E 19 9 4 Selecting a GNSS antenna ss urere tacere sa ENEE 19 9 5 lee lee EE 19 9 6 Mounting the GNSS antenna isses seen eene acer usanidi aasin aisanana 20 9 7 Connecting the antenna to the recehver eene nene
8. Ant 1 GPS1 COM3 rtcaobs2 ontime 1 rtcaref ontime 1 GPS2 COM3 GPS2 COM1 Master Antenna headinga onchanged Figure 16 MICROpod HDG set up The BLCONSTRAINT command can be used when the Master and Remote antennas are within 2 meters of one another Refer to APPENDIX for BLCONSTRAINT command description This separation must also be measured manually to within a 10cm error margin if antenna separation is greater than 2m ensure that the BLCONSTRAINT command is disabled 12 3 Commands and Logs The commands used to configure the batch are located on the accompanying CD In the event of the receivers losing configuration send the commands in the batch file to GPS1 COM1 and GPS2 COM1 or contact support Oforsbergservices co uk A0016 09 0001 Page 38 MICROpod User Manual Version 3 01 The following commands are used to configure the internal receivers to provide heading information 12 3 1 Master Receiver GPS1 unlogall thisport all true movingbasestation enable com com3 230400 n 8 1 n off off interfacemode com3 novatel rtca off log com3 rtcaobs2 ontime 1 log com3 rtcaref ontime 1 saveconfig Note The output period of the heading log is dependent on the user defined output period of the RTCAOBS2 log 12 3 2 Remote Receiver GPS2 unlogall thisport all true com com3 230400 n 8 1 n off off interfacemode com3 rtca novatel off log com3 headingb onchanged saveconfig 12 3 3 Additional commands Please se
9. accident abuse misuse or negligent use of the products or use in other than a normal and customary manner environmental conditions not conforming to FSL s specifications or failure to follow prescribed installation operating and maintenance procedures II Defects errors or non conformities in the products due to modifications alterations additions or changes IL Not made in accordance with FSL s specifications or authorised by FSL IV Normal wear and tear V Damage caused by force of nature or act of any third person VI Shipping damage or VII Service or repair of product by the user without prior written consent from FSL In addition the foregoing warranties shall not apply to products designated by FSL as beta site test samples experimental developmental preproduction sample incomplete or out of specification products or to be returned products if the original identification marks have been removed or altered The warranties and remedies are exclusive and all other warranties expressed or implied written or oral including the implied warranties of merchantability or fitness for any particular purpose are A0016 09 0001 Page 8 MICROpod User Manual Version 3 01 excluded FSL shall not be liable for any loss damage expense or injury arising directly or indirectly out of the purchase installation operation use of licensing or products or services In no event shall FSL be liable for special indirect incidental o
10. concerning this manual please contact Forsberg Services Limited Forsberg Services Limited Richmond House White Cross Lancaster Lancashire LA1 4XF United Kingdom Tel 44 0 1524 383320 Fax 44 0 1524 382939 E mail support forsbergservices co uk A0016 09 0001 Page 12 MICROpod User Manual Version 3 01 A0016 09 0001 Page 13 MICROpod User Manual Version 3 01 8 Introduction 8 1 MICROpod Overview FSL s versatile and powerful MICROpod combines up to 2 GNSS receivers with a programmable 100 MHz micro processor to allow users to utilise MICROpod EDGE to develop their own applications The unit s robust and waterproof enclosure is perfect for operating in harsh environments to allow access to all ports and functionality of NovAtel s GNSS cards In addition to the 2 GPS com ports the micro controller provides 8 com ports for serial communications Each of these com ports provides an interface to communicate with an external serial device MICROpod Na MICROpod HDG Figure 1 MICROpod Family 8 2 MICROpod Models There are three models in the MICROpod family e MICROpod provides one internal GNSS receiver with a 100Mhz Micro controller e MICROpod HDG provides two internal GNSS receivers with a 100Mhz Micro controller Capable of providing Heading data e MICROpod GNS provide an internal GNSS receiver A0016 09 0001 Page 14 MICROpod User Manual
11. must not exceed a loss of 10dB If the loss is greater than this it can cause excessive signal degradation which shall result in the receiver not being able to meet the performance specifications A0016 09 0001 Page 19 MICROpod User Manual Version 3 01 FSL can provide specific coaxial cable lengths to meet requirements Email info forsbergservices co uk 9 6 Mounting the GNSS antenna Install the GNSS antenna in a position where the antenna has a clear sky view so that each satellite above the horizon can be tracked without obstruction 9 7 Connecting the antenna to the receiver The MICROpod provides a TNC female connector on the front panel The high quality coaxial cable with a male TNC connector will mate to the MICROpod Ensure that the connector is screwed in tightly to avoid any possibility of the cable coming loose A0016 09 0001 Page 20 A0016 09 0001 MICROpod User Manual Version 3 01 9 8 MICROpod power supply The MICROpod requires12VDC and comes with a vehicle power plug to a 2 way Fischer connector The Fischer connector provides a lock mechanism to ensure that it does not lose connectivity To apply power to the unit 1 Plug the vehicle plug into the 12VDC power source 2 Plug the Fischer connector into the MICROpod power socket 3 The Power LED shall illuminate green Alternatively an AC DC or DC DC power supply may be purchased Please contact FSL for more details 9 9 LED Indicators LED
12. nnne nennen nns 20 Page 3 A0016 09 0001 MICROpod User Manual Version 3 01 9 8 MICROpod power supply ceeeererereeeeeneaearereraenananerrarere nennt nnns sss ni ranas 21 9 9 LED Indicators teca EE 21 9 10 ee 22 9 11 Additional Features init ANEN EERSTEN AE 23 BAIA SOS iia 23 10 lenrIicpnE 24 IT Connectivity OVerviG W eon araea ertt ecc tee rx A nasal EEN De ERN e TET 24 10 2 Com port functionality re eere etn e en ie een ia E 24 10 3 Connecting to the com porte 25 10 4 Resetting GPS Com Za tette III ERE 25 10 5 Com port baud rates tee ttt ert ve de Era ea hau edged e aaa n NN pa en 26 10 6 Receiving corrections ln tien Wi EENEG 26 11 MICROpod Bleu 27 T1 T lt EDGE CAN EE 27 11 1 1 OVENWIEWS Wath A tal Saha alae td it 27 11 1 2 Internal GNSS Receiver AANEREN 28 11 1 3 CAN Gtotoeol c err ERE EE 28 11 1 4 Extended CAN frame format 28 11 1 5 CAN Data field configuration and content 29 11 1 6 CAN PPS CAN PORT 2 cud etre aha as A anid bain aiden 29 11 1 7 Connecting an IMU for EDGE INS nennen enne nnne ennt 29 11 1 8 CANConfig PC application 30 12 deci pcm Usa dl dani 37 12 1 Required connections for EDGE Heading nennen enne nnne nn 37 12 2 MICROpod conriectiVity dieses geet hr D REPORTS eeh Se TREES EUR 38 12 3 Commands and Logs oe estre bod ee ete ed eee eei gut 38 12 3 1 Master Receiver GP iii t te teer oe e t e e e eta es 39 12
13. not have anything displayed and is a male connector The maintenance port and connecting PC port are configured automatically by the CANConfig PC application Connect the PC running the CANConfig software to the MICROpod via a straight through serial cable This is illustrated in the diagram below Make a note of the PC serial port to which the MICROpod is attached A0016 09 0001 Page 31 MICROpod User Manual Version 3 01 MICRO com 6 9 Cable Assembly Straight through serial cable Figure 9 PC to MICROpod Connection 11 1 8 2 Selecting a frame ID Each CAN frame is identified by a numerical value When setting a CAN frame select the ID of the CAN frame using either the arrow buttons or by manually entering the value Once the CAN frame has been selected the frame build display will show the information relating to the CAN frame If the CAN frame is empty then no data will be displayed and if it is populated the variable data will be displayed 11 1 8 3 Data Rate The data rate is the frequency at which each CAN frame is output of the CAN port This can be set using the data rate field Data Input Meaning This will define how many times the data is output per second A value of 1 signifies that the frame will be passed every second Numerical Value Select using and a value of 5 will indicate the frame will be passed every 5 drop down box seconds 11 1 8 4 Selecting Variables The dat
14. 0 P10 Internal Controlled by firmware IMPORTANT NOTE GPS com 2 should not be altered from its default serial parameters 10 6 Receiving corrections The MICROpod can receive corrections from a base station through one of the external GPS com ports Information on the commands to set up the GNSS receiver to receive incoming corrections can be found in the NovAtel OEMV Family Installation and Operation User manual A0016 09 0001 Page 26 MICROpod User Manual Version 3 01 11 MICROpod firmware 11 1 EDGE CAN 11 1 1 Overview The EDGE CAN firmware provides additional functionality for the MICROpod unit to output customised CAN frames with NovAtel GNSS data through selected CAN ports Figure 5 MICROpod Unit The MICROpod contains a GNSS receiver and provides a range of GNSS data through NovAtel messages This data can be used to build specific CAN frames The PC CANConfig Software provides a user interface for creating CAN frame configurations It is used as a configuration utility for creating a list of CAN Frames that will be transmitted to the EDGE CAN firmware This utility allows practically any field from a standard NovAtel GNSS message to be selected as data used in a CAN Frame The CAN ID s are represented by a numerical value and are selected before editing Once each CAN frame has been created the configuration settings are sent to the EDGE CAN firmware via the maintenance port on the MICROpod T
15. 01 Pin No 10 11 12 13 14 15 Figure 20 MICRO Com port 1 5 assembly Signal M1 TXA M1 RXA M1 TXA M1 RXA GND M2 TXB M2RXB M2 TXB M2 RXB GND M3 TXC M3 RXC M3 TXC M3 RXC GND 3 ge 3 NESSUN S i 7 T8 p 3 Pin No Signal 16 17 18 19 20 21 22 23 24 25 M4 TXD M4 RXD M4 TXD M4 RXD GND M5 TXE M5 RXE M5 TXE M5 RXE GND MICROpod User Manual Version 3 01 o E E E E 9 PINS D USB FEMALE Page 46 MICROpod User Manual Version 3 01 14 3 MICRO com ports P6 P9 cable assembly 500115 t 16 BG 2 P B o 5 9 B 1 6 El H P7 14 1 5 9 n cp w G j P8 B A 5 9 25 13 1 6 25 PINS D USB MALE B SJE a P9 e 5 9 9 PINS D USB FEMALE Figure 21 MICRO Com port 6 9 assembly Signal P6 P7 P8 P9 1 M6 TXF 3 2 M6 RXF 2 3 M6 TXF 7 4 M6 RXF 8 5 GND 5 6 M7 TXG 3 7 M7 RXG 2 8 M7 TXG 7 9 M7 RXG 8 10 GND 5 11 M8 TXH 3 12 M8 RXH 2 13 M8 TXH 7 14 M8 RXH 8 15 GND 5 16 M9 TxD O 3 17 M9 RxD O 2 18 GND 5 Not Connected 20 21 22 23 24 25 A0016 09 0001 Page 47 MICROpod User Manual 14 4 GPS I O cable Version 3 01 The GPS I O cable is shown below and provides ac
16. 1 through a PC running HyperTerminal or similar terminal software and send the following commands to the unit COM COM2 9600 8 n 1n off on INTERFACEMODE COM2 NOVATEL NOVATEL ON SAVECONFIG 10 5 Com port baud rates The com port baud rates are displayed below GPS1 COM PORTS Baud rate 1 300 1200 4800 9600 default 19200 38400 57600 115200 230400 460800 V2 V3 921600 V2 V3 2 internal DO NOT CHANGE 3 300 1200 4800 9600 default 19200 38400 57600 115200 230400 GPS2 COM PORTS Baud rate HDG Only 1 300 1200 4800 9600 default 19200 38400 57600 115200 230400 460800 921600 2 internal DO NOT CHANGE 3 300 1200 4800 9600 default 19200 38400 57600 115200 230400 MICRO COM PORT Baud rate P1 300 1200 4800 9600 19200 38400 57600 115200 default 230400 P2 300 1200 4800 9600 19200 38400 57600 115200 default 230400 P3 300 1200 4800 9600 19200 38400 57600 115200 default 230400 P4 300 1200 4800 9600 19200 38400 57600 115200 default 230400 P5 300 1200 4800 9600 19200 38400 57600 115200 default 230400 P6 300 1200 4800 9600 19200 38400 57600 115200 default 230400 P7 300 1200 4800 9600 19200 38400 57600 115200 default 230400 P8 300 1200 4800 9600 19200 38400 57600 115200 default 230400 P9 0 maintenance 300 1200 4800 9600 19200 38400 57600 115200 default 23040
17. 3 2 Remote Receiver GPS2 eet etre eere hein nin o qaem an rare nia arto qi ago 39 12 3 3 Additional commnmands a uot titre in 39 12 4 Applying corrections eian e hte ete ate veste eiat 39 12 4 1 A 39 12 42 RTI ere REED ERR Ie EHE E gta eva 40 13 EDGE ATT SySteM ep M MH 42 13 1 e TE 42 13 2 Required Cabling Diagram sess ennt nn nenas sns entrada nasse enean 42 13 3 AntennaArrangement oce A A ES ENNER 42 1 Ee P E E eric 43 Page 4 A0016 09 0001 MICROpod User Manual Version 3 01 13 4 1 GPS1 Com GPS2 Com2 and ATT GPS3 Com2 ATT GPS3 Com 43 13 4 GPS2 Comi and Gbs iCom l e a A sanas sina nantes 43 13 4 3 GPS1 Com3 GPSZ COMI EE 44 13 4 4 GP51 Com EE 44 13 5 P9 Output Port NMEA eerte tette teet entere nennen nne 44 13 5 1 OVERVIEW x ede ee dotes pene dotati etri ENEE 44 13 5 2 Port Config tatiOn inier te tte di dae oda adeo edax ee era ees 44 13 5 3 NMEA Message Outp ut 5 o oce rie REI EP E e ese ERE eed 44 14 Cables and Pin ncc m 45 14 1 GPS com ports GPS COM1 and GPS COM 45 14 1 1 GPS COMITE t e Ai 45 14 1 2 CUANGGUEm CLE 45 14 2 MICRO com ports P1 P5 cable assembly nnne nnn 46 14 3 MICRO com ports P6 P9 cable assembly enne nennen 47 14 4 GPS I O Cable Ret e ert e qnte etta nt 48 14 5 GNSS model GPS I O cable MICROpod GNS modell 48 14 6 Dual GPS T O Cable
18. 5 nhe aa 49 14 7 Null Modem Cable 9way D Type Female to 9way D Type Female 50 Page 5 A0016 09 0001 MICROpod User Manual Version 3 01 Figure 1 MICROpod Family iecit ence citron nter enin Seege p exa nea Seed ex ele dee uae 14 Figure 2 MICROpod connector panel esee eene nennen enemies aa near assa inten 18 Figure 3 MICROpod LED Indicators eene eene nnn thinner nana aeee nnns ean nien 21 Figure 4 MICROpod connectivity iii nennen enne aeee near sterne sss senis senes inn 24 afia Bsdil s e nap 27 Figure 6 EDGE CAN System Overvlew rc nennen nnnenet ess t eset ent nt ness sten eterne nis 28 Figure 7 INS COnMme ctivity em 30 Figure 8 CANConfig User Interface 31 Figure 9 PC to MICROpod Connection 32 Figure 10 Adding Variablesi cccccsasccccsssseccdssssncedesobseedssatccdesenccucsseaccdcs sencecdessabccecssetccdcesanccedsvccedssesdecdesas 33 Figure 11 Variable positioning s ccccesccccesssacceessosucecesoscceesstccnesssacentesaaccedesdddcucsseadeceesasccedeesscedessadendeses 34 Figure 12 Removing a variable 1 oerte treten teer Eterna eed eee vole nere aed Led eee erede in 34 Figure 13 CAN Frame display 1 eintreten eet nre retento EAN code dead rhe uda eee nne aaa dee uda 35 Figure 14 MICROpod HDG Unit seen eene nennen enne enne ten Aaaa End euS 37 Figure 15 MICROpod HDG Connectivity eesssseseses sees seen
19. MICROpod User Manual FORSBERG FORSBERG SERVICES LTD RICHMOND HOUSE WHITE CROSS LANCASTER LA1 4XF UNITED KINGDOM TEL 44 0 1524 383320 FAX 44 0 1524 382939 FON 49 9367 9878 080 FAX 49 9367 9878 084 A0016 09 0001 v3 01 MICROpod User Manual Version 3 01 1 Proprietary Notice Information in this document is subject to change without notice and does not represent a Commitment on the part of Forsberg Services Limited The material in this document is furnished under a non disclosure agreement The material may be used or copied only in accordance with that agreement It is against the wishes of Forsberg Services Limited to copy the material on any medium except as specifically allowed in the non disclosure agreement No part of this document may be reproduced or transmitted in any form or by any means electronic or mechanical including photocopying or recording for any purpose without the express written permission of Forsberg Services Limited The information within this document is understood to be true and correct at the time of publication O 2010 Forsberg Services Limited All rights reserved A0016 09 0001 Page 2 MICROpod User Manual Version 3 01 2 Contents I Proprietary Notice oen cotone ete 3n ea EN deg d e 2 Euh pee 3 A E E E E 6 A NO ICO Gonna DA T 7 4 1 CE jc 7 4 2 eed m T
20. Request To Send Description Receive Data Transmit Data Signal Ground Data Set Ready Clear To Send Page 50
21. a available to build a CAN frame is contained within the GPS Data field The GPS Data field works in a tree like structure The display shows the list of command logs that are available through the NovAtel receivers Within their associating command logs the variables are contained To Add a variable to the CAN frame A0016 09 0001 Page 32 MICROpod User Manual Version 3 01 1 Usethe NovAtel OEMV Family Firmware Reference Manual to locate the required data Note command log that the data is stored under 2 Click the required command log in GPS data field to expand variables contained within the command 3 Select required variable and click ADD 4 Variable will be added to the selected CAN frame GPS Data ALMANAC AVEPOS BESTPOS BESTUTM BESTVEL D E Brief Description Velocity Latency Lag time for differential solution Velocity over ground Compass direction of travel v Build Frame for Frame ID Data Rate 106 zh s Variables Transmission Name Precision lt lt Remove BESTVEL Velocity over ground Double Figure 10 Adding variables When the variable is added to the CAN frame it will be displayed at the top of the Variables field This displays the variables contained in the CAN frame data field 11 1 8 5 Altering frames Once a CAN frame has been populated with the required variabl
22. cess to CAN GPS USB and the GPS strobes CAN1 9way D type male CAN2 Sway D type male GPS1 USB USB Type A plug GPS1 Strobes 6 core cable Figure 22 GPS I O Cable 14 5 GNSS model GPS I O cable MICROpod GNS model 2 CANAL 3 GNO 7 CAN1_H 2 CAN2_L 3 GNO 7 CAN2_H mospgc The GNSS model GPS I O cable is shown below and provides access to GPS COM2 USB and the GPS strobes GPS COM Sway Dtype male GPS1 USB USB Type A plug GPS1 Strobes 6 core cable Figure 23 GPS I O Cable A0016 09 0001 Page 48 14 6 Dual GPS I O Cable MICROpod User Manual Version 3 01 The Dual GPS I O cable used with MICROpod HDG is shown below and provides access to CAN GPS USB and the GPS strobes A0016 09 0001 Figure 24 Dual GPS I O Cable CAN1 Sway D type male CAN2 Sway D type male GPS1 USB USB Type A plug GPS2 USB USB Type A plug GPS1 Strobes 6 core cable GPS2 Strobes 5 core cable 2 CAN1_L 3 GND 7 CAN1_H 2 CAN2_L 3 GND 7 CAN2_H Yellow GPS1_PPS Red GPS1_EVENT1 Blue GPS1_EVENT2 White GPS1_VARF Green GPS1_MSR Black DEND Yellow GPS2_PPS Red GPS2_EVENT1 Blue GPS2_EVENT2 White GPS2 VARF Black DGND Page 49 MICROpod User Manual Version 3 01 14 7 Null Modem Cable 9way D Type Female to 9way D Type Female Null Modem Pin out Connector Output A0016 09 0001 Figure 25 Null Modem Cable Connector Data Terminal Ready
23. de com3 novatel rtca off interfacemode com1 rtca none off log com3 rtcaobs2 ontime 1 log com3 rtcaref ontime 1 log passcom3a onchanged saveconfig A0016 09 0001 Page 40 MICROpod User Manual Version 3 01 Note The output period of the heading log is dependent on the user defined output period of the RTCAOBS log 12 4 2 3 Remote Receiver GPS2 via GPS2 USB unlogall com com3 230400 n 8 1 n off off interfacemode com3 rtca novatel off log com3 headingb onchanged saveconfig NOTE Commands should be sent to the receiver through the GPS1 and GPS2 USB ports A0016 09 0001 Page 41 MICROpod User Manual Version 3 01 13 EDGE ATT System 13 1 Overview EDGE HDG EDGE HEADING is MICROpod firmware that provides position heading pitch and quality data out of one of the MICROpod serial ports at regular intervals EDGE ATT EDGE ATTITUDE is the same firmware but uses an additional MICROpod GNS to obtain roll and roll quality data The system is configured for kinematic operation 13 2 Required Cabling Diagram d MICROpod HDG y MICROpod GNS ATT Link Cable ENOJ TSAD INOO ZSd9 2 e v v Di D Ki e e e o o m w TWO TSd9 Figure 18 ATT Cabling GPS1 Com3 and GPS2 Com3 are permanently connected to each other by a short cable and are not available to the end user For ATT systems this short cable is extended to additionally connect to GPS2 C
24. e 18 MICROpod User Manual Version 3 01 GNSS receiver 1 USB virtual GPS1 USB U 8 None 1 serial ports 3 virtual ports GPS2 USB GNSS receiver 2 USB virtual 8 None 1 HDG Only serial ports 3 virtual ports GPS1 Com 2 GNSS Receiver 1 COM 2 serial 8 None 1 GNS model only port 9 2 2 CAN ports Description Baud rate CAN1 CAN port 1 Altered using CANConfig software CAN CAN port 2 CAN PPS dedicated port Note Not available MICROpod GNS model 9 3 Required Equipment The following equipment is required to set up the MICROpod for comms and to compute a position e Power source capable of providing 12vDC e Power supply cable provided in kit e GNSS antenna x2 for MICROpod HDG e A quality coaxial cable e Data communication equipment capable of serial communications e Serial cable provided in kit e 2x MICROpod Cable assemblies for 25 way serial ports provided in kit 9 4 Selecting a GNSS antenna An active antenna is required because of its low noise amplifier LNA boost the power of the incoming signal to compensate for the line loss between the antenna and the receiver FSL can provide a range of single or dual frequency GNSS antennae which include band pass filtering and an LNA Selection of antenna will depend on the application FSL can provide advice for the best antennae to use for your particular requirement Email info forsbergservices co uk 9 5 Choosing a coaxial cable The selected coaxial cable
25. e the latest NovAtel application notes and manuals for the full list of available commands 12 4 Applying corrections RTK or DGPS Corrections can be applied to the Master receiver via GPS COM1 This will increase the positioning accuracy of the system When applying corrections the GPS1 USB connector on the GPS I O cable should be used in order to communicate with the receiver This allows you to configure and communicate with the receiver via three additional com ports The drivers for the USB ports should be downloaded from http www forsbergservices co uk firmware htm 12 4 1 Set up The following diagram illustrates how the MICROpod is set up to receive corrections into the Master receiver A0016 09 0001 Page 39 MICROpod User Manual Version 3 01 MICROpod RTK DGPS Corrections GPS I O GPS1 GPS2 USB Figure 17 MICROpod HDG receiving corrections 12 4 2 RTK The following commands should be used to obtain an RTK solution 12 4 2 1 External Base station The following commands should be used when using a NovAtel receiver as your base station FIX POSITION lat long hgt hgt is geoid MSL height com com1 9600 n 8 1 n off off interfacemode com1 rtca none off log comi rtcaobs2 ontime 1 log comi rtcaref ontime 1 saveconfig 12 4 2 2 Master Receiver GPS1 via GPS1 USB unlogall thisport all true movingbasestation enable com com3 230400 n 8 1 n off off com com1 9600 n 8 1 n off off interfacemo
26. ecting to the MICROpod unit ensure that the Installation and set up instructions have been followed Throughout the following section is assumed that comms to the MICROpod will take place through a personal computer PC The figure below shows the connectivity outline of the MICROpod unit Com port cable GNSS Antenna assembly Coaxial Cable Power source MICROpod Null Modem Cable 1 15M Maintenance Port GPS I O Com port cable assembly GPS I O cable USB CAN PPS VARF Figure 4 MICROpod connectivity IMPORTANT NOTE GPS Com 2 is internally connected to the Microprocessor to provide 8 com ports from one connection Due to this connectivity GPS Com 2 is unavailable for direct connection 10 2 Com port functionality Communicating with the receiver consists of issuing commands through the communication ports from an external serial communications device This could be either a terminal or a PC that is directly connected to the receiver either through the GPS com ports of the micro com ports via a null modem cable The micro processor is utilised by providing 8 serial ports for external devices Each of these com ports provides an interface to issue commands to the GPS receiver and therefore it is possible to communicate to the GPS receiver through 10 serial ports 8x micro com ports and 2x GPS com A0016 09 0001 Page 24 MICROpod User Manual Version 3 01 ports Please see
27. ene ener enean esent 37 Figure 16 MICROpod HDG set up esee eene nennen enne nenne innate nensis erinnern nien nan 38 Figure 17 MICROpod HDG receiving Correctlons esee enne enne enne 40 Figure 18 ATT Cabling EE 42 Figure 19 ATT Antenna arrangement rien na aanaraaaear ana naaaaaanararana nana 43 Figure 20 MICRO Com port 1 5 assembly crise rerrerae rear enne ener ennt 46 Figure 21 MICRO Com port 6 9 assembly rise errera rear area ane enne enne enne nnne 47 Fig re 22 GPSI O Cable ivis eisereen v eve ei ped coe b e A Ree Pk ER ae core e tee 48 Fig re 23 GPS 1 O Cable ueri reor rere dea 48 Figure 24 Dual GPS I O Coable entrent eher sentarse tene entes na netta senten sens 49 Figure 25 Null Modem Cable eee teer eee epe Dy Coeur eee Pr Ea ee ER 50 Page 6 A0016 09 0001 MICROpod User Manual Version 3 01 The following notices apply to the MICROpod For more information on emissions testing please refer to the regulatory body in your geographic area For example in Europe that is the Conformit Europ enne CE and in US the Federal Communications Commission FCC 4 1 CE Notice The MICROpod enclosures carry the CE mark The MICROpod meets the performance requirements of specification EN 301 489 1 V1 6 1 2005 09 4 2 FCC Notice The equipment described in this manual has been tested pursuant to Part 15 of the FCC Rules and found to comply with the limits for a Class A digital device for u
28. es Features Advantages Onboard 100 MHz micro processor EDGE WARE modules and user application NovAtel OEMV GNSS Cards Fully featured GPS GLONASS and Inertial product range 9 x External micro RS232 422 serial Connectivity for all purposes at up to 1Mbit sec ports Compliancy IPX7 RoHS FCC CE The MICROpod offers excellent high speed connectivity with multiple serial USB and CAN ports on the front panel Also onboard are multiple strobe and analogue ports for PPS external oscillators multiple event inputs analogue signals and digital to analogue outputs 8 5 EDGE WARE EDGE WARE is the name given to the firmware that can enhance the MICROpod to suit a variety of requirements and provide extra functionality Firmware functionality can be combined and includes 8 5 1 CAN MICROpod EW CAN This firmware upgrade provides CAN capability via two ports at up to 1Mbit second 8 5 2 INS MICROpod EW INS Allows for the integration of an external IMU to provide continuous operation during short GNSS outages with accurate position and attitude measurements 8 5 3 Heading MICROpod EW HDG Dual antenna system that utilises 2 OEMV receivers to provide accurate attitude measurements A0016 09 0001 Page 16 MICROpod User Manual Version 3 01 8 6 GNSS Receivers 8 6 1 NovAtel Manual References If the internal GNSS receiver is a member of the NovAtel OEMV family please refer to the latest revisions of the
29. es their position within the frame can be altered By changing the position of the variable within the frame the precision of the variable will be adjusted By a rule if a frame has 3 variables in its data field the first variable will have the highest precision Adjusting Variable Positions To move a variables position within a frame 1 Select data by clicking on the variable name 2 Usethe Move Up Move Down buttons to shift the variables position A0016 09 0001 Page 33 MICROpod User Manual Version 3 01 TL Transmission Move Up EE Transmission Move U ER Transmission Name Precision Name Precision 4 SEP Name Precision 1 BESTUTM pos type Single 1 BESTUTM northing i 1 BESTUTM northing Single 2 BESTUTM northing Half 2 BESTUTM pos type al 2 BESTUTM easting Half 3 BESTUTM easting Half 3 BESTUTM easting 3 BESTUTM pos type Half 4 Move Downy 4 Move Downy 4 lt lt Remove Move Up Move Down Remove Move Up Remove Move Up Figure 11 Variable positioning NOTE When 3 variables are contained within the data field moving a variable may affect the precision In a 3 variable set the first variable will have single precision and the next two will have half precision 11 1 8 6 Removing a Variable If a variable is required to be removed from a frame 1 Click on desired Variable Name 2 Click Remove 3 Variable will no longer be in the data field
30. following manuals for receiver specific information OEMV Family Installation and Operation User Manual and OEMV Family Firmware Reference Manual 8 6 2 GNSS Firmware requirements The functionality of the GNSS receiver will depend on the version of firmware installed on it If you find that you require specific functionality from the GNSS receiver please contact FSL Email info forsbergservices co uk A0016 09 0001 Page 17 MICROpod User Manual Version 3 01 9 Installation and Set up 9 1 Front Panel The following figure shows the front panel of the MICROpod providing connectivity to the serial interfaces GPS antenna connection and power as well as the LED indicators i Figure 2 MICROpod connector panel 9 2 MICROpod serial ports 9 2 1 GPS1 Com1 GPS1 Com 3 GPS2 Com1 HDG Only GPS2 Com 3 HDG Only Com ports Description GNSS Receiver 1 COM 1 serial port GNSS Receiver 1 COM 3 serial port GNSS Receiver 2 COM 1 serial port GNSS Receiver 2 COM 3 serial port Micro COM ports P1 to P5 Com1 Com5 through cable assembly Micro COM ports P6 to P9 Interface Default Baud rate 115200 Data Bits None None Parity A0016 09 0001 through COM 6 COM 8 cable assembly Com6 Com8 RS 232 or 422 115200 8 None through cable assembly Maintenance port Not labelled accessed 115200 8 None Pag
31. he EDGE CAN firmware shall build and populate the CAN frames with the requested data and send the CAN frames through the selected CAN port at the selected rate A0016 09 0001 Page 27 MICROpod User Manual Version 3 01 MICROpod PC Laptop GNSS Receiver CanConfig PC Software Palo CAN EDGE CAN Firmware CAN Frame Frames Configuration FS M4 Micro Figure 6 EDGE CAN System Overview 11 1 2 Internal GNSS Receiver The internal GNSS receiver is a member of the NovAtel OEMV family please refer to the latest revisions of the following manuals for receiver specific information OEMV Family Installation and Operation User Manual and OEMV Family Firmware Reference Manual 11 1 3 CAN protocol The CAN protocol used on the EDGE CAN system uses extended frame format with a fixed number of 8 bytes in the data field There is no provision for flow control deice addressing and exchange of data of more than 8 bytes These layers of the protocol are overlaid by using a standard such as CANOpen which is not implemented in this system The CAN bit rate is controlled using the CANConfig software Frames are transmitted at a rate determined by the PC configuration software 11 1 4 Extended CAN frame format The extended CAN frame format is as follows Field name Purpose Start of frame 1 Denotes the start of frame transmission Identifier A 11 First part of the unique identifier for the data S
32. he reported values in order to obtain intuitive real world values The RF3 roll antenna connected to MICROpod GNSS needs to be orthogonal with respect to the other two antennas in order for an intuitive roll value to be reported a simple offset cannot correct for non orthogonally in this instance the user must use an algorithm to map the reported figures onto intuitive real world values The reported RTVEC data represents the real world situation regardless of antenna arrangement Vehicle Heading 90 Master Antenna MICROpod HDG MICROpod GNS Figure 19 ATT Antenna arrangement 13 5 GPS Ports 13 5 1 GPS1 Comi HDG GPS2 Com2 HDG GPS Com2 GNS and GPS Comi GNS GPS1 and GPS2 are found on the MICROpod HDG while GPS is found only on the MICROpod GNS These all default to 9600 baud N 8 1 none The end user may permanently set these ports to any configuration for use in their own applications e g GPS1 Com1 may be configured to receive RTCM corrections at 19200 baud if required The method used to alter and restore port configuration is defined in the user manual for the GPS receiver card 13 5 2 GPS2 Comi HDG and GPS1 Com3 HDG For ATT systems which use the slave MICROpod GNS GPS2 COMI is also reserved for use by the EDGE firmware as is GPS1 Com3 for HDG only systems These default to the same configuration as A0016 09 0001 Page 43 MICROpod User Manual Version 3 01 GPS1 Comi see above These may be
33. i CanConfig v1 00rc 03 Built Apr 9 2009 13 16 57 2008 Forsberg Services Ltd 100 1 G 0 05s 101 1 0 05s 102 1 0 05s 300 1 0 05s 301 1 amp 0 05s 302 1 0 05 s 303 1 0 05 s 304 1 0 05s 305 1 0 05s 401 1 0 05s 402 1 0 05s 403 1 0 05s GPS Data S TIME utc year H TIME utc month D TIME utc offset DJBESTPOS lat DJBESTPOS lon DJBESTPOS hat S BESTPOS undulation HJBESTPOS ttobs SJBESTPOS lat sd SJBESTPOS lon sd SJBESTPOS hat sd SJBESTPOS sol age SJBESTVEL latency S BESTVEL diff age D BESTVEL hor spd D BESTVEL trk and S TIME utc millisec H TIME utc day H TIME utc hour H TIME utc min HJBESTPOS GPSL1 BESTXYZ P sol status pos type Px PA PZ PA sd P Y sd P Z sd lt 101 m Build Frame for Frame ID Data Er r Frame Status Variables Transmission Name Precision isa 0 m Modify Configuration Add Frame Delete Frame gt lt lt Ht Move Up Move Down Configuration Options v FSLSAVECONFIG Bit rate kbits sec CANT 100c y 11 bit HDR Send to com 1 Cancel Figure 8 CANConfig User Interface 11 1 8 1 Connecting to the MICROpod The CANConfig PC software requires a serial connection to com port P9 on the MICROpod This is the maintenance port for the MICROpod and is located on the COM6 COM8 cable assembly Check the d type connectors P9 does
34. ion of Part 15 of the FCC rules and void the user s authority to operate this equipment 4 3 IPX7 Notice The MICROpod unit is waterproof in accordance with IEC 60529 IPX7 IEC 60529 is a European system of test specification standards for classifying the degrees of protection provided by the enclosures of electrical equipment An IPX7 designation means the MICROpod case can withstand accidental immersion in one meter of water for up to 30 minutes IMPORTANT An antenna or suitable waterproof dust cap must be attached to the TNC connector to obtain full IPX7 4 4 RoHS Notice The MICROpod is compliant with the European Union EU Restriction of Hazardous Substances RoHS Directive 2002 95 EC A0016 09 0001 Page 7 MICROpod User Manual Version 3 01 5 Warranty information Forsberg Services Ltd Warranty Policy Forsberg Services Ltd FSL warrants that the Navigation products manufactured by FSL are free from defects in materials and workmanship subject to the conditions set forth below for the following periods of time MICROpod One 1 Year Software Support One 1 Year Date of sale shall mean the date of the invoice to the original customer for the product FSL s responsibility respecting this warranty is solely to product replacement or product repair at an authorized FSL location only The FSL warranty does not extend to the following l Non conformities defects or errors in the products due to
35. nfigured to send an empty CAN frame out of the CAN 2 port to be used for synchronisation purposes e Select HDR 1 PPS from the GPS Data field e Add the 1PPS on CAN2 to the selected CAN Frame ID e Add the Frame to the configuration using Add Frame e Send the configuration to the unit using SEND TO COM 11 1 8 10Saving the configuration Checking the SAVECONFIG check box will ensure that the MICROpod saves the configuration through a power cycling until the configuration is overwritten by saving another configuration 11 1 8 11Selecting the CAN Baud rate The baud rate for the CAN port can be selected using the drop down box 11 1 8 12 Committing the configuration Once the configuration has been fully compiled it can be sent to the MICROpod Go to the Send to Com button and enter the PC com port that the MICROpod is connected to Press the button and the configuration command shall be issued to the MICROpod 11 1 8 13 Closing the application To exit the application select the x in the top right hand corner of the application A0016 09 0001 Page 35 MICROpod User Manual Version 3 01 11 1 8 14Cancel To cancel all work on the configuration and quit the application without saving select Cancel A0016 09 0001 Page 36 MICROpod User Manual Version 3 01 12 EDGE HDG 12 1 Required connections for EDGE Heading The MICROpod HDG model contains two internal GNSS receivers with EDGE Heading firmware to
36. om1 and GPS3 Com3 which then also become unavailable to the end user GPS1 Coml is always available to the end user e g for input of RTCM corrections or for general communication with the master receiver The USB Serial ports of all receivers are always available to the end user 13 3 Powering up Powering up the receivers should be done so the MICROpod GNS is powered first followed by the MICROpod HDG Once the receiver has been run and shut down for the first time this should not matter because the system will configure automatically 13 4 Antenna Arrangement The system is configured such that the antennas may move around from epoch to epoch and still give meaningful results E g all three antennas could be mounted in fixed positions on a vehicle However in order for the reported heading to be intuitive the line between RF1 Master Antenna and RF2 First Rover Antenna connected to MICROpod EDGE HDG ATT must be parallel to the real world heading of the object whose trajectory is being measured Typically this would mean that both antennas were mounted on the same rigid frame such that they cannot move relative to each other Similarly in order for the reported pitch to be intuitive the pitch line between the antennas must be parallel to real world pitch A0016 09 0001 Page 42 MICROpod User Manual Version 3 01 If the lines are not parallel but the orientation is known the end user must add suitable offsets to t
37. r consequential damages of any kind or nature due to any cause A0016 09 0001 Page 9 MICROpod User Manual Version 3 01 6 Functionality notice 6 1 Important functionality note The FSL MICROpod utilizes an internal connection between the GNSS receiver com 2 port and the micro Therefore any commands sent through GPS com 1 or GPS com 3 that will affect the configuration could reduce functionality When connected to either GPS com port the following commands should be avoided UNLOGALL If UNLOGALL is sent to a GPS com port it will stop the output of commands on all GPS com ports and all of the MICRO com ports UNLOG If UNLOG is sent to GPS com port it will stop the output of the specific command on all GPS Com ports and all of the MICRO com ports COM COM2 GPS com 2 has been specifically configured for communicating with the microprocessor and changing the baud rate of GPS com 2 will disable communications between the micro and the GPS receiver and therefore the micro com ports will no longer function FRESET RESET These commands will reset the GPS receiver to its original state and will disable communications between the micro and the GPS receiver and therefore the micro com ports will no longer function 6 2 Reconfiguring GPS com 2 Functionality can be retained using either of the methods outlined below Reconfigure GPS com 2 Connect to GPS COM 1 through a PC running Hyperterminal or similar terminal software and send
38. rame on the PPS The second CAN port is used to ensure that the data is processed with a very low latency 1 4ms at a baud rate of 500 Mbits s 11 1 7 Connecting an IMU for EDGE INS The MICROpod can provide full attitude data when an IMU is connected to the system and EDGE Attitude firmware is loaded The IMU will connect directly to GPS Com 3 and the attitude data can be obtained through the NovAtel commands when connected to the micro com ports The connectivity diagram when including an IMU is shown below A0016 09 0001 Page 29 MICROpod User Manual Version 3 01 Com port cable GNSS Antenna assembly Coaxial Cable Power source MICROpod Null Modem GPS COM 1 mm ces com 3 Maintenance Port GPS I O Com port cable assembly Inertial Measurement Unit GPS I O cable USB CAN PPS VARF Figure 7 INS Connectivity 11 1 8 CANConfig PC application The CANConfig PC application provides the functionality to create the custom CAN frame data CANConfig runs on a Windows PC and sends the configuration to the MICROpod through the maintenance port Once created each configuration can be saved and loaded at a later date If the MICROpod is power cycled the configuration on the unit will be lost and will require reloading Saving configurations to the unit is a feature that will be implemented into later releases of firmware A0016 09 0001 Page 30 MICROpod User Manual Version 3 01 E
39. se RTATT Pitch Roll Heading and Quality RTVEC Baseline Vector and Quality These messages are fully defined in NovAtel OEMV Family of Receivers Firmware Reference Manual Revision 8 at time of writing OM 20000094 pdf These messages are fully defined in NovAtel RTKNav RtStatic Real time Multi Remote GPS Processing Software manual Version 3 14 note that later versions omit the RTATT message RTKNav3 14 pdf RTVEC is output once per Rover receiver so HDG only systems will have one RTVEC per epoch ATT systems will have 2 RTVEC messages per epoch A0016 09 0001 Page 44 MICROpod User Manual Version 3 01 14 Cables and Pin outs 14 1 GPS com ports GPS COM1 and GPS COM3 Please refer to the latest revisions of the NovAtel GPS receiver manuals Firmware Reference Manual and Installation and Operation User Manual for specific GPS receivers 14 1 1 GPS COM1 Connector Signal name Signal name Description Description RS232 RS422 Transmit Data TXD Transmit Data Data Terminal Ready Data Terminal Ready Signal Ground Signal Ground Request To Send POB Receive Data Clear To Send RXD Transmit Data 14 1 2 GPS COM3 Connector Signal name Description RS232 RXD Receive Data TXD Transmit Data POUT Power Out GND Signal Ground A0016 09 0001 Page 45 14 2 MICRO com ports P1 P5 cable assembly 1 D 25 13 25 PINS D USB A0016 09 00
40. se in commercial business and industrial environments Operation is subject to the following two conditions 1 this device may not cause harmful interference and 2 this device must accept any interference received including interference that may cause undesired operation These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment The equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instruction manual may cause harmful interference to radio and television reception Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at own expense If this equipment does cause interference to radio or television reception which can be determined by turning the equipment off and on you can try to correct the interference by one or more of the following measures Reorient the receiving antenna Relocate the receiver relative to the equipment which it interferes Power the equipment from a different AC receptacle so that this equipment and the interfered equipment are on different branch circuits If necessary contact Forsberg Services Ltd for additional advice WARNING Changes or modifications to this equipment not expressly approved by Forsberg Services Ltd could result in a violat
41. set to alternative configurations the end user desires after consultation with FSL 13 5 3 GPS1 Com3 GPS2 Com3 GPS1 Com3 and GPS2 Coma are reserved for use by the EDGE firmware and are not available to the end user 13 5 4 GPS1 Com2 This is used internally by the MICROpod and is not available to the end user 13 6 P9 Output Port NMEA 13 6 1 Overview The NMEA message format has been chosen as it is a common internationally recognised standard The standard itself is available to buy from http nmea org The NovAtel manual cited below is a freely available guide to the messages used by the EDGE firmware but it does not necessarily imply that NovAtel hardware or firmware is used inside the MICROpod Similarly the RTATT and RTVEC NMEA like messages are used so as to provide drop in replacements for customers used to RTKNav Waypoint output RTKNav is not necessarily used inside the MICROpod This NMEA and RTKNav output is suitable for use with the FSL Portal GNSS diagnostic tool 13 6 2 Port Configuration P9 on the MICROpod HDG is permanently configured to 115200 N 8 1 none The following NMEA messages are output in arbitrary order once per epoch epochs are at 10Hz for EDGE HDG 1Hz for ATT future revisions of the ATT firmware will raise the ATT rate to 10Hz as well 13 6 3 NMEA Message Output GPGGA Position GPGST Position Quality GPVTG Velocity Vector GPGSV Satellite constellation and carrier to noi
42. tatus and synchronisation signals referred to as Strobes The available strobes will vary for the type of GNSS receiver contained in the MICROpod The strobe signals include an input and several outputs as described below Mark Input Event 1 Event 2 A pulse on this input triggers certain logs to be generated Please refer to the MARKPOS log the MARKTIME log and the ONMARK trigger in the NovAtel OEMV Firmware Reference Manual Measure Output MSR Falling edge is synchronised with internal GNSS measurements Pulse Per Second Output PPS A pulse for which the leading edge is synchronised with GPS time For the OEMV 3 the polarity and period is configurable using the PPSCONTROL command see NovAtel OEMV Firmware Reference Manual Position Valid Output PV High when good GNSS position and time solution Error Output ERROR High when a receiver hardware failure is detected LED Red Output STATUS RED Hardware failure when on or pulsing LED Green Output STATUS GREEN Normal operation when pulsing at 1Hz Variable Frequency VARF Programmable output range from O to 20 MHz see FREQUENCYOUT command in NovAtel OEMV Firmware Reference Manual See cable and pin out section for full details of the Strobe cable and associated strobe pins A0016 09 0001 Page 23 MICROpod User Manual Version 3 01 10 Operation 10 1 Connectivity overview Before conn
43. ubstitute remote request SRR 1 Must be recessive 1 Optional Identifier extension bit IDE 1 Must be recessive 1 Optional A0016 09 0001 Page 28 MICROpod User Manual Version 3 01 Identifier B 18 Second part of the unique identifier for the data Remote transmission request 1 Must be dominant 0 RTR Reserved bits it must be set dominant 0 but accepted as either dominant or Reserved bits rO r1 2 recessive Data length code DLC 4 Number of bytes of data 0 8 bytes Data to be transmitted length dictated by DLC field Data field 0 8 bytes Data is selected using the CANConfig PC application CRC 15 Cyclic redundancy check CRC delimiter 1 Must be recessive 1 ACK slot 1 Transmitter sends recessive 1 and any receiver can assert a dominant 0 ACK delimiter 1 Must be recessive 1 End of frame EOF 7 Must be recessive 1 The two identifier fields A amp B combined form a 29 bit identifier 11 1 5 CAN Data field configuration and content The EDGE CAN firmware provides the facility to configure the data field CAN frames can be configured to contain NovAtel GNSS Logs In this context a CAN frame is the low level frame consisting of a header numerical ID and 8 bytes of NovAtel data The user specifies the frequency at which each the CAN frames will be output 11 1 6 CAN PPS CAN PORT 2 In addition to this functionality the CAN 2 port can be used to output a CAN f
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