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Trimble Outdoors Lassen DR+GPS 58059-00 User's Manual

1. LOG NO ERROR 0x00 No error recorded in this entry LOG SOFT RESET 0x01 System performed a warm reset S LOG COLD RESET 0x02 System performed a cold reset S LOG FACTORY RESET 0x03 System cleared flash and RAM reset S LOG SHUT DOWN 0x04 System shut down by command S LOG BBRAM INVALID 0x05 Invalid BBRAM detected on startup S LOG GRACEFUL SHUTDOWN 0x06 System did graceful shutdown S LOG TEST PASSED 0x10 System passed all diagnostic tests S LOG TEST START 0x11 Begin system test S LOG_TEST_END 0x12 Indicates the end of a test event S LOG_FORCE_TO_MONITOR 0x20 Force to monitor command executed S LOG_NAV_FIRST_FIX 0x40 GPS receives the first fix on start up S LOG_POSITION_SNAP 0x42 Output solution snapped to DR GPS S LOG_POSITION_RECOVERY 0x43 Position recovery snapped to GPS S LOG_HEADING_RECOVERY 0x44 Heading recovery snapped to GPS S LOG_DPP_RECOVERY 0x45 DPP recovery snapped to GPS S LOG_ZRO_RECOVERY 0x46 ZRO recovery S LOG_NAV_USER_TIME 0x50 User entered time on startup S LOG_NAV_USER_POS 0x51 User entered position on startup S LOG_NAV_FIX_SANITY 0x61 GPS receiver fix unreasonable C LOG GYRO ANOMALY 0x62 Gyro readings not within specification C LOG NO TACHO WHILE MOVING 0x63 No Tacho when GPS detects motion C LOG EXCESSIVE TACHO 0x64 Consistently excessive tacho data C LOG REVERSE GPS DISAGREE 0x65 Reverse signal opposite to GPS C LOG LARGE JUMP 0x66 Large jump at power up S LOG
2. REN KN 11 ARONO OTON 2 5 2 Y 9 ae IEA In 12 STARTER KIT CONTENTS eccecceceececcecceceeceeceeceeaecaecueceeaeeaecuecueceeaesecueseeaeenecneeneaes 12 STARTER KIT INTEREAGE UNIT 2 228 222 cud eid aan d nod An de Dt eoe dud cue 13 ORDERING STARTER KIT COMPONENTS em eene neret rete tet ret re rre rri rere 14 QUICK START QUIDE 1 e ceeeeiecieeeieeee nene nene 15 Copy the Supphied Files iun eter tre dE ecd SE eee ibt e redet 15 Inst llcthe FTDI1 Driver zii eode een less ee ee decer eee QS 15 Connect the Starter Kit Components eese ener nrenne nennen enne ana TSE SEa eeoa 15 SOFTWARE TOOLKIT 5 2052 cov e anao ENNESCH na acaecida cados 17 INTERFACE PROTOCOL 5 epe idas 17 ol IS KEE EE EE EE 17 HIPPO Ko E SE e SEENEN 17 CHAPTER 2 COMMON OPERATIONS ERKENNEN REN ENKEN KEREN KN 18 NMEA PORT CONFIGURATION KEREN KEREN EE KEREN KEREN ENKEN ENKEN RENE KEREN EEN A 19 Enable NMBA Mode 5 ithe e eds e elder Aiea EE 19 View NMEA Outp t EE 21 Changing NMEA Output and Report Rates ec sese ene eene ener ren trennen 22 CHANGE THE OUTPUT PROTOCOL uuuauunnnunnnunnnnnnnnnnnnnnnnnnnnnnnnnnnn nun n nun asas nasa daas anu 24 Change from the Default NMEA Output to HIPPO AA 24 HIPPO COMMANDS TO CHANGE PROTOCOL eene nennen tente rrr nenn 27 HIPPO Commands to Change NMEA to HIPPO AA 27 HIPPO Commands to Change HIPPO to NMEA sese nennen trennen 28 Save the Calibration
3. eene 49 PRE PARSING HCC UNSTUFFING AFTER RECEPTION eene 49 COMMAND IST TC 50 SET SEASS EE 50 QUERY GLASS 2 2 eee ene eee AENA 52 eh ERR NEEN 54 Reset Receiver EE 54 REPORT LAGER e Beete He Eed S 55 REPORT MESSAGE CODE ASSIGNMENT nn nnnnnnn nennen 56 SYSTEM REPORT PACKETS a ed o n o n m e He ets 59 0x10 Acknowledge Error Response to Command Packets eene 59 Ox TI Version Report zeg At a Ee Sete ada eto te e RE er ees 61 0x12 01 Start Up Report san Hrn ie Eee its ice 62 0x12 02 Software Mode Report 62 0x12 03 Production Information Report 63 0x 12204 Hardware ID Report ener ettet ele dd traidos 63 0x 14 01 Soft Event Log Report 63 0x14 02 Fatal Error Log Report ta ve Pre redee 64 0x15 Data Stored in Non erasable Flash Report 65 UXT6 01 Health Status RepOrta aec proh a a einen 66 0x 16 02 Repeat Start Up Report with System Time sse 67 CONFIGURATION REPORT PACKETS ooooocccccccccccconooncnnonnncnonononnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnns 68 0x22 01 Output Interval Control Table 68 0x22 02 NMEA Output Control n eter tet e RP ER RC aae apaes ii 69 0x24 GPS Configuration etude OU ee D UD ot a Ree gti 69 0x25 Kalman Filter Configuration eese eene non nero nre nee netten trennen enne 70 0x26 01 Available Report Codes AAA 72 0x26 02 Available Report Subcodes A 73 0x26 03 0x26 04 0x26 05 DPP Speed Model 74 0x27 D
4. hhmmss ss MIP x yyyyy yy Lassen DR GPS Reference Manual 37 DR GPS STARTER KIT REFERENCE MANUAL Type Symbol Definition 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 XX Fixed length field of numeric characters Number NOTE Spaces are only be used in variable text fields Units of measure fields are appropriate characters from the Symbol column 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 Lassen DR GPS Reference Manual 38 DR GPS STARTER KIT REFERENCE MANUAL NMEA 0183 MESSAGE OPTIONS The DR GPS can output any or all of the messages listed in the table below In its default configuration as shipped from the factory the DR GPS outputs only NMEA messages Typically NMEA messages are output at a 1 second interval with the GP talker ID and checksums These messages are
5. Valid 0 A All data U1 1 7 contains all data since start 0 5 Rolling start U1 1 motion detected at start up 0 6 7 Time Source U2 Time Source for Map Match 1 2 Time Tag U16 1 ms 0 65535 ms Time Tag for Map Match 3 6 Current Latitude S32 2 1 sc EY Y sc 7 10 Current Longitude S32 2556 1 1 sc 11 12 Current Heading U16 27 sc 0 2 sc 13 14 Delta Distance 0 16 1cm 327 67 327 67 m Now 1 s to Now 15 16 Delta Heading 0 S16 1 cdeg 327 67 327 67 Now 1 s to Now 17 18 Delta Distance 1 S16 1cm 327 67 327 67 m Now 2 s to Now 1 s 19 20 Delta Heading 1 16 1 cdeg 327 67 327 67 Now 2 s to Now 1 s 89 90 Delta Distance 19 S16 1 cm 327 67 327 67 m Now 20 s to Now 19 s 91 92 Delta Heading 19 S16 1 cdeg 327 67 327 67 Now 20 s to Now 19 s 93 94 Current Heading U16 2 sc 0 2 sc Acc y 95 96 Current Position U16 1m 0 65534 m Acc y 97 98 Distance accy U16 1 cm 0 655 36 m 99 100 Delta heading accy U16 1 cdeg 0 360 Lassen DR GPS Reference Manual 100 DR GPS STARTER KIT REFERENCE MANUAL Initialization Information The following reports contain the information that the module is currently storing in BBRAM for initialization in the next session If any information is updated in real time through data decode or fixes the module reports the updated information When these reports are used with the set command
6. sse 122 Large jump at powet p eene A A A E RNE 122 Oscillator values are not within specification uussesuensessensessnesennennesennnennennnnensennnnnennnennennsonennn 123 Antenna open detected 2 u 222 33 382280 18008 sie 123 Antenna Short detected gesessen ia iem beste picada 124 Failure t connect to GPS DSP aeterne Bet ce otro a Banner re ens 124 RTC dis sreed with GPS time 2 et eR Ba ete re Bk ce ie e ca d ax re es 124 Gyro Fail re aig etate e ate bete ite e ar eee t e bee rd ees 124 ADC Eall te ata e Rote Rr ROTE ERU PUE EUER RUD Ech 125 Gyro shorted to 3 3 V ce E atte do t ed ridet ets 125 APPENDIX C SPECIFICATIONS eene 126 DATA derer eiue deii tie tae eta pe a eese e Ai de en 128 GPS ANTENNA rame etta da d laid 131 REFERENCE BOARD DIAGRAMS eme nennen net rere tenter nn retra ann rire ras 132 MECHANICAL SPECIFICATION eccecceceeceececcecceceecececceeaecaecueceeaesaecueeeesesaeeneenseneas 135 ABOUT THIS MANUAL This Starter Kit Reference Manual describes how to integrate and operate the Trimble DR GPS navigation receiver The instructions in this manual assume that you know how to use the primary functions of Microsoft Windows If you are not familiar with GPS visit Trimble s website www trimble com for an interactive look at Trimble and GPS Technical Assistance If you cannot locate the information you need in this product documentation conta
7. Byte Name Type Value Meaning Code U8 0x12 Subcode U8 0x03 0 Serial Number U32 4 Production Day U8 5 Production Month U8 6 7 Production Year U16 8 23 Product Name 16xCHAR Descriptive string 0x12 04 Hardware ID Report This report contains information stored in ROM it cannot be set or changed through HIPPO command It is available by query or auto output Table 30 0x12 04 Hardware ID packet Byte Name Type Value Meaning Code U8 0x12 Subcode U8 0x04 Parameter Sub code 0 15 Hardware ID 16xCHAR Hardware ID 0x14 01 Soft Event Log Report These reports are auto output upon the event The report can also be queried by index number Because of the volume of information these reports cannot be queried with the OxFF option The host can clear the soft event log completely by using the set all OxFF command with no data Lassen DR GPS Reference Manual 63 DR GPS STARTER KIT REFERENCE MANUAL Table 31 0x14 01 Soft event log entry report Byte Name Type Value Meaning Code U8 0x14 Subcode U8 0x01 Parameter subcode Index U8 0 Most recent soft event 1 127 Soft Event Log index number 0 1 Year U16 0 No GPS UTC time is since power up gt 2000 year 2 Month U8 1 12 3 Day U8 1 31 4 Hour U8 0 23 5 Minute U8 0 59 6 Second U8 0 60 7 Identity Code U8 OxFF No event 0 0x7F 8 Condition Code U8 0x14 02 Fatal Error
8. Excessive tacho data is received for a long period of time Condition cause Effect before Action Soft Event Detected Wheels spinning other tacho malfunction Position fixes move at higher speed than actual position Not implemented in ROM 15 Function partly done by DPP recovery Reverse signal opposite to direction determined by GPS Condition cause Effect before Action Soft Event Detected Soft Event Cleared Action Disconnected reverse switch Reverse driving is mistaken for forward driving resulting in incorrect position Driving in reverse at raw GPS speed 14 m s Driving forward at raw GPS speed gt 14 m s Direction Switch sense changed Large jump at power up Condition cause Effect before Action Soft Event Detected Action Position in BBRAM incorrect e g travel by ferry Positions are offset by many kilometers after power up Offset between first three GPS points and DR position gt 2000 m Reset position to average GPS position Lassen DR GPS Reference Manual 122 DR GPS STARTER KIT REFERENCE MANUAL Oscillator values are not within specification Condition cause Excessive temperature response or aging of crystal Effect before Action Extended time to first fix Soft Event Detected Not implemented in ROM 15 Antenna open detected Condition cause Hardware failure Effect before Action No GPS positions Soft Event Detected Hardware signal querie
9. Index U8 0 Nppp 1 Speed Level Index 0 0 2 Source U3 0 Invalid Clear 1 Host Input 2 Host Override 3 GPS Fix 0 3 Newness U1 0 From BBRAM 1 New since start up 0 4 Validity U1 1 1 Valid 1 4 DPP FLT m pulse 005 5 0 lt 5 m pulse typ 5 8 DPP accuracy FLT m pulse 001 1 0 1 c accuracy Table 71 0x36 08 ZRO Rate Calibration Message Byte Name Type Units Range Meaning LSB Value Code U8 0x36 Subcode U8 0x08 0 0 2 Source U3 0 Invalid 3 GPS Fix 0 3 Newness U1 0 From BBRAM 1 New since start up 0 4 Validity U1 1 1 Valid 1 4 ZRO Rate of Change FLT mV sec 5 8 ZRO Rate accuracy FLT mV sec 1 c accuracy Lassen DR GPS Reference Manual 95 DR GPS STARTER KIT REFERENCE MANUAL 0x3F 01 ADC and Gyro Self test Data The module performs a self test on the ADC and gyro at start up The module can also perform the gyro test after start up If the tests are completely successful the gyro ADC self test bit in the start up message 0x12 01 is zero If the bit is set to one the host should examine the following message for diagnosis of the errors The ADC at fixed voltage is from the test at start up the at rest data fields are from the most recent test This information is not battery backed and is available by query only Table 72 0x3F 01 ADC and Gyro Self Test Report Message Byte Name Type Units Range Meaning LSB Value Code U8 Ox3F Subco
10. Products to which DGPS does not apply have a default DGPS Mode of 1 Ignore and the value cannot be changed Table 39 List of GPS Configuration Message Parameters Subcode Name Type Units Range Default Meaning 0x01 Operating U8 0 0 Auto 2D 3D Dimension 3 Alt Hold 2D 4 Full Pos 3D 0x02 DGPS Mode U8 0 1 Require 1 Ignore 2 If Available 0x03 Dynamics Code U8 17 17 Automobile 0x04 Elevation Mask FLT degrees 0 90 5 0 Tracking limit 0x05 SNR Mask U16 0 2 dBHz 100 240 145 Fix limit 20 48 dBHz 29 dBHz 0x06 DOP Mask FLT 0 0 99 0 20 0 Fix limit 0x07 DOP Switch FLT 0 0 99 0 20 0 Fix limit 0x08 DGPS Age U16 1s 0 240 30 Fix limit Limit 0x25 Kalman Filter Configuration The Parser Code for the Kalman Filter configuration parameters is 0x25 A typical parameter report is shown in Error Reference source not found Table 40 0x25 Format of Kalman Filter Configuration Parameter Byte Name Type Value Meaning Code U8 0x25 Subcode U8 0x01 16 Parameter Subcode 0 Parameter Value Refer to Error Reference source not found Error Reference source not found shows the subcode range and default value for each of the Kalman Filter configuration parameters Lassen DR GPS Reference Manual 70 DR GPS STARTER KIT REFERENCE MANUAL Table 41 List of Kalman Filter
11. Valid 0 7 Motion Status U1 1 Valid 1 0 Motion Indicator U1 1 Motion 1 1 Direction U1 1 Backward 1 2 Gyro Calibration Status U1 1 Calibrated 1 3 Tacho Calibration Status U1 1 Calibrated 1 4 Time source U2 0 System clock 1 RTC 2 GPS lt 10 ms 3 GPS lt 1 ms 1 Snap to DR GPS U1 0 DR Propagated 1 Jump 2 GPS Data Age Index U8 s 0 253 Age 254 gt 253 s 255 GPS N A Lassen DR GPS Reference Manual 86 DR GPS STARTER KIT REFERENCE MANUAL Byte Name Type Units LSB Range Value Meaning 3 6 GPS Time of Week U32 1ms 0 604800000 7 10 Latitude 32 2 sc sc 11 14 Longitude S32 2 sc 1 1 sc 15 16 Altitude S16 1m 400 10000 m MSL 17 18 Heading U16 2 sc 0 2 sc 19 20 Speed U16 1 cm s 0 655 34 m s 21 22 Delta time U16 1 ms 0 1100 ms even 23 24 Delta Distance S16 1 cm 327 67 327 67 m 25 26 Delta Heading S16 1 cdeg 327 67 327 67 27 28 Position accuracy U16 1m 0 65534 m 29 30 Altitude Accuracy U16 lim 0 65534 m 31 32 Heading Accuracy U16 z sc 0 2 sc 33 34 Speed Accuracy U16 1 cm s 0 655 34 m s 35 36 Delta distance accy U16 1cm 0 655 34 m 37 38 Delta heading accy U16 1 cdeg 0 360 39 0 6 of Gyro Samples U7 0 127 lt 110 typ 39 Direction Switch Value U1 1 High 40 43 Gyro Counts U32 0 450560 Sum ADC values 44 45 Tacho Counts U16 0 65535
12. 0x00 7F Parser Code 0 Parser Subcode 0x00 U1 1 Available 0 1 Parser Subcode 0x01 U1 1 Available N M Parser Subcode U1 1 Available 8N M 15 6 Parser Subcode Ox7E U1 1 Available 15 7 Parser Subcode Ox7F U1 1 Available Lassen DR GPS Reference Manual 73 DR GPS STARTER KIT REFERENCE MANUAL 0x26 03 0x26 04 0x26 05 DPP Speed Model The DPP model has multiple DPP values each applicable over a limited speed range The 0x26 03 message reports the maximum speed level of application for each DPP value The 0x26 04 and 0x26 05 messages report the minimum and maximum speed levels used for calibrating each DPP These values are compiled in the firmware so there is no set procedure for these reports Table 44 0x26 03 DPP Model Message Byte Name Type Units Value Meaning Code U8 0x26 Subcode U8 0x03 0 N of speed levels U8 1 Max Applicable Speed U8 0 5 m s 0 5 127 0 m s Top speed of DPP 0 127 5 m s Unlimited N Max Applicable Speed U8 0 5 m s 0 5 127 0 m s Top of range SEDBEINSH 127 5 m s Unlimited Table 45 0x26 04 DPP Minimum Calibration Speed Message Byte Name Type Units Value Meaning Code U8 0x26 Subcode U8 0x04 0 N of speed levels U8 1 Min Calibration Speed U8 0 5 m s 0 5 127 0 m s Top speed of DPP 0 2127 5 m s Unlimited N Min Calibration Speed U8 0 5 m s 0 5 12
13. 0x29 02 Latitude Longitude Initialization Report Byte Name Type Units LSB Range Value Meaning Code U8 0x29 Subcode U8 0x02 0 0 2 Source U3 0 Invalid Clear 1 Host Input 2 Host Override 3 GPS Fix 0 3 Newness U1 0 From BBRAM 1 New 0 4 Lat Lon Acc y Status U1 0 Acc y Unknown 4 Acc y Valid 1 4 Latitude S32 27 sc L 4 sc 5 8 Longitude S32 2 1 sc 1 1 sc 9 12 Latitude Accuracy U32 2 sc 0 1 sc 1 sigma accuracy 13 16 Longitude Accuracy U32 271 sc 0 1 sc 1 sigma accuracy 17 20 Lat Lon Correlation FLT unitless 1 0 1 0 Lassen DR GPS Reference Manual 106 DR GPS STARTER KIT REFERENCE MANUAL 0x29 03 Altitude Initialization The data in this message will change after initialization through fixes To erase altitude initialization information use the corresponding set command with source byte equal to zero Invalid Clear To override current altitude estimate use host override Latitude and longitude initialization must be done before altitude initialization Table 83 0x29 03 Altitude Initialization Report Message Byte Name Type Units LSB Range Value Meaning Code U8 0x29 Subcode U8 0x03 0 0 2 Source U3 0 Invalid Clear 1 Host Input 2 Host Override 3 GPS Fix 0 3 Newness U1 0 From BBRAM 1 New 0 4 Altitude Acc y U1 0 Acc y Unknown Status 4 Acc y Valid 1 2 Altitude S16 1m 400 10000 m MSL 3 4 Alt
14. 10 11 Test Duration U16 1s 1 60 Lassen DR GPS Reference Manual 98 DR GPS STARTER KIT REFERENCE MANUAL 0x30 03 Buffered Cumulative DR message This message provides the first 20 seconds or more of buffered DR information If the host takes significant time to boot up this provides the recent path for map matching purposes The host should also request start up information 0x16 02 and health information 0x16 01 on late boot up Once the message is queried the data is frozen and subsequent queries return the same data Validity Bits The all data flag bit is set if the data buffer contains all data since power up The rolling start bit will be set if a tacho pulse other than a heartbeat is detected in the first 200 ms Delta distance is valid if the tacho was calibrated at start up Delta heading is valid if the gyro was calibrated before vehicle started moving Time source and position and heading validity bits are taken from the most recent 0x30 02 message These can be used with the current timetag position and heading to formulate a HIPPO map match message An array of up to 20 delta distances and delta headings are in the message These values will have been corrected with the estimate of ZRO and DPP current at the time Each will be over an interval lasting about one second except for the first and last intervals The intervals are reported in re
15. 2 0 Output voltage low level at 4 mA at Supply Voltage 0 4 V high level at 4 mA at Supply Voltage 2 4 Input current low level 50 50 pA high level 50 50 Data latency after PPS Delta between PPS and packet 100 ms transmission Lassen DR GPS Reference Manual 128 DR GPS STARTER KIT REFERENCE MANUAL Table 101 PPS The PPS is present once power is applied to the unit Table 102 PPS Characteristics Characteristic Conditions Min Typical Max Unit Timing accuracy To UTC time with valid position fixes 500 ns Pulse duration 80 90 us Rise time of leading edge Rising edge is synchronized to UTC 25 ns second Output voltage 2 76 V Table 103 Gyro Supported GYRO units are Epson XV 810 Epson XV 8100CB 3V Epson XV 8000CB 5V Murata ENX 0126 Panasonic EWTS 82 Table 104 3 Volt Gyros Characteristic Min Typical Max Unit Vgyro 0 3 3 V Gyro rate 2 5 mV degree s 10 Zero Rate Output Epson 1 35 V Note Check with your local Trimble Sales for the latest version of Lassen DR GPS firmware that supports your Gyro option The Murata part cannot fit inside the Lassen DR GPS starter kit due to an incompatible pin out but could be suitable for use in a customer application Confirm that the Gyro used with the Lassen DR GPS starter kit has the same pin out as the Panasonic EWTS 82 and uses the specification
16. 2A 31 01 00 00 00 00 A0 82 81 01 2A 32 01 00 00 00 00 9F 82 81 01 2A 33 01 00 00 00 00 9E 82 81 01 2A 11 01 00 00 00 00 CO 82 81 01 2A 12 01 00 00 00 00 BF 82 81 01 2A 36 03 00 00 00 00 99 82 81 01 2A 36 04 00 00 00 00 98 82 81 01 2A 36 05 00 00 00 00 97 82 81 01 2A 36 07 00 00 00 00 95 82 81 01 2A 36 08 00 00 00 00 94 82 81 01 22 02 01 00 00 01 1D B9 82 81 03 09 F1 82 In both cases there should be a 5 second pause after the first command then a 100ms delay between each of the successive 13 commands Lassen DR GPS Reference Manual 28 DR GPS STARTER KIT REFERENCE MANUAL Save the Calibration Settings You can save the calibration settings of the Gyro and Tachometer in Flash memory for future use should the power supply to the DR GPS be removed and the settings lost Correct calibration ofthe Gyro can only be carried out after the Tachometer input has completed its calibration The Tachometer calibrates after 40 GPS fixes which are above the speed of 8m s The Gyro bias calibration completes after a short standstill The Gyro Scale Factor calibrates after twenty 90 turns 1 Use DrMonitor in HIPPO output mode to view the Gyro Calibration and Tacho Calibration status lights 2 Wait for these indicator lights to turn green 3 From the DrMonitor menu select SysCmd gt Clear Position Reset 4 From the DrMonitor menu select SysCmd gt Write BBRAM to Flash Reset Lassen DR GPS Reference Manual 29 DR GPS STARTER KIT
17. 73 00013 1 M 025 6 M 000 0 T M 000 8 N 001 5 K A 01 172809 89 A 3732 44051 N 12218 21498 4 000 8 000 0 080307 A 43 8 2 02 10 30 ot 73 1 000 9 1 12 07 47 311 30 65 220 30 0229 053 43 31 13 291 32 7F 3 2 12 21 000 06 60 321 23 000 05 46 182 M 3 3 12 12 43 171 20 000 10 52 083 39 22 000 172810 89 3732 44074 N 12218 21516 0 1 03 4 74 00013 1 M 025 6 M 000 0 T M 000 1 N 000 1 K A OD 172810 89 8 3732 44074 N 12218 21516 0 000 1 000 0 080307 Ax42 O OO orara amp 84 4 14 1 00 0D 3 1 12 07 47 311 20 65 220 30 02 28 053 43 31 13 291 32 7E 3 2 12 21 000 06 60 321 23 000 05 46 182 75 3 3 12 12 43 171 20 000 10 52 083 39 22 000 7C 172811 89 3732 44080 N 12218 21514 W 1 03 4 74 00013 1 M 025 6 M 000 0 T H 000 0 N 000 1 K A 0C 172811 89 8 3732 44080 N 12218 21514 W 00O O 00O O 080307 A 4B A 2 02 10 30 4 84 4 74 1 00 QD 3 1 12 07 47 311 30 65 220 30 02 28 053 43 31 13 291 33 7F SEENEN 000 06 60 321 23 000 05 46 182 75 3 2 12 21 000 06 60 321 23 000 05 46 182 lt 5 3 12 12 43 171 20 000 10 52 083 39 22 000 7C VT1003 38400 8 N 1 NOTE To change the NMEA output you must quit HyperTerminal and start DrMonitor again Lassen DR GPS Reference Manual 21 DR GPS STARTER KIT REFERENCE MANUAL Changing NMEA Output and Report Rates 1 K3 DrMonitor v2 39 Open DrMonitor
18. Board Diagram 5V Gyro jo ie iac jo fe Lassen DR GPS Reference Manual 132 DR GPS STARTER KIT REFERENCE MANUAL 3 Reference Board Diagram 3V Gyro 310 sa i gol z gi int go A Ze E 4 Ei in D ECTONY Lassen DR GPS Reference Manual 133 DR GPS STARTER KIT REFERENCE MANUAL Table 106 Table 115 DR Module Pin Assignments Pin Input Output Function Description 1 Output TX2 Factory use only 2 Input Vantenna Voltage for GPS antenna 5V 3 Output TX1 Serial port1 transmit 4 Input Vbackup Backup power 2 5 3 6V 5 Input RX1 Serial port1 receive 6 Output PPS Pulse per second 7 Input VCC Main Power 3 3V 8 Input GND Power Ground 9 Input Gyro input Analogue gyro input 10 Input Tacho 1 Tacho pulses Tacho only or ABS L 0 3 3V 11 Input Reset External Reset 12 Input Reverse Forward backward signal 0 3 3V Signal 13 Input Gyro GND Gyro Ground 14 Input Vgyro Voltage for gyro circuitry 3 3 or 5V Lassen DR GPS Reference Manual 134 kika DwG Wi 55000 80 MS Tad Te Ju I Los qwe ee m A SW 08 DOSS ww Ju SW 08 000SS 3114 AIF La ENS KERGER HILYR OSIIN NW O I 2O CFL6 TTi Zv O t6 8 SEO r8 2 SW OFITO LEE SI 0 H 8 03 STO O VEIA agd JINVAVITI NIW Cert T0 0FFF0 0 LECH y0 0FSy 0 2 991 E0 0FI9 2 7093 SO OFLE e 08
19. Car Cam Offset Speed 0 cms e T i Status Accuracy r 00 Direction switch Position Position 65535 meters FS 00 Delta distance o Heading Altitude 1000 melers a0 O Delta heading Altitude s i Motion indicator Speed Heading 118311 sc 0 0 Gyro Calibration Motion Speed 0 0 0 Tacho Calibration 442 Direction forward Gyro Counts 22350 rs fm Time source GPS lt 10ms Tacho Courts 0 DOPs POOP HDOP VDOP Samples 20 Srch Mode Blind 000 0 00 0 00 Dir switch val 01 Almanac Not Complete Last Event Log i Antenna Normal T O RxO 01Valid BBRAM SelfTest Passed Running Time 00 02 52 COM24 38400 8 None 1 Lassen DR GPS Reference Manual 26 DR GPS STARTER KIT REFERENCE MANUAL HIPPO Commands to Change Protocol HIPPO Commands to Change NMEA to HIPPO 81 03 07 F3 82 81 01 2B 30 02 00 00 00 00 C8 00 00 00 D7 82 81 01 2A 31 01 00 OC 00 00 94 82 81 01 2A 32 01 00 OC 00 00 93 82 81 01 2A 33 01 00 OC 00 00 92 82 81 01 2A 11 01 00 00 20 00 A0 82 81 01 2A 12 01 00 00 20 00 9F 82 81 01 2A 36 03 00 00 00 04 95 82 81 01 2A 36 04 00 00 00 04 94 82 81 01 2A 36 05 00 00 00 02 95 82 81 01 2A 36 07 00 00 00 01 94 82 81 01 2A 36 08 00 00 00 04 90 82 81 01 22 02 00 00 00 00 00 D8 82 81 03 09 F1 82 Lassen DR GPS Reference Manual 27 DR GPS STARTER KIT REFERENCE MANUAL HIPPO Commands to Change HIPPO to NMEA 81 03 07 F3 82 81 01 2B 30 02 00 00 00 00 00 00 00 00 9F 82 81 01
20. Configuration parameters Subcode Name Type LSB Range Default Meaning 0x01 MinGainIndex U32 1 ms 40000 0 minimum settling time of code carrier filter 0x02 MinSVs U32 3 of 3 Minimum number of SVs for fix channels 0x03 NoEditAMU5 U32 0 2AMU lt 16 0 AMU 14 0 AMU maximum AMU value at which editing is allowed 0x04 MinAMU5 U32 0 2AMU lt 16 0 AMU 2 0 AMU Momiq acceptable AMU value 0x05 MaxEdits U32 0 2 1 60 Maximum number of fix rejections before KF reset 0x06 MaxGPSPropTime U32 Not currently used 0x07 MaxAcc FLT m s 0 20 6 0 vehicle acceleration limit 0x08 MaxVel FLT m s 0 126 150 0 vehicle velocity limit 0x09 SigmaHorizAcc FLT m s 0 20 0 5 typical horizontal acceleration 0x0A SigmaFreqAcc FLT m s 0 20 1 0 typical frequency drift Ox0B CarrSigSq FLT m s 0 2 0 07 Doppler error variance Ox0C MaxAcceptSigmaSq FLT 0 0 1077 4 0 edit limit for residuals 0x0D InitPosVar FLT m 0 10 1000 initial position error variance Ox0E InitBiasVar FLT m 0 10 1000 initial clock bias error variance OxOF ClockModelError FLT m 0 10 1 0 extra clock process noise to de couple clock model 0x10 RejectSSR FLT 0 0 10 6 0 rejection limit for normalized a posteriori residual 0x11 SigSlope1Sq FLT slope 0 4 0 1 typical velocity slope 0x12 SigSlope2Sq FLT slope 0 4 0 05 a change in position slope 0x13 MaxSlope3Sq FLT slope 0
21. Failure Condition cause Hardware failure Effect before Action Position goes in circles Soft Event Detected At power up Action Gyro labeled bad DR suspended Speed measurement continues and tacho continues to be calibrated Gyro Shorted to 3 3 V Condition cause Hardware failure Effect before Action Position goes in circles Soft Event Detected Average and range of gyro values one second averages are collected over ten seconds at standstill If average is between 3 05 V and 3 55 V and range is less than six mV declare detection Soft Event Cleared Cleared at reset Action Gyro labeled bad DR suspended Speed measurement continues and tacho continues to be calibrated Lassen DR GPS Reference Manual 125 APPENDIX C SPECIFICATIONS DR GPS STARTER KIT REFERENCE MANUAL Table 96 Power Supply for Internal DR Module Characteristic Conditions Min Typical Max Unit Supply voltage Pin 7 3 0 3 3 3 6 VDC Power consumption Excluding antenna 190 250 mW Supply voltage noise ripple From 1Hz to 1MHz 100 mVpp Input capacitance on power supply 22 uF Power supply for Low Noise Amplifier Power Supply for antenna is an 5 0 VDC of active antenna external input for this module Pin 2 Supplied current for Low Noise 5 0V Miniature GPS Vehicle Ant 30 mA Amplifier of active antenna 3 0V Miniature GPS Vehicle Ant 15 at room temperature Load capacitance of the antenna 0 3 U
22. File SysCmd Initialize Config View Test Tools Help Time UTC Time UTC Date 0 Time Delta Time BEE Offset 3 BW Status Direction switch Position Delta distance Heading Deltaheading Altitude Motion indicator Speed Gyro Calibration Motion Tacho Calibration Direction forward Time source DOPs PDOP HDOP YDOP gt Position Latitute un rad Longitude rad Altitude GE meters Heading EEE sc Speed mm cm s Accuracy Position meters Altitude meters Heading sc Speed cm s Gyro Counts Tacho Counts s nm Samples Dir switch val SY Info SV TIT Ad 11111111 Srch Mode Almanac MAA TAIT 11101111 Last Event Log Antenna Normal TO Reo Running Time 00 00 46 COM24 38400 8 None 1 2 Select Config gt Com setup O o DS NMEA Output NMEA COM Port Settings COM com 15 v Baud 4800 y Parity None DN Data Bits E y Stop Bits f y window Lassen DR GPS Reference Manual SEEEEEEELEEEEEEE Select the correct Com port number for the USB Virtual Serial Port Select 38400 Baud No Parity 8 Data Bits and 1 Stop Bit Click the OK button Select Config gt NMEA Message Output Control to open the Configuration 22 DR GPS STARTER KIT REFERENCE MANUAL Messages to Output iv GGA Iw RMC iv GSA iv VTG iv GSV Interval D to 255 0 FastFix Close 7 Select the
23. Ox5F GyroSnsSig2 FLT unitless 0 1 0 0004 As a proportion of nominal value 0x60 CarrSigMult FLT unitless 0 10000 9 0 Factor 0x61 TinitVar FLT m pulse 00001 4 1 0 Lassen DR GPS Reference Manual 77 DR GPS STARTER KIT REFERENCE MANUAL 0x62 TPNVar FLT m pulse s 0 1 10 0x63 TmaxVar FLT m pulse 00001 4 0 0004 0x64 ZRRHoldOff FLT GCnts 00107374 10 737418 1 0 mv ZROAccy 107374 18 0x65 WinSnapThd FLT unitless 0 10 36 0 0x66 WinClusterVar FLT unitless 0 10 9 0 0x67 MaxlnitGross FLT m 0 10 4 0x10 ErrSq 0x68 MaxCorrection FLT unitless 0 10 4 0 SigSq 0x69 GSFCalcMin FLT rad s 0 3 0 0174533 HdgRate Ox6A GSFCalcMax FLT rad s 0 3 1 04719755 HdgRate 0x6B GSFCalcMax FLT unitless 0 10 4 0 ZROVar 0x6C MaxGSFVar FLT GCnts rad s O 1 4 53915x 10 2 5 mV s 0x6D MinGSF Var FLT GCnts rad s 0 1 4 53915 x 107 0 0025 mV s Ox6E MaxDelGSF FLT GCnts rad s O 1 2 13053x 10 0 025 mV s Ox6F MinNormVel FLT unitless 0 100 0 01 ResidSq A GCnt is a 14 bit ADC count Full scale 5 V is 16384 GCnt so 1 mV 3 2768 GCnt Lassen DR GPS Reference Manual 78 DR GPS STARTER KIT REFERENCE MANUAL 0x2A 0x2B 0x2C 0x2D Output Interval Control These reports contain the data structures describing the output in
24. QS Lassen DR GPS Reference Manual 56 DR GPS STARTER KIT REFERENCE MANUAL Table 21 Message Codes continued Code Subcode Indexed by Message Q s 0x29 0x01 Time Initialization QS 0x29 0x02 Latitude Longitude Initialization QS 0x29 0x03 Altitude Initialization QS 0x29 0x04 LO Frequency Initialization QS 0x29 0x05 Heading Initialization QS 0x29 0x07 Map match Input Q JS 0x29 0x08 Tacho Input Q JIS 0x2A Rpt Code Rpt Subcode Automatic Output Event Q JS 0x2B Rpt Code Rpt Subcode Automatic Output Time Interval Q JIS 0x2C Rpt Code Rpt Subcode Automatic Output Distance Traveled Q JS 0x2D Rpt Code Rpt Subcode Automatic Output Heading Change Q IS 0x2E 0x01 Event Report Mask Q IS 0x2F 0x02 Data Positioning Collection Test Interval Control S 0x2F 0x04 Gyro Bench Test Interval Control S 0x2F 0x06 Tacho Reverse Production Test Interval Control S 0x30 0x02 Fast Fix with raw DR Data Q 0x30 0x03 Buffered DR data with Health and Start up Q message 0x31 0x01 GPS Fix Q 0x32 0x01 UTC Time and Constellation Summary Q 0x32 0x02 Constellation Summary Q 0x32 0x03 UTC Time Q 0x33 0x01 Channel GPS Channel Measurement Short Status Q 0x36 0x03 ZRO Calibration Q IS 0x36 0x04 Gyro Sensitivity Calibration QS 0x36 0x05 Direction Switch Calibration QS 0x36 0x07 DPP Calibration Q IS 0x36 0x08 ZRO Rate Calib
25. REFERENCE MANUAL USE NMEA READER NMEAReader can be used to parse a single or batch of text files containing NMEA data and save them to an Excel CSV file along with the headings for the satellite information 1 Open the NMEAReader application lll NMEAReader 102 File Help 2 Select File gt Single Post Proc 3 Use the Windows navigation screen to select the raw NMEA file This can be the saved output from HyperTerminal for instance 4 Use the Windows navigation screen to select the file path for the parsed CSV file 5 Select Yes or No to parse another file 6 Use Excel to open and view the satellite data Lassen DR GPS Reference Manual 30 STARTER KIT REFERENCE MANUAL DR GPS L SE S9 vcE PA L a n 2 y 4 8v 0 0 0 0 SS 46 0vS LE SL9E0E ZZL 6ESS9 SL L SE S9 YZE 1 L e 1 H y 8v 0 0 0 0 SS L6L0PS LE SL9E0EZZL 6 8ESS9 FL L g S9 vee Z L e 1 Z E y z 8 0 0 0 0 SS 26209 LE RIED ZZL L 8E999 EL L 9E S9 vct 1 L eL 1 d E y 1z ey 0 0 0 0 SS 16209 LE PL9E0E ZZL S 8ESS9 ZL L 9E S9 vee pa L e 1 1 t 14 8v 0 0 0 0 SS 14641098 LE VI9E0E ZZL 8ESS9 LL L 9E S9 vct 1 L 4 1 Z E Y 4c 8v 0 0 0 0 SS 46 098 LE RIED ZZL 8ESS9 OL L 9E 9 FE 1 L eL 1 d E y 1z 8 0 0 0 0 SS 46 0v8 LE PLSEDE ZZL 6 LESS9 6 L SE S9 FE Z L eL Z Z E y Z ley 0 0 0 0 VSS 46 0v5 LE RIED ZZL LLESSO 8 L SE S9 vct 1 L eL 1 1 y C ley 0 0 0 0 LSS 162095 LE PL9EDEZZL S LESS9 2 L SE 9 FE E L at 1 E E y jz ley 0 0 0 0 VSG 4
26. S32 1 m s 0 126 20 0x05 ZROGPSStatThldSpaHi 32 1 cm s 0 12600 10 0x06 ZROGPSStatThldSpdLo S32 1 cm s 0 12600 10 0x07 ZROMaxDistThld 32 1cm 0 1000 5 0x08 MinGPSInitNFix 32 1 count 0 1000 10 0x09 GPSJumpHoldOff 32 1 count 0 1000 50 0x0A MaxHBMSecs 32 1 ms 0 9000 3000 OxOB MinHBMSecs 32 1 ms 0 9000 1000 0x0C ZROMaxEdit 32 1 ADC 0 10 1000 Gyro sampled sample at 100 Hz Ox0D ZRRHoldOffSecs 32 1s 0 231 1 100 OxOE ZROVarDecorTime 32 1s 0 100000 1200 OxOF TachoDisconnectThrshld 32 1 count 0 1000 15 0x10 GPSVDelayMSecs 32 1 ms 2000 2000 300 0x11 TachoDelayMSecs 32 1 ms 2000 2000 JO 0x12 WinMaxTime 32 1 ms 0 1000000 90000 0x13 WinMinPts S32 1 count 0 1000 10 0x14 WinMin3D S32 1 count 0 1000 8 0x15 WinENMinDist S32 1m 0 1000 30 0x16 MinPtsGrossErr S32 1 count 0 1000 3 0x17 GSFCalcMinHdgChng 32 2 sc 0 65536 14563 80 degrees 0x18 GSFCalcMaxMsecs 32 1 ms 0 100000 30000 0x19 MinTimeBetweenWinPos S32 1s IO 10000 10 Lassen DR GPS Reference Manual 76 DR GPS STARTER KIT REFERENCE MANUAL Table 49 List of DR Filter Configuration Float Parameters Subcode Name Type Units Range Default Meaning 0x40 NoEditAddVelAccy FLT met 0 100 1 0 0x41 ZROMaxDeltaGyro FLT GCnts 0 49152 4 9152 1 5 mV 0x42 B
27. The target system returns an acknowledgment packet but does not echo data values as in TSIP The parser code and subcode determine the length of the command packet The packet has the following general format indexed data has an extra byte after parser subcode Lassen DR GPS Reference Manual 50 DR GPS STARTER KIT REFERENCE MANUAL Table 14 Set Class Message Structure Byte Name Type Value Meaning Command Code U8 0x01 Parser Code U8 0x00 7F Report Code Parser Subcode U8 0x00 7F See report packet definitions 0 Data Value Data corresponding to the subcode Nga Data Value Ng is the size of data for the specified report For example to set the operating dimension to 2 D Altitude Hold the host issues the following command to the module Table 15 Example of GPS Configuration Message Parameter Byte Name Type Value Meaning Command Code U8 0x01 Parser Code U8 0x24 Report packet for GPS Configuration Parser Subcode U8 0x01 Parameter Subcode for Operating Dim 0 Operating Dimension U8 3 Alt Hold 2D Lassen DR GPS Reference Manual 51 DR GPS STARTER KIT REFERENCE MANUAL Query Class The Query class packet allows user to retrieve configuration report and system data with the same packet Like the Set class packet it is indexed by the report code and subcode This is possible because each parameter or set of parameters has a correspondi
28. interface cable 60230 10 NOTE Part numbers are subject to change Confirm part numbers with your Trimble representative when placing your order Other rooftop cables and antenna combinations are also available Lassen DR GPS Reference Manual 14 DR GPS STARTER KIT REFERENCE MANUAL QUICK START GUIDE Before you begin confirm that you have the following PC configuration in place Windows XP Service Pack 2 or Windows 2000 operating system Service Pack 4 installed A free USB port A CD drive Copy the Supplied Files 1 2 Insert the supplied CD Copy all files all files to a directory on the hard drive Install the FTDI Driver The starter kit uses a USB 2 0 dual serial port emulator interface chip from Future Technology Devices International Ltd FTDI In order to use the Monitor software tool to communicate with the GPS receiver you must first install the FTDI driver on your PC 1 Select the file CDM_Setup exe If properly installed an FTDI CDM Driver Installation popup window displays the following message FTDI CDM Drivers have been successfully installed Click the OK button You can check for the latest FTDI USB drivers at www ftdichip com Drivers VCP htm Download the appropriate VCP Virtual COM Port driver for your operating system Windows 2000 or XP Select the Installation Executable link in the comments column for the driver self install package Connect the Starter Kit Co
29. output at all times during operation with or without a fix If a different set of messages has been selected and this setting has been stored in Flash memory the default messages are permanently replaced until the receiver is returned to the factory default settings NOTE The user can configure a custom mix of the messages listed in the table below Table 4 NMEA Messages Message Description GGA GPS fix data GSA GPS DOP and active satellites GSV GPS satellites in view RMC Recommended minimum specific GPS Transit data VTG Track made good and ground speed Lassen DR GPS Reference Manual 39 DR GPS STARTER KIT REFERENCE MANUAL NMEA 0183 MESSAGE FORMATS GGA GPS Fix Data The GGA message includes time position and fix related data for the GPS receiver GPGGA hhmmss ss llII Ill a nnnnn nnn b t uu v V W W M x X M y y zzzz hh lt CR gt lt LF gt Table 5 GGA Message Field Description 1 UTC of Position 2 3 Latitude N North or S South 4 5 Longitude E East or W West 6 GPS Quality Indicator 0 No GPS 1 GPS 2 DGPS 7 Number of Satellites in Use 8 Horizontal Dilution of Precision HDOP 9 10 Antenna Altitude in Meters M Meters 11 12 Geoidal Separation in Meters M Meters Geoidal separation is the difference between the WGS 84 earth ellipsoid and mean sea level 13 Age of Differential GPS Data Time in seconds since th
30. supports a subset of the NMEA 0183 messages GGA GSA GSV RMC and VTG For a complete copy of the NMEA 0183 standard contact NMEA National Office PO Box 3435 New Bern NC 28564 3435 U S A Telephone 1 919 638 2626 Fax 1 919 638 4885 Lassen DR GPS Reference Manual 34 DR GPS STARTER KIT REFERENCE MANUAL THE NMEA 0183 COMMUNICATION INTERFACE NMEA 0183 allows a single source talker to transmit serial data over a single twisted wire pair to one or more receivers listeners The table below lists the standard characteristics of the NMEA 0183 data transmissions Table 2 NMEA 0183 Characteristics Signal DR GPS NMEA Baud Rate 38400 Data Bits 8 Parity None Disabled Stop Bits 1 Lassen DR GPS Reference Manual 35 DR GPS STARTER KIT REFERENCE MANUAL NMEA 0183 MESSAGE FORMAT The NMEA 0183 protocol covers a broad array of navigation data This broad array of information is separated into discrete messages which convey a specific set of information The entire protocol encompasses over 50 messages but only a sub set of these messages apply to a GPS receiver like the DR GPS The NMEA message structure is described below IDMSG D1 D2 D3 D4 Dn CS CR ILF The signifies the start of a message ID The talker identification is a two letter mnemonic which describes the source of the navigation information The GP identification signifies a GPS source MSG
31. to what is listed in the table above Lassen DR GPS Reference Manual 129 DR GPS STARTER KIT REFERENCE MANUAL Lassen DR GPS Reference Manual 130 DR GPS STARTER KIT REFERENCE MANUAL Table 105 5 Volt Gyros Characteristic Min Typical Max Unit Vgyro 0 5 V Gyro rate 25 mV degree s 10 Zero Rate Output Epson 1 76 V Zero Rate Output 2 5 V Panasonic Notes Check with your local Trimble Sales for the latest version of the Lassen DR GPS firmware that supports your Gyro option GPS Antenna The antenna receives the GPS satellite signals and passes them to the receiver The GPS signals are spread spectrum signals in the 1575MHz range and do not penetrate conductive or opaque surfaces Therefore the antenna must be located outdoors with a clear view of the sky The Lassen DR GPS Module receiver requires an active antenna The received GPS signals are approximately 130 dBm at the surface of the earth in typical environments Trimble s active antennas include a preamplifier that filters and amplifies the GPS signals before delivery to the receiver Trimble offers a range of suitable antennas for use with the Lassen DR GPS Module Keep in mind that the DR GPS module needs an LNA to work properly The gain ofthe LNA should be approximately 18 dB as a minimum and 35 dB maximum Lassen DR GPS Reference Manual 131 DR GPS STARTER KIT REFERENCE MANUAL 2 Reference
32. trennen innen 104 0x29 01 Time Initialization nennen nennen nenne ener e en nrnn ener tras enters ser nn nnt 105 0x29 02 Latitude Longitude Initialization eese eene ener eene nennen enne 106 0x29 03 Altitude Iopalzatnon nene enne en nnne nnne tres entere seen nennt 107 0x29 04 Local Oscillator LO Frequency Offset Initialization esee 108 0x29 05 Heading Initialization esses en trennen nennen nnns 109 REALTIME INPUT DATA EE 109 0x29 07 Short Map Match Data 110 0x29 08 Lacho Datan ees nea atv etae aan arde e e SE Ee 111 EVENT POG QUEUE een IRI ESI eene 112 THEORY OF OPERATION u 2 2 2 2 2er cede sed cede sede cba Den eel Den nennen 112 SE 114 SOFT EVENTS 2 ne ee ee ee 117 ER 120 Invalid BBRAM detected on startup eiennenn rennen trennen eene nee inneren 120 Position recovery solution snapped to OS 120 Heading recovery solution snapped to GPS nennen eene enne enne 120 DPP recovery solution snapped to GPS cocooncccoccccconocononcononanonannnonncn conan no eene nn non non nnne eene nre nnne 121 GPS receiver fixes not reasonable try to recover essere eene nennen 121 Gyro readings do not stay within specifiecatton sss nennen eene nennen enne 121 No Tacho data when GPS is detecting movement nee 122 Excessive tacho data is received for a long period of time sse 122 Reverse signal opposite to direction determined by GPS
33. 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 resolution is not required Time hhmmss ss Fixed Variable length field hoursminutesseconds decimal 2 fixed digits of minutes 2 fixed digits of seconds and a variable number of digits for decimal fraction of seconds Leading zeros always included for hours minutes and seconds to maintain fixed length The decimal point and associated decimal fraction are optional if full resolution is not required Defined Some fields are specified to contain pre defined 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 a c hh
34. 3 System Command Acknowledge Byte Name Type Value Meaning Code U8 0x10 Subcode U8 0x03 System command acknowledge 0 System Cmd Code U8 See Sec 0 1 Status Code U8 0 Acknowledged or a successful operation 1 Pre parser Error 2 Checksum Error 3 Unknown Subcode 4 Parser data length error 9 Failed to execute properly A query all command may generate a series of responses but only a single acknowledgment is sent to the host with a OxFF byte in the report subcode or index field 0x11 Version Report This packet reports version numbers for the various firmware blocks within the module Table 26 0x11 Version Report Message Byte Name Type Value Meaning Code U8 0x11 Subcode U8 0x01 Navigation Code ROM 0x02 Boot ROM 0x03 lo DSP ROM 0 Major Version U8 0 100 Software major number 1 Minor Version U8 0 100 software minor number 2 Release Code U8 0 release gt 0 beta version number Release Day U8 1 31 software release day Release Month U8 1 12 software release month 5 6 Release Year U16 gt 2000 software release year Lassen DR GPS Reference Manual 61 DR GPS STARTER KIT REFERENCE MANUAL 0x12 01 Start Up Report The module issues this report only at startup This report cannot be queried to query the data content after start up use message 0x16 02 The first two bytes show the error code associated with the previous shutdown The se
35. 4 0 3 rejection limit for velocity slope 0x14 MinVVelSq FLT m s 0 16 1 0 minimum vertical velocity for slope rejection 0x15 Alt2Dvar FLT m 0 10 1 0 Variance of 2D altitude hold altitude measurement 0x16 Tacho Delay Time S32 1 ms 0 Not currently used 0x17 Bit Flag Controls U32 0 277 4 0 1 suppress map match commands Lassen DR GPS Reference Manual 71 DR GPS STARTER KIT REFERENCE MANUAL 0x26 01 Available Report Codes This message reports the report codes and subcodes that are available in the firmware There is no set command for this report Table 42 0x26 01 Available Report Code Report Message Byte Name Type Value Meaning Code U8 0x26 Subcode U8 0x01 0 0 Parser Code 0x00 U1 1 Available 0 1 Parser Code 0x01 U1 1 Available 0 2 Parser Code 0x02 U1 1 Available N M Parser Code 8 N M U1 1 Available 15 6 Parser Code Ox7E U1 1 Available 15 7 Parser Code Ox7F U1 1 Available Lassen DR GPS Reference Manual 72 DR GPS STARTER KIT REFERENCE MANUAL 0x26 02 Available Report Subcodes This message reports the report subcodes in each report code that are available in the firmware There is no set command for this report Table 43 0x26 02 Available Report Subcode Report Message Byte Name Type Value Meaning Code U8 0x26 Subcode U8 0x02 Index U8
36. 4 7 Trigger U32 0 1 ms Not used gt 0 Trigger value Lassen DR GPS Reference Manual 80 DR GPS STARTER KIT REFERENCE MANUAL Table 52 Automatic Output Distance Traveled Trigger Report Byte Name Type Value Units Meaning Code U8 0x2C Distance Traveled Control Subcode U8 0x00 7F Parser Code Index U8 0x00 7F Parser Subcode OxFF All subcodes 0 3 Threshold U32 1 cm Minimum required 4 7 Trigger U32 0 1 cm Not used 20 Trigger value Table 53 Automatic Output Heading Change Trigger Report Byte Name Type Range Value Units Meaning Code U8 0x2D Heading Change Control Subcode U8 0x00 7F Parser Code Index U8 0x00 7F Parser Subcode OxFF All subcodes 0 3 Threshold U32 1 cdeg Minimum required 4 7 Trigger U32 0 1 cdeg Not used gt 0 Trigger value Lassen DR GPS Reference Manual 81 DR GPS STARTER KIT REFERENCE MANUAL Table 54 List of Automatic Output Trigger Defaults Code Event Time Interval Distance Traveled Heading Change Subcode Trigger Threshold Trigger Threshold Trigger Threshold Trigger 12 01 21 i 0 0 0 0 0 30 02 200 0 0 0 0 31 01 10 11 0 0 0 0 0 32 01 10 11 x 0 0 0 0 0 33 01 10 11 0 0 0 0 0 36 03 26 0 0 0 0 0 36 04 26 0 0 0 0 0 36 05 25 i 0 0 0 0 0 36 07 24 0 0 0 0 0 36 08 26 i 0 0 0 0 0 NOTE Since output thresholds and triggers are chec
37. 5172 XX SP and the offset relative to the DR DPP is large enough The DPP estimate is snapped to the window average GPS receiver fixes not reasonable try to recover Condition cause Effect before Action Soft Event Detected Soft Event Cleared Action ROM15 pseudorange error or ephemeris error GPS positions incorrect Fix altitude is above 18000 m or below 1000 m and fix speed is above 515 m s Cleared at reset Erase BBRAM and RTC re start unit Gyro readings do not stay within specification Condition cause Effect before Action Soft Event Detected Soft Event Cleared Action Hardware failure Position goes in circles Average gyro reading over ten seconds at standstill is not between 2 0 V and 3 0 V Cleared at reset Gyro labeled bad DR suspended Speed measurement continues and tacho continues to be calibrated Lassen DR GPS Reference Manual 121 DR GPS STARTER KIT REFERENCE MANUAL No Tacho data when GPS is detecting movement Condition cause Effect before Action Soft Event Detected Soft Event Cleared Action Tacho is disconnected or malfunctioning Position solution will be not change when moving GPS speed 8 0 m s and no tacho pulses reported except heartbeats for 15 GPS fixes Tacho pulse is reported or unit is reset Tacho labeled as absent DR is suspended Heading measurement continues and gyro continues to be calibrated
38. 6 098 LE PL9EDEZZL LESS9 9 L SE S9 FE Z L e Z Z E y C ley 0 0 0 0 LSS 1620P5 ZE vI9E0E ZZL E999 9 L SE gg vct 1 L a 1 1 y 1z 8v 0 0 0 0 SS 46 0vS8 4E vI9E0E ZZL 1698559 v 0 0 0 0 0 L 0 0 Z 0 0 0 0 0 0 0 0 1199 96 0755 ZE EL9E0E ZZL L9ESS9 E 0 0 0 0 0 L 0 0 PA 0 0 0 0 0 0 0 0 11 959 962075 ZE 49E0E ZZL S 9ESS9 Z 0 0 0 0 0 L 0 0 1 0 0 oO 0 0 0 0 0 VSS 96 0vS5 ZE ELYEOE ZZL E 9ESG9 L oopasn pojubs poraje gowize pops jenbsdB mansastunu pasnuuinu xyuisastunu apoyyysSos dopa dopy dopd dopyyo9 Buipeeu peads jsw ye 3l uo poi xapul 31 Lassen DR GPS Reference Manual DR GPS STARTER KIT REFERENCE MANUAL Lassen DR GPS Reference Manual 32 APPENDIX NMEA 0183 This appendix provides a brief overview of the NMEA 0183 v2 3 protocol and describes both the standard and optional messages offered by the DR GPS DR GPS STARTER KIT REFERENCE MANUAL INTRODUCTION NMEA 0183 is a simple yet comprehensive ASCII protocol which 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 DR GPS NMEA output supports NMEA 0183 version 2 3 For those applications requiring output only from the GPS receiver NMEA 0183 is a popular choice since in many cases an NMEA 0183 software application code already exists The DR GPS is available with firmware that
39. 6669 LAVd NOISNSWIC VEDA BIE cooscar E007E90 j LEET SO OFES O 9 09 20 0T8E 2 Are 8 991 v0 0FE9 ari LEO S2 0 6 dere DEDE E 9 091 0 0F8 2 Cit vO OTP O DREI vO OTE T 2 92 E0 0FE0 MAN 08 00055 il O uw ww 29 S0 079 2 CLT 0 0F2 0 twa r S 20 0FTe 0 QT130IHS 3SV8 MUS dol ay LN3ANBITV JOLOINNDO NO LLL STE CAD TY T SALON
40. 7 0 m s Top of range of DPP N 1 2127 5 mis Unlimited Table 46 0x26 05 DPP Maximum Calibration Speed Message Byte Name Type Units Value Meaning Code U8 0x26 Subcode U8 0x05 0 N of speed levels U8 1 Max Calibration Speed U8 0 5 m s 0 5 127 0 m s Top speed of DPP 0 7127 5 m s Unlimited N Max Calibration Speed U8 0 5 m s 0 5 127 0 m s Top of range of DPPIN 1 127 5 m s Unlimited Lassen DR GPS Reference Manual 74 DR GPS STARTER KIT REFERENCE MANUAL 0x27 DR Filter Configuration The Parser Code for the DR Filter configuration parameters is 0x27 A typical parameter report is shown in Error Reference source not found and Error Reference source not found show the subcode range and default value for each of the DR Filter configuration parameters Table 47 0x27 Format of DR Filter Configuration Parameter Byte Name Type Value Meaning Code U8 0x27 Subcode U8 0x00 19 0x40 6F Integer Parameter Subcode Float Parameter Subcode 0 3 Parameter Value Lassen DR GPS Reference Manual 75 DR GPS STARTER KIT REFERENCE MANUAL Table 48 List of DR Filter Configuration Integer Parameters Subcode Name Type Units Range Default Meaning 0x01 GPSVelEditHoldoff 32 1 count 0 1000 20 0x02 MinSpdDirSwThresh 32 1 m s 0 126 8 0x03 DirSwWarning S32 1 m s 0 126 14 0x04 MaxDirSwSpd
41. Altitude status U1 1 Valid 5 2 Heading status U1 1 Valid 5 3 Speed status U1 1 Valid 5 4 Time source U2 0 System clock 1 RTC 2 GPS lt 10 ms 3 GPS lt 1 ms 6 9 Latitude 32 2 sc sc 10 13 Longitude S32 2 sc 1 1 sc 14 15 Altitude S16 m 400 10000 m MSL 16 17 Heading U16 2 sc 0 2 sc 18 19 Speed U16 1 cm s 0 655 34 m s 20 21 Position accuracy U16 1m 0 65535 m 22 23 Altitude accuracy U16 1m 0 65535 m 24 25 Heading Accuracy U16 25 sc 0 2 sc 26 27 Speed Accuracy U16 1 cm s 0 655 35 m s Lassen DR GPS Reference Manual 88 DR GPS STARTER KIT REFERENCE MANUAL Position heading and speed values are from GPS measurements Code carrier filtering has been applied but not velocity PV or DR filtering These fixes will be quite noisy in urban environments 0x32 01 UTC Time and Constellation Summary Message Table 63 0x32 01 UTC Time and Constellation Summary Message Byte Name Type Units Range Meaning Value Code U8 0x32 Subcode U8 0x01 0 1 UTC year U16 2000 2 UTC month U8 1 12 3 UTC day U8 1 31 4 UTC hour U8 0 23 5 UTC minute U8 0 59 6 UTC second U8 0 60 7 60 only for the leap second 7 UTC GPS offset U8 GPS UTC offset 8 9 PDOP U16 3j 10 11 HDOP U16 x 12 13 VDOP U16 y 0 2D position gt 0 3D position 14 Max DGPS age U8 Sec lt 255 Seconds 255 Overage or invalid 15 0 3 GPS Status U4 0
42. DR GPS Reference Manual F 1 2 3 4 5 6 7 8 3 24 DR GPS STARTER KIT REFERENCE MANUAL 2 Select Config gt Com setup KZ NMEA Output NMEA COM Port Settings COM com 15 v Baud 4800 e Parity N one Data Bits E X Stop Bits f e Select the correct Com port number for the USB Virtual Serial Port Select 38400 Baud No Parity 8 Data Bits and 1 Stop Bit Click the OK button Select Config gt Protocol to open the Protocol Configuration window OL PR E Protocol Configuration EIER Protocol Ze SE Status o NMEA Clicking the Configure button will clear Flash and RAM then configure the device to output the default messages of the selected protocol All settings and calibration data will be lost Configure L 7 Select the HIPPO button 8 Click the Configure button Lassen DR GPS Reference Manual 25 DR GPS STARTER KIT REFERENCE MANUAL 9 Wait for the operation to close The protocol changes and the SUCCESS screen displays EZ System Command Ack DER 0309 Write BBRAM to Flash Reset Iw Auto Close 2 10 Click the Close button Updates to the DrMonitor screen display as illustrated below All output is HIPPO K3 DrMonitor v2 39 File SysCmd Initialize Config View Test Tools Help Time Position UTC Time 17 12 59 Latitute 0 000000000 rad UTC Date 03 08 2007 Longitude 0 000000000 rad Time 407579711 Altitude 0 meters Delta Time 200 Heading 0 00000 sc T
43. Doing position fixes 2 Need time 3 PDOP too high 5 No usable SVs 6 One usable SV 7 Two usable SVs 8 Three usable SVs 15 4 5 Time source U2 0 System clock 1 RTC 2 GPS lt 10 ms 3 GPS lt 1 ms 16 0 1 Search Mode U2 0 None 1 Blind 2 Anywhere 16 7 Almanac Status U1 1 Complete 17 0 3 Number of SVs U4 0 12 Visible Lassen DR GPS Reference Manual 89 DR GPS STARTER KIT REFERENCE MANUAL 0x32 02 Constellation Summary Message Table 64 0x32 02 Constellation Summary Byte Name Type Units Range Meaning Value Code U8 0x32 Subcode U8 0x02 0 0 3 GPS Status U4 0 Doing position fixes 2 Need time 3 PDOP too high 5 No usable SVs 6 One usable SV 7 Two usable SVs 8 Three usable SVs 0 4 5 Time source U2 0 System clock 1 RTC 2 GPS lt 10 ms 3 GPS lt 1 ms 0 7 Almanac Status U1 1 Complete 1 0 3 Number of SVs Visible U4 0 12 1 4 5 Search Mode U2 0 Not searching 1 Blind 2 Anywhere 2 5 GPS Time of Week U32 1 ms lt 604800000 Time of fix Dimension U8 2 Altitude hold 3 Full Position 7 8 PDOP U16 2 9 10 HDOP U16 2 11 12 VDOP U16 2 13 Max DGPS age U8 Sec 0 254 Age of oldest DGPS 255 correction Overage or invalid Lassen DR GPS Reference Manual 90 DR GPS STARTER KIT REFERENCE MANUAL 0x32 03 UTC Time Message Table 65 0x32 03 UTC Time Message Byte Name Type Units Range Mea
44. ED BLUE DB9 MALE A O RED DR ORANGE Vcc BAIT GND BLUE PURPLE Lassen DR GPS Reference Manual 16 DR GPS STARTER KIT REFERENCE MANUAL SOFTWARE TOOLKIT The CD provided in the Starter Kit contains the DR Monitor program used to monitor GPS performance and to assist system integrators in developing a software interface for the GPS module DR Monitor runs on the Windows 95 98 2000 XP platforms NMEA Reader is supplied to analyze the NMEA output NOTE Current units are configured to output NMEA by default DR Monitor will not show the output results Use HyperTerminal to view the output Interface Protocol The DR GPS Module can be configured to output NMEA messages at scheduled intervals from 1 to 60 seconds or at 5Hz See Appendix A for a full description of NMEA The DR GPS Module also has a binary command report protocol HIPPO HIP Protocol Object This protocol is appropriate for system integrators that require real time control of the DR GPS module See Appendix B for a full description of HIPPO NMEA Tools To capture NMEA output use HyperTerminal or a similar terminal emulator program By default the NMEA messages output are GGA VTG RMC GSA and GSV NMEA analysis may be carried out using NMEA Reader and Google Earth HIPPO Tools Use DrMonitor to configure and monitor the HIPPO protocol Lassen DR GPS Reference Manual 17 CHAPTER 2 COMMON
45. EUE Theory of Operation There are two types of events hard and soft Each type has its separate log The soft event log resides in RAM and the fatal error log resides in flash Each event has an event ID two byte unsigned value a time tag indicating the time when the event occurred and a status word if applicable Flow of execution for error logging is shown in the following figure Lassen DR GPS Reference Manual 112 DR GPS STARTER KIT REFERENCE MANUAL 2 Flow of Execution Startup Self tests Trap into Monitor A No mode Startup Complete NORMAL OPERATIO Log to Hard Event Queue Write to Flash Log to Soft Event Queue No Notify user Prepare for but dawn 8 iu Lassen DR GPS Reference Manual 113 DR GPS STARTER KIT REFERENCE MANUAL Fatal Errors Fatal errors indicate abnormal operation ofthe module In general these errors such as illegal address are not recoverable Under these conditions the receiver writes to the log first and then sends an event packet to notify user before it restarts warm or cold reset The fatal errors are divided based on the source of error 1 Interrupt system errors have a high byte of 0x10 The low byte is the vector number at fault 2 Hardware related system error e g RAM ROM or gyro has a high byte of 0x12 or 0x13 3 RTOS events errors related to the Operating System related function calls have a hig
46. F Backup Power Supply 2 5 3 6 VDC Backup Current Over temp range 40 85C 70 uA NOTE All specifications are over the entire temperature range 40C to 85C Table 97 Power Supply for DR GPS Starter Kit Unit Characteristic Conditions Min Typical Max Unit ae ee due ee Supply current Excluding antenna NOTE All specifications are over the entire temperature range OC to 60C Table 98 RF Characteristics Characteristic Conditions Min Typical Max Unit Tracking sensitivity At the RF connector input of the 140 dBm receiver Acquisition sensitivity At the RF connector input of the 130 dBm receiver Noise Figure 16 21 dB Dynamic range 20 dB Resistance to broadband jamming to signal ratio at antenna 20 dB noise jamming input within input filter bandwidth of 20MHz GPS Signal Power gt 160dBW Input impedance 50 Q Lassen DR GPS Reference Manual 127 DR GPS STARTER KIT REFERENCE MANUAL Table 99 Tachometer Characteristic Min Typical Max Unit Voltage input 12 0 V Frequency 3000 Hz Data UO The DR GPS Module supports the following characteristics CMOS TTL levels on TXD and RXD Fixed UART baud rates Table 100 Data l O Characteristic Conditions Min Typical Max Unit Data rate NMEA and 3 error rate 38 4 kbps HIPPO Input voltage low level at 50 uA 0 8 V high level at 50 uA
47. Log Report On a fatal error the receiver will reset The report can be queried by index number after the reset Because of the volume of information these reports cannot be queried with the OxFF option The fatal error log is retained in flash and cannot be cleared by the host Table 32 0x14 02 Fatal error log entry report Byte Name Type Value Meaning Code U8 0x14 Subcode U8 0x02 Parameter subcode Index U8 0 Most recent fatal error 1 31 Fatal error Log index number 0 Year U16 0 No GPS UTC time is since power up 22000 year 2 Month U8 1 12 3 Day U8 1 31 4 Hour U8 IO 23 5 Minute U8 0 59 6 Second U8 0 60 7 Event Code U16 0 No entry gt 0 Event Code 9 30 Info block Lassen DR GPS Reference Manual 64 DR GPS STARTER KIT REFERENCE MANUAL 0x15 Data Stored in Non erasable Flash Report A section of non erasable ROM is reserved for customer data blocks There is no HIPPO command to set the data data can only be set in Monitor mode The data blocks are written serially into an area of ROM that cannot be erased or overwritten Each subcode corresponds to a different data block type Unlike standard HIPPO the parser is defined by the customer so the message length and data content are not specified by the parser code and subcode The maximum data block length is 128 bytes When queried with a subcode the report scans the section of ROM and returns the last data block entry with that subc
48. NMEA messages to be output 8 Enter a number between 1 and 255 for the output rate in seconds Selecting 0 enables the 5Hz output for GGA VTG and RMC GSA and GSV will output at 1Hz 9 Click the Set button 10 Wait for the operation to finish 11 Click the Close button 12 If necessary you may quit DrMonitor and return to HyperTerminal Lassen DR GPS Reference Manual 23 DR GPS STARTER KIT REFERENCE MANUAL CHANGE THE OUTPUT PROTOCOL Change from the Default NMEA Output to HIPPO Before you begin confirm that you have no other terminal program such as HyperTerminal communicating with the DR GPS unit Quit any such program so that it does not occupy the COM port that will be used for DrMonitor 1 Open DrMonitor K3 DrMonitor v2 37 File SysCmd Initialize Config View Test Tools Help Time UTC Time UTC Date Time Delta Time Offset Status Direction switch Position Delta distance Heading Deltaheading Altitude Motion indicator Speed Gyro Calibration Motion Tacho Calibration Direction forward Time source DOPs PDOP HDOP VvDOP Last Event Log T O Reo Position Latitute Longitude Altitude Heading Speed Accuracy Position Altitude Heading Speed Gyro Counts Tacho Counts Samples Dir switch val SV Info rad SV SNA Elv Aa rad meters sc cm s meters meters se Srch Mode Almanac COM1 38400 8 None 1 Lassen
49. O THE AMOUNT PAID BY YOU FOR THE PRODUCT 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 DAMAGE WHATSOEVER UNDER ANY CIRCUMSTANCE OR LEGAL THEORY RELATING IN ANYWAY TO THE PRODUCTS SOFTWARE AND ACCOMPANYING DOCUMENTATION AND MATERIALS INCLUDING WITHOUT LIMITATION DAMAGES FOR LOSS OF BUSINESS PROFITS BUSINESS INTERRUPTION LOSS OF DATA 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 PLEASE NOTE THE ABOVE TRIMBLE LIMITED WARRANTY PROVISIONS WILL NOT APPLY TO PRODUCTS PURCHASED IN THOSE JURISDICTIONS E G MEMBER STATES OF THE EUROPEAN ECONOMIC AREA IN WHICH PRODUCT WARRANTIES ARE THE RESPONSIBILITY OF THE LOCAL TRIMBLE AUTHORIZED DEALER FROM WHOM THE PRODUCTS ARE ACQUIRED IN SUCH A CASE PLEASE CONTACT YOUR LOCAL TRIMBLE AUTHORIZED DEALER FOR APPLICABLE WARRANTY INFORMATION TABLE OF CONTENTS ABOUT THIS MANUAL nunnunsunsnnnnannannannnnnnnnnnannnn nhu nani ne an na sensa enar en 10 TECHNICAL ASSISTANCE eene a terere iri nn reperiri rei rers r sire rei 10 CHAPTER 1 LASSEN DR GPS STARTER KIT
50. OG in knots Track made good in degrees true Date dd mm yy Magnetic variation in degrees E East W West 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 Lassen DR GPS Reference Manual 42 DR GPS STARTER KIT REFERENCE MANUAL 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 GPVTG x x T x x M x x N x x K hh lt CR gt lt LF gt Table 9 VTG Message 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 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 Lassen DR GPS Reference Manual 43 APPENDIX HIPPO This document describes the format of the Host Independent Positioning Protocol Object HIPPO protocol and messages implemented in the DR GPS module HIPPO is one of three communication modes of the DR GPS module and is the one present i
51. OPERATIONS In this chapter NMEA Port Configuration Change the Output Protocol Use the NMEA Reader DR GPS STARTER KIT REFERENCE MANUAL NMEA PORT CONFIGURATION By default the DR GPS module outputs NMEA messages However if you have previously changed the unit to output HIPPO follow these steps to return to NMEA Enable NMEA Mode 1 Open DrMonitor If HIPPO output mode is selected HIPPO data displays as in the screen below K3 DrMonitor v2 39 File SysCmd Initialize Config View Test Tools Help Time Position SV Info UTC Time 17 12 59 Latitute 0 000000000 rad SV SNR UTC Date 03 08 2007 Longitude 0 000000000 rad 7 00 Time 407579711 Altitude D meters nu 0 0 Delta Time 200 Heading 0 00000 sc 0 0 Offset 000 Speed 0 cm s Ho Status Accuracy 00 Direction switch Position Position 65535 meters 00 O Delta distance o Heading Altitude 1000 Deltaheading Altitude Motion indicator Speed Heading 118311 sc 0 0 Gyro Calibration Motion Speed 0 cm s 0 0 Tacho Calibration 42 EM Q Direction forward Gyro Count 22350 x iro Counts 5 0 0 90 Time source GPS 10ms meters 0 0 oon DO oO ee 0 ni mr Tacho Counts 0 DOPs 7 PDOP HDOP VDOP Samples 20 Srch Mode Blind 0 00 0 00 0 00 Dir switch val 01 Almanac Not Complete Last Event Log Antenna Normal TO RxO 01 Yalid BBRAM SelfTest Passed Running Time 00 02 52 COM24 38400 8 None 1 Lassen DR GPS Reference Manu
52. OSCILLATOR ANOMALY 0x67 Oscillator values out of specification C LOG ERR ANT OPEN 0x70 Antenna open detected C LOG ERR ANT SHORT Ox71 Antenna short detected C LOG CONNECTION ERR 0x72 Failure to connect to GPS DSP S LOG_RTC_ERROR 0x73 RTC disagreed with GPS time S LOG_ERR_GYRO 0x74 Gyro failed C LOG ERR A2D 0x75 A2D failed on self test S LOG_GYRO_SHORT_TO_3V 0x76 Gyro reads 3 3 V consistently C Lassen DR GPS Reference Manual 118 DR GPS STARTER KIT REFERENCE MANUAL Some of these soft events are informational and result from user action Those soft events that are generated internally The condition code has four states For a single event the condition status code is zero For a soft event condition the condition code is defined in Error Reference source not found Table 94 Soft Event Condition Code Numeric Value Descriptions 0x00 Status unknown backwards compatible to old software or single event 0x10 Newly detected condition 0x20 Condition previously detected still present 0x30 Condition newly cleared As an example when an antenna short condition is first detected a soft event with identity and condition codes 0x71 0x10 is generated Every second when the antenna fault detection is repeated the soft event 0x17 0x20 is generated When the condition is cleared and no fault is found the soft event 0x17 0x30 is generated The soft event log resides at th
53. Old 3 Current 5 2 3 Ephemeris Status U2 0 None 1 Old 2 Decoded 3 Verified Lassen DR GPS Reference Manual 92 DR GPS STARTER KIT REFERENCE MANUAL 0x36 DR Calibration Messages The DR calibration messages contain the current settings for the gyro and tacho parameters They are typically transmitted when the parameters are updated ZRO ZRO rate and DPP are updated upon generation of a valid GPS velocity ZRO and ZRO rate are also updated during periods of zero speed When the host uses the set procedure with these messages the source field must be set to Clear Host Input or Host Override The set procedure is not supported for ZRO rate 0x36 08 For Clear the rest of the fields are ignored For Host Input if the device has already calibrated the parameters the set procedure is aborted The acknowledgment message has status set to Contradicts current data For Host Override the value and accuracy must be valid quantities The Cal Status and newness fields are always ignored in the set procedure Table 67 0x36 03 ZRO Calibration Message Byte Name Type Units Range Value Meaning LSB Code U8 0x36 Subcode U8 0x03 0 0 2 Source U3 0 Invalid Clear 1 Host Input 2 Host Override 3 GPS Fix 0 3 Newness U1 0 From BBRAM 1 New since start up 0 4 Validity U1 1 1 Valid 1 4 Z
54. Once this packet is received the target system shuts down the navigation system The system can be restarted by hardware action e g reset pin only An acknowledgment packet in the current serial protocol is sent before the command is implemented however transmission may not complete before the reset occurs Lassen DR GPS Reference Manual 54 DR GPS STARTER KIT REFERENCE MANUAL REPORT CLASS Report class packets are divided into four subclasses System data contains system information such as system status or an event log queue entry Configuration reports have all the system configurable parameters Data reports have navigation information generated by the Navigation Platform Initialization input reports have start up information and GPS system data position heading almanac etc also map matching inputs for latitude longitude altitude and heading Some report packets are indexed by channel number tracking status signal strength or satellite number almanac ephemeris The parameters in the configuration and initialization reports can be set by 0x01 packet The host can query all report packets using the 0x02 packet except as noted Lassen DR GPS Reference Manual 55 DR G PS STARTER KIT REFERENCE MANUAL This table lists all report data structures in HIPPO supported by the DR GPS module and whether the data structure can be queried Q or set S Data that Report Messa
55. PS didn t calibrate DR U1 1 no GPS DR cal 23 3 Almanac incomplete U1 1 incomplete 23 4 GPS error status U1 1 GPS error 24 Max SVs tracked U8 25 Max SNR U8 0 2 dB Hz Lassen DR GPS Reference Manual 97 DR GPS STARTER KIT REFERENCE MANUAL 0x3F 04 Gyro Bench Test Data The module can bench test gyro performance This test is similar to the gyro part of the power up ADC gyro test The Gyro Bench Test starts immediately upon receipt of the set command 0x2F 04 When the test is finished it automatically reports the data in this message This information cannot be set or queried Table 74 0x3F 04 Gyro Bench Test Report Message Byte Name Type Units Range Value Meaning LSB Code U8 Ox3F Subcode U8 0x04 0 3 ADC gyro at rest U32 ADC counts 4 5 Samples at rest U16 1 6200 samples 6 7 Test Duration U16 1s 1 60 0x3F 06 Tacho Reverse Production Test Data The Tacho Reverse Production Test starts immediately upon receipt of the set command Ox2F 06 When the test is finished it automatically reports the data in this message This information cannot be set or queried Table 75 0x3F 06 Tacho Reverse Production Test Report Byte Name Type Units Range Value Meaning LSB Code U8 Ox3F Subcode U8 0x06 0 Tacho counts U32 Tacho Counts 4 5 Samples U16 4 600 samples 6 7 Changes in Direction U16 Switch Value 8 9 Samples U16 4 600 samples
56. R Filter Configuration EE 75 0x2A Ox2B 0x2C Ox2D Output Interval Control 79 Ox2E 01 Soft Event Report Mask inisee sne noite i ienee maneta ae i ea REE E EENE EE Ekout 82 Ox2F 02 Data Positioning Collection Test Interval Control eese 83 Ox2F 04 Gyro Bench Test Interval Control 84 Ox2F 06 Tacho Reverse Production Test Interval Control 85 0x21 01 DR Engine R te Control rtr eo ptt ed eed eee 85 DATA REPORT PACKETS a nd sa tado EES 86 0x30 02 Fast Fix with Raw DR Data Message eere crac cn enne nein enne 86 Ox31 0T GPS Fix EE 88 0x32 01 UTC Time and Constellation Summary Message 89 0x32 02 Constellation Summary Message 90 0x32 03 UTC Ee 91 0x33 01 GPS Channel Measurement Short Stats 92 0x36 DR Calibration Messages 93 0x3F 01 ADC and Gyro Self test Data 96 Ox3F 03 Data Positioning Collection Test Data ROM 15 and after 97 Ox3E 04 Gyro Bench Test Data lata miae esie EE 98 Ox3F 06 Tacho Reverse Production Test Data 98 0x30 03 Buffered Cumulative DR message sess nennen nennen nennen 99 INITIALIZATION INFORMATION 101 0x28 12 Almanac Initialization nennen nne en enne en nennen entes entere enne nn t 102 0x28 13 Almanac Health Iomaltzaton eese eene enne nennen nennen en nnnn e 103 0x28 14 GPS Ionospheric Model and UTC Parameters Initialization eere 104 0x28 16 Ephemeris Initialization esee nete rennen conan non ne ene nne nennen
57. R KIT REFERENCE MANUAL Post Formatting HCC Stuffing Before Transmission Whenever an M byte in the data fields or the checksum field is equal to one of the control characters 0x80 0x37 it generates two S bytes as follows the M byte generates the S byte pair Ox80 M byte amp Ox7F Pre Parsing HCC Unstuffing After Reception Pre parsing assembly of the M bytes occurs as S bytes are received HIPPO pre parsing begins with the appearance of the SOM S byte and ends with the appearance of the EOM S byte Whenever the S byte is SOM a new message structure opens with room for 132 M bytes The first M byte of a message is always SOM Whenever the S byte HCC appears it does not generate a new M byte Rather it generates a signal to OR the following S byte with Ox80 to create the next M byte Otherwise the M byte is the same as the S byte If the S byte is EOM the message structure is closed The last M byte of a message is always EOM The last M byte before the EOM is the checksum It is computed so that the sum of all M bytes including the SOM the EOM and the checksum is zero After pre parsing is complete the message packet is ready to be parsed into structures according to the rules in Sections 3 and 4 The parser code and subcodes are the second and third M bytes directly after the SOM The data will start on the fourth non indexed data or fifth indexed data M byte Possible pre parser errors include Two SOM
58. REFERENCE MANUAL USER GUIDE Lassen DR GPS The right one Trimble NORTH AMERICA EUROPE KOREA CHINA Trimble Navigation Limited Trimble Navigation Europe Trimble Export Ltd Korea Trimble Navigation Ltd China Corporate Headquarters Phone 49 6142 2100 161 Phone 82 2 555 5361 Phone 86 21 6391 7814 935 Stewart Drive Sunnyvale CA 94086 1 800 787 4225 1 408 481 7741 timing trimble com gt The right one Trimble www trimble com USER GUIDE REFERENCE MANUAL LASSEN DR GPS STARTER KIT Revision A Part Number 58059 00 March 2007 e Trimble Corporate Office Trimble Navigation Limited Advanced Devices Group 935 Stewart Avenue Sunnyvale CA 94086 USA 1 800 787 4225 toll free in USA 1 408 481 7741 www trimble com Release Notice This is the March 2007 release Revision A of the Trimble Lassen DR GPS Starter Kit User Guide part number 58059 00 Copyright and Trademarks 2007 Trimble Navigation Limited Trimble and the Globe amp Triangle logo are trademarks of Trimble Navigation Limited registered in the United States Patent and Trademark Office and in other countries Bullet and Mini T are trademarks of Trimble Navigation Limited Microsoft and Windows are either registered trademarks or trademarks of Microsoft Corporation in the United States and or other countries All other trademarks are the property of their respective owners Product Limited Warranty Information Fo
59. S Reference Manual 47 DR GPS STARTER KIT REFERENCE MANUAL Command Message Structure Host to Module Command messages sent from host to module are built upon the report message structure Except for system commands such as system reset every command either sets or queries a reportable data structure To accomplish this the HIPPO set or query command protocol simply wraps around the report message protocol see tables below Table 12 HIPPO Command Message Structure Byte Meaning Value SOM start of message 0x81 CCOD Set Command code 0x01 PCOD Parser code 0x00 7F PSUB Parser subcode 0x00 7F OxFF D 0 First byte of data 0x00 FF D 1 Second byte of data 0x00 FF D N 1 Last byte of data 0x00 FF CS Checksum 0x00 FF EOM End of message 0x82 Table 13 HIPPO Query Message Structure for Indexed Data Byte Meaning Value SOM Start of message 0x81 CCOD Query Command code 0x02 PCOD Parser code 0x00 7F PSUB Parser subcode 0x00 7F INDEX Index 0x00 7F OxFF CS Checksum 0x00 FF EOM End of message 0x82 Chained Messages Chaining is not supported in the DR GPS module If multiple messages are requested they will be issued as time allows between the high priority automatic report messages An acknowledgment message appears at the end of the sequence of replies Lassen DR GPS Reference Manual 48 DR GPS STARTE
60. Set ngs Vinicio ip 29 USE NMEA READER iecciscccceccsscocecuccdeacescuescescecenccncenetenscusstecenscesccescnetaeecuscsccnseosce 30 APPENDIX A NMEA 0183 ooco miociosirocacincioncci nanaranunacacaaoniccnoci ncain 33 INTRODUCTION 4 12504444 E han Dora quao anna c oon Oni Duke Cun o lu Co ON eo aga CORE sence 34 THE NMEA 0183 COMMUNICATION INTERFACE eee RENE KEN KEEN RENE KEN 35 NMEA 0183 MESSAGE FORMAT W 36 FIELD DEFINITIONS 2 24 223222 222222 canoa noni arae ona nar ona nona cR a naa a AA EENEG 37 NMEA 0183 MESSAGE OPTIONS c0ccescceeceeccneceeccuscneceeseneceeccnseneceeseusceesensenesensenees 39 NMEA 0183 MESSAGE FORMATS cescceeceeccncceecensceeceescneceeccnseneceesensceesenseeeseusenees 40 GGA GPS FIX Dar 40 GSA GPS DOP AND ACTIVE GATELLITES cene eene nemen nennen reis 40 GSV GPS SATELLITES IN VIEW ceeene Im IRI rer rere rre titre nennen reris 41 RMC RECOMMENDED MINIMUM SPECIFIC GPS TRANSIT DATA enne 42 VTG TRACK MADE GOOD AND GROUND SPEED nn 43 EXCEPTION BEHAVIOR EEN 43 APPENDIX B HIPPO eleeeeeeeeeeeen rennen nnn nnn nnn nnns 44 HIPPO PROTOCOL RULES EEN 45 GENERAL MESSAGE GIrRUCTURERuLES ether men nenne tret re tette nn 46 REPORT MESSAGE STRUCTURE MopnurErohoert 47 COMMAND MESSAGE STRUCTURE HosrrohMopueE t nn 48 GH INED MESSA GESE una innen eek Eed EA Ee 48 POST FORMATTING HCC STUFFING BEFORE TRANSMISSION
61. Subcode U8 0x05 0 0 2 Source U3 0 Invalid Clear 1 Host Input 2 Host Override 3 GPS Fix 0 3 Newness U1 0 From BBRAM 1 New 0 4 Heading Accuracy U1 0 Acc y Unknown status 4 Acc y Valid 12 Heading U16 2 sc 0 2 sc 3 4 Heading Accuracy U16 2 sc 0 1 sc 1 sigma accuracy Real Time Input Data The following reports are used primarily for the input of serial data for real time aiding e g DGPS corrections map match corrections that are sent form the host to the DR GPS module Lassen DR GPS Reference Manual 109 DR GPS STARTER KIT REFERENCE MANUAL 0x29 07 Short Map Match Data This message contains the most recent map match data It can be set queried or auto reported Table 86 0x29 07 Map Match Report Message Byte Name Type Units LSB Range Value Meaning Code U8 0x29 Subcode U8 0x07 0 0 Lat Lon Valid U1 1 Valid 0 1 Altitude Valid U1 1 Valid 0 2 Heading Valid U1 1 Valid 0 3 Lat Lon Accy Valid U1 1 Valid 0 4 Altitude Accy Valid U1 1 Valid 0 5 Heading Accy Valid U1 1 Valid 0 6 Time Source U2 From Msg 30 02 1 2 Time Tag U16 1 ms 0 65535 ms 16 LSBs from Msg 0x30 02 3 6 Latitude 32 2 sc Ya sc 7 10 Longitude S32 2 sc 1 1 sc 11 12 Altitude S16 1m 400 10000 m MSL 13 14 Heading U16 2 sc 0 2 sc 15 16 East Accy U16 1m 0 1000 m 1 0 accuracy 17 18 North Accy U16 1m 0 1000 m 1 0 ac
62. The message identification is a three letter mnemonic which describes the message content and the number and order of the data fields Commas serve as delimiters for the data fields Dn Each message contains multiple data fields Dn which are delimited by commas 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 messages vary in length but each message is limited to 79 characters or less This length limitation excludes the and the CR LF The data field block including delimiters is limited to 74 characters or less Null field no characters between commas indicate data is not currently available Future versions of these messages may have extra fields added to the end Lassen DR GPS Reference Manual 36 DR GPS STARTER KIT REFERENCE MANUAL FIELD DEFINITIONS Many ofthe NMEA date fields are of variable length and the user should always use the comma delineators to parse the NMEA message date field Table specifies the definitions of all field types in the NMEA messages supported by Trimble Table 3 Field Type Summary Type Symbol Definition Status A Single character field A Yes data valid warning flag clear V No data invalid warning flag set Special Format Fields Latitude III Fixed
63. 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 7 GSV Message Field Description 1 Total number of GSV messages 2 Message number 1 to 3 3 Total number of satellites in view 4 Satellite PRN number 5 Satellite elevation in degrees 90 Maximum 6 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 Lassen DR GPS Reference Manual 41 DR GPS STARTER KIT REFERENCE MANUAL 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 GPRMC hhmmss ss A lIII Il a yyyyy yy a x x x x xxxxxx x x a i hh lt CR gt lt LF gt Table 8 RMC Message Field Description 1 UTC of Position Fix 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 S
64. adTachoMinSpd FLT m s 0 126 8 0 0x43 ZROCalcGyroNoiseVar FLT GCnts 0 107374 2 10 73742 1 0 mV 0x44 ZROCalcEditSigSq FLT unitless 0 10000 100 0 0x45 MaxGPSInitPosSig2 FLT In 0 10 100 0 0x46 MinGPSInitDist FLT m 0 10 60 0x47 ZROVarValidThreshold FLT GCnts 0 67108900 671089 250 mV 0x48 SnapThreshold2 FLT In 0 10 100 0x49 MaxHBSpd FLT mis 0 126 0 05 0x4A MinWindowVelCfm FLT m s 0 126 12 0 0x4B HdgCalcMinSpd FLT m s 0 126 3 0 0x4C HdgCalcMinSpdNoTacho FLT m s 0 126 10 0 0x4D HdgCalcMinHdgSigSq FLT rad 0 12 0 09 0x4E HdgMinSigSq FLT rad 0 12 0 25 0x4F PosMinSigSq FLT In 0 10 10000 0x50 DPPCalMinSigSq FLT m pulse 0 1 0 01 0x51 SpdCalcMinSpdSigSq FLT met 0 900 9 0 0x52 SpdCalcMinSpeed FLT mis 0 126 8 0 0x53 GPSVelEditSigSq FLT unitless 0 1000 16 0 0x54 GPSVelEditMaxHdSq FLT rad 0 12 0 04 0x55 MinGPSSpdMotNoTacho FLT m s 0 126 3 0 0x56 GvarColdHdg FLT rad 10 100 100 0 0x57 GvarColdZRO FLT GCnts 67 1089 671089 250 Mv 67108900 0x58 GvarColdZRR FLT GCnts s 0 10 0 0021263 0x59 GvarWarmHdg FLT rad 0 12 0 01 0x5A GvarWarmZRO FLT GCnts 67 1089 9663 68 30 mv 67108900 0x5B GvarWarmZRR FLT GCnts s 0 10 0 0021263 0x5C GPNVarHdg FLT rad s 0 1 10 0x5D GPNVarZRO FLT GCnts s 0 1 0 000268435 5 pV s Ox5E GPNVarZRR FLT GCnts s 0 1 00000425261
65. al 19 DR GPS STARTER KIT REFERENCE MANUAL 2 Select Config gt Com setup FE NMEA Output NMEA COM Port Settings COM com 15 v Baud 4800 e Parity N one X Data Bits E v Stop Bits f X Select the correct COM port number for the USB Virtual Serial Port Select 38400 Baud No Parity 8 Data Bits and 1 Stop Bit Click the OK button Select Config gt HIPPO gt NMEA Output to open the Configuration window m om so E Protocol Configuration Protocol C alt Status e NMEA Clicking the Configure button will clear Flash and RAM then configure the device to output the default messages of the selected protocol All settings and calibration data will be lost Configure Close 7 Click the NMEA button and then the Configure button The SUCCESS screen displays K3 System Command Ack EIER 0309 Write BBRAM to Flash Reset Iw Auto Close 2 8 Click the Close button All output is displayed as NMEA data Lassen DR GPS Reference Manual 20 DR GPS STARTER KIT REFERENCE MANUAL View NMEA Output 1 Open HyperTerminal or a similar terminal emulator 2 Setthe communication port settings to 38400 Baud No Parity 8 Data Bits and 1 Stop Bit 3 If you are using HyperTerminal you will see output as shown below DR HyperTerminal TER File Edit View Call Transfer Help De GPGSV 3 9 12 12 43 171 20 000 10 52 083 39 22 000 7C 172809 89 3732 44051 N 12218 21498 W 1 03 4
66. ation is unknown all data fields are zero To erase ionosphere and UTC model information in the DR GPS module set this data with source byte equal to zero Invalid Clear Table 79 0x28 14 GPS lonospheric Fixed Point Model Report Byte Name Type Units LSB Range Meaning Value Code U8 0x28 Subcode U8 0x14 lono UTC Model 0 0 2 Source U3 0 Invalid Clear 1 Host Input 2 Host Override 3 Data Decode 0 3 Newness U1 0 From BBRAM 1 New 0 6 7 GPS Week Extension U2 2 MSBs of Week 1 Week of collection U8 8 LSBs of Week 2 25 Compressed lono UTC 24xU8 0x28 16 Ephemeris Initialization The elements of the ephemeris message match the three subframes that are downlinked by the satellite TLM words HOW words and parity bits are omitted The data in this message may change after initialization through data decode A 10 bit Week Number of Applicability is included in the compressed data If the information is unknown all data fields are zero To erase ephemeris information in the DR GPS module set this data with source byte equal to zero Invalid Clear Lassen DR GPS Reference Manual 104 DR GPS STARTER KIT REFERENCE MANUAL Table 80 0x28 16 GPS Ephemeris Fixed Point Model Report Byte Name Type Units Range Value Meaning LSB Code U8 0x28 Subcode U8 0x16 Ephemeris Index U8 1 32 SV PRN 0 0 2 Source U3 0 Inval
67. cond two bytes indicate health ofthe RTC and RAM Table 27 0x12 01 Start Up Report Message Byte Bit Name Type Value Meaning Code U8 0x12 Subcode U8 0x01 Parameter Subcode 0 1 Error Code U16 0 Normal shutdown SW or power other Abnormal shutdown Error Reference source not found Reserved U8 0 RAM Signature U1 1 BBRAM signature valid 1 Gyro ADC U1 1 ADC or Gyro self test error test 3 2 RTC Valid U1 1 RTC valid at startup 3 3 Flash BBRAM U1 1 BBRAM loaded from Flash 3 4 7 Reserved 0x12 02 Software Mode Report This report indicates whether the module is currently in Monitor Mode or Normal mode If the device is in monitor mode it will recognize and reply in HIPPO to a HIPPO query for this report If the device is in Monitor mode it will also recognize and reply in HIPPO to a HIPPO query for this report Table 28 0x12 02 Software Mode Report Message Byte Name Type Value Meaning Code U8 0x12 Subcode U8 0x02 Parameter Subcode 0 Mode U8 1 Normal Mode 2 Monitor Mode Lassen DR GPS Reference Manual 62 DR GPS STARTER KIT REFERENCE MANUAL 0x12 03 Production Information Report This report contains information stored in ROM it cannot be set or changed through HIPPO command It is available by query or auto output Table 29 Table 27 0x12 03 Production Info Report Message
68. ct the Trimble Technical Assistance Center at 800 767 4822 CHAPTER 1 LASSEN DR GPS STARTER KIT In this chapter Product Overview Starter Kit Quick Start Guide Interface Protocols Power Software Toolkit DR GPS STARTER KIT REFERENCE MANUAL INTRODUCTION The Trimble Lassen DR GPS combines dead reckoning DR with GPS to produce accurate and instantaneous positions even under the most difficult conditions For service providers tracking high value or perishable cargo Lassen DR GPS dramatically improves quality of service QoS and customer satisfaction and retention helping tracking service providers to maximize revenue opportunities Dead reckoning DR estimates position based on heading and distance traveled since the last known position The more accurate the speed time and heading inputs the more accurate the dead reckoning This is where GPS helps GPS continuously calibrates the gyro and speed sensors to produce optimal dead reckoning Instantaneous and accurate positions in deep urban canyons and dense forests Continuous position outputs in tunnels parking garages and on lower bridge decks Reliable positioning for tracking high value assets and for mapping RF field strength Starter Kit Contents The Starter Kit makes it simple to evaluate the Trimble DR GPS module performance The Starter Kit can be used as a platform for configuring the receiver software or as platform for troubleshooting yo
69. curacy 19 20 East North S16 1m 1000 1000 Covariance 21 22 Altitude Accy U16 1m 1 1000 m 1 c accuracy 23 24 Heading Accy U16 2 sc 0 1 sc 1 c accuracy The Time of Week and Time Source data fields must exactly match the Time of Week 16 LSBs and Time Source fields of a recent 0x30 02 message The map match information is assumed to be the position heading estimate at the time of that 0x30 02 message The East North Covariance data field is a signed quantity derived from the off diagonal element Cove n of the 2x2 East North error covariance matrix as follows SIGN Coven SQRT ABS Coven Lassen DR GPS Reference Manual 110 DR GPS STARTER KIT REFERENCE MANUAL 0x29 08 Tacho Data This message contains Tacho data from the CAN bus It is used if a tacho signal is not available It can be set queried or auto reported Table 87 0x29 08 Tacho Report Message Byte Name Type Units LSB Range Meaning Value Code U8 0x29 Subcode U8 0x08 0 O Timetag Offset Valid U1 1 Valid 0 1 Tacho Valid U1 1 Valid 0 2 Direction Switch Valid U1 1 Valid 0 7 Reverse Switch Value U1 0 Low 1 High 12 Host System Clock U16 ms 0 65767 Host time mod 2 9 Timetag 3 4 Timetag offset U16 ms 0 65767 GPS Host mod 2 5 8 Tacho pulses U32 Accumulated Tacho pulses Lassen DR GPS Reference Manual 111 DR GPS STARTER KIT REFERENCE MANUAL EVENT LOG QU
70. d at one Hz Soft Event Cleared Hardware signal queried at one Hz Action DR functions without GPS positions Lassen DR GPS Reference Manual 123 DR GPS STARTER KIT REFERENCE MANUAL Antenna short detected Condition cause Hardware failure Effect before Action Soft Event Detected Soft Event Cleared Action No GPS positions Hardware signal queried at one Hz Hardware signal queried at one Hz DR functions without GPS positions Failure to connect to GPS DSP Condition cause Effect before Action Soft Event Detected Action Hardware failure No GPS positions No response from DSP within 5 seconds DR functions without GPS positions RTC disagreed with GPS time Condition cause Effect before Action Soft Event Detected Gyro Failure Condition cause Effect before Action Soft Event Detected Soft Event Cleared Action Low battery voltage while powered down Long time to first fix Not implemented in ROM15 Hardware failure Position goes in circles Tested with ADC at startup Also tested at standstill average gyro values one second averages are collected over ten seconds at standstill If average is not between 0 75 V and 4 25 V declare detection Cleared at reset Gyro labeled bad DR suspended Speed measurement continues and tacho continues to be calibrated Lassen DR GPS Reference Manual 124 DR GPS STARTER KIT REFERENCE MANUAL ADC
71. de U8 0x01 0 ADC validity U8 0 No error 1 ADC not functioning 1 4 ADC at fixed voltage U32 5 6 Samples at fixed U16 voltage 7 10 ADC gyro at rest U32 11 12 Samples at rest U16 Lassen DR GPS Reference Manual 96 DR GPS STARTER KIT REFERENCE MANUAL 0x3F 03 Data Positioning Collection Test Data ROM 15 and after This replaces report Ox3F 02 starting with ROM 15 The Data Positioning Collection Mode Test starts immediately upon receipt of the set command 0x2F 02 When the test is finished it automatically reports the data in this message This information cannot be set or queried Table 73 0x3F 03 Data Positioning Collection Test Data Byte Name Type Units Range Meaning LSB Value Code U8 Ox3F Subcode U8 0x03 0 0 Heading Valid before U1 1 valid motion 0 2 ZRO valid before motion U1 1 valid 0 DPP valid before motion U1 1 valid 0 4 Final Heading Valid U1 1 valid 1 4 Pulses counted U32 5 6 Maximum Speed U16 1 cm s 7 10 Total Distance U32 1cm 11 DirSw transitions F gt R U8 12 DirSw transitions R gt F U8 13 14 Heading at ZRO cal U16 2 sc 0 2 sc 15 16 DeltaHeading U16 2 sc 0 2 sc 17 18 Final Heading U16 2 sc 0 2 sc 19 20 Test Duration U16 1s 1 3600 21 22 Initial Heading after ZRO U16 2 sc 0 2 sc calibration 23 0 2 D GPS fix U1 1 2 D fix failed 23 1 3 D GPS fix U1 1 3 D fix failed 23 2 G
72. ding the model number and serial number an explanation of the problem The customer service representative may need additional information from you depending on the nature of the problem Warranty Exclusions and Disclaimer This Product limited warranty shall only apply in the event and to the extent that a the Product is properly and correctly installed configured interfaced maintained stored and operated in accordance with Trimble s applicable operator s manual and specifications and b the Product is not modified or misused This Product limited warranty shall not apply to and Trimble shall not be responsible for defects or performance problems resulting from i the combination or utilization of the Product with hardware or software products information data systems interfaces or devices not made supplied or specified by Trimble ii the operation of the Product under any specification other than or in addition to Trimble s standard specifications for its products iii the unauthorized installation modification or use of the Product iv damage caused by accident lightning or other electrical discharge fresh or salt water immersion or spray outside of Product specifications or exposure to environmental conditions for which the Product is not intended v normal wear and tear on consumable parts e g batteries or vi cosmetic damage Trimble does not warrant or guarantee the results obtained through the use of
73. e This report is a copy of the start up message The first two bytes show the error code associated with the previous shutdown The second two bytes indicate health ofthe RTC and RAM The system time is the number of milliseconds since power up Table 35 0x16 02 Repeat Start Up with System Time Message Byte Name Type Value Meaning Code U8 0x16 Subcode U8 0x02 Parameter Subcode 0 1 Error Code U16 0 Normal shutdown SW or power other Abnormal shutdown Error Reference source not found 2 Status U8 Reserved 3 0 RAM Signature U1 1 BBRAM signature valid 3 1 Gyro ADC test U1 1 ADC or Gyro self test error 3 2 RTC Valid U1 1 RTC valid at startup 3 3 Flash BBRAM U1 1 BBRAM loaded from Flash 4 Soft Event Index U7 0 No soft event in log at start up 1 127 Last soft event index in log at start up 5 8 SysClock U32 1 ms System Time Lassen DR GPS Reference Manual 67 DR GPS STARTER KIT REFERENCE MANUAL Configuration Report packets 0x22 01 Output Interval Control Table Table 36 0x22 Format of GPS Configuration Message Parameter Byte Name Type Value Units Meaning Code U8 0x22 Subcode U8 0x01 0 Index U8 0x00 0x0F OxFF Table Slot Number 1 Code U8 0x00 7F Code in Slot 2 Subcode U8 0x00 7F Subcode in Slot 3 6 Automatic Output U32 0x00 OxFFFFFFFF See Table x x x Event Trigger Mask 7 10 Time Threshold U32 1 ms Minimum Time required 11 14 Time Trig
74. e beginning of the RAM area in a circular buffer with 127 entries The log records all single event soft events and all changes in soft event conditions but does not record soft events with status code 0x2 condition previously detected still present The log persists as long as there is a battery backup power The log is erasable by user via a HIPPO command or by the startup RAM test cold start only The host can retrieve logs at any time via HIPPO query Error Reference source not found shows the format of the log entry for soft events Table 95 Format of Soft Event Log Entry Field Type Descriptions Msec U32 Time tag in GPS milliseconds Week U16 Time tag in GPS week number Identity U8 Soft event identity code Condition U8 Soft event condition code Reserved U16 Lassen DR GPS Reference Manual 119 DR GPS STARTER KIT REFERENCE MANUAL Event Messages Invalid BBRAM detected on startup Condition cause Hardware failure Effect before Action If not cleared very long time to first fix or worse Soft Event Detected BBRAM checksum mismatch at power up Action Clear BBRAM Position recovery solution snapped to GPS Condition cause Incorrect position at start up or substantial drift of DR GPS position estimate Effect before Action Large position offset between GPS and DR outputs for a number of seconds Soft Event Detected Compute average of window of recent unfiltered GPS po
75. e last Type 1 or 9 Update 14 Differential Reference Station ID 0000 to 1023 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 of 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 CR LF Lassen DR GPS Reference Manual 40 DR GPS STARTER KIT REFERENCE MANUAL Table 6 GSA Message 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 3 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 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 GPGSV Xx
76. ence Manual 46 DR GPS STARTER KIT REFERENCE MANUAL Report Message Structure Module to Host The table below provides the message structure for a simple data packet of N M bytes Each message has five framing bytes SOM two message ID bytes PCOD and PSUB a checksum byte and EOM The data type and data structure in the message i e the parser is specified by the Parser code PCOD and parser subcode PSUB Table 10 HIPPO Report Message Structure Byte Meaning Value SOM start of message 0x81 PCOD Parser code 0x00 Ox7F PSUB Parser subcode 0x00 Ox7F OxFF D 0 First byte of data 0x00 OxFF D 1 Second byte of data 0x00 OxFF D N 1 Last byte of data 0x00 OxFF CS Checksum 0x00 OxFF EOM End of message 0x82 Some parser code subcodes have data indexed by channel or satellite as shown in the table below The index is the first byte after the parser subcode The parser code subcode specifies whether a message uses indexing Table 11 HIPPO Report Message Structure Indexed Data Byte Meaning Value SOM start of message 0x81 PCOD Parser code 0x00 Ox7F PSUB Parser subcode 0x00 Ox7F INDEX Data indexed by channel etc 0x00 0x7F OxFF D 0 First byte of data 0x00 OxFF D 1 Second byte of data 0x00 OxFF D N 1 Last byte of data 0x00 OxFF CS Checksum 0x00 OxFF EOM End of message 0x82 Lassen DR GP
77. ero Rate Output FLT mV 2500 0 2500 0 ZRO 5 8 ZRO accuracy FLT mV gt 0 1 c accuracy Lassen DR GPS Reference Manual 93 DR GPS STARTER KIT REFERENCE MANUAL Table 68 0x36 04 Gyro Linearity Calibration Message Byte Name Type Units Range Meaning LSB Value Code U8 0x36 Subcode U8 0x04 0 0 Source U3 0 Invalid Clear 2 1 Host Input 2 Host Override 3 GPS Fix 0 3 Newness U1 0 From BBRAM 1 New since start up 0 4 Validity U1 1 1 Valid 1 4 Sensitivity GyroSns FLT mV s 10 0 100 0 5 8 Sensitivity Accuracy FLT mV s 20 1 c accuracy Table 69 0x36 05 Direction Switch Calibration Message Byte Name Type Units Range Value Meaning LSB Code U8 0x36 Subcode U8 0x05 0 0 2 Source U3 0 Invalid Clear 1 Host Input 2 Host Override 3 GPS Fix 0 3 Newness U1 0 From BBRAM 1 New since start up Validity U1 1 1 Valid 0 Direction Switch U1 0 0 FWD 1 REV Sense 1 0 REV 1 FWD 1 Confidence Speed U8 1 m s lt DirSwWarning Last calibration see 0x27 speed default 14 m s lt 256 if Source is Host Override Lassen DR GPS Reference Manual 94 DR GPS STARTER KIT REFERENCE MANUAL Table 70 0x36 07 DPP Calibration Message Byte Name Type Units Range Meaning LSB Value Code U8 0x36 Subcode U8 0x07
78. eserves five other bytes 0x83 0x87 for future use as control characters This contrasts with TSIP which has two DLE and ETX HIPPO has a higher control character overhead 3 versus 0 4 for TSIP but parser design is much simpler Because the DR GPS module is designed to send messages at 10 Hz the message length has been limited to 128 bytes to ensure that two messages can be transmitted per 100 ms cycle Number representations use IEEE formats and are sent least significant byte first Intel specification or little endian The module acknowledges all commands with a reply message after parsing and processing are complete Completion is the point at which all immediate actions are complete in the protocol layer These actions include replying to queries setting global variables flags or semaphores and sending messages to other tasks If the command is a successful query for a single report the report response itself is the acknowledgment response otherwise the module sends an acknowledgment response packet 0x10 to the host There are two general types of messages report messages and command messages Lassen DR GPS Reference Manual 45 DR GPS STARTER KIT REFERENCE MANUAL General Message Structure Rules The byte SOM only occurs as an S byte in the serial stream at the start of a message The byte EOM only occurs as an S byte at the end of a message From the SOM byte until the following EOM byte the fol
79. eset LOG MESSAGEQ FULL 0x2120 A given message queue is full Reset LOG SIO OPEN ERR 0x2121 Failure to open serial port Monitor Mode LOG NAV HARD COCOM 0x4001 COCOM event no recovery Hard Reset LOG NAV HARD ERR 0x4003 Other error in navigation library Hard Reset The fatal error log is located in the flash memory space at memory location 0x3000 0x4000 There are 31 reportable entries with 32 bytes per entry The host cannot erase this log A write after erase algorithm ensures the integrity of the log Lassen DR GPS Reference Manual 115 DR GPS STARTER KIT REFERENCE MANUAL Table 89 Format of fatal error log entry Field Type Descriptions Msec U32 Time tag in GPS milliseconds Oxffffffff if not available Week U16 Time tag in GPS week number Oxffff if not available Code U16 Event error code Hard Reset means Clear RAM and Reset SW The column Ver indicates which ROM versions have this fatal error code feature Status U16 Status code associated with the event 0 if not apply Info 22 bytes block The last field holds information associated with type of error It can be a stack frame a memory dump up to 22 bytes or the program count for the address of error The following tables describe the format for each fatal error types Table 90 Block Format for Status Code 10xx Field Type Descriptions Vector U8 Illegal vector number PC U32 Pro
80. except as specified in Error Reference source not found Lassen DR GPS Reference Manual 79 DR GPS STARTER KIT REFERENCE MANUAL Table 50 Automatic Output Event Trigger Report Message Byte Name Type Value Meaning Code U8 0x2A Event Control Subcode U8 0x00 7F Parser Code Index U8 0x00 7F Parser Subcode OxFF All subcodes 0 1 Event 1 Ul Almanac Page Collected 0 2 Event 2 Ul Ephemeris Page Collected 0 3 Event 3 Ul Ionosphere UTC Page Collected 0 6 Event 6 Ul Almanac Health page Collected 0 7 Event 7 Ul Tacho Gyro Collected 10 Hz DR GPS 1 1 Event 9 Ul GPS Measurement Collected 1 Hz 1 2 Event 10 Ul Least Squares LS Fix generated 1 Hz 1 3 Event 11 Ul LS Fix not generated 1 4 Event 12 Ul Tracking SV List Updated 2 1 Event 17 Ul Self test complete DR GPS 2 3 Event 19 Ul Receiver status changed 2 4 Event 20 Ul Power on acknowledge 2 5 Event 21 Ul Start up complete 2 6 Event 22 Ul Ready to shutdown 3 0 Event 24 Ul DPP Calibrated 3 1 Event 25 Ul Direction Switch Calibrated 3 2 Event 26 Ul Gyro Calibrated 3 4 Event 28 Ul Time status change time set 3 5 Event 29 Ul Hard Error Table 51 Automatic Output Time Interval Trigger Report Message Byte Name Type Value Units Meaning Code U8 0x2B Time Interval Control Subcode U8 0x00 7F Parser Code Index U8 0x00 7F Parser Subcode OxFF All subcodes 0 3 Threshold U32 1 ms Minimum required
81. ftware whether built into hardware circuitry as firmware provided as a standalone computer software product embedded in flash memory or stored on magnetic or other media is licensed solely for use with or as an integral part of the Product and is not sold If accompanied by a separate end user license agreement EULA use of any such software will be subject to the terms of such end user license agreement including any differing limited warranty terms exclusions and limitations which shall control over the terms and conditions set forth in this limited warranty Software Fixes During the limited warranty period you will be entitled to receive such Fixes to the Product software that Trimble releases and makes commercially available and for which it does not charge separately subject to the procedures for delivery to purchasers of Trimble products generally If you have purchased the Product from an authorized Trimble dealer rather than from Trimble directly Trimble may at its option forward the software Fix to the Trimble dealer for final distribution to you Minor Updates Major Upgrades new products or substantially new software releases as identified by Trimble are expressly excluded from this update process and limited warranty Receipt of software Fixes or other enhancements shall not serve to extend the limited warranty period For purposes of this warranty the following definitions shall apply 1 Fix es means an e
82. ge Code Assignment can be neither queried nor set is automatic output only Table 20 Message Codes Code Subcode Indexed by Message Q s 0x10 0x01 Acknowledge Set 0x10 0x02 Acknowledge Query 0x10 0x03 Acknowledge System Command 0x11 0x01 Navigation Code ROM Version Q 0x11 0x02 Boot Code ROM Version Q 0x11 0x03 lo DSP Code ROM Version Q 0x12 0x01 Start up Message 0x12 0x02 SW Mode Q 0x12 0x03 Product Information Q 0x12 0x04 Hardware ID Q 0x14 0x01 Event Log Soft Event Log Entry Q 0x14 0x02 Event Log Fatal Error Log Entry Q 0x15 various Data Stored to Non erasable Flash Q 0x16 0x01 Health Message Q 0x16 0x02 Repeat Start Up Message Q 0x21 0x01 DR GPS Engine Rate QS 0x22 0x01 Output Interval Control Q 0x22 0x02 Format of NMEA Output Control Parameters Q S 0x23 0x01 Variable length RTCM data QS 0x23 Reserved as a wrapper for non HIPPO protocols 0x24 0x01 08 GPS Configuration Parameters QS 0x25 Kalman Filter Configuration Parameters QS 0x26 0x01 Available Report Codes Q 0x26 0x02 Rpt code Available report Subcodes Q 0x26 0x03 DPP model speed levels Q 0x26 0x04 DPP minimum speed for estimate Q 0x26 0x05 DPP maximum speed for estimate Q 0x27 DR Filter Parameters QS 0x28 0x12 SV PRN Compressed Almanac QS 0x28 0x13 Compressed Almanac Health Page QS 0x28 0x14 Compressed GPS lonospheric UTC Model Param Q JS 0x28 0x16 SV PRN Compressed Ephemeris
83. ger U32 0 1 ms Not used 20 Trigger value 15 18 Distance U32 1 cm Minimum Distance Threshold required 19 22 Distance Trigger U32 0 1 cm Not used 20 Distance Trigger value 23 26 Heading U32 1 cdeg Minimum Heading Threshold required 27 30 Heading Trigger U32 0 1 cdeg Not used 20 Heading Trigger value Lassen DR GPS Reference Manual 68 DR GPS STARTER KIT REFERENCE MANUAL 0x22 02 NMEA Output Control Table 37 0x22 Format of NMEA Output Control Parameters Byte Name Type Value Units Meaning Code U8 0x22 Subcode U8 0x02 0 Interval U8 0 255 seconds Output interval 0 5Hz for GGA VTG and RMC 1 Hz for GSA GSV 1 255 interval for all messages 1 4 Message mask U32 0x00 7F Bit O output GGA Bit 2 output VTG Bit 3 output GSV Bit 4 output GSA Bit 8 output RMC 0x24 GPS Configuration The Parser Code for GPS configuration parameters is 0x24 A typical parameter report is shown in Error Reference source not found Table 38 0x24 Format of GPS Configuration Message Parameter Byte Name Type Value Meaning Code U8 0x24 Subcode U8 0x01 0x08 Parameter Subcode 0 Parameter Value Refer to Error Reference source not found Lassen DR GPS Reference Manual 69 DR GPS STARTER KIT REFERENCE MANUAL Table 36 shows the subcode range and default value for each of the GPS configuration parameters DGPS does not apply to all products
84. gram counter at fault SP U32 Supervisor stack address Table 91 Block Format for Status Code 12xx Field Descriptions ETA Ras Soft checksum or memory content Actual value un Data read from the target Lassen DR GPS Reference Manual 116 DR GPS STARTER KIT REFERENCE MANUAL Table 92 Block Format for Status Code 2xxx Field Type Descriptions Src task U8 Caller task ID Dest task U8 Receive task ID 0 if not applicable Resource ID U8 System resource such as semaphore message queue Soft Events Soft events which include soft errors periodic events and user requested events occur frequently Only selected events will be logged into BBRAM None of these events triggers a software reset If the host desires to be notified of specific events with a HIPPO output message it can specify the events to report with the event mask function Sec 0 Soft events have a 7 bit identity code and a two bit condition status code The soft event identity code is between 1 and 127 The last two columns in the table below indicate whether the event is a persistent condition such as a shorted antenna C or a single event like a RTC fault S and which ROM versions have this soft event code feature Lassen DR GPS Reference Manual 117 DR GPS STARTER KiT REFERENCE MANUAL Table 93 Soft Event Identity Code Soft event Event Descriptions S C
85. h byte of 0x20 4 Navigation library events and run time positioning diagnostics have a high byte of 0x40 Hard Reset means Clear RAM and Reset SW The column Ver indicates which ROM versions have this fatal error code feature Lassen DR GPS Reference Manual 114 DR GPS STARTER KIT REFERENCE MANUAL Table 88 Fatal Error Code Error Event Descriptions Action LOG ILL TRAP 0x10xx Illegal hardware interrupts Hard Reset xx vector number LOG_ERR_RAM_FAILED 0x1200 RAM failed on self test Monitor Mode LOG_ERR_ROM_FAILED 0x1201 ROM failed on checksum test Monitor Mode LOG_GET_SEMAPHORE_ERR 0x2001 Failure on acquiring a semaphore Reset LOG_RELEASE_SEMAPHORE_ERR 0x2002 Failure on releasing a semaphore Reset LOG_SEND_MESSAGE_ERR 0x2003 Failure on sending a message Reset LOG_RECEIVE_MESSAGE_ERR 0x2004 Failure on receiving a message Reset LOG_DELETE_MESSAGEQ_ERR 0x2005 Failure on deleting a message queue Reset LOG_DELETE_TASK_ERR 0x2006 Failure to remove task from system Reset LOG_SUSPEND_TASK_ERR 0x2007 Failure on suspending a task Reset LOG_RESUME_TASK_ERR 0x2008 Failure on resuming a task Reset LOG_CREATE_SEMAPHORE_ERR 0x2009 Failure on creating a semaphore Reset LOG_CONNECTION_ERR 0x200A Failure to connect to lo DSP cell LOG_CREATE_TASK_ERR 0x200B Failure to creating a task Reset LOG_ALLOCATE_BUF_ERR 0x200C Failure on memory allocation R
86. id Clear 1 Host Input 2 Host Override 3 Data Decode 0 3 Newness U1 0 From BBRAM 1 New 1 Reserved 2 25 Compressed Ephemeris 24xU8 Subframe 1 26 49 Compressed Ephemeris 24xU8 Subframe 2 50 73 Compressed Ephemeris 24xU8 Subframe 3 0x29 01 Time Initialization The data in this message will change after initialization through fixes The Invalid Clear command and the Time Accuracy are currently not supported Table 81 0x29 01 Time Initialization Report Message Byte Name Type Units LSB Range Value Meaning Code U8 0x29 Subcode U8 0x01 0 0 2 Source U3 0 Invalid Clear 1 Host Input 2 Host Override 3 GPS Data Decode 0 3 Newness U1 0 From BBRAM 1 New 0 4 Time Acc y Status U1 0 Acc y Unknown Acc y 4 Valid 1 2 Week number U16 1 wk 1024 GPS week number 3 6 Time of week U32 1 ms 604800000 ms GPS time of week 7 10 Time Accuracy U32 1 ms 0 604800000 ms 1 sigma accuracy Lassen DR GPS Reference Manual 105 DR GPS STARTER KIT REFERENCE MANUAL 0x29 02 Latitude Longitude Initialization The data in this message will change after initialization through fixes To erase latitude longitude initialization information use the corresponding set command with source byte equal to zero Invalid Clear To override current latitude and longitude estimates use host override Latitude and longitude initialization must be done before altitude initialization Table 82
87. ifier of the active antenna On the DR GPS module a 14 pin 2x14 2 mm AMP 1 215079 4 Micromatch connector J1 supports the serial interface CMOS level the pulse per second PPS signal CMOS level and the input power 3 3 VDC The 14 pin Amp Micromatch I O connector on the module connects to the motherboard via a ribbon cable see Appendix C for the pinout details Lassen DR GPS Reference Manual 13 DR GPS STARTER KIT REFERENCE MANUAL Ordering Starter Kit Components The DR GPS Module is available in a Starter Kit or as an individual receiver and associated antenna The Starter Kit includes all the components necessary to quickly test and integrate the receiver AC DC power supply adapter 9 pin DR GPS interface cable USB interface cable Miniature magnetic mount antenna with 5 meters of cable CD ROM containing the HIP Protocol HIPPO for DR GPS the System Designer Reference Manual and the DrMonitor software The following table provides ordering information for the DR GPS module and the associated antennas and cables Table 1 Ordering Products Product Part Number Shielded PCA with SMB 55000 80 Lassen DR GPS module PCA with SMB Lassen DR GPS module 46999 80 Lassen DR GPS module Starter Kit 61100 05 Magnetic mount miniature antenna 56237 00 AC DC power adapter and clips 59495 and 59495 05 USB Interface Cable 61174 DR GPS Starter Kit CD 61694 05 9 pin DR GPS
88. itude Accuracy U16 1m 0 10000 m 1 sigma accuracy Lassen DR GPS Reference Manual 107 DR GPS STARTER KIT REFERENCE MANUAL 0x29 04 Local Oscillator LO Frequency Offset Initialization The data in this message will change after initialization through fixes To erase frequency initialization information use the corresponding set command with source byte equal to zero Invalid Clear Table 84 0x29 04 Local Oscillator LO Frequency Offset Initialization Report Message Byte Name Type Units LSB Range Value Meaning Code U8 0x29 Subcode U8 0x04 0 0 2 Source U3 0 Invalid Clear 1 Host Input 2 Host Override 3 GPS Fix 0 3 Newness U1 0 From BBRAM 1 New 0 4 Frequency Acc y U1 0 Acc y Unknown Status 4 Acc y Valid 1 4 Frequency S32 1 PPB 50 PPM 5 6 Frequency U16 1 PPB 0 16 PPM 1 sigma accuracy Accuracy Lassen DR GPS Reference Manual 108 DR GPS STARTER KIT REFERENCE MANUAL 0x29 05 Heading Initialization The data in this message will change after initialization through fixes To erase heading initialization information use the corresponding set command with source byte equal to zero Invalid Clear To override current heading estimates use host override Table 85 0x29 05 Heading Initialization Report Message Byte Name Type Units LSB Range Value Meaning Code U8 0x29
89. ked at the DR service rate there is a minimum time interval corresponding to the DR engine rate The effective minimum time interval threshold is 200 ms for DR engine rate of 5 Hz and 100 ms for DR engine rate of 10 Hz Ox2E 01 Soft Event Report Mask The soft event report can be suppressed The following data structure shows whether it is masked and can be set or queried All events are unmasked at power up Table 55 Ox2E 01 Event Report Mask Message Byte Name Type Value Meaning Code U8 Ox2E Subcode U8 0x01 Index U8 0 0x7F Soft Event Identity Code OxFF All 0 0 1 Mask U2 0 Do not report 1 Report on change single 3 Report as detected continuous Lassen DR GPS Reference Manual 82 DR GPS STARTER KIT REFERENCE MANUAL 0x2F 02 Data Positioning Collection Test Interval Control This test is part of the factory testing At the end of the test the module outputs diagnostic data in packet 0x3F 02 There are two modes possible automatic and manual Automatic control mode sets the Time Interval between one and 3600 seconds The test begins immediately upon receipt of the set command and lasts until the end of the time interval Manual control mode uses the set command with the Time Interval Data field set to a large number e g 3600 and then issuing an Stop Immediately command when desired This message cannot be queried If a test is currently running this command will re
90. lowing structure rules apply The first two S bytes are the Parser Code PCOD and Parser Subcode PSUB These specify a unique parser for the data bytes PCOD and PSUB never have values of 0x80 to 0x87 so they are never stuffed Depending on PCOD and PSUB the next byte may be an index byte INDEX INDEX never has a value of 0x80 to 0x87 so it is never stuffed Examples of an index are a channel number and a satellite PRN All indexed messages with the same parser code and subcode must have the same length format and data structure The byte HCC only occurs as an S byte as a stuffing character as defined in Section 2 3 lt may appear before CS or any of the data bytes The value of the checksum M byte CS is such that the 8 bit sum of the M bytes from SOM to EOM inclusive is zero If the checksum is between 0x80 and 0x87 it is HCC stuffed The number of data bytes per message is limited to 128 Counting the bytes for the SOM parser code parser subcode checksum EOM and index the total number of M bytes can as many as 134 Data is not valid until the message is complete and the checksum agrees HIPPO ignores S bytes between messages from EOM to the following SOM unless the values are between 0x80 and 0x87 This feature allows ASCII messages such as NMEA or TAIP to be interspersed with HIPPO messages TSIP messages and other binary protocols in general cannot be interspersed with HIPPO messages Lassen DR GPS Refer
91. lt 3300 typ The data source of the fast fix can be inferred from the current tacho status the current gyro status and the GPS age as follows Table 61 Fast Fix Data Sources Tacho Gyro GPS Lat Lon Altitude Speed Delta Heading Status Status Age Source Source Distance Delta Source Heading Source 1 1 lt 255 GPS DR GPS DR GPS Cal DR GPS Cal 1 0 lt 255 GPS DR GPS DR GPS Cal GPS 0 1 lt 255 GPS GPS GPS DR GPS Cal 0 0 lt 255 GPS GPS GPS GPS 1 1 255 BBRAM DR BBRAM DR DR 1 0 255 BBRAM BBRAM DR None 0 1 255 BBRAM BBRAM None DR 0 0 255 BBRAM BBRAM None None Lassen DR GPS Reference Manual 87 DR GPS STARTER KIT REFERENCE MANUAL 0x31 01 GPS Fix Message Table 62 0x31 01 GPS Fix Message Byte Name Type Units Range Meaning LSB Value Code U8 0x31 Subcode U8 0x01 0 3 GPS Time of U32 1 ms 604800000 Week 0 No position in memory 1 Input position approximate 3 Input position accurate 4 Have internal position 8 Old valid GPS fix 9 Converging 10 Converging 4 Fix S UG 11 Converging PPS 12 Output fix criterion failed 13 2 D fix no reference altitude 14 KF velocity RAIM failed 15 KF edited too many SVs 16 KF position RAIM failed 17 Position Valid 4 Altitude Hold U1 0 Full position 3 D LS fix 1 Altitude Hold 2 D LS fix 4 7 DGPS Status U1 1 DGPS corrected 5 0 Position status U1 1 Valid 5 1
92. me 4 and 5 page 25 as downlinked by the satellite TLM words HOW words and parity bits are omitted The data in this message may change after initialization through data decode An 8 bit Week Number of Applicability is included in the compressed data and two extra bits are given in Byte 0 to extend this to a full GPS week number If the information is unknown all data fields are zero To erase almanac health information in the DR GPS module set this data with source byte equal to zero Invalid Clear Table 78 0x28 13 Compressed Almanac Health Report Message Byte Name Type Units Range Meaning LSB Value Code U8 0x28 Subcode U8 0x13 Almanac Health Page 0 0 2 Source U3 0 Invalid Clear 1 Host Input 2 Host Override 3 Data Decode 0 3 Newness U1 0 From BBRAM 1 New 0 6 7 GPS Week Extension U2 2 MSBs of WNoa 1 WNoa U8 IDC 200C 2 25 Compressed Health amp A S 24xU8 Subframe 4 Page 25 26 49 Compressed Health 24xU8 Subframe 5 Page 25 Lassen DR GPS Reference Manual 103 DR GPS STARTER KIT REFERENCE MANUAL 0x28 14 GPS lonospheric Model and UTC Parameters Initialization The elements of the ionosphere UTC message match subframe 4 page 18 as downlinked by the satellite TLM words HOW words and parity bits are omitted The data in this message may change after initialization through data decode A 10 bit Week Number of Collection is added as a time tag If the inform
93. mponents 1 2 Connect the GPS antenna to the interface unit Antenna types are product dependent Place the antenna outside The antenna should have a clear 180 view of the sky A reduced number of satellites will be available if this direct view is obstructed Connect the supplied USB cable to the USB connector on the interface unit Connect the other end of the USB cable to your PC Lassen DR GPS Reference Manual 15 DR GPS STARTER KIT REFERENCE MANUAL 10 11 Connect the supplied 5 wire interface cable to the correct vehicle outputs If the unit is to be used in a lab use the supplied international AC DC adapter to supply the power Turn on the interface unit and confirm that the green power LED lights The FTDI driver automatically assigns a virtual COM ports to the USB port During assignment the virtual COM ports display on your monitor screen To view LPT and COM port assignments select System Properties gt Device Manager To view the NMEA output use a terminal emulator program such as HyperTerminal This is usually found under Start gt Accessories gt Communications Select one of the USB virtual COM ports Set the COM port parameters to 38400 baud no parity and one stop bit This is the ONLY setting that is allowed 5 Wire Interface Cable PIN 5 PIN 1 Letz PIN 9 PIN 6 FEMALE VIEW_FROM LOADING OF CONNECTOR 120 5 30484127 WIRE SIGNAL COLOR SCHEME BROWN TACH O R
94. n normal usage The serial port operates at 38400 baud eight data bits no parity one stop bit The other two modes are monitor mode used for manufacture and low level diagnosis and control and flash loading mode used for updating the firmware The receiver enters monitor mode through HIPPO command The receiver will also enter monitor mode if the firmware ROM checksum fails The only way to enter flash loading mode is through the monitor mode For detailed descriptions of these two modes see the document DR GPS Flash Loading Requirements Trimble PN 45058 XX SP Rev 1 20 DR GPS STARTER KIT REFERENCE MANUAL HIPPO PROTOCOL RULES The HIPPO message structure is derived from the TSIP message structure Both are binary protocols with pre parsers that unstuff the bytes in the serial stream S bytes to create packets of message bytes M bytes Both are asynchronous protocols allowing the host and module to send multiple commands without waiting for the completion of the previous command The HIPPO design offers easier and more reliable parsing In contrast to TSIP which requires a small state machine after the pre parser to determine the start and end of the message packet HIPPO uses unique S bytes to identify the start and end before the pre parser The HIPPO message structure currently uses three control characters 0x80 HIPPO Control Character HCC 0x81 Start of Message SOM and 0x82 End of Message EOM HIPPO r
95. ng report message Four types of parameters can be queried System parameters e g version numbers 2 Configuration parameters e g DOP mask 3 Fix parameters e g satellite strength current position velocity time ephemeris 4 Initialization parameters e g position velocity time ephemeris The target system returns an acknowledgment packet When a query for a single report is successful the reply to that query is the acknowledgment If the query fails an explicit acknowledgment report message is sent as an acknowledgment If the query generates a series of response messages the last response is followed by an explicit acknowledgment report message that signals the end to the host s parser A query has two formats depending on whether the information is indexed e g by channel or satellite Table 16 Query Class Message Structure Byte Name Type Value Meaning Command Code U8 0x02 Parser Code U8 0x00 7F Parser Subcode U8 0x00 7F Single Subcode OxFF All subcodes Lassen DR GPS Reference Manual 52 DR GPS STARTER KIT REFERENCE MANUAL Table 17 Indexed Query Class Message Structure Byte Name Type Value Meaning Command Code U8 0x02 Parser Code U8 0x00 7F Report Code Parser Subcode U8 0x00 7F See report packet definitions Index U8 0x00 7F Single index e g channel or satellite OxFF All indices Like the set cla
96. ning Value Code U8 0x32 Subcode U8 0x03 0 4 5 Time source U2 0 System clock 1 RTC 2 GPS lt 10 ms 3 GPS lt 1 ms 1 4 GPS Time of U32 1 ms lt 604800000 Week 5 6 GPS Week U16 gt 1024 Number 7 UTC GPS offset U8 0 Not available gt 0 GPS UTC offset 8 9 UTC year U16 2000 10 UTC month U8 1 12 11 UTC day U8 1 31 12 UTC hour U8 0 23 13 UTC minute U8 0 59 14 UTC second U8 0 60 Lassen DR GPS Reference Manual 91 DR GPS STARTER KIT REFERENCE MANUAL 0x33 01 GPS Channel Measurement Short Status This report message type is indexed by channel number 0 7 for eight channel receivers and 0 11 for twelve channel receivers If the query is query all OxFF only assigned channels will be reported If channel status is queried for an unassigned channel the data fields including SV PRN are zero filled Table 66 0x33 01 GPS Channel Measurement Short Status Byte Name Type Units Range Meaning Value Code U8 0x33 Subcode U8 0x01 Index U4 0 11 Channel 0 SV PRN U5 0 Channel 1 32 unassigned SV PRN 1 0 SV Visible U1 1 Elevation gt Mask 1 1 reserved U1 1 2 SV Has Been U1 1 Already Tracked Tracked 1 reserved U1 1 4 SV Currently U1 1 Tracking Tracking 1 5 SV Meets SNR U1 1 SNR Meets Mask Mask 2 SNR U8 0 2 dB Hz 0 48 dBHz 3 Azimuth U8 2 0 358 4 Elevation S8 12 90 90 5 0 1 Almanac Status U2 0 None 1
97. ode The customer can effectively update a data block by writing a new data block with the same subcode and updated data provided that there is room left in the allocated ROM section approximately 2K bytes If no data block is found with the queried subcode the module returns an acknowledgment with Data not available The query all subcodes mode OxFF is not available Table 33 0x15 Data Stored in Non erasable Flash Report Byte Name Type Value Meaning Code U8 0x15 Subcode U8 0x01 7F 0 User defined U8 N 1 User defined U8 0 lt N lt 128 Lassen DR GPS Reference Manual 65 DR GPS STARTER KIT REFERENCE MANUAL 0x16 01 Health Status Report This report contains status of various real time operations in the DR GPS module Table 34 0x16 01 Health status report Byte Name Type Value Meaning Code U8 0x16 Subcode U8 0x01 010 Direction Switch U1 0 Normal Status 1 Abnormal 011 Gyro status U1 0 Normal 1 Abnormal 0 2 Tacho status U1 0 Normal 1 Abnormal 0 3 7 Reserved 1 0 1 Antenna status U2 0 Normal 1 Antenna open 3 Antenna short 112 Oscillator status U1 0 Normal 1 Abnormal 1 3 7 Reserved 2 Soft Event Index U7 0 No soft event in log 1 127 Most recent soft event index Lassen DR GPS Reference Manual 66 DR GPS STARTER KIT REFERENCE MANUAL 0x16 02 Repeat Start Up Report with System Tim
98. r applicable product Limited Warranty information please consult your local Trimble authorized sales manager For applicable product Limited Warranty information please refer to Legal Notices in the Help for this product or consult your local Trimble authorized dealer RoHS statement As of July 1 2006 the Product is compliant in all material respects with DIRECTIVE 2002 95 EC OF THE EUROPEAN PARLIAMENT AND OF THE COUNCIL of 27 January 2003 on the restriction of the use of certain hazardous substances in electrical and electronic equipment RoHS Directive and Amendment 2005 618 EC filed under C 2005 3143 with exemptions for lead in solder pursuant to Paragraph 7 of the Annex to the RoHS Directive applied The foregoing is limited to Product placed on the market in the Member States of the European Union on or after 1 July 2006 Trimble has relied on representations made by its suppliers in certifying this Product as ROHS compliant LIMITED WARRANTY TERMS AND CONDITIONS Product Limited Warranty Subject to the following terms and conditions Trimble Navigation Limited Trimble warrants that for a period of one 1 year from date of purchase this Trimble product the Product will substantially conform to Trimble s publicly available specifications for the Product and that the hardware and any storage media components of the Product will be substantially free from defects in materials and workmanship Product Software Product so
99. ration Q 0x3F 0x01 ADC and Gyro Self Test Data Q 0x3F 0x02 Data Positioning Collection Test Data ROM 14 Ox3F 0x03 Data Positioning Collection Test Data ROM 15 Ox3F 0x04 Gyro Bench Test Data Ox3F 0x06 Tacho Reverse Production Test Data 0x66 various Diagnostic tag 0x70 0x01 Channel GPS Raw Measurement Diagnostic 0x70 0x02 GPS Raw Position Velocity Diagnostic 0x70 0x03 DR Data 0x70 0x04 Reset Diagnostic Lassen DR GPS Reference Manual 57 DR GPS STARTER KIT REFERENCE MANUAL Table 22 Message Codes continued Code Subcode Indexed by Message Q 0x70 0x05 DR BBRAM Diagnostic V1 0x70 0x07 Map Match Data Echo Diagnostic 0x70 0x08 DR BBRAM Diagnostic V2 0x70 0x09 GPS No Fix 0x70 0x0A DR BBRAM Diagnostic V3 0x70 Ox7F Toggle Diagnostic Output Q Lassen DR GPS Reference Manual 58 DR GPS STARTER KIT REFERENCE MANUAL System Report Packets 0x10 Acknowledge Error Response to Command Packets This packet serves three different functions 1 Acknowledge a command when the operation is carried out such as set a flag to reset and change baud rate 2 Indicate a result of an operation is successful such as set commands and 3 Indicate a parsing error Not all sets queries or auto outputs generate a 0x10 response Specifically when a query or auto output for a single report is successful the reply to that query is the acknowledgment When the q
100. rror correction or other update created to fix a previous software version that does not substantially conform to its Trimble specifications 2 Minor Update occurs when enhancements are made to current features in a software program and 3 Major Upgrade occurs when significant new features are added to software or when a new product containing new features replaces the further development of a current product line Trimble reserves the right to determine in its sole discretion what constitutes a Fix Minor Update or Major Upgrade Warranty Remedies If the Trimble Product fails during the warranty period for reasons covered by this limited warranty and you notify Trimble of such failure during the warranty period Trimble will repair OR replace the nonconforming Product with new equivalent to new or reconditioned parts or Product OR refund the Product purchase price paid by you at Trimble s option upon your return of the Product in accordance with Trimble s product return procedures then in effect How to Obtain Warranty Service To obtain warranty service for the Product please contact your local Trimble authorized dealer Alternatively you may contact Trimble to request warranty service at 1 408 481 6940 24 hours a day or e mail your request to trimble_support trimble com Please be prepared to provide your name address and telephone numbers proof of purchase a description of the nonconforming Product inclu
101. rval Report Message Byte Name Type Value Meaning Code U8 Ox2F Subcode U8 0x04 0 1 Time Interval U16 0 Stop Immediately 1 60 Perform test for this interval seconds Lassen DR GPS Reference Manual 84 DR GPS STARTER KIT REFERENCE MANUAL 0x2F 06 Tacho Reverse Production Test Interval Control The test starts immediately upon receipt of the set command for 2F 06 When the test is finished it automatically reports message 3F 06 This message cannot be queried If a test is currently running this command will return an acknowledgment contradicts current data There are two modes possible automatic and manual Automatic control mode sets the Time Interval between one and 60 seconds The test begins immediately upon receipt of the set command and lasts until the end of the time interval Manual control mode uses the set command with the Time Interval Data field set to a large number e g 60 and then issuing an Stop Immediately command when desired Table 58 0x2F 06 Tacho Reverse Production Test Control Byte Name Type Value Meaning Code U8 0x2F Subcode U8 0x06 0 1 Time Interval U16 0 Stop Immediately 1 60 Perform test for this interval seconds 0x21 01 DR Engine Rate Control The DR software engine can be adjusted to run at 5 Hz or 10 Hz sampling rate The five Hz rate eases CPU load The choice of rate affects the minimum report inter
102. s appear without an EOM in between HCC occurs in the first two bytes parser code and subcode The byte following HCC is not equal to the 7 LSB s of a HIPPO control character Control characters appear between message after EOM but before the next SOM No EOM appears in the first 134 M bytes Lassen DR GPS Reference Manual 49 DR GPS STARTER KIT REFERENCE MANUAL COMMAND MESSAGES HIPPO has three classes of command message packets set parameters query parameters and system command The set command is simple it wraps around the report message structure of the parameter s to be set The query command structure is even simpler it calls out the report code and subcode and index if applicable of the desired reports The module always acknowledges a command in one of two ways An explicit acknowledgment message is sent in reply to either 1 A command 2 An unsuccessful query 3 Aquery that generates a series of report messages 4 If the query successfully generates a single report message that message is the implicit acknowledgment The acknowledgment contains a status indicating the completion of the operation Set Class The set class packets set receiver system and any other defined parameters within the target system Two types of parameters can be set 1 Configuration parameters such as DOP mask 2 Initialization parameters such as position velocity time and ephemeris
103. sitions propagated to current time using GPS velocities Soft event occurs if this window average passes a series of criteria see DR GPS KF algorithm document 45172 XX SP and the offset relative to the DR position is large enough Action The DR position is snapped to the window average Heading recovery solution snapped to GPS Condition cause Incorrect heading at start up or substantial drift of DR GPS heading estimate Effect before Action Large heading offset between GPS and DR outputs for a number of seconds Soft Event Detected Compute average of window of recent raw GPS headings propagated to current time gyro measurements Soft event occurs if this window average passes a series of criteria see DR GPS KF algorithm document 45172 XX SP and the offset relative to the DR heading is large enough Action The DR heading is snapped to the window average Lassen DR GPS Reference Manual 120 DR GPS STARTER KIT REFERENCE MANUAL DPP recovery solution snapped to GPS Condition cause Incorrect DPP at start up or substantial drift of DR GPS DPP estimate Effect before Action Large speed offset between GPS and DR outputs for a number of seconds Soft Event Detected Compute average of window of recent DPP estimates Action derived directly from the raw GPS speed and number of pulses Soft event occurs if this window average passes a series of criteria see DR GPS KF algorithm document 4
104. ss message the query packet has two bytes body contains the parser code and subcode for a configuration packet or a report packet For example to query the operating dimension setting in the GPS configuration block Table 18 Example of Query for Operating Dimension parameter Byte Name Type Value Meaning Command Code U8 0x02 Parser Code U8 0x24 Report packet for GPS Configuration Parser Subcode U8 0x01 Parameter Subcode for Operating Dim Lassen DR GPS Reference Manual 53 DR GPS STARTER KIT REFERENCE MANUAL System Class A system class packet is a set packet associated with the system operations The following section describes each of packets Reset Receiver This command resets the receiver software Table 19 0x03 Receiver Reset Command Messages Byte Name Type Value Meaning Code U8 0x03 Subcode U8 0x01 Reset 0x02 Clear RAM reset 0x03 Force to Monitor Mode 0x04 Shut Down 0x05 Clear ephemeris and oscillator reset 0x06 Clear oscillator reset 0x07 Clear flash data and RAM reset 0x08 Clear position reset 0x09 Write BBRAM to flash reset graceful 0x0A lo DSP Pass through mode Force to Monitor Mode Force the target system to exit from GPS function and into the embedded monitor mode The serial communication is reset to 38 4K baud no parity Once in the monitor mode all HIPPO APIs are disabled Refer to flash loading documents for more detail Shutdown
105. terval for automatic messages Automatic outputs are controlled by thresholds and triggers on three criteria time distance traveled or heading change A combination of criteria can be set for each message and different report message codes can have different output controls The number of message codes that can be chosen for auto output is limited to 16 The message codes chosen for auto report are stored in a table that contains the values of time interval distance traveled and heading change since the last report These values are kept separately for each message code The table is scanned every time the gyro service routine is called at 10 Hz or 5 Hz rate For each message code the current values of time interval distance traveled and heading change are differenced with the corresponding three table values The three differences are compared against the three corresponding thresholds for that message code to determine whether an output is allowed If so the differences are then compared to against the three corresponding triggers if any to see if an output is required If the message is output the table values are updated to the current values The logic for report output is as follows Time interval gt Tinresn AND Distance traveled gt Die AND Heading change gt Hinresn AND EVENT OR Time interval gt Trigger OR distance traveled gt Dirigger OR Heading change SS Hirigger Defaults are zero for all reports
106. the Product or that software components will operate error free NOTICE REGARDING PRODUCTS EQUIPPED WITH TECHNOLOGY CAPABLE OF TRACKING SATELLITE SIGNALS FROM SATELLITE BASED AUGMENTATION SYSTEMS SBAS WAAS EGNOS AND MSAS OMNISTAR GPS MODERNIZED GPS OR GLONASS SATELLITES OR FROM IALA BEACON SOURCES TRIMBLE IS NOT RESPONSIBLE FOR THE OPERATION OR FAILURE OF OPERATION OF ANY SATELLITE BASED POSITIONING SYSTEM OR THE AVAILABILITY OF ANY SATELLITE BASED POSITIONING SIGNALS THE FOREGOING LIMITED WARRANTY TERMS STATE TRIMBLE S ENTIRE LIABILITY AND YOUR EXCLUSIVE REMEDIES RELATING TO THE TRIMBLE PRODUCT EXCEPT AS OTHERWISE EXPRESSLY PROVIDED HEREIN THE PRODUCT AND ACCOMPANYING DOCUMENTATION AND MATERIALS ARE PROVIDED AS IS AND WITHOUT EXPRESS OR IMPLIED WARRANTY OF ANY KIND BY EITHER TRIMBLE 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 FORA 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 PRODUCT BECAUSE SOME STATES AND JURISDICTIONS DO NOT ALLOW LIMITATIONS ON DURATION OR THE EXCLUSION OF AN IMPLIED WARRANTY THE ABOVE LIMITATION MAY NOT APPLY OR FULLY APPLY TO YOU Limitation of Liability TRIMBLE S ENTIRE LIABILITY UNDER ANY PROVISION HEREIN SHALL BE LIMITED T
107. the host sends the message with the Source byte set to Host Input If the information is already in use in the system and validated by fixes or decode the module may reject the host input This will be indicated in the acknowledgment message Validated data can be over written using the Host override option If BBRAM is lost byte 3 of the start up message 12 01 will indicate the module is doing a cold start The host can upload the initialization information to the module using the set procedure to speed GPS satellite acquisition This information includes 1 Almanac messages 28 12 28 13 28 14 2 Time message 29 01 3 Frequency message 29 04 and 4 Latitude longitude message 29 02 Of the above list the frequency message is optional but the others are required for warm start performance The order of data entry is important The latitude longitude message 29 02 must be provided after the time almanac and optionally frequency messages because this message triggers an immediate satellite re selection using the new data The other initialization messages altitude DR calibration ephemeris will also speed the first fix and can be sent either before or after the latitude longitude message Many of the data structures in this section have source and newness fields A set command can use values 0 clear 1 host input or 2 host override for the source field If the source is currentl
108. turn an acknowledgment contradicts current data This test does not interfere with the normal functioning of the module The test collects statistics for a report at the end of the test Table 56 0x2F 02 Data Positioning Collection Mode Control Byte Name Type Value Meaning Code U8 Ox2F Subcode U8 0x02 0 1 Time Interval U16 0 Stop Immediately 1 3600 Perform test for this interval seconds Lassen DR GPS Reference Manual 83 DR GPS STARTER KIT REFERENCE MANUAL 0x2F 04 Gyro Bench Test Interval Control The module can bench test gyro performance This test is similar to the gyro part of the power up ADC gyro test The test starts immediately upon receipt of the set command for 2F 04 When the test is finished it automatically reports message 3F 04 The unit must be stationary for this test to be meaningful This message cannot be queried There are two modes possible automatic and manual Automatic control mode sets the Time Interval between one and 60 seconds The test begins immediately upon receipt of the set command and lasts until the end of the time interval Manual control mode uses the set command with the Time Interval Data field set to a large number e g 60 and then issuing an Stop Immediately command when desired If a test is currently running this command will return an acknowledgment contradicts current data Table 57 Ox2F 04 Gyro Bench Test Inte
109. uery or auto output fails or when it generates a series of response messages a 0x10 message follows the last response to explicitly end the host parser actions The last data byte of the message is a parser status code If the status code is not zero an error has occurred and the module has not implemented the command The value of the status code indicates at the point in the procedure where the parser failed 1 An M byte stream of no more than 128 bytes could not be created control character error The checksum did not compute properly The parser code and subcode were be recognized The message length as not correct for that parser code subcode One or more of the data values was not reasonable and appropriate The data contradicts values of position time etc that have been validated by the GPS This data can be forced using the host override option if available gor SU Me ND There are three forms of the acknowledgment report 1 for sets queries and auto outputs of non indexed reports 2 for sets queries and auto outputs of indexed reports and 3 for system commands If the command includes a change in the serial port protocol the module sends the acknowledgment in the old protocol The data length is three bytes if the report code data byte 0 is for an non indexed report Lassen DR GPS Reference Manual 59 DR GPS STARTER KIT REFERENCE MANUAL Table 23 0x10 Non indexed Set and Query Ackno
110. ur design The Starter Kit includes the DR GPS module mounted on an interface motherboard The motherboard accepts power from 9 32 VDC and provides regulated 3 3V power to the DR GPS module The motherboard also contains Miniature magnetic mount GPS 28dB Antenna with SMB connector and 5 meter cable 9 pin DR GPS interface cable AC DC power supply adapter input 100 240VAC output 12 VDC USB Cable CD containing software tools used to communicate with the receiver the System Designer Reference Manual NMEA Reader and the DrMonitor Program Lassen DR GPS Starter Kit Module Lassen DR GPS Reference Manual 12 DR GPS STARTER KIT REFERENCE MANUAL Starter Kit Interface Unit The Starter Kit interface unit consists of aDR GPS module attached to an interface motherboard This kit simplifies evaluation and software development with the receiver by providing a USB interface that is compatible with most PC communication ports Power 9 32 VDC is supplied through the power connector on the front of the interface unit The motherboard features a switching power supply that converts this voltage input to the 3 3 volts required by the receiver and the 5 volts required by the antenna The DR GPS module installed on the Starter Kit interface unit is a single port receiver A FAKRA RF connector supports the GPS antenna connection The center conductor of the FAKRA connector also supplies 5 5 VDC for the Low Noise Ampl
111. val in report Ox2B After the engine rate is changed the system will be reset automatically Table 59 0x21 01 DR Engine Rate Control Byte Name Type Value Meaning Code U8 0x21 Subcode U8 0x01 0 DR Engine Rate U8 5 Hz 10 10 Hz Lassen DR GPS Reference Manual 85 DR GPS STARTER KIT REFERENCE MANUAL Data Report Packets Data report packets can be queried or output based on time interval distance traveled heading change Data validity must be checked before the data field are translated or used 0x30 02 Fast Fix with Raw DR Data Message This message is prepared for output every fast cycle 5 Hz or 10 Hz when in HIPPO mode except for a short period at start up The Output Interval Control determines the actual rate of output This message has higher priority than other messages so a series of reports that lasts longer than 100 milliseconds may have one or more of these messages interspersed This should cause no problem since all series of reports are terminated by an acknowledgment Table 60 0x30 02 Fast Fix with Raw DR Data Message Byte Name Type Units Range Value Meaning LSB Code U8 0x30 Subcode U8 0x02 0 0 Position Status U1 1 Valid 0 1 Altitude Status U1 1 Valid 0 2 Heading Status U1 1 Valid 0 3 Speed Status U1 1 Valid 0 4 Direction Switch Status U1 1 Valid 0 5 Delta Distance Status U1 1 Valid 0 6 Delta Heading Status U1 1
112. verse order from newest most recent first to oldest first recorded If the module has collected less than twenty intervals of data the unrecorded array elements will be set to zero These zero distance elements will have no effect on map matching algorithms The oldest first recorded interval lasts from power up until the first integer second at which motion is detected The most recent interval for delta distance and delta heading gives the data between the most recent integer second and the request so it may not be a complete second If no motion has been recorded since power up this is the only interval reported and it may be much longer than one second Distance accuracy is relative to the total distance traveled the sum of all the intervals The accuracy of each one second segment should be scaled proportionately Delta Heading accuracy is over each one second interval and is roughly the same for each of the intervals except the most recent which may be more accurate Lassen DR GPS Reference Manual 99 DR GPS STARTER KIT REFERENCE MANUAL Table 76 0x30 03 Buffered Cumulative DR Message Byte Name Type Units Range Value Meaning LSB Code U8 0x30 Subcode U8 0x03 0 0 Current Position U1 1 Valid Valid 0 1 Current Heading U1 1 Valid Valid 0 2 Delta Distance Valid U1 1 Valid 0 3 Delta Heading Valid U1 1
113. wledge Byte Name Type Value Meaning Code U8 0x10 Subcode U8 0x01 Set acknowledge 0x02 Query acknowledge 0x04 Auto output acknowledge 0 Command Code U8 0x00 7F Non indexed report 1 Command Subcode U8 0x00 7F Single subcode OFT All subcodes 2 Status Code U8 0 Acknowledged or a successful operation 1 Pre parser error 2 Checksum error 3 Unknown Code Subcode 4 Parser data length error 5 Data value error TBD 6 Contradicts current data 7 Data table full e g Output Interval Control 8 Data not available For indexed sets and queries the data length is four bytes The parser will expect this data length if the report code byte 0 is for an indexed report Table 24 0x10 Indexed Set and Query Acknowledge Byte Name Type Value Meaning Code U8 0x10 Subcode U8 0x01 Set acknowledge 0x02 Query acknowledge 0 Command Code U8 0x00 7F Indexed report 1 Command Subcode U8 0x00 7F Single subcode ER All subcodes Index U8 0x00 7F Channel or satellite index Status Code U8 0 Acknowledged or a successful operation 1 Pre parser error 2 Checksum error 3 Unknown Code Subcode 4 Parser data length error 5 Data value error TBD 6 Contradicts current data 7 Data table full e g Output Interval Control 8 Data not available For system commands the data length is two bytes Lassen DR GPS Reference Manual 60 DR GPS STARTER KIT REFERENCE MANUAL Table 25 0x10 0
114. y 2 host override or 3 derived from GPS and a new set command has source value 1 host input the acknowledgment message returns error value contradict for set command The newness field cannot be set if newness is 0 a reset has occurred since the value was last updated Lassen DR GPS Reference Manual 101 DR GPS STARTER KIT REFERENCE MANUAL 0x28 12 Almanac Initialization The elements of the almanac message match subframes 4 and 5 as downlinked by the satellite TLM words HOW words and parity bits are omitted The data in this message may change after initialization through data decode A 10 bit Week Number of Applicability is added as a time tag If the information is unknown all data fields are zero To erase almanac health information in the DR GPS module set this data with source byte equal to zero Invalid Clear Table 77 0x28 12 Almanac Fixed Point Report Message Byte Name Type Units LSB Range Value Meaning Code U8 0x28 Subcode U8 0x12 Almanac Index U8 1 32 SV PRN 0 0 2 Source U3 0 Invalid Clear 1 Host Input 2 Host Override 3 Data Decode 0 3 Newness U1 0 From BBRAM 1 New 0 6 7 GPS Week Extension U2 2 MSBs of WNoa 1 WNoa U8 IDC 200C 2 25 Compressed Almanac SE Lassen DR GPS Reference Manual 102 DR GPS STARTER KIT REFERENCE MANUAL 0x28 13 Almanac Health Initialization The elements of the almanac health message match subfra

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