Trimble Outdoors Binoculars 58059 00 User Manual

REFERENCE MANUAL

USER GUIDE

Lassen DR+GPS

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USER GUIDE

REFERENCE MANUAL

LASSEN DR+GPS

STARTER KIT

Revision A

Part Number 58059-00

March 2007

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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.

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

For applicable product Limited Warranty information, please consult your local Trimble

authorized sales manager. For applicable product Limited Warranty information, please refer

to Legal Notices in the Help for this 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.

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LIMITED WARRANTY TERMS AND CONDITIONS

Product Limited Warranty

Subject to the following terms and conditions, Trimble Navigation Limited (“Trimble”) warrants

that for a period of one (1) year from date of purchase this Trimble product (the “Product”) will

substantially conform to Trimble's publicly available specifications for the Product and that the

hardware and any storage media components of the Product will be substantially free from

defects in materials and workmanship.

Product Software

Product software, whether built into hardware circuitry as firmware, provided as a standalone

computer software product, embedded in flash memory, or stored on magnetic or other

media, is licensed solely for use with or as an integral part of the Product and is not sold. If

accompanied by a separate end user license agreement (“EULA”), use of any such software

will be subject to the terms of such end user license agreement (including any differing

limited warranty terms, exclusions, and limitations), which shall control over the terms and

conditions set forth in this limited warranty.

Software Fixes

During the limited warranty period you will be entitled to receive such Fixes to the Product

software that Trimble releases and makes commercially available and for which it does not

charge separately, subject to the procedures for delivery to purchasers of Trimble products

generally. If 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

error correction or other update created to fix a previous software version that does not

substantially conform to its Trimble specifications; (2) “Minor Update” occurs when

enhancements are made to current features in a software program; and (3) “Major Upgrade”

occurs when significant new features are added to software, or when a new product

containing new features replaces the further development of a current product line. Trimble

reserves the right to determine, in its sole discretion, what constitutes a Fix, Minor Update, or

Major Upgrade.

Warranty Remedies

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.

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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 [email protected]. Please be

prepared to provide:

⎯

your name, address, and telephone numbers

proof of purchase

a description of the nonconforming Product including the

model number and serial number

an explanation of the problem

The customer service representative may need additional information from you depending on

the nature of the problem.

Warranty Exclusions and Disclaimer

This Product limited warranty shall only apply in the event and to the extent that (a) the

Product is properly and correctly installed, configured, interfaced, maintained, stored, and

operated in accordance with Trimble's applicable operator's manual and specifications, and;

(b) the Product is not modified or misused. This Product limited warranty shall not apply to,

and Trimble shall not be responsible for, defects or performance problems resulting from (i)

the combination or utilization 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 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 FOR A

PARTICULAR PURPOSE, TITLE, AND NONINFRINGEMENT. THE STATED EXPRESS

WARRANTIES ARE IN LIEU OF ALL OBLIGATIONS OR LIABILITIES ON THE PART OF

TRIMBLE ARISING OUT OF, OR IN CONNECTION WITH, ANY 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.

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Limitation of Liability

TRIMBLE'S ENTIRE LIABILITY UNDER ANY PROVISION HEREIN SHALL BE LIMITED TO

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.

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TABLE OF CONTENTS

ABOUT THIS MANUAL ..........................................................................10

TECHNICAL ASSISTANCE........................................................................................ 10

CHAPTER 1: LASSEN DR+GPS STARTER KIT.......................................11

INTRODUCTION...................................................................................................... 12

STARTER KIT CONTENTS ....................................................................................... 12

STARTER KIT INTERFACE UNIT ............................................................................... 13

ORDERING STARTER KIT COMPONENTS.................................................................. 14

QUICK START GUIDE............................................................................................. 15

Copy the Supplied Files .........................................................................................................................15

Install the FTDI Driver ..........................................................................................................................15

Connect the Starter Kit Components......................................................................................................15

SOFTWARE TOOLKIT ............................................................................................. 17

INTERFACE PROTOCOL .......................................................................................... 17

NMEA Tools..........................................................................................................................................17

HIPPO Tools..........................................................................................................................................17

CHAPTER 2: COMMON OPERATIONS .....................................................18

NMEA PORT CONFIGURATION............................................................................... 19

Enable NMEA Mode .............................................................................................................................19

View NMEA Output..............................................................................................................................21

Changing NMEA Output and Report Rates...........................................................................................22

CHANGE THE OUTPUT PROTOCOL.......................................................................... 24

Change from the Default NMEA Output to HIPPO ..............................................................................24

HIPPO COMMANDS TO CHANGE PROTOCOL........................................................... 27

HIPPO Commands to Change NMEA to HIPPO: .................................................................................27

HIPPO Commands to Change HIPPO to NMEA: .................................................................................28

Save the Calibration Settings .................................................................................................................29

USE NMEA READER............................................................................................. 30

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APPENDIX A: NMEA 0183..............................................................33

INTRODUCTION...................................................................................................... 34

THE NMEA 0183 COMMUNICATION INTERFACE ...................................................... 35

NMEA 0183 MESSAGE FORMAT ........................................................................... 36

FIELD DEFINITIONS................................................................................................ 37

NMEA 0183 MESSAGE OPTIONS........................................................................... 39

NMEA 0183 MESSAGE FORMATS ......................................................................... 40

GGA-GPS FIX DATA ............................................................................................ 40

GSA - GPS DOP AND ACTIVE SATELLITES............................................................. 40

GSV - GPS SATELLITES IN VIEW ........................................................................... 41

RMC - RECOMMENDED MINIMUM SPECIFIC GPS/TRANSIT DATA .............................. 42

VTG - TRACK MADE GOOD AND GROUND SPEED .................................................... 43

EXCEPTION BEHAVIOR .......................................................................................... 43

APPENDIX B: HIPPO.......................................................................44

HIPPO PROTOCOL RULES .................................................................................... 45

GENERAL MESSAGE STRUCTURE RULES................................................................. 46

REPORT MESSAGE STRUCTURE (MODULE TO HOST) ............................................... 47

COMMAND MESSAGE STRUCTURE (HOST TO MODULE) ............................................ 48

CHAINED MESSAGES............................................................................................. 48

POST-FORMATTING: HCC STUFFING BEFORE TRANSMISSION .................................. 49

PRE-PARSING: HCC UNSTUFFING AFTER RECEPTION ............................................. 49

COMMAND MESSAGES .......................................................................................... 50

SET CLASS........................................................................................................... 50

QUERY CLASS ...................................................................................................... 52

SYSTEM CLASS..................................................................................................... 54

Reset Receiver........................................................................................................................................54

REPORT CLASS .................................................................................................... 55

REPORT MESSAGE CODE ASSIGNMENT .................................................................. 56

SYSTEM REPORT PACKETS.................................................................................... 59

0x10: Acknowledge / Error Response to Command Packets.................................................................59

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0x11: Version Report.............................................................................................................................61

0x12-01: Start-Up Report.......................................................................................................................62

0x12-02: Software Mode Report............................................................................................................62

0x12-03: Production Information Report...............................................................................................63

0x12-04: Hardware ID Report ...............................................................................................................63

0x14-01: Soft Event Log Report............................................................................................................63

0x14-02: Fatal Error Log Report ...........................................................................................................64

0x15: Data Stored in Non-erasable Flash Report...................................................................................65

0x16-01: Health Status Report...............................................................................................................66

0x16-02: Repeat Start-Up Report with System Time ............................................................................67

CONFIGURATION REPORT PACKETS ........................................................................ 68

0x22-01: Output Interval Control Table ................................................................................................68

0x22-02: NMEA Output Control ...........................................................................................................69

0x24: GPS Configuration.......................................................................................................................69

0x25: Kalman Filter Configuration........................................................................................................70

0x26-01: Available Report Codes..........................................................................................................72

0x26-02: Available Report Subcodes.....................................................................................................73

0x26-03, 0x26-04, 0x26-05: DPP Speed Model....................................................................................74

0x27: DR Filter Configuration...............................................................................................................75

0x2A, 0x2B, 0x2C; 0x2D: Output Interval Control...............................................................................79

0x2E-01: Soft Event Report Mask.........................................................................................................82

0x2F-02: Data Positioning Collection Test Interval Control .................................................................83

0x2F-04: Gyro Bench Test Interval Control ..........................................................................................84

0x2F-06: Tacho/Reverse Production Test Interval Control ...................................................................85

0x21-01: DR Engine Rate Control.........................................................................................................85

DATA REPORT PACKETS........................................................................................ 86

0x30-02: Fast Fix with Raw DR Data Message.....................................................................................86

0x31-01: GPS Fix Message....................................................................................................................88

0x32-01: UTC Time and Constellation Summary Message...................................................................89

0x32-02: Constellation Summary Message............................................................................................90

0x32-03: UTC Time Message................................................................................................................91

0x33-01: GPS Channel Measurement Short Status................................................................................92

0x36: DR Calibration Messages.............................................................................................................93

0x3F-01: ADC and Gyro Self-test Data.................................................................................................96

0x3F-03: Data Positioning Collection Test Data (ROM 15 and after)...................................................97

0x3F-04: Gyro Bench Test Data ............................................................................................................98

0x3F-06: Tacho/Reverse Production Test Data .....................................................................................98

0x30-03: Buffered Cumulative DR message .........................................................................................99

INITIALIZATION INFORMATION................................................................................ 101

0x28-12: Almanac Initialization ..........................................................................................................102

0x28-13: Almanac Health Initialization...............................................................................................103

0x28-14: GPS Ionospheric Model and UTC Parameters Initialization................................................104

0x28-16: Ephemeris Initialization........................................................................................................104

0x29-01: Time Initialization ................................................................................................................105

0x29-02: Latitude / Longitude Initialization........................................................................................106

0x29-03: Altitude Initialization............................................................................................................107

0x29-04: Local Oscillator (LO) Frequency Offset Initialization .........................................................108

0x29-05: Heading Initialization ...........................................................................................................109

REAL-TIME INPUT DATA....................................................................................... 109

0x29-07: Short Map-Match Data .........................................................................................................110

0x29-08: Tacho Data............................................................................................................................111

EVENT LOG QUEUE............................................................................................. 112

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THEORY OF OPERATION ...................................................................................... 112

FATAL ERRORS................................................................................................... 114

SOFT EVENTS..................................................................................................... 117

EVENT MESSAGES .............................................................................................. 120

Invalid BBRAM detected on startup....................................................................................................120

Position recovery, solution snapped to GPS. .......................................................................................120

Heading recovery, solution snapped to GPS........................................................................................120

DPP recovery, solution snapped to GPS..............................................................................................121

GPS receiver fixes not reasonable; try to recover................................................................................121

Gyro readings do not stay within specification....................................................................................121

No Tacho data when GPS is detecting movement ...............................................................................122

Excessive tacho data is received for a long period of time ..................................................................122

Reverse signal opposite to direction determined by GPS. ...................................................................122

Large jump at power-up.......................................................................................................................122

Oscillator values are not within specification. .....................................................................................123

Antenna open detected.........................................................................................................................123

Antenna short detected.........................................................................................................................124

Failure to connect to GPS DSP............................................................................................................124

RTC disagreed with GPS time .............................................................................................................124

Gyro Failure.........................................................................................................................................124

ADC Failure.........................................................................................................................................125

Gyro Shorted to 3.3 V..........................................................................................................................125

APPENDIX C: SPECIFICATIONS ..................................................126

DATA I/O............................................................................................................ 128

GPS ANTENNA ................................................................................................... 131

REFERENCE BOARD DIAGRAMS............................................................................ 132

MECHANICAL SPECIFICATION ............................................................................... 135

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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, contact the Trimble

Technical Assistance Center at 800-767-4822.

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C H A P T E R

LASSEN DR+GPS STARTER KIT

In this chapter:

Product Overview

Starter Kit

Quick Start Guide

Interface Protocols

Power

Software Toolkit

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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 your 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

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DR + GPS

STARTER KIT REFERENCE MANUAL

Starter Kit Interface Unit

The Starter Kit interface unit consists of a DR+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

Amplifier 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).

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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:

Product

Ordering Products

Part Number

Shielded PCA with SMB

Lassen DR+GPS module

55000-80

PCA with SMB Lassen DR+GPS module

Lassen DR+GPS module Starter Kit

Magnetic mount, miniature antenna

AC/DC power adapter and clips

USB Interface Cable

46999-80

61100-05

56237-00

59495 and 59495-05

61174

DR+GPS Starter Kit CD

61694-05

9-pin DR+GPS 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

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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. Insert the supplied CD.

2. 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 Components

1. Connect the GPS antenna to the interface unit. Antenna types are product

dependent.

2. 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.

3. Connect the supplied USB cable to the USB connector on the interface unit.

4. Connect the other end of the USB cable to your PC.

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STARTER KIT REFERENCE MANUAL

5. Connect the supplied 5 wire interface cable to the correct vehicle outputs.

6. If the unit is to be used in a lab, use the supplied international AC/DC adapter

to supply the power.

7. Turn on the interface unit and confirm that the green power LED lights.

8. 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>Device

Manager.

9. To view the NMEA output, use a terminal emulator program such as

HyperTerminal. This is usually found under Start>Accessories>Communications.

10. Select one of the USB virtual COM ports.

11. Set the COM port parameters to 38400 baud, no parity, and one stop bit. This

is the ONLY setting that is allowed.

1. 5-Wire Interface Cable

Lassen DR + GPS Reference Manual 16

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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

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C H A P T E R

COMMON OPERATIONS

In this chapter:

NMEA Port Configuration

Change the Output Protocol

Use the NMEA Reader

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DR + GPS

STARTER KIT REFERENCE MANUAL

NMEAPORT 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.

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STARTER KIT REFERENCE MANUAL

2. Select Config>Com setup

3. Select the correct COM port number for the USB Virtual Serial Port.

4. Select 38400 Baud, No Parity, 8 Data Bits, and 1 Stop Bit.

5. Click the OK button.

6. Select Config>HIPPO>NMEA Output to open the Configuration window.

7. Click the NMEA button and then the Configure button. The SUCCESS screen

displays.

8. Click the Close button. All output is displayed as NMEA data.

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DR + GPS

STARTER KIT REFERENCE MANUAL

View NMEA Output

1. Open HyperTerminal or a similar terminal emulator.

2. Set the 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.

NOTE To change the NMEA output you must quit HyperTerminal and start

DrMonitor again.

Lassen DR + GPS Reference Manual 21

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DR + GPS

STARTER KIT REFERENCE MANUAL

Changing NMEA Output and Report Rates

1. Open DrMonitor

2. Select Config>Com setup.

3. Select the correct Com port number for the USB Virtual Serial Port.

4. Select 38400 Baud, No Parity, 8 Data Bits, and 1 Stop Bit.

5. Click the OK button.

6. Select Config>NMEA Message Output Control to open the Configuration

window.

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7. Select the 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.

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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

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2. Select Config>Com setup

3. Select the correct Com port number for the USB Virtual Serial Port.

4. Select 38400 Baud, No Parity, 8 Data Bits, and 1 Stop Bit.

5. Click the OK button.

6. Select Config>Protocol to open the Protocol Configuration window.

7. Select the HIPPO button.

8. Click the Configure button.

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9. Wait for the operation to close. The protocol changes and the SUCCESS

screen displays.

10. Click the Close button.

Updates to the DrMonitor screen display as illustrated below. All output is

HIPPO.

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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 0C 00 00 94 82

81 01 2A 32 01 00 0C 00 00 93 82

81 01 2A 33 01 00 0C 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

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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 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 C0 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.

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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 of the 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^oturns.

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> Clear Position, Reset.

4. From the DrMonitor menu, select SysCmd> Write BBRAM to Flash, Reset.

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USE NMEAREADER

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

2. Select File>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.

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A P P E N D I X

NMEA0183

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.

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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 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

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THE NMEA0183 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

Parity

None (Disabled)

Stop Bits

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NMEA0183 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][LF]

“$”

The “$” signifies the start of a message.

The talker identification is a two letter mnemonic which describes the

source of the navigation information. The GP identification signifies a

GPS source.

MSG

The message identification is a three letter mnemonic which

describes the message content and the number and order of the data

fields.

“,”

Commas serve as delimiters for the data fields.

Each message contains multiple data fields (Dn) which are delimited

by commas.

“*”

The asterisk serves as a checksum delimiter.

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.

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FIELD DEFINITIONS

Many of the 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

Single character field:

A=Yes, data valid, warning flag clear

V=No, data invalid, warning flag set

Special Format Fields

Latitude

Longitude

Time

llll.lll

Fixed/variable length field:

Degreesminutes.decimal-2 fixed digits of degrees, 2 fixed

digits of minutes and a variable number of digits for

decimal-fraction of minutes. Leading zeros always

included for degrees and minutes to maintain fixed

length. The decimal point and associated decimal-

fraction are optional if full resolution is not required.

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.

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”, “hhmmss.ss”, “llll.ll”, “x”, “yyyyy.yy”

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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

Fixed length HEX numbers only, MSB on the left

Information Fields

Fixed Alpha

Fixed length field of upper-case or lower-case alpha

characters.

Fixed

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.

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NMEA0183 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 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

GSV

RMC

VTG

GPS DOP and active satellites

GPS satellites in view

Recommended minimum specific

GPS/Transit data

Track made good and ground speed

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NMEA0183 MESSAGE FORMATS

GGA-GPS Fix Data

The GGA message includes time, position and fix related data for the GPS

receiver.

$GPGGA,hhmmss.ss,llll.lll,a,nnnnn.nnn,b,t,uu,

v.v,w.w,M,x.x,M,y.y,zzzz*hh <CR><LF>

Table 5:

GGA Message

Field #

Description

UTC of Position

2, 3

4, 5

Latitude, N (North) or S (South)

Longitude, E (East) or W (West)

GPS Quality Indicator: 0 = No GPS, 1 = GPS, 2 = DGPS

Number of Satellites in Use

Horizontal Dilution of Precision (HDOP)

Antenna Altitude in Meters, M = Meters

9, 10

11, 12

Geoidal Separation in Meters, M=Meters. Geoidal separation is the

difference between the WGS-84 earth ellipsoid and mean-sea-level.

Age of Differential GPS Data. Time in seconds since the last Type 1 or

9 Update

Differential Reference Station ID (0000 to 1023)

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>

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Table 6:

GSA Message

Field #

Description

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.

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

Position dilution of precision (PDOP)

Horizontal dilution of precision (HDOP)

Vertical dilution of precision (VDOP)

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,x,x,xx,xx,xx,xxx,xx,xx,xx,xxx,xx,xx,xx,

xxx,xx,xx,xx,xxx,xx*hh<CR><LF>

Table 7:

GSV Message

Field #

Description

Total number of GSV messages

Message number: 1 to 3

Total number of satellites in view

Satellite PRN number

Satellite elevation in degrees (90° Maximum)

Satellite azimuth in degrees true (000 to 359)

Satellite SNR (C/No), null when not tracking

PRN, elevation, azimuth and SNR for second satellite

PRN, elevation, azimuth and SNR for third satellite

PRN, elevation, azimuth and SNR for fourth satellite

Checksum

8, 9, 10, 11

12, 13, 14, 15

16, 17, 18, 19

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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,llll.ll,a,yyyyy.yy,a,x.x,x.x,xxxxxx,x.x,a,i*hh<CR><LF>

Table 8:

RMC Message

Field #

Description

UTC of Position Fix.

Status: A = Valid, V = navigation receiver warning

Latitude, N (North) or S (South).

3, 4

5, 6

Longitude, E (East) or W (West).

Speed over the ground (SOG) 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

Checksum (Mandatory for RMC)

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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,i*hh<CR><LF>

Table 9:

VTG Message

Field #

Description

Track made good in degrees true.

Track made good in degrees magnetic.

3, 4

5, 6

Speed over the ground (SOG) in knots.

Speed over the ground (SOG) in kilometer per hour.

Mode Indicator: A=Autonomous Mode, D=Differential Mode,

E=Estimated (dead reckoning) Mode, M=Manual Input Mode,

S=Simulated Mode, N-Data Not Valid

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.

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A P P E N D I X

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 in 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.

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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 reserves 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.

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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 following 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. It 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.

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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

PSUB

D[0]

Parser code

0x00 – 0x7F

0x00 – 0x7F, 0xFF

0x00 – 0xFF

…

Parser subcode

First byte of data

Second byte of data

…

D[1]

…

D[N-1]

Last byte of data

Checksum

0x00 – 0xFF

0x82

EOM

End of message

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

PSUB

INDEX

D[0]

Parser code

0x00 – 0x7F

0x00-0x7F, 0xFF

0x00 – 0xFF

…

Parser subcode

Data indexed by channel, etc.

First byte of data

Second byte of data

…

D[1]

…

D[N-1]

Last byte of data

Checksum

0x00 – 0xFF

0x82

EOM

End of message

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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

PCOD

PSUB

D[0]

Set Command code

Parser code

0x01

0x00 – 7F

0x00 – 7F, 0xFF

0x00 – FF

…

Parser subcode

First byte of data

Second byte of data

…

D[1]

…

D[N-1]

Last byte of data

Checksum

0x00 – FF

0x82

EOM

End of message

Table 13:

HIPPO Query Message Structure for Indexed Data

Byte

Meaning

Value

SOM

Start of message

0x81

CCOD

PCOD

PSUB

INDEX

Query Command code

Parser code

0x02

0x00 – 7F

0x00 – 7F, 0xFF

0x00 – FF

0x82

Parser subcode

Index

Checksum

EOM

End of message

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.

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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 0x80-0x87, it generates two S-bytes as follows: the M-byte

generates the S-byte pair [0x80, M-byte & 0x7F].

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 0x80 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 SOMs 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.

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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. A query 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.

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):

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Table 14:

Set Class Message Structure

Byte Name

Type

Value

Meaning

Command Code

Parser Code

Parser Subcode

Data Value

…

0x01

0x00-7F

Report Code

See report packet definitions.

Data corresponding to the subcode.

…

N_R-1

Data Value

N_Ris 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

0x01

0x24

0x01

Parser Code

Report packet for GPS Configuration

Parameter Subcode for Operating Dim

Alt-Hold (2D)

Parser Subcode

Operating Dimension

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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 corresponding report message.

Four types of parameters can be queried.

1. 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

0x02

Parser Code

0x00-7F

0xFF

Parser Subcode

Single Subcode

All subcodes

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Table 17:

Indexed Query Class Message Structure

Byte Name

Type

Value

Meaning

Command Code

Parser Code

Parser Subcode

Index

0x02

0x00-7F

0xFF

Report Code

See report packet definitions.

Single index (e. g., channel or satellite)

All indices

Like the set class 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

0x02

0x24

0x01

Parser Code

Report packet for GPS Configuration

Parameter Subcode for Operating Dim

Parser Subcode

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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

0x03

Subcode

0x01

0x02

0x03

0x04

0x05

0x06

0x07

0x08

0x09

0x0A

Reset

Clear RAM, reset

Force to Monitor Mode

Shut Down

Clear ephemeris and oscillator, reset

Clear oscillator, reset

Clear flash data and RAM, reset

Clear position, reset

Write BBRAM to flash, reset (graceful)

Io-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: 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.

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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.

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Report Message Code Assignment

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

can be neither queried nor set is automatic output only.

Table 20:

Message Codes

Code

Subcode Indexed by

Message

0x10

0x01

Acknowledge Set

0x10

0x11

0x12

0x14

0x15

0x16

0x21

0x22

0x23

0x24

0x25

0x26

0x27

0x28

0x02

0x03

0x01

0x02

0x03

0x01

0x02

0x03

0x04

Acknowledge Query

Acknowledge System Command

Navigation Code ROM Version

Boot Code ROM Version

Io-DSP Code ROM Version

Start-up Message

SW Mode

Product Information

Hardware ID

0x01

0x02

various

0x01

0x02

0x01

0x02

0x01

Event Log

Soft Event Log Entry

Fatal Error Log Entry

Data Stored to Non-erasable Flash

Health Message

Repeat Start-Up Message

DR GPS Engine Rate

Output Interval Control

Format of NMEA Output Control Parameters

Variable length RTCM data

Reserved as a “wrapper” for non-HIPPO protocols

GPS Configuration Parameters

Kalman Filter Configuration Parameters

Available Report Codes

0x01-08

0x01

0x02

0x03

0x04

0x05

Rpt code

Available report Subcodes

DPP model speed levels

DPP minimum speed for estimate

DPP maximum speed for estimate

DR Filter Parameters

0x12

0x13

0x14

0x16

SV PRN

Compressed Almanac

Compressed Almanac Health Page

Compressed GPS Ionospheric/UTC Model Param,

Compressed Ephemeris

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Table 21:

Message Codes (continued)

Code

Subcode Indexed by

Message

0x29

0x2A

0x2B

0x2C

0x2D

0x2E

0x2F

0x30

0x01

Time Initialization

0x02

Latitude / Longitude Initialization

Altitude Initialization

0x03

0x04

LO Frequency Initialization

Heading Initialization

0x05

0x07

Map-match Input

0x08

Tacho Input

Rpt Code

0x01

Rpt Subcode

Automatic Output – Event

Automatic Output – Time Interval

Automatic Output – Distance Traveled

Automatic Output – Heading Change

Event Report Mask

0x02

Data Positioning Collection Test Interval Control

Gyro Bench Test Interval Control

Tacho/Reverse Production Test Interval Control

Fast Fix with raw DR Data

0x04

0x06

0x02

0x03

Buffered DR data with Health and Start-up

message

0x31

0x32

0x33

0x36

0x3F

0x66

0x70

0x01

0x02

0x03

0x01

0x03

0x04

0x05

0x07

0x08

0x01

0x02

0x03

0x04

0x06

various

0x01

0x02

0x03

0x04

GPS Fix

UTC Time and Constellation Summary

Constellation Summary

UTC Time

Channel

GPS Channel Measurement Short Status

ZRO Calibration

Gyro Sensitivity Calibration

Direction Switch Calibration

DPP Calibration

ZRO Rate Calibration

ADC and Gyro Self-Test Data

Data Positioning Collection Test Data (ROM 14)

Data Positioning Collection Test Data (ROM 15+)

Gyro Bench Test Data

Tacho/Reverse Production Test Data

Diagnostic tag

Channel

GPS Raw Measurement Diagnostic

GPS Raw Position / Velocity Diagnostic

DR Data

Reset Diagnostic

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Table 22:

Message Codes (continued)

Code

Subcode Indexed by

Message

0x70

0x05

0x07

0x08

0x09

0x0A

0x7F

DR BBRAM Diagnostic V1

Map Match Data Echo Diagnostic

DR BBRAM Diagnostic V2

GPS No Fix

DR BBRAM Diagnostic V3

Toggle Diagnostic Output

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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 query 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);

2. The checksum did not compute properly;

3. The parser code and subcode were be recognized;

4. The message length as not correct for that parser code/subcode;

5. One or more of the data values was not reasonable and appropriate.

6. 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.

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.

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Table 23:

0x10: Non-indexed Set and Query Acknowledge

Byte

Name

Type Value

Meaning

Code

0x10

Subcode

0x01

Set acknowledge

0x02

Query acknowledge

0x04

Auto-output acknowledge

Non-indexed report

Command Code

0x00-7F

Command Subcode

0x00-7F

0xFF

Single subcode

All subcodes

Status Code

Acknowledged or a successful operation

Pre-parser error

Checksum error

Unknown Code/Subcode

Parser data length error

Data value error (TBD)

Contradicts current data

Data table full (e.g., Output Interval Control)

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

0x10

Subcode

0x01

Set acknowledge

0x02

Query acknowledge

Command Code

0x00-7F

Indexed report

Command Subcode

0x00-7F

0xFF

Single subcode

All subcodes

Index

0x00-7F

Channel or satellite index

Acknowledged or a successful operation

Pre-parser error

Status Code

Checksum error

Unknown Code/Subcode

Parser data length error

Data value error (TBD)

Contradicts current data

Data table full (e.g., Output Interval Control)

Data not available

For system commands, the data length is two bytes.

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Table 25:

0x10-03: System Command Acknowledge

Byte

Name

Type Value

Meaning

Code

0x10

Subcode

0x03

System command acknowledge

See Sec. 0

System Cmd Code

Status Code

Acknowledged or a successful operation

Pre-parser Error

Checksum Error

Unknown Subcode

Parser data length error

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 “0xFF” 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

0x11

0x01

0x02

0x03

0-100

Subcode

Navigation Code ROM

Boot ROM

Io-DSP ROM

Major Version

Minor Version

Release Code

Software major number

software minor number

release

> 0

beta version number

software release day

software release month

software release year

Release Day

Release Month

Release Year

[1, 31]

[1, 12]

> 2000

5-6

U16

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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 second two

bytes indicate health of the RTC and RAM.

Table 27:

0x12-01: Start-Up Report Message

Byte / Bit

Name

Type Value

Meaning

Code

0x12

0x01

Subcode

Error Code

Parameter Subcode

0-1

U16

Normal shutdown (SW or power)

other

Abnormal shutdown (Error! Reference

source not found.)

Reserved

RAM Signature

1 = BBRAM signature valid

Gyro / ADC

test

1 = ADC or Gyro self-test error

RTC Valid

1 = RTC valid at startup

Flash BBRAM

Reserved

1 = BBRAM loaded from Flash

4-7

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

0x12

0x02

Subcode

Mode

Parameter Subcode

Normal Mode

Monitor Mode

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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

Byte

Name

Type

Value

Meaning

Code

0x12

Subcode

0x03

Serial Number

Production Day

Production Month

Production Year

Product Name

U32

6-7

8-23

U16

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

0x12

Subcode

0x04

Parameter Sub code

Hardware ID

0-15

Hardware ID

16xCHAR

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 “0xFF” option. The host can clear the soft event log completely

by using the “set all” (0xFF) command with no data.

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Table 31:

0x14-01: Soft event log entry report

Byte

Name

Type Value

Meaning

Code

0x14

0x01

Subcode

Index

Parameter subcode

Most recent soft event

Soft Event Log index number

[1,127]

0-1

Year

U16

No GPS/UTC; time is since power-up

year

>2000

Month

Day

[1, 12]

[1, 31]

[0, 23]

[0, 59]

[0, 60]

Hour

Minute

Second

Identity Code

0xFF

No event

0-0x7F

Condition Code

0x14-02: Fatal Error 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 “0xFF” 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

0x14

Subcode

Index

0x02

Parameter subcode

Most recent fatal error

Fatal error Log index number

No GPS/UTC; time is since power-up

year

[1, 31]

Year

U16

>2000

[1, 12]

Month

Day

U16

[1, 31]

[0, 23]

[0, 59]

[0, 60]

Hour

Minute

Second

Event Code

No entry.

Event Code

9 – 30

Info block

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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 subcode. 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 0xFF is not available.

Table 33:

0x15: Data Stored in Non-erasable Flash Report

Byte

Name

Type Value

Meaning

Code

0x15

Subcode

User-defined

…

0x01-7F

…

N-1

User-defined

0 < N <=128

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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

0x16

Subcode

0x01

Direction Switch

Status

Normal

Abnormal

Normal

Gyro status

Abnormal

Normal

Tacho status

Abnormal

3-7

0-1

Reserved

Antenna status

Normal

Antenna open

Antenna short

Normal

Oscillator status

Abnormal

3-7

Reserved

Soft Event Index

No soft event in log

[1,127]

Most recent soft event index

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0x16-02: Repeat Start-Up Report with System Time

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 of the 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

0x16

0x02

Subcode

Parameter Subcode

0-1

Error Code

U16

Normal shutdown (SW or power)

other

Abnormal shutdown (Error! Reference

source not found.)

Status

Reserved

RAM Signature

Gyro / ADC test

RTC Valid

1 = BBRAM signature valid

1 = ADC or Gyro self-test error

1 = RTC valid at startup

1 = BBRAM loaded from Flash

No soft event in log at start-up

Last soft event index in log at start-up

System Time

Flash BBRAM

Soft Event Index

[1,127]

1 ms

5-8

SysClock

U32

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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

U32

0x22

Subcode

Index

0x01

0x00-0x0F, 0xFF

0x00-7F

Table Slot Number

Code in Slot

Code

Subcode

0x00-7F

Subcode in Slot

See Table x.x.x

3-6

Automatic Output

Event Trigger

Mask

0x00-0xFFFFFFFF

7-10

Time Threshold

U32

1 ms

Minimum Time

required

11-14

Time Trigger

Not used

> 0

Trigger value

15-18

19-22

Distance

Threshold

U32

1 cm

Minimum Distance

required

Distance Trigger

Not used

> 0

Distance Trigger value

23-26

27-30

Heading

Threshold

U32

1 cdeg

Minimum Heading

required

Heading Trigger

Not used

> 0

Heading Trigger value

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0x22-02: NMEA Output Control

Table 37:

0x22: Format of NMEA Output Control Parameters

Byte

Name

Type

Value

0x22

0x02

Units

Meaning

Code

Subcode

Interval

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 0 = 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

0x24

Subcode

0x01-0x08

Parameter Subcode

Parameter Value

Refer to Error! Reference source not found.

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Table 36 shows the subcode, range, and default value for each of the GPS

configuration parameters. DGPS does not apply to all products. 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

0x01

Name

Operating

Dimension

Type Units

Range

Default

Meaning

Auto 2D/3D

Alt-Hold (2D)

Full Pos (3D)

0x02

DGPS Mode

Require

Ignore

If Available

Automobile

Tracking limit

Fix limit

0x03

0x04

0x05

Dynamics Code

Elevation Mask

SNR Mask

FLT

U16

(degrees)

0.2 dBHz

5.0

[0°, 90°]

[100, 240] =

[20, 48] dBHz

145 =

29 dBHz

20.0

0x06

0x07

0x08

DOP Mask

FLT

U16

[0.0, 99.0]

0-240

Fix limit

DOP Switch

DGPS Age

Limit

1 s

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

0x25

Subcode

0x01-16

Parameter Subcode

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.

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Table 41:

List of Kalman Filter Configuration parameters

Subcode Name

Type LSB

Range

Default

Meaning

minimum settling time of code-

carrier filter

0x01

MinGainIndex

U32

1 ms

< 40000

Minimum number of SVs for fix

0x02

MinSVs

U32

[3, # of

channels]

maximum AMU value at which

editing is allowed

0x03

0x04

0x05

NoEditAMU5

MinAMU5

MaxEdits

U32

0.2 AMU

< 16.0 AMU

[0, 2³²-1]

14.0 AMU

2.0 AMU

Minimum acceptable AMU

value

Maximum number of fix

rejections before KF reset

Not currently used

0x06

0x07

0x08

0x09

0x0A

0x0B

0x0C

0x0D

0x0E

0x0F

MaxGPSPropTime

MaxAcc

U32

FLT

(m/s²)

(m/s)

(m/s²)

(m/s)

(σ²)

(m²)

[0, 20]

6.0

vehicle acceleration limit

vehicle velocity limit

MaxVel

[0, 126]

[0, 20]

150.0

0.5

typical horizontal acceleration

typical frequency drift

SigmaHorizAcc

SigmaFreqAcc

CarrSigSq

[0, 20]

1.0

[0, 2]

(0.07)²

(4.0)²

(1000.)²

(1.0)²

Doppler error variance

edit limit for residuals

MaxAcceptSigmaSq

InitPosVar

[0, 10¹²]

[0, 10⁶]

initial position error variance

initial clock bias error variance

InitBiasVar

extra clock process noise (to

de couple clock model)

ClockModelError

[0, 10¹²]

(6.0)²

(σ²)

rejection limit for normalized a

posteriori residual

0x10

RejectSSR

FLT

(slope²)

[0, 4]

(0.1)²

(0.05)²

typical velocity slope

0x11

0x12

SigSlope1Sq

SigSlope2Sq

FLT

typical change-in-position

slope

(slope²)

(m/s)

[0, 4]

(0.3)²

1.0

rejection limit for velocity slope

0x13

0x14

MaxSlope3Sq

MinVVelSq

FLT

minimum vertical velocity for

slope rejection

[0, 16]

(m²)

[0, 10^8]

(1.0)²

Variance of 2D altitude-hold

altitude measurement

0x15

Alt2Dvar

FLT

Not currently used

0x16

0x17

Tacho Delay Time

Bit Flag Controls

S32

U32

1 ms

[0, 2³²-1]

1 = suppress map match

commands

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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

0x26

Subcode

0x01

Parser Code 0x00

Parser Code 0x01

Parser Code 0x02

Parser Code (8 N + M)

1 = Available

…

Parser Code 0x7E

Parser Code 0x7F

1 = Available

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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

0x26

Subcode

Index

0x02

0x00-7F

Parser Code

1 = Available

Parser Subcode 0x00

Parser Subcode 0x01

…

Parser Subcode

(8 N + M)

1 = Available

…

Parser Subcode 0x7E

Parser Subcode 0x7F

1 = Available

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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

0x26

Subcode

0x03

N = # of speed levels

Max Applicable Speed

of DPP[0]

0.5 m/s

[0.5, 127.0] m/s

=127.5 m/s

Top speed

Unlimited

Max Applicable Speed

of DPP[N-1]

[0.5, 127.0] m/s

=127.5 m/s

Top of range

Unlimited

Table 45:

0x26-04: DPP Minimum Calibration Speed Message

Byte

Name

Type

Units

Value

Meaning

Code

0x26

Subcode

0x04

N = # of speed levels

Min Calibration Speed

of DPP[0]

0.5 m/s

[0.5, 127.0] m/s

=127.5 m/s

Top speed

Unlimited

Min Calibration Speed

of DPP[N-1]

[0.5, 127.0] m/s

=127.5 m/s

Top of range

Unlimited

Table 46:

0x26-05: DPP Maximum Calibration Speed Message

Byte

Name

Type

Units

Value

Meaning

Code

0x26

Subcode

0x05

N = # of speed levels

Max Calibration Speed

of DPP[0]

0.5 m/s

[0.5, 127.0] m/s

=127.5 m/s

Top speed

Unlimited

Max Calibration Speed

of DPP[N-1]

[0.5, 127.0] m/s

=127.5 m/s

Top of range

Unlimited

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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

0x27

Subcode

0x00-19 0x40-6F

Integer Parameter Subcode

Float Parameter Subcode

0-3

Parameter Value

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Table 48:

List of DR Filter Configuration Integer Parameters

Subcode Name

Type Units

Range

Default Meaning

0x01

0x02

0x03

0x04

0x05

0x06

0x07

0x08

0x09

0x0A

0x0B

0x0C

GPSVelEditHoldoff

S32

1 count

1 m/s

1 cm/s

1 cm

[0, 1000]

MinSpdDirSwThresh

DirSwWarning

[0, 126]

MaxDirSwSpd

[0, 126]

ZROGPSStatThldSpdHi

ZROGPSStatThldSpdLo

ZROMaxDistThld

MinGPSInitNFix

GPSJumpHoldOff

MaxHBMSecs

[0, 12600]

[0, 1000]

[0, 9000]

[0, 10⁵]

1 count

1 ms

3000

1000

MinHBMSecs

1 ms

ZROMaxEdit

1 ADC

sample

1000

Gyro sampled

at 100 Hz

0x0D

0x0E

0x0F

0x10

0x11

0x12

0x13

0x14

0x15

0x16

0x17

0x18

0x19

ZRRHoldOffSecs

ZROVarDecorTime

TachoDisconnectThrshld

GPSVDelayMSecs

TachoDelayMSecs

WinMaxTime

S32

1 s

[0, 2³¹-1]

100

1200

1 s

[0, 100000]

[0, 1000]

1 count

1 ms

1 count

1 m

[-2000, 2000]

[0, 1000000]

[0, 1000]

300

90000

WinMinPts

WinMin3D

[0, 1000]

WinENMinDist

[0, 1000]

MinPtsGrossErr

1 count

2^-15sc

1 ms

1 s

[0, 1000]

GSFCalcMinHdgChng

GSFCalcMaxMsecs

MinTimeBetweenWinPos

[0, 65536]

[0, 100000]

[0, 10000]

14563

30000

80 degrees

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Table 49:

List of DR Filter Configuration Float Parameters

Subcode Name

Type Units

Range

[0, 100]

Default

1.0

Meaning

0x40

0x41

0x42

0x43

0x44

0x45

0x46

0x47

0x48

0x49

0x4A

0x4B

0x4C

0x4D

0x4E

0x4F

0x50

0x51

0x52

0x53

0x54

0x55

0x56

0x57

NoEditAddVelAccy

ZROMaxDeltaGyro

BadTachoMinSpd

ZROCalcGyroNoiseVar

ZROCalcEditSigSq

MaxGPSInitPosSig2

MinGPSInitDist

FLT

(m/s)²

(GCnts)

(m/s)

[0, 49152]

[0, 126]

[0, 107374.2]

[0, 10000]

[0, 10¹²]

[0, 10⁶]

4.9152

8.0

1.5 mV

(GCnts) ²

(unitless) ²

(m)²

10.73742

100.0

(1.0 mV)²

(250 mV)²

(m)

ZROVarValidThreshold

SnapThreshold2

(GCnts)²

(m)²

[0, 67108900]

[0, 10¹²]

[0, 126]

[0, 12]

671089.

100

MaxHBSpd

(m/s)

0.05

MinWindowVelCfm

HdgCalcMinSpd

(m/s)

12.0

(m/s)

3.0

HdgCalcMinSpdNoTacho

HdgCalcMinHdgSigSq

HdgMinSigSq

(m/s)

10.0

(rad) ²

(m)²

(m/pulse) ²

(m/s)²

(m/s)

0.09

[0, 12]

[0, 10¹²]

0.25

PosMinSigSq

10000.

0.01

DPPCalMinSigSq

SpdCalcMinSpdSigSq

SpdCalcMinSpeed

GPSVelEditSigSq

GPSVelEditMaxHdSq

MinGPSSpdMotNoTacho

GvarColdHdg

[0, 1]

[0, 900]

[0, 126]

[0, 1000]

[0, 12]

9.0

8.0

(unitless)²

(rad)²

16.0

0.04

(m/s)

(rad)²

(GCnts)²

[0, 126]

[10, 100]

3.0

100.0

671089.

GvarColdZRO

[67.1089,

67108900]

[0, 10⁶]

(250 Mv)

(30 mV)²

(5 μV)²/s

0x58

0x59

0x5A

GvarColdZRR

GvarWarmHdg

GvarWarmZRO

FLT

(GCnts/s)²

(rad)²

(GCnts)²

0.0021263

0.01

[0, 12]

[67.1089,

67108900]

[0, 10⁶]

9663.68

0x5B

0x5C

0x5D

0x5E

0x5F

GvarWarmZRR

GPNVarHdg

GPNVarZRO

GPNVarZRR

FLT

(GCnts/s)²

(rad)²/s

0.0021263

10^-8

[0, 1]

FLT

(GCnts)²/s

[0, 1]

0.000268435

.00000425261

FLT

(GCnts)²/s³[0, 1]

GyroSnsSig2

FLT

(unitless) ²

[0, 1]

0.0004

9.0

As a proportion of

nominal value

0x60

0x61

CarrSigMult

Factor

(unitless) ²

(m/pulse) ²

[0, 10000]

[.00001, 4]

TinitVar

1.0

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0x62

0x63

0x64

TPNVar

FLT

(m/pulse) ²/ s

(m/pulse) ²

(GCnts) ²

[0, 1]

10^-8

TmaxVar

[.00001, 4]

0.0004

10.737418

ZRRHoldOff

ZROAccy

[.00107374,

107374.18]

(1.0 mV) ²

0x65

0x66

0x67

WinSnapThd

FLT

(unitless) ²

(m)²

[0, 10⁶]

[0, 10¹²]

36.0

WinClusterVar

9.0

4.0x10⁶

MaxInitGross

ErrSq

0x68

0x69

0x6A

0x6B

MaxCorrection

SigSq

FLT

(unitless) ²

(rad/s)

[0, 10⁶]

[0, 3]

4.0

GSFCalcMin

HdgRate

0.0174533

1.04719755

4.0

GSFCalcMax

HdgRate

(rad/s)

[0, 3]

GSFCalcMax

ZROVar

(unitless) ²

[0, 10⁶]

0x6C

0x6D

MaxGSFVar

MinGSFVar

FLT

(GCnts/(rad/s))²

[0, 1]

4.53915 x 10^-10

4.53915 x 10^-16

(2.5 mV/(°/s)) ²

(0.0025 mV/(°/s))

0x6E

0x6F

MaxDelGSF

FLT

(GCnts/(rad/s))

(unitless) ²

[0, 1]

2.13053 x 10^-8

0.01

0.025 mV/(°/s)

MinNormVel

ResidSq

[0, 100]

(*) A GCnt is a 14-bit ADC count. Full scale (5 V) is 16384 GCnt, so 1 mV = 3.2768 GCnt.

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0x2A, 0x2B, 0x2C; 0x2D: Output Interval Control

These reports contain the data structures describing the output interval 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 > T_thresh) AND

(Distance traveled > D_thresh) AND

(Heading change > H_thresh) AND

(EVENT OR (Time interval > T_trigger) OR (distance traveled > D_trigger) OR (Heading

change > H_trigger))

Defaults are zero for all reports, except as specified in Error! Reference source

not found..

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Table 50:

Automatic Output Event Trigger Report Message

Byte

Name

Type

Value

Meaning

Code

0x2A

Event Control

Subcode

Index

0x00-7F

0xFF

Parser Code

Parser Subcode

All subcodes

Event 1

Almanac Page Collected

Ephemeris Page Collected

Ionosphere-UTC Page Collected

Almanac Health page Collected

Tacho/Gyro Collected (10 Hz, DR GPS)

GPS Measurement Collected (1 Hz)

Least Squares (LS) Fix generated (1 Hz)

LS Fix not generated

Event 2

Event 3

Event 6

Event 7

Event 9

Event 10

Event 11

Event 12

Event 17

Event 19

Event 20

Event 21

Event 22

Event 24

Event 25

Event 26

Event 28

Event 29

Tracking SV List Updated

Self-test complete (DR GPS)

Receiver status changed

Power-on acknowledge

Start-up complete

Ready to shutdown

DPP Calibrated

Direction Switch Calibrated

Gyro Calibrated

Time status change (time set)

Hard Error

Table 51:

Automatic Output Time Interval Trigger Report Message

Byte

Name

Type Value

Units

Meaning

Code

0x2B

Time Interval Control

Subcode

0x00-7F

0xFF

Parser Code

Index

Parser Subcode

All subcodes

Minimum required

Not used

0-3

4-7

Threshold

Trigger

U32

1 ms

> 0

Trigger value

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Table 52:

Automatic Output Distance Traveled Trigger Report

Byte

Name

Type Value

Units

Meaning

Code

0x2C

Distance Traveled Control

Subcode

0x00-7F

0xFF

Parser Code

Index

Parser Subcode

All subcodes

Minimum required

Not used

0-3

4-7

Threshold

Trigger

U32

1 cm

> 0

Trigger value

Table 53:

Automatic Output Heading Change Trigger Report

Byte

Name

Type Range/Value

Units

Meaning

Code

0x2D

Heading Change Control

Subcode

0x00-7F

0xFF

Parser Code

Index

Parser Subcode

All subcodes

Minimum required

Not used

0-3

4-7

Threshold

Trigger

U32

1 cdeg

> 0

Trigger value

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Table 54:

Event

List of Automatic Output Trigger Defaults

Code/

Time Interval

Distance Traveled

Heading Change

Subcode

Trigger Threshold Trigger Threshold Trigger Threshold Trigger

12-01

30-02

31-01

32-01

33-01

36-03

36-04

36-05

36-07

36-08

200

10,11

NOTE Since output thresholds and triggers are checked 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.

0x2E-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:

0x2E-01: Event Report Mask Message

Byte

Name

Type

Value

Meaning

Code

0x2E

Subcode

Index

0x01

0-0x7F

Soft Event Identity Code

All

0xFF

0-1

Mask

Do not report

Report on change (single)

Report as detected (continuous)

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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 return 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

0x2F

Subcode

0x02

0-1

Time Interval

U16

Stop Immediately

[1, 3600]

Perform test for this interval (seconds)

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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:

0x2F-04: Gyro Bench Test Interval Report Message

Byte

Name

Type

Value

Meaning

Code

0x2F

Subcode

0x04

0-1

Time Interval

U16

Stop Immediately

[1, 60]

Perform test for this interval (seconds)

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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

0x2F

Subcode

0x06

0-1

Time Interval

U16

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

interval in report 0x2B. 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

0x21

Subcode

0x01

DR Engine Rate

10 Hz

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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:

Name

0x30-02: Fast Fix with Raw DR Data Message

Byte

Type Units/

LSB

Range / Value Meaning

Code

0x30

Subcode

0x02

Position Status

Altitude Status

Heading Status

Speed Status

1 = Valid

Direction Switch Status

Delta-Distance Status

Delta-Heading Status

Motion Status

1 = Valid

Motion Indicator

Direction

1 = Motion

1 = Backward

1 = Calibrated

Gyro Calibration Status

Tacho Calibration Status

Time source

4-5

System clock

RTC

GPS (< 10 ms)

GPS (< 1 ms)

DR-Propagated

Jump

Snap to DR+GPS

GPS Data Age Index

0-253

254

255

Age

>253 s

GPS N/A

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Byte

Name

Type Units/LSB

Range / Value

Meaning

3-6

GPS Time of Week

U32

S32

S16

U16

S16

U16

1 ms

0-604800000

7-10

Latitude

2^-31sc

1 m

2^-15sc

1 cm/s

1 ms

[-½, ½] sc.

11-14

15-16

17-18

19-20

21-22

23-24

25-26

27-28

29-30

31-32

33-34

35-36

37-38

Longitude

[-1, 1) sc.

Altitude

[-400,10000] m

[0, 2) sc.

MSL

even

Heading

Speed

[0, 655.34] m/s

[0, 1100] ms

[-327.67, 327.67] m

[-327.67°, 327.67°]

[0, 65534] m

[0, 2) sc.

Delta time

Delta Distance

Delta Heading

Position accuracy

Altitude Accuracy

Heading Accuracy

Speed Accuracy

Delta distance accy

Delta heading accy

# of Gyro Samples

Direction Switch Value

Gyro Counts

1 cm

1 cdeg

1 m

2^-15sc

1 cm/s

1 cm

[0, 655.34] m/s

[0, 655.34] m

[0°, 360°]

1 cdeg

0-6

0-127

< 110 typ

1 = High

40-43

44-45

U32

U16

0-450560

0-65535

Sum ADC values

< 3300 typ

Tacho Counts

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:

Gyro

Fast Fix Data Sources

Tacho

Status

GPS

Lat / Lon

Source

Altitude

Speed / Delta Heading /

Status Age

Source

Distance

Source

Delta

Heading

Source

< 255

255

GPS + DR

GPS

DR + GPS Cal

GPS

DR + GPS Cal

GPS

DR + GPS Cal

GPS

BBRAM + DR

BBRAM

255

None

255

None

255

None

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0x31-01: GPS Fix Message

Table 62:

Name

0x31-01: GPS Fix Message

Byte

Type Units /

LSB

Range /

Value

Meaning

Code

0x31

0x01

1 ms

Subcode

0-3

GPS Time of

U32

<604800000

Week

No position in memory

Input position, approximate

Input position, accurate

Have internal position

Old valid GPS fix

Converging

0-5

Fix Source

Output fix criterion failed

2-D fix, no reference altitude

KF velocity RAIM failed

KF edited too many SVs

KF position RAIM failed

Position Valid

Altitude Hold

Full position (3-D) LS fix

Altitude-Hold (2-D) LS fix

1 = DGPS-corrected

1 = Valid

DGPS Status

Position status

Altitude status

Heading status

Speed status

Time source

1 = Valid

System clock

RTC

4-5

GPS (< 10 ms)

GPS (< 1 ms)

6-9

Latitude

S32

S16

U16

2^-31sc

2^-15sc

1 cm/s

1 m

[-½, ½] sc

10-13

14-15

16-17

18-19

20-21

22-23

24-25

26-27

Longitude

[-1, 1) sc

Altitude

[-400,10000] m

[0, 2) sc

MSL

Heading

Speed

[0, 655.34] m/s

[0, 65535] m

[0, 2) sc

Position accuracy

Altitude accuracy

Heading Accuracy

Speed Accuracy

1 m

2^-15sc

1 cm/s

[0, 655.35] m/s

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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:

Name

0x32-01: UTC Time and Constellation Summary Message

Byte

Type

Units Range /

Value

Meaning

Code

0x32

Subcode

UTC year

UTC month

UTC day

UTC hour

UTC minute

UTC second

UTC / GPS offset

PDOP

0x01

0-1

U16

2000+

[1, 12]

[1, 31]

[0, 23]

[0, 59]

[0, 60]

= 60 only for the leap second

GPS = UTC + offset

8-9

10-11

12-13

U16

2^-8

HDOP

VDOP

2D position

3D position

Seconds

Max DGPS age

GPS Status

Sec

<255

255

Overage or invalid

Doing position fixes

Need time

0-3

PDOP too high

No usable SVs

One usable SV

Two usable SVs

Three usable SVs

System clock

RTC

Time source

4-5

0-1

GPS (< 10 ms)

GPS (< 1 ms)

None

Search Mode

Blind

Anywhere

Almanac Status

1 = Complete

0-3

Number of SVs

Visible

[0,12]

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0x32-02: Constellation Summary Message

Table 64:

Name

0x32-02: Constellation Summary

Byte

Type

Units Range /

Value

Meaning

Code

0x32

Subcode

GPS Status

0x02

0-3

Doing position fixes

Need time

PDOP too high

No usable SVs

One usable SV

Two usable SVs

Three usable SVs

System clock

RTC

4-5

Time source

GPS (< 10 ms)

GPS (< 1 ms)

1 = Complete

Almanac Status

Number of SVs Visible

Search Mode

0-3

4-5

[0,12]

Not searching

Blind

Anywhere

Time of fix

Altitude-hold

Full Position

2-5

GPS Time of Week

Dimension

U32

1 ms

<604800000

7-8

PDOP

U16

2^-8

9-10

11-12

HDOP

VDOP

Max DGPS age

Sec

0-254

255

Age of oldest DGPS

correction

Overage or invalid

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0x32-03: UTC Time Message

Table 65:

Name

0x32-03: UTC Time Message

Byte

Type Units Range /

Value

Meaning

Code

0x32

Subcode

Time source

0x03

4-5

System clock

RTC

GPS (< 10 ms)

GPS (< 1 ms)

1-4

5-6

GPS Time of

Week

U32

U16

1 ms

<604800000

GPS Week

Number

>1024

UTC / GPS offset

Not available

GPS = UTC + offset

8-9

UTC year

U16

2000+

[1, 12]

[1, 31]

[0, 23]

[0, 59]

[0, 60]

UTC month

UTC day

UTC hour

UTC minute

UTC second

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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” (0xFF), 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:

Name

0x33-01: GPS Channel Measurement Short Status

Byte

Type

Units

Range /

Value

Meaning

Code

0x33

0x01

Subcode

Index

0-11

Channel

SV PRN

Channel

unassigned

1 – 32

SV PRN

SV Visible

reserved

1 = Elevation >

Mask

SV Has Been

Tracked

1 = Already

Tracked

reserved

SV Currently

Tracking

1 = Tracking

SV Meets SNR

Mask

1 = SNR Meets

Mask

SNR

0.2 dB-Hz

[0,48] dBHz

Azimuth

2°

[0°, 358°]

Elevation

Almanac Status

1°

[-90°,90°]

0-1

2-3

None

Old

Current

None

Ephemeris Status

Old

Decoded

Verified

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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:

Name

0x36-03: ZRO Calibration Message

Byte

Type

Units / Range / Value

Meaning

LSB

Code

0x36

Subcode

Source

0x03

0-2

Invalid / Clear

Host Input

Host Override

GPS Fix

Newness

Validity

From BBRAM

New (since start-up)

1 = Valid

1-4

Zero Rate Output

(ZRO)

FLT

(mV)

(-2500.0, 2500.0)

5-8

ZRO accuracy

FLT

> 0

1 σ accuracy

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Table 68:

Name

0x36-04: Gyro Linearity Calibration Message

Byte

Type

Units /

LSB

Range /

Value

0x36

Meaning

Code

Subcode

Source

0x04

Invalid / Clear

Host Input

Host Override

GPS Fix

Newness

Validity

From BBRAM

New (since start-up)

1 = Valid

1-4

5-8

Sensitivity (GyroSns)

Sensitivity Accuracy

FLT

[10.0,100.0]

> 0

(mV /(°/s))

1 σ accuracy

Table 69:

Name

0x36-05: Direction Switch Calibration Message

Byte

Type

Units /

LSB

Range / Value Meaning

Code

0x36

0x05

Subcode

Source

0-2

Invalid / Clear

Host Input

Host Override

GPS Fix

Newness

Validity

From BBRAM

New (since start-up)

1 = Valid

Direction Switch

Sense

0 = FWD, 1 = REV

0 = REV, 1 = FWD

Confidence Speed

1 m/s

< DirSwWarning

Last calibration

speed

(see 0x27;

default=14 m/s)

< 256 if Source

is Host Override

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Table 70:

Name

0x36-07: DPP Calibration Message

Byte

Type

Units /

LSB

Range /

Value

0x36

Meaning

Code

Subcode

Index

0x07

[0, N_DPP-1]

Speed Level Index

Invalid / Clear

Host Input

0-2

Source

Host Override

GPS Fix

Newness

From BBRAM

New (since start-up)

1 = Valid

Validity

DPP

1-4

5-8

FLT

(m / pulse)

[.005, 5.0]

[.001, 1.0]

< 5 m/pulse typ

1 σ accuracy

DPP accuracy

Table 71:

Name

0x36-08: ZRO Rate Calibration Message

Byte

Type

Units /

LSB

Range /

Value

0x36

Meaning

Code

Subcode

Source

0x08

0-2

Invalid

GPS Fix

Newness

Validity

From BBRAM

New (since start-up)

1 = Valid

1-4

5-8

ZRO Rate of Change

ZRO Rate accuracy

FLT

(mV / sec)

1 σ accuracy

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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:

Name

0x3F-01: ADC and Gyro Self-Test Report Message

Byte

Type

Units /

LSB

Range /

Value

Meaning

Code

0x3F

Subcode

ADC validity

0x01

No error

ADC not functioning

1-4

5-6

ADC at fixed voltage

U32

U16

Samples at fixed

voltage

7-10

ADC / gyro at rest

Samples at rest

U32

U16

11-12

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0x3F-03: Data Positioning Collection Test Data (ROM 15 and after)

This replaces report 0x3F-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:

Name

0x3F-03:Data Positioning Collection Test Data

Byte

Type

Units /

LSB

Range /

Value

Meaning

Code

0x3F

Subcode

0x03

Heading Valid before

motion

1 = valid

ZRO valid before motion

DPP valid before motion

Final Heading Valid

Pulses counted

1 = valid

1-4

U32

U16

U32

5-6

Maximum Speed

Total Distance

1 cm/s

1 cm

7-10

DirSw transitions F→R

DirSw transitions R→F

Heading at ZRO cal

DeltaHeading

13-14

15-16

17-18

19-20

21-22

U16

2^-15sc

1 s

[0, 2) sc

[1,3600]

[0, 2) sc

Final Heading

Test Duration

Initial Heading after ZRO

calibration

2^-15sc

2-D GPS fix

1 = 2-D fix failed

1 = 3-D fix failed

1 = no GPS / DR cal

1 = incomplete

3-D GPS fix

GPS didn’t calibrate DR

Almanac incomplete

GPS error status

Max SVs tracked

Max SNR

1 = GPS error

0.2 dB-Hz

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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:

Name

0x3F-04: Gyro Bench Test Report Message

Byte

Type

Units /

LSB

Range / Value

Meaning

Code

0x3F

Subcode

0x04

0-3

4-5

6-7

ADC / gyro at rest

Samples at rest

Test Duration

U32

U16

ADC counts

1-6200 samples

[1,60]

1 s

0x3F-06: Tacho/Reverse Production Test Data

The Tacho/Reverse Production Test starts immediately upon receipt of the set

command 0x2F-06. When the test is finished, it automatically reports the data in

this message. This information cannot be set or queried.

Table 75:

Name

0x3F-06: Tacho/Reverse Production Test Report

Byte

Type

Units /

LSB

Range / Value

Meaning

Code

0x3F

Subcode

Tacho counts

Samples

0x06

U32

U16

Tacho Counts

4-600 samples

4-5

6-7

Changes in Direction

Switch Value

8-9

Samples

U16

4-600 samples

[1,60]

10-11

Test Duration

1 s

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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 reverse 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.

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Table 76:

Name

0x30-03: Buffered Cumulative DR Message

Byte

Type Units / Range / Value

LSB

Meaning

Code

0x30

Subcode

0x03

Current Position

Valid

1 = Valid

Current Heading

Valid

Delta Distance Valid

Delta Heading Valid

All data

1 = Valid

1 = contains all data since start

1 = motion detected at start-up

Time Source for Map Match

Time Tag for Map Match

Rolling start

6-7

Time Source

1-2

3-6

7-10

Time Tag

U16

S32

U16

S16

1 ms

[0, 65535] ms

[-½, ½] sc.

Current Latitude

Current Longitude

Current Heading

Delta Distance [0]

Delta Heading [0]

Delta Distance [1]

Delta Heading [1]

2^-31sc

2^-15sc

1 cm

[-1, 1) sc.

11-12

13-14

15-16

17-18

19-20

…

[0, 2) sc

[-327.67, 327.67] m

[-327.67°, 327.67°]

[-327.67, 327.67] m

[-327.67°, 327.67°]

(Now – 1 s) to (Now)

1 cdeg

1 cm

(Now – 1 s) to (Now)

(Now – 2 s) to (Now – 1 s)

1 cdeg

…

89-90

91-92

93-94

Delta Distance [19]

Delta Heading [19]

S16

U16

1 cm

[-327.67, 327.67] m

[-327.67°, 327.67°]

[0, 2) sc

(Now – 20 s) to (Now – 19 s)

1 cdeg

2^-15sc

Current Heading

Acc’y

95-96

Current Position

Acc’y

U16

1 m

[0, 65534] m

97-98

Distance accy

U16

1 cm

[0, 655.36] m

99-100

Delta heading accy

1 cdeg

[0°, 360°]

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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, 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 currently 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.

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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

0x28

Subcode

Index

0x12

Almanac

1 – 32

SV PRN

0-2

Source

Invalid / Clear

Host Input

Host Override

Data Decode

From BBRAM

New

Newness

6-7

GPS Week Extension

2 MSBs of WNoa

IDC-200C

WN_oa

2-25

Compressed Almanac

24xU

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0x28-13: Almanac Health Initialization

The elements of the almanac health message match subframe 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:

Name

0x28-13: Compressed Almanac Health Report Message

Byte

Type

Units/ Range /

Meaning

LSB

Value

Code

0x28

Subcode

Source

0x13

Almanac Health Page

Invalid / Clear

Host Input

0-2

Host Override

Data Decode

Newness

From BBRAM

New

6-7

GPS Week Extension

2 MSBs of WNoa

IDC-200C

WN_oa

2-25

26-49

Compressed Health & A-S

Compressed Health

24xU8

Subframe 4 Page 25

Subframe 5 Page 25

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0x28-14: GPS Ionospheric 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 information 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:

Name

0x28-14: GPS Ionospheric Fixed Point Model Report

Byte

Type

Units/LSB Range /

Meaning

Value

Code

0x28

Subcode

Source

0x14

Iono/UTC Model

Invalid / Clear

Host Input

0-2

Host Override

Data Decode

From BBRAM

New

Newness

6-7

GPS Week Extension

2 MSBs of Week

8 LSBs of Week

Week of collection

2-25

Compressed Iono / 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).

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Table 80:

Name

0x28-16: GPS Ephemeris Fixed Point Model Report

Byte

Type

Units/ Range / Value Meaning

LSB

Code

0x28

Subcode

Index

0x16

Ephemeris

SV PRN

1-32

0-2

Source

Invalid / Clear

Host Input

Host Override

Data Decode

From BBRAM

New

Newness

Reserved

2-25

26-49

50-73

Compressed Ephemeris

24xU8

Subframe 1

Subframe 2

Subframe 3

Compressed Ephemeris

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

0x29

Subcode

Source

0x01

0-2

Invalid / Clear

Host Input

Host Override

GPS Data Decode

From BBRAM

New

Newness

Time Acc’y Status

Acc’y Unknown Acc’y

Valid

1-2

Week number

Time of week

Time Accuracy

U16

U32

1 wk

1 ms

<1024

GPS week number

GPS time of week

1-sigma accuracy

3-6

<604800000 ms

0-604800000 ms

7-10

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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:

0x29-02: Latitude / Longitude Initialization Report

Byte

Name

Type

Units/LSB Range / Value

Meaning

Code

0x29

Subcode

Source

0x02

0-2

Invalid / Clear

Host Input

Host Override

GPS Fix

Newness

From BBRAM

New

Lat/Lon Acc’y Status

Acc’y Unknown

Acc’y Valid

1-4

Latitude

S32

U32

FLT

2^-31sc

unitless

[-½, ½] sc.

[-1, 1) sc.

[0, 1) sc.

[-1.0,1.0]

5-8

Longitude

9-12

Latitude Accuracy

Longitude Accuracy

Lat/Lon Correlation

1-sigma accuracy

13-16

17-20

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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

0x29

Subcode

Source

0x03

0-2

Invalid / Clear

Host Input

Host Override

GPS Fix

Newness

From BBRAM

New

Altitude Acc’y

Status

Acc’y Unknown

Acc’y Valid

1-2

3-4

Altitude

S16

U16

1 m

-400 – 10000 m

0 – 10000 m

MSL

Altitude Accuracy

1-sigma accuracy

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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

0x29

Subcode

Source

0x04

0-2

Invalid / Clear

Host Input

Host Override

GPS Fix

Newness

From BBRAM

New

Frequency Acc’y

Status

Acc’y Unknown

Acc’y Valid

1-4

5-6

Frequency

S32

U16

1 PPB

±50 PPM

Frequency

Accuracy

0 – 16 PPM

1-sigma accuracy

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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

0x29

Subcode

Source

0x05

0-2

Invalid / Clear

Host Input

Host Override

GPS Fix

Newness

From BBRAM

New

Heading Accuracy

status

Acc’y Unknown

Acc’y Valid

1-2

3-4

Heading

U16

2^-15sc

[0, 2) sc.

[0, 1] sc.

Heading Accuracy

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.

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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

0x29

Subcode

0x07

Lat-Lon Valid

1 = Valid

From

Altitude Valid

Heading Valid

Lat-Lon Accy Valid

Altitude Accy Valid

Heading Accy Valid

Time Source

Msg 30-02

1-2

Time Tag

U16

1 ms

[0, 65535] ms

16 LSBs from Msg

0x30-02

3-6

Latitude

S32

S16

U16

S16

2^-31sc

1 m

[-½, ½] sc.

[-1, 1) sc.

7-10

Longitude

Altitude

11-12

13-14

15-16

17-18

19-20

[-400, 10000] m

[0, 2) sc.

MSL

Heading

East Accy

North Accy

2^-15sc

1 m

(0, 1000] m

[-1000, 1000]

1-σ accuracy

1 m

1-σ accuracy

East / North

Covariance

1 m

21-22

23-24

Altitude Accy

Heading Accy

U16

1 m

2^-15sc

[1, 1000] m

(0, 1] sc.

1-σ 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 Cov_E,Nof the 2x2 East-North error covariance matrix as follows:

SIGN (Cov_E,N) SQRT (ABS(Cov_E,N))

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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 /

Value

Meaning

Code

0x29

Subcode

0x08

Timetag Offset Valid

Tacho Valid

1 = Valid

Low

Direction SwitchValid

Reverse Switch Value

High

1-2

Host System Clock

Timetag

U16

[0,65767]

(Host time) mod 2¹⁶

3-4

5-8

Timetag offset

Tacho pulses

U16

U32

[0,65767]

(GPS – Host) mod 2¹⁶

Accumulated

Tacho pulses

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EVENT LOG QUEUE

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.

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2. Flow of Execution

Start

Startup

Self-tests

Trap into

Monitor

mode

Pass

Yes

Startup

Complete

NORMAL

OPERATIO

Log to

Hard Event

Queue

Select

Event

detected

Yes

Write to

Flash

Yes

Log to Soft

Event

Soft

event?

Queue

Yes

Notify user

Prepare for

Shut down

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Fatal Errors

Fatal errors indicate abnormal operation of the 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 high 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.

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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

0x1201

0x2001

0x2002

0x2003

0x2004

0x2005

0x2006

0x2007

0x2008

0x2009

0x200A

0x200B

0x200C

0x2120

0x2121

0x4001

0x4003

RAM failed on self-test.

Monitor Mode

Reset

LOG_ERR_ROM_FAILED

ROM failed on checksum test.

Failure on acquiring a semaphore.

Failure on releasing a semaphore.

Failure on sending a message.

Failure on receiving a message.

Failure on deleting a message queue.

Failure to remove task from system.

Failure on suspending a task.

Failure on resuming a task.

LOG_GET_SEMAPHORE_ERR

LOG_RELEASE_SEMAPHORE_ERR

LOG_SEND_MESSAGE_ERR

LOG_RECEIVE_MESSAGE_ERR

LOG_DELETE_MESSAGEQ_ERR

LOG_DELETE_TASK_ERR

LOG_SUSPEND_TASK_ERR

LOG_RESUME_TASK_ERR

LOG_CREATE_SEMAPHORE_ERR

LOG_CONNECTION_ERR

LOG_CREATE_TASK_ERR

LOG_ALLOCATE_BUF_ERR

LOG_MESSAGEQ_FULL

Reset

Failure on creating a semaphore.

Failure to connect to Io-DSP cell.

Failure to creating a task.

Reset

Failure on memory allocation.

A given message queue is full.

Failure to open serial port.

Reset

LOG_SIO_OPEN_ERR

Monitor Mode

Hard Reset

LOG_NAV_HARD_COCOM

LOG_NAV_HARD_ERR

COCOM event, no recovery.

Other error in navigation library

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.

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Table 89:

Format of fatal error log entry

Field

Type

Descriptions

Msec

Week

Code

U32

Time tag in GPS milliseconds. (0xffffffff if not available)

U16

Time tag in GPS week number. (0xffff if not available)

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

Type Descriptions

Field

Vector

Illegal vector number

U32

Program counter at fault

Supervisor stack address

Table 91:

Block Format for Status Code 12xx

Field

Type

Descriptions

Soft value

U32

Soft checksum or memory content.

Actual value

Address

Data read from the target.

Status code 1201 only.

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Table 92:

Block Format for Status Code 2xxx

Field

Type

Descriptions

Src task

Caller task ID

Dest task

Resource ID

Receive task ID – 0 if not applicable.

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.

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Table 93:

Soft Event Identity Code

Soft event/Event

Descriptions

S/C

LOG_NO_ERROR

0x00

0x01

0x02

0x03

0x04

0x05

0x06

0x10

0x11

0x12

0x20

0x40

0x42

0x43

0x44

0x45

0x46

0x50

0x51

0x61

0x62

0x63

0x64

0x65

0x66

0x67

0x70

0x71

0x72

0x73

0x74

0x75

0x76

No error recorded in this entry

LOG_SOFT_RESET

System performed a warm reset.

System performed a cold reset.

System cleared flash and RAM, reset.

System shut down by command.

Invalid BBRAM detected on startup.

System did graceful shutdown

System passed all diagnostic tests.

Begin system test.

LOG_COLD_RESET

LOG_FACTORY_RESET

LOG_SHUT_DOWN

LOG_BBRAM_INVALID

LOG_GRACEFUL_SHUTDOWN

LOG_TEST_PASSED

LOG_TEST_START

LOG_TEST_END

Indicates the end of a test event.

Force to monitor command executed.

GPS receives the first fix on start up.

Output solution snapped to DR+GPS

Position recovery, snapped to GPS

Heading recovery, snapped to GPS

DPP recovery, snapped to GPS

ZRO recovery

LOG_FORCE_TO_MONITOR

LOG_NAV_FIRST_FIX

LOG_POSITION_SNAP

LOG_POSITION_RECOVERY

LOG_HEADING_RECOVERY

LOG_DPP_RECOVERY

LOG_ZRO_RECOVERY

LOG_NAV_USER_TIME

LOG_NAV_USER_POS

LOG_NAV_FIX_SANITY

LOG_GYRO_ANOMALY

LOG_NO_TACHO_WHILE_MOVING

LOG_EXCESSIVE_TACHO

LOG_REVERSE_GPS_DISAGREE

LOG_LARGE_JUMP

User entered time on startup.

User entered position on startup.

GPS receiver fix unreasonable.

Gyro readings not within specification

No Tacho when GPS detects motion

Consistently excessive tacho data

Reverse signal opposite to GPS

Large jump at power-up

LOG_OSCILLATOR_ANOMALY

LOG_ERR_ANT_OPEN

LOG_ERR_ANT_SHORT

LOG_CONNECTION_ERR

LOG_RTC_ERROR

Oscillator values out of specification.

Antenna open detected.

Antenna short detected.

Failure to connect to GPS DSP.

RTC disagreed with GPS time

Gyro failed.

LOG_ERR_GYRO

LOG_ERR_A2D

A2D failed on self-test.

LOG_GYRO_SHORT_TO_3V

Gyro reads 3.3 V consistently

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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

0x20

0x30

Newly detected condition

Condition previously detected, still present

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 the 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.

Soft event identity code.

Identity

Condition

Reserved

Soft event condition code.

U16

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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

positions, 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.

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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,

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

45172-XX-SP) and the offset relative to the DR DPP is

large enough.

Action:

The DPP estimate is snapped to the window average.

GPS receiver fixes not reasonable; try to recover.

Condition cause:

pseudorange error or ephemeris error.

Effect before Action:

GPS positions incorrect.

Soft Event Detected: Fix altitude is above 18000 m or below –1000 m and fix

speed is above 515 m/s.

Soft Event Cleared:

Action (ROM15):

Cleared at reset.

Erase BBRAM and RTC, re-start unit.

Gyro readings do not stay within specification

Condition cause:

Hardware failure.

Effect before Action:

Position goes in circles.

Soft Event Detected: Average gyro reading over ten seconds at standstill is

not between 2.0 V and 3.0 V.

Soft Event Cleared:

Action:

Cleared at reset.

Gyro labeled “bad”. DR suspended. Speed measurement

continues and tacho continues to be calibrated.

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No Tacho data when GPS is detecting movement

Condition cause:

Tacho is disconnected or malfunctioning.

Effect before Action:

Position solution will be not change when moving.

Soft Event Detected: GPS speed > 8.0 m/s and no tacho pulses reported

(except heartbeats) for 15 GPS fixes.

Soft Event Cleared:

Action:

Tacho pulse is reported, or unit is reset.

Tacho labeled as “absent”. DR is suspended. Heading

measurement continues and gyro continues to be

calibrated.

Excessive tacho data is received for a long period of time

Condition cause:

Wheels spinning, other tacho malfunction.

Effect before Action:

Position fixes move at higher speed than actual position.

Soft Event Detected: Not implemented in ROM 15. Function partly done by

DPP recovery.

Reverse signal opposite to direction determined by GPS.

Condition cause:

Disconnected reverse switch.

Effect before Action:

Reverse driving is mistaken for forward driving, resulting

in incorrect position.

Soft Event Detected: Driving in reverse at raw GPS speed > 14 m/s.

Soft Event Cleared:

Action:

Driving forward at raw GPS speed > 14 m/s.

Direction Switch sense changed.

Large jump at power-up

Condition cause:

Position in BBRAM incorrect (e.g., travel by ferry).

Effect before Action:

Positions are offset by many kilometers after power-up.

Soft Event Detected: Offset between first three GPS points and DR position >

2000 m.

Action:

Reset position to average GPS position.

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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 queried at one Hz.

Soft Event Cleared:

Action:

Hardware signal queried at one Hz.

DR functions without GPS positions.

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Antenna short detected.

Condition cause: Hardware failure.

Effect before Action:

No GPS positions.

Soft Event Detected: Hardware signal queried at one Hz.

Soft Event Cleared:

Action:

Hardware signal queried at one Hz.

DR functions without GPS positions.

Failure to connect to GPS DSP.

Condition cause:

Hardware failure.

Effect before Action:

No GPS positions.

Soft Event Detected: No response from DSP within 5 seconds.

Action: DR functions without GPS positions.

RTC disagreed with GPS time

Condition cause:

Low battery voltage while powered down.

Effect before Action:

Long time to first fix.

Soft Event Detected: Not implemented in ROM15.

Gyro Failure.

Condition cause:

Hardware failure.

Effect before Action:

Position goes in circles.

Soft Event Detected: 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.

Soft Event Cleared:

Action:

Cleared at reset.

Gyro labeled “bad”. DR suspended. Speed measurement

continues and tacho continues to be calibrated.

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ADC Failure.

Condition cause:

Hardware failure.

Position goes in circles.

Effect before Action:

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:

Action:

Cleared at reset.

Gyro labeled “bad”. DR suspended. Speed measurement

continues and tacho continues to be calibrated.

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A P P E N D I X

SPECIFICATIONS

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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

From 1Hz to 1MHz

190

250

100

Supply voltage noise ripple

Input capacitance on power supply

mVpp

µF

Power supply for Low Noise Amplifier

of active antenna

Power Supply for antenna is an

external input for this module. Pin

5.0

VDC

Supplied current for Low Noise

Amplifier of active antenna

5.0V Miniature GPS Vehicle Ant.

3.0V Miniature GPS Vehicle Ant.

(at room temperature)

Load capacitance of the antenna

Backup Power Supply

Backup Current

0.3

3.6

µF

2.5

VDC

Over temp. range –40 ,+85C

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

Supply voltage

Supply current

9.0

13.5

32.0

VDC

Excluding antenna

NOTE All specifications are over the entire temperature range, 0C to +60C

Table 98:

RF Characteristics

Conditions

Characteristic

Min.

Typical Max.

Unit

Tracking sensitivity

At the RF connector input of the

receiver

-140

dBm

Acquisition sensitivity

At the RF connector input of the

receiver

-130

dBm

Noise Figure

Dynamic range

Resistance to broadband

noise jamming

jamming to signal ratio at antenna

input within input filter bandwidth of

20MHz;

GPS Signal Power ≥ -160dBW

Input impedance

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Table 99:

Tachometer

Min.

Characteristic

Typical Max.

Unit

Voltage input

Frequency

12.0

3000

Data I/O

The DR+GPS Module supports the following characteristics:

CMOS/TTL levels on TXD and RXD

Fixed UART baud rates

Table 100: Data I/O

Characteristic

Conditions

Min.

Typical Max.

Unit

Data rate NMEA and

HIPPO

+/- 3% error rate

38.4

kbps

Input voltage

low level at 50 uA

0.8

0.4

high level at 50 uA

2.0

2.4

Output voltage

low level at 4 mA at Supply Voltage

high level at 4 mA at Supply Voltage

Input current

low level

-50

µA

high level

Data latency after PPS

Delta between PPS and packet

transmission

100

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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

Pulse duration

Rise time of leading edge

Output voltage

Rising edge is synchronized to UTC

second.

2.76

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

3.3

Gyro rate

2.5

mV/(degree/s), +/- 10%

Zero Rate Output (Epson)

1.35

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 to

what is listed in the table above.

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Table 105: 5 Volt Gyros

Characteristic

Min.

Typical Max.

Unit

Vgyro

Gyro rate

mV/(degree/s), +/- 10%

Zero Rate Output (Epson)

1.76

2.5

Zero Rate Output

(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

of the LNA should be approximately 18 dB as a minimum, and 35 dB maximum.

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2. Reference Board Diagram (5V Gyro)

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3. Reference Board Diagram (3V Gyro)

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Table 106: Table 115: DR Module Pin Assignments

Pin Input/Output

Function

Description

Output

Input

Output

Input

Output

Input

TX2

Factory use only

Vantenna

TX1

Voltage for GPS antenna (+5V)

Serial port1 transmit

Vbackup

RX1

Backup power (2.5 - 3.6V)

Serial port1 receive

PPS

Pulse per second

VCC

Main Power (+3.3V)

GND

Power Ground

Gyro input

Tacho 1

Reset

Analogue gyro input

Tacho pulses (Tacho only or ABS-L) (0/3.3V)

External Reset

Reverse

Signal

Forward/backward signal (0/3.3V)

Input

Gyro_GND

Vgyro

Gyro Ground

Voltage for gyro circuitry (3.3 or 5V)

Lassen DR + GPS Reference Manual 134

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