Trimble Aardvark Manual

Transcription

reference guide
Trimble Aardvark
DR + GPS Receiver
REFERENCE GUIDE
AARDVARK DR + GPS Receiver
For use with:
Aardvark DR + GPS, Flat Mounted Only (P/N 88788-30 - Flat)
Aardvark DR + GPS, Any Orientation Mounting (P/N 88788-50 - Tilt)
Version 1.0
Revision B
Part Number 88788-XX-UG
June 2012
F
Corporate Office
Trimble Navigation Limited
Component Technologies
935 Stewart Drive
Sunnyvale, CA 94085
U.S.A.
Phone: 1-800-767-4822
+1-408-481-8258
www.trimble.com
Support Offices
Component Technologies
935 Stewart Drive
Sunnyvale, CA 94085
U.S.A.
Phone: 1-800-767-4822
Legal Notices
Copyright and Trademarks
© 2011–2012, Trimble Navigation Limited.
Trimble, the Globe & Triangle logo, and Condor are trademarks of
Trimble Navigation Limited, registered in the United States and in other
countries. TM3000 is a trademark of Trimble Navigation Limited.
All other trademarks are the property of their respective owners.
All rights reserved. No part of this manual may be copied, reproduced,
translated, or reduced to any electronic medium or machine-readable
form for any use other than with the Aardvark DR + GPS receiver.
Release Notice
This is the June 2012 release (Revision B) of the AARDVARK DR + GPS
Receiver Reference Guide, part number 88788-XX-UG.
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.
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Product software, whether built into hardware circuitry as firmware,
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of any such software will be subject to the terms of such end user
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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
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expressly excluded from this update process and limited warranty.
Receipt of software Fixes or other enhancements shall not serve to
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For purposes of this warranty the following definitions shall apply: (1)
“Fix(es)” means an error correction or other update created to fix a
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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
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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:
2
AARDVARK DR + GPS Receiver Reference Guide
–
–
–
–
your name, address, and telephone numbers
proof of purchase
a copy of this Trimble warranty
a description of the nonconforming Product including the model
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
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YOU.
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
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INTERRUPTION, LOSS OF DATA, OR ANY OTHER PECUNIARY LOSS),
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DEVELOPS OR HAS DEVELOPED BETWEEN YOU AND TRIMBLE. BECAUSE SOME
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OF LIABILITY FOR CONSEQUENTIAL OR INCIDENTAL DAMAGES, THE ABOVE
LIMITATION MAY NOT APPLY OR FULLY APPLY TO YOU.
PLEASE NOTE: THE ABOVE TRIMBLE LIMITED WARRANTY PROVISIONS WILL
NOT APPLY TO PRODUCTS PURCHASED IN THOSE JURISDICTIONS (E.G.,
MEMBER STATES OF THE EUROPEAN ECONOMIC AREA) IN WHICH PRODUCT
WARRANTIES ARE THE RESPONSIBILITY OF THE LOCAL TRIMBLE AUTHORIZED
DEALER FROM WHOM THE PRODUCTS ARE ACQUIRED. IN SUCH A CASE,
PLEASE CONTACT YOUR LOCAL TRIMBLE AUTHORIZED DEALER FOR APPLICABLE
WARRANTY INFORMATION.
Official Language
THE OFFICIAL LANGUAGE OF THESE TERMS AND CONDITIONS IS ENGLISH. IN
THE EVENT OF A CONFLICT BETWEEN ENGLISH AND OTHER LANGUAGE
VERSIONS, THE ENGLISH LANGUAGE SHALL CONTROL.
Notice to Our European Union Customers
For product recycling instructions and more information, please go to
www.trimble.com/ev.shtml.
Recycling in Europe: To recycle Trimble WEEE (Waste Electrical
and Electronic Equipment, products that run on electrical
power.), Call +31 497 53 24 30, and ask for the "WEEE
Associate". Or, mail a request for recycling instructions to:
Trimble Europe BV
c/o Menlo Worldwide Logistics
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Contents
1
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
System overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
General recommendations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Carrier board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2
Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
GPS . . . . . . . . . . . . . . . . . . . . . . . . . .
Dynamic limits. . . . . . . . . . . . . . . . .
Fix rate . . . . . . . . . . . . . . . . . . . . .
GPS accuracy . . . . . . . . . . . . . . . . .
Time to first fix - DR . . . . . . . . . . . . . .
Time to first 2D fix / GPS acquisition rate . .
Reacquisition time . . . . . . . . . . . . . .
Sensitivity . . . . . . . . . . . . . . . . . . .
Electrical . . . . . . . . . . . . . . . . . . . . . . .
Normal operating conditions. . . . . . . . .
RF. . . . . . . . . . . . . . . . . . . . . . . .
Data I/O . . . . . . . . . . . . . . . . . . . .
PPS . . . . . . . . . . . . . . . . . . . . . . .
Recommended GPS antenna characteristics
Environmental . . . . . . . . . . . . . . . . . . . .
3
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12
12
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14
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15
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16
16
17
Interface Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19
Pin-out assignments . . . . . . . .
Detailed pin description . . . . . .
RFIN . . . . . . . . . . . . .
OPEN/SHORT . . . . . . . .
XRESET . . . . . . . . . . . .
VCC . . . . . . . . . . . . . .
RXD. . . . . . . . . . . . . .
TXD . . . . . . . . . . . . . .
Speed signal input sensor .
FWD/REV direction switch .
RESERVED . . . . . . . . . .
4
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20
21
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22
22
Software Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23
Soft event and fatal error logging and reporting
Port configuration . . . . . . . . . . . . . . . . .
Tools . . . . . . . . . . . . . . . . . . . . . . . . .
Orientation and calibration . . . . . . . . . . . .
Aardvark Coordinate System . . . . . . . .
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24
25
25
25
26
3
Contents
Vehicle Coordinate System . . . . . . . . . . . . . . . . .
-30 model (mount flat) . . . . . . . . . . . . . . . . . . . .
-50 model (mount flat or tilted) . . . . . . . . . . . . . . .
Calculating the orientation vector (88788-50 model only)
Calibration procedure . . . . . . . . . . . . . . . . . . . . . . . .
General calibration requirements . . . . . . . . . . . . . .
Mounting angle calibration (-50 Only) . . . . . . . . . . .
General calibration (all versions) . . . . . . . . . . . . . .
5
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26
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31
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32
32
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36
36
40
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41
41
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44
45
46
46
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47
47
Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .49
Moisture precondition . . . .
Baking procedure. . . . . . .
Soldering paste . . . . . . . .
Solder reflow . . . . . . . . .
Recommended solder profile
Optical inspection . . . . . .
Cleaning . . . . . . . . . . . .
Repeated wave soldering . .
Wave soldering . . . . . . . .
Hand soldering . . . . . . . .
Rework . . . . . . . . . . . .
Conformal coating . . . . . .
Metal shield grounding . . .
PCB fabrication . . . . . . . .
A
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Mechanical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43
Form factor . . . . . . . . . . . . . . . . .
Mechanical drawing . . . . . . . . . . . .
Soldering the Aardvark receiver. . . . . .
Suggested customer solder mask .
Suggested customer pad pattern .
Suggested customer paste pattern
Co-planarity . . . . . . . . . . . . .
7
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Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35
Software . . . . . . . . . . . . . . . .
Features . . . . . . . . . . . . .
Performance requirements . .
Timing or latency requirements
Upgradability requirements . .
Interfaces . . . . . . . . . . . . . . . .
Communication protocols . . . . . . .
6
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50
50
50
51
51
51
51
52
52
52
52
52
52
53
HIPPO Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .55
Available HIPPO messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
4
Contents
System class messages . . . . . . . . . . . . . . . . . . . .
HIPPO protocol rules . . . . . . . . . . . . . . . . . . . . .
General message structure rules . . . . . . . . . .
Report message structure (Module to Host) . . . .
Command message structure (Host to Module) . .
Chained messages . . . . . . . . . . . . . . . . . .
Post-formatting: HCC stuffing before transmission.
Pre-parsing: HCC unstuffing after reception . . . .
Command messages . . . . . . . . . . . . . . . . . . . . .
Set class . . . . . . . . . . . . . . . . . . . . . . . .
Query class . . . . . . . . . . . . . . . . . . . . . .
System class . . . . . . . . . . . . . . . . . . . . . .
Report class . . . . . . . . . . . . . . . . . . . . . . . . . .
Report message code assignment . . . . . . . . . .
System report packets . . . . . . . . . . . . . . . .
Configuration Report packets . . . . . . . . . . . .
Data report packets . . . . . . . . . . . . . . . . . .
Initialization information . . . . . . . . . . . . . . .
Diagnostic report packets . . . . . . . . . . . . . .
Event log queue . . . . . . . . . . . . . . . . . . . . . . .
Theory of Operation . . . . . . . . . . . . . . . . .
Fatal errors . . . . . . . . . . . . . . . . . . . . . .
Soft events. . . . . . . . . . . . . . . . . . . . . . .
B
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. 58
. 58
. 59
. 59
. 60
. 61
. 61
. 61
. 62
. 63
. 63
. 65
. 65
. 66
. 66
. 73
. 75
. 85
. 87
. 113
. 113
. 113
. 115
NMEA 0183 Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Standard NMEA messages . . . . . . . . . . . . . . . . . .
Proprietary NMEA messages . . . . . . . . . . . . . . . . .
NMEA protocol overview . . . . . . . . . . . . . . . . . . . . . .
NMEA 0183 communication interface . . . . . . . . . . . . . . .
NMEA 0183 message structure . . . . . . . . . . . . . . . . . . .
Field definitions . . . . . . . . . . . . . . . . . . . . . . . . . . .
Message options . . . . . . . . . . . . . . . . . . . . . . . . . . .
Standard NMEA messages . . . . . . . . . . . . . . . . . . . . . .
GGA: Global Positioning System Fix Data . . . . . . . . . .
GSA: DOP and Active Satellites . . . . . . . . . . . . . . .
GSV: GPS Satellites in View. . . . . . . . . . . . . . . . . .
RMC: Recommended Minimum Specific GPS/Transit Data
VTG: Course over Ground and Ground Speed . . . . . . .
ZDA: Time and Date . . . . . . . . . . . . . . . . . . . . . .
Proprietary NMEA messages . . . . . . . . . . . . . . . . . . . .
BA: Antenna Status . . . . . . . . . . . . . . . . . . . . . .
EM: Enter Monitor Mode. . . . . . . . . . . . . . . . . . .
NM: Automatic Output Interval and Mask . . . . . . . . .
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. 122
. 122
. 122
. 123
. 123
. 123
. 124
. 125
. 126
. 126
. 127
. 127
. 128
. 128
. 129
. 129
. 129
. 130
. 130
5
Contents
PT: Port Configuration . . . . .
RT: Reset Device. . . . . . . . .
TP: Temperature Measurement
VR: Version Information . . . .
C
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. 131
. 132
. 132
. 133
Reference Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
Aardvark reference circuit diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
6
CHAPTER
1
Introduction
1
In this chapter:

System overview

General recommendations

Carrier board
This document describes the hardware and
software characteristics of the Trimble®
Aardvark module, a 19 x 19 mm SMT-sized
dead-reckoning (DR) host-independent
positioning GPS receiver.
7
1
Introduction
System overview
The Aardvark module contains a microprocessor and an embedded GPS receiver chip. The
module board requires 3.3 ± 0.3 V and operates with an active GPS antenna.
The Aardvark module will directly supply a 3.3 V antenna from the RF pin.
There are two Aardvark models:
8
•
The -30 model (P/N 88788-30) uses a single-gyro axis to measure heading change, and
must be mounted flat in the vehicle.
•
The -50 model (P/N 88788-50) uses a three-axis gyro to measure all rotation and can
convert this to heading change. This model may be mounted in any orientation on the
vehicle.
Introduction
1
General recommendations
•
The design of the RF transmission line that connects the GPS antenna to the device is
critical to system performance. If the overall RF system is not implemented correctly,
the device performance may be degraded.
•
The radio frequency (RF) input on the device is a 50 Ω, unbalanced input. There are
ground castellations, pins 2 and 4, on both sides of the RF input castellation on pin 3.
This RF input must be connected to the output of an LNA that has a GPS antenna at its
input.
•
Connections to either the LNA output must be made using a 50 Ω, unbalanced
transmission system. This transmission system may take any form, such as microstrip,
coaxial, stripline, or any 50 Ω, characteristic impedance unbalanced, low-loss system.
It is important to keep any noise sources with frequencies at or near 1575 MHz away
from the RF input.
•
In the printed circuit board (PCB) layout, Trimble requires that you keep the PCB layer
on which the device is mounted clear of solder mask and copper (vias or traces) under
the module. This is to ensure mating of the castellations between the device and the
board to which it is mounted, and to ensure that there is no interference with any
feature beneath the device that will cause it to lift during the re-flow solder process.
9
1
Introduction
Carrier board
The carrier board was used in the development of the Aardvark module and, when
available for customers, serves as a starter kit. The carrier board fits into the TM3000™
enclosure and is structured as follows:
Antenna
RF_IN
12V Ignition
Vbatt (12V)
Car Tacho
Power Supply
Level Shifter
GPIO
LDO
VCC
Level Shifter
LDO
Car DirSw
Tacho
Aardvark
Vgyro
Level Shifter
Boot
SIO1
UART1
RS232
Level
Shifter
Direction
SPI
Gyro/In
I2C
12 Bit ADC
ADS1000A0IDBVR
SPI
ADC
ADC121S021
I2C
16 Bit ADC
ADS1000A0IDBVR
STM
3V Gyro
L3G4200D
Analog
Devices
3 Axis
Accel
ADXL312
SIO2
UART2
I2C
STM
Gyro/Accel
LSM330DLC
STM
Mag/Accel
LM303DLHC
STM
3 Axis
Accel
LIS331DLHT
R
Altimeter
Epson
5V Gyro
XV-8000
The electrical connector to the module uses a 24-pin Hirose part and has a cable assembly
available for connection to the product.
You can order the carrier board as a separate product, the A3000. For more information,
contact your Trimble sales representative.
10
CHAPTER
2
Performance Specifications
2
In this chapter:

GPS

Electrical

Environmental
This chapter describes the key performance
specifications of the Aardvark module.
Note – For mechanical specifications, see
Chapter 6, Mechanical Specifications.
11
2
GPS
The Aardvark module provides the same GPS core performance as the Trimble Condor®
C1011 GPS receiver embedded module.
All performance, accuracy, acquisition and availability requirements assume the following
conditions, unless otherwise specified:
•
Clear view of the sky
•
Multipath-free environment
•
≥ 5 satellites in view
•
> 36 CNO signal strengths
•
Stable temperature (<2 °C change per minute)
•
< 6 PDOP
•
Position change < 800 km since last power down.
Dynamic limits
Characteristic
Limits
Altitude
-1000 m to +18000 m MSL
Velocity
1
Acceleration
Motion jerk
1
515 m/s
2
4g
20 m/sec³
For operational limits set by the USA government.
2The device operates with reduced accuracy when the acceleration exceeds 1 g.
Fix rate
12
Item
Rate
DR fix rate
5 Hz (default) with 10 Hz option
GPS fix rate
1 Hz
2
GPS accuracy
The entries in this table assume that the unit is producing valid position fixes.
•
The accuracy is specified for 3D
•
Clear view autonomous GPS conditions (outdoor)
•
Velocity accuracies are steady state
Parameter
CEP 50%
CEP 90%
Position, horizontal
<2m
< 3.5 m
Position, vertical
<3m
<6m
Speed accuracy
N/A
0.06 m/s
Heading accuracy
(0.05 m/s) / Speed (1 δ )
Time to first fix - DR
Parameter
Acquisition time (seconds)
DR - TTFF
2
Time to first 2D fix / GPS acquisition rate
GPS acquisition time is defined as the time between the unit first being turned on and the
moment when valid position fixes are output.
The time to first fix (TTFF) can be affected by any of the following conditions:
•
Satellite visibility (fewer than 5 satellites in view with a CNO greater than 40)
•
Temperature drift (< 2 °C per minute)
•
GPS receiver powered down for more than one hour (this affects the validity of
satellite ephemeris data)
•
Backup power not applied during power-down
The following acquisition times are valid when the unit is at room temperature, has a clear
view of the sky with a minimum of 5 satellites in view, and has not been moved more than
800 km since the last position fix.
Type
50% (seconds)
Comment
Hot
≤2
Unit has ephemeris, position, and time
Warm
≤ 35
Unit has almanac, position, and time; but no ephemeris
Cold
≤ 38
Unit has no startup information
13
2
Reacquisition time
GPS signal outage time (seconds)
Reacquisition time (90%) (seconds)
1
≤1
5
≤2
15
≤2
Sensitivity
Scenario
Signal level
Acquire a signal
-146 dBm
Track a signal
-160 dBm
Electrical
Note – All specifications are over the entire temperature range, -40 °C to +85 °C.
Normal operating conditions
Parameter
Minimum
Typical
Maximum Units
Supply voltage
3.0
3.3
3.6
Power consumption
200
Supply voltage noise ripple
50
Input capacitance on power
supply
22
Additional current for Low
Noise Amplifier of active
antenna
Backup power supply
Backup current
14
2.5
6
Conditions
V DC
mW
Excluding external antenna
mVpp
From 1 Hz to 1 MHz
µF
30
mA
3.6
VDC
uA
3.0 V miniature GPS vehicle
antenna (at room
temperature)
Over temperature range
-40 °C to +85 °C
2
RF
The following results apply when the Aardvark receiver is tested with an external signal
generator with a noise source connected to the device RF input:
Parameter
Minimum
Noise figure
Typical
Maximum Units
8
Resistance to broadband
noise jamming
dB
20
Input impedance
Value
Tracking
-160 dBm
Acquisition sensitivity
-146 dBm
dB
Jamming to signal ratio at
antenna input within input
filter bandwidth of 20 MHz;
GPS signal power of ≥ -160
dB.
Ω
50
Sensitivity parameter
Conditions
Data I/O
The device interface is CMOS with TTL-compatible levels on TXD and RXD.
Parameter
Min
Data rate
Input voltage
Typical
Max
Units
Conditions
38.4
115.2
kbps
±3% error rate
0.8
V
Low level at 50 µA
V
High level at 50 µA
V
Low level at 4 mA at supply
voltage
V
High level at 4 mA at supply
voltage
2.0
Output voltage
0.4
2.4
Input current
Data latency after PPS
-50
50
µA
High level
-50
50
µA
Low level
100
ms
Delta between PPS and packet
transmission
15
2
PPS
PPS is present once power is applied to the unit.
Parameter
Min
Timing accuracy
Pulse duration
Typical
Max
25
4.2
Units
Conditions
ns
To UTC time with valid position
fixes
us
Rise time of leading edge
25
ns
Rising edge is synchronized to
UTC second
Output voltage
0.4
V
Low level (3.3 V)
2.4
High level (3.3 V)
Recommended GPS antenna characteristics
Antenna compatibility: Active only
Power: 3.3 VDC. Power is provided to the antenna through the center conductor of the RF
connector.
The GPS has built-in antenna detection for open and short circuit conditions. For more
information, see Appendix B, NMEA 0183 Protocol.
The SHORT alert is triggered if more than approximately 19 mA is drawn from the antenna
pin and the current is further restricted to a maximum of 33 mA by a current clamp.
Parameter
Min
LNA gain
17
Max
Units
42
dB
Cable loss
10
dB
Noise figure
1.5
dB
Resistance to broadband
noise jamming
20
dB
Jammer to signal ratio at
antenna input within input
filter bandwidth of 20 MHz;
GPS signal power of ≥ -130
dBm
Resistance to RF burnout
10
dBm
Signals > 100 MHz from L1 at
1 m from the antenna
16
Typical
Conditions
2
Environmental
Parameter
Min
Operating temperature
Typical
Max
Units
Conditions
-40
+85
°C
Storage temperature
-55
+105
°C
Humidity
5
95
%
% R.H. non-condensing at
+60 °C.
Thermal shock
-40
+85
°C
The unit will sustain proper
operation after a temperature
shock of between -40 °C to
+85 °C for 100 cycles.
Mechanical shock
(non-operational)
75
g
operation after a mechanical
shock (drop) test of
75 g / 6 msecs half-sine.
Mechanical shock
(operational)
40
g
operation after a mechanical
shock (drop) test of
40 g / 6 msecs half-sine.
ESD
ESD testing was performed using the IEC1000-4-2 standard. All inputs and
outputs are protected to ±500 V ESD level. The RF IN pin is protected up to 1
kV. If a higher level of compliance is required, additional electrostatic and
surge protection must be added.
Vibration
The device shall maintain full performance specifications when the unit is
subjected to vibration of up to (5 Hz/0.02 g2/ Hz., 20/0.05, 100/0.05,
800/0.001, 1000/0.001) 4.0 g rms, 15 min each of 3 axis.
17
2
18
CHAPTER
3
Interface Characteristics
3
In this chapter:

Pin-out assignments

Detailed pin description
This chapter describes the key mechanical
19
3
Pin-out assignments
Pin number
Name
Pin number
Name
1
Ground
28
Ground
2
Ground
27
Reserved
3
RF_IN
26
FWD/REV direction (input)
4
Ground
25
Speed signal input sensor
5
Reserved
24
UART TXD (output)
6
Vbackup
23
Reserved
7
Antenna OPEN
22
Reserved
8
Antenna SHORT
21
Reserved
9
Reserved
20
UART RXD (input)
10
Reserved
19
1PPS (output)
11
XRESET (external reset)
18
Reserved
12
Reserved
17
Reserved
13
Reserved
16
VCC
14
Ground
15
Ground
20
3
Detailed pin description
RFIN
The RF input pin is the 50 Ω unbalanced GPS RF input, and can be used with active
antennas.
OPEN/SHORT
The GPS has built-in antenna detection for open and short-circuit conditions. By default,
the open and short alerts are turned on. To turn them off, use the $PMTK324 command.
For more information, see Appendix B, NMEA 0183 Protocol.
The SHORT alert is triggered if more than approximately 19 mA is drawn from the antenna
pin and the current is further restricted to a maximum of 33 mA by a current clamp.
The diagram shows the active antenna drawing current through a 10 Ω sense resistor,
supplied by an internal 2.8 V regulator, supplied by VCC internally. As a result, there will be
an associated voltage drop as the current increases:
Note – This diagram is not a circuit diagram—it is a representation of how the open/short
detection scheme works.
Refer to the application designs for examples of antenna power circuits.
The antenna OPEN and antenna SHORT pins are intended to be used as part of an antenna
detection system when the external antenna power is not handled by the Aardvark
module. For example, if the external antenna uses a 5.0 V supply, the Aardvark module
cannot be used to power the antenna. For an example circuit that you can use with an
externally powered antenna, see Appendix C, Reference Circuit.
If the OPEN pin is not used, is should be pulled down to GND through a 10 kΩ resistor.
If the SHORT pin is not used, it should be pulled up to VCC through a 10 kΩ resistor. The
SHORT pin is pulsed high for 25 ms every second to check the antenna operation.
21
3
XRESET
Use this logic-level, active low input to issue an external reset to the module. It can be
connected to external logic or to a processor to issue a reset instruction. To reset the
module, drive this pin to logic level "0" or "Low" for at least 100 ms, and then either release
this signal or drive it back high. This pin has an internal 10 kΩ pull-up resister; if it is not
used, leave it disconnected.
VCC
This is the primary voltage supply pin for the module
RXD
This logic level input is the serial port receive line (data input to the module). Leave
disconnected if not used.
TXD
This logic level output is the serial port transmit line (data output from the module). Leave
disconnected if not used.
Speed signal input sensor
2.8 V LVTTL, 3.3 V to 5 V tolerable. Maximum tachometer pulse frequency is 3 kHz.
FWD/REV direction switch
2.8 V TTL, 3.3 V to 5 V tolerable. The Aardvark receiver can work with both High (FWD) and
Low (FWD) conventions. The Aardvark module will determine the sign of the direction
switch automatically when the device is first used.
RESERVED
There are several reserved pins. Do not connect these pins.
Note – Do not place solder mask, copper traces, vias, or other conductive elements under
the module when designing the Aardvark module into your system.
22
CHAPTER
4
Software Interface
4
In this chapter:

Soft event and fatal error logging and
reporting

Port configuration

Tools

Orientation and calibration

Calibration procedure
23
4
Software Interface
Soft event and fatal error logging and reporting
The Aardvark module supports the soft event and fatal error logging and reporting
described in the HIPPO Protocol Specification. While both HIPPO messages for soft events
(0x14-01) and fatal errors (0x14-02) are supported, only soft events are actually
implemented, as shown below. No fatal errors are currently implemented. The HIPPO
specification lists all possible event codes supported by different products; the following
table lists only soft events supported by the Aardvark module:
ID
Name
Description
Type1
0x01
LOG_SOFT_RESET
System performed a warm reset.
S
0x02
LOG_COLD_RESET
System performed a cold reset.
S
0x03
LOG_FACTORY_RESET
System cleared flash and RAM and then reset.
S
0x05
LOG_BBRAM_INVALID
Invalid BBRAM detected on startup.
S
0x06
LOG_GRACEFUL_SHUTDOWN
System performed a graceful shutdown.
S
0x10
LOG_TEST_PASSED
System passed all diagnostic tests.
S
0x11
LOG_TEST_START
Begin system test.
S
0x12
LOG_TEST_END
Indicates the end of a test event.
S
0x20
LOG_FORCE_TO_MONITOR
Force to monitor command executed.
S
0x40
LOG_NAV_FIRST_FIX
GPS receives the first fix on start up.
S
0x42
LOG_POSITION_SNAP
Output solution snapped to DR-GPS.
S
0x43
LOG_POSITION_RECOVERY
Position recovery, snapped to GPS.
S
0x44
LOG_HEADING_RECOVERY
Heading recovery, snapped to GPS.
S
0x45
LOG_DPP_RECOVERY
DPP recovery, snapped to GPS.
S
0x46
LOG_ZRO_RECOVERY
ZRO recovery.
S
0x50
LOG_NAV_USER_TIME
User entered time on startup.
S
0x51
LOG_NAV_USER_POS
User entered position on startup.
S
0x62
LOG_GYRO_ANOMALY
Gyro readings not within specification.
C
0x63
LOG_NO_TACHO_WHILE_MOVING
No speed signal input when GPS detects motion. C
0x65
LOG_REVERSE_GPS_DISAGREE
Reverse signal opposite to GPS.
C
0x66
LOG_LARGE_JUMP
Large jump at power-up.
C
0x67
LOG_OSCILLATOR_ANOMALY
Oscillator values out of specification.
C
0x70
LOG_ANTENNA_OPEN
Antenna open detected.
C
0x71
LOG_ANTENNA_SHORT
Antenna short detected.
C
0x74
LOG_ERR_GYRO
Gyro failed on startup.
C
0x75
LOG_ERR_ADC
ADC failed on self-test.
C
1
Indicates whether the event is a single (S) or a continuos (C) event. Refer to the HIPPO Protocol Specification for details.
24
Software Interface
4
Port configuration
Port
Input
Setup
Output
Setup
Port 1
HIPPO
38400-8-NONE-1
HIPPO
38400-8-NONE-1
Tools
Parameter
Description
Monitoring, configuring,
exercising functionalities
The Trimble GPS Studio software program can monitor, configure, and
exercise the device functions.
Updating application firmware The Trimble GPS Studio program supports updating the application firmware
of the device.
You can download the Trimble GPS Studio software from the Support section
of the Trimble embedded products website. Go to
www.trimble.com/embeddedsystems
Orientation and calibration
The two Aardvark modules can be oriented and calibrated as follows:
25
4
Software Interface
Aardvark Coordinate System
Vehicle Coordinate System
Where:
Vx: Forward and on the longitudinal plane of symmetry
Vy: Lateral out the left side of the automotive vehicle
Vz: Upward with respect to the automotive vehicle
26
4
Software Interface
-30 model (mount flat)
This is the traditional version of the Aardvark dead-reckoning module and uses a single-axis
gyroscope and wheel-tick measurements to propagate positions. The single-axis gyroscope
must be mounted flat (level) relative to the vehicle frame so that the sensitive axis of the
gyro points to the vertical direction of the vehicle. This model of the Aardvark receiver
should be mounted within ±5 degrees of the vehicle level.
This allows the gyro to measure motion around a single axis to accurately determine the
change in heading of the vehicle.
-50 model (mount flat or tilted)
This module has a three-axis gyro and a sophisticated calibration algorithm that allows you
to mount the module in any orientation relative to the vehicle. For example, the module
can be mounted flat, tilted at an angle, upside-down, or on its side.
The unit must know its mounting orientation. Do one of the following:
Single fixed-angle configuration
If the mounting orientation is known, you can program the orientation angles directly into
the module. The Aardvark receiver will immediately start in DR mode.
0x70-60: 'Set' format for the Mounting Angle Calibration
Byte /
Bit
Name
Type
Units / LSB
Range / value
Meaning
Code
U8
0x70
Subcode
U8
0x60
0
Version
U8
0x02
Version of the message format.
When 'setting' data, make sure to
set this field to the value
reflected in this reference table.
1
Command
U8
2-5
X-axis value of the
forward direction
unit vector
FLT
-1…1
X value of the unit vector in the
vehicle's forward direction
expressed in the gyro XYZ
coordinates.
6-9
Y-axis value of the
forward direction
unit vector
FLT
-1…1
Y value of the unit vector in the
coordinates.
Mounting angle calibration
command:
0: Set the mounting angle unit
vectors as specified in this
packet.
27
4
Software Interface
Byte /
Bit
Name
Type
10-13
Z-axis value of the
forward direction
unit vector
14-17
Units / LSB
Range / value
Meaning
FLT
-1…1
Z value of the unit vector in the
coordinates.
X-axis value of the
left direction unit
vector
FLT
-1…1
vehicle's left direction expressed
in the gyro XYZ coordinates.
18-21
Y-axis value of the
left direction unit
vector
FLT
-1…1
22-25
Z-axis value of the
left direction unit
vector
FLT
-1…1
26-29
X-axis value of the
up direction unit
vector
FLT
-1…1
vehicle's up direction expressed
30-33
Y-axis value of the
up direction unit
vector
FLT
-1…1
34-37
Z-axis value of the
up direction unit
vector
FLT
-1…1
User-defined configuration
If the Aardvark module will be used in multiple installations, where the installation angles
are known for each installation, the module can select from preset profiles that are
programmed into it. The Aardvark module will select the set that best matches the actual
measured orientation—it will use measurements made while the vehicle is moving to
"snap" to one of the orientations. Once the initial calibration has been completed
successfully, the Aardvark module uses this set of orientation angles for all future
calculations. Until it has been calibrated, the module operates in GPS-only mode.
Byte /
Bit
0
28
Name
Type
Units / LSB
Code
U8
0x70
Subcode
U8
0x60
Version
U8
Range / value
Meaning
0x02
Version of the message format. When
'setting' data, make sure to set this
field to the value reflected in this
reference table.
4
Software Interface
Byte /
Bit
Name
Type
1
Command
U8
…
…
…
Units / LSB
Range / value
Meaning
Mounting angle calibration command:
2: Set the mounting angle unit vectors
by self-calibration and matching to a
known profile (only if profiles were set
using 0x70-61). All other fields in this
packet are ignored.
…
…
Range / value
Meaning
0x02
'setting' data, make sure to set this field
to the value reflected in this reference
table.
0x70-61: Mounting Angle Profiles
Byte /
Bit
Name
Type
Units / LSB
Code
U8
0x70
Subcode
U8
0x60
0
Version
U8
1
Command
U8
…
…
…
1: Set the mounting angle unit vectors
by self-calibration only (the other fields
in this packet are ignored).
…
…
Self-calibration configuration
The Aardvark module can also be mounted in any arbitrary orientation and set to calibrate
itself by using measurements made while the vehicle is moving to determine its actual
orientation angles. This set of maneuvers will include a certain amount of time standing
still and a certain number of right angle turns. Once the initial calibration has been
completed successfully, the module uses this set of orientation angles for all future
calculations.
Byte /
Bit
0
Name
Type
Units / LSB
Code
U8
0x70
Subcode
U8
0x60
Version
U8
Range / value Meaning
0x02
'setting' data, make sure to set this field
to the value reflected in this reference
table.
29
4
Software Interface
Byte /
Bit
Name
Type
1
Command U8
…
…
…
Units / LSB
1: Set the mounting angle unit vectors by
self-calibration only (the other fields in
this packet are ignored).
…
…
…
Factory-default configuration
If the Aardvark module finds that its current orientation does not match the orientation
found during calibration, it will re-enter calibration mode.
Byte /
Bit
Name
Type
Units / LSB
Code
U8
0x70
Subcode
U8
0x60
0
Version
U8
1
Command U8
…
…
…
Range / value
Meaning
0x02
'setting' data, make sure to set this field to
the value reflected in this reference table.
3: Use the mounting angle programmed at
manufacturing. All other fields in this
packet are ignored. If manufacturing data
is not available, an error is returned.
…
…
…
Calculating the orientation vector (88788-50 model only)
The Aardvark -50 module uses a three-axis gyro to measure the complete motion of the
vehicle in calculating the dead reckoning solution. The Aardvark module needs to know its
orientation relative to the vehicle to make the correct translation between the measured
motion and the vehicle's actual motion on the ground. The user can input a vector (a set of
three numbers) that represents the orientation of the module relative to the vehicle.
To calculate the orientation vector, the mounting angles for the Aardvark module must be
known, specifically the pitch and roll—the yaw (the orientation relative to forward) is not
used.
To understand the pitch and roll angles, see the diagrams on the previous page that show
the coordinate systems of the vehicle and the Aardvark module—the directions of the
arrows in the diagrams define the positive axis of the coordinate system. Rotations are
defined using the "right-hand rule." This means that a positive rotation around the Vy axis
will be down at the nose of the vehicle; a positive rotation around the Vx axis will bring the
left side up, the right side down. A rotation around Vy is pitch; a rotation around Vx is roll.
The order of rotations matter when calculating the vectors.
30
4
Software Interface
The Aardvark module’s roll and pitch angles are defined as the combination of rotations of
pitch then roll that brings the Aardvark from level to the actual mounting angle.
Once the angles are known, the vectors are calculated as follows:
U = [Ux Uy Uz] = [-sin(pitch) cos(pitch)*sin(roll) cos(pitch)*cos(roll)]
Note – The vector is a unit vector, where Ux2+Uy2+Uz2 = 1. This is useful when checking
your calculation.
You can use the Trimble GPS Studio software to enter this vector into the device;
alternatively use HIPPO packet 0x70-61. To set the "up" vector, use the values calculated as
U = [Ux Uy Uz] above. Ideally, the left/forward vectors should match how the module is
physically mounted in the vehicle.
Note – Programming the module with the orientation (0, 0, 0) will not affect the current
firmware.
You can set and store multiple profiles in the Aardvark module. This is useful when you
program the module at one location, but then install it on multiple vehicles with different
mounting angles as you can preset a number of possible mounting angles for the unit.
You can also use the "set" format of HIPPO packet 0x70-61. However, this command will
only program the module to one set orientation. This packet will command the Aardvark
module to use a specific angle, to commence a full self-calibration, or to commence a
matching calibration where the module "snaps" to one of the profiles in the set of possible
mounting angles defined in the 0x70-61 packet.
Note – If the command 0x70-61 is used to program the UP vector (0,0,1) as the only profile,
the firmware will not use this vector until it completes the self-calibration and finds the
self-calibrated vector matches (0,0,1). This differs from 0X70-60. If 0x70-60 is used to
program UP vector (0, 0, 1), the firmware will use this vector as it is and will never start the
self-calibration process.
Calibration procedure
You must calibrate the Aardvark DR + GPS receiver after installation to ensure an accurate
output from the receiver. The calibration will measure some of the characteristics that are
specific to the vehicle installation, and is done automatically when the unit is first installed.
Before the receiver is calibrated, it operates in GPS-only mode. After calibration, the
receiver will operate in DR mode.
To calibrate the receiver, you must drive a set of maneuvers that will give the receiver
visibility into the following parameters:
•
Distance per pulse (DPP)—this calibrates the odometer output to relate output pulses
to meters traveled. It is a combination of the actual vehicle Speed signal output
characteristics and the tire size and inflation.
•
Direction switch—the receiver determines whether the output of the direction switch
is high or low when traveling forward.
31
4
Software Interface
•
Gyro offset (Zero Rate Output [ZRO])—this is the output of the on-board gyro when
the vehicle is not moving.
•
Gyro scale factor (GSF)—this is the relationship between the output of the gyro
measured in volt and the actual turn rate in degrees per second.
•
Mounting orientation (-50 version only)—the -50 version of the receiver can be
mounted in any orientation. You must either program in the actual mounting
orientation or the receiver can measure its orientation.
General calibration requirements
•
Drive on a flat road.
•
Make sure that you have good GPS visibility.
•
The driving speeds must be above 30 km/hr (18 mph).
Mounting angle calibration (-50 Only)
You can mount the -50 version of the receiver in any orientation and you can then set up
the actual installed angle in one of the following ways:
•
If the exact angle is known, you can enter this directly as a configuration of the
receiver. This is useful if the receiver is being installed on a single model of vehicle with
a defined mounting scheme.
•
If the receiver may be mounted on a range of vehicles, each with a defined mounting
angle, configure the receiver with each set of installation angles. During the
calibration, it will then determine which set of the pre-programmed installation angles
is closest to the actual measured installation. When its own determination is within 5°
of one of the pre-programmed angle sets, the receiver "snaps" to it.
•
If the receiver has no information about the installation angle, it will first measure the
actual installed angles. This method will take longer than the other two methods. To
do this, complete a series of approximately ten right angle (90°) turns with a forward
speed greater than 30 km/hr (18 mph). Each turn should be completed in less than five
seconds and should include a number of times when the vehicle is stopped between
the turns (at least five seconds for each instance).
To monitor the mounting angle calibration status, use HIPPO 0x70-60.
To configure mounting angles, use HIPPO 0x70-61.
General calibration (all versions)
Note – For the -50 version of the receiver, you can only proceed with the general calibration
once the mounting angle calibration is complete.
General calibration involves the parameters DPP, direction switch, ZRO, and GSF—they are
largely calibrated in parallel.
32
4
Software Interface
To do this, you can drive a set of 10 or more 90° turns (both right hand and left hand) with
a forward speed greater than 30 km/hr (18 mph). Separate the turns with the some
intervals of the vehicle at a standstill. For example, if the vehicle makes four right hand
turns, stop for 5 seconds before starting again.
During this time:
•
DPP calibrates at any time that there is a good GPS track.
•
The direction turn switch calibrates during the first motion.
•
ZRO is calibrated at any time that the vehicle is not moving.
•
GSF is calibrated during turns.
You only need to complete the initial calibration once. After the initial calibration, the
receiver will continually update the calibration whenever it has appropriate data with good
GPS tracking.
If you move the receiver module to a different vehicle, you do not necessarily need to
recalibrate it. The gyro calibration will be the same, as the gyro is part of the module, not
the vehicle and the DPP calibration will adjust as the vehicle is driven.
33
4
34
Software Interface
CHAPTER
5
Software
5
In this chapter:

Software

Interfaces

Communication protocols
This chapter describes the software used with
the Aardvark receiver.
35
5
Software
Software
Features
Parameter
Description
DR reporting frequency
Provide DR positioning data at a programmable frequency of 5 Hz or 10 Hz.
DR position reporting
The following DR position data is provided:
• Position as WGS84 latitude (- π/2rad, π/2rad), longitude (- π, +π rad) and
altitude (m)
• Position accuracy (m)
• Position status (invalid, valid)
DR heading reporting
The heading is always the direction the front of the car points to (north is 0
radians; clockwise is positive increasing).
The following DR heading information is provided:
• Heading (0 rad, 2π rad)
• Heading accuracy (rad)
• Heading status (invalid, valid)
DR speed reporting
The following DR speed data is provided:
• Speed (m/s)
• Speed accuracy approximation, derived from Kalman filter parameters (m/s)
• The direction switch status (invalid, forward, backward)
• Speed status (invalid, valid)
• Motion indicator (invalid, motion, no motion)
DR delta distance
reporting
The following DR delta distance data is provided:
• Delta distance (m) since previous timestamp (not based on the distance
between 2 successive positions)
• Delta distance accuracy approximation, derived from Kalman filter
parameters (m/s)
• Delta distance status (invalid, valid)
• Always a positive value (total distance forward - total distance backward)
since last report. Direction status indicates if the direction traveled is
forward or backward.
DR delta heading
reporting
The following DR delta heading data is provided:
• Delta heading (centidegrees) since the previous timestamp
• Delta heading accuracy approximation, derived from Kalman filter
parameters (centidegrees)
• Delta heading status (invalid, valid)
GPS reporting frequency
Provide GPS positioning data at a programmable frequency of 0 Hz or 1 Hz.
GPS position reporting
The following GPS position data is provided:
• Position as WGS84 latitude (- π/2rad, π/2rad), longitude (- π, +π rad) and
altitude (m)
• GPS status (no SVs, tracking but no position, 2D, 3D)
• Position accuracy (m)
36
5
Software
Parameter
Description
GPS heading reporting
The heading is always the direction where the front of the car is pointing (north
is 0 radians, clockwise is positive increasing).
The following GPS heading data is provided:
• Heading (0 rad, 2π rad)
• Heading accuracy (rad)
• Heading status (invalid, valid)
GPS speed reporting
The following GPS speed data is provided:
• Speed (m/s)
• Speed status (invalid, valid)
• Speed accuracy (m/s)
System information
The following information is provided on request and when power is turned on:
• GPS receiver connected/responding status
• Battery backup (error) status
• Antenna feed line error (open/short) status
• Almanac status
• DR software version
• DR software date
• GPS software version
• GPS software date
• Flash data (product name, serial number, and date of manufacture)
• Sensor status indication (speed signal input and gyro detected)
GPS information
The following GPS data is provided:
• IDs of tracked satellites (#)
• SNRs of tracked satellites (dB–Hz)
• Number of visible (tracking list) satellites
• Azimuth of each visible satellite (°)
• Elevation of each visible satellite (°)
• DOP values
• UTC time (yyyy/mm/dd/hh/mm/ss)
• GPS time
• GPS status
Map matching
The device uses map positions and heading, received through messages, to
improve positioning data accuracy.
BBRAM
The device keeps positioning data, sensor calibration data and GPS almanac and
ephemeris data during power off with backup power available. This includes a
"no speed signal input mode" indicator. The saved values are used when the
system is restarted.
RTC
The RTC is kept alive when backup power is present.
A-GPS
The device can send and receive almanac data, ephemeris data, date, position,
and time for improving TTFF and for production test.
37
5
Software
Parameter
Description
Self-calibration
The uncalibrated device can calibrate itself (for example, provide valid
positioning data) from the first GPS 2D measurement onward. The device is fully
calibrated when:
• GPS is navigating uninterrupted during 60 seconds (DPP)
• Speed during these 60 seconds is > 8 m/s (DPP)
• Gyro sensitivity after 100 right hand turns (GSF)
Note – The device must be calibrated on horizontal roads. The position is valid
after the first 3D position fix.
Direction switch
The device automatically determines the direction switch logic level.
Non-volatile memory
(NVRAM)
The device supports a message to perform a back-up of DR calibration and user
configuration data into Flash/NVRAM.
Calibration data
The device supports messages to send and receive positioning and sensor
calibration data that needs to be preserved during power loss.
Raw sensor diagnostics
The device provides the following raw sensor data with programmable update
frequencies of 5 Hz or 10 Hz (HIPPO packet 0x30-02: Fast Fix with Raw DR Data
Message):
• Number of actual speed sensor pulses
• Actual direction switch value
• Gyro output value
Calibration data
diagnostics
The device provides the following calibration data upon request (HIPPO packet
0x36: DR Calibration Messages):
• Zero Rate Output (ZRO)
• Sensitivity (mV / ° / s)
• Gyro calibration status (ZRO Calibrated Y/N, Sensitivity Calibrated Y/N)
• Direction switch status (Calibrated, Y/N)
• Direction switch value (Forward or Reverse)
• Distance Per Pulse (DPP)
• Speed sensor calibration status (Calibrated, Y/N)
Sensor interface test
The device provides the following self-test functions when turned on. The
results of the test are reported to the host upon query.
• ADC/Gyro—read gyro output level on start-up and verify its validity (HIPPO
packet 0x3F-01: ADC and Gyro Self-test Data).
Power On self test
The following diagnostic self-tests are performed when the device is turned on:
• FLASH ROM checksum
• RTC validation
• RAM read/write test
Reserved
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Software
Parameter
Description
Run-time positioning
diagnostics
The device can constantly verify the performance of the GPS against the
peripheral DR inputs and vice versa during normal operation. If any instance of
non-conformance is detected, the device logs the non-conformance event in an
error log. The following instances of non-conformance are identified:
• A positioning process is not active under normal conditions.
• Gyro readings do not stay within specification.
• No speed signal input data is received during a period when GPS is detecting
movement.
• Excessive speed signal input data is received for a long period of time.
• Reverse signal is opposite to the direction determined by GPS. When battery
back up data is not available, the reverse signal must be calibrated before an
error can be reported.
• Large or numerous jumps occur as a result of differences between DR
positions and GPS Positions.
• Oscillator values are not within specification.
Error/event log
The device has an error/event log in non-volatile memory that records all
system events and errors. For more information, refer to Trimble document
P/N 45294-XX-SP.
All events reported to the log have the following format:
• Event identification
• Time tag (yymmddhhmmss)
Writing to the log initiates an error message to the host using HIPPO packet
0x14-01: Soft Event Log Report. The log maintains the last 128 events that occur
in the system. Any prior events are lost.
The log queue is maintained in non-volatile memory.
Access to the log is available through HIPPO packet 0x14-01: Soft Event Log
Report.
DR calibration and user
configuration
The DR calibration and user configuration are saved to non-volatile memory
when receiving a "graceful shutdown" HIPPO packet.
TCXO aiding
The value of the TCXO offset is stored in non-volatile memory during production
testing. It improves GPS acquisition and tracking, provided that the GPS module
supports accepting externally-provided TCXO offset.
39
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Software
Performance requirements
Parameter
Description
DR position accuracy
Overall position accuracy with GPS is better than or equal to the GPS position
accuracy, see GPS accuracy, page 13.
Position accuracy without GPS shall be within the limits of the individual heading
and speed accuracy defined in this section.
DR heading accuracy
With use of a gyro, the heading accuracy, when GPS is available, is:
• Within 2 degrees when speed > 1 m/s or speed = 0 m/s.
• Within 10 degrees when:
•
•
•
speed < 1 m/s; and
speed ≠ 0 m/s; and
within gyro-drift of the actual used gyro when GPS is not available
(2 degrees + heading difference caused by gyro-drift).
Without use of a gyro (only in 'GPS only' applications and in non-calibrated
positioning modules), the heading accuracy is better than or equal to GPS
heading accuracy.
DR speed accuracy
With use of a speed sensor, the speed accuracy is better than 0.2 m/s. at speeds
above 0.5 m/s. Without use of a speed sensor (only in 'GPS only' applications
and in non-calibrated positioning modules), the speed accuracy is better than or
equal to the GPS speed accuracy.
Motion is defined as "speed is above lowest detectable speed". Speeds above
0.5 m/s have this motion indication.
DR delta distance
accuracy
With use of a speed sensor, the delta distance accuracy is better than 0.2 m/s. at
speeds above 0.5 m/s. Without use of a speed sensor (only in 'GPS only'
applications and in non-calibrated positioning module), the delta distance
accuracy is better than or equal to GPS speed accuracy.
DR delta heading accuracy With use of a gyro, the delta heading accuracy is better than 1 degree. Without
the use of the gyro (only in non-calibrated positioning module), the delta
heading accuracy is better than or equal to the GPS delta heading accuracy.
GPS position accuracy
See GPS accuracy, page 13.
GPS speed accuracy
GPS heading accuracy
Timing or latency requirements
Parameter
Description
DR packet latency
A max delay of 100 msec from the start of DR data collection to the start of DR
packet transmission.
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Software
Upgradability requirements
Parameter
Description
Application firmware
You can upgrade the application firmware in the field using the Trimble GPS
Studio software or any user application implementing a firmware upgrade
protocol.
Interfaces
Parameter
Description
ADC
The ADC interface for the analog gyro (digital gyros perform internal ADC
operations)
RTC
The real-time clock interface for maintaining time when the device is on the
battery power with the main power switched off
NVRAM
The non-volatile memory interface for storing DR calibration and user
configuration
Antenna
The antenna short/open detection interface
UART
The serial I/O interface for communication protocols
Speed signal input
The speed signal input interface for measuring the vehicle speed
Direction switch
The direction switch interface
Communication protocols
Parameter
Description
HIPPO
The HIPPO protocol interface is implemented. See Appendix A, HIPPO Protocol
for supported messages.
NMEA
The NMEA protocol interface is implemented. See Appendix B, NMEA 0183
Protocol for supported messages.
Note – Both protocols are generated through the serial port with a switch feature to switch
off the auto-output of either the HIPPO or NMEA protocol.
41
5
42
Software
CHAPTER
6
Mechanical Specifications
6
In this chapter:

Form factor

Mechanical drawing

Soldering the Aardvark receiver
This chapter describes the key mechanical
43
6
Form factor
Parameter
Description
Size
19 mm x 19 mm x 2.54 mm without RF connector.
Mounting
For SMT operation, see Mechanical drawing, page 45.
Metal shield
Covers the entire module for handling, ESD protection, and preventing
mechanical damage.
44
6
Mechanical drawing
45
6
Soldering the Aardvark receiver
Suggested customer solder mask
Note – No solder mask or copper traces or vias or conductive elements under the unit
Suggested customer pad pattern
Note – No solder mask or copper traces or vias or conductive elements under the unit.
46
6
Suggested customer paste pattern
Co-planarity
Co-planarity of the device is <0.1 mm.
47
6
48
CHAPTER
7
Handling
7
In this chapter:

Moisture precondition

Baking procedure

Soldering paste

Solder reflow


Optical inspection

Cleaning

Repeated wave soldering

Wave soldering

Hand soldering

Rework

Conformal coating

Metal shield grounding

PCB fabrication
49
7
Handling
Moisture precondition
You must take precautions to minimize the effects of the reflow thermal stress on the
component. Plastic molding components for integrated circuit encapsulation are
hydroscopic and absorb moisture, dependent on the time and the environment.
Absorbed moisture vaporizes during the rapid heating of the solder reflow process,
generating pressure on all the interface areas in the package, which is followed by swelling,
delamination, and even cracking the plastic. Components that do not exhibit external
cracking can have internal delamination or cracking which affects the yield and reliability.
Baking procedure
If baking is necessary, Trimble recommends baking in a nitrogen purge oven.
Temperature: 125 °C
Duration: 24 hours
After baking: Store in a nitrogen-purged cabinet or dry box to prevent absorption of
moisture.
C
C
CAUTION – Repeated the baking process will reduce the solderability.
CAUTION – Do not bake the units within the tape and reel packaging.
Soldering paste
The device itself is not hermetically sealed. It is strongly recommended that you use the
"No Clean" soldering paste and process. The castellation solder pads on this module are
plated with silver plating. It is recommended that you use Type 3 or above soldering paste
to maximize the solder volume. The following is an example of the solder paste that you
can use:
Solder paste: Kester EM909
Alloy composition: Sn96.5Ag3Cu.5 (SAC305) 96.5% Tin/ 3% Silver/ 0.5% Copper
Liquidus temperature: 221 °C
Stencil thickness: 5 mm (0.005")
Stencil opening requires 4-mil toe over paste in the X and Y directions.
Refer to the instructions provided by the solder paste manufacturer and the assembly
process for the approved procedures.
50
7
Handling
Solder reflow
A hot-air convection oven is strongly recommended for solder reflow. For the lead-free
solder reflow, we recommend using a nitrogen-purged oven to increase the solder wetting.
Refer to IPC-610D for the lead-free solder surface appearance.
C
CAUTION – Follow the thermal reflow guidelines from IPC-JEDEC J-STD-020C.
The size of this module is 957 mm³. According to J-STD-020C, the peak component
temperature during reflow is 245 °C.
You must carefully select the final soldering thermal profile. The thermal profile depends
on the choice of the solder paste, thickness and color of the carrier board, heat transfer,
and size of the panelization.
C
CAUTION – For a double-sided surface-mount carrier board, place the unit on the secondary side to
prevent the module or its shield falling off during reflow.
Optical inspection
Once you have soldered the device's GPS module to the carrier board, follow the IPC-610
specification and visually inspect the module under a 3x magnification lens for the
following:
•
Verify that each pin is correctly aligned with the mount pad.
•
The pads are correctly soldered.
•
Verify that no solder is bridged to the adjacent pads and X-ray the bottom pad if
necessary.
Cleaning
When the device is attached to the user board, a cleaning process voids the warranty. The
silver plated device may discolor with cleaning agent or chlorinated faucet water. Any other
form of cleaning solder residual may cause permanently damage and voids the warranty.
To eliminate the cleaning process, use a "no-clean" process.
51
7
Handling
Repeated wave soldering
The device's lead-free silver plated module can withstand two reflow solder processes. If
the unit must mount on the first side for surface-mount reflow, we suggest adding
additional glue on the bottom of the module to prevent it falling off when processing the
second side.
Wave soldering
The device cannot soak in the solder pot. If the carrier board is mixed with through-hole
components with surface mount devices, it can process with one single lead-free wave
process. The temperature of the unit will depend on the size and the thickness of the
board. We recommend measuring the temperature on the module and keeping it under
180 °C.
Hand soldering
For the lead-free device, we recommend using a lead-free solder core, such as Kester 275
Sn96.5/Ag3/Cu0.5 When soldering the module by hand, please keep the soldering iron
below 260 °C.
Rework
The device can withstand one rework cycle. The module can heat up to the reflow
temperature to precede the rework. You may never remove the metal shield and rework
the module itself.
Conformal coating
Conformal coating on the device is not allowed. If used it voids the warranty.
Metal shield grounding
This module is designed with numerous ground pins that provide the best immunity to the
EMI and noise shielding. Any alteration in adding ground wires to the metal shield will be
done at your own risk.
52
7
Handling
PCB fabrication
Number
Parameter
Description
1
Metal
Copper
2
Solder mask
TAIYO PSR 4000 MH
3
Silk screen legend
Any Non-conductive
4
Surface finish
Immersion Silver 10 µ" ± 4"
5
Laminate material
Polyclad PCL FR370HR
6
Panelization
The PCB shall be pre-routed with mouse bite tabs for depanelizing.
53
7
54
Handling
APPENDIX
A
HIPPO Protocol
A
In this appendix:

Available HIPPO messages
This chapter describes the HIPPO protocol.

System class messages

HIPPO protocol rules
The Aardvark firmware implements a sub-set of
the HIPPO messages described in the HIPPO
Protocol Specification.

Command messages

Report class

Event log queue
Target-specific HIPPO messages include reset
messages 0x03-XX, production interface support
messages 0x12-XX, and several diagnostic
messages 0x70-XX.
55
A
HIPPO Protocol
Available HIPPO messages
The following table lists HIPPO messages implemented and available in the Aardvark
firmware. It also indicates whether a particular message can be queried (Q) or set (S).
Messages that can be neither queried nor set are output automatically. For such messages,
the output frequency is shown. For detailed information, refer to the HIPPO Protocol
Specification.
Code
Sub-Code
0x10
0x01
Acknowledge Set
0x10
0x02
Acknowledge Query
0x10
0x03
Acknowledge system command
0x11
0x01
Application/system version
Q
0x11
0x03
DR library version
Q
0x11
0x04
GPS software version
Q
0x11
0x06
Common source code version
Q
0x12
0x01
Start-up message
0x12
0x02
SW mode
Q
0x12
0x03
Product information
Q
0x12
0x04
Hardware ID
Q
0x12
0x07
Output GPIO control
0x14
0x01
Event Entry
Soft event log entry
Q
0x14
0x02
Event Entry
Fatal error log entry
Q
0x16
0x01
Health message
Q
0x16
0x02
Repeat start-up message
Q
0x21
0x01
DR fix output rate
Q
S
0x22
0x02
NMEA output control
Q
S
0x23
0x02
Serial port configuration with
output protocol control
Q
S
0x29
0x01
Time initialization
Q
S
0x29
0x02
Latitude / Longitude initialization
Q
S
0x30
0x02
Fast Fix with raw DR data
Q
0x31
0x01
GPS fix
Q
0x31
0x02
GPS fix (extended)
Q
1 Hz
0x32
0x01
UTC time and constellation
summary
Q
1 Hz
0x33
0x01
GPS channel measurement short
status
Q
1 Hz
0x36
0x03
ZRO calibration
0x36
0x04
Gyro linearity calibration
56
Indexed By
Channel
Message
Q
S
Output
Frequency
Startup
5 Hz
HIPPO Protocol
Code
Sub-Code
Indexed By
0x36
0x05
Direction switch calibration
0x36
0x07
DPP calibration
0x36
0x08
ZRO rate calibration
0x3F
0x01
ADC and Gyro self-test data
0x70
0x05
Event information
0x70
0x06
System profiling data
0x70
0x0D
BBRAM data
Startup
0x70
0x0E
Startup time
Startup
0x70
0x12
Temperature data
0x70
0x13
DR sensor data
5 Hz
0x70
0x20
GPS raw measurement group data
1 Hz
0x70
0x21
GPS raw measurement channel data
1 Hz
0x70
0x22
GPS fix data
1 Hz
0x70
0x23
DR sensor definitions
Startup
0x70
0x24
Used SVs information
1 Hz
0x70
0x26
Ionosphere parameters
Event
0x70
0x27
Map-matching data input
0x70
0x28
0x70
Channel
SV PRN
Message
Q
S
A
Output
Frequency
Q
Q
Event
Q
1 Hz
S
Ephemeris and subframe 1 data
Event
0x30
DR KF output (calibration) data
1 Hz
0x70
0x31
GPS KF output data
1 Hz
0x70
0x32
DR fix data
5 Hz
0x70
0X50
0X70
0X52
0x70
0x60
0x70
0x61
0x70
0x7F
Toggle diagnostic output
Q
S
57
A
HIPPO Protocol
System class messages
The Aardvark firmware also supports the following system class messages. Refer to the
HIPPO specification for a description of different HIPPO message classes and formatting
specifics.
Message Field
Type
Value
Meaning
Code
U8
0x03
Subcode
U8
0x01
Reset
0x02
Clear RAM, reset
0x03
Force to Monitor Mode / Bootloader
0x05
Clear ephemeris, reset
0x07
Clear flash data and BBRAM, reset
0x09
Write BBRAM to flash, reset (graceful)
HIPPO protocol rules
The HIPPO message structure is derived from the Trimble Standard Interface Protocol
(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.
However, 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)
•
0x82: End of Message (EOM)
HIPPO also reserves five other bytes (0x83 – 0x87) for future use as control characters.6
TSIP only uses two control characters (DLE and ETX). Although HIPPO has a higher control
character overhead (3% versus 0.4% for TSIP), the parser design is much simpler.
Because the HIP 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 in each 100 ms
cycle.
Number representations use IEEE formats, and are sent with the 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 in the protocol
layer are complete. These actions include replying to queries, setting global variables, flags,
58
HIPPO Protocol
A
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.
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, and so cannot be confused for control characters.
•
Depending on PCOD and PSUB, the next byte may be an index byte INDEX. INDEX
never has a value of 0x80 to 0x87, and so cannot be confused for a control character.
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 that is used to pad
certain messages to a constant length, as defined in System class, page 65. 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 stuffed
with the HCC character 0x80.
•
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 Mbytes can as many as 134. Data is not valid until the message is complete and the
checksum agrees.
•
HIPPO ignores any bytes between messages (from EOM to the following SOM), unless
the bytes have values 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.
Report message structure (Module to Host)
The following table shows 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 (that is, the
parser) is specified by the parser code PCOD and parser subcode PSUB.
M-byte
Meaning
Value
SOM
Start of message
0x81
PCOD
Parser code
0x00 - 0x7F
59
A
HIPPO Protocol
M-byte
Meaning
Value
PSUB
Parser subcode
0x00 - 0x7F, 0xFF
D[0]
First byte of data
0x00 - 0xFF
D[1]
Second byte of data
0x00 - 0xFF
…
…
…
D[N-1]
Last byte of data
0x00 - 0xFF
CS
Checksum
0x00 - 0xFF
EOM
End of message
0x82
Some parser code / subcodes have data indexed by channel or satellite, as shown in the
following table. The index is the first byte after the parser subcode. The parser
code/subcode specifies whether a message uses indexing.
M-byte
Meaning
Value
SOM
start of message
0x81
PCOD
Parser code
0x00 - 0x7F
PSUB
Parser subcode
0x00 - 0x7F
INDEX
Data indexed by channel, and so on
0x00-0x7F, 0xFF
D[0]
First byte of data
0x00 - 0xFF
D[1]
Second byte of data
0x00 - 0xFF
…
…
…
D[N-1]
Last byte of data
0x00 - 0xFF
CS
Checksum
0x00 - 0xFF
EOM
End of message
0x82
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 (see System class, page 65),
every command either sets or queries a reportable data structure (see Set class, page 63
and Query class, page 63). To do this, the HIPPO set or query command protocol simply
"wraps around" the report message protocol. The following table shows the message
structure for a command to set a typical data packet:
60
M-byte
Meaning
Value
SOM
Start of message
0x81
CCOD
Set command code
0x01
PCOD
Parser code
0x00 - 7F
PSUB
Parser subcode
0x00 - 7F, 0xFF
D[0]
First byte of data
0x00 - FF
D[1]
Second byte of data
0x00 - FF
A
HIPPO Protocol
M-byte
Meaning
Value
…
…
…
D[N-1]
Last byte of data
0x00 - FF
CS
Checksum
0x00 - FF
EOM
End of message
0x82
The following table shows the message structure for a query of indexed data:
M-byte
Meaning
Value
SOM
Start of message
0x81
CCOD
Query command code
0x02
PCOD
Parser code
0x00 - 7F
PSUB
Parser subcode
0x00 - 7F
INDEX
Index
0x00 - 7F, 0xFF
CS
Checksum
0x00 - FF
EOM
End of message
0x82
Chained messages
Chaining is not supported in the HIP module. If multiple messages are requested, they will
be issued as time allows, between the high-priority automatic report messages. An
acknowledgment message will appear at the end of the sequence of replies.
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 — that is, the M-byte generates the Sbyte pair (0x80, M-byte, and 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 Mbytes. The first M-byte of a message is always SOM.
•
Whenever the S-byte HCC appears, it does not generate a new M-byte: 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.
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HIPPO Protocol
•
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 Report class, page 65 and Event log queue, page 113. 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 LSBs 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.
Command messages
HIPPO has three classes of command message packets:
•
Set parameters: This "wraps around" the report message structure of the parameter(s)
to be set.
•
Query parameters: This calls out the report code and subcode (and index, if
applicable) of the required reports.
•
System commands
The module always acknowledges a command in one of two ways.
•
•
An explicit acknowledgment message (see 0x10: Acknowledge / Error response to
command packets, page 66) is sent in reply to either:
–
A command;
–
An unsuccessful query
–
A query that generates a series of report messages
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.
62
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HIPPO Protocol
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:
•
Configuration parameters such as DOP mask (see Configuration Report packets,
page 73)
•
Initialization parameters such as position, velocity, time, and ephemeris (see
Initialization information, page 85)
The target system returns an acknowledgment packet (see 0x10: Acknowledge / Error
response to command packets, page 66), 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):
Byte
Name
Type
Value
Meaning
Command code
U8
0x01
Parser code
U8
0x00-7F
Report Code
Parser subcode
U8
0x00-7F
See report packet definition in Available HIPPO
messages, page 56
0
Data value
Data corresponding to the subcode. See subcodes
in the report packet definition.
…
…
…
NR-1
Data value
NR is the size of data for the specified report.
For example, to set the operating dimension to 2-D Altitude Hold", the host issues the
following command to the module:
Byte
0
Name
Type
Value
Meaning
Command code
U8
0x01
Parser code
U8
0x24
Report packet for GPS configuration
Parser subcode
U8
0x01
Parameter subcode for operating dimension
Operating dimension
U8
3
Alt-Hold (2D)
Query class
The query class packet allows you 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:
•
System parameters (for example, version numbers)
•
Configuration parameters (for example, DOP mask)
63
A
HIPPO Protocol
•
Fix parameters (for example, satellite strength, current position, velocity, time,
ephemeris)
•
Initialization parameters (for example, 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 (for example,
by channel or satellite).
The following table shows the query class message structure:
Byte
Name
Type
Value
Meaning
Command code
U8
0x02
Parser code
U8
0x00-7F
Parser subcode
U8
0x00-7F
Single subcode
0xFF
All subcodes
The following table shows the indexed query class message structure:
Byte
Name
Type
Value
Meaning
Command code
U8
0x02
Parser code
U8
0x00-7F
Report Code, see Available HIPPO messages,
page 56.
Parser subcode
U8
0x00-7F
See report packet definitions in Available
HIPPO messages, page 56.
Index
U8
0x00-7F
Single index (for example, channel or
satellite). See subcodes in the report packet
definition.
0xFF
All indices
Like the set class message, the query packet has two bytes body that 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:
Byte
64
Name
Type
Value
Command code
U8
0x02
Parser code
U8
0x24
Report packet for GPS configuration
Parser subcode
U8
0x01
Parameter subcode for operating dimension
Meaning
HIPPO Protocol
A
System class
A system class packet is a set packet associated with the system operations.
Receiver Reset command messages
This command resets the receiver software.
Byte
Name
Type
Value
Meaning
Code
U8
0x03
Subcode
U8
0x01
Reset
0x02
Clear RAM, reset
0x03
Force to Bootloader mode
0x05
Clear ephemeris, reset
0x07
Clear flash data and RAM, reset
0x09
Write BBRAM to flash, reset (graceful)
Force to Bootloader Mode forces the target system to exit from the GPS function, and into
the embedded bootloader mode. The serial communication is reset to 115.2 kbps, even
parity. Once in the bootloader mode, all HIPPO APIs are disabled. Refer to Flash loading
documents for more detail.
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 include 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, and so on) and 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
(see Set class, page 63).
The host can query all report packets using the 0x02 packet, except as noted (see Query
class, page 63).
65
A
HIPPO Protocol
Report message code assignment
See Available HIPPO messages, page 56 for all report data structures in HIPPO. This table
also indicates whether the data structure can be queried (Q) or set (S). Data that can be not
be queried or set is automatic output only.
System report packets
0x10: Acknowledge / Error response to command packets
This packet serves the following functions:
•
Acknowledging a command when the operation is carried out, such as setting a flag to
reset and changing the baud rate.
•
Indicating a result of an operation is successful, such as set commands.
•
Indicating 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:
•
An M-byte stream of no more than 128 bytes could not be created (control character
error).
•
The checksum did not compute properly.
•
The parser code and subcode were be recognized.
•
The message length as not correct for that parser code/subcode.
•
One or more of the data values was not reasonable and appropriate.
•
The data contradicts values of position, time, and so on, that have been validated by
the GPS. This data can be forced using the "host override" option if this is available.
The acknowledgment report can appear in one of the following forms:
•
For sets, queries, and auto-outputs of non-indexed reports
•
For sets, queries, and auto-outputs of indexed reports
•
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.
66
A
HIPPO Protocol
The following table shows the non-indexed set and query acknowledge:
Byte
1
2
Name
Type
Value
Code
U8
0x10
Subcode
U8
0x01
Set acknowledge
0x02
Query acknowledge
0x04
Auto-output acknowledge
0x00-7F
Single subcode
0xFF
All subcodes
0
Acknowledged or a successful operation
1
Pre-parser error
2
Checksum error
3
Unknown Code/Subcode
4
Parser data length error
5
Data value error (TBD)
6
Contradicts current data
7
Data table full (for example, Output Interval
Control)
8
Data not available
Command subcode
Status code
U8
U8
Meaning
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.
The following table shows the indexed set and query acknowledge values:
Byte
Name
Type
Value
Meaning
Code
U8
0x10
Subcode
U8
0x01
Set acknowledge
0x02
Query acknowledge
0
Command code
U8
0x00-7F
Indexed report
1
Command subcode
U8
0x00-7F
Single subcode
0xFF
All subcodes
0x00-7F
Channel or satellite index
2
Index
U8
67
A
HIPPO Protocol
Byte
Name
Type
Value
Meaning
3
Status code
U8
0
1
Pre-parser error
2
Checksum error
3
Unknown code/Subcode
4
5
Data value error (TBD)
6
Contradicts current data
7
Data table full (for example, Output Interval
Control)
8
Data not available
For system commands, the data length is two bytes. The following table shows the system
command acknowledge
Byte
Name
Type
Value
Code
U8
0x10
Subcode
U8
0x03
0
System command
code
U8
1
Status code
U8
Meaning
System command acknowledge
See Configuration Report packets, page 73
0
1
Pre-parser error
2
Checksum error
3
Unknown subcode
4
9
Failed to execute properly
A "query all" command may generate a series of responses, but only a single
acknowledgment is sent to the host, with a "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.
Byte
Name
Type
Value
Meaning
Code
U8
0x11
Subcode
U8
0x01
Application/system software
0x03
DR software
0x04
GPS software
0x06
Common source code
0
Major Version
U8
0-100
Major version number
1
Minor Version
U8
0-100
Minor version number
68
HIPPO Protocol
Byte
Name
Type
Value
Meaning
2
Build number
U8
0-255
Version build number
3
Release Day
U8
[1, 31]
Version release day
4
Release Month
U8
[1, 12]
Version release month
5-6
Release Year
U16
> 2000
Version release year
A
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.
Byte / Bit
0-1
Name
Type
Value
Meaning
Code
U8
0x12
Subcode
U8
0x01
Parameter Subcode
Error code
U16
0
Normal shutdown (SW or power)
Other
Abnormal shutdown, see Fatal errors,
page 113
2
Reserved
U8
3/0
RAM signature
U1
1 = BBRAM signature valid
3/1
Gyro / ADC test
U1
1 = ADC or Gyro self-test error
3/2
RTC valid
U1
1 = RTC valid at startup
3/3
Flash BBRAM
U1
1 = BBRAM loaded from Flash
3/4-7
Reserved
0x12-02: Software Mode report
This report indicates whether the module is currently in monitor mode or in normal mode.
If the device is in monitor mode, it will recognize and reply (in HIPPO) to a HIPPO query for
this report.
Byte
0
Name
Type
Value
Meaning
Code
U8
0x12
Subcode
U8
0x02
Parameter subcode
Mode
U8
1
Normal mode
2
Monitor mode
69
A
HIPPO Protocol
0x12-03: Production Information report
This report contains information stored in FLASH; it cannot be set or changed through a
HIPPO command. It is available by query.
Byte
Name
Type
Value
Code
U8
0x12
Subcode
U8
0x03
0
Serial number
U32
4
Production day
U8
5
Production month
U8
6-7
Production year
U16
8-23
Product name
16xCHAR
Meaning
Descriptive string
0x12-04: Hardware ID report
This report contains information stored in FLASH; it cannot be set or changed through a
HIPPO command. It is available by query.
Byte
0-15
Name
Type
Value
Code
U8
0x12
Subcode
U8
0x04
Hardware ID
16xCHAR
Meaning
Parameter subcode
Hardware ID
0x12-07: Output GPIO Control
This packet sets the logic level on the specified output GPIO pins.
Byte / Bit
Name
Type
Range / Value
Code
U8
0x12
Subcode
U8
0x07
0/0
Set output GPIO 1
U1
bit field
1 = set GPIO 11 (see NOTE 1)
0/1
Set output GPIO 2
U1
bit field
1 = set GPIO 21
1
Reserved
U8
0x00
Reserved
2
Output logic level
U8
0, 1
Logic level for the selected GPIO's
1
Meaning
On the Aardvark module 79802-XX, GPIO1 corresponds to Pin 22 (I2C SCL), GPIO2 corresponds to Pin 27 (I2C SDA).
70
HIPPO Protocol
A
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.
For detailed information on soft events, see Soft events, page 115.
Byte
Name
Type
Value
Meaning
Code
U8
0x14
Subcode
U8
0x01
Parameter subcode
Index
U8
0
Most recent soft event
[1,127]
Soft event log index number
No GPS/UTC; time is since power-up year
0-1
Year
U16
0
>2000
2
Month
U8
[1, 12]
3
Day
U8
[1, 31]
4
Hour
U8
[0, 23]
5
Minute
U8
[0, 59]
6
Second
U8
[0, 60]
7
Identity code
U8
0xFF
No event
0-0xFE
See Soft events, page 115.
8
Condition code
U8
See Soft events, page 115.
0x14-02: Fatal Error Log Report
For detailed information on fatal error logs, see Fatal errors, page 113.
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.
Byte
Name
Type
Value
Code
U8
0x14
Subcode
U8
0x02
Parameter subcode
Index
U8
0
Most recent fatal error
[1, 31]
Fatal error Log index number
No GPS/UTC; time is since power-up year
0
Year
U16
0
>2000
2
Month
U8
[1, 12]
3
Day
U8
[1, 31]
4
Hour
U8
[0, 23]
5
Minute
U8
[0, 59]
Meaning
71
A
HIPPO Protocol
Byte
Name
Type
Value
6
Second
U8
[0, 60]
7
Event Code
U16
0
No entry.
>0
Event code, see Fatal errors, page 113
9 - 30
Info block
Meaning
See Fatal errors, page 113
0x16-01: Health Status Report
This report contains status of various real-time operations in the Aardvark module.
Byte / Bit
0/0
0/1
0/2
Name
Type
Value
Code
U8
0x16
Subcode
U8
0x01
Direction switch
status
U1
0
Normal
1
Abnormal
Gyro status
U1
0
Normal
1
Abnormal
0
Normal
1
Abnormal
0
Normal
1
Antenna open
3
Antenna short
0
Normal
1
Abnormal
0
No soft event in log
[1,127]
Most recent soft event index
Speed signal input
status
0 / 3-7
Reserved
1 / 0-1
Antenna status
1/2
Oscillator status
1 / 3-7
Reserved
2
Soft Event Index
U1
U2
U1
U7
Meaning
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.
Byte / Bit
0-1
72
Name
Type
Value
Code
U8
0x16
Subcode
U8
0x02
Parameter subcode
Error Code
U16
0
Normal shutdown (SW or power)
Other
Abnormal shutdown, see Fatal errors,
page 113.
Meaning
A
HIPPO Protocol
Byte / Bit
Name
Type
2
Status
U8
Reserved
3/0
RAM signature
U1
1 = BBRAM signature valid
3/1
Gyro / ADC test
U1
1 = ADC or Gyro self-test error
3/2
RTC valid
U1
1 = RTC valid at startup
3/3
Flash BBRAM
U1
1 = BBRAM loaded from Flash
4
Soft event index
U7
5-8
SysClock
Value
U32
Meaning
0
No soft event in log at start-up
[1,127]
Last soft event index in log at start-up
1 ms
System time
Configuration Report packets
0x21-01: DR Output Rate
The DR software engine can be adjusted to run at a rate of 5 Hz or 10 Hz. The 5 Hz rate
eases CPU load.
Byte
0
Name
Type
Value
Meaning
Code
U8
0x21
Subcode
U8
0x01
DR engine rate
U8
5
5 Hz
10
10 Hz
0x22-02: NMEA Output Control
Byte
0
Name
Type
Value
Code
U8
0x22
Subcode
U8
0x02
Interval
U8
0-255
Units
Meaning
sec
Output interval
0 = 5 Hz for GGA, VTG, and RMC; 1 Hz for
all others
1-255 = interval for all messages.
73
A
HIPPO Protocol
Byte
Name
Type
Value
Units
Meaning
1-4
Message mask
U32
bitmap
Bit 0
Output GGA
Bit 1
Output GLL
Bit 2
Output VTG
Bit 3
Output GSV
Bit 4
Output GSA
Bit 5
Output ZDA
Bit 8
Output RMC
Bit 13
Output BA
Bit 16
Output TP
0x23-02: Serial Port Configuration with Output Protocol Control
Note – The number of data bits per byte, stop bits per byte, and flow control cannot be
configured and are fixed at 8 bits per byte, 1 stop bit per byte, and no flow control.
Note – For baud rates lower than 38400 bps, automatic output HIPPO packets are disabled
due to the possibility of overloading the serial port. However, they can still be queried on an
individual basis regardless of the selected baud rate.
Byte
0
1
2
Name
Type
Value
Code
U8
0x23
Subcode
U8
0x02
Baud rate
U8
0-5
Parity
Output protocol mask
U8
0-2
U8
Units
Meaning
0
4800 bps
1
9600 bps
2
19200 bps
3
38400 bps
4
57600 bps
5
115200 bps
0
No parity
1
Odd parity
2
Even parity
bitmask
Bit 0 = HIPPO output
Bit 1 = NMEA output
74
HIPPO Protocol
A
Data report packets
Data report packets can be queried or output based on time interval, distance traveled, and
heading change. Data validity must be checked before the data fields 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 a 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 problems, since all series of reports are terminated by
an acknowledgment.
Byte / Bit
0/0
0/1
Name
Type
Units/LSB
Code
U8
0x30
Subcode
U8
0x02
Position status
U1
Altitude status
U1
Range /
value
Meaning
0
Accuracy > 10000
1
Valid
0
Accuracy > 10000
1
Valid
0/2
Heading status
U1
1 = Valid
0/3
Speed status
U1
1 = Valid
0/4
Direction switch status U1
1 = Valid
0/5
Delta-distance status
U1
1 = Valid
0/6
Delta-heading Status
U1
1 = Valid
0/7
Motion status
U1
1 = Valid
1/0
Motion indicator
U1
1 = Motion
1/1
Direction
U1
1 = Backward
1/2
Gyro calibration status U1
1 = Calibrated
1/3
Speed signal input
calibration status
U1
1 = Calibrated
1 / 4-5
Time source
U2
1/6
2
Snap to DR-GPS
GPS data age index
U1
U8
s
0
System clock
1
RTC
2
GPS (< 10 ms)
3
GPS (< 1 ms)
0
DR-propagated
1
Jump
0-253
Age
254
>253 s
75
A
HIPPO Protocol
Byte / Bit
Name
Type
Units/LSB
Age
Range /
value
Meaning
255
GPS N/A
3-6
GPS time of week
U32
1 ms
060480000
0
7-10
Latitude
S32
2-31 sc
[-½, ½] sc.
-31
11-14
Longitude
S32
2
sc
[-1, 1) sc.
15-16
Altitude
S16
1m
[MSL
400,10000
]m
17-18
Heading
U16
2-15 sc
[0, 2) sc.
19-20
Speed
U16
1 cm/s
[0, 655.34] Past 1 sec. avg.
m/s
21-22
Delta time
U16
1 ms
[0, 1100]
ms
23-24
Delta distance 1
S16
1 cm
[-327.67,
327.67] m
25-26
Delta heading
S16
1 cdeg
[-327.67° ,
327.67°]
27-28
Position accuracy
U16
1m
[0, 65534] Accuracy
m
65535
even
Accuracy > 65534
29-30
Altitude accuracy
U16
1m
[0, 65534]
m
31-32
Heading accuracy
U16
2-15 sc
[0, 2) sc.
33-34
Speed accuracy
U16
1 cm/s
[0, 655.34]
m/s
35-36
Delta distance
accuracy
U16
1 cm
[0, 655.34]
m
37-38
Delta heading accuracy U16
1 cdeg
[0° , 360°]
39 / 0-6
Number of gyro
samples
U7
39 / 7
Direction switch value
U1
40-43
Gyro counts
S32
0-450560
Sum ADC values
44-45
Speed signal input
counts
U16
0-65535
< 3300 typical
1
Delta Distance is rounded to the nearest integer cm.
76
0-127
< 110 typ
1 = High
A
HIPPO Protocol
The data source of the fast fix can be inferred from the current speed signal input status,
the current gyro status, and the GPS age. The following table shows the fast fix data
sources:
Speed
signal
input
status
Gyro
status
GPS age
Lat / Long source Altitude source
Speed / Delta
distance source
Heading / Delta
heading source
1
1
< 255
GPS + DR
GPS
DR + GPS Cal
DR + GPS Cal
1
0
< 255
GPS + DR
GPS
DR + GPS Cal
GPS
0
1
< 255
GPS
GPS
GPS
DR + GPS Cal
0
0
< 255
GPS
GPS
GPS
GPS
1
1
255
BBRAM + DR
BBRAM
DR
DR
1
0
255
BBRAM
BBRAM
DR
None
0
1
255
BBRAM
BBRAM
None
DR
0
0
255
BBRAM
BBRAM
None
None
Range / value
0x31-01: GPS Fix Message
Byte / Bit
Name
Type
Units / LSB
Code
U8
0x31
Subcode
U8
0x01
0-3
GPS time of week U32
4 / 0-5
Fix source
4/6
Altitude hold
U6
U1
1 ms
Meaning
<604800000
0
No fix
1
Input position, approximate
3
Input position, accurate
4
Have internal position
5
KF position accuracy too large
8
Old valid GPS fix
9
Converging
10
Converging
11
Converging
12
Output fix criterion failed
13
2-D fix, no reference altitude
14
KF velocity RAIM failed
15
KF edited too many SVs
16
KF position RAIM failed
17
Position valid
0
Full position (3-D) LS fix
1
Altitude-Hold (2-D) LS fix
77
A
HIPPO Protocol
Byte / Bit
Name
Type
4/7
DGPS status
U1
1 = DGPS-corrected
5/0
Position status
U1
1 = Valid
5/1
Altitude status
U1
1 = Valid
5/2
Heading status
U1
1 = Valid
5/3
Speed status
U1
1 = Valid
5 / 4-5
Time source
U2
6-9
Latitude
S32
Units / LSB
Range / value
0
System clock
1
RTC
2
GPS (< 10 ms)
3
GPS (< 1 ms)
MSL
-31
sc
[-½, ½] sc
-31
sc
[-1, 1] sc
2
10-13
Longitude
S32
2
14-15
Altitude
S16
m
-15
[-400,10000] m
16-17
Heading
U16
2
18-19
Speed
U16
1 cm/s
[0, 655.34] m/s
20-21
Position accuracy U16
1m
[0, 65535] m
22-23
Altitude accuracy U16
1m
[0, 65535] m
24-25
Heading Accuracy U16
-15
2
26-27
Speed Accuracy
1 cm/s
U16
Meaning
sc
sc
[0, 2] sc
[0, 2] sc
[0, 655.35] m/s
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.
78
HIPPO Protocol
A
0x31-02: GPS Fix Message (Extended)
Note – This is an extended version of the standard GPS fix message 0x31-01. Bytes 0 - 27 are
the same for both messages. The extended message 0x31-02 has several additional fields
following the common bytes.
Byte / Bit
Name
Type
Units / LSB Range / value Meaning
Code
U8
0x31
Subcode
U8
0x01
0-3
GPS time of week
U32
1 ms
4 / 0-5
Fix Source
U6
4/6
Altitude hold
U1
<604800000
0
No fix
1
Input position, approximate
3
Input position, accurate
4
Have internal position
5
KF position accuracy too large
8
Old valid GPS fix
9
Converging
10
Converging
11
Converging
12
Output fix criterion failed
13
2D fix, no reference altitude
14
KF velocity RAIM failed
15
KF edited too many SVs
16
KF position RAIM failed
17
Position valid
0
Full position (3D) LS fix
1
Altitude hold (2D) LS fix
4/7
DGPS status
U1
1 = DGPS corrected
5/0
Position status
U1
1 = Valid
5/1
Altitude status
U1
1 = Valid
5/2
Heading status
U1
1 = Valid
5/3
Speed status
U1
1 = Valid
5 / 4-5
Time source
U2
6-9
Latitude
-31
sc
0
System clock
1
RTC
2
GPS (< 10 ms)
3
GPS (< 1 ms)
S32
2
[-1, 1] sc
[-400,10000]
m
10-13
Longitude
S32
2-31 sc
14-15
Altitude
S16
m
[-½, ½] sc
MSL
79
A
HIPPO Protocol
Byte / Bit
Name
Type
Units / LSB Range / value Meaning
16-17
Heading
U16
2-15 sc
[0, 2] sc
18-19
Speed
U16
1 cm/s
[0, 655.34]
m/s
20-21
Position accuracy
U16
1m
[0, 65535] m
22-23
Altitude accuracy
U16
1m
[0, 65535] m
[0, 2] sc
24-25
Heading accuracy
U16
2-15 sc
26-27
Speed accuracy
U16
1 cm/s
[0, 655.35]
m/s
28-29
Vertical speed
U16
1 cm/s
[0, 655.34]
m/s
30-31
Vertical speed
accuracy
U16
1 cm/s
[0, 655.35]
m/s
32-35
Frequency offset
FLT
1 cm/s
36-37
Frequency offset
accuracy
U16
1 cm/s
Frequency offset of the local
oscillator
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
Byte / Bit
Name
Type
Units
Code
U8
0x32
Subcode
U8
0x01
0-1
UTC year
U16
2000+
2
UTC month
U8
[1, 12]
3
UTC day
U8
[1, 31]
4
UTC hour
U8
[0, 23]
5
UTC minute
U8
[0, 59]
6
UTC second
U8
[0, 60]
7
UTC / GPS offset U8
U16
2
10-11
HDOP
U16
2-8
12-13
VDOP
U16
2-8
80
U8
60 only for the leap second
GPS = UTC + offset
PDOP
Max DGPS age
Meaning
-8
8-9
14
Range / value
Sec
0
2D position
>0
3D position
<255
Seconds
255
Overage or invalid
HIPPO Protocol
Byte / Bit
Name
Type
15 / 0-3
GPS status
U4
15 / 4-5
Time source
16 / 0-1
Search mode
Units
U2
U2
16 / 7
Almanac status
U1
17 / 0-3
Number of SVs
visible
U4
Range / value
Meaning
0
Doing position fixes
2
Need time
3
PDOP too high
5
No usable SVs
6
One usable SV
7
Two usable SVs
8
Three usable SVs
0
System clock
1
RTC
2
GPS (< 10 ms)
3
GPS (< 1 ms)
0
None
1
Blind
2
Anywhere
A
1 = Complete
[0,12]
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.
Byte / Bit
0
Name
Type
Units
Range /
value
Meaning
Code
U8
0x33
Subcode
U8
0x01
Index
U4
0-11
Channel
SV PRN
U5
0
Channel unassigned
1 - 32
SV PRN
1 /0
SV visible
U1
1/1
Reserved
U1
1 /2
SV has been
tracked
U1
1/3
Reserved
U1
1/4
SV currently
tracking
U1
1/5
SV meets SNR mask U1
1 = Elevation > Mask
1 = Already tracked
1 = Tracking
1 = SNR meets Mask
81
A
HIPPO Protocol
Byte / Bit
Name
Type
Units
Range /
value
2
SNR
U8
0.2 dB-Hz
[0,48] dBHz
3
Azimuth
U8
2°
[0° , 358° ]
4
Elevation
S8
1°
[-90° ,90° ]
5 / 0-1
Almanac status
U2
5 / 2-3
Ephemeris status
U2
Meaning
0
None
1
Old
3
Current
0
None
1
Old
2
Decoded
3
Verified
0x36: DR Calibration Messages
The DR calibration messages contain the current settings for the gyro and speed signal
input 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 Validity and Newness fields are always ignored in the set procedure.
0x36-03: ZRO Calibration
Byte / Bit
0 / 0-2
0/3
0/4
82
Name
Type
Code
U8
0x36
Subcode
U8
0x03
Source
U3
0
Invalid / Clear
1
Host input
2
Host override
3
GPS fix
0
From BBRAM
1
New (since start-up)
1
1 = Valid
Newness
Validity
Units / LSB
U1
U1
Range / value
Meaning
HIPPO Protocol
Byte / Bit
Name
Type
Units / LSB
Range / value
1- 4
Zero rate output
(ZRO)
FLT
(mV)
(-2500.0,
2500.0)
5-8
ZRO accuracy
FLT
(mV)
>0
A
Meaning
1 accuracy
0x36-04: Gyro Linearity Calibration
Byte / Bit
0 / 0-2
0/3
Name
Type
Code
U8
0x36
Subcode
U8
0x04
Source
U3
0
Invalid / Clear
1
Host Input
2
Host override
3
GPS fix
0
From BBRAM
1
1
1 = Valid
Newness
Units / LSB Range / value
U1
0/4
Validity
U1
1- 4
Sensitivity
(GyroSns)
FLT
5-8
Sensitivity accuracy FLT
Meaning
(mV /(° /s)) [20.9, 31.2]
1 σ accuracy
(mV /(° /s)) > 0
0x36-05: Direction Switch Calibration
Byte / Bit
0 / 0-2
0/3
Name
Type
Code
U8
0x36
Subcode
U8
0x05
Source
U3
0
Invalid / Clear
1
Host input
2
Host override
3
GPS fix
0
From BBRAM
1
Newness
Units / LSB Range / value
U1
Meaning
0/4
Validity
U1
1
1 = Valid
0/7
Direction switch
sense
U1
0
0 = FWD, 1 = REV
1
0 = REV, 1 = FWD
Confidence speed
U8
< DirSwWarning
(see 0x27; default = 14
m/s)
< 256 if source is host
override
Last calibration
speed
1
1 m/s
83
A
HIPPO Protocol
0x36-07: DDPP Calibration
Byte / Bit Name
0 / 0-2
0/3
Type
Units / LSB
Range / value
Meaning
Code
U8
0x36
Subcode
U8
0x07
Index
U8
[0, NDPP-1]
Speed level index
Source
U3
0
Invalid / Clear
1
Host input
2
Host override
3
GPS fix
0
From BBRAM
1
1
1 = Valid
Newness
U1
0/4
Validity
U1
1-4
DPP
FLT
(m / pulse)
[.005, 5.0]
< 5 m/pulse typ
5-8
DPP accuracy
FLT
(m / pulse)
[.001, 1.0]
1 σ accuracy
Units / LSB
Range / value
Meaning
0x36-08: ZRO Rate Calibration
Byte / Bit Name
0 / 0-2
0/3
Type
Code
U8
0x36
Subcode
U8
0x08
Source
U3
0
Invalid
3
GPS fix
0
From BBRAM
1
1
1 = Valid
Newness
U1
0/4
Validity
U1
1-4
ZRO rate of change
FLT
(mV / sec)
5-8
ZRO rate accuracy
FLT
(mV / sec)
1 σ accuracy
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; see Theory of Operation, page 113.) 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.
84
A
HIPPO Protocol
Byte
0
Name
Type
Units / LSB
Code
U8
0x3F
Subcode
U8
0x01
ADC validity
U8
1-4
ADC at fixed
voltage
U32
5-6
Samples at fixed
voltage
U16
7-10
ADC / gyro at rest
U32
11-12
Samples at rest
U16
Range / value
Meaning
0
No error
1
ADC not functioning
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 is
validated by fixes or decode, the module may reject the host input. This will be indicated in
the acknowledgment message. Validated data can be overwritten 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:
•
Time message (29-01)
•
Latitude / longitude message (29-02)
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.
85
A
HIPPO Protocol
0x29-01: Time Initialization
The data in this message changes after initialization through fixes. The Invalid/Clear
command and the Time Accuracy are currently not supported. A source of "GPS Data
Decode" is used only in the report and cannot be used when initializing data. The Newness
field is always ignored when initializing data.
Byte / Bit
0 / 0-2
0/3
Name
Type
Code
U8
0x29
Subcode
U8
0x01
Source
U3
0
Invalid / Clear
1
Host input
2
Host override
3
GPS data decode
0
From BBRAM
1
New
0
Accuracy unknown
1
Accuracy valid
GPS week number
Newness
0 /4
Units/LSB
U1
Range / value
Meaning
Time accuracy
status
U1
1-2
Week number
U16
1 wk
<1024
3-6
Time of week
U32
1 ms
<604800000 ms GPS time of week
7 - 10
Time accuracy
U32
1 ms
0-604800000
ms
1 σ accuracy
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". A Source of "GPS Fix" is used only in the report and cannot be used when
initializing data. The "Newness" field is always ignored when initializing data.
Latitude and longitude initialization must be done before altitude initialization.
Byte / Bit
0 / 0-2
0/3
86
Name
Type
Code
U8
0x29
Subcode
U8
0x02
Source
U3
0
Invalid / Clear
1
Host input
2
Host override
3
GPS fix
0
From BBRAM
1
New
Newness
Units/LSB
U1
Range / value
Meaning
A
HIPPO Protocol
Byte / Bit
Name
Type
0/4
Lat/Lon accuracy
status
U1
1-4
Latitude
5-8
Longitude
9 - 12
Latitude accuracy
Units/LSB
Range / value
Meaning
0
Accuracy unknown
1
Accuracy valid
2
-31
sc
[-½, ½] sc.
S32
2
-31
sc
[-1, 1] sc.
U32
2-31 sc
S32
-31
13 - 16
Longitude accuracy U32
2
sc
17 - 20
Lat/Lon correlation FLT
unitless
[0, 1] sc.
1 σ accuracy
[0, 1] sc.
1 σ accuracy
[-1.0,1.0]
Diagnostic report packets
The following packets are used in a post-processing routine. The contents of these
packages are designed so that the routine can replicate the performance of the real-time
processing. The format of these messages are not fully documented because they change
as the firmware is updated.
0x70-05: Event Information
Byte
Name
Type
Units / LSB
Code
U8
0x70
Subcode
U8
0x05
0
Version
U8
1-4
Event time
U32
5-8
Event code
U32
Range / value
Meaning
Version of the message format
ms
System time of the event
Event code
0x70-06: System Profiling Data
Byte / Bit
Name
Type
Units / LSB
Code
U8
0x70
Subcode
U8
0x06
0
Version
U8
1-2
Stack size
U16
bytes
Total stack size
3-4
Maximum stack
usage
U16
bytes
Maximum stack usage so far
5
CPU load
U8
%
Current CPU load
87
A
HIPPO Protocol
0x70-0D: BBRAM Data
This message is output on startup if the corresponding diagnostic message output is turned
on.
Byte
0
1-8
9-16
17-24
25-32
33-40
41-48
Name
Type
Units / LSB
Code
U8
0x70
Subcode
U8
0x0D
Version
U8
Range / value
Meaning
Longitude variance DBL
m2
East variance
Latitude variance
DBL
m2
North variance
DBL
m
2
Up variance
Clock bias variance DBL
m
2
Clock variance
Heading variance
rad2
Altitude variance
ZRO variance
DBL
DBL
counts
Heading variance
2
ZRO variance
2
49-56
ZRR variance
DBL
57-64
GSF variance
DBL
65-72
DirSw max speed
DBL
m/s
73-80
DPP0 variance
DBL
m2
DPP 0 variance
DBL
m2
DPP 1 variance
DBL
m
2
DPP 2 variance
2
Covariance between east and
north
81-88
89-96
DPP1 variance
DPP2 variance
(counts/s)
GSF variance
97-104
Lat/Lon covariance DBL
m
105-112
Lat
rad
DBL
ZRR variance
[-230, +230]
32
Latitude estimate
113-120
Lon
DBL
rad
[0,2 -1]
Longitude estimate
121-131
Alt
DBL
m
[-1000, 10000]
Altitude estimate
129-132
GSFR
FLT
[0.0 - 2.0]
Gyro linearity error
133-136
DPP0
FLT
m
[0.01-4.0]
DPP (Distance per pulse) 0
137-140
DPP1
FLT
m
[-0.5 - .5]
DPP 1
141-144
DPP2
FLT
m
[-0.5 - .5]
DPP 2
145-148
Hdg
FLT
rad
149-152
ZRO
FLT
counts
153-156
Status bits
U32
bitmap
157-158
DR API version
S16
159-160
WN
S16
weeks
GPS week number
161-164
TOW
U32
ms
GPS time of week
165
DirSw sense
S8
88
Heading estimate
[-6553- 6553]
Gyro bias (zero rate output)
Status flags
DR API version
0
Hi rev, lo fwd
1
Hi fwd, lo rev
HIPPO Protocol
A
0x70-0E: Startup Time
This message is output on startup if the corresponding diagnostic message output is turned
on.
Byte
Name
Type
Units / LSB
Code
U8
0x70
Subcode
U8
0x0E
0-1
WN
U16
weeks
Week number
2-5
TOW
U32
ms
Time of week
6-9
Accuracy
FLT
s
Time accuracy (1 σ)
10
Startup flag
U8
11
UTC offset
U8
Range / value
Meaning
0
No time at startup
1
Time available at startup
s
UTC offset (UTC - GPS)
0x70-12: Temperature Data
This message is output upon query or once per second if the corresponding diagnostic
message output is turned on.
Byte
0
Name
Type
Units / LSB
Code
U8
0x70
Subcode
U8
0x12
Source (of
temperature)
U8
Range / value
Meaning
0
Unknown / temperature not
valid
1
Temperature sensor
2
Gyroscope
3
Accelerometer
4
Pressure sensor
1-4
Temperature
FLT
°C
Temperature
5-8
Accuracy
FLT
°C
Temperature accuracy
If queried with no specified source, the on-board temperature sensor data is reported. To
query temperature data available from other on-board devices, specify the source in the
query message.
Note – The temperature data from any indicated source is supported only if the
corresponding device is present on the board. If the device is not present, an error message
is returned for that source.
89
A
HIPPO Protocol
0x70-13: DR Sensor Data
This message is output five times per second if the corresponding diagnostic message
output is turned on.
Byte / Bit
Name
Type
Units / LSB Range /
value
Meaning
Code
U8
0x70
Subcode
U8
0x13
0
Version
U8
1/0
Raw direction switch U1
0, 1
Direction switch input value
1 / 6-7
Time source
0
System clock
1
RTC
2
GPS (< 10 ms)
3
GPS (< 1 ms)
U2
2-5
Time tag
U32
ms
System time of data collection
6-9
System time offset
S32
ms
GPS / system time offset (if time
source > 0):
GPS TOW = (Sys Time + Sys Time
Offset) % 604800000
10-11
Dpeed signal input
counts
U16
counts
Speed signal input counts since
last report
12-15
Gyro counts
U32
counts
Sum of gyro samples (ADC
values)
16
# of Gyro samples
U8
17-20
PPS time
U32
21
# of reserved fields
(N)
U8
22 25 + (N-1)*4
Reserved fields
Nx
U32
26+(N-1)*4 29+(N-1)*4
Sum of speed signal U32
input counts
Sum of all speed signal input
counts from system startup
30+(N-1)*4 33+(N-1)*4
Sum of gyro counts
U32
Sum of all gyro samples from
system startup
34+(N-1)*4 37+(N-1)*4
Total # of gyro
samples
U16
Total number of gyro samples
from system startup
90
Number of gyro samples
ms
System time of the last PPS
N>0
HIPPO Protocol
A
0x70-20: GPS Raw Measurement Group Data
This message is output once per second if the corresponding diagnostic message output is
turned on.
Byte
Name
Type
Units / LSB Range /
value
Code
U8
0x70
Subcode
U8
0x13
0
Version
U8
1-4
Measurement local
time
U32
5
Time status
U8
6
Time
synchronization
Meaning
ms
U8
GPS module's local time of
measurement
0
Time unknown
1
Better than 10 min
2
Better than 1 min
3
Better than 10 sec
4
Better than 3 sec
5
Better than 1 sec
6
Better than 300 ms
7
Better than 100 ms
8
Better than 30 ms
9
Better than 10 ms
10
Better than 3 ms
11
Much better than 1 ms
0
1
7-8
Measurement week U16
number
weeks
9-16
Measurement time
of week
DBL
sec
17-24
Clock bias
DBL
sec
25
# of valid
measurements
U8
Time sync ok (no ms ambiguity between
the code measurements and local time)
Measurement GPS week number
including the 1024 week rollovers.
0 if not set.
0-604799
Measurement GPS time of week.
Estimated GPS receiver clock bias.
Number of GPS channels with valid
measurements
91
A
HIPPO Protocol
0x70-21: GPS Raw Measurement Channel Data
This message is output once per second for each channel with a valid measurement if the
corresponding diagnostic message output is turned on.
Byte
Name
Type
Units /
LSB
Code
U8
0x70
Subcode
U8
0x21
0
Version
U8
1
Channel number
U8
Channel number
2
SV ID
U8
Satellite ID (PRN) on this channel
3
SNR
U8
dB-Hz
0- 60
Signal-to-noise ratio
4
JNR
U8
dB-Hz
0- 60
Jammer-to-noise ratio (includes
jammers due to cross and auto
correlations)
5
(Channel)
measurement
quality indicator
U8
0
Channel idle
1-9
Acquiring
10 - 18
Valid measurement
GPS data
synchronization
status
U8
6
Range /
value
Meaning
Channel subframe synchronization status:
0
No sync
1
Approximately bit sync
2
Approximately subframe sync
3
Exact sync (measurement is usable)
7-14
Pseudorange
DBL
m
Pseudorange measurement
15-18
Doppler
FLT
Hz
Doppler frequency measurement
19
IODE
U8
20-27
Carrier phase
DBL
cycles
Carrier phase measurement
28-29
Carrier lock
counter
U16
0.01 s
Carrier phase loop-lock counter
92
0 - 255
Ephemeris issue of data
HIPPO Protocol
A
0x70-22: GPS Fix Data
turned on.
Byte
Name
Type
Units / LSB
Code
U8
0x70
Subcode
U8
0x22
0
Version
U8
1
Fix type
U8
Range /
value
Meaning
0
No position fix
1
Position fix is estimated
2
2D position fix (autonomous)
3
2D position fix (differential)
4
3D position fix (autonomous)
5
3D position fix (differential)
2-3
Week number
U16
weeks
GPS week number of fix
4-7
Time of week
U32
ms
GPS time of week of fix
8 - 11
Elapsed time
U32
ms
Time since start-up
12 - 19
Latitude
DBL
deg
Latitude
20 - 27
Longitude
DBL
deg
Longitude
28 - 35
Altitude (HAE)
DBL
m
Altitude above WGS84 ellipsoid
36 - 43
Altitude (MSL)
DBL
m
Altitude above mean sea level
44 - 51
Clock bias
DBL
sec
Local oscillator clock bias
52 - 55
Horizontal speed
FLT
m/s
Horizontal speed
56 - 59
Heading
FLT
deg
Horizontal heading
60 - 63
Vertical speed
FLT
m/s
Vertical speed
64 - 67
Latitude accuracy
FLT
m
Northing uncertainty (1 σ)
68 - 71
Longitude accuracy FLT
m
Easting uncertainty (1 σ)
72 - 75
Altitude accuracy
m
Vertical uncertainty (1 σ)
FLT
93
A
HIPPO Protocol
Byte
Name
Type
Units / LSB
Range /
value
Meaning
76
Fix status
U8
These are bit-fields and may be
combined to form the complete status
indicator:
0x00 = no fix
0x01 = new fix (check fix type for a fix
qualifier)
0x02 = If the fix type is 2D and this bit is
set, it indicates that the 2D fix is valid
relative to the required horizontal
uncertainty masks.
0x04 = If the fix type is 3D and this bit is
set, it indicates that the 3D fix is valid
relative to the required horizontal and
vertical uncertainty masks.
77-80
Checksum
U32
Post-processed checksum
81-84
Clock frequency
drift
FLT
sec/sec
Local oscillator clock drift
85
UTC offset
U8
s
GPS - UTC time difference
0x70-23: DR Sensor Definitions
This message is output at startup if the corresponding diagnostic message output is turned
on.
Byte
Name
Type
Units / LSB
Code
U8
0x70
Subcode
U8
0x23
0
Version
U8
1-2
Gyro ADC bits
U16
Effective number of ADC bits used for
gyro conversion
3-6
Gyro sensitivity
FLT
mV/( /s)
Gyro sensitivity
7-10
Full scale gyro range
FLT
mV
Full-scale gyro range
11-14
Minimum gyro level
FLT
mV
Minimum gyro level
15-18
Center gyro level
FLT
mV
Center (zero-rate) gyro level
19-22
Maximum gyro level
FLT
mV
Maximum gyro level
23-24
Reserved
U16
25-28
Speed signal input
DPP
FLT
29
Speed signal input dir U8
switch sense
Speed signal input direction switch
sense
30
DR API version
DR API version
94
Range /
value
Meaning
Reserved
m
U8
Speed signal input distance-per-pulse
HIPPO Protocol
Byte
Name
Type
Units / LSB
Range /
value
31
DR library build
number
U8
DR library build number
32
DR library major
version
U8
DR library major version
33
DR library minor
version
U8
DR library major version
A
Meaning
0x70-24: Used SVs Information
turned on.
Byte
Name
Type
Units / LSB
Range /
value
Meaning
Code
U8
0x70
Subcode
U8
0x24
0
Version
U8
1
SV count
U8
0-14
Number of SVs used in fix
2-15
PRN of used SV
U8 x 14
1-32
SV ID (PRN) of the satellite used in fix
(if 0, no SV)
0x70-26: Ionospheric Parameters
turned on.
Byte
0
1
2
3
4
5
6
7
8
Name
Type
Units / LSB
Code
U8
0x70
Subcode
U8
0x26
Version
U8
Alpha 0
Alpha 1
Alpha 2
Alpha 3
Beta 0
Beta 1
Beta 2
Beta 3
U8
U8
Range /
value
Meaning
2-30 sec
2
-27
-24
Alpha 0
sec/sc
Alpha 1
U8
2
2
Alpha 2
U8
2-24 sec/sc3
Alpha 3
sec/sc
2
11
sec
Beta 0
U8
2
14
sec/sc
Beta 1
U8
216 sec/sc2
U8
U8
2
16
sec/sc
3
Beta 2
Beta 3
95
A
HIPPO Protocol
0x70-27: Map-Matching Data Input
This message provides map-matching data to the DR library. It is also output when the
map-matching data is available if the corresponding diagnostic message output is turned
on.
Byte / Bit
Name
Type
Code
U8
0x70
Subcode
U8
0x27
0
Version
U8
1-4
Time tag
U32
5/0
ZRO/ZRR cleared
U1
5/1
5/5
6/0
6/1
6/2
6/3
7/0
7/1
7/2
7/3
8 / 0-1
8/2
8/3
9 - 16
96
Units / LSB
Range / Value Meaning
1 ms
System time tag
0
Not cleared
1
Cleared
0
Not cleared
1
Cleared
0
WGS-84
1
MSL
0
Not valid
1
Valid
0
Not valid
1
Valid
0
Not valid
1
Valid
0
Not valid
1
Valid
0
Editable
1
Do not edit
Worst position no U1
edit
0
Editable
1
Do not edit
Altitude no edit
0
Editable
1
Do not edit
0
Editable
1
Do not edit
0
Weight with KF estimate
3
Replace KF position estimate
0
1
Replace KF altitude estimate
0
1
Replace KF heading estimate
Heading cleared
Altitude source
U1
U1
Best position valid U1
Worst position
valid
U1
Altitude valid
U1
Heading valid
Best position no
edit
Heading no edit
U1
U1
U1
U1
Best/Worst
position force
U2
Altitude force
U1
Heading force
Latitude
U1
DBL
rad
[- π/2 ,π/2]
A
HIPPO Protocol
Byte / Bit
Name
Type
Units / LSB
Range / Value Meaning
17 - 24
Longitude
DBL
rad
[- π, π ]
25 - 32
Altitude
DBL
m
[-400, 10000]
m
33 - 36
Heading
FLT
rad
[0, 2 π]
37 - 44
Best position
accuracy
DBL
m
(0, 65535] m
1-σ accuracy
45 - 52
Worst position
accuracy
DBL
m
(0, 65535] m
1-σ accuracy
53 - 60
Direction of best
accuracy
DBL
rad
[- π, π ]
61 - 68
Altitude accuracy
DBL
m
[1, 65535] m
1-σ accuracy
69 - 76
Heading accuracy
DBL
rad
[0, π ]
1-σ accuracy
MSL or WGS84
0x70-28: Ephemeris and Subframe 1 Data
This message is output when a new ephemeris is decoded if the corresponding diagnostic
message output is turned on.
Byte
Name
Type
Units / LSB
Range / value
Meaning
Code
U8
0x70
Subcode
U8
0x28
0
Version
U8
1
SV PRN
U8
SV ID (PRN)
2
Code on L2
U8
Refer to IS-GPS-2001
3
URA
U8
Refer to IS-GPS-200
4
SV Health
U8
Refer to IS-GPS-200
5
Fit Interval
U8
Refer to IS-GPS-200
6
reserved
U8
Refer to IS-GPS-200
7
L2 P Data
U8
Refer to IS-GPS-200
8
TGD
U8
Refer to IS-GPS-200
9
af2
U8
Refer to IS-GPS-200
10-11
Week Number
U16
Refer to IS-GPS-200
12-13
toc
U16
Refer to IS-GPS-200
14-15
toe
U16
Refer to IS-GPS-200
16-17
IODC
U16
Refer to IS-GPS-200
18-19
af1
U16
Refer to IS-GPS-200
20-21
Δn
U16
Refer to IS-GPS-200
22-23
IDOT
U16
Refer to IS-GPS-200
24-25
Crs
U16
Refer to IS-GPS-200
26-27
Crc
U16
Refer to IS-GPS-200
97
A
HIPPO Protocol
Byte
Name
Type
28-29
Cus
U16
Refer to IS-GPS-200
30-31
Cuc
U16
Refer to IS-GPS-200
32-33
Cis
U16
Refer to IS-GPS-200
34-35
Cic
U16
Refer to IS-GPS-200
36-39
af0
U32
Refer to IS-GPS-200
40-43
M0
U32
Refer to IS-GPS-200
44-47
e
U32
Refer to IS-GPS-200
48-51
sqrt(A)
U32
Refer to IS-GPS-200
52-55
Ω0
U32
Refer to IS-GPS-200
56-59
i0
U32
Refer to IS-GPS-200
60-63
ϖ
Ω Dot
U32
Refer to IS-GPS-200
U32
Refer to IS-GPS-200
64-67
Units / LSB
Range / value
Meaning
1
IS-GPS-200 is the Navstar Global Positioning System Interface Specification (Rev D) and is used for detailed descriptions of the ephemeris
and subframe 1 fields.
0x70-30: DR KF Output (Calibration) Data
turned on.
Byte
0
Name
Type
Units / LSB
Code
U8
0x70
Subcode
U8
0x30
Version
U8
1-8
Longitude
variance
DBL
9-16
Latitude variance
DBL
m2
DBL
m
2
Altitude variance
25-32
Clock bias
variance
DBL
m2
33-40
Heading variance
DBL
rad2
41-48
ZRO variance
Meaning
m2
17-24
Range / value
East variance
North variance
Up variance
Clock variance
Heading variance
2
DBL
counts
(counts/s)2
ZRO variance
49-56
ZRR variance
DBL
57-64
GSF variance
DBL
65-72
DirSw max speed
DBL
m/s
73-80
DPP0 variance
DBL
m2
DPP 0 variance
DBL
m
2
DPP 1 variance
m
2
DPP 2 variance
81-88
89-96
98
DPP1 variance
DPP2 variance
DBL
ZRR variance
GSF variance
A
HIPPO Protocol
Byte
Name
Type
Units / LSB
Range / value
2
97-104
Lat/Lon
covariance
DBL
m
105-112
Lat
DBL
rad
Meaning
Covariance between east and
north
[-230, +230]
32
Latitude estimate
113-120
Lon
DBL
rad
[0,2 -1]
Longitude estimate
121-131
Alt
DBL
m
[-1000, 10000]
Altitude estimate
129-132
GSFR
FLT
[0.0 - 2.0]
Gyro linearity error
133-136
DPP0
FLT
m
[0.01-4.0]
DPP (Distance per pulse) 0
137-140
DPP1
FLT
m
[-0.5 - .5]
DPP 1
141-144
DPP2
FLT
m
[-0.5 - .5]
DPP 2
145-148
Hdg
FLT
rad
149-152
ZRO
FLT
counts
153-156
Status Bits
U32
bitmap
157-158
DR API Version
S16
159-160
WN
S16
weeks
GPS week number
161-164
TOW
U32
ms
GPS time of week
165
DirSw Sense
S8
Heading estimate
[-6553- 6553]
Gyro bias (zero rate output)
Status flags
DR API version
0
Hi rev, low fwd
1
Hi fwd, low rev
0x70-31: GPS KF Output Data
turned on.
Byte
Name
Type
Units / LSB
Range / value
Meaning
Code
U8
0x70
Subcode
U8
0x31
0
Version
U8
1-4
East-to-Lon
FLT
rad/m
Scale conversion from East
distance to longitude
5-8
North-to-Lat
FLT
rad/m
Scale conversion from North
distance to latitude
9 - 12
Lon-to-East
FLT
m/rad
Scale conversion from
longitude to East distance
13 - 16
Lat-to-North
FLT
m/rad
Scale conversion from latitude
to North distance
17 - 20
ZRR
FLT
counts/sec
Gyro bias rate
21 - 24
Current speed
FLT
m/s
Current speed
25 - 28
MSL offset
FLT
m
Offset between MSL and HAE
29 - 32
East GPS velocity
FLT
m/s
Recent GPS velocity (East)
99
A
HIPPO Protocol
Byte
Name
Type
Units / LSB
Range / value
Meaning
33 - 36
North GPS
velocity
FLT
m/s
Recent GPS velocity (North)
37 - 40
Up GPS velocity
FLT
m/s
Recent GPS velocity (Up)
41 - 44
GPS speed
FLT
m/s
Recent GPS speed
45 - 48
GPS age
U32
sec
Time since last GPS fix
49 - 52
System time
offset
S32
ms
GPS / system time offset (if
time source > 0):
GPS TOW = (Sys Time + Sys
Time Offset) % 604800000
53
Current DPP index U8
Current DPP index being used
[0 ... NUM_DPP-1]
54-101
Calibration status 12 x U32
Estimation activity for this
second
102-105
KF status
U32
DR KF Filter status
106
Num PRs
U8
Number of SVs used by DR KF
filter
0x70-32: DR Fix Data
This message is output five times per second if the corresponding diagnostic message
output is turned on.
Byte
Name
Type
Units / LSB
Code
U8
0x70
Subcode
U8
0x32
0
Version
U8
1-8
Latitude
DBL
rad
Latitude estimate
9-16
Longitude
DBL
rad
Longitude estimate
17-24
Altitude
DBL
m
Altitude estimate (HAE)
25-28
Heading
FLT
rad
Heading estimate
29-32
Delta-heading
FLT
rad
Delta-heading estimate
33-36
Delta-distance
FLT
m
Delta-distance estimate
37-40
System time
U32
ms
Current system time
41-44
Time since last DR U32
ms
Interval length since last DR
data
45
Counter
U8
46
Reverse indicator
U8
1 00
Range / value
Meaning
DR data counter; cycles from 1
to 5 and back
1
In reverse direction
0
In forward direction
HIPPO Protocol
A
0x70-60: Mounting Angle Calibration
This message allows setting or reporting the mounting angle calibration data. This message
is automatically output once at startup. When 'setting' the data, the values are stored into
non-volatile memory. There are two different message formats for 'setting' and
'querying/reporting' the data.
0x70-60: Query/report' format for the Mounting Angle Calibration
Byte / Bit Name
Type
Units / LSB
Range / value
Meaning
Code
U8
0x70
Subcode
U8
0x60
0
Version
U8
0x02
When 'setting' data, make sure
to set this field to the value
reflected in this reference
table.
1
Status
U8
2-5
X-axis value of the FLT
forward direction
unit vector
-1…1
coordinates.
6-9
Y-axis value of the FLT
forward direction
unit vector
-1…1
coordinates.
10-13
Z-axis value of the FLT
forward direction
unit vector
-1…1
coordinates.
14-17
left direction unit
vector
-1…1
vehicle's left direction
coordinates.
18-21
left direction unit
vector
-1…1
coordinates.
status:
0 = angle unknown
1 = angle set from user input
2 = angle set at manufacturing
3 = angle set by self-calibration
and matched to stored a profile
4 = angle set by self-calibration
5 = self-calibration in progress
101
A
HIPPO Protocol
Byte / Bit Name
Type
Units / LSB
Range / value
Meaning
22-25
left direction unit
vector
-1…1
coordinates.
26-29
up direction unit
vector
-1…1
vehicle's up direction
coordinates.
30-33
up direction unit
vector
-1…1
coordinates.
34-37
up direction unit
vector
-1…1
coordinates.
38-41
Calibration time of U32
week
sec
GPS time of week of the last
self-calibration time.
42-43
Calibration week
number
S16
weeks
GPS week number of the last
44-51
Latitude of
calibration
DBL
deg
Latitude of the location of the
last self-calibration.
52-59
Longitude of
calibration
DBL
deg
Longitude of the location of
the last self-calibration.
60-67
Altitude of
calibration
DBL
m
Altitude of the location of the
68
Matching profile
index
U8
69
Self-calibration
Progress
U8
1 02
Index in the profile array of the
profile matched during the last
self-calibration. This field is
applicable only if Status = 3.
The profile array is set or
reported using 0x70-61.
%
0-100
Self-calibration progress,
expressed as percentage.
HIPPO Protocol
A
Byte / Bit Name
Type
Units / LSB
Range / value
Meaning
Code
U8
0x70
Subcode
U8
0x60
0
Version
U8
0x02
table.
1
Command
U8
2-5
forward direction
unit vector
-1…1
coordinates.
6-9
Y-axis value of the
forward direction
unit vector
FLT
-1…1
coordinates.
10-13
Z-axis value of the
forward direction
unit vector
FLT
-1…1
coordinates.
14-17
left direction unit
vector
-1…1
coordinates.
command:
0 = set the mounting angle unit
packet
vectors by self-calibration only
(the other fields in this packet
will be ignored)
vectors by self-calibration and
matching to a known profile
(only if profiles were set using
0x70-61). All other fields in this
packet will be ignored.
3 = use the mounting angle
programmed at manufacturing.
All other fields in this packet
will be ignored. If
manufacturing data is not
available, an error is returned.
103
A
HIPPO Protocol
Byte / Bit Name
Type
18-21
Y-axis value of the
left direction unit
vector
22-25
Z-axis value of the
left direction unit
vector
Units / LSB
Range / value
Meaning
FLT
-1…1
coordinates.
FLT
-1…1
coordinates.
26-29
up direction unit
vector
-1…1
coordinates.
30-33
Y-axis value of the
up direction unit
vector
FLT
-1…1
coordinates.
34-37
Z-axis value of the
up direction unit
vector
FLT
-1…1
coordinates.
This message allows you to set or report the mounting angle profiles. The profiles are used
to match the self-calibrated mounting angle to a more accurate, pre-set angle. This
message is output once at startup, automatically. When 'setting' the data, the values are
stored into non-volatile memory.
Note – When 'setting' the profiles, the mounting angle is automatically re-calibrated and
matched to one of the specified profiles, if any, even if the angle was previously set or
calibrated.
Byte / Bit
Name
Type
Units / LSB
Range / value
Meaning
Code
U8
0x70
Subcode
U8
0x61
0
Version
U8
0x01
Version of the message
format. When 'setting' data,
make sure to set this field to
the value reflected in this
reference table.
1
Number of profiles U8
(N)
0…10
Number of calibration
profiles that follow. If 0, the
mounting angle is recalibrated with no profile
matching.
1 04
HIPPO Protocol
Byte / Bit
Name
Type
2-5
Profile 1: X-axis
value of the up
direction unit
vector
6-9
Units / LSB
A
Range / value
Meaning
FLT
-1…1
1st profile's X value of the
unit vector in the vehicle's
up direction expressed in the
gyro XYZ coordinates.
Profile 1: Y-axis
value of the up
direction unit
vector
FLT
-1…1
1st profile's Y value of the
10-13
Profile 1: Z-axis
value of the up
direction unit
vector
FLT
-1…1
1st profile's Z value of the
…
…
…
...
2+(N-1)*12 - Profile N: X-axis
5+(N-1)*12 value of the up
direction unit
vector
FLT
-1…1
Nth profile's X value of the
6+(N-1)*12 - Profile N: Y-axis
direction unit
vector
FLT
-1…1
Nth profile's Y value of the
10+(N-1)*12 Profile N: Z-axis
-13+(Nvalue of the up
1)*12
direction unit
vector
FLT
-1…1
Nth profile's Z value of the
0x70-50: Gyro Parameter Definitions
This message allows setting or reporting gyro parameter definitions and is output once at
startup, automatically, if the gyro is detected and operational. It is also output in response
to a user 'set' command if the gyro is detected and operational based on the user's input
parameters.
Note – The 'set' capability is not currently available as there are no external gyros
supported. The 'set' capability is reserved for future implementation.
Byte / Bit
0
Name
Type
Units / LSB
Code
U8
0x70
Subcode
U8
0x50
Version
U8
Range / value
Meaning
0x01
105
A
HIPPO Protocol
Byte / Bit
Name
Type
1
Status
U8
2
Interface
3
Type
4
Connection
Units / LSB
Range / value
Meaning
Operational status. Ignored in
the ‘set’ message.
0
Hardware not detected or
present
1
Hardware detected and
operational
U8
Communication interface
0
SPI
1
I2C
2
ADC
U8
Device type
0
Analog
1
Digital
U8
Device connection
0
Internal (on-board)
1
External (via connector)
5-8
Address
U32
9-12
<reserved>
U32
0
Reserved for future use.
13-16
<reserved>
U32
0
Reserved for future use.
17-20
Measurement
range
FLT
°/s
Maximum measurement value.
21-24
Sensitivity
FLT
(°/s)/LSB or
(°/s)/mV
For digital gyros, the units are
(°/s)/LSB.
For analog gyros, the units are
(°/s)/mV.
(LSB - least significant bit or
digit).
25-28
Zero-rate level
FLT
°/s or mV
Zero-rate output level.
For digital gyros, the units are
°/s.
For analog gyros, the units are
mV.
29
Data Output
Resolution
U8
bits
Effective number of bits used
for data conversion.
For digital gyros, this value is
provided in the datasheet.
For analog gyros, it depends on
the host processor's ADC.
30-33
Rate Noise Density FLT
1 06
Device address relevant to the
device interface and type.
(°/s)/Hz2
HIPPO Protocol
A
0x70-52: Speed Signal Input Parameter Definitions
This message allows setting or reporting speed signal input parameter definitions and is
output automatically once at startup. It is also output in response to a user 'set' command.
The default values for these parameters are 0, and the actual run-time values are
auto-calibrated while in motion. When 'setting' the data, the values are stored in
non-volatile memory. It is strongly recommended to 'set' the data only if this is different
than the 'queried' data. This will avoid wasting the write-cycles of Flash-based non-volatile
memory.
Byte / Bit
Name
Type
Units / LSB
Code
U8
0x70
Subcode
U8
0x52
0
Version
U8
1-4
Speed signal input FLT
DPP
5
Speed signal input S8
direction switch
sense
Range / value
Meaning
0x01
m
Speed signal input distance-perpulse.
0
Unknown, auto-calibrated
during motion.
1
Vehicle in reverse when the
direction switch signal is high.
-1
Vehicle in reverse when the
direction switch signal is low.
0x70-60: Mounting Angle Calibration
Applicable to firmware version 2.02.00 and above only.
This message allows setting or reporting the mounting angle calibration data and is output
automatically once at startup. When 'setting' the data, the values are stored into nonvolatile memory. There are two different message formats for 'setting' and
'querying/reporting' the data.
0x70-60: Query/report format for the Mounting Angle Calibration
Byte / Bit
0
Name
Type
Units / LSB
Code
U8
0x70
Subcode
U8
0x60
Version
U8
Range / value
Meaning
0x02
107
A
HIPPO Protocol
Byte / Bit
Name
Type
1
Status
U8
Units / LSB
Range / value
Meaning
status
0
Angle unknown
1
Angle set from user input
2
Angle set at manufacturing
3
Angle set by self-calibration and
matched to stored a profile
4
Angle set by self-calibration
5
Self-calibration in progress
2-5
X-axis value of the
forward direction
unit vector
FLT
-1…1
vehicle's forward direction,
coordinates.
6-9
Y-axis value of the
forward direction
unit vector
FLT
-1…1
coordinates.
10-13
Z-axis value of the
forward direction
unit vector
FLT
-1…1
coordinates.
14-17
X-axis value of the
left direction unit
vector
FLT
-1…1
vehicle's left direction,
coordinates.
18-21
Y-axis value of the
left direction unit
vector
FLT
-1…1
coordinates.
22-25
Z-axis value of the
left direction unit
vector
FLT
-1…1
coordinates.
26-29
X-axis value of the
up direction unit
vector
FLT
-1…1
vehicle's up direction, expressed
30-33
Y-axis value of the
up direction unit
vector
FLT
-1…1
vehicle's up direction, expressed
34-37
Z-axis value of the
up direction unit
vector
FLT
-1…1
1 08
HIPPO Protocol
Type
Units / LSB
Range / value
A
Byte / Bit
Name
Meaning
38-41
Calibration time of U32
week
sec
GPS time of week of the last
42-43
Calibration week
number
S16
weeks
GPS week number of the last
44-51
Latitude of
calibration
DBL
deg
Latitude of the location of the
52-59
Longitude of
calibration
DBL
deg
Longitude of the location of the
60-67
Altitude of
calibration
DBL
m
Altitude of the location of the
68
Matching profile
index
U8
69
Self-calibration
Progress
U8
Index in the profile array of the
profile matched during the last
self-calibration. This field is
applicable only if Status = 3. The
profile array is set or reported
using 0x70-61.
%
0-100
Self-calibration progress,
expressed as a percentage.
Byte / Bit
0
Name
Type
Units / LSB
Code
U8
0x70
Subcode
U8
0x60
Version
U8
Range / value
Meaning
0x02
table.
109
A
HIPPO Protocol
Byte / Bit
Name
Type
1
Command
U8
Units / LSB
Range / value
Meaning
command.
0
Set the mounting angle unit
packet.
1
vectors by self-calibration only.
The other fields in this packet
are ignored.
2
vectors by self-calibration and
matching to a known profile
(only if profiles were set using
0x70-61). The other fields in
this packet are ignored.
3
Use the mounting angle
programmed at
manufacturing. All other fields
in this packet are ignored. If
manufacturing data is not
available, an error is returned.
2-5
forward direction
unit vector
-1…1
coordinates.
6-9
forward direction
unit vector
-1…1
coordinates.
10-13
forward direction
unit vector
-1…1
coordinates.
14-17
left direction unit
vector
-1…1
coordinates.
18-21
left direction unit
vector
-1…1
coordinates.
22-25
left direction unit
vector
-1…1
coordinates.
1 10
HIPPO Protocol
Byte / Bit
Name
26-29
Type
Units / LSB
A
Range / value
Meaning
up direction unit
vector
-1…1
vehicle's up direction,
coordinates.
30-33
up direction unit
vector
-1…1
coordinates.
34-37
up direction unit
vector
-1…1
coordinates.
Applicable to firmware version 2.02.00 and above only.
This message allows setting or reporting of the mounting angle profiles. The profiles are
used to match the self-calibrated mounting angle to a more accurate, pre-set angle. This
message is output automatically once at startup. When 'setting' the data, the values are
stored into non-volatile memory.
Note – When 'setting' the profiles, the mounting angle is automatically re-calibrated and
matched to one of the specified profiles, if any, even if the angle was previously set or
calibrated.
Byte / Bit
Name
Type
Units / LSB
Range / value
Meaning
Code
U8
0x70
Subcode
U8
0x61
0
Version
U8
0x01
Version of the message
format. When 'setting' data,
make sure to set this field to
the value reflected in this
reference table.
1
Number of profiles U8
(N)
0…10
Number of calibration profiles
that follow. If 0, the mounting
angle is re-calibrated with no
profile matching.
2-5
Profile 1: X-axis
value of the up
direction unit
vector
FLT
-1…1
1st profile's X value of the unit
vector in the vehicle's up
direction expressed in the gyro
XYZ coordinates.
6-9
Profile 1: Y-axis
value of the up
direction unit
vector
FLT
-1…1
1st profile's Y value of the unit
XYZ coordinates.
111
A
HIPPO Protocol
Byte / Bit
Name
Type
Units / LSB
Range / value
Meaning
10-13
Profile 1: Z-axis
value of the up
direction unit
vector
FLT
-1…1
1st profile's Z value of the unit
XYZ coordinates.
…
…
…
2+(N-1)*12 5+(N-1)*12
Profile N: X-axis
value of the up
direction unit
vector
FLT
-1…1
Nth profile's X value of the
unit vector in the vehicle's up
XYZ coordinates.
6+(N-1)*12 9+(N-1)*12
Profile N: Y-axis
value of the up
direction unit
vector
FLT
-1…1
Nth profile's Y value of the
XYZ coordinates.
10+(N-1)*12 - Profile N: Z-axis
direction unit
vector
FLT
-1…1
Nth profile's Z value of the
XYZ coordinates.
...
0x70-7F: Toggle Diagnostics Output
This message controls output of the 0x70 messages. Each U32 field is a 32-bit mask
controlling a set of 32 messages as specified in the Meaning column. The LSB of each U32 is
for the lower-numbered message in a range (for example, Bit 0 of Set#2 is for 0x70-20). If a
given bit is 1, the corresponding message is enabled to be output; if 0, disabled.
Byte
0-3
Name
Type
Units / LSB
Code
U8
0x70
Subcode
U8
0x7F
Flag bits set #1
U32
bitmap
Range / value
Meaning
1 = on
Flag bits for messages
0x70-00 … 0x70-1F
0 = off
4-7
Flag bits set #2
U32
bitmap
1 = on
0 = off
8 - 11
Flag bits set #3
U32
bitmap
1 = on
0 = off
12-15
Flag bits set #4
U32
bitmap
1 = on
0 = off
1 12
0x70-20 … 0x70-3F
0x70-40 … 0x70-5F
0x70-60 … 0x70-7F
HIPPO Protocol
A
Event log queue
Theory of Operation
There are two types of events, hard and soft and 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, see Soft event and fatal error logging and reporting, page 24), a
time tag indicating the time when the event occurred, and a status word if applicable.
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:
•
Interrupt system errors have a high byte of 0x10. The low byte is the vector number at
fault.
•
Hardware-related system error, for example, RAM, ROM, or gyro, has a high byte of
0x12 or 0x13.
•
RTOS events (errors related to the Operating System related function calls) have a high
byte of 0x20.
•
Navigation library events and run-time positioning diagnostics have a high byte of
0x40.
Error/Event
Descriptions
Action
LOG_ILL_TRAP
0x10xx
Illegal hardware interrupts
(xx = vector number)
Hard reset
LOG_ERR_RAM_FAILED
0x1200
RAM failed on self-test
Monitor mode
LOG_ERR_ROM_FAILED
0x1201
ROM failed on checksum test
Monitor mode
LOG_GET_SEMAPHORE_ERR
0x2001
Failure on acquiring a semaphore
Reset
LOG_RELEASE_SEMAPHORE_ER 0x2002
R
Failure on releasing a semaphore
Reset
LOG_SEND_MESSAGE_ERR
0x2003
Failure on sending a message
Reset
LOG_RECEIVE_MESSAGE_ERR
0x2004
Failure on receiving a message
Reset
LOG_DELETE_MESSAGEQ_ERR
0x2005
Failure on deleting a message queue
Reset
LOG_DELETE_TASK_ERR
0x2006
Failure to remove task from system
Reset
LOG_SUSPEND_TASK_ERR
0x2007
Failure on suspending a task
Reset
LOG_RESUME_TASK_ERR
0x2008
Failure on resuming a task
Reset
LOG_CREATE_SEMAPHORE_ERR 0x2009
Failure on creating a semaphore
Reset
LOG_CONNECTION_ERR
0x200A
Failure to connect to Io-DSP cell
LOG_CREATE_TASK_ERR
0x200B
Failure to creating a task
Reset
113
A
HIPPO Protocol
Error/Event
Descriptions
Action
LOG_ALLOCATE_BUF_ERR
0x200C
Failure on memory allocation
Reset
LOG_MESSAGEQ_FULL
0x2120
A given message queue is full
Reset
LOG_SIO_OPEN_ERR
0x2121
Failure to open serial port
Monitor mode
LOG_NAV_HARD_COCOM
0x4001
COCOM event, no recovery
Hard reset
LOG_NAV_HARD_ERR
0x4003
Other error in navigation library
Hard reset
The fatal error log is located in the Flash memory space. 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.
The following table shows the format of the fatal error log entry:
Field
Type
Descriptions
Msec
U32
Time tag in GPS milliseconds (0xffffffff if not available)
Week
U16
Time tag in GPS week number (0xffff if not available)
Code
U16
Event/error code.
Hard reset means "Clear RAM and Reset SW". The column "Ver"
indicates which ROM versions have this fatal error code feature.
Status
U16
Status code associated with the event. 0 if it does not apply.
Info block 22 bytes
See tables, below.
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.
Block format for the status code 10xx:
Field
Type
Descriptions
Vector
U8
Illegal vector number
PC
U32
Program counter at fault
SP
U32
Supervisor stack address
Block format for the status code 12xx:
Field
Type
Descriptions
Soft value
U32
Soft checksum or memory content.
Actual value
U32
Data read from the target.
Address
U32
Status code 1201 only.
1 14
HIPPO Protocol
A
Block format for the status code 2xxx:
Field
Type
Descriptions
Src task
U8
Caller task ID
Dest task
U8
Receive task ID - 0 if not applicable.
Resource ID
U8
System resource such as semaphore, message queue,
Soft events
Soft events, which include soft errors, periodic events, and user requested events, occur
frequently. Only selected events will be logged into BBRAM. None of these events triggers a
software reset. If the host desires to be notified of specific events with a HIPPO output
message, it can specify the events to report with the event mask function, see Failure to
connect to GPS DSP, page 119.
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, as defined in Soft event and fatal error
logging and reporting, page 24. The last column indicates whether the event is a persistent
condition such as a shorted antenna (C) or a single event like a RTC fault (S).
Some of these soft events are "informational", and result from user action. Those soft
events that are generated internally are explained in more detail starting in Invalid BBRAM
detected on startup, page 116.
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 the following table: .
Numeric value
Descriptions
0x00
Status unknown (backwards compatible to old software) or single event
0x10
Newly detected condition
0x20
Condition previously detected, still present
0x30
Condition newly cleared
As an example, when an antenna short condition is first detected, a soft event with identity
and condition codes (0x71, 0x10) is generated. Every second, when the antenna fault
detection is repeated, the soft event (0x71, 0x20) is generated. When the condition is
cleared and no fault is found, the soft event (0x71, 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 0x20 (condition previously detected, still
present). The log persists as long as there is a battery-backup power. The user can erase the
115
A
HIPPO Protocol
log via a HIPPO command or by the startup RAM test (cold start only). The host can retrieve
logs at any time via HIPPO query. The following table shows the format of the log entry for
soft events:
Field
Type
Descriptions
Msec
U32
Time tag in GPS milliseconds.
Week
U16
Time tag in GPS week number.
Identity
U8
Soft event identity code, see Invalid BBRAM detected on startup,
page 116.
Condition
U8
Soft event condition code Position recovery, solution snapped to
GPS, page 116.
Reserved
U16
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
1 16
Condition cause
Incorrect position at start-up, or substantial drift of DR-GPS position
estimate.
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.
HIPPO Protocol
A
Heading recovery, solution snapped to GPS
Condition cause
Incorrect heading at start-up, or substantial drift of DR-GPS heading
estimate.
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.
DPP recovery, solution snapped to GPS
Condition cause
Incorrect DPP at start-up, or substantial drift of DR-GPS DPP
estimate.
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.
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
Cleared at reset.
Action (ROM15)
Erase BBRAM and RTC, re-start unit.
Gyro readings do not stay within specification
Condition cause
Hardware failure.
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
Cleared at reset.
Action
Gyro labeled "bad". DR suspended. Speed measurement continues
and speed signal input continues to be calibrated.
117
A
HIPPO Protocol
No speed signal input data when GPS is detecting movement
Condition cause
Speed signal input is disconnected or malfunctioning.
Position solution will be not change when moving.
Soft event detected
GPS speed > 8.0 m/s and no speed signal input pulses reported
(except heartbeats) for 15 GPS fixes.
Soft event cleared
Speed signal input pulse is reported, or unit is reset.
Action
Speed signal input labeled as "absent". DR is suspended. Heading
measurement continues and gyro continues to be calibrated.
Excessive speed signal input data is received for a long period of time
Condition cause
Wheels spinning, other speed signal input malfunction.
Position fixes move at higher speed than actual position.
Soft event detected
Not implemented. Function partly done by DPP recovery.
Reverse signal opposite to direction determined by GPS
Condition cause
Disconnected reverse switch.
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
Driving forward at raw GPS speed > 14 m/s.
Action
Direction switch sense changed.
Large jump at power-up
Condition cause
Position in BBRAM incorrect (for example, travel by ferry).
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
Oscillator values are not within specification
1 18
Condition cause
Excessive temperature response or aging of crystal.
Extended time-to-first fix.
Soft event detected
Not implemented.
HIPPO Protocol
A
Antenna open detected
Condition cause
Hardware failure.
No GPS positions.
Soft event detected
Hardware signal queried at one Hz.
Soft event cleared
Action
DR functions without GPS positions.
Antenna short detected
Condition cause
Hardware failure.
No GPS positions.
Soft event detected
Soft event cleared
Action
Failure to connect to GPS DSP
Condition cause
Hardware failure.
No GPS positions.
Soft event detected
No response from DSP within 5 seconds.
Action
RTC disagreed with GPS time
Condition cause
Low battery voltage while powered down.
Long time to first fix.
Soft event detected
Not implemented.
Gyro failure
Condition cause
Hardware failure.
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
Cleared at reset.
Action
119
A
HIPPO Protocol
ADC failure
Condition cause
Hardware failure.
Soft event detected
At power-up.
Action
Gyro shorted to 3.3 V
1 20
Condition cause
Hardware failure.
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 6 mV, declare detection.
Soft event cleared
Cleared at reset.
Action
APPENDIX
B
NMEA 0183 Protocol
B
In this appendix:

Introduction

NMEA protocol overview

NMEA 0183 communication interface

NMEA 0183 message structure

Field definitions

Message options

Standard NMEA messages

Proprietary NMEA messages
This appendix provides a brief overview of the
NMEA 0183 protocol, and describes both the
standard and optional messages offered by the
Aardvark firmware.
121
B
NMEA 0183 Protocol
Introduction
The Aardvark firmware supports an industry-standard NMEA 0183 communication
protocol. The protocol supports two categories of messages - standard and proprietary
messages. The standard messages adhere to a universal definition specified by the National
Marine Electronics Association. The proprietary messages use Trimble Component
Technology's own definitions.
The following table lists NMEA messages implemented and available in the Aardvark
firmware. It also indicates whether a particular message can be queried (Q) or set (S). Refer
to the NMEA Protocol Specification for detailed information
Message
Description
Q
GGA
GPS fix data
Q
GSA
DOP and active satellites
Q
GSV
GPS satellites in view
Q
RMC
Recommended minimum specific GPS data
Q
VTG
Course over ground and ground speed
Q
ZDA
Time and date
Q
S
Standard NMEA messages are output automatically based on the automatic message mask
and output interval which can be configured with the NM message. The default behavior is
for automatic, once per second output of the following standard messages: GGA, RMC,
VTG, GSV, and GSA.
Message
Description
Q
BA
Antenna status
Q
EM
Set device into Monitor mode (for firmware update)
NM
NMEA automatic message output control
Q
S
PT
Serial port and output protocol configuration
Q
S
RT
Reset device
TP
Temperature data
Q
VR
Version information
Q
1 22
S
S
S
NMEA 0183 Protocol
B
NMEA protocol overview
NMEA 0183 is a simple, yet comprehensive ASCII protocol which defines both the
communication interface and the data format. The NMEA 0183 protocol was originally
established to allow marine navigation equipment to share information. Since it is a well
established industry standard, NMEA 0183 has also gained popularity for use in
applications other than marine electronics.
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.
NMEA 0183 communication interface
NMEA 0183 allows a single source (talker) to transmit serial data over a single twisted wire
pair to one or more receivers (listeners). The table below lists the standard characteristics
of the NMEA 0183 data transmissions.
Signal
NMEA standard
Baud rate
4800
Data bits
8
Parity
None (disabled)
Stop bits
1
NMEA 0183 message structure
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 Condor module. The NMEA message structure is described
below.
$IDMSG,D1,D2,D3,D4,.......,Dn*CS[CR][LF]
Where:
$
Signifies the start of a message
ID
The talker identification is a two letter mnemonic which describes the source of the
navigation information. The GP identification signifies a GPS source.
MSG
The message identification is a three letter mnemonic which describes the message
content and the number and order of the data fields.
,
Commas serve as delimiters for the data fields.
Dn
Each message contains multiple data fields (Dn) which are delimited by commas.
*
The asterisk serves as a checksum delimiter.
123
B
NMEA 0183 Protocol
CS
The checksum field contains two ASCII characters which indicate the hexadecimal
value of the checksum.
[CR][LF
]
The carriage return [CR] and line feed [LF] combination terminate the message.
NMEA 0183 messages vary in length, but each message is limited to 79 characters or less.
This length limitation excludes the "$" and the [CR][LF]. The data field block, including
delimiters, is limited to 74 characters or less.
Field definitions
Many of the NMEA data fields are of variable length, and the user should always use the
comma delineators to parse the NMEA message data field. The following table specifies the
definitions of all field types in the NMEA messages supported by Trimble:
Type
Symbol
Definition
Status
A
Single character field: A=Yes, data valid, warning flag clear V=No, data invalid,
warning flag set
Special Format Fields
Latitude
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.
Longitude
yyyyy.yyy
Fixed/Variable length field: Degreesminutes.decimal-3 fixed digits of degrees,
2 fixed digits of minutes and a variable number of digits for decimal-fraction of
minutes. Leading zeros always included for degrees and minutes to maintain
fixed length. The decimal point and associated decimal-fraction are optional if
full resolution is not required.
Time
hhmmss.ss
Fixed/Variable length field: hoursminutesseconds.decimal-2 fixed digits of
minutes, 2 fixed digits of seconds and a variable number of digits for decimalfraction of seconds. Leading zeros always included for hours, minutes, and
seconds to maintain fixed length. The decimal point and associated decimalfraction 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"
Numeric Value Fields
Variable
x.x
Variable length integer or floating numeric field. Optional leading and trailing
zeros. The decimal point and associated decimal-fraction are optional if full
resolution is not required (example: 73.10=73.1=073.1=73).
Fixed HEX
hh
Fixed length HEX numbers only, MSB on the left
Information Fields
1 24
NMEA 0183 Protocol
Type
Symbol
Definition
Fixed Alpha
aa
Fixed length field of upper-case or lower-case alpha characters.
Fixed Number
xx
Fixed length field of numeric characters
B
Note –
- Spaces should 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.
Message options
Any given product can output any or all of the messages listed in the product specification
or design document. 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 other than the factory default has been
selected (using a relevant configuration command), and this setting has been stored in flash
memory (if supported), the default messages are permanently replaced until the receiver is
returned to the factory default state.
The user can configure a custom mix of the messages. All products typically provide a
message output configuration command to select which messages to output and at what
interval.
125
B
NMEA 0183 Protocol
In the following message format descriptions:
•
Each message ends with *hh<CR><LF> where:
* - ASCII asterisk character
hh - computed message checksum (2-digit hex value)
<CR> - carriage-return character (hex value 0x0D)
<LF> - line-feed character (hex value 0x0A)
•
Bold items are literal, and must be present in the message.
•
If an item is unavailable, it will be blank, but the comma delimiter must be present.
•
An "x" is an optional character which may or may not be present to add precision or to
indicate negativity.
GGA: Global Positioning System Fix Data
Time, position and fix related data for the GPS receiver.
This message is output automatically if selected in the NMEA message output mask. On
some products, it can also be queried using the command: $GPGPQ,GGA*hh<CR><LF>
$GPGGA,hhmmss.s,llll.lllx,d,yyyyy.yyyx,d,q,s,xh.hx,
xaaaaa,M,xggg,M,xxx,xxxx*hh<CR><LF>
Field
Description
hhmmss.s
Hours, minutes, seconds, sub-seconds of position in UTC
llll.lllx
Latitude
d
N (North) or S (South)
yyyyy.yyyx
Longitude
d
E (East) or W (West)
q
GPS quality Indicator: 0 = No GPS, 1 = GPS, 2 = DGPS, 6 = DR
s
Number of satellites in use
xh.hx
Horizontal Dilution of Precision (HDOP)
xaaaaa
Antenna altitude in meters, M = Meters
xggg
Geoidal separation
Note – Geoidal separation is the difference between the WGS-84 earth ellipsoid
and mean-sea-level.
1 26
xxx
Age of differential GPS data
xxxx
Differential Reference Station ID
hh
Checksum
NMEA 0183 Protocol
B
GSA: DOP and Active Satellites
GPS receiver's operating mode, satellites used in navigation solution reported by the
$GPGGA message, and DOP values.
some products, it can also be queried using the command $GPGPQ,GSA*hh<CR><LF>
$GPGSA,m,s,n1,n2,n3,n4,n5,n6,n7,n8,n9,n10,n11,n12,xp.px,xh.h.x,xv.vx*hh<CR
><LF>
Field number
Description
m
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.
s
Status: 1 = fix not available, 2 = 2D, 3 = 3D
n1 ... n12
PRN numbers of the satellites used in the position solution. When less than 12
satellites are used, the unused fields are null.
xp.px
Position dilution of precision (PDOP)
xh.hx
Horizontal dilution of precision (HDOP)
xv.vx
Vertical dilution of precision (VDOP)
hh
Checksum
GSV: GPS Satellites in View
Number of satellites in view, PRN numbers, elevation, azimuth and SNR value. Four
satellites maximum per transmission, additional satellite data sent in second or third
message. Total number of messages being transmitted and the number of the message
being transmitted is indicated in the first two fields.
some products, it can also be queried using the command $GPGPQ,GSV*hh<CR><LF>
$GPGSV,t,m,ts,n1,e1,aa1,s1,n2,e2,aa2,s2,n3,e3,aa3,s3,n4,e4,aa4,s4*hh
<CR><LF>
Field number
Description
t
Total number of GSV messages
m
Message number
ts
Total number of satellites in view
n1 ... n4
Satellite PRN number
e1 ... e4
Elevation in degrees (90° Maximum)
aa1 ... aa4
Azimuth in degrees true (000 to 359)
s1 ... s4
SNR (00 - 99 dBHZ
hh
Checksum
127
B
NMEA 0183 Protocol
RMC: Recommended Minimum Specific GPS/Transit Data
Time, date, position, course, and speed data provided by a GPS receiver.
some products, it can also be queried using the command $GPGPQ,RMC*hh<CR><LF>
$GPRMC,hhmmss.s,s,llll.lllx,d,yyyyy.yyyx,d,xs.sx,xc.cx,ddmmyy,xm.vx,
d,a*hh<CR><LF>
Field number
Description
hhmmss.s
UTC of Position Fix (when UTC offset has been decoded by the receiver).
s
Status: A - Valid, V - Data not valic
llll.lllx
Latitude
d
N (North) or S (South)
yyyyy.yyyx
Longitude
d
E (East) or W (West)
xs.sx
Speed over the ground (SOG) in knots
xc.cx
Course over ground in degrees true
ddmmyy
Date: day, month, year
xm.vx
Magnetic variation in degrees
d
E = East / W= West
a
Mode: A - Autonomous, E - Estimated (DR)
hh
Checksum (mandatory for RMC)
VTG: Course over Ground and Ground Speed
The actual course and speed relative to ground.
some products, it can also be queried using the command $GPGPQ,VTG*hh<CR><LF>
$GPVTG,xc.cx,T,xc.cx,M,xs.sx,N,xs.sx,K,a*hh<CR><LF>
1 28
Field
Description
xc.cx
Course over ground in degrees true.
xc.cx
Course over ground in in degrees magnetic.
xs.sx
Speed over ground in knots.
xs.sx
Speed over ground in km / hr
a
Mode: A - Autonomous, E - Estimated (DR)
hh
Checksum
NMEA 0183 Protocol
B
ZDA: Time and Date
UTC, day, month, year, and local time zone.
some products, it can also be queried using the command $GPGPQ,ZDA*hh<CR><LF>
$GPZDA,hhmmss.s,dd,mm,yyyy,zh,zm*cs
Field
Description
hhmmss.s
Hours, minutes, seconds, sub-seconds of position in UTC
dd
Day (01 to 31)
mm
Month (01 to 12)
yyyy
Year
zh
Local zone hour, offset from UTC to obtain local time
zm
Local zone minute
BA: Antenna Status
This message queries the antenna status. Set is not supported. This message is output
automatically if selected in the NMEA message output mask.
Query format: $PTNLQBA*hh<CR><LF>
Response to query format: $PTNLRBA,a,a*hh<CR><LF>
Field
Description
a
Status
0 = status unavailable,
1 = status available
a
Antenna feedline fault :
0 = normal
1 = open
2 = short
129
B
NMEA 0183 Protocol
EM: Enter Monitor Mode
This message switches the device from the Normal to the Monitor mode. Query not
supported.
Set format: $PTNLSEM*hh<CR><LF>
Response to set format: $PTNLREM,a*hh<CR><LF>
Field
Description
a
Status (A - success; V - failure)
NM: Automatic Output Interval and Mask
This message queries or sets the automatic message output.
Query format: $PTNLQNM*hh<CR><LF>
Set or response to query format: $PTNLaNM,hhhhhhhh,xx*hh<CR><LF>
Field
Description
a
Mode (S = set; R = response)
hhhhhhhh
Message flags (32 bits maximum), one bit for each message:
Bit 0 - GGA
Bit 2 - VTG
Bit 3 - GSV
Bit 4 - GSA
Bit 5 - ZDA
Bit 8 - RMC
Bit 13 - BA
Bit 16 - TP
xx
Automatic report Interval (1 - 99)
Response to set format: $PTNLRNM,a*hh<CR><LF>
1 30
Field
Description
a
NMEA 0183 Protocol
B
PT: Port Configuration
This message queries or sets the port configuration.
Query format: $PTNLQPT*hh<CR><LF>
Set or response to query format: $PTNLaPT,xxxxxx,a,a,a*hh<CR><LF>
Field
Description
a
Mode (S = set, R = response)
xxxxxx
Baud rate (4800, 9600, 19200, 38400, 57600, 115200)
a
Number of data bits (7 or 8)
a
Parity (N = None, O = Odd, E = Even)
a
Number of stop bits (1 or 2)
h
Input protocol(s). This is a hex bit-map. Bits can be combined to enable
multiple input protocols. This field may not be 0.
Bit 0: Reserved
Bit 1: Reserved
Bit 2: NMEA
Bit 3: HIPPO
h
Output protocol(s). This is a hex bit-map. It is not recommended to enable
more than one output protocol at a time because enabling multiple
protocols will result in a large amount of output data which may overrun the
serial port buffers and get corrupted during transmission.
Bit 0: Reserved
Bit 1: Reserved
Bit 2: NMEA
Bit 3: HIPPO
In case of Set, the Response message with new parameters is sent using the old parameters
first, and then the switch to the new parameters is made. If the switch fails for whatever
reason, NMEA error response is sent. If the switch succeeds, no additional response is sent.
Response to set format: $PTNLRPT,a*hh<CR><LF>
Field
Description
a
131
B
NMEA 0183 Protocol
RT: Reset Device
This message resets the device. Query not supported.
Set format: $PTNLSRT,a,x*hh<CR><LF>
Field
Description
a
Reset type:
C - cold reset (clear RAM including GPS data and user configuration)
W - warm reset (clear ephemeris only)
H - hot reset (RAM data not cleared)
F - factory reset (clear RAM and NVRAM including GPS data and user
configuration)
G - perform a graceful shutdown reset (store DR calibration data to NVRAM)
x
NVRAM (flash configuration) operation:
0 - no operation
2 - store user configuration to NVRAM
5 - erase user configuration in NVRAM (set to factory defaults)
7 - erase system configuration in NVRAM (set to factory defaults)
8 - erase DR calibration data in NVRAM
Response to set format: $PTNLRRT,a*hh<CR><LF>
Field
Description
a
TP: Temperature Measurement
This message queries the temperature measurement from a specific temperature source.
Set is not supported. Not all listed temperature measurement sources are supported. Refer
to the product specification for details. This message is output automatically if selected in
the NMEA message output mask. If selected for automatic output, the temperature sensor
is used as the source of temperature measurements.
Query format: $PTNLQTP,a*hh<CR><LF>
Field
Description
a
Source of temperature measurement:
T - temperature sensor
G - gyroscope sensor
A - accelerometer sensor
P - pressure sensor
1 32
NMEA 0183 Protocol
B
Response to query format: $PTNLRTP,a,x.x,x.x*hh<CR><LF>
Field
Description
a
Source of temperature measurement (same as in Query)
x.x
Temperature (°C)
x.x
Temperature accuracy (°C)
VR: Version Information
This message queries version information. Set not supported. This messages allows to
query versions of various product components. Not all component versions can be queried.
Refer to a particular product's specification or software design document for a list of
supported components for which version information can be queried.
Query format: $PTNLQVR,a*hh<CR><LF>
Field
Description
a
Component ID for which to query the version:
S - system (application firmware) version
H - hardware version
N - GPS / navigation software version
D - DR library version
C - common source code version
Response to query format for all components other than the hardware (H):
$PTNLRVR,a,a..a,xx,xx,xx,xx,xx,xxxx*hh<CR><LF>
Field
Description
a
Component ID (same as in Query format)
a..a
Component name (variable length character string)
xx
Major version number
xx
Minor version number
xx
Build number
xx
Month (1-12)
xx
Day (1-31)
xxxx
Year
133
B
NMEA 0183 Protocol
Response to query format for the hardware version (H):
$PTNLRVR,H,xxxx,a..a,xxxxxxxx,xx,xx,xxxx,xx*hh<CR><LF>
1 34
Field
Description
xxxx
Hardware code
a..a
Hardware ID (variable length character string)
xxxxxxxx
Serial number
xx
Build month (1-12)
xx
Build day (1-13)
xxxx
Build year
xx
Build hour (0-23)
APPENDIX
C
Reference Circuit
C
In this appendix:

Aardvark reference circuit diagram
This appendix provides a brief overview of the
Aardvark module reference circuit diagram.
135
A
B
C
5
DIRECTION_IN
SPEED_IN
100K
100K
R6
2
D2
SMF36ATIG
1
D1
SMF36ATIG
1
R2
1
2
2
R3
20K
R7
20K
C2
1N
C4
1N
VCC33
1
2
D
5
1
2
VCC33
A
NC
GND
Q2
MMBTA42L
4
Y
VDD
5
4
A
NC
GND
Y
VDD
5
4
SN74LVC1G14DCKR
2
1
3
U3
SN74LVC1G14DCKR
2
1
3
U1
4
R5
100K
Q1
MMBTA42L
R1
100K
1
2
C1
100N
C3
100N
VCC33
DIRECTION
DIRECTION
VCC33
SPEED
SPEED
3
3
J1
1
SW1
1
2
RESET
R4
10K
VCC33
2
2
RF_IN
VBACKUP
50 Ohm Line
1
1 36
2
1
2
3
4
5
6
7
8
9
10
11
12
13
14
U2
Date:
Size
B
Title
Aardvark DR+GPS
GND
Reserved
FWD/REV
SPEED
UART TXD
Reserved
Reserved
Reserved
UART RXD
PPS
Reserved
Reserved
Vcc
GND
28
27
26
25
24
23
22
21
20
19
18
17
16
15
VCC33
RXD
PPS
Monday, January 16, 2012
Document Number
<Doc>
1
Sheet
1
of
1
DIRECTION
SPEED
TXD
Aardvark DR+GPS Reference Design
GND
GND
RF IN
GND
Reserved
Vbackup
Reserved
Reserved
Reserved
Reserved
Xreset
Reserved
Reserved
GND
1
Rev
A
A
B
C
D
C
Reference Circuit
Aardvark reference circuit diagram
This circuit diagram shows a reference design for embedding the Aardvark GPS + DR
module in your system. The diagram shows a circuit design that can be used to protect the
speed signal input (speed) and FWD/REV (direction) inputs from noise and power spikes in
the vehicle system. It is not recommended to connect these types of inputs in a vehicle
system directly into the Aardvark module.
NORTH AMERICA
Corporate Headquarters
935 Stewart Drive
Sunnyvale, CA 94085
+1-800-787-4225
+1-408-481-8258
EUROPE
Trimble Navigation Europe
Phone: +46-8-622-12-79
CHINA
Trimble Navigation Ltd, China
Phone: +86-10-8857-7575
KOREA
Trimble Export Ltd, Korea
Phone: +82-2-555-5361
www.trimble.com

Trimble Aardvark Manual

Transcription

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