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U
SER
G
UIDE
R
EFERENCE
M
ANUAL
L
ASSEN
®
DR+GPS
S
TARTER
K
IT
Revision A
Part Number 58059-00
March 2007
Contents
Main
www.trimble.com
Page
Corporate Office
LIMITED WARRANTY TERMS AND CONDITIONS
Product Limited Warranty
Product Software
Software Fixes
Warranty Remedies
How to Obtain Warranty Service
Warranty Exclusions and Disclaimer
Page
T
ABOUT THIS MANUAL ..........................................................................10
CHAPTER 1: LASSEN DR+GPS STARTER KIT....................................... 11
CHAPTER 2: COMMON OPERATIONS .....................................................18
APPENDIX A: NMEA 0183.............................................................. 33
APPENDIX B: HIPPO....................................................................... 44
Page
APPENDIX C: SPECIFICATIONS.................................................. 126
ABOUT THIS MANUAL
Technical Assistance
L
In this chapter:
INTRODUCTION
Starter Kit Contents
Starter Kit Interface Unit
Ordering Starter Kit Components
Table 1: Ordering Products
Q UICK S T ART G
1. 5-Wire Interface Cable
S OFTWARE T
Interface Protocol
NMEA Tools
HIPPO Tools
C OMMON O
NMEA
Enable NMEA Mode
Page
View NMEA Output
Changing NMEA Output and Report Rates
Page
C HANGE THE O UTPUT P
Change from the Default NMEA Output to HIPPO
Page
Page
HIPPO Commands to Change Protocol
HIPPO Commands to Change NMEA to HIPPO:
HIPPO Commands to Change HIPPO to NMEA:
Save the Calibration Settings
U SE NMEA
Page
Page
NMEA
A
INTRODUCTION
T HE NMEA
Table 2: NMEA 0183 Characteristics
NMEA 0183 MESSAGE FORMAT
FIELD DEFINITIONS
Table 3: Field Type Summary
Page
NMEA 0183 MESSAGE OPTIONS
Table 4: NMEA Messages
NMEA 0183 MESSAGE FORMATS
GGA-GPS Fix Data
Table 5: GGA Message
GSA - GPS DOP and Active Satellites
Table 6: GSA Message
GSV - GPS Satellites in View
Table 7: GSV Message
RMC - Recommended Minimum Specific GPS/Transit Data
Table 8: RMC Message
VTG - Track Made Good and Ground Speed
Table 9: VTG Message
E XCEPTION B
HIPPO
B
HIPPO
General Message Structure Rules
Report Message Structure (Module to Host)
Table 10: HIPPO Report Message Structure
Table 11: HIPPO Report Message Structure (Indexed Data)
Command Message Structure (Host to Module)
Table 12: HIPPO Command Message Structure
Table 13: HIPPO Query Message Structure for Indexed Data
Chained Messages
Post-Formatting: HCC Stuffing Before Transmission
Pre-Parsing: HCC Unstuffing After Reception
COMMAND MESSAGES
Set Class
Table 14: Set Class Message Structure
Table 15: Example of GPS Configuration Message Parameter
Query Class
Table 16: Query Class Message Structure
Table 17: Indexed Query Class Message Structure
Table 18: Example of Query for Operating Dimension parameter
System Class
Reset Receiver
Table 19: 0x03: Receiver Reset Command Messages
REPORT CLASS
Report Message Code Assignment
Table 20: Message Codes
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Table 21: Message Codes (continued)
Code Subcode Indexed by Message Q S
Table 22: Message Codes (continued)
System Report Packets
0x10: Acknowledge / Error Response to Command Packets
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Table 23: 0x10: Non-indexed Set and Query Acknowledge
For system commands, the data length is two bytes.
Byte Name Type Value Meaning
Table 24: 0x10: Indexed Set and Query Acknowledge
Byte Name Type Value Meaning
Table 25: 0x10-03: System Command Acknowledge
0x11: Version Report
Table 26: 0x11: Version Report Message
0x12-01: Start-Up Report
Table 27: 0x12-01: Start-Up Report Message
0x12-02: Software Mode Report
Table 28: 0x12-02: Software Mode Report Message
0x12-03: Production Information Report
Table 29: Table 27: 0x12-03: Production Info Report Message
0x12-04: Hardware ID Report
Table 30: 0x12-04: Hardware ID packet
0x14-01: Soft Event Log Report
Table 31: 0x14-01: Soft event log entry report
0x14-02: Fatal Error Log Report
Table 32: 0x14-02: Fatal error log entry report
0x15: Data Stored in Non-erasable Flash Report
Table 33: 0x15: Data Stored in Non-erasable Flash Report
0x16-01: Health Status Report
Table 34: 0x16-01: Health status report
0x16-02: Repeat Start-Up Report with System Time
Table 35: 0x16-02: Repeat Start-Up with System Time Message
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Configuration Report packets
Byte Name Type Value Units Meaning
0x22-02: NMEA Output Control Table 37: 0x22: Format of NMEA Output Control Parameters
0x24: GPS Configuration
Table 38: 0x24: Format of GPS Configuration Message Parameter
Table 39: List of GPS Configuration Message Parameters
0x25: Kalman Filter Configuration
Table 40: 0x25: Format of Kalman Filter Configuration Parameter
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Table 41: List of Kalman Filter Configuration parameters
Subcode Name Type LSB Range Default Meaning
0x26-01: Available Report Codes
Table 42: 0x26-01: Available Report Code Report Message
0x26-02: Available Report Subcodes
Table 43: 0x26-02: Available Report Subcode Report Message
0x26-03, 0x26-04, 0x26-05: DPP Speed Model
Table 44: 0x26-03: DPP Model Message
Table 45: 0x26-04: DPP Minimum Calibration Speed Message
Table 46: 0x26-05: DPP Maximum Calibration Speed Message
0x27: DR Filter Configuration
Table 47: 0x27: Format of DR Filter Configuration Parameter
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Table 48: List of DR Filter Configuration Integer Parameters
Subcode Name Type Units Range Default Meaning
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Table 49: List of DR Filter Configuration Float Parameters
Subcode Name Type Units Range Default Meaning
DR + GPS STARTER KIT REFERENCE MANUAL
(*)
Lassen DR + GPS Reference Manual 78
0x2A, 0x2B, 0x2C; 0x2D: Output Interval Control
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Table 50: Automatic Output Event Trigger Report Message
Byte Name Type Value Meaning
Table 51: Automatic Output Time Interval Trigger Report Message
Byte Name Type Value Units Meaning
Table 52: Automatic Output Distance Traveled Trigger Report
Table 53: Automatic Output Heading Change Trigger Report
Table 54: List of Automatic Output Trigger Defaults
0x2E-01: Soft Event Report Mask
Table 55: 0x2E-01: Event Report Mask Message
0x2F-02: Data Positioning Collection Test Interval Control
Table 56: 0x2F-02: Data Positioning Collection Mode Control
0x2F-04: Gyro Bench Test Interval Control
Table 57: 0x2F-04: Gyro Bench Test Interval Report Message
0x2F-06: Tacho/Reverse Production Test Interval Control
Table 58: 0x2F-06: Tacho/Reverse Production Test Control
0x21-01: DR Engine Rate Control
Table 59: 0x21-01:DR Engine Rate Control
Data Report Packets
0x30-02: Fast Fix with Raw DR Data Message
Table 60: 0x30-02: Fast Fix with Raw DR Data Message
Table 61: Fast Fix Data Sources
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0x31-01: GPS Fix Message Table 62: 0x31-01: GPS Fix Message
Byte Name Type Units / LSB Range /
Value Meaning
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Byte Name Type Units Range / Value Meaning
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0x32-02: Constellation Summary Message Table 64: 0x32-02: Constellation Summary
Byte Name Type Units Range / Value Meaning
0x32-03: UTC Time Message Table 65: 0x32-03: UTC Time Message
0x33-01: GPS Channel Measurement Short Status
Table 66: 0x33-01: GPS Channel Measurement Short Status
0x36: DR Calibration Messages
Table 67: 0x36-03: ZRO Calibration Message
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Table 68: 0x36-04: Gyro Linearity Calibration Message
Byte Name Type Units / LSB Range /
Value Meaning
Table 69: 0x36-05: Direction Switch Calibration Message
Byte Name Type Units / LSB Range / Value Meaning
Table 70: 0x36-07: DPP Calibration Message
Table 71: 0x36-08: ZRO Rate Calibration Message
0x3F-01: ADC and Gyro Self-test Data
Table 72: 0x3F-01: ADC and Gyro Self-Test Report Message
0x3F-03: Data Positioning Collection Test Data (ROM 15 and after)
Table 73: 0x3F-03:Data Positioning Collection Test Data
0x3F-04: Gyro Bench Test Data
Table 74: 0x3F-04: Gyro Bench Test Report Message
0x3F-06: Tacho/Reverse Production Test Data
Table 75: 0x3F-06: Tacho/Reverse Production Test Report
0x30-03: Buffered Cumulative DR message
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Table 76: 0x30-03: Buffered Cumulative DR Message
Byte Name Type Units / LSB Range / Value Meaning
Initialization Information
0x28-12: Almanac Initialization
Table 77: 0x28-12: Almanac Fixed Point Report Message
0x28-13: Almanac Health Initialization
Table 78: 0x28-13: Compressed Almanac Health Report Message
0x28-14: GPS Ionospheric Model and UTC Parameters Initialization
Table 79: 0x28-14: GPS Ionospheric Fixed Point Model Report
0x28-16: Ephemeris Initialization
Table 80: 0x28-16: GPS Ephemeris Fixed Point Model Report
0x29-01: Time Initialization
Table 81: 0x29-01: Time Initialization Report Message
0x29-02: Latitude / Longitude Initialization
Table 82: 0x29-02: Latitude / Longitude Initialization Report
0x29-03: Altitude Initialization
Table 83: 0x29-03: Altitude Initialization Report Message
0x29-04: Local Oscillator (LO) Frequency Offset Initialization
Table 84: 0x29-04: Local Oscillator (LO) Frequency Offset Initialization Report Message
0x29-05: Heading Initialization
Table 85: 0x29-05: Heading Initialization Report Message
Real-Time Input Data
0x29-07: Short Map-Match Data
Table 86: 0x29-07: Map-Match Report Message
0x29-08: Tacho Data
Table 87: 0x29-08: Tacho Report Message
E VENT L OG Q
2. Flow of Execution
Fatal Errors
Table 88: Fatal Error Code
Table 89: Format of fatal error log entry
Table 90: Block Format for Status Code 10xx
Table 91: Block Format for Status Code 12xx
Table 92: Block Format for Status Code 2xxx
Soft Events
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Table 93: Soft Event Identity Code
Soft event/Event Descriptions S/C
Table 94: Soft Event Condition Code
Table 95: Format of Soft Event Log Entry
Event Messages
Invalid BBRAM detected on startup.
Position recovery, solution snapped to GPS.
Heading recovery, solution snapped to GPS.
DPP recovery, solution snapped to GPS.
GPS receiver fixes not reasonable; try to recover.
Gyro readings do not stay within specification
No Tacho data when GPS is detecting movement
Excessive tacho data is received for a long period of time
Reverse signal opposite to direction determined by GPS.
Large jump at power-up
Oscillator values are not within specification.
Antenna open detected.
Antenna short detected.
Failure to connect to GPS DSP.
RTC disagreed with GPS time
Gyro Failure.
ADC Failure.
Gyro Shorted to 3.3 V.
C
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Table 96: Power Supply for Internal DR Module
Characteristic Conditions Min. Typical Max. Unit
NOTE All specifications are over the entire temperature range, -40C to +85C
Table 97: Power Supply for DR+GPS Starter Kit Unit
Data I/O
Table 100: Data I/O
Table 101: PPS
Table 102: PPS Characteristics
Table 103: Gyro
Table 104: 3 Volt Gyros
Page
Table 105: 5 Volt Gyros
GPS Antenna
2. Reference Board Diagram (5V Gyro)
3. Reference Board Diagram (3V Gyro)
Table 106: Table 115: DR Module Pin Assignments