REFERENCE MANUAL - FTP Directory Listing - Trimble

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Table of Contents Command Packet 0x26 - Request Health . . . . . . . . . . . . . . . . . . . . . . . 134 Command Packet 0x27 - Request Signal Levels. . . . . . . . . . . . . . . . . . . . 134 Command Packet 0x2B - Initial Position (Latitude, Longitude, Altitude). . . . . . . 134 Command Packet 0x2D - Request Oscillator Offset. . . . . . . . . . . . . . . . . . 135 Command Packet 0x2E - Set GPS Time . . . . . . . . . . . . . . . . . . . . . . . . 135 Command Packet 0x31 - Accurate Initial Position (XYZ ECEF) . . . . . . . . . . . 135 Command Packet 0x32 - Accurate Initial Position, (Latitude, Longitude, Altitude) . . . . . . . . . . . . . . . . . . . . . . . . . . . 136 Command Packet 0x35 - Set Request I/O Options . . . . . . . . . . . . . . . . . . 136 Command Packet 0x37 - Request Status and Values of Last Position and Velocity. . 139 Command Packet 0x38 - Request/Load Satellite System Data . . . . . . . . . . . . 139 Command Packet 0x3A - Request Last Raw Measurement . . . . . . . . . . . . . . 140 Command Packet 0x3C - Request Current Satellite Tracking Status . . . . . . . . . 140 Report Packet 0x41 - GPS Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140 Report Packet 0x42 - Single-Precision Position Fix, XYZ ECEF . . . . . . . . . . . 141 Report Packet 0x43 - Velocity Fix, XYZ ECEF . . . . . . . . . . . . . . . . . . . . 142 Report Packet 0x45 - Software Version Information . . . . . . . . . . . . . . . . . 142 Report Packet 0x46 - Health of Receiver . . . . . . . . . . . . . . . . . . . . . . . 143 Report Packet 0x47 - Signal Levels for all Satellites . . . . . . . . . . . . . . . . . 144 Report Packet 0x4A - Single Precision LLA Position Fix. . . . . . . . . . . . . . . 145 Report Packet 0x4B - Machine/Code ID and Additional Status . . . . . . . . . . . . 146 Report Packet 0x4D - Oscillator Offset . . . . . . . . . . . . . . . . . . . . . . . . 146 Report Packet 0x4E - Response to Set GPS Time . . . . . . . . . . . . . . . . . . . 147 Report Packet 0x55 - I/O Options . . . . . . . . . . . . . . . . . . . . . . . . . . . 147 Report Packet 0x56 - Velocity Fix, East-North-Up (ENU) . . . . . . . . . . . . . . 148 Report Packet 0x57 - Information About Last Computed Fix . . . . . . . . . . . . . 149 Report Packet 0x58 - Satellite System Data/Acknowledge from Receiver . . . . . . 149 Report Packet 0x5A - Raw Measurement Data . . . . . . . . . . . . . . . . . . . . 152 Report Packet 0x5F . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153 Report Packet 0x5C - Satellite Tracking Status . . . . . . . . . . . . . . . . . . . . 153 Report Packet 0x6D - All-In-View Satellite Selection. . . . . . . . . . . . . . . . . 154 Command Packet 0x7A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154 Report Packet 0x7B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155 Command Packet 0x7E - TAIP Message Output . . . . . . . . . . . . . . . . . . . 155 Command Packet 0x82 - SBAS Correction Status . . . . . . . . . . . . . . . . . . . . . . 157 Report Packet 0x83 - Double-Precision XYZ Position Fix and Bias Information. . . 158 Report Packet 0x84 - Double-Precision LLA Position Fix and Bias Information. . . 158 Packets 0x8E and 0x8F - Superpacket . . . . . . . . . . . . . . . . . . . . . . . . . 159 Command Packet 0xBB - Navigation Configuration . . . . . . . . . . . . . . . . . 159 Command Packet 0xBC - Protocol Configuration . . . . . . . . . . . . . . . . . . . 159 Command Packet 0xC0 - Graceful Shutdown and Go To Standby Mode . . . . . . . 160 Command Packet 0xC1 - Set Bit Mask for GPIOs in Standby Mode . . . . . . . . . 162 Command Packet 0xC2 - SBAS SV Mask. . . . . . . . . . . . . . . . . . . . . . . 164 TSIP Superpackets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165 Command Packet 8E-15 - Set/Request Datum. . . . . . . . . . . . . . . . . . . . . 165 Command Packet 0x8E-17 - Request Last Position or Auto-Report Position in UTM Single Precision Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166 Copernicus GPS Receiver 5
Table of Contents Command Packet 8E-18 - Request Last Position or Auto Report Position in UTM Double Precision Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166 Command Packet 0x8E-20 - Request Last Fix with Extra Information . . . . . . . . 167 Command Packet 0x8E-26 - Non-Volatile Memory Storage . . . . . . . . . . . . . 167 Command Packet 0x8E-2A - Request Fix and Channel Tracking Info, Type 1 . . . . 167 Command Packet 0x8E-2B - Request Fix and Channel Tracking Info, Type 2 . . . . 168 Command Packet 8E-4A - Set/Request Lassen iQ GPS Cable Delay and PPS Polarity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168 Command Packet 0x8E-4F - Set PPS Width. . . . . . . . . . . . . . . . . . . . . . 168 Report Packet 0x8F-15 - Current Datum Values. . . . . . . . . . . . . . . . . . . . 169 Report Packet 8F-17 - UTM Single Precision Output . . . . . . . . . . . . . . . . . 170 Report Packet 8F-18 - UTM Double Precision Output . . . . . . . . . . . . . . . . 171 Report Packet 0x8F-20 - Last Fix with Extra Information (binary fixed point) . . . . 172 Report Packet 0x8F-26 - Non-Volatile Memory Status . . . . . . . . . . . . . . . . 174 Report Packet 0x8F-2A - Fix and Channel Tracking Info, Type 1 . . . . . . . . . . 174 Report Packet 0x8F-2B - Fix and Channel Tracking Info, Type 2. . . . . . . . . . . 176 Report Packet 0x8F-4F - Set PPS Width. . . . . . . . . . . . . . . . . . . . . . . . 178 Datums . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179 B TRIMBLE ASCII INTERFACE PROTOCOL (TAIP) . . . . . . . . . . . . . 185 Protocol Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186 Message Format. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187 Start of a New Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187 Message Qualifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187 Message Identifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188 Data String . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188 Vehicle ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188 Checksum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188 Message Delimiter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188 Sample PV Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .189 Time and Distance Reporting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190 Latitude and Longitude Conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191 Message Data Strings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192 AL Altitude/Up Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .193 CP Compact Position Solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194 ID Identification Number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195 IP Initial Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196 LN Long Navigation Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197 PR Protocol. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198 PT Port Characteristic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199 PV Position/Velocity Solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200 RM Reporting Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .201 RT Reset Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202 ST Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203 TM Time/Date . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205 VR Version Number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .206 6 Copernicus GPS Receiver
Page 1 and 2: REFERENCE MANUAL Copernicus GPS Re
Page 3 and 4: Corporate Office Trimble Navigation
Page 6 and 7: Table of Contents Table of Contents
Page 8 and 9: Table of Contents 7 MECHANICAL SPEC
Page 12 and 13: Table of Contents X1 Extended Statu
Page 14 and 15: CHAPTER 1 STARTER KIT 1 In this cha
Page 16 and 17: STARTER KIT 1 Starter Kit The Coper
Page 18 and 19: STARTER KIT 1 Figure 1.3 USB Cable
Page 20 and 21: STARTER KIT 1 Interface Connections
Page 22 and 23: STARTER KIT 1 Removing the Referenc
Page 24 and 25: STARTER KIT 1 Quick Start Guide 1.
Page 26 and 27: STARTER KIT 1 Trimble GPS Monitor T
Page 28 and 29: STARTER KIT 1 4. Click the Device M
Page 30 and 31: STARTER KIT 1 Connect to the GPS Re
Page 32 and 33: STARTER KIT 1 Configure GPS Ports 1
Page 34 and 35: STARTER KIT 1 Configure PPS Output
Page 36 and 37: STARTER KIT 1 Creating a Log Follow
Page 38 and 39: STARTER KIT 1 3. Select one of the
Page 40 and 41: CHAPTER 2 PRODUCT DESCRIPTION 2 In
Page 42 and 43: PRODUCT DESCRIPTION 2 Block Diagram
Page 44 and 45: PRODUCT DESCRIPTION 2 Electrical El
Page 46 and 47: PRODUCT DESCRIPTION 2 Absolute Mini
Page 48 and 49: PRODUCT DESCRIPTION 2 Power Consump
Page 50 and 51: CHAPTER 3 INTERFACE CHARACTERISTICS
Page 52 and 53: INTERFACE CHARACTERISTICS 3 Pin Des
Page 54 and 55: INTERFACE CHARACTERISTICS 3 Table 3
Page 56 and 57: INTERFACE CHARACTERISTICS 3 Serial
Page 58 and 59: INTERFACE CHARACTERISTICS 3 Acquiri
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INTERFACE CHARACTERISTICS 3 Enablin
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CHAPTER 4 OPERATING MODES 4 In this
Page 64 and 65:
OPERATING MODES 4 Changing the Run/
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OPERATING MODES 4 Serial Port Activ
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OPERATING MODES 4 Saving Almanac, E
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CHAPTER 5 APPLICATION CIRCUITS 5 In
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APPLICATION CIRCUITS 5 Figure 5.2 P
Page 74 and 75:
APPLICATION CIRCUITS 5 • Antenna
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APPLICATION CIRCUITS 5 Following is
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CHAPTER 6 RF LAYOUT CONSIDERATIONS
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RF LAYOUT CONSIDERATIONS 6 In the p
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RF LAYOUT CONSIDERATIONS 6 PCB Cons
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RF LAYOUT CONSIDERATIONS 6 Striplin
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CHAPTER 7 MECHANICAL SPECIFICATIONS
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MECHANICAL SPECIFICATIONS 7 Solderi
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MECHANICAL SPECIFICATIONS 7 Paste M
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CHAPTER 8 PACKAGING 8 In this chapt
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PACKAGING 8 Reel The 13-inch reel t
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CHAPTER 9 SHIPPING and HANDLING 9 I
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SHIPPING and HANDLING 9 Moisture Pr
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SHIPPING and HANDLING 9 Recommended
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SHIPPING and HANDLING 9 Grounding t
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CHAPTER 10 COPERNICUS REFERENCE BOA
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COPERNICUS REFERENCE BOARD 10 IMAGE
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COPERNICUS REFERENCE BOARD 10 Refer
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CHAPTER 11 FIRMWARE UPGRADE 11 In t
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FIRMWARE UPGRADE 11 Firmware Binary
Page 118 and 119:
FIRMWARE UPGRADE 11 Pseudo-Code Exp
Page 120 and 121:
FIRMWARE UPGRADE 11 Error Recovery
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FIRMWARE UPGRADE 11 Packet ID - 0x8
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FIRMWARE UPGRADE 11 Packet ID - 0x8
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FIRMWARE UPGRADE 11 Loading Firmwar
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APPENDIX A TRIMBLE STANDARD INTERFA
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TRIMBLE STANDARD INTERFACE PROTOCOL
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APPENDIX B TRIMBLE ASCII INTERFACE
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TRIMBLE ASCII INTERFACE PROTOCOL (T
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APPENDIX C NMEA 0183 C In this appe
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NMEA 0183 C The NMEA 0183 Communica
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NMEA 0183 C Note - Spaces are only
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NMEA 0183 C General NMEA Parser Req
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NMEA 0183 C Table C.4 Copernicus GP
Page 230 and 231:
NMEA 0183 C GLL - Geographic Positi
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NMEA 0183 C RMC - Recommended Minim
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NMEA 0183 C AH - Almanac Health Thi
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NMEA 0183 C AS - Almanac Status Thi
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NMEA 0183 C EP - Ephemeris This sen
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NMEA 0183 C IO Ionosphere This sent
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NMEA 0183 C PS - PPS Configuration
Page 244 and 245:
NMEA 0183 C RT - Reset This sentenc
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NMEA 0183 C Table C.29 SG - Set Bit
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NMEA 0183 C TF - Receiver Status an
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NMEA 0183 C VR - Version This sente
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REFERENCE MANUAL - FTP Directory Listing - Trimble

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