MSI-P602 Trimble Lassen iQ GPS & Digital I/O Card Revision 2 User Manual PC/104 Embedded Industrial Analog I/O Series Microcomputer Systems, Inc. 1814 Ryder Drive ¨ Baton Rouge, LA 70808 Ph (225) 769-2154 ¨ Fax (225) 769-2155 Email: staff@microcomputersystems.com http://www.microcomputersystems.
CONTENTS I. INTRODUCTION 4 II.HARDWARE DESCRIPTION 6 A. Card Configuration B. Card Addressing 6 C. Interrupt Connections D. Digital I/O Registers and Connections 8 10 E. 3.0V Battery 11 III. GPS SOFTWARE COMMANDS 7 12 A. Trimble Standard Interface Protocol (TSIP) 12 B. Trimble ASCII Interface Protocol (TAIP) C. NMEA 0183 13 14 IV. SAMPLE BASIC LANGUAGE TEST PROGRAM 15 V.
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I. INTRODUCTION The MSI-P602 is a low cost, high performance global positioning system which uses the Trimble Lassen iQ module. It provides 12-channel GPS functionality that is fully compatible with Trimble’s popular Lassen SQ module using Trimble’s FirstGPS® architecture which delivers complete position, velocity and time (PVT) solutions for the host application. It features two GPS signal sensitivity modes: Standard and Enhanced.
NMEA output at a default BAUD rate of 4800. Software selectable NMEA protocols using the secondary serial port are GGA (default), GLL, GSA, GSV, RMC, VTG (default) and ZDA. Baud rates are selectable from 2400 to 38,400. The DGPS protocol is RTCM SC-104. The serial ports are standard IBM PC compatible UARTs. The primary port is jumper selectable for COM1 or COM3 with an optional 16-bit offset address. Similarly, the secondary port is selectable at COM2 or COM4 with an optional 16-bit offset address.
II. HARDWARE DESCRIPTION A. Card Configuration The MSI-P602 card is a CMOS design using through-hole and surface-mounted devices. The card configuration is shown in Figure 2 and a circuit diagram of the network is given in Appendix B. The card contains two UARTS (U4 and U5) that commnucate with the GPS module. Connector J1 provides for the digital I/O connections. Jumper block JP1 for interrupt configuration (Pins 1 thru 12) and JP2 is used for address selection (Pins 1 thru 14), as described below.
B. Card Addressing The card address is set by installing appropriate jumper pairs on JP2, pins 1 thru 13, as shown in Fig. 3. An installed jumper for a given address bit sets the bit to 1 (true) and an uninstalled jumper sets the bit equal to 0 (false). Addresses A15 thru A10 (JP2-1 thru 11) are jumper selectable for defining the base address of the card from 0000H to FC00H on integral 10H boundaries, where H denotes a hexadecimal number. Examples are as follow: Example 1. Set a base address of 0000H.
do not install JP2-13 so that COM3 and COM4 are selected for the primary and secondary serial ports. If your CPU contains COM1 thru COM4 ports and you are only using COM1 and COM2, then disable COM3 and COM4 of the CPU card. If this is not permissible, then you will have to select a base address other than 0 by using jumpers for JP2-1 thru JP2-11. UART addresses in this case are given in Table 1. Table 1. Card UART Addresses for JP2-13 Selection.
4) JP1-12 is connected to the interrupt request signal of the secondary UART (TAIP/NMEA protocol). This can jumpered to a desired interrupt, IRQ4 thru IRQ9, of JP1. The signal is a tristate gate which permits connecting multiple sources to the same IRQx interrupt.
D. Digital I/O Registers and Connections. Four digital TTL inputs and four digital TTL outputs are provided by the modem status and modem control registers of UARTs U4 and U5. These I/O are connected to the card via J1 using a 16-pin flat cable connector. Register designations and connector J1 pin assignments are given in Table 2. The inputs and outputs on connector J1 are the inverted values of those read or written in the modem status and control registers.
E. 3.0V Battery A socketed 3.0V battery is included for enhancing GPS data acquisition time by maintaining memory during no power periods. The battery is enabled to the module when jumper JP4 is in the ON position. The unit is shipped with this jumper in the OFF position to conserve battery power.
III. GPS SOFTWARE COMMANDS A. Trimble Standard Interface Protocol (TSIP) The Trimble Standard Interface Protocol (TSIP) provides the system designer with over 20 commands that may be used to configure a GPS receiver for optimum performance in a variety of applications. TSIP enables the system designer to customize the configuration of a GPS module to meet the requirements of a specific application. Appendix A, beginning on page 85 of the Lassen iQ_Reference Manual_Rev b.
B. Trimble ASCII Interface Protocol (TAIP) C Trimble ASCII Interface Protocol (TAIP) is a Trimble-specified digital communication interface based on printable ASCII characters over a serial data link. TAIP was designed specifically for vehicle tracking applications but has become common in a number of other applications because of its ease of use. TAIP supports both scheduled and polled responses. Appendix C, beginning on page 167 of the Lassen iQ_Reference Manual_Rev b.
C. NMEA 0183 E Appendix E, beginning on page 209 of the Lassen iQ_Reference Manual_Rev b.pdf (included on the CDROM of this manual), provides a brief overview of the NMEA 0183 protocol, and describes both the standard and optional messages offered by the Lassen iQ GPS receiver. 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.
IV. SAMPLE BASIC LANGUAGE TEST PROGRAM The BASIC language program below illustrates software sequences for TSIP and NMEA protocols that are displayed on a video monitor. Also provided are simple routines for inputting the /IN1 thru / IN4 digital inputs and writing to the /OUT1_BUFFERED output. The program can be run under DOS using a BASIC interpreter such as QBASIC by Microsoft Corporation. An interpreter can be provided at no charge upon request.
GOSUB setDOutput GOTO begin CASE “4” ‘set /OUT1_BUFFERED = 1 z=1 GOSUB setDOutput GOTO begin CASE “5” ‘display digital inputs GOSUB getDInputs GOTO begin CASE “6” primary = COM1: secondary = COM2 GOSUB init ‘Initialize UARTs for new address. CLS PRINT “”: PRINT “Intall jumper JP1-13,14.” PRINT “Primary = COM1 and Secondary = COM2.” PRINT “”: PRINT “Strike any key to continue.” WHILE INKEY$ = “”: WEND GOTO begin CASE “7” primary = COM3: secondary = COM4 GOSUB init ‘Initialize UARTs for new address.
pchar = &H10: GOSUB sendpchar ‘send pchar = &H3: GOSUB sendpchar ‘send GOTO begin CASE “11” END CASE ELSE GOTO begin END SELECT start: CLS repeat: C$ = INKEY$ IF C$ <> “” THEN GOTO begin ‘goto begin on keyboard entry IF NMEA = 1 THEN GOSUB getsecondarychar ELSE GOSUB getprimarychar GOTO repeat init: ‘init MSI-P602 port of U4 cr$ = CHR$(13) OUT primary + 3, &H80 OUT primary, BAUD OUT primary + 1, 0 OUT primary + 3, 11’3 x = INP(primary) ‘dummy read x = INP(primary) ‘dummy read ‘init MSI-P602 port
getsecondarychar: IF (INP(secondary + 5) AND 1) = 1 THEN z = INP(secondary) IF NMEA = 1 THEN PRINT CHR$(z); ELSE PRINT CHR$(&H30 + z / 16); PRINT CHR$(&H30 OR (z AND 15)); END IF END IF RETURN setDOutput: ‘set OUT1_BUFFERED (J1) &h55 or &haa IF z = 1 THEN ‘set OUT1_BUFFERED (J1-1,3) = 0,1 z = INP(primary + 4) ‘get MODEM control register contents z = z OR 4 ‘set corresponding OUT1 bit in z z = z AND (NOT 8) OUT primary + 4, z ‘output to Modem control register z = INP(secondary + 4) ‘get MODEM control registe
V. SPECIFICATIONS PC/104 16-bit, stackthrough GPS Receiver Frequency L1, 1575.42 MHz C/A Code Channels 12, continuous tracking GPS Accuracy Horizontal < 5 meters (50%), < 8 meters (90%) Altitude < 10 meters (50%), < 16 meters (90%) Velocity 0.
GPS Antenna Active with 5m (16.5 ft) cable Model Compact Magnetic Mount Digital I/O Port 4 Input TTL level (Inverted) 4 Output TTL level (Inverted) Serial Ports Primary TSIP bi-directional (jumper selectable as COM1, COM3 or offset) Secondary NMEA 0183 Output RTCM SC-104 V2.1 Input (jumper selectable as COM2, COM4 or offset) Interrupts Sources 1 PPS, primary and secondary UARTs using tristate drivers IRQs IRQ3 thru IRQ7 and IRQ9 1KOhm Pulldowns 3 wire-wrap selectable Option Jumpers .
APPENDIX Schematic Diagrams of the MSI-P602 1) P602-1.sch - Schematic sheet 1 of 2. See p602r2-1.pdf 2) P602-2.sch - Schematic sheet 2 of 2. See p602r2-2.
