Trimble BD910 GNSS Receiver Module User Guide

1 2006 2013, , +,EVEREST,Maxwell, ,InternetExplorer,Windows, ( BD910 /BD920/BD930/BD970/BD982/BX982).Re leaseNoticeThisistheDecember2013release( RevisionA) , ,GETSERIAL19 Response07h,RETSERIAL19 Command4Ah,GETOPT21 Response4Bh,RETOPT22 Position,measurements,andsatelliteinform ationpackets25 Command54h,GETSVDATA25 Response55h,RETSVDATA(Satelliteinformati onreports)28 Command56h,GETRAW(Positionorreal-timesur veydatarequest)46 Response57h,RAWDATA(Positionorreal-times urveydatareport)48 Applicationfilepackets63 Packetpaging63 Command64h,APPFILE(Applicationfilerecord )65 Command65h,GETAPPFILE(Applicationfilereq uest)92 Response64h,APPFILE(Applicationfilerecor dreport)93 Command66h,GETAFDIR(Applicationfiledirec torylisting)94 TrimbleOEMBD9xxGNSSR eceiverFamilyInterfaceControlDocument3 ContentsResponse67h,RETAFDIR(Directoryli stingreport)95 Command68h,DELAPPFILE(Deleteapplicationf iledata)97 Command6Dh,ACTAPPFILE(Activateapplicatio nfile)

2 98 Displayscreenandsoftwareinterfacepackets 99 Command81h,KEYSIM(Keysimulator)99 Command82h,SCRDUMP(Screendumprequest)101 Response82h,SCRDUMP(Screendump)102 Miscellaneousreceivercontrolpackets103 Command/responseAEh,Ethernetconfiguratio n103 Command6Fh,BREAKREQ107 Response6Eh,BREAKRET(Breaksequencereturn )108 Command58h,RESETRCVR(ResetReceiver) , RS-232 SerialInterfaceSpecificationRS-232serial interfacespecificationTheRS-232serialint erfacespecificationenablesaremotecomputi ngdevicetocommunicatewithaBD9xxreceivero veranRS-232connection, , ,refertothe OutputMessages , ,seeResponse64h,APPFILE(Applicationfiler ecordreport), :2400,4800,9600,19200,38400, , , ,withOdd,Even,orNoparity, ,8databits,noparity, (Electrically-ErasableRead-OnlyMemory) RS-232 SerialInterfaceSpecificationTestingtheco mmunicationslinkTodeterminewhethertherec eivercanacceptRS-232commands,theprotocol requestENQ(05h) (06h)orNAK(15h).

3 ENQ/ACK/NAKcorrespondto Areyouready? , Iamready ,and Iamnotready . , ,theexternaldevicecansendnumerous\0chara cters(250) DataCollectorFormatPacketsDatacollectorf ormatpacketsCommandpacketsaresentfromthe remotedevicetotheBD9xxreceiverwhenreques tingdata,sendingcommands, (06h)orNAK(15h) , , , ,first-out(FIFO) ,followedbythebytesofdatainthepacket, (00h) DataCollectorFormatPacketsPacketstructur eEverycommandandreportpacket,regardlesso fitssourceandexceptforprotocolsequences, #MessageDescriptionBeginpacketheader0 STX(02h)Starttransmission1 STATUSR eceiverstatuscode2 PACKETTYPEH exadecimalcodeassignedtothepacket3 LENGTHS inglebyte#ofdatabytes,limitsdatato255byt esBeginpacketdata4tolengthDATABYTESD atabytesBeginpackettrailerLength+4 CHECKSUMS umbytes(status+ type+length+databytes)andmodulo256thesum mationLength+5 ETX(03h)EndtransmissionReceiverstatusbyt eThestatusbytecontainsindicatorsregardin gthereceiver , ,lowbatteryatthebasestationBit2 ReservedBit3 Ifset, Receiver 'skinematicstateiscurrentl ysetto'Roving',otherwise'static'Bit4 7 ReservedTrimbleOEMBD9xxGNSSR eceiverFamilyInterfaceControlDocument113 DataCollectorFormatPacketsDatacollectorf ormatpacketfunctionsThefunctionsofdataco llectorformatcommandandreportpacketscanb edividedintothefollowingcategories:lInfo rmationrequests(commandpackets)andreplie s(reportpackets)lControlfunctions(comman dpackets)andRS-232acknowledgments(ACKorN AK)lApplicationfilemanagementRequestsfor information,suchastheCommandPacket4Ah(GE TOPT), (ReportPacket4Bh,RETOPT) (15h)ifoneofthefollowingconditionsexists :lTherequestisnotsupported(invalid)bythe Receiver (forexample,arequiredoptionmayno tbeinstalledonthereceiver).

4 (Intelformat).Tosupplyorinterpretbinaryn umbers(8-byteDOUBLES,4-byteLONGS,and2-by teINTEGERS), (CHAR,SHORT,andLONG) #ofbitsRangeofvalues(Signed)(Unsigned)Ty pe#ofbitsRangeofvalues(Signed)(Unsigned) CHAR8 128to1270to255 SHORT16 32768to327670to65535 LONG32 2147483648to21474836470to4294967295 TrimbleOEMBD9xxGNSSR eceiverFamilyInterfaceControlDocument144 ,anexponentfield, :Floating-PointNumber=<sign>1.<fractionfield>x2(<exponentfield>-bias) , , (binary)=2-2+2-3= + ;thatis,aconstantbiasissubtractedfromthe numberintheexponentfieldtoyieldtheactual exponent.(Thebiasmakesnegativeexponentsp ossible.)Ifboththeexponentfieldandthefra ctionfieldarezero, (NotaNumber) , ,thenext8mostsignificantbitsaretheexpone ntfield, 10 ,thenext11mostsignificantbitsaretheexpon entfield, :nCommandpacketandreportpacketsummarynRe ceiverandantennainformationpacketsnPosit ion,measurements, ,GETSERIAL page19 Response07h,RETSERIAL page19 Command4Ah,GETOPT page21 Response4Bh,RETOPT page22 Position,measurements,andsatelliteinform ationpacketsCommand54hGETSVDATA page25 Response55h,RETSVDATA(SatelliteInformati onReports)page28 Command56h,GETRAW(Positionorreal-timesur veydatarequest)page46 Response57h,RAWDATA(Positionorreal-times urveydatareport)page48 ApplicationfilepacketsCommand64h,APPFILE (Applicationfilerecord)page65 Command65h,GETAPPFILE(Applicationfilereq uest)page92 Command66h,GETAFDIR(Applicationfiledirec torylisting)page94 Response67h,RETAFDIR(Directorylistingrep ort)page95 Command68h,DELAPPFILE(Deleteapplicationf iledata)page97 Command6Dh,ACTAPPFILE(Activateapplicatio nfile)page98 Displayscreenandsoftwareinterfacepackets Command81h,KEYSIM(Keysimulator)

5 Page99 Command82h,SCRDUMP(Screendumprequest)pag e101 Response82h,SCRDUMP(Screendump)page102 MiscellaneousreceivercontrolpacketsComma nd/ResponseAEh,Ethernetconfigurationpage 103 Command6Fh,BREAKREQ page107 Response6Eh,BREAKRET(Breaksequencereturn )page108 Command58h,RESETRCVR(ResetReceiver)page1 12 TrimbleOEMBD9xxGNSSR eceiverFamilyInterfaceControlDocument18 ReceiverandantennainformationpacketsComm and06h, (Char)02hStarttransmission1 STATUS1(Char)SeeReceiverstatusbyte,page1 1 Receiverstatuscode2 PACKETTYPE1(Char)06hCommandPacket06h3 LENGTH1(Char)00hDatabytecount4 CHECKSUM1(Char)SeePacketstructure,page11 Checksumvalue5 ETX1(Char)03hEndtransmissionResponse07h, ,antennatype,softwareprocessorversions, (Char) (Char) , (Char)07h3 LENGTH1(Char)??hBytesofdataafterthisbyte (excludingchecksumandETX).4 11 RECEIVERSERIAL#8(Chars) OnnewerreceiverssuchastheBD920,thisfield givesthelowest(leastsignificant) 19 RECEIVERTYPE8(Chars)"BD9xx" 24 NAVPROCESSVERSION5(Chars) 29 SIGPROCESSVERSION5(Chars)30 34 BOOTROMVERSION5(Chars)TrimbleOEMBD9xxGNS SR eceiverFamilyInterfaceControlDocument19 ByteItemTypeValueMeaning35 42 ANTENNASERIAL#8(Chars)43 44 ANTENNATYPE2(Chars) E isunknownexternal; KS isZephyrmodel; GS 46#CHANNELS2(Chars)TotalnumberofGPSrecei vechannels, 48#CHANNELSL12(Chars) (Chars) (Chars)NotApplicable90-120 BASELONGANTSERIAL31(Chars)NotApplicable1 21-151 BASENGSANTDESCRIPTOR31(Chars)NotApplicab le152-153#USABLECHANNELS2(Bytes) #PHYSICALCHANNELS2(Bytes) #SIMULTANEOUSCHANNELS1(Byte) (Chars) (Char)?

6 ? , (Char) , (leastsignificant)8charactersoftheserial number, , ,RETOPT, (Char)02hStarttransmission1 STATUS1(Char)SeeReceiverstatusbyte,page1 1 Receiverstatuscode2 PACKETTYPE1(Char)4 AhCommandPacketType3 LENGTH1(Char)01hBytesofdataafterthisbyte (excludingCHECKSUMandETX).4 OPTIONSPAGE1(byte)01hSelectstherequiredo ptionsinformationpage5 CHECKSUM1(Char)SeePacketstructure,page11 Checksumvalue6 ETX1(Char)03hEndtransmissionTrimbleOEMBD 9xxGNSSR eceiverFamilyInterfaceControlDocument21 Response4Bh, (ReceiverStatus/ReceiverOptions). ,GETOPT, (Char) (Char) , (Char) (Char)22h(34hor??h)Bytesofdataafterthisb yte(excludingchecksumandETX).4 PAGENUMBER1(byte)5 BhElevationMask/Page91=page1(page0,1,or2 )-----Ifpage=1(page0,1,and2available)--- --5 NumberofPagesSupported1(byte)6 7 RESERVED2(short)8 9 RESERVED2(short)10 11 RESERVED2(short)12 15 OPTIONBLOCKBITS0 31(LSBisbit0)4(int)OPTIONBLOCKBITS0 ,todetermineiftheGLONASS optionisinstalledinreceiver,checkifbit#3 2isenabled(1).

7 GLONASS enablebit(databyte16countingfrom1pagenum ber)andleastsignificantbit(0) 19 OPTIONBLOCKBITS32 63(LSBisbit32)4(int)20 23 OPTIONBLOCKBITS64 95(LSBisbit64)4(int)24 25 RESERVED2(short)26 28 RESERVED3(bytes)29 31 RESERVED3(bytes)32 RESERVED1(byte)33 RESERVED1(byte)34 RESERVED1(byte)35 RESERVED1(byte)TrimbleOEMBD9xxGNSSR eceiverFamilyInterfaceControlDocument22 ByteItemTypeValueMeaning36 37 RESERVED2(short)38 CHECKSUM1(Char)?? , (Char) ,Optionblockbitsaredefinedasfollows:bit= 1(enabled),bit=0(disabled)bit0:CMRinputs bit1:CMRoutputsbit2:RTCM inputsbit3:RTCM outputsbit4:N/Abit5:N/Abit6:N/Abit7:Bina ryoutputs(RT17)bit8:Movingbasebit9:10 Hzmeasurementsbit10:20 Hzmeasurementsbit11:N/Abit12:N/Abit13:N/ Abit14:Eventmarkersbit15:N/Abit16:ForceR TKfloatpositionbit17:N/Abit18:N/Abit19:D isableL2outputsbit20:N/Abit21:L2 CSsupportbit22 25:N/Abit26:DisableNMEA outputsbit27:DisableVRSbit28:RTCMDGPS onlybit29:GPSL5signalprocessingavailable bit30:SupportOmniSTARandXP/HPconnectionb it31:DisablestheuseofEverestmultipathmit igationbit32:GLONASS enabledTrimbleOEMBD9xxGNSSR eceiverFamilyInterfaceControlDocument23b it33:EnableWebUIsupportbits34 46:N/Abit37:Headingmodeonlybit40:Forcefl oatpositionwithstaticCMRbit41:Onlyoutput scrambledCMRcorrectionsbit42:N/Abit43:N/ Abit44:DisableSBASbit45:DisableFTPbit46: N/Abit47.

8 DisableCMRxoutputbit48:DisableCMRxinputb it49:N/Abit50:N/Abit51:N/Abit52:BeiDouen abledbit53:N/Abit54:N/Abit55:Galileoenab ledbit56:N/Abit57:EnablescrambleCMRxbit5 8:N/Abit59:N/Abit60:EnablescrambleCMRxou tputbit62:Disablevectorantennabit63:N/Ab it64:N/Abit65:N/Abit66:QZSS enabledbit67:N/Abit68:L1 RTKsupportenabledbits70 95:TrimbleOEMBD9xxGNSSR eceiverFamilyInterfaceControlDocument24 Position,measurements,andsatelliteinform ationpacketsCommand54h, , ,aNAKisreturnediftheSVPRN isoutofrange(exceptforSVFLAGS),iftheDATA SWITCH parameterisoutofrange, (Char)02hStarttransmission1 STATUS1(Char)00hReceiverstatuscode2 PACKETTYPE1(Char)54hCommandPacketType3 LENGTH1(Char)03h,04hDatabytecount4 SUBTYPE1(byte)SeebelowSeebelow-----DATAR ECORDS0 16and21 22-----Datafromoneoftherecordsthatareenc odedintype55hrecords,asindicatedbybyte# PRN&Flags,respectively;willbesent:0:SVfl agsindicatingTracking,EphemerisandAlmana c,Enable/Disablestate.

9 ( )1:GPSE phemeris2:GPSA lmanac3:ION/UTCData4:DisableSatellite( )5:EnableSatellite( )7:ExtendedGPSA lmanac(includesclockparameters)8:GLONASS A lmanac9:GLONASSE phemeris11:GalileoEphemeris12:GalileoAlm anac14:QZSSE phemeris16:QZSSA lmanac21:BeiDouEphemeris22:BeiDouAlmanac TrimbleOEMBD9xxGNSSR eceiverFamilyInterfaceControlDocument25 ByteItemTypeValueMeaning5 SVPRNNUMBER1(byte)SeebelowSeebelow6 FLAGS1(byte)SeebelowSeebelow-----DATAREC ORD20-----Datafromoneoftherecordsthatare encodedintype55hrecords,asindicatedbybyt e# ,6, PRN,SATTYPE,&MODE,respectively;willbesen t:20:SVEnable/Disable/IgnoreHealthContro ls5 SVPRNNUMBER1(byte)SeebelowSeebelow6 SATTYPE1(byte)SeebelowSeebelow7 MODE1(byte)SeebelowSeebelowCHECKSUM1(Cha r)SeePacketstructure,page11 ChecksumvalueETX1(Char)03hEndtransmissio nWhere,SVPRNN umber:Satellitenumberforwhichephemeris/ 32:GPSsatellites52 75:(GLONASSSV1 24). :1 :1 :Bitmappedfieldhavingthefollowingvalues: Bit0set:ReturnGLONASSF lagsappendedtotheGPSFLAGS replies(subtypes0,4,5)Bit1 Set:ReturnGalileoandGLONASSF lagsappendedtotheGPSFLAGS replies(subtypes0,4,5).

10 SVbeingcontrolledisGalileo,notGPSorGLONA SS(subtypes4,5).Bits2and3 SpecifythesourceofGalileoEphemerisorQZSS E phemeris:ForGalileo:b3:b2=00=>E1Bb3:b2=0 1=>E5Bb3:b2=10=>E5 AForQZSS:b3:b2=00=>L1 CAb3:b2=01=>L1Cb3:b2=10=>L2Cb3:b2=11=>L5 TrimbleOEMBD9xxGNSSR eceiverFamilyInterfaceControlDocument26 Bit4 Set:ReturnQZSS,GalileoandGLONASS flagsappendedtotheGPSFLAGS replies(subtypes0,4,5).SVbeingcontrolled isQZSS,notGPS, :GPS:1 321:SBAS(WAAS,EGNOS,MSASetc):1 39(PRN120 158)2:GLONASS:1 243:Galileo:1 364:QZSS:1 5(PRN193-197)7:BeiDou:1 30 :ReturnSVflagsforSATTYPE1:DisableSV2:Ena bleSV3:IgnoreHealthSVOnlyMode= , (subtype20)alwaysreturnsRETSVDATA(subtyp e20)asifSVFlagswererequestedTrimbleOEMBD 9xxGNSSR eceiverFamilyInterfaceControlDocument27 Response55h,RETSVDATA(Satelliteinformati onreports) ,orION/UTCdata,theEnabled/Disabledstatea ndHeed/IgnoreHealthstateofallsatellites, (Char)02hStartTransmission1 STATUS1(Char)?