Advanced RTK GPS / Compass module with 100x100 mm ground plane and 32-bit MCU

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1 TGM100 Advanced RTK GPS / Compass module with 100x100 mm ground plane and 32-bit MCU Data Sheet Revision: 0.3 Date of Last Revision: 18 April 2017 True Flight Technology, Inc. ( TFT ) reserves the right to this document and the information contained herein. Products, names, logos and designs described herein may in whole or in part be subject to intellectual property rights. Reproduction, use, modification or disclosure to third parties of this document or any part thereof without the express permission of TFT is strictly prohibited. This information is provided AS IS and TFT assumes no liability for the use of the information. No warranty, either express or implied, is given with respect to the accuracy, correctness, reliability and fitness for a particular purpose of the information. This document may be revised by TFT at any time. Copyright 2016, True Flight Technology, Inc.

2 Document Information: Title: TGM100 Data Sheet Revision: 18 April 2017 Status: Preliminary Contents: 1 General Description 1.2 System Highlights 2 Detailed Technical Description 3 Installation and Configuration 4 Software

3 1. General Description The TGM100 Advanced RTK GPS/Compass system provides precision position and heading information for ground-based, mobile or airborne applications. Leveraging the latest technology from ublox, Taoglas, Honeywell and Microchip the TGM100 system is designed to achieve and maintain a reliable RTK Fixed Mode under normal operating conditions 1. An innovative LED feature provides an instant graphical representation of the GPS receiver s performance, including received satellite constellation and signal strength, RTK mode etc. The TGM100 features a 32-bit PIC32MX microprocessor with RS-562, CAN and Ethernet interface. Users may communicate directly with the GPS receiver via serial or USB, or communicate with the GPS through the Microchip PIC32MX using serial, CAN bus or Ethernet. Alternatively, users may leverage a TGM100 Software Development Kit to program the system as desired. Figure 1: The TGM100 consists of an antenna/receiver board and a processor board. LEDs on ground plane around the GPS antenna indicate location and strength of received satellites. System Highlights: - TGM100 GPS / Compass board: o ublox NEO-M8P High-Precision GPS: Option 1: TGM for ROVER ONLY applications (NEO-M8P-0 GPS receiver) Option 2: TGM for BASE or ROVER applications (NEO-M8P-2 GPS receiver) o Taoglas 35mm High-Gain ceramic patch antenna (P/N CGGBP.35.6.A.02): Applications: GPS, GLONASS, BeiDou Frequencies (Center): 1.56MHz, 1.575MHz, 1.602GHz 1 RTK Fixed mode typically requires a much stronger signal than a non-rtk Single-Point mode. Depending on weather and satellite constellation (GDOP), a clear view of the sky may be required to achieve and maintain RTK Fixed Mode with the TGM100 system.

4 Gain: 4.5dBi, 3dBi, 4.5dBi o 100 x 100 mm antenna ground plane (as recommended by ublox) o Honeywell HMC axis Fully Integrated Compass module Tilt-compensated compass (3-axis MEMS accelerometer) Compass Algorithms for computation of heading with magnetic hard-iron calibration o USB Port to ublox NEO-M8P GPS receiver: Separate USB power supply, which is disabled when not in use o Dedicated Ultra-Low Noise 3.3V Linear Regulator for GPS Receiver and Compass module. o GPS receiver backup power for fast position lock after power-up (Super-cap is located on processor board) o 24 LEDs (2 circles of 12 LEDs) used to indicate received satellite azimuth, elevation and signal strength o Dedicated RTK LED. - TGM-DC10 Processor board: o Microchip PIC32MX795F512H-80I/PT: 32-bit Microcontroller with 512KB Flash and 128KB SDRAM UARTS, I2C, Ethernet, Can Bus o Microchip LAN8740 PHY Single-chip Ethernet PHY Transceiver (10/100) Operated in Media Independent Interface (MII) mode o LED Driver PCA9956BTWY I2C interface to PIC Microcontroller Independent control of 24 LEDs o RS-562 Driver (Dual Port) o CAN Bus Transceiver o 26-pin Hirose DF11 header: 2 x RS-562 serial ports 4 x General Purpose Input/Output signals (to PIC) Ethernet port (Tx+, Tx-, Rx+, Rx-) PIC Programming Interface (GND, Vpp/MCLR, +3.3V, DAT, CLK) CAN Bus (CANH, CANL) o Two General Purpose Push Buttons (One typically used for RTK Survey-In ) o LEDs: +3.3V and CPU Active o Power Input: 8 36V

5 2. Detailed Technical Description The TGM100 consists of two circuit boards: 1. The TGM100-ANT board ( GPS/Antenna Board ) contains the ublox GPS receiver, Taoglas 35 mm ceramic patch antenna, the HMC6343 compass and the 24 satellite constellation LEDs. 2. The TGM-DC10 board ( Processor Board ) contains voltage regulators, a Microchip PIC 32-bit microcontroller, a 24-LED driver, Ethernet LAN Transceiver, a RS-562 Serial Driver, as well as all associated circuits. The GPS board and the Processor board are connected through four 16-pin Hirose A3 headers, located on each side of the Processor Board. One reason for this configuration is to distribute the LED driver signals to minimize traces on the GPS/Antenna Board. Figure 2-1: Left: Bottom side of GPS/Antenna Board shows the GPS receiver and the four Hirose headers. Right: Top side of the TGM-DC10 Processor Board. Note that P4 and J4 is located 2mm lower to ensure correct orientation of the boards, when connected. The dual board configuration offer several advantages: 1. The processor board may be used with several different GPS/Antenna boards. 2. The GPS receiver is protected from noisy digital circuits mounted on the bottom side of the processor board (facing away from GPS receiver and shielded by the multiple ground planes on the processor board). 3. The processor board is a high-density 6-layer board, while the GPS/Antenna board is a 2-layer board with an unbroken ground plane under the GPS antenna. 4. The processor board provides some mechanical stability for the GPS/Antenna board. This is important because flexing of the antenna board is likely to result in significant stress on the solder joints around the GPS module, with resulting fatigue and stress-fractures.

6 Detailed Circuit Theory: Figure 2-2 shows the main connector (P1) as well as the input circuits and the wide input range DC-DC regulator (U3). The TGM100 can accept 8-36V, which is regulated down to 5V by U3. D3 protects the system against accidental reverse polarity. Z1 is a Transient Voltage Suppressor rated at 36V. F1 is a slow-blow 2A fuse. Figure 2-2: Main connector and DC-DC power regulator. Figure 2-3 shows the voltage regulator circuits on the TGM-DC10 board. U4 is a Low Drop-Out 3.3V Linear Regulator, which powers all of the digital circuits on the processor board, as well as the 0.08F supercap for the GPS backup voltage. D4 ensures that C17 keeps its charge when input power is removed. V_BCKP is used to maintain the ephemeris data in the GPS receiver in order to enable a hot start. Figure 2-3: Voltage regulator circuits.

7 Figure 2-4 shows an overview of the Microchip PIC32MX microcontroller. Figures 2-5 through 2-8 show close-up images of the microcontroller circuits. Figure 2-4: Microchip PIC32MX microcontroller. In Figure 2-5, notice that two GPIO signals are routed to pushbuttons S1 and S2. RB2-5 are also routed to the main connector, P1. Also note that R44 and R45 enable the serial signals on the main connector to be connected directly to the GPS receiver without the PIC serving as a middle-man. However, the PIC32MX will listen in on messages from the external computer, as well as the messages from the GPS receiver. RxD1/TxD1 are used for GPS while RxD2/TxD2 may be used for compass data. However, it is also possible to use the PIC to manage communication with both the GPS and the compass chip and generate consolidated GPS/compass messages to an external computer. Figure 2-6 shows the lower left part of U5 as well as the serial driver, U6. Because some Serial-to-USB adapters use 3.3V TTL signals, U6 may be removed and jumpers installed between pins 7 & 10 and pins 8 & 9. (The next revision of the processor board will include footprints for 0603 Zero Ohm jumpers when U6 is not installed.)

8 Figure 2-5: PIC32MX close-up (1 of 4) Figure 2-6: PIC32MX crystal (Y1) and RS-562 serial driver (U6)

9 Figure 2-7: PIC32MX and interface signals to LED driver, GPS/Antenna board and Ethernet LAN Transceiver. Figure 2-8: PIC32MX, CPU LED and CAN Driver U18 (option).

10 Figure 2-9: LED Driver Figure 2-9 shows the LED driver U2. The PIC32MX microcontroller communicates with U2 via I2C. U2 controls the low side of all 24 LEDs, individually. In order to minimize the risk of noise, U2 does not currently implement PWM control, but rather simple ON/OFF control of each LED. Figure 2-10 shows receptacles J1-4 on the processor board. Each connector powers and controls six LEDs. The pin assignments are arranged to minimize trace lengths on the GPS/Antenna board (Because the GPS/Antenna board is a 2-layer board and only one layer is available for routing of signals, it is important to bring the signals as close as possible to the final destination.). LED0 and LED12 are located in the 12 o clock position. Each pair of LEDs shares power and ground. (Note that the ground line is used to control the LED, not the 5V rail.)

11 Figure 2-10: Pin assignments for receptacles J1-J4 on the processor board. Figure 2-11 shows the LAN8740 Ethernet Transceiver and the TG110 Balancing Module. The LAN Transceiver operates in RMII mode.

12 Figure 2-11: LAN8740 Ethernet Transceiver

13 Figure 2-12: TGM100 GPS/Antenna board schematic.

14 -15 to to to to -75 Elev. 0 to 55 Elev. 56 to to to -105 GPS Antenna +75 to to to to to to +165

15 High-Gain Patch Antenna Calibrated Compass (HMC6343) RF IN I2C GPS Receiver (ublox NEO-M8P) UART USB Port GPIO GPIO GPIO GPIO GPS Port Compass Port PIC Programming Port RS562 Transceiver I2C4 RB2 RB3 RB4 RB5 UART2 UART6 Microcontroller (PIC32MX795) UART5 I2C3 CAN1 24 LED Driver Ethernet Transceiver (LAN8740) CAN Transceiver Satellite Const. LEDs(24) Ethernet Port CAN Port +5V 8-36V in DC-DC Voltage Regulator LDO +3.3V Figure X: TGM100 block diagram showing the PIC microcontroller managing the communication between the GPS receiver and the external GPS serial port.

16 Figure X: TGM100 block diagram showing the PIC microcontroller listening to the communication between the GPS and an external controller.

17 Figure X: In order to achieve RTK mode, one unit is designated as the BASE and the other unit is designated as the ROVER. RTCM messages from the BASE GPS receiver may be sent to the ROVER unit via a link between the Ground Station Computer and an onboard autopilot.

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