I think part of the problem is that AIM section 1-1-17b2(a)(1) is a little opaque without a fair amount of digging:
2. IFR Use of GPS
(a) General Requirements. Authorization to conduct any GPS operation under IFR requires:
(1) GPS navigation equipment used for IFR operations must be approved in accordance with the requirements specified in Technical Standard Order (TSO) TSO−C129(), TSO−C196(), TSO−C145(), or TSO−C146(), and the installation must be done in accordance with Advisory Circular AC 20−138, Airworthiness Approval of Positioning and Navigation Systems. Equipment approved in accordance with TSO−C115a does not meet the requirements of TSO−C129. Visual flight rules (VFR) and hand−held GPS systems are not authorized for IFR navigation, instrument approaches, or as a principal instrument flight reference.
AIM Table 1-1-6 Note 1 is a little better, in that it at least it points the reader to "the AFM, AFM supplements, or pilot guides."