Advanced Navigation Spatial Dual, Reference Manual

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Spatial Reference Manual
Page 92 of 158
Version 4.4
04/06/2019
12.2 External Data
External sources of position, velocity, heading, time, depth and pitot pressure can be
integrated into Spatial's filter solution. The data can be sent to Spatial in the ANPP
format over the main RS232 port or through one of the GPIO pins in a number of
different formats. If using the ANPP, please use Table 18 below to find the relevant
section. If using the GPIO’s, please see section 12.3.
Packet Section
External Position and Velocity 13.9.25
External Position 13.9.26
External Velocity 13.9.27
External Body Velocity 13.9.28
External Heading 13.9.29
External Time 13.9.33
External Depth 13.9.34
External Odometer 13.9.42
External Air Data 13.9.43
Table 18: ANPP external data reference
12.3 GPIO Pins and Auxiliary RS232
The RS232 model of Spatial contains two general purpose input output (GPIO) pins and
an auxiliary RS232 port on the main connector. The RS422 model of Spatial does not
have the auxiliary port. These pins and ports are multi function and can be used to
extend Spatial with additional peripherals, sensors and data formats. The GPIO pins
have digital input, digital output, frequency input and frequency output functionality.
For for both models, GPIO1 can also function as an RS232 serial transmit line and
GPIO2 can function as an RS232 serial receive line. The GPIO serial baud rate can be
configured anywhere from 2400 to 250 K baud. The auxiliary serial baud rate can be
configured anywhere from 2400 to 2 M baud. Changes to these baud rates can be
made by using the Baud Rates dialog box in Spatial Manager (see section 11.8.6) or
the Baud Rates Packet (see section 13.10.3).
The available GPIO pin functions and auxiliary RS232 functions are listed below in
section 12.4. The function of a GPIO pin or the auxiliary RS232 can be changed at any
time using the GPIO Configuration dialog box in Spatial Manager (see section 11.8.7)
or the GPIO Configuration Packet (see section 13.10.8). GPIO 1 and GPIO 2 function at
0 – 5 volt levels for digital input, digital output, frequency input and frequency output,
but when a serial data function is selected that GPIO pin automatically switches to
RS232 level.