Spatial FOG Dual ETH
Supplementary Reference Manual
Page 19 of 29
Version 1.2
10/09/2019
12
Interfacing
12.1
Communication
Communication with the Spatial FOG Dual ETH Primary port is over an Ethernet connection
interface using the Advanced Navigation Packet Protocol (ANPP). See section 13 for details on the
Advanced Navigation Packet Protocol.
Communication with the Spatial FOG Dual ETH Auxiliary port is over a RS232 connection (1 start
bit, 8 data bits, 1 stop bit and no parity).
Communication with the Spatial FOG Dual ETH GPIO ports 1 and 2 are over a RS422 connection
(1 start bit, 8 data bits, 1 stop bit and no parity). Only inputs are supported with this variant.
12.1.1
Baud Rate
The default baud rate of the Spatial FOG Dual ETH GPIO ports and Auxiliary port is 115,200 baud.
The baud rate can be set anywhere from 4800 to 2 M baud for the GPIO ports and the Auxiliary
port, and can be modified using the Spatial FOG Manager software or the baud rate packet, see
section 13.10.3. It is important to select a baud rate that is capable of carrying the amount of data
that Spatial FOG Dual is set to send or receive. See packet rates in section 13.5 for more details
on data output calculation. The data rate in bytes per second can be calculated by dividing the
baud rate by 10. For example if the baud rate is 115200, then the data rate is 11520 bytes per
second.
12.2
External Data
External sources of position, velocity and/or heading can be integrated into Spatial FOG Dual's
filter solution. The data can be sent to Spatial FOG Dual in the ANPP format over the Primary or
Auxiliary port, or through the Auxiliary port in a number of different formats. If using the ANPP,
please use Table 6 below to find the relevant section. If using the Auxiliary ports, 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
13.9.43
External Air Data
13.9.44
Table 6: ANPP external data reference
