Advanced Navigation Spatial Dual Reference Manual page 5

12.2 External Data.................................................................................................. 80
12.3 GPIO Pins and Auxiliary RS232.......................................................................80
12.3.1 1PPS Output............................................................................................ 82
12.3.2 GNSS Fix Output...................................................................................... 82
12.3.3 Odometer Input....................................................................................... 82
12.3.4 Zero Velocity Input..................................................................................83
12.3.5 NMEA Input.............................................................................................. 83
12.3.6 NMEA Output........................................................................................... 83
12.3.7 Novatel GNSS Input.................................................................................84
12.3.8 Topcon GNSS Input..................................................................................84
12.3.9 ANPP Input............................................................................................... 84
12.3.10 ANPP Output.......................................................................................... 84
12.3.11 Disable GNSS......................................................................................... 84
12.3.12 Disable Pressure.................................................................................... 84
12.3.13 Set Zero Orientation Alignment.............................................................85
12.3.14 System State Packet Trigger..................................................................85
12.3.15 Raw Sensors Packet Trigger...................................................................85
12.3.16 RTCM Differential GNSS Corrections Input.............................................85
12.3.17 Trimble GNSS Input................................................................................ 85
12.3.18 u-blox GNSS Input.................................................................................. 85
12.3.19 Hemisphere GNSS Input........................................................................85
12.3.20 Left Wheel Speed Sensor.......................................................................85
12.3.21 Right Wheel Speed Sensor....................................................................86
12.3.22 1PPS Input............................................................................................. 86
12.3.23 Wheel Speed Sensor..............................................................................86
12.3.24 Wheel Encoder Phase A.........................................................................86
12.3.25 Wheel Encoder Phase B.........................................................................86
12.3.26 Event 1 Input......................................................................................... 86
12.3.27 Event 2 Input......................................................................................... 86
12.3.28 GNSS Receiver Passthrough..................................................................86
12.3.29 TSS1 Output.......................................................................................... 86
12.3.30 Simrad 1000 Output..............................................................................87
12.3.31 Simrad 3000 Output..............................................................................87
12.3.32 Serial Port Passthrough..........................................................................87
12.3.33 Gimbal Encoder Phase A........................................................................87
12.3.34 Gimbal Encoder Phase B........................................................................87
12.3.35 Odometer Direction, Forward Low.........................................................87
12.3.36 Odometer Direction, Forward High........................................................87
13 Advanced Navigation Packet Protocol....................................................................88
13.1 Data Types...................................................................................................... 88
13.2 Packet Structure............................................................................................. 88
13.2.1 Header LRC.............................................................................................. 89
13.2.2 Packet ID................................................................................................. 89
13.2.3 Packet Length.......................................................................................... 89
13.2.4 CRC.......................................................................................................... 89
13.3 Packet Requests............................................................................................. 89
13.4 Packet Acknowledgement............................................................................... 90
13.5 Packet Rates................................................................................................... 90
13.6 Packet Timing................................................................................................. 90
13.7 Packet Summary............................................................................................. 90
Spatial Dual Reference Manual
Page 4 of 137
Version 2.3
12/04/2016