Interfacing; Communication; Baud Rate; External Data - Advanced Navigation Spatial Dual Reference Manual

12

Interfacing

12.1

Communication

Communication with Spatial Dual is over an RS232 interface in the Advanced
Navigation Packet Protocol (ANPP). The RS232 format is fixed at 1 start bit, 8 data bits,
1 stop bit and no parity. See section 13 for details on the protocol.
12.1.1

Baud Rate

The default baud rate of Spatial Dual is 115200. The baud rate can be set anywhere
from 100 to 1000000 baud and can be modified using the Spatial Dual 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 Dual is set to send. 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
Dual's filter solution. The data can be sent to Spatial Dual in the ANPP format over the
main RS232 port or through the GPIO pins or auxiliary RS232 in a number of different
formats. If using the ANPP, please use Table 19 below to find the relevant section. If
using the GPIO pins or auxiliary RS232, please see section 12.3.
External Position and Velocity
External Position
External Velocity
External Body Velocity
External Heading
External Time
External Pitot Pressure
External Odometer
External Air Data
Table 19: ANPP External Data Reference
12.3

GPIO Pins and Auxiliary RS232

Spatial Dual contains two general purpose input output pins and an auxiliary RS232
port on the main connector. These pins are multi function and can be used to extend
Spatial Dual with additional peripherals, sensors and data formats. Both GPIO pins
have digital input, digital output, frequency input and frequency output functionality.
Packet
Spatial Dual Reference Manual
Page 80 of 137
Version 2.3
12/04/2016
Section
13.9.25
13.9.26
13.9.27
13.9.28
13.9.29
13.9.33
13.9.36
13.9.42
13.9.43