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

12

Interfacing

12.1

Communication

Communication with Spatial FOG Dual is over the primary RS422 or RS232 interface in
the Advanced Navigation Packet Protocol (ANPP). The RS422 or 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 FOG Dual is 115,200. The baud rate can be set
anywhere from 1,200 to 10,000,000 baud 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. 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 115,200, then the data rate is 11,520 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 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
GPIOs, please see section 12.3.
External Position and Velocity
External Position
External Velocity
External Body Velocity
External Heading
External Time
External Depth
External Pitot Pressure
External Odometer
External Air Data
Table 18: ANPP external data reference
12.3

GPIO Pins and Auxiliary RS232

Spatial FOG Dual contains two general purpose input output pins and one auxiliary
Packet
Spatial FOG Dual Reference Manual
Page 78 of 138
Version 1.0
26/06/2015
Section
13.9.25
13.9.26
13.9.27
13.9.28
13.9.29
13.9.33
13.9.34
13.9.37
13.9.43
13.9.44