Advanced Navigation Spatial FOG Reference Manual page 5

12.3.1 GPIO Pins Voltage Level............................................................................85
12.3.2 GNSS RS232............................................................................................. 85
12.4 Dynamic Pin Functions..................................................................................... 85
12.4.1 1PPS Output............................................................................................. 86
12.4.2 GNSS Fix Output....................................................................................... 87
12.4.3 Odometer Input........................................................................................ 87
12.4.4 Zero Velocity Input................................................................................... 87
12.4.5 Pitot Tube Input......................................................................................... 87
12.4.6 NMEA Input............................................................................................... 87
12.4.7 NMEA Output............................................................................................ 88
12.4.8 Novatel GNSS Input..................................................................................88
12.4.9 Topcon GNSS Input................................................................................... 89
12.4.10 ANPP Input.............................................................................................. 89
12.4.11 ANPP Output........................................................................................... 89
12.4.12 Disable GNSS.......................................................................................... 89
12.4.13 Disable Pressure..................................................................................... 89
12.4.14 Set Zero Orientation Alignment..............................................................89
12.4.15 System State Packet Trigger...................................................................89
12.4.16 Raw Sensors Packet Trigger....................................................................89
12.4.17 RTCM Diferential GNSS Corrections Input..............................................89
12.4.18 Trimble GNSS Input................................................................................. 90
12.4.19 u-blox GNSS Input................................................................................... 90
12.4.20 Hemisphere GNSS Input.........................................................................90
12.4.21 Left Wheel Speed Sensor........................................................................90
12.4.22 Right Wheel Speed Sensor.....................................................................90
12.4.23 1PPS Input.............................................................................................. 90
12.4.24 Wheel Speed Sensor...............................................................................90
12.4.25 Wheel Encoder Phase A..........................................................................90
12.4.26 Wheel Encoder Phase B..........................................................................91
12.4.27 Event 1 Input.......................................................................................... 91
12.4.28 Event 2 Input.......................................................................................... 91
12.4.29 TSS1 Output........................................................................................... 91
12.4.30 Simrad 1000 Output...............................................................................91
12.4.31 Simrad 3000 Output...............................................................................91
12.4.32 Serial Port Passthrough...........................................................................91
12.4.33 Gimbal Encoder Phase A.........................................................................91
12.4.34 Gimbal Encoder Phase B.........................................................................91
12.4.35 Odometer Direction, Forward Low..........................................................92
12.4.36 Odometer Direction, Forward High.........................................................92
12.4.37 Nortek DVL Binary Format Input.............................................................92
13 Advanced Navigation Packet Protocol.....................................................................93
13.1 Data Types....................................................................................................... 93
13.2 Packet Structure.............................................................................................. 93
13.2.1 Header LRC............................................................................................... 94
13.2.2 Packet ID.................................................................................................. 94
13.2.3 Packet Length........................................................................................... 94
13.2.4 CRC........................................................................................................... 94
13.3 Packet Requests.............................................................................................. 94
13.4 Packet Acknowledgement................................................................................95
13.5 Packet Rates.................................................................................................... 95
Spatial FOG Reference Manual
Page 4 of 144
Version 2.3
03/05/2018