Interfacing; Communication; Baud Rate - Advanced Navigation Spatial Reference Manual

12

Interfacing

12.1

Communication

All communication to the Spatial module is over the RS232 interface (or RS422 if you
have that model) in the Advanced Navigation Packet Protocol (ANPP). The format is
fixed at 1 start bit, 8 data bits, 1 stop bit and no parity. See section 13 for details on
the protocol.
Model
Spatial RS232
Spatial RS422
Table 17: I/O ports available
The primary port is used to communicate with Spatial using the ANPP format. Any
required data in ANPP packet format can be configured to output on request or at
predetermined rates.
12.1.1

Baud Rate

The default baud rate for all the ports of Spatial is 115200 bps. The primary port baud
rate can be set anywhere from 2400 to 2000000 baud and can be modified using the
Spatial Manager software (see section 11.8.6) or the Baud Rates 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 is configured to output. See Packet Rates in section 13.5 for more
details on the 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.
Spatial Reference Manual
Primary Port
Yes
Yes
Page 91 of 158
Version 4.4
04/06/2019
Auxiliary Port
Yes
No
GPIO Port
Yes
Yes