Topcon Gnss Input; Anpp Input; Anpp Output; Disable Magnetometers - Advanced Navigation Spatial Reference Manual

12.4.9

Topcon GNSS Input

This function is designed for interfacing Spatial with a Topcon GNSS receiver. It accepts
data in the GRIL TPS binary format and expects messages PG and VG at rates higher
than 1 Hz.
12.4.10

ANPP Input

This function accepts data in the ANPP format as specified in section 13.
12.4.11

ANPP Output

This function outputs data in the ANPP format as specified in section 13. For packets to
be sent out they must be requested through another GPIO functioning as ANPP input.
This function is also used when connecting two Spatial units together, for example
when using a USBL.
12.4.12

Disable Magnetometers

This function accepts a digital input with a low state enabling the magnetometers and
a high state disabling the magnetometers.
12.4.13

Disable GNSS

This function accepts a digital input with a low state enabling the GNSS and a high
state disabling the GNSS.
12.4.14

Disable Pressure

This function accepts a digital input with a low state enabling the atmospheric
pressure sensor and a high state disabling the atmospheric pressure sensor.
12.4.15

Set Zero Orientation Alignment

This function accepts a digital input. The input is normally low and a transition from
low to high causes Spatial to set its alignment so that the current orientation is zero.
Due to the risk of exhausting the flash cycles, the change is not permanent and will
disappear on reset. To make it permanent the Installation Alignment Packet must be
read and then sent back to Spatial with the permanent flag set. This function requires
de-bouncing if attached to a switch.
12.4.16

System State Packet Trigger

This function accepts a digital input. The input is normally low and a transition from
low to high causes Spatial to send the system state packet. This function requires de-
bouncing if attached to a switch.
12.4.17

Raw Sensors Packet Trigger

This function accepts a digital input. The input is normally low and a transition from
low to high causes Spatial to send the raw sensors packet. This function requires de-
Spatial Reference Manual
Page 97 of 158
Version 4.4
04/06/2019