Gpio Pins And Auxiliary Rs232; Dynamic Pin Functions - Advanced Navigation Motus Reference Manual

External Odometer
External Air Data
Table 22: ANPP external data reference
15.3

GPIO Pins and Auxiliary RS232

The RS232 model of Motus contains two general purpose input output (GPIO) pins and
an auxiliary RS232 port on the main connector. The RS422 model of Motus does not
have the auxiliary port. These pins and ports are multi function and can be used to
extend Motus with additional peripherals, sensors and data formats. The GPIO pins
have digital input, digital output, frequency input and frequency output functionality.
For for both models, GPIO1 can also function as an RS232 serial transmit line and
GPIO2 can function as an RS232 serial receive line. The GPIO serial baud rate can be
configured anywhere from 2400 to 250 K baud. The auxiliary serial baud rate can be
configured anywhere from 2400 to 2 M baud. Changes to these baud rates can be
made by using the Baud Rates dialog box in Motus Manager (see section 12.8.5) or the
Baud Rates Packet (see section 16.10.3).
The available GPIO pin functions and auxiliary RS232 functions are listed below in
section 15.4. The function of a GPIO pin or the auxiliary RS232 can be changed at any
time using the GPIO configuration dialog box in Motus Manager (see section 12.8.6) or
the GPIO Configuration Packet (see section 16.10.7). GPIO 1 and GPIO 2 function at 0 –
5 volt levels for digital input, digital output, frequency input and frequency output, but
when a serial data function is selected that GPIO pin automatically switches to RS232
level.
15.4

Dynamic Pin Functions

Function
Inactive
1PPS Output
GNSS Fix Output
Odometer Input
Zero Velocity Input
Pitot Tube Input
NMEA Input
NMEA Output
Novatel GNSS Input
Topcon GNSS Input
ANPP Input
ANPP Output
Motus Reference Manual
Page 92 of 146
Version 1.1
29/11/2019
Type
Tristate
Digital Output
Digital Output
Frequency Input
Digital Input
Frequency Input
Serial Receive
Serial Transmit
Serial Receive
Serial Receive
Serial Receive
Serial Transmit
16.9.40
16.9.41
GPIOs Auxiliary
RS232
All All
All Transmit
All Transmit
All Receive
All Receive
All Receive
2 Receive
1 Transmit
2 Receive
2 Receive
2 Receive
1 Transmit