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

8

Interfacing

8.1

Communication

All communication to the Spatial module is over the serial interface in the Advanced Navigation
packet protocol. The serial format is fixed at 1 start bit, 8 data bits, 1 stop bit and no parity. See
section 9 for details on the protocol.
8.1.1

Baud Rate

The default baud rate of Spatial is 115200. The baud rate can be set anywhere from 100 to
1000000 baud and can be modified using the Spatial Manager software or the baud rate packet,
see section 9.9.3. It is important to select a baud rate that is capable of carrying the amount of data
that Spatial is set to send. See packet rates in section 9.5 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 115200, then the data rate is 11520 bytes per second.
8.2

External data

External sources of position, velocity and/or orientation can be integrated into Spatial's filter
solution. The data can be sent to Spatial in the ANPP format over the main serial port or through
one of the GPIOs in a number of different formats. If using the ANPP, please use Table 8 below to
find the relevant section. If using the GPIO pins, please see section 8.3.
External Position and Velocity
External Position
External Velocity
External Body Velocity
External Heading
Table 8: ANPP External Data Reference
8.3

GPIO Pins

Spatial contains six general purpose input output pins on the main connector. These pins are multi
function and can be used to extend Spatial with additional peripherals, sensors and data formats.
All pins have digital input, digital output, frequency input and frequency output functionality.
Additionally GPIO1 and GPIO3 can function as TTL serial transmit lines and GPIO2 and GPIO4
can function as TTL serial receive lines. The GPIO serial baud rate can be configured anywhere
from 1200 to 1000000 baud by using the baud rate configuration dialog in Spatial Manager or the
Baud Rates Packet.
The GPIO pin functions available are listed below. The function of a GPIO pin can be changed at
any time using the GPIO configuration dialog in Spatial Manager or the GPIO Configuration
Packet.
Packet
Spatial OEM Reference Manual
Page 42 of 88
Version 2.7
Section
9.8.25
9.8.26
9.8.27
9.8.28
9.8.29