GPIO Configuration Packet

GPIO Configuration Packet
Packet ID				188
Length				13
Read / Write				Read / Write
Field #	Bytes Offset	Data Type	Size	Description
1	0	u8	1	Permanent
2	1	u8	1	GPIO1 function. See GPIO Functions
3	2	u8	1	GPIO2 function. See GPIO Functions
4	3	u8	1	Auxiliary RS232 transmit function. See Auxiliary Functions
5	4	u8	1	Auxiliary RS232 receive function. See Auxiliary Functions
6	5	u8	1	GPIO Voltage Selection
7	6		7	Reserved (set to zero)

Value	Description	GPIO Function Type
0	Inactive	GPIO1, GPIO2
1	1PPS Output
2	GNSS Fix Output
3	Odometer Input
4	Zero Velocity Input
5	Pitot Tube Input
6	NMEA Input	GPIO2
7	NMEA Output	GPIO1
8	Novatel GNSS Input	GPIO2
9	Topcon GNSS Input
11	ANPP Input
12	ANPP Output	GPIO1
13	Disable Magnetometers	GPIO1, GPIO2
14	Disable GNSS	GPIO1, GPIO2
15	Disable Pressure	GPIO1, GPIO2
16	Set Zero Orientation Alignment
17	System State Packet Trigger
18	Raw Sensors Packet Trigger
19	RTCM Differential GNSS Corrections Input	GPIO2
20	Trimble GNSS Input
21	u-blox GNSS Input
22	Hemisphere GNSS Input
23	Teledyne DVL Input
24	Tritech USBL Input
25	Linkquest DVL Input
26	Pressure Depth Transducer	GPIO1, GPIO2
27	Left Wheel Speed Sensor
28	Right Wheel Speed Sensor
29	1PPS Input
30	Wheel Speed Sensor
31	Wheel Encoder Phase A
32	Wheel Encoder Phase B
33	Event 1 Input
34	Event 2 Input
38	GNSS Receiver Passthrough	GPIO1, GPIO2
39	TSS1 Output	GPIO1
40	Simrad 1000 Output
41	Simrad 3000 Output
42	Serial Port Passthrough	GPIO1, GPIO2
43	Gimbal Encoder Phase A
44	Gimbal Encoder Phase B
45	Odometer Direction, Forward Low
46	Odometer Direction, Forward High
51	Nortek DVL Input	GPIO2
53	Reverse Alignment, Forward Low	GPIO1, GPIO2
54	Reverse Alignment, Forward High
55	Zero Angular Velocity Input

GPIO functions

Value	Description	Auxiliary Function Type
0	Inactive	Transmit, Receive
1	1PPS Output	Transmit
2	GNSS Fix Output	Transmit
3	Odometer Input	Receive
4	Zero Velocity Input
5	Pitot Tube Input
6	NMEA Input
7	NMEA Output	Transmit
8	Novatel GNSS Input	Receive
9	Topcon GNSS Input
11	ANPP Input
12	ANPP Output	Transmit
13	Disable magnetometers	Receive
14	Disable GNSS	Receive
15	Disable Pressure
16	Set Zero Orientation Alignment
17	System State Packet Trigger
18	Raw Sensors Packet Trigger
19	RTCM Differential GNSS Corrections Input
20	Trimble GNSS Input
21	u-blox GNSS Input
22	Hemisphere GNSS Input
23	Teledyne DVL Input
24	Tritech USBL Input
25	Linkquest DVL Input
26	Pressure Depth Transducer
27	Left Wheel Speed Sensor
28	Right Wheel Speed Sensor
29	1PPS Input
30	Wheel Speed Sensor
33	Event 1 Input
34	Event 2 Input
35	Linkquest USBL Input
38	GNSS Receiver Passthrough	Transmit, Receive
39	TSS1 Output	Transmit
40	Simrad 1000 Output
41	Simrad 3000 Output
42	Serial Port Passthrough	Transmit, receive
45	Odometer Direction, Forward Low	Receive
46	Odometer Direction, Forward High
51	Nortek DVL Input
53	Reverse Alignment, Forward Low
54	Reverse Alignment, Forward High
55	Zero Angular Velocity Input

Auxiliary Functions

GPIO Voltage Selection