Advanced Navigation Boreas D90 - GPIO Input Configuration Packet; IP Dataports Configuration Packet; IP Dataport Mode

User Data Packet
Field # Bytes Offset Data Type Size Description
1 0 64 User Data
Table 155: User Data Packet
11.5.14 GPIO Input Configuration Packet
GPIO Input Configuration Packet
Packet ID 199
Length 65
Read / Write Read / Write
Field # Bytes Offset Data Type Size Description
1 0 u8 1 Permanent
2 1 fp32 4 Gimbal radians per encoder tick
3 2 60 Reserved (set to zero)
Table 156: GPIO Input Configuration Packet
11.5.15 IP Dataports Configuration Packet
IP Dataports Configuration Packet
Packet ID 202
Length 30
Read / Write Read / Write
Field # Bytes Offset Data Type Size Description
1 0 u16 2 Reserved
2 2 u32 4 TCP/UDP IP Address
3 6 u16 2 TCP/UDP Port
4 8 u8 1 11.5.15.1 IP Dataport Mode
+ Fields 2-4 Repeat 3 times (a total of 4 copies) for each
of the 4 data ports
Table 157: IP Dataports Configuration Packet
11.5.15.1 IP Dataport Mode
Value Description
0 MODE_NONE
1 Reserved
2 MODE_TCP_SERVER
3 MODE_TCP_CLIENT
4 MODE_UDP
v1.2 Page 175 11 Oct 2022
Boreas Reference Manual • Advanced Navigation Packet Protocol