VBOX Sigma - RS232 Output Format

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The RS232 output is present on the 6 Way Hirose connector on the bottom of the unit and can be used to provide a connection to a computer for testing online with VBOX Test Suite.

Protocol:

115200 Baud, no parity, 8 data bits, 1 stop bit

Message format:

$VBSIG$StttaaaaaaoooooovvvhhAAAVVxxyysddTTcc

Parameter	Number of bytes	Description
$VBSIG$	7	Header Message identifier as ASCII string.
S	1	Total satellites Number of satellites used in solution irrespective of GNSS. Range (0, 255). Note: All eight bits are used.
ttt	3	Time Number of 10 ms ticks since midnight UTC. Range (0, 8641000).
aaaaaa	6	Latitude Signed integers, 0.0000001 minutes per bit. Range (-539999999999, 540000000000)
oooooo	6	Longitude Signed integers, 0.0000001 minutes per bit. Range (-1079999999999, 1080000000000).
vv	2	Speed Unsigned integer, 0.01 kts per bit. Range (0, 63535).
hh	2	Heading Unsigned integer, 0.01° per bit. Range (0, 35999).
AAA	3	Altitude Signed integer, 0.01 m per bit. Range (-8388608, 8388607).
VV	3	Vertical velocity Signed integer, 0.01 m/s per bit. Range (-32768, 32767).
xx	2	Lateral acceleration Signed integer, 0.01 g per bit. Range (-32768, 32767).
yy	2	Longitudinal acceleration Signed integer, 0.01 g per bit. Range (-32768, 32767).
s	1	Solution type Enumeration as signed integer. -1: No data 0: No solution 1: Stand alone 2: Code differential 3: RTK Float 4: RTK Fixed 5: Fixed position 6: IMU coasting
dd	2	Date DOS format. Bits 0–4: Day of month Range (1, 31). Bits 5–8: Month Range (1, 12). Bits 9–15: Years since 1980 Range (0, 128).
TT	2	Differential Correction Age Unsigned integer, 0.01 seconds per bit (i.e. 10 ms per bit). Range (0, 655.35s).
cc	2	Checksum Standard Racelogic communications CRC calculation, See example below.

CRC Calculation example:

s[n] is a string containing the message

Polynomial:= 4129

CRC:=0;

for Loop:=1 to Length(s) do

begin

Temp:=s[Loop];

CRC:= CRC xor (integer(Temp) *256);

CRC:= CRC mod 65536;

for i:=7 downto 0 do

begin

if ( (CRC and 32768)=32768) then

begin

CRC:= CRC *2 ;

CRC:= CRC xor Polynomial;

end

else

begin

CRC:= CRC *2 ;

end;

CRC:=CRC mod 65536;

end;

result:=CRC;