Interface Control (0x7F,0x02)

Description

Reassign data protocols, both incoming and outgoing.
Notes

Responds over the port that sent the command with an ACK/NACK immediately after the operation is complete. It is the user's responsibility to not send any critical information or commands while awaiting a response! Doing so while this command processes may cause those packets to be dropped.

Constraints: - Limited parsers and data streams are available. Refer to your device manual for more information. - The Main port always has a MIP parser and MIP data stream bound. Additionally, Main is the only port that can process interface control commands.

If response is NACK, no change was made. Here's what can cause a NACK: - The requested protocol isn't supported on this device, or on this port, or this device doesn't support that many parsers. - The request would break the general constraints listed above, or a device-specific constraint.
Parameter Name Data Type Description
Field Length u8 12
Descriptor u8 0x02
Function Selector u8 This command supports the following MIP function selectors:
Write Read Save Load Default [WRSLD]
Port [WRSLD] u8 enum Which physical interface is being selected (USB, serial, etc)
NameValueDescription
ALL0
MAIN1An alias that directs to Main USB if it's connected, or Main UART otherwise
UART_117Depending on your device, this may mean either the first UART *currently configured*, or the first port on which UART *can be configured*. Refer to your device manual.
UART_218GPIO UART port using GPIOs 1/2, availiable on CV7/GV7 variants.
UART_319GPIO UART port using GPIOs 3/4, available on CV7 variants.
USB_133The first virtual serial port over USB (ie. COM5)
USB_234The second virtual serial port over USB (ie. COM6), only available on GNSS/INS devices. Recommended for NMEA/RTCM.
Protocols Incoming [W] u32 bitfield Input protocol(s) the port will accept. If the protocol supports ACK/NACK or detailed responses, it will be sent over this port even if no corresponding output protocol is set.
NameBit(s)Description
MIP0Microstrain Inertial Protocol
NMEA8NMEA-0183 GNSS Protocol
RTCM9GNSS Correction Protocol
SPARTN24GNSS Correction Protocol
SBF29Septentrio Binary Format
Protocols Outgoing [W] u32 bitfield Data protocol(s) the port will output
NameBit(s)Description
MIP0Microstrain Inertial Protocol
NMEA8NMEA-0183 GNSS Protocol
RTCM9GNSS Correction Protocol
SPARTN24GNSS Correction Protocol
SBF29Septentrio Binary Format
Ack/Nack Reply See standard MIP ack/nack reply format.
Response Data Data Type Description
Response Length u8 11
Response Descriptor u8 0x82
Port u8 enum Which physical interface is being selected (USB, serial, etc)
NameValueDescription
ALL0
MAIN1An alias that directs to Main USB if it's connected, or Main UART otherwise
UART_117Depending on your device, this may mean either the first UART *currently configured*, or the first port on which UART *can be configured*. Refer to your device manual.
UART_218GPIO UART port using GPIOs 1/2, availiable on CV7/GV7 variants.
UART_319GPIO UART port using GPIOs 3/4, available on CV7 variants.
USB_133The first virtual serial port over USB (ie. COM5)
USB_234The second virtual serial port over USB (ie. COM6), only available on GNSS/INS devices. Recommended for NMEA/RTCM.
Protocols Incoming u32 bitfield Input protocol(s) the port will accept. If the protocol supports ACK/NACK or detailed responses, it will be sent over this port even if no corresponding output protocol is set.
NameBit(s)Description
MIP0Microstrain Inertial Protocol
NMEA8NMEA-0183 GNSS Protocol
RTCM9GNSS Correction Protocol
SPARTN24GNSS Correction Protocol
SBF29Septentrio Binary Format
Protocols Outgoing u32 bitfield Data protocol(s) the port will output
NameBit(s)Description
MIP0Microstrain Inertial Protocol
NMEA8NMEA-0183 GNSS Protocol
RTCM9GNSS Correction Protocol
SPARTN24GNSS Correction Protocol
SBF29Septentrio Binary Format