Xsens / Mbed 2 deprecated MTi-1_example

Example of using Xbus library to communicate with an MTi-1 series device using a full-duplex UART connection.

Dependencies:   mbed-rtos mbed Xbus

Fork of MTi-1_example by Alex Young

Important Information

This example is deprecated and no longer maintained. There are new embedded examples available in the MT SDK folder of the MT Software Suite. For more information please visit: https://xsenstechnologies.force.com/knowledgebase/s/article/Introduction-to-the-MT-SDK-programming-examples-for-MTi-devices

Overview

The example program demonstrates connecting to an MTi-1 series device, restoring communications settings to default if necessary, and configuring the MTi to send data. For an MTi-1 the device is configured to send inertial sensor data, while MTi-2 and MTi-3 devices are configured to output orientation data using the onboard XKF3i filter.

Communication with the MTi-1 series device is implemented using a either a full-duplex UART, I2C or SPI bus. A reset line is used to reset the MTi during initialization. Data is output to a host PC terminal using a second UART.

For more information on the MTi-1 series communication protocol please refer to the datasheet: https://www.xsens.com/download/pdf/documentation/mti-1/mti-1-series_datasheet.pdf

Supported Platforms

The program has been tested on the following mbed platforms:

Using the Example

  1. To use the example program connect one of the supported mbed boards to the host PC and download the application from the mbed online compiler to the target device.
  2. With the mbed board unpowered (USB disconnected) wire the mbed board to the MTi-1 development board. The following connections are required:
    • In all cases:
      • 5V (or 3V3) main supply to VDD (P300-1)
      • MCU IO voltage (IORef) to VDDIO (P300-2)
      • GND to GND (P300-3)
      • MT_NRESET to nRST (P300-5)
    • For I2C communication:
      • MT_SCL to I2C_SCL (P300-9)
      • MT_SDA to I2C_SDA (P300-11)
      • MT_DRDY to DRDY (P300-15)
      • MT_ADD0 to ADD0 (P300-17)
      • MT_ADD1 to ADD1 (P300-19)
      • MT_ADD2 to ADD2 (P300-21)
    • For SPI communication:
      • MT_DRDY to DRDY (P300-15)
      • MT_SCLK to SPI_SCK (P300-17)
      • MT_MISO to SPI_MISO (P300-19)
      • MT_MOSI to SPI_MOSI (P300-21)
      • MT_nCS to SPI_nCS (P300-23)
    • For UART communication:
      • MT_RX to UART_TX (P300-9)
      • MT_TX to UART_RX (P300-11)

For more information on the MTi-1 development board please refer to the MTi-1 series user manual: https://www.xsens.com/download/pdf/documentation/mti-1/mti-1-series_dk_user_manual.pdf

Information

Check the defines at the top of main.cpp to determine which IO pins are used for the MT_xxx connections on each mbed platform.

Information

The active peripheral (I2C, SPI or UART) is selected on the MTi-1 development board through the PSEL0 and PSEL1 switches. Look on the bottom of the development board for the correct settings.

  1. Connect to the target using a serial terminal. The application is configured for:
    • Baudrate = 921600
    • Stop bits = 1
    • No parity bits
    • No flow control
  2. Reset the mbed board.
  3. You should be presented with a simple user interface as shown below: 
MTi-1 series embedded example firmware.
Device ready for operation.
Found device with ID: 03880011.
Device is an MTi-3: Attitude Heading Reference System.
Output configuration set to:
        Packet counter: 65535 Hz
        Sample time fine: 65535 Hz
        Quaternion: 100 Hz
        Status word: 65535 Hz

Press 'm' to start measuring and 'c' to return to config mode.

Files at this revision

API Documentation at this revision

Revision 45:67203918bec9, committed 2015-05-21

Comitter:
Alex Young
Date:
Thu May 21 16:14:14 2015 +0200
Parent:
44:b3980e8ac074
Child:
46:f652d199d27e
Commit message:
Documentation of xbuf definitions and utility functions

Changed in this revision

xbus/xbusdef.h Show annotated file Show diff for this revision Revisions of this file
xbus/xbusutility.c Show annotated file Show diff for this revision Revisions of this file 
--- a/xbus/xbusdef.h	Thu May 21 16:01:20 2015 +0200
+++ b/xbus/xbusdef.h	Thu May 21 16:14:14 2015 +0200
@@ -16,9 +16,13 @@
 #ifndef __XBUSDEF_H
 #define __XBUSDEF_H
 
+/*! \brief Xbus message preamble byte. */
 #define XBUS_PREAMBLE (0xFA)
+/*! \brief Xbus message bus ID for standalone application. */
 #define XBUS_BUS_ID_STANDALONE (0xFF)
+/*! \brief Xbus length byte for messages without payload. */
 #define XBUS_NO_PAYLOAD (0x00)
+/*! \brief Xbus length byte for message with an extended payload. */
 #define XBUS_EXTENDED_LENGTH (0xFF)
 
 #endif // __XBUSDEF_H

--- a/xbus/xbusutility.c	Thu May 21 16:01:20 2015 +0200
+++ b/xbus/xbusutility.c	Thu May 21 16:14:14 2015 +0200
@@ -15,30 +15,65 @@
 
 #include "xbusutility.h"
 
+/*!
+ * \name Xbus message reading utility functions.
+ * Xbus messages use big-endian representations for multibyte data.
+ * These functions help in reading data from an Xbus message and converting
+ * it to a native type.
+ *
+ * The functions are intended to scan over a message as follows:
+ * \code{.c}
+ * void readValues(XbusMessage const* message)
+ * {
+ *     uint16_t v1;
+ *     uint8_t v2;
+ *     uint32_t v3;
+ *     uint8_t* dptr = message->data;
+ *     dptr = XbusUtility_readU16(&v1, dptr);
+ *     dptr = XbusUtility_readU8(&v2, dptr);
+ *     dptr = XbusUtility_readU32(&v3, dptr);
+ * }
+ * \endcode
+ * \{
+ */
+/*!
+ * \brief Read a uint8_t value from an Xbus message.
+ */
 uint8_t const* XbusUtility_readU8(uint8_t* out, uint8_t const* in)
 {
 	*out = *in;
 	return ++in;
 }
 
+/*! \brief Read a uint16_t value from an Xbus message. */
 uint8_t const* XbusUtility_readU16(uint16_t* out, uint8_t const* in)
 {
 	*out = (in[0] << 8) | in[1];
 	return in + sizeof(uint16_t);
 }
 
+/*! \brief Read a uint32_t value from an Xbus message. */
 uint8_t const* XbusUtility_readU32(uint32_t* out, uint8_t const* in)
 {
 	*out = (in[0] << 24) | (in[1] << 16) | (in[2] << 8) | in[3];
 	return in + sizeof(uint32_t);
 }
+/*! \} */
 
+/*!
+ * \brief Xbus message writing utility functions.
+ * These functions aid in writing native values to big-endian xbus message
+ * payloads. See corresponding reading functions for further details.
+ * \{
+ */
+/*! \brief Write a uint8_t value to an Xbus message. */
 uint8_t* XbusUtility_writeU8(uint8_t* out, uint8_t in)
 {
 	*out++ = in;
 	return out;
 }
 
+/*! \brief Write a uint16_t value to an Xbus message. */
 uint8_t* XbusUtility_writeU16(uint8_t* out, uint16_t in)
 {
 	*out++ = (in >> 8) & 0xFF;
@@ -46,12 +81,13 @@
 	return out;
 }
 
+/*! \brief Write a uint32_t value to an Xbus message. */
 uint8_t* XbusUtility_writeU32(uint8_t* out, uint32_t in)
 {
-
 	*out++ = (in >> 24) & 0xFF;
 	*out++ = (in >> 16) & 0xFF;
 	*out++ = (in >> 8) & 0xFF;
 	*out++ = in & 0xFF;
 	return out;
 }
+/*! \}  */