Xsens » Code » MTi-1_example

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

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This example is deprecated and no longer maintained.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

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.
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.

Connect to the target using a serial terminal. The application is configured for:
- Baudrate = 921600
- Stop bits = 1
- No parity bits
- No flow control
Reset the mbed board.
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 66:f12dec1c0c3d, committed 2015-10-06

Comitter:: tjerkhofmeijer
Date:: Tue Oct 06 10:29:07 2015 +0200
Parent:: 65:38c908d1b515
Child:: 67:5c6676f25ffd
Child:: 68:6d6dbeefd196
Commit message:: Added support for I2C/SPI on EA-LP4088 platform.

Changed in this revision

main.cpp

Show annotated file Show diff for this revision Revisions of this file

--- a/main.cpp	Mon Oct 05 15:18:26 2015 +0200
+++ b/main.cpp	Tue Oct 06 10:29:07 2015 +0200
@@ -90,54 +90,62 @@
 
 #if defined(TARGET_NUCLEO_F302R8)
 
-#define PC_TX PA_2
-#define PC_RX PA_3
-#define MT_TX PB_9
-#define MT_RX PB_8
-#define MT_SDA PB_9
-#define MT_SCL PB_8
-#define MT_ADD0 PB_13
-#define MT_ADD1 PB_14
-#define MT_ADD2 PB_15
-#define MT_MOSI PB_15
-#define MT_MISO PB_14
-#define MT_SCLK PB_13
-#define MT_nCS PB_6
-#define MT_NRESET PA_10
-#define MT_DRDY PB_3
+#define PC_TX 		PA_2
+#define PC_RX 		PA_3
+#define MT_TX 		PB_9
+#define MT_RX 		PB_8
+#define MT_SDA 		PB_9
+#define MT_SCL 		PB_8
+#define MT_ADD0 	PB_13
+#define MT_ADD1 	PB_14
+#define MT_ADD2 	PB_15
+#define MT_MOSI 	PB_15
+#define MT_MISO 	PB_14
+#define MT_SCLK 	PB_13
+#define MT_nCS 		PB_6
+#define MT_NRESET 	PA_10
+#define MT_DRDY 	PB_3
 
 #elif defined(TARGET_KL46Z)
 
-#define PC_TX USBTX
-#define PC_RX USBRX
-#define MT_TX PTE0
-#define MT_RX PTE1
-#define MT_SDA PTE0
-#define MT_SCL PTE1
-#define MT_ADD0 PTD5
-#define MT_ADD1 PTD7
-#define MT_ADD2 PTD6
-#define MT_MOSI PTD6
-#define MT_MISO PTD7
-#define MT_SCLK PTD5
-#define MT_nCS PTD4
-#define MT_NRESET PTD3
-#define MT_DRDY PTD2
+#define PC_TX 		USBTX
+#define PC_RX 		USBRX
+#define MT_TX 		PTE0
+#define MT_RX 		PTE1
+#define MT_SDA 		PTE0
+#define MT_SCL 		PTE1
+#define MT_ADD0 	PTD5
+#define MT_ADD1 	PTD7
+#define MT_ADD2 	PTD6
+#define MT_MOSI 	PTD6
+#define MT_MISO 	PTD7
+#define MT_SCLK 	PTD5
+#define MT_nCS 		PTD4
+#define MT_NRESET 	PTD3
+#define MT_DRDY 	PTD2
 
 #elif defined(TARGET_LPC4088)
 
-#if !defined(MTI_USES_UART_INTERFACE)
-#error "Support for I2C/SPI has not been added for this platform."
-#endif
-
+#define PC_TX 		USBTX
+#define PC_RX 		USBRX
+#define MT_TX 		p9
+#define MT_RX 		p10
+#define MT_SDA 		p9
+#define MT_SCL 		p10
+#define MT_ADD0 	p13
+#define MT_ADD1 	p12
+#define MT_ADD2 	p11
+#define MT_MOSI 	p11
+#define MT_MISO 	p12
+#define MT_SCLK 	p13
+#define MT_nCS 		p14
+#define MT_NRESET 	p8
+#define MT_DRDY 	p15
 
-#define PC_TX USBTX
-#define PC_RX USBRX
-#define MT_TX P0_25
-#define MT_RX P0_26
-#define MT_NRESET P1_30
 #else
+
 #error "Support for selected mbed platform has not been added."
+
 #endif