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This example is deprecated and no longer maintained.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.

xbus/xbusutility.c@61:b9d3e7e5ba0c, 2015-06-12 (annotated)

Committer:
Alex Young
Date:
Fri Jun 12 13:23:26 2015 +0200
Revision:
61:b9d3e7e5ba0c
Parent:
47:c4610a65dade 
Change to Apache license

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Alex Young 18:2073072bad51 1 /*!
Alex Young 18:2073072bad51 2 * \file
Alex Young 61:b9d3e7e5ba0c 3 * \copyright Copyright (C) Xsens Technologies B.V., 2015.
Alex Young 61:b9d3e7e5ba0c 4 *
Alex Young 61:b9d3e7e5ba0c 5 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
Alex Young 61:b9d3e7e5ba0c 6 * use this file except in compliance with the License. You may obtain a copy
Alex Young 61:b9d3e7e5ba0c 7 * of the License at
Alex Young 18:2073072bad51 8 *
Alex Young 61:b9d3e7e5ba0c 9 * http://www.apache.org/licenses/LICENSE-2.0
Alex Young 18:2073072bad51 10 *
Alex Young 61:b9d3e7e5ba0c 11 * Unless required by applicable law or agreed to in writing, software
Alex Young 61:b9d3e7e5ba0c 12 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
Alex Young 61:b9d3e7e5ba0c 13 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
Alex Young 61:b9d3e7e5ba0c 14 * License for the specific language governing permissions and limitations
Alex Young 61:b9d3e7e5ba0c 15 * under the License.
Alex Young 18:2073072bad51 16 */
Alex Young 18:2073072bad51 17
Alex Young 18:2073072bad51 18 #include "xbusutility.h"
Alex Young 18:2073072bad51 19
Alex Young 45:67203918bec9 20 /*!
Alex Young 45:67203918bec9 21 * \name Xbus message reading utility functions.
Alex Young 45:67203918bec9 22 * Xbus messages use big-endian representations for multibyte data.
Alex Young 45:67203918bec9 23 * These functions help in reading data from an Xbus message and converting
Alex Young 45:67203918bec9 24 * it to a native type.
Alex Young 45:67203918bec9 25 *
Alex Young 45:67203918bec9 26 * The functions are intended to scan over a message as follows:
Alex Young 47:c4610a65dade 27 * \code
Alex Young 45:67203918bec9 28 * void readValues(XbusMessage const* message)
Alex Young 45:67203918bec9 29 * {
Alex Young 45:67203918bec9 30 * uint16_t v1;
Alex Young 45:67203918bec9 31 * uint8_t v2;
Alex Young 45:67203918bec9 32 * uint32_t v3;
Alex Young 45:67203918bec9 33 * uint8_t* dptr = message->data;
Alex Young 45:67203918bec9 34 * dptr = XbusUtility_readU16(&v1, dptr);
Alex Young 45:67203918bec9 35 * dptr = XbusUtility_readU8(&v2, dptr);
Alex Young 45:67203918bec9 36 * dptr = XbusUtility_readU32(&v3, dptr);
Alex Young 45:67203918bec9 37 * }
Alex Young 45:67203918bec9 38 * \endcode
Alex Young 45:67203918bec9 39 * \{
Alex Young 45:67203918bec9 40 */
Alex Young 45:67203918bec9 41 /*!
Alex Young 45:67203918bec9 42 * \brief Read a uint8_t value from an Xbus message.
Alex Young 45:67203918bec9 43 */
Alex Young 18:2073072bad51 44 uint8_t const* XbusUtility_readU8(uint8_t* out, uint8_t const* in)
Alex Young 18:2073072bad51 45 {
Alex Young 18:2073072bad51 46 *out = *in;
Alex Young 18:2073072bad51 47 return ++in;
Alex Young 18:2073072bad51 48 }
Alex Young 18:2073072bad51 49
Alex Young 45:67203918bec9 50 /*! \brief Read a uint16_t value from an Xbus message. */
Alex Young 18:2073072bad51 51 uint8_t const* XbusUtility_readU16(uint16_t* out, uint8_t const* in)
Alex Young 18:2073072bad51 52 {
Alex Young 18:2073072bad51 53 *out = (in[0] << 8) | in[1];
Alex Young 18:2073072bad51 54 return in + sizeof(uint16_t);
Alex Young 18:2073072bad51 55 }
Alex Young 18:2073072bad51 56
Alex Young 45:67203918bec9 57 /*! \brief Read a uint32_t value from an Xbus message. */
Alex Young 18:2073072bad51 58 uint8_t const* XbusUtility_readU32(uint32_t* out, uint8_t const* in)
Alex Young 18:2073072bad51 59 {
Alex Young 18:2073072bad51 60 *out = (in[0] << 24) | (in[1] << 16) | (in[2] << 8) | in[3];
Alex Young 18:2073072bad51 61 return in + sizeof(uint32_t);
Alex Young 18:2073072bad51 62 }
Alex Young 45:67203918bec9 63 /*! \} */
Alex Young 27:eebe5fc884e3 64
Alex Young 45:67203918bec9 65 /*!
Alex Young 47:c4610a65dade 66 * \name Xbus message writing utility functions.
Alex Young 45:67203918bec9 67 * These functions aid in writing native values to big-endian xbus message
Alex Young 45:67203918bec9 68 * payloads. See corresponding reading functions for further details.
Alex Young 45:67203918bec9 69 * \{
Alex Young 45:67203918bec9 70 */
Alex Young 45:67203918bec9 71 /*! \brief Write a uint8_t value to an Xbus message. */
Alex Young 27:eebe5fc884e3 72 uint8_t* XbusUtility_writeU8(uint8_t* out, uint8_t in)
Alex Young 27:eebe5fc884e3 73 {
Alex Young 27:eebe5fc884e3 74 *out++ = in;
Alex Young 27:eebe5fc884e3 75 return out;
Alex Young 27:eebe5fc884e3 76 }
Alex Young 27:eebe5fc884e3 77
Alex Young 45:67203918bec9 78 /*! \brief Write a uint16_t value to an Xbus message. */
Alex Young 27:eebe5fc884e3 79 uint8_t* XbusUtility_writeU16(uint8_t* out, uint16_t in)
Alex Young 27:eebe5fc884e3 80 {
Alex Young 27:eebe5fc884e3 81 *out++ = (in >> 8) & 0xFF;
Alex Young 27:eebe5fc884e3 82 *out++ = in & 0xFF;
Alex Young 27:eebe5fc884e3 83 return out;
Alex Young 27:eebe5fc884e3 84 }
Alex Young 27:eebe5fc884e3 85
Alex Young 45:67203918bec9 86 /*! \brief Write a uint32_t value to an Xbus message. */
Alex Young 27:eebe5fc884e3 87 uint8_t* XbusUtility_writeU32(uint8_t* out, uint32_t in)
Alex Young 27:eebe5fc884e3 88 {
Alex Young 27:eebe5fc884e3 89 *out++ = (in >> 24) & 0xFF;
Alex Young 27:eebe5fc884e3 90 *out++ = (in >> 16) & 0xFF;
Alex Young 27:eebe5fc884e3 91 *out++ = (in >> 8) & 0xFF;
Alex Young 27:eebe5fc884e3 92 *out++ = in & 0xFF;
Alex Young 27:eebe5fc884e3 93 return out;
Alex Young 27:eebe5fc884e3 94 }
Alex Young 45:67203918bec9 95 /*! \} */