TOP Contributors

  1. MIKROE (2784 codes)
  2. Alcides Ramos (405 codes)
  3. Shawon Shahryiar (307 codes)
  4. jm_palomino (133 codes)
  5. Bugz Bensce (97 codes)
  6. S P (73 codes)
  7. dany (71 codes)
  8. MikroBUS.NET Team (35 codes)
  9. NART SCHINACKOW (34 codes)
  10. Armstrong Subero (27 codes)

Most Downloaded

  1. Timer Calculator (141306 times)
  2. FAT32 Library (74107 times)
  3. Network Ethernet Library (58718 times)
  4. USB Device Library (48831 times)
  5. Network WiFi Library (44526 times)
  6. FT800 Library (44078 times)
  7. GSM click (30834 times)
  8. mikroSDK (29673 times)
  9. PID Library (27357 times)
  10. microSD click (27252 times)
Libstock prefers package manager

Package Manager

We strongly encourage users to use Package manager for sharing their code on Libstock website, because it boosts your efficiency and leaves the end user with no room for error. [more info]

< Back
mikroSDK Library

XSENS MTI-3 click

Rating:

5

Author: MIKROE

Last Updated: 2020-10-19

Package Version: 1.0.0.0

mikroSDK Library: 1.0.0.0

Category: Motion

Downloaded: 533 times

Not followed.

License: MIT license  

XSENS MTi-3 Click is a compact add-on board that contains a fully functional module that can be configured as an Inertial Measurement Unit, Vertical reference Unit, or even an Attitude &amp; Heading Reference System.

No Abuse Reported

Do you want to subscribe in order to receive notifications regarding "XSENS MTI-3 click" changes.

Do you want to unsubscribe in order to stop receiving notifications regarding "XSENS MTI-3 click" changes.

Do you want to report abuse regarding "XSENS MTI-3 click".

  • mikroSDK Library 2.0.0.0
  • Comments (0)

mikroSDK Library Blog

XSENS MTi-3 Click

XSENS MTi-3 Click

Native view of the XSENS MTi-3 Click board.

View full image
XSENS MTi-3 Click

XSENS MTi-3 Click

Front and back view of the XSENS MTi-3 Click board.

View full image

Library Description

The library contains basic functions for working with click. Of the communications, only UART is supported.

Key functions:

  • void xsensmti3_parser(uint8_t *rsp_buf, uint8_t start_cnt xsensmti3_parse_t *obj ) - General Parser
  • void xsensmti3_get_data(xsensmti3_quat_t *quat_obj,xsensmti3_data_t *data_obj) - Get Roll, Pitch and Yaw
  • uint8_t xsensmti3_check_package(uint8_t *package_buf,uint8_t *start_package) - Checks package

Examples description

The application is composed of three sections :

  • System Initialization - Initialize UART module and necessary GPIO pins
  • Application Initialization - Initialize driver init and uart interrupt
  • Application Task - Reads and parsing data packaga. Shows Roll, Pitch and Yaw data.
void application_task ( )
{
    uint8_t check_data = 0;
    uint8_t cnt = 0;

    // STARTS COLLECTING DATA
    if ( active_flag == XSENSMTI3_WAIT_FOR_START )
    {
        memset( &parser_current_buf[0], 0 , 110 );
        parser_buf_cnt = 0;
        active_flag = XSENSMTI3_START_PROCESS;
        xsensmti3_enable_uart_isr( );
    }

    // CHECKS RECEIVED DATA
    if ( ( parser_buf_cnt > 100 ) && ( active_flag == XSENSMTI3_START_PROCESS ) )
    {
       xsensmti3_disable_uart_isr( );
       active_flag = XSENSMTI3_DATA_PROCESSING;
    }

    // CHECKS IF THE VALID PACKAGE IS RECEIVED
    if ( active_flag == XSENSMTI3_DATA_PROCESSING )
    {
        check_data = xsensmti3_check_package( &parser_current_buf[0], &start_rsp );
        if ( check_data == 1 )
        {
            active_flag = XSENSMTI3_PARSER_DATA;
        }
        else
        {
            active_flag = XSENSMTI3_WAIT_FOR_START;
        }
    }

    // PARSING DATA AND DISPLAY
    if ( active_flag == XSENSMTI3_PARSER_DATA )
    {
       xsensmti3_parser( &parser_current_buf[0], start_rsp, &parse_data_obj );

       mikrobus_logWrite( ">> Quaternion data <<", _LOG_LINE );

       for ( cnt = 0; cnt < 4; cnt++ )
       {
           mikrobus_logWrite( ">> Q: ", _LOG_TEXT );
           FloatToStr( parse_data_obj.quat_obj.quat_data[ cnt ], demo_text );
           LTrim( demo_text );
           mikrobus_logWrite( demo_text , _LOG_LINE );
       }

       mikrobus_logWrite( "--------------", _LOG_LINE );

       xsensmti3_get_data( &parse_data_obj.quat_obj, &data_obj );

       mikrobus_logWrite( ">> ROLL: ", _LOG_TEXT );
       FloatToStr( data_obj.roll, demo_text );
       LTrim( demo_text );
       mikrobus_logWrite( demo_text , _LOG_LINE );

       mikrobus_logWrite( ">> PITCH: ", _LOG_TEXT );
       FloatToStr( data_obj.pitch, demo_text );
       LTrim( demo_text );
       mikrobus_logWrite( demo_text , _LOG_LINE );

       mikrobus_logWrite( ">> YAW: ", _LOG_TEXT );
       FloatToStr( data_obj.yaw, demo_text );
       LTrim( demo_text );
       mikrobus_logWrite( demo_text , _LOG_LINE );

       Delay_ms( 1000 );
       active_flag = XSENSMTI3_WAIT_FOR_START;

       mikrobus_logWrite( " rn--------------", _LOG_LINE );
    }
}

Other mikroE Libraries used in the example:

  • UART Library

Additional notes and informations

Depending on the development board you are using, you may need USB UART clickUSB UART 2 click or RS232 click to connect to your PC, for development systems with no UART to USB interface available on the board. The terminal available in all MikroElektronika compilers, or any other terminal application of your choice, can be used to read the message.

ALSO FROM THIS AUTHOR

RTC 8 click

5

RTC 8 click is a real time clock module which has an extremely low power consumption, allowing it to be used with a single button cell battery, for an extended period of time.

[Learn More]

Ultrasonic 5 Click

0

Ultrasonic 5 Click is a compact add-on board that contains circuits for processing the ultrasonic sensor's output. This board features the TUSS4470, a transformer-drive ultrasonic sensor IC with a logarithmic amplifier from Texas Instruments. In addition to the high selectability of the power supply of the IC itself, this board also allows you to choose between 40kHz and 1MHz operating frequency, with a signal zero crossing comparator as an option. The ultrasonic sensor, the UTR-1440K from PUI Audio, also comes in the same package with this Click board™.

[Learn More]

Stepper 15 Click

0

Stepper 15 Click is a compact add-on board that contains a bipolar stepper motor driver. This board features the DRV8889A, an automotive stepper driver with integrated current sense and stall detection from Texas Instruments.

[Learn More]