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 click, USB 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.