TOP Contributors

  1. MIKROE (2751 codes)
  2. Alcides Ramos (372 codes)
  3. Shawon Shahryiar (307 codes)
  4. jm_palomino (118 codes)
  5. Bugz Bensce (90 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 (139060 times)
  2. FAT32 Library (71592 times)
  3. Network Ethernet Library (56989 times)
  4. USB Device Library (47330 times)
  5. Network WiFi Library (43006 times)
  6. FT800 Library (42297 times)
  7. GSM click (29777 times)
  8. mikroSDK (27874 times)
  9. PID Library (26858 times)
  10. microSD click (26129 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: 393 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

6DOF IMU 11 Click

0

The 6DOF IMU 11 Click is a Click board™ based on the KMX63, a 6 Degrees-of-Freedom inertial sensor system on a single, silicon chip, which is designed to strike a balance between current consumption and noise performance with excellent bias stability over temperature.

[Learn More]

ADC click

0

Simple example which demonstrates working with the 4-Channel 12-bit A/D Converter (MCP3204) with SPI Serial Interface. The example shows how to measure analog inputs on Channels 0, 1, 2 and 3 and display the results on LCD.

[Learn More]

UT-S 7 SEG R click

0

UT-S 7 SEG R click uses two SMD ultra-thin DSM7UA 7-SEG LED displays, made with the patented technology that delivers thickness of only 2.1 mm. These displays are driven by the MAX6969, a constant current LED integrated driver from Maxim Integrated, which uses the SPI serial interface for communication.

[Learn More]