TOP Contributors

  1. MIKROE (2762 codes)
  2. Alcides Ramos (374 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 (139251 times)
  2. FAT32 Library (71749 times)
  3. Network Ethernet Library (57120 times)
  4. USB Device Library (47430 times)
  5. Network WiFi Library (43082 times)
  6. FT800 Library (42403 times)
  7. GSM click (29835 times)
  8. mikroSDK (28077 times)
  9. PID Library (26885 times)
  10. microSD click (26198 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:

0

Author: MIKROE

Last Updated: 2024-10-31

Package Version: 2.1.0.7

mikroSDK Library: 2.0.0.0

Category: Motion

Downloaded: 87 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 & Heading Reference System. This board features the MTi-3, a module outputting 3D orientation, 3D rate of turn, 3D accelerations, and 3D magnetic field, depending on the product configuration from Xsens.

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 1.0.0.0
  • Comments (0)

mikroSDK Library Blog


XSENS MTi-3 Click

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 & Heading Reference System. This board features the MTi-3, a module outputting 3D orientation, 3D rate of turn, 3D accelerations, and 3D magnetic field, depending on the product configuration from Xsens.

xsensmti3_click.png

Click Product page


Click library

  • Author : Mikroe Team
  • Date : Sep 2021.
  • Type : UART type

Software Support

We provide a library for the XSENSMTi3 Click as well as a demo application (example), developed using MikroElektronika compilers. The demo can run on all the main MikroElektronika development boards.

Package can be downloaded/installed directly from NECTO Studio Package Manager(recommended way), downloaded from our LibStock™ or found on Mikroe github account.

Library Description

This library contains API for XSENSMTi3 Click driver.

Standard key functions :

  • xsensmti3_cfg_setup Config Object Initialization function.

    void xsensmti3_cfg_setup ( xsensmti3_cfg_t *cfg );
  • xsensmti3_init Initialization function.

    err_t xsensmti3_init ( xsensmti3_t *ctx, xsensmti3_cfg_t *cfg );

Example key functions :

  • xsensmti3_parser XSENS MTi-3 general parser.

    void xsensmti3_parser ( uint8_t *rsp_buf, uint8_t start_cnt, xsensmti3_parse_t *obj );
  • xsensmti3_get_data XSENS MTi-3 get Roll, Pitch and Yaw.

    void xsensmti3_get_data( xsensmti3_quat_t *quat_obj, xsensmti3_data_t *data_obj );
  • xsensmti3_check_package XSENS MTi-3 checks package.

    err_t xsensmti3_check_package( uint8_t *package_buf, uint8_t *start_package );

Example Description

This example reads and processes data from XSENS MTi-3 clicks.

The demo application is composed of two sections :

Application Init

Initializes driver and wake-up module.


void application_init ( void ) 
{
    log_cfg_t log_cfg;  /**< Logger config object. */
    xsensmti3_cfg_t xsensmti3_cfg;  /**< Click config object. */

    /** 
     * Logger initialization.
     * Default baud rate: 115200
     * Default log level: LOG_LEVEL_DEBUG
     * @note If USB_UART_RX and USB_UART_TX 
     * are defined as HAL_PIN_NC, you will 
     * need to define them manually for log to work. 
     * See @b LOG_MAP_USB_UART macro definition for detailed explanation.
     */
    LOG_MAP_USB_UART( log_cfg );
    log_init( &logger, &log_cfg );
    log_info( &logger, " Application Init " );

    // Click initialization.
    xsensmti3_cfg_setup( &xsensmti3_cfg );
    XSENSMTI3_MAP_MIKROBUS( xsensmti3_cfg, MIKROBUS_1 );
    if ( UART_ERROR == xsensmti3_init( &xsensmti3, &xsensmti3_cfg ) ) 
    {
        log_error( &logger, " Communication init." );
        for ( ; ; );
    }

    log_info( &logger, " Application Task " );
}

Application Task

Reads the received data and parses it. Shows Roll, Pitch and Yaw data.


void application_task ( void ) 
{
    uint8_t check_data = 0;
    uint8_t cnt = 0;

    xsensmti3_process( );

    // STARTS COLLECTING DATA
    if ( active_flag == XSENSMTI3_WAIT_FOR_START )
    {
        memset( &current_parser_buf[ 0 ], 0 , PROCESS_PARSER_BUFFER_SIZE );
        parser_buf_cnt = 0;
        active_flag = 0;
        start_rsp = 0;
        rsp_cnt = 0;
        active_flag = XSENSMTI3_START_PROCESS;
    }

    if ( ( parser_buf_cnt > 100 ) && ( active_flag == XSENSMTI3_START_PROCESS ) )
    {
       active_flag = XSENSMTI3_DATA_PROCESSING;
    }

    if ( active_flag == XSENSMTI3_DATA_PROCESSING )
    {
        check_data = xsensmti3_check_package( &current_parser_buf[ 0 ], &start_rsp );
        if ( check_data == XSENSMTI3_OK )
        {
            active_flag = XSENSMTI3_PARSER_DATA;
        }
        else
        {
            active_flag = XSENSMTI3_WAIT_FOR_START;
        }
    }

    if ( active_flag == XSENSMTI3_PARSER_DATA )
    {
       xsensmti3_parser( &current_parser_buf[ 0 ], start_rsp, &parse_data_obj );

       log_printf( &logger, ">> Quaternion data <<\r\n" );

       for ( cnt = 0; cnt < 4; cnt++ )
       {
           log_printf( &logger, ">> Q: %f\r\n", parse_data_obj.quat_obj.quat_data[ cnt ] );
       }

       log_printf( &logger, "--------------\r\n" );

       xsensmti3_get_data( &parse_data_obj.quat_obj, &data_obj );

       log_printf( &logger, ">> ROLL:  %.4f \r\n", data_obj.roll );
       log_printf( &logger, ">> PITCH: %.4f \r\n", data_obj.pitch );
       log_printf( &logger, ">> YAW:   %.4f \r\n", data_obj.yaw );

       active_flag = XSENSMTI3_WAIT_FOR_START;

       log_printf( &logger, "--------------\r\n" );
    }
}

The full application code, and ready to use projects can be installed directly from NECTO Studio Package Manager(recommended way), downloaded from our LibStock™ or found on Mikroe github account.

Other Mikroe Libraries used in the example:

  • MikroSDK.Board
  • MikroSDK.Log
  • Click.XSENSMTi3

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. UART terminal is available in all MikroElektronika compilers.


ALSO FROM THIS AUTHOR

ADC 22 Click

0

ADC 22 Click is a compact add-on board with a high-performance data converter. This board features the ADS8665, a high-speed single-supply SAR ADC data acquisition system with programmable bipolar input ranges from Texas Instruments. It features a high-speed, high-precision A/D converter based on successive approximation (SAR). This 12-bit resolution ADC with an integrated analog front-end (AFE) input driver circuit can achieve speeds of up to 500ksps.

[Learn More]

Charger 16 Click

0

Charger 16 Click is a compact add-on board that represents a single-cell battery charger. This board features the LT1571, a constant-current/constant-voltage battery charger with preset voltage and termination flag from Analog Devices.

[Learn More]

C Meter click

1

C Meter click is a mikroBUS add-on board with circuitry for measuring the value of capacitors. The design is based on a NE-555 timer/square-wave generator.

[Learn More]