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Author: MIKROE
Last Updated: 2024-10-31
Package Version: 2.1.0.7
mikroSDK Library: 2.0.0.0
Category: Motion
Downloaded: 87 times
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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.
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DOWNLOAD LINK | RELATED COMPILER | CONTAINS |
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4801_xsens_mti_3_clic.zip [658.88KB] | mikroC AI for ARM GCC for ARM Clang for ARM mikroC AI for PIC mikroC AI for PIC32 XC32 GCC for RISC-V Clang for RISC-V mikroC AI for dsPIC XC16 |
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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.
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.
This library contains API for XSENSMTi3 Click driver.
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 );
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 );
This example reads and processes data from XSENS MTi-3 clicks.
The demo application is composed of two sections :
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 " );
}
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( ¤t_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( ¤t_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( ¤t_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:
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.