Arduino SPI library for Xsens MTi 1-series

Introduction

This Arduino library demonstrates basic Xbus communication between an Arduino and an Xsens MTi 1-series shield board (MTi-#-DK) using the SPI interface. The example code is merely a starting point for code development. Its functionality can be extended by making use of the Xbus protocol. Xbus is the proprietary binary communication protocol that is supported by all Xsens MTi products, and it is fully documented in the MT Low-Level Communication Protocol Document.

For further guidance on using this example code, please refer to Xsens BASE.

Tested hardware

Arduino:

• Uno

Xsens MTi:

• MTi-3-DK
• MTi-7-DK
• MTi-8-DK

Setup

At least the following hardware connections are required:

• MTi_MOSI - Arduino_MISO, see: https://www.arduino.cc/reference/en/language/functions/communication/spi/
• MTi_MISO - Arduino_MOSI, see: https://www.arduino.cc/reference/en/language/functions/communication/spi/
• MTi_SCK - Arduino_SCK, see: https://www.arduino.cc/reference/en/language/functions/communication/spi/
• MTi_nCS - Arduino_D10
• MTi_GND - Arduino_GND
• MTi_3.3V - Arduino_3.3V
• MTi_DRDY - Arduino_D3

Additionally, make sure to:

• Enable SPI by switching PSEL0,1 to "0,1"
• Supply the MTi-#-DK with 3.3V (since 5V will force USB mode)

Functionality

After connecting with an MTi 1-series device, the example code will request device information (product code and firmware version). It will then continue to configure the outputs of the MTi (1 Hz default, 10 Hz selectable):

• MTi-1: RateOfTurn and Acceleration
• MTi-2/3: EulerAngles
• MTi-7/8: EulerAngles and Latitude/Longitude

After configuring, the MTi will be forced into Measurement mode and the received data will be printed to the serial monitor.