User Manual MTi 1-series DK
Contents
1. Features Easy to use Development Board Complete MT Software Suite o MT Manager logging and visualization GUI SDK for Windows Linux embedded o Magnetic Field Mapper Full functionality Delivered with MTi 3 8A7G6 mounted API compatible with all Xsens Motion Trackers o Drivers and examples on ARM mbed USB RS232 UART SPI I2C interfaces Related Resources www xsens com MTi 1 series MT Low Level Communication Protocol Documentation MTi 1 series Data sheet MT0512P MT Low Level Communication Protocol Documentation MT0101P MT Manager User Manual MT0216P MTi White Paper Next generation Xsens Motion Trackers for Industrial applications User Manual 1 DK Document MT0513P Revision 8 Jul 2015 Description The MTi 1 series Development Kit is an excellent tool to start working with the MTi 1 series It has a pre mounted MTi 3 8A7G6 AHRS and comes with the extensive MT Software Suite and USB cabling This software suite is uniform and suitable for all Xsens products including the high performance MTi 100 series This makes the MT Software Suite full featured with logging visualization options intuitive configuration windows and possibilities to export data for use in other programs The Software Development Kit contains source code for communication and libraries for data processing The 24 pins header connects to all interfaces available on the 1 series2. Wizard It is possible to choose the components that you need to install m Installation Select which product you want to install When you cancel the installation of a particular component the installer will continue with the next component Make sure to accept the End User License agreement and Software License Agreements 33 Xsens MT Manager Setup End User License Agreement Please read the following license agreement carefully XSENS MT MANAGER END USER LICENSE AGREEMENT IMPORTANT READ CAREFULLY BEFORE INSTALLING OR OTHERWISE USING THE SOFTWARE PROVIDED UNDER THIS AGREEMENT This End User License Agreement EULA is binding legal agreement for the Xsens Software Product in which this EULA is contained which includes computer software and may include online or electronic documentation collectively the Software Product between you you and Xsens Technologies B V a private C I do not accept the terms in the License Agreement Advanced Installer Figure 4 Xsens MT Manager EULA www xsens com 5 Document 51 Xsens Technologies B V User Manual MTi 1 series DK 2 1 2 Connecting your device to MT Manager Connect the Development Board to your PC using the supplied USB cable With the USB cable the Development Board is automatically found Note When you already have products from Xsens installed there is a chance that the Development board will be incorr
3. for MTi 1 series LL including 3 8 706 a gt www xsens com 3 Document 51 Xsens Technologies B V User Manual MTi 1 series DK 2 Getting started The MTi 1 series Development Kit contains e the Development Board with the MTi 1 series mounted amicro USB to USB B cable e the MT Software Suite on a USB flash drive The MTi Development Board has the following layout Micro USB 24 pins header we 1115448 we os P d Indication lights VDD and VDDIO 6 lever switch PLCC28 IC socket with MTi 3 8A7G6 Figure 2 Top view of the MTi 1 series Development Board with the various components mm PSELO PSEL1 RS232 6 Hic LO Figure 3 Bottom view of the MTi 1 series Development Board with the description of the header and switch Text is displayed as see through www xsens com 4 Document 51 Xsens Technologies B V User Manual MTi 1 series DK 2 1 4 Installing MT Software Suite The MT Software Suite is delivered on a USB flash drive in the Development Kit The following will be installed The installation procedure consists of a set of several installers and starts with this screen 18 Xsens MT Software Suite 44 Setu Welcome to the Xsens MT Software Suite 4 4 Setup Wizard The Setup Wizard will install Xsens MT Software Suite on your computer Click Next to continue or Cancel to exit the Setup
4. Measuring Product C Communi Baudrate Location ID Filter Settin 3 8 766 COM22 115200 0 general anv eS The other visualizations can be opened using the windows toolbar W e Refer to the MT Manager User Manual for more information on these graphs and their features The MT Manager User Manual can be found via Help Documentation www xsens com Document 51 User Manual MTi 1 series DK Xsens Technologies 2 1 4 Configuring 1 series MT Manager is an excellent tool to configure the 1 series Click the Output Configuration button The following screen appears 43 Output configuration options for MT 03880021 L9 25 Preset Onboard Processing v Link Formats Link Fregs Timestamp Packet Counter V Sample Time Fine Sample Time Coarse UTC Time Orientation Quaternion v Floating Point 32 bit 100Hz Inertial Data Aq Rate of Turn Av Acceleration Free Acceleration Magnetic Field Magnetic Field Temperature Temperature Status Status Word Status Byte By default the output of the 1 series is orientation only Click Inertial Data Aq Av or Rate of Turn Acceleration and Magnetic Field to be able to show this data in MT Manager 2 1 5 Other functionality of MT Manager With the MT Manager it is possible to record data and export that data for use in other programs
5. OSIN 8OS ISOW 805 Sou gos 805 isu aos Document 51 User Manual MTi 1 series DK 12 www xsens com Xsens Technologies B V ANC 70907302 TAO INAS ia 0016 i25 185 E 32 ___ wa E 314 1472 bel KOEI YIO EEXLAST Soft Soft HEX AOT ABT VIS p LFL dd SSrySLIDLI SLON DS KIAL XLON Lu 4 m 01 AOLTUOCC 201 USKADT Aer DS 22 1 XS KOKAO 01 SX AS I d f0f gt 805 orda COFO 3001 COFO 701 ol Bel COTO AT XS866CNVJ r uim DT ce Level Translators Document 51 User Manual MTi 1 series DK 13 www xsens com Xsens Technologies B V Figure 9 Physical location of components 3 2 2 Physical dimensions 34 0 mm 43 50 mm Figure 10 The outer dimensions of the MTi DEV Board PCB spacers are placed 3 2 3 Electrical specifications The Development Board has the same communication protocol as the MTi 1 series module The table below shows the electrical specifications for the Development Board Table 4 System specifications Development Board woo 7 www xsens com 14 Document 51 Xsens Technologies B V User Manual MTi 1 series DK 3 3 Absolute maximum ratings Min Max Unit Com
6. configure synchronization options and to review the test and calibration report More information on the functions in MT Manager can be found in the MT Manager User Manual 2 1 66 Embedded examples The MTi 1 series is designed for easy integration in embedded systems To aid in development example code is provided for the ARM mbed platform An example implementation of the Xbus Low Level Communication Protocol is provided as generic C99 compliant source code while an ARM mbed specific application demonstrates the use of the Xbus library to communicate with an MTi 1 series development kit using UART communications The example code has been tested with the following ARM mbed compatible boards SI Nucleo F302R8 Cortex M4 FreeScale FRDM KL46Z Cortex MO EA LPC 4088 Cortex M4 The example code is available at http www mbed org teams Xsens Documentation on how to use is provided on the description page and in the code Note that these examples are provided as is and are not supported by the Xsens support team The examples are licensed under the Apache Licence version 2 0 Several basic commands were used it is easy to extend the program with commands from the Xsens Low Level Communication Protocol LLCP This protocol is documented in detail in the MT Software Suite and in the Low Level Communication Protocol Documentation 1 Xbus example code is not specific to ARM processors and should be compatible with other embe
7. dded architectures www xsens com 7 Document 51 Xsens Technologies User Manual MTi 1 series DK 2 1 7 Frames of reference used in 1 series The MTi 1 series uses a right handed coordinate system as the basis of the sensor of frame The following data is outputted in corresponding reference coordinate systems Data Symbol Reference coordinate system Acceleration az Sensor fixed Rate of turn Wx Wy Wz Sensor fixed Magnetic field mx my mz Sensor fixed Free acceleration a Local Tangent Plane LTP default ENU Velocity increment Avy AVz Local Tangent Plane LTP default ENU Orientation increment Aq1 92 Local Tangent Plane LTP default ENU Orientation Euler angles quaternions or Local Tangent Plane rotation matrix DCM LTP default ENU Local Tangent Plane LTP is a local linearization of the Ellipsoidal Coordinates Latitude Longitude Altitude in the WGS 84 Ellipsoid Figure 6 Default sensor fixed system for the MTi 1 series Development Board with MTi It is straightforward to apply a rotation matrix to the MTi so that the velocity and orientation increments free acceleration and the orientation output is using that coordinate frame The default reference coordinate system is East North Up ENU and the MTi 1 series has predefined outputs for North East Down NED and North West Up NWU Any arbitrary alignment be enter
8. ectly identified as a serial mouse or serial ballpoint Navigate to the Device Manager double click Motion Tracker Development Board Virtual COM and click Advanced under Port Settings Uncheck the box Serial Enumerator Advanced Settings 22 COM Port Number COM22 USB Transfer Sizes Select lower settings to correct performance problems at low baud rates Select higher settings for faster performance Receive Bytes 512 Transmit Bytes 128 BM Options Miscellaneous Options Select lower settings to correct response problems Serial Enumerator Serial Printer Latency Timer msec 1 Y Cancel If Power Off Event On Surprise Removal Timeouts Set RTS On Close Disable Modem Ctrl At Startup Minimum Read Timeout msec 0 m TNI NE E am Minimum Write Timeout msec Selective Suspend Idle Timeout msec 5 Figure 5 Serial Enumerator must be unticked for the MTi 1 series Development Board to prevent identification as a serial mouse or ballpoint 2 1 3 Displaying data in MT Manager When the MTi Development Board is connected click the 3D View icon W This will result in a 3D box representation of the 43 Xsens MT Manager em Cee Port Baudrate xa G Auto E Reh at in bm gt 3D Orientation View for MT 03880021 Device List v di Device Infor 03880021
9. ed These orientation resets have effect on all outputs that are by default outputted with an ENU reference coordinate system WWW XSens com 8 Document 51 Xsens Technologies B V User Manual MTi 1 series DK 3 Package and handling Note that this is a mechanical shock g sensitive device Proper handling is required to prevent damage to the part Note that this is an ESD sensitive device Proper handling is required to prevent damage to the part 3 1 Development Kit The MTi 1 series is available with a development kit An MTi 3 AHRS is mounted in a PLCC 28 socket and connects to USB RS232 UART I2C and SPI The MTi 1 series DK comes with MT Manager an intuitive GUI for Linux and Windows example code and example applications The Development Board exposes the pins of the MTi 1 on an easy to use 24 pins header allowing easy connectivity during prototyping RS232 selector RS232 transceiver UART USB converter Power Status LEDs management VDD VDDIO SPI VOD VDDIO GND Sync C C 7 14 14 lt 3 C o a f USB Figure 7 MTi 1 series Development Board www xsens com 9 Document 51 Xsens Technologies B V User Manual MTi 1 series DK 3 1 1 Connections and peripheral switch The MTi Development Board has the following connections and switches 24 pins dual row header wit
10. ference used in MII 1 4 8 3 PACKAGE AND lt lt 9 c DEVELOPMENT KIT u 9 3 1 1 Connections and peripheral switch 10 22 Bie A 11 3 2 1 xu u EE 12 3 2 2 Physical ONTICIISIONS _ ____ __ 14 3 2 3 Electrical specifications 0 001 00000000000 saa suras seran 14 3 3 ABSOLUTE MAXIMUM RATINGS NNN SNE SEENEN SN NEEN REENEN NNN EN ENNEN NNN iUic ia ENNER ENK 15 4 TRADEMARKS AND 5 16 298 MES CREER 16 AL REVISIONS conte 16 www xsens com 2 Document MT0513P A Xsens Technologies B V User Manual MTi 1 series DK 1 General information 11 Ordering Information Development kit
11. h a pitch of 2 54 mm The table below shows the connections For information on the connections refer to the pin description in section 3 2 Refer to Table 3 how to enable the various interfaces on the Development Board Table 1 Pin nr 1 3 5 7 9 11 13 15 17 19 21 23 Connections 24 pins header Pin nr VDD 2 VDDIO GND 4 GND nRST 6 NC NC 8 NC UART TX or I2C SCL 10 RS232 TX UART RX or 12 SDA 12 RS232 RX UART RTS 14 RS232 RTS UART CTS or DRDY 16 RS232 CTS SPI SCK 18 GND SPI MISO 20 RESERVED SPI MOSI 22 SYNC SPI nCS 24 GND Micro USB the MTi 1 Development Board has a micro USB connection that can be used to connect directly to a USB port on a PC or laptop To enable the communication via USB make sure to have the peripheral selection set to UART full duplex Peripheral switch This switch sets the interface configuration of the 12 1 x 12 1 mm module in the socket of the MTi 1 Development Board Table 2 Settings for switch Lever nr Description Comments Sets the VDDIO of UART SPI and 12 to 3 0V if VDDIO is not supplied to pin nr 2 of the 24 pins connector Setting a k VDDIO either external or with this lever is required to properly define the voltage levels of SYNC_IN Sets the VDDIO of UART SPI and 2 to 1 8V if VDDIO is not supplied to pin nr 2 of the 24 pins connector When 2 VDDIO 1 8V VDDIO 3 0V is selected as well VDDIO will be 3 0V Setting a VDDIO either external or with
12. latest available data message or t adjusts the bias of the clock onboard the DRDY Data ready Data ready pin indicates that data is available SPI 2 www xsens com 11 Document 51 Xsens Technologies B V User Manual MTi 1 series DK Schematics 3 2 1 C 01 5 KH 805 01 AT COO XQ d 2L 9002 01 7897107701001 d cote TOPO 3001 1 TORO 663 Sal TOPO 663b 3 62005020 lt 8 6TOOSOLOETS 1 0501 21 341 NI ONAS 110 INAS SOU 145 ISOW 145 145 MOS 145 SLO LAVAN SLA Luv VAS OCUXH TOS OCUIXI LAVAN Ve ULE wy RS 4 TOR gt stoN 22220 K Gon 1601 6C00 0L0tC8 i SIDIR i To 2 B i AC 6LT6LTFLEM ZHJN001774009 ESNA 0061 SIdON ONAS 905 5 HOS 11354 01454 VAVS00cD43INd MOS 905 9011 all e dd 9510 5191 SINOW 8525 184 SIOON VAS TOS XLOW 1 LK E eC ader WE gos TaN 001 24 pins h g edi gSA LILODO COSEULTU IW e ERR M 6005020
13. ments Storage temperature 40 125 C Operating temperature 30 85 C VDD 0 3 6 0 V VDDIO 0 3 VDD 0 5 V VSYNC_IN 7 0 V Acceleration 10 000 g Any axis unpowered for 0 2 ms ESD protection 2000 V Human body model 3 N This is a mechanical shock g sensitive device Proper handling is required to prevent damage to the part A This is ESD sensitive device Proper handling is required to prevent damage to the part www xsens com 15 Document 51 Xsens Technologies B V User Manual MTi 1 series DK 4 Trademarks and revisions 41 Trademarks 2005 2015 Xsens Technologies B V All rights reserved Information in this document is subject to change without notice Xsens MVN MotionGrid MTi MTi G MTx MTw Awinda and KiC are registered trademarks or trademarks of Xsens Technologies B V and or its parent subsidiaries and or affiliates in The Netherlands the USA and or other countries All other trademarks are the property of their respective owners 4 2 Revisions Revision Date By Changes A 8 July 2015 MHA Initial release www xsens com 16 Document MT0513P A Xsens Technologies B V User Manual MTi 1 series DK
14. module Connections with development platforms for Cortex M processors of different brands can be made easy using the Xsens examples on the mbed org website Figure 1 MTi 1 series Development Board with MTi 3 8A7G6 module www xsens com Document 51 Xsens Technologies User Manual MTi 1 series DK Table of Contents TABLE OF CONTENTS ccceccececceccecceccccecencencenecneaueatentenceneeneeneunecuenuenueneeneeneeuennenuenuenueneeneenecuecneaneauenueneenseneeneuneantuneueeneeneas 2 1 GENERAL INFORMATION u u u u u SI ees 3 1 1 25 5546 3 2 GETTING STARTED _ _ E EMEN E EE 4 2 1 1 Installing MT Software ___________ _ _ _ __ ___ 9 2 1 2 Connecting your device to MT 2 0 0 000 666000000000000000000 6 2 1 3 Disploying data In MT hn E 6 2 1 4 Configuring the MTI l1Series uuu u 7 2 1 5 Other Tunctionality or MT ____ _____________ _ 6 6 2 1 6 Embedded examples wisciorinczvncdvivintevaacsncasstvsntantesaevonwisvaresdectntiesiexateers saxdsuwtsvetwndectntexstennsverestnreswdseseersers 7 2 1 7 Frames of re
15. this lever is required to properly define the voltage levels of SYNC PSELO PSEL1 Peripheral S k 0 0 UART_FD 1 0 UART_HD 4 PSEL1 1 1 2 Set this lever to 1 high to enable RS232 communication 5 RS232 Also PSELO and PSEL1 must be set to UART This lever must be set to 0 to enable 12 6 NC N A 2 Note that the values for the peripheral selection on the switch are inverted with respect to the values on the module Www xsens com 10 Document 51 Xsens Technologies User Manual MTi 1 series DK Table 3 Switch positions to enable interfaces Development Board nterface SELO PSEL ROZIZ Comments O 0 0 When USB is detected iterace USB LIN nn Figure 8 Switch to 2 interface and VDDIO of 3 0V Name _ Power Interface Controls PSELO These pins determine the signal interface See table below Note that when the Selection pins PSELO PSEL1 is not connected its value is 1 When PSELO PSEL 1 is connected PSEL1 to GND its value is 0 75 e Active low reset pin connect to VDDIO if not used Signal Interface SPI nCS SPI chip select SPI MOSI SPI serial data input slave SPI interface SPI MISO SPI serial data output slave SPI SCK SPI serial clock SYNC accepts a trigger which has the following functionality depending on the configuration set in the firmware t sends out the
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