Xsens MTi 1 Series, User Manual

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MTi 1-series User Manual
Xsens MTi User Manual Repository Datasheet
Copyright © 2021 Xsens Page 22
m_drdyConfig:
Bits
7:4
Reserved for future use
Bit 3 MEVENT: Measurement pipe DRDY event enable
0 : Generation of DRDY event is disabled
1 : Generation of DRDY event is enabled (default)
Bit 2 NEVENT: Notification pipe DRDY event enable
0 : Generation of DRDY event is disabled
1 : Generation of DRDY event is enabled (default)
Bit 1 OTYPE: Output type of DRDY pin
0: Push/pull (default)
1: Open drain
Bit 0 POL: Polarity of DRDY signal
0: Idle low (default)
1: Idle high
Note: Changes made to the DRDY configuration are volatile, e.g. they are lost during a
Note: Changes made to the DRDY configuration are volatile, e.g. they are lost during a
power cycle. Non-default settings should therefore be re-applied after each power-up.
power cycle. Non-default settings should therefore be re-applied after each power-up.
ControlPipe (0x03)
The ControlPipe opcode allows the Master to write messages to the Control Pipe. The bytes
following the opcode represent a single (reduced) Xbus message.
PipeStatus (0x04)
The PipeStatus opcode allows the Master to retrieve the status of the module's Notification-
and Measurement pipes. The format of the message is as follows (All data is little endian, byte
aligned):
struct MtsspConfiguration
{
uint16_t m_notificationMessageSize;
uint16_t m_measurementMessageSize;
};