MTi 1-series User Manual
Xsens MTi User Manual Repository
Datasheet
Copyright © 2021 Xsens
Page 25
The below figure shows the I
2
C transfer of a write message operation:
I
2
C write message operation
Reading from the module
To read from the module, the Master first does an I
2
C write transfer to transmit the opcode. The
opcode tells the module what data the Master wants to read. The module then prepares the
requested data for transmission. The Master then does an I
2
C read transfer to retrieve the data.
The figure below shows the I
2
C transfers for the described read method.
Read message operation with full write transfer and full read transfer (I
2
C)
Alternatively, the user can perform the read operation using an I
2
C transfer with a repeated start
condition. The below figure depicts this read method.
Read message transfer using a repeated start condition (I
2
C)
The Master controls how many data bytes it reads. For reading the Notification- and
Measurement Pipes, the number of bytes the Master must read depends on the size of the
pending message. In order to determine the correct number of bytes, the Master should first
read the Pipe Status to obtain the sizes of the pending messages.
If the Master reads more bytes than necessary, the module will restart sending the requested
