Xsens MTi 1 Series, Руководство пользователя

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MTi 1-series User Manual
Xsens MTi User Manual Repository Datasheet
Copyright © 2021 Xsens Page 16
Name Type Description
Auxiliary interface (MTi-7 only)
AUX_RX Auxiliary
GNSS
interface
Receiver data input from GNSS module
AUX_TX Transmitter data output to GNSS module
SYNC_PPS Pulse per second input from GNSS module
AUX_nCS Auxiliary
SPI
interface
SPI chip select output
AUX_MOSI SPI serial data output (master)
AUX_MISO SPI serial data input (master)
AUX_SCK SPI serial clock output
Peripheral interface selection
The MTi 1-series module supports UART, I
2
C, and SPI interfaces for host communication. The
host can select the active interface through the peripheral selection pins PSEL0 and PSEL1. The
module reads the state of these pins at start-up, and configures its peripheral interface
according to the Table below. To change the selected interfaces, the host must first set the
desired state of the PSEL0 and PSEL1 pins, and then reset the module. The module has internal
pull-ups on the PSEL0 and PSEL1 pins. If these pins are left unconnected, the peripheral
interface selection defaults to I
2
C (PSEL0 = 1, and PSEL1 = 1).
Peripheral interface selection
Interface PSEL1 PSEL0
I
2
C
1 1
SPI 1 0
UART half-duplex 0 1
UART full-duplex 0 0