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MTi 1-series User Manual
Xsens MTi User Manual Repository

Datasheet

Copyright © 2021 Xsens

Page 17

Peripheral interface architecture

At its core, the module uses the Xsens-proprietary Xbus protocol which is compatible with all
Xsens Motion Tracker products. This protocol is available on all interfaces; UART

(asynchronous serial port interfaces), I

2

C and SPI interfaces. The I

2

C and SPI interfaces differ

from UART in that they are synchronous, and have a master-slave relationship in which the slave
cannot send data by itself. This makes the Xbus protocol not directly transferable to these
interfaces. For this purpose, the module introduces the MTi Synchronous Serial Protocol

(MTSSP) protocol, a protocol for exchanging standard Xbus protocol messages over the I

2

C and

SPI interfaces. The below figure shows how MTSSP fits in the module's (simplified)
communication architecture. The module has generic Input- and Output-Queues for Xbus

protocol messages. For I

2

C and SPI, the MTSSP layer translates these messages, while for the

UART connection, the module transports the messages as-is.

Note: The MTi 1-series offers access to the module via the UART, SPI and I²C

Note: The MTi 1-series offers access to the module via the UART, SPI and I²C

interfaces, as well as an additional USB interface when using the Development Shield.

interfaces, as well as an additional USB interface when using the Development Shield.

Please note that the graphical software tools, such as MT Manager and the Magnetic

Please note that the graphical software tools, such as MT Manager and the Magnetic

Field Mapper, as well as a large part of the MT SDK are only supported when using

Field Mapper, as well as a large part of the MT SDK are only supported when using

serial (UART/USB) communication. For I²C or SPI communication, dedicated

serial (UART/USB) communication. For I²C or SPI communication, dedicated

"embedded example codes" are available as part of the MT SDK.

"embedded example codes" are available as part of the MT SDK.

Communication architecture of MTi 1-series module (simplified)

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Содержание MTi 1 Series

Страница 1: ...MTi 1 series User Manual User Manual Please visit mtidocs xsens com for the latest version of this document Created Friday September 16 2022 Copyright Xsens All Rights Reserved...

Страница 2: ...ned in this document is subject to change without notice This document contains proprietary information which is protected by copyright All rights are reserved No part of this document may be photocop...

Страница 3: ...on 3 Sensor Speci cations 9 Functional Description 12 MTi 1 series Architecture 30 System and Electrical Speci cations 41 Design and Packaging 45 Declaration of conformity 50 DK User Manual 53 General...

Страница 4: ...MTi 1 series User Manual Xsens MTi User Manual Repository Copyright 2021 Xsens Page 1 click the icon to download the entire document in PDF...

Страница 5: ...MTi 1 series User Manual Xsens MTi User Manual Repository Copyright 2021 Xsens Page 2 Datasheet...

Страница 6: ...nal Description for use with the MTi 1 s the advice is to read the communication protocol reference in the MT Low Level Communication Protocol Document first This document also describes the synchroni...

Страница 7: ...tch yaw PCB JEDEC PLCC 28 compatible Tray of 100 MTi 7C GNSS INS inertial data roll pitch yaw velocity position PCB JEDEC PLCC 28 compatible Tray of 100 MTi 1R IMU inertial data PCB JEDEC PLCC 28 comp...

Страница 8: ...le Tray of 100 MTi 3 0I C AHRS inertial data roll pitch yaw PCB JEDEC PLCC 28 compatible Tray of 100 MTi 7 0I C GNSS INS inertial data roll pitch yaw velocity position PCB JEDEC PLCC 28 compatible Tra...

Страница 9: ...igits are unique for each device these four digits have a hexadecimal format Below is a list of the MTi 1 series product types with their associated Device IDs Device ID s for MTi 1 series Product MTi...

Страница 10: ...r and including orientation gain and bias offsets plus more advanced relationships such as non linear temperature effects and other higher order terms and runs the Xsens optimized strapdown algorithm...

Страница 11: ...MTi 1 series User Manual Xsens MTi User Manual Repository Datasheet Copyright 2021 Xsens Page 8...

Страница 12: ...calibration values are temperature dependent and temperature calibrated The calibration values are stored in non volatile memory of the module MTi 1 series performance specifications Orientation perf...

Страница 13: ...ns 1 Gyroscope specification Unit MTi 1 series v2 x MTi 1 series v3 x Standard full range s 2000 2000 In run bias stability h 10 6 Bandwidth 3dB Hz 255 230 Noise density s Hz 0 007 0 003 g sensitivity...

Страница 14: ...Total RMS noise mG 0 5 Resolution mG 0 25 Alignment specifications 1 Parameter Unit MTi 1 series v2 x v3 x Non orthogonality accelerometer 0 05 Non orthogonality gyroscope 0 05 Non orthogonality magn...

Страница 15: ...descriptions Peripheral interface selection Peripheral interface architecture Xbus Protocol MTSSP Synchronous Serial Protocol I2C SPI UART half duplex UART full duplex with RTS CTS flow control This...

Страница 16: ...T half duplex PSEL UART full duplex 1 1 AUX_SCK DNC AUX_SCK DNC AUX_SCK DNC AUX_SCK DNC 2 DNC DNC DNC DNC 3 DNC DNC DNC DNC 4 GND GND GND GND 5 VDDA VDDA VDDA VDDA 6 nRST nRST nRST nRST 7 VDDIO VDDIO...

Страница 17: ...AUX_nCS DNC 27 1 AUX_MOSI DNC AUX_MOSI DNC AUX_MOSI DNC AUX_MOSI DNC 28 1 AUX_MISO DNC AUX_MISO DNC AUX_MISO DNC AUX_MISO DNC 1 AUX and SYNC_PPS pins are only available on MTi 7 2 I 2 C addresses see...

Страница 18: ...st of I2C addresses ADD1 ADD0 Signal Interface I2C_SDA I2 C interface I2 C serial data input output I2C_SCL I2 C serial clock input SPI_nCS SPI interface SPI chip select input active low SPI_MOSI SPI...

Страница 19: ...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 s...

Страница 20: ...for Xbus protocol messages For I 2 C and SPI the MTSSP layer translates these messages while for the UART connection the module transports the messages as is Note The MTi 1 series offers access to the...

Страница 21: ...s a message to the module or reads a message from the module The figure below shows the data flow between the host Master Device and the MTi 1 s Slave The Master can control the Module by sending Xbus...

Страница 22: ...to the Notification Pipe It is therefore important for the host to read out new messages in time such that the pipe will not fill up resulting in lost measurement data or notifications For best practi...

Страница 23: ...ges refer to the MT Low Level Communication Protocol Documentation List of defined opcodes Opcode Name Read Write Data format Description 0x01 ProtocolInfo Read Opcode defined Status of the protocol b...

Страница 24: ...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...

Страница 25: ...onfiguration 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...

Страница 26: ...e MTData2 I 2 C The MTi 1 series module acts as an I 2 C Slave The User of the MTi 1 series module is the I 2 C Master The user can configure the I 2 C slave address through the ADD0 ADD1 and ADD2 pin...

Страница 27: ...y Yes Synchronization N A N A 4 The MTi 1 module relies on the I 2 C clock stretching feature to overcome fluctuations in processing time The Master is required to support this feature Writing to the...

Страница 28: ...sfers 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 re...

Страница 29: ...e uses an 8 bit data format Data transfer The module uses a single type of SPI transfer for all communications The below figure depicts this basic transfer SPI basic transfer The Master starts a trans...

Страница 30: ...bility of the Master to determine how many bytes it must transfer For reading the Notification and Measurement Pipes the number of bytes the Master must read depends on the size of the pending message...

Страница 31: ...epicts the behaviour of the involved signals Behaviour of the nRE and DE lines Note that in this mode the UART of the MTi 1 s itself is still operating full duplex UART full duplex with RTS CTS flow c...

Страница 32: ...e After receiving a byte the direct memory access DMA controller of the module will transfer the byte to its receive first in first out FIFO buffer The module will raise the RTS signal during this tra...

Страница 33: ...own integration Xsens sensor fusion algorithm for VRU and AHRS product types Xsens sensor fusion algorithm for GNSS INS product types Magnetic interference Magnetic Field Mapping In run Compass Calibr...

Страница 34: ...magnetic field The MTi 1 also outputs coning and sculling compensated orientation increments and velocity increments q and v Advantages over a gyroscope accelerometer combo sensor are the inclusion o...

Страница 35: ...tream with the device s 3D position velocity and orientation roll pitch and yaw MTi 8 RTK GNSS INS The MTi 8 is an improved version of the MTi 7 designed to be used with high precision GNSS receivers...

Страница 36: ...It is important to note that both the GNSS receiver and the MTi must be configured prior to connecting both systems to each other The NMEA input mode can be enabled using the Device Settings window in...

Страница 37: ...enable the Septentrio input mode for the MTi 7 8 Setting Description Baudrate Minimum 230400 bps GNSS Message frequency 5 Hz recommended default 10 Hz maximum Required messages ReceiverTime PVTGeodet...

Страница 38: ...rms high rate dead reckoning calculations at 800 Hz allowing accurate capture of high frequency motions This approach ensures a high bandwidth Orientation and velocity increments are calculated with f...

Страница 39: ...e on the gyro solution and the heading will slowly converge to the disturbed mag field over the course of time VRU_general 54 MTi 2 MTi 3 Magnetometers are not used to determine heading Consider using...

Страница 40: ...mate mainly on magnetic heading and GNSS measurements A homogenous or magnetic field calibration is essential for good performance 1 External aiding sensors for the MTi 7 8 2 This filter profile can b...

Страница 41: ...for which the MFM solution cannot be used e g MTi 1 s that is not able to be connected to a PC when MFM is not sufficient e g applications that move outside of the plane of motion used during the cali...

Страница 42: ...default sensor frame is defined as shown in the figure below For a more exact location of the sensor frame origin refer to the Hardware Integration Manual Some of the commonly used data outputs with t...

Страница 43: ...ence coordinate system For the MTi 7 8 the Local Tangent Plane LTP is a local linearization of the Ellipsoidal Coordinates Latitude Longitude Altitude in the WGS 84 Ellipsoid Velocity data calculated...

Страница 44: ...face specifications Communication interfaces Interface Min Typ Max Unit Description I 2 C fI2C 400 kHz Host I 2 C interface Clock speed SPI fSPI 2 MHz Host SPI Interface Clock Speed DCSCK 30 50 70 SPI...

Страница 45: ...1 8 MHz SPI serial clock speed System specifications System specifications Interface Min Typ Max Unit Comments Size Width Length 12 0 12 1 12 2 mm PLCC 28 compatible Height 2 5 2 6 2 7 mm Weight 0 6 g...

Страница 46: ...V Analog supply voltage VDDA ripple 50 mVpp Analog supply ripple VDDIO 2 8 VDDA 0 1 V Digital supply voltage VIL 0 3 VDDIO V Input low voltage VIH 0 45 VDDIO 0 3 V Input high voltage VHYS 0 45 VDDIO 0...

Страница 47: ...t to GND VDDIO 0 3 VDDA 0 5 V With respect to GND SYNC_IN 5 V With respect to GND Acceleration 3 10 000 g Any axis unpowered for 0 2 ms ESD protection 4 2000 V Human body model 3 This is a mechanical...

Страница 48: ...similar to a 28 lead Plastic Leaded Chip Carrier package JEDEC MO 047 Although it is recommended to solder the MTi 1 s module directly onto a PCB it can also be mounted in a compatible PLCC socket e g...

Страница 49: ...MTi T or MTi 0I T Tray Dimensions mm Tray packaging information Pin 1 Length X Width Y Height Z Pocket X Pitch Pocket Y Pitch Pocket X Y Array Qty Tray Qty Box 322 60 135 90 7 62 14 65 16 00 12 x 12 2...

Страница 50: ...nual Xsens MTi User Manual Repository Datasheet Copyright 2021 Xsens Page 47 The hardware version number is labeled SPEC REV on the TNR Label Tray of 100 pcs MTi C or MTi 0I C Reel packaging informati...

Страница 51: ...Pin 1 Packing Ao Bo Ko W Po P1 P2 A N C W3 Orientation by quadrant QTY Reel 12 6 12 8 12 6 12 8 2 9 3 10 23 70 24 30 3 90 4 10 15 90 16 10 1 90 2 10 177 80 55 12 80 13 50 23 90 27 40 1 2 250 NOTES All...

Страница 52: ...placement can differ between generations MTi 1 series module generations Version 1 x PCB no SM141111 Version 2 x PCB no SM171223 Version 3 x PCB no SM210527 MTi 1 series v1 x dimensions and sensor loc...

Страница 53: ...MTi 1 series User Manual Xsens MTi User Manual Repository Datasheet Copyright 2021 Xsens Page 50 Declaration of conformity EU Declaration of Conformity FCC Declaration of Conformity...

Страница 54: ...MTi 1 series User Manual Xsens MTi User Manual Repository Datasheet Copyright 2021 Xsens Page 51 Reach Declaration...

Страница 55: ...MTi 1 series User Manual Xsens MTi User Manual Repository Datasheet Copyright 2021 Xsens Page 52...

Страница 56: ...MTi 1 series User Manual Xsens MTi User Manual Repository Copyright 2021 Xsens Page 53 DK User Manual...

Страница 57: ...module consists of components that are sensitive to stress As a result sensor characteristics may change when forces are applied to the module As result sensor characteristics may change when forces...

Страница 58: ...different hardware versions v1 x v2 x and subject to hardware changes resulting in different hardware versions v1 x v2 x and v3 x The table below lists the ordering part numbers for the hardware versi...

Страница 59: ...SB cable Single unit MTi 7 DK v2 x MTi 7 0I DK v3 x Development kit for MTi 7 external GNSS INS Shield board MTi 7 module in the socket GNSS daughter card GNSS antenna USB cable Single unit MTi 3 DK v...

Страница 60: ...ly with MTi 7 8 DK USB cable Exploded view of the MTi 1 series Shield board The Shield Board the MTi 1 s orange module and the GNSS daughter card with the SMA connector are shown in figure Exploded vi...

Страница 61: ...es Development Kit offers access to the module via the UART SPI and I C interfaces as well as an additional USB interface Please note that the and I C interfaces as well as an additional USB interface...

Страница 62: ...les and corresponding documentation can be found in the MT Software Suite installation folder at C Program FilesXsensMT Software Suite x x xMT SDKExamplesembedded_examples The examples target the STM3...

Страница 63: ...nstalling MT Software Suite The MT Software Suite is available from the Xsens website www xsens com software downloads The installation procedure consists of a set of several installers and starts wit...

Страница 64: ...sens Page 61 Software components installation 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 ag...

Страница 65: ...Manager When the MTi 1 series Shield Board is connected in MT Manager the device description is shown in the Device List MT Manager overview To see a real time 3D orientation of the MTi click the 3D...

Страница 66: ...itory Development Kit User Manual Copyright 2021 Xsens Page 63 MT Manager overview Configuring the MTi 1 series The MTi 1 series can be directly configured by means of MT Manager Click the Device Sett...

Страница 67: ...hereas the MTi 1 module is set to the XDA processing preset Click Inertial Data q v or Rate of Turn Acceleration and Magnetic Field to be able to show this data in MT Manager With MT Manager it is pos...

Страница 68: ...MTi 1 s module making it easier for the user to test all the features and the peripherals offered by the MTi 1 s This chapter discusses in more detail the connections and peripherals available on the...

Страница 69: ...derived from the last two digits of resistors The version number of the board can be derived from the last two digits of the PCB number located at the bottom side of the board in the solder mask For t...

Страница 70: ...only for voltages within the operational VDDIO range of the MTi 1 s module For information on the connections refer to the pin description in Section Pin Descriptions Refer to the table Connections o...

Страница 71: ...ike the RS232 click or RS485 click 3 3V This UART communication extension socket uses only the 3 3V supply pin which is connected to VDDIO We recommend to place low profile sockets like the CES 108 01...

Страница 72: ...to ON Otherwise the PSEL lines are pulled up with a 100 k resistor The PSEL pins on the Arduino compatible headers can be used to overrule these lines Switch positions to enable interfaces on Shield B...

Страница 73: ...e an indication of the proper functioning of the GNSS daughter card The supplied GNSS antenna can be connected to the SMA connector Top view left and the bottom view right of the MTi 7 DK GNSS daughte...

Страница 74: ...daughter card Use only with MTi 1 s DEV Hardware higher than the MTi 7 DK GNSS daughter card Use only with MTi 1 s DEV Hardware Revision 2 7 and higher Revision 2 7 and higher The RTK GNSS daughter ca...

Страница 75: ...user to connect alternate GNSS daughter card modules with mikroBUS pinning to the MTi 1 series Shield board The pinning connections for the auxiliary sensor extension socket are listed in Connections...

Страница 76: ...0 PSEL1 RESET Active high reset pin connect to GND if not used Peripheral Interface SDA I2C interface I2C serial data SCL I2C serial clock ADD 0 2 I2C address selection pins nCS SPI interface SPI chip...

Страница 77: ...ower supplies VDDIO used for the MCU and all IO and VDDA used as an analog supply for the sensing elements The Shield Board has five supply inputs USB supplies both VDDIO and VDDA at 3 3V Forces USB m...

Страница 78: ...rd System specification Shield Board Min Typ Max Unit VDDA 2 8 3 3 3 6 V VDDIO 2 8 3 3 3 6 V VIO VIH 0 75 VDDIO V VIL 0 25 VDDIO V Absolute maximum ratings Absolute maximum ratings Shield Board Parame...

Страница 79: ...Maximum Ratings may cause permanent damage to the device These are stress ratings only Functional operation of the device in these or any other conditions beyond those indicated in the operational sec...

Страница 80: ...Copyright 2021 Xsens Page 77 MTi 1 series Shield Board package drawing Top and Side view 1 This is a mechanical shock g sensitive device Proper handling is required to prevent damage to the part 2 Thi...

Страница 81: ...MTi 1 series User Manual Xsens MTi User Manual Repository Copyright 2021 Xsens Page 78 Integration Manual...

Страница 82: ...rmation about packaging and handling The following symbols are used in this document to highlight important information A warning symbol indicates actions that could damage the module A warning symbol...

Страница 83: ...1 Xsens Page 80 Product name Type number Hardware version PCB number MTi 2 8A7G6 MTi 2 8A7G6T R 1 1 SM141111 MTi 3 8A7G6 MTi 3 8A7G6T R 1 1 SM141111 1 This number can be found on the packaging label s...

Страница 84: ...e VDDA The VDDA pin of the MTi 1 series module is connected to all the power supply pins of the sensing elements that are on the MTi 1 series module There is no low dropout regulator LDO on the MTi 1...

Страница 85: ...ifications The table below shows the maximum operating voltage ratings of the MTi 1 series Exposure to any voltage beyond maximum operating voltage rating condition for extended periods may affect dev...

Страница 86: ...serial host communication interface selection I2C SPI UART GNSS receiver and barometer interface I O pins Reset SYNC_IN DNC RESERVED pins Pin Configuration The figure below shows the pin configuratio...

Страница 87: ...l host communication interface selection For interface specifications see the table below Host communication interfaces specifications Interface Min Typ Max Units I 2 C Host I 2 C Interface Speed 400...

Страница 88: ...stors to VDDIO R2 and R3 in the figure below typical value 2 7 k External components I 2 C interface The MTi 1 series module acts as an I 2 C Slave The I 2 C slave address is determined by the ADD0 AD...

Страница 89: ...in needs to be connected to GND as shown below Connections SPI interface UART For the UART full duplex interface the PSEL1 and PSEL0 pins need to be connected to GND as shown below The UART full duple...

Страница 90: ...E pins of the receiver need to be connected to the AUX_TX AUX_RX and SYNC_PPS pins of the MTi 7 8 module See figure below for schematic details and table below for interface specifications GNSS receiv...

Страница 91: ...VIL 0 3 VDDIO V Input low voltage VIH 0 45 VDDIO 0 3 V Input high voltage VHYS 0 45 VDDIO 0 3 V Threshold hysteresis voltage nRST VIL 0 3 VDDIO V Only drive momentarily RPU 30 50 k Pull up resistor TP...

Страница 92: ...trigger on which the MTi 1 series sends out the latest available data message The SYNC_IN pin is 5V tolerant and can be connected directly to an external device Please make sure that the MTi 1 series...

Страница 93: ...rigin of measurements Mechanical stress Pushbutton contacts Anchor points Vibrations Heat Sockets Hand soldering Magnetometer Ferromagnetic materials High currents Footprint PCB layout To prevent curr...

Страница 94: ...sed in MTi 1 series The MTi 1 series module uses a right handed coordinate system as the basis of the sensor frame Default sensor fixed coordinate system for the MTi 1 series module Origin of measurem...

Страница 95: ...efore it is recommended to keep a reasonable distance between a pushbutton and the MTi 1 series module Anchor points Anchor points are usually a cause of mechanical torsional stress The MTi 1 series m...

Страница 96: ...ea with minimal mechanical stress as shown in the second image below Reducing anchor points to reduce overall stress in the PCB Keeping the MTi 1 series module away from high mechanical stress areas V...

Страница 97: ...d mechanical or thermal stress on the module undesired mechanical or thermal stress on the module which can result in which can result in deteriorated performance deteriorated performance Magnetometer...

Страница 98: ...package JEDEC MO 047 Although it is recommended to solder the MTi 1 series module directly onto a PCB it can also be mounted in a compatible PLCC socket e g 8428 21B1 RK of 3M as used on the MTi 1 se...

Страница 99: ...MTi 1 series User Manual Xsens MTi User Manual Repository Hardware Integration Manual Copyright 2021 Xsens Page 96 See Design and Packaging...

Страница 100: ...TD 033C Joint Industry Standard Handling Packing Shipping and Use of Moisture Reflow Sensitive Surface Mount Devices The sensor fulfils the lead free soldering requirements of the above mentioned IPC...

Страница 101: ...al coating Conformal coating can influence the performance of the MTi 1 series due to mechanical stress Most likely this will result in small sensor biases in the output signals of the module s gyrosc...

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