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MTi 1-series User Manual
Xsens MTi User Manual Repository Datasheet
Copyright © 2021 Xsens Page 20
transfer. The defined opcodes are as listed in the table below. Following the opcode, and
depending on whether it is a read or write transfer, the Master either reads or writes one or more
data bytes. The specific transfer format depends on the underlying bus protocol (I
2
C or SPI).
For some opcodes, the MTSSP uses reduced Xbus messages. A reduced Xbus message is a
regular Xbus message with the preamble and busID fields removed to save bandwidth. These
fields correspond to the first two bytes of a regular Xbus message. The calculation of the
checksum for a reduced Xbus message still includes the busID and assumes its value to be
0xFF. For an overview of available Xbus messages, 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 behaviour,
protocol version
0x02 ConfigureProtocol Write Opcode
defined Tweak the Protocol, e.g. the
behaviour of the DRDY pin,
behaviour of the pipes
0x03 ControlPipe Write Reduced
Xbus
Used to send control messages
to the module
0x04 PipeStatus Read Opcode
defined Provides status information for
the read pipes
0x05 NotificationPipe Read Reduced
Xbus Used to read non-measurement
data: errors, acknowledgements
and other notifications from the
module
0x06 MeasurementPipe Read Reduced
Xbus All measurement data (Xbus:
MTData2) generated by the
module will be available in the
measurement pipe
ProtocolInfo (0x01)
The ProtocolInfo opcode allows the Master to read the active protocol configuration. The
format of the message is as follows (All data is little endian, byte aligned):