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 23
NotificationPipe (0x05)
The Master uses the NotificationPipe opcode to read from the Notification Pipe. The read data
is a single reduced Xbus message.
MeasurementPipe (0x06)
The Master uses the MeasurementPipe opcode to read from the Measurement Pipe. The read
data is a single reduced Xbus message (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 pins. The
module reads the state of these pins at start-up, and configures the slave address according to
the table below. The ADD0, ADD1 and ADD2 pins are pulled-up internally, so when left
unconnected, the address selection defaults to 0x6B (ADD = 111).
List of I
2
C addresses
I2C
address
ADD2 ADD1 ADD0
0x1D 0 0 0
0x1E 0 0 1
0x28 0 1 0
0x29 0 1 1
0x68 1 0 0
0x69 1 0 1
0x6A 1 1 0
0x6B
(default) 1 1 1