Xsens MTi 1 Series, Руководство пользователя

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MTi 1-series User Manual
Xsens MTi User Manual Repository Hardware Integration Manual
Copyright © 2021 Xsens Page 84
Communication to host
The MTi 1-series modules are designed to be used as peripheral devices in embedded systems.
The MTi 1-series modules support inter-integrated circuit (I
2
C), serial peripheral interface (SPI)
and universal asynchronous receiver/transmitter (UART) protocols for the communication
between the MTi 1-series module and host CPU. The I
2
C and SPI protocols are well suited for
communication between integrated circuits and on-board peripherals. To select the correct
communication interface, PSEL1 and PSEL0 should be configured accordingly (see #PSEL
serial 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 kHz
SPI Host SPI Interface Speed 2 MHz
Clock Duty Cycle 30 50 70 %
UART Baud Rates 921.6 4000 kbps
PSEL serial host communication interface selection
The MTi 1-series modules have four modes of peripheral interfacing. Only one mode can be
used at a time and this is determined by the state of peripheral selection pins PSEL0 and PSEL1
at start up. The table below specifies how the PSEL lines select the peripheral interface. Note
that the module has internal pull‑ups (30 k
Ω – 50 k Ω) . Not connecting PSEL results in a value of
1, connecting PSEL to GND results in a value of 0.
Serial host interface selection
Interface PSEL1 PSEL0
I
2
C
1 1
SPI 1 0
UART half-duplex 0 1
UART full-duplex 0 0