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Document MT0605P.2018.E
© Xsens Technologies B.V.
MTi User Manual
Internally the Xsens host software is implemented using an object oriented approach in which the
functionality is only implemented in subclasses, see schematic below.
It is important for the developer to use only functions supported by the connected device. During run
time, calling an unsupported function will generate an error status in line with the normal error handling
framework.
C++ interface
To offer the convenience of object-lifetime management to developers, the XDA is also offered as a C++
interface which basically implements a convenience wrapper around the C API. This means that the
developer does not have to deal with memory management (i.e. easy object-lifetime management) as
the class implementation takes care of this. This means that for example functions named
XsDevice_<function name>
in the C interface are available in the C++ interface as the
<function
name>
method of the
XsDevice
class.
COM interface
For MS Windows environments, all the functionality is also available via a COM interface.
3.6.4 Direct low-level communication with MTi
The MTi features a powerful embedded multi-processor core. As the MTi has an on-board non-volatile
memory that can store all settings, the MTi can conveniently be used without using a host computer.
The low-level communication protocol (named Xbus protocol) offers full control and functionality,
however without the convenience advantages that the Xsens Device API offers, such as threading,
object-oriented programming and error handling. Low-level communication is essential on platforms that
do not support the Xsens Device API, such as custom embedded computers.
The low-level communication is extensively described in the Low-Level Communication Protocol
Documentation. Next to that, source code is delivered to make driver development and Xbus message
parsing for the MTi as easy and quick as possible.
3.6.5 Terms of use of MT Software Suite
The installer of the MT Software Suite can install 4 components of the MT Software Suite: the MT
Manager, the MT SDK, the Magnetic Field Mapper and the MFM SDK. The Firmware Updater is a
Figure 7: Functionality implementation for specific products
