Xsens MTi 600 Series, Руководство по интеграции оборудования, Страница: 8 / 17

www.xsens.com 4 Document MT1601P.A
© Xsens Technologies B.V. Hardware Integration Manual MTi 600-series
Figure 2: Data transmit behaviour under CTS
The RTS signal is an output of the module. If the RTS line is low, the module is busy and unable to
receive new data. Otherwise, the module’s UART is idle and ready to receive. 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 pull down the RTS signal during this transfer. Therefore, with
every byte received, the module lowers the RTS line shortly. Figure 3 shows this behaviour.
Figure 3: RTS behaviour during data reception
The user can use this communication mode without hardware flow control. In this case, the user must
tie the CTS line high (e.g. VIN) to make the module transmit.
2.2.3 UART
The UART interface can be used to directly connect to an MCU with 3.3 V IO-levels. The user can
configure the MTi 600-series module to communicate over UART. The UART frame configuration is 8
data bits, no parity and 1 stop bit (8N1). The UART protocol only has the TX and RX lines without any
flow control.
2.3 GNSS receiver interface
The MTi-670 variant of the MTi 600-series module family supports external inputs from a GNSS receiver,
such as the uBlox MAX-M8 GNSS receiver. For the GNSS receiver, the RS232 or UART communication
pins of the receiver need to be connected to the GNSS_TxD and GNSS_RxD pins of the MTi-670
module. In case of a UART interface on the GNSS receiver an additional RS232 transceiver should be
connected in-between the MTi-600 and the GNSS receiver. See Figure 4 for connection details and
Table 4 for interface specifications.
The PPS/TIMEPULSE output of the GNSS receiver should be connected to either one of the SYNC
inputs of the MTi-600. The used SYNC input needs to be configured in software accordingly. Under
default configurations, the PPS/TIMEPULSE output should be connected to SYNC_IN1
Table 4: GNSS receiver interface specifications
Interface Symbol Typ Max Units Description
RS232 f
GNSS
115.2 1000 kbps GNSS Interface Baud Rate