XSENS MTi-3 Click Driver

API for configuring and manipulating XSENS MTi-3 Click driver. More...

Topics
	XSENS MTi-3 Device Settings
	Settings for registers of XSENS MTi-3 Click driver.
	XSENS MTi-3 MikroBUS Map
	MikroBUS pin mapping of XSENS MTi-3 Click driver.

Functions
void	xsensmti3_cfg_setup (xsensmti3_cfg_t *cfg)
	XSENS MTi-3 configuration object setup function.
err_t	xsensmti3_init (xsensmti3_t *ctx, xsensmti3_cfg_t *cfg)
	XSENS MTi-3 initialization function.
err_t	xsensmti3_generic_write (xsensmti3_t *ctx, uint8_t *data_buf, uint16_t len)
	XSENS MTi-3 data writing function.
err_t	xsensmti3_generic_read (xsensmti3_t *ctx, uint8_t *data_buf, uint16_t max_len)
	XSENS MTi-3 data reading function.
void	xsensmti3_parser (uint8_t *rsp_buf, uint8_t start_cnt, xsensmti3_parse_t *obj)
	XSENS MTi-3 general parser.
void	xsensmti3_get_data (xsensmti3_quat_t *quat_obj, xsensmti3_data_t *data_obj)
	XSENS MTi-3 get Roll, Pitch and Yaw.
err_t	xsensmti3_check_package (uint8_t *package_buf, uint8_t *start_package)
	XSENS MTi-3 checks package.

Detailed Description

API for configuring and manipulating XSENS MTi-3 Click driver.

Any initialization code needed for MCU to function properly. Do not remove this line or clock might not be set correctly.

Function Documentation

xsensmti3_cfg_setup()

void xsensmti3_cfg_setup

(

xsensmti3_cfg_t *

cfg

)

XSENS MTi-3 configuration object setup function.

This function initializes click configuration structure to initial values.

Parameters

[out]

cfg

: Click configuration structure. See xsensmti3_cfg_t object definition for detailed explanation.

Returns

Nothing.

Note

The all used pins will be set to unconnected state.

xsensmti3_check_package()

err_t xsensmti3_check_package	(	uint8_t *	package_buf,
		uint8_t *	start_package )

XSENS MTi-3 checks package.

This function check for the starting elements.

Parameters

[in]	package_buf	: Package buffer.
[in]	start_package	: Element from which the package starts.

Returns

• 0 - Success,
• -1 - Error. See #err_t definition for detailed explanation.

xsensmti3_generic_read()

err_t xsensmti3_generic_read	(	xsensmti3_t *	ctx,
		uint8_t *	data_buf,
		uint16_t	max_len )

XSENS MTi-3 data reading function.

This function reads a desired number of data bytes by using UART serial interface.

Parameters

[in]	ctx	: Click context object. See xsensmti3_t object definition for detailed explanation.
[out]	data_buf	: Output read data.
[in]	max_len	: Number of bytes to be read.

Returns

• >0 - Number of data bytes read,
• <=0 - Error/Empty Ring buffer. See #err_t definition for detailed explanation.

Note

None.

xsensmti3_generic_write()

err_t xsensmti3_generic_write	(	xsensmti3_t *	ctx,
		uint8_t *	data_buf,
		uint16_t	len )

XSENS MTi-3 data writing function.

This function writes a desired number of data bytes by using UART serial interface.

Parameters

[in]	ctx	: Click context object. See xsensmti3_t object definition for detailed explanation.
[in]	data_buf	: Data buffer for sending.
[in]	len	: Number of bytes for sending.

Returns

• >=0 - Success,
• <0 - Error. See #err_t definition for detailed explanation.

Note

None.

xsensmti3_get_data()

void xsensmti3_get_data	(	xsensmti3_quat_t *	quat_obj,
		xsensmti3_data_t *	data_obj )

XSENS MTi-3 get Roll, Pitch and Yaw.

This function get roll, pitch and yaw values.

Parameters

[in]	quat_obj	: Quat objest structure.
[out]	data_obj	: Output object for collecting data.

Returns

Nothing.

xsensmti3_init()

err_t xsensmti3_init	(	xsensmti3_t *	ctx,
		xsensmti3_cfg_t *	cfg )

XSENS MTi-3 initialization function.

This function initializes all necessary pins and peripherals used for this click board.

Parameters

[out]	ctx	: Click context object. See xsensmti3_t object definition for detailed explanation.
[in]	cfg	: Click configuration structure. See xsensmti3_cfg_t object definition for detailed explanation.

Returns

• 0 - Success,
• -1 - Error. See #err_t definition for detailed explanation.

Note

None.

xsensmti3_parser()

void xsensmti3_parser	(	uint8_t *	rsp_buf,
		uint8_t	start_cnt,
		xsensmti3_parse_t *	obj )

XSENS MTi-3 general parser.

This function parses object for collecting data.

Parameters

[in]	rsp_buf	: Response buffer.
[in]	start_cnt	: Element from which the package starts.
[out]	obj	: Parse object for collecting data.

Returns

Nothing.