Gain access to highly accurate 3D orientation data with MTi-3 and STM32F091RC
Navigate with confidence: Unlock 3D orientation and more
Published Feb 26, 2024
Click board™
XSENS MTi-3 Click
Dev. board
Nucleo-64 with STM32F091RC MCU
Compiler
NECTO Studio
MCU
STM32F091RC
Achieve exceptional roll, pitch, and yaw accuracy (1.0º RMS for roll/pitch, 2º RMS for yaw) under dynamic conditions, ensuring stable and controlled movements
A
A
Hardware Overview
How does it work?
XSENS MTi-3 Click is based on the MTi-3, a self-contained Attitude Heading and Reference System (AHRS), Vertical Reference Unit (VRU), and Inertial Measurement Unit (IMU) module from Xsens. The MTi-3 module supports all features of the MTi-1 series, including a 3D accelerometer, a 3D gyroscope, a high-accuracy crystal, a low-power MCU, and it is also a full magnetometer-enhanced AHRS. It can output 3D orientation data, free acceleration, and calibrated sensor data (rate of turn, magnetic field). The MTi-3 is easily configurable for the outputs, depends on the application needs, and can be set to use one of the filter profiles available within the Xsens sensor fusion engine. In this way, the MTi-3 module limits the load and the power consumption on the user application processor. This Click board™ is equipped with a USB type C connector. It allows the module to be powered and configured by a personal computer (PC) using FT230X, a highly integrated USB to UART bridge solution from FTDI, which has been designed to operate efficiently with USB host controllers by using as little bandwidth as possible when compared to the total USB bandwidth available. This module can also be configured easily by the free downloadable Xsens MT Software Suite as an Inertial
Measurement Unit (IMU), Vertical Reference Unit (VRU), or even an Attitude & Heading Reference System (AHRS), which applies Xsens’ powerful Kalman filtering XKF3 Core. The XSENS MTi-3 Click has two power supply pins. The first pin represents the main power supply of the module powered via a low dropout linear regulator AP7331 from Diodes Incorporated that receives a 5V power supply from USB to UART solution and gives 3.3V on its output that is used as the main power supply of the module. The second pin represents the digital supply voltage and is powered by 3.3V directly from the mikroBUS™ socket. This Click board™ communicates with MCU using the UART interface as its default communication interface but also allows the user to use other interfaces, such as SPI and I2C if he wants to configure the module and write the library by himself. The desired interface selection can be performed through the peripheral selection pins by positioning SMD jumpers labeled as PSEL to an appropriate position. The module reads the state of these pins at Start-Up and configures its peripheral interface. To change the selected interface, the logic levels of those pins must be set first, and then the module needs to be reset. The selection between UART/I2C and SPI/I2C interfaces
can be performed by positioning SMD jumpers labeled COMM SEL to an appropriate position. The user can also configure the I2C slave address through the ADD0, ADD1, and ADD2 pins by positioning SMD jumpers labeled ADDR SEL to an appropriate position. Note that all the jumpers must be placed on the same side, or the Click board™ may become unresponsive. Additional functionality routed at RST and AN pins of the mikroBUS™ socket allows the user to use the reset function and receive the latest available data message. Also, this Click board™ has two pins, INT and PWM pins, that can be used in many ways. For example, it can be used as serial UART connections CTS and RTS in UART full-duplex mode or as RX/TX control signals in UART half-duplex mode. Regardless of these functions, the INT pin can also be used as a classic interrupt function. This Click board™ can be operated only with a 3.3V logic voltage level. The board must perform appropriate logic voltage level conversion before using MCUs with different logic levels. Also, it comes equipped with a library containing functions and an example code that can be used as a reference for further development.
Features overview
Development board
Nucleo-64 with STM32F091RC MCU offers a cost-effective and adaptable platform for developers to explore new ideas and prototype their designs. This board harnesses the versatility of the STM32 microcontroller, enabling users to select the optimal balance of performance and power consumption for their projects. It accommodates the STM32 microcontroller in the LQFP64 package and includes essential components such as a user LED, which doubles as an ARDUINO® signal, alongside user and reset push-buttons, and a 32.768kHz crystal oscillator for precise timing operations. Designed with expansion and flexibility in mind, the Nucleo-64 board features an ARDUINO® Uno V3 expansion connector and ST morpho extension pin
headers, granting complete access to the STM32's I/Os for comprehensive project integration. Power supply options are adaptable, supporting ST-LINK USB VBUS or external power sources, ensuring adaptability in various development environments. The board also has an on-board ST-LINK debugger/programmer with USB re-enumeration capability, simplifying the programming and debugging process. Moreover, the board is designed to simplify advanced development with its external SMPS for efficient Vcore logic supply, support for USB Device full speed or USB SNK/UFP full speed, and built-in cryptographic features, enhancing both the power efficiency and security of projects. Additional connectivity is
provided through dedicated connectors for external SMPS experimentation, a USB connector for the ST-LINK, and a MIPI® debug connector, expanding the possibilities for hardware interfacing and experimentation. Developers will find extensive support through comprehensive free software libraries and examples, courtesy of the STM32Cube MCU Package. This, combined with compatibility with a wide array of Integrated Development Environments (IDEs), including IAR Embedded Workbench®, MDK-ARM, and STM32CubeIDE, ensures a smooth and efficient development experience, allowing users to fully leverage the capabilities of the Nucleo-64 board in their projects.
Microcontroller Overview
MCU Card / MCU
Architecture
ARM Cortex-M0
MCU Memory (KB)
256
Silicon Vendor
STMicroelectronics
Pin count
64
RAM (Bytes)
32768
You complete me!
Accessories
Click Shield for Nucleo-64 comes equipped with two proprietary mikroBUS™ sockets, allowing all the Click board™ devices to be interfaced with the STM32 Nucleo-64 board with no effort. This way, Mikroe allows its users to add any functionality from our ever-growing range of Click boards™, such as WiFi, GSM, GPS, Bluetooth, ZigBee, environmental sensors, LEDs, speech recognition, motor control, movement sensors, and many more. More than 1537 Click boards™, which can be stacked and integrated, are at your disposal. The STM32 Nucleo-64 boards are based on the microcontrollers in 64-pin packages, a 32-bit MCU with an ARM Cortex M4 processor operating at 84MHz, 512Kb Flash, and 96KB SRAM, divided into two regions where the top section represents the ST-Link/V2 debugger and programmer while the bottom section of the board is an actual development board. These boards are controlled and powered conveniently through a USB connection to program and efficiently debug the Nucleo-64 board out of the box, with an additional USB cable connected to the USB mini port on the board. Most of the STM32 microcontroller pins are brought to the IO pins on the left and right edge of the board, which are then connected to two existing mikroBUS™ sockets. This Click Shield also has several switches that perform functions such as selecting the logic levels of analog signals on mikroBUS™ sockets and selecting logic voltage levels of the mikroBUS™ sockets themselves. Besides, the user is offered the possibility of using any Click board™ with the help of existing bidirectional level-shifting voltage translators, regardless of whether the Click board™ operates at a 3.3V or 5V logic voltage level. Once you connect the STM32 Nucleo-64 board with our Click Shield for Nucleo-64, you can access hundreds of Click boards™, working with 3.3V or 5V logic voltage levels.
Used MCU Pins
mikroBUS™ mapper
Take a closer look
Click board™ Schematic
Step by step
Project assembly
Start by selecting your development board and Click board™. Begin with the Nucleo-64 with STM32F091RC MCU as your development board.
Track your results in real time
Application Output
1. Application Output - In Debug mode, the 'Application Output' window enables real-time data monitoring, offering direct insight into execution results. Ensure proper data display by configuring the environment correctly using the provided tutorial.
2. UART Terminal - Use the UART Terminal to monitor data transmission via a USB to UART converter, allowing direct communication between the Click board™ and your development system. Configure the baud rate and other serial settings according to your project's requirements to ensure proper functionality. For step-by-step setup instructions, refer to the provided tutorial.
3. Plot Output - The Plot feature offers a powerful way to visualize real-time sensor data, enabling trend analysis, debugging, and comparison of multiple data points. To set it up correctly, follow the provided tutorial, which includes a step-by-step example of using the Plot feature to display Click board™ readings. To use the Plot feature in your code, use the function: plot(*insert_graph_name*, variable_name);. This is a general format, and it is up to the user to replace 'insert_graph_name' with the actual graph name and 'variable_name' with the parameter to be displayed.
Software Support
Library Description
This library contains API for XSENS MTi-3 Click driver.
Key functions:
xsensmti3_parser- XSENS MTi-3 general parserxsensmti3_get_data- XSENS MTi-3 get Roll, Pitch and Yawxsensmti3_check_package- XSENS MTi-3 checks package
Open Source
Code example
The complete application code and a ready-to-use project are available through the NECTO Studio Package Manager for direct installation in the NECTO Studio. The application code can also be found on the MIKROE GitHub account.
/*!
* @file main.c
* @brief XSENS MTi-3 Click Example.
*
* # Description
* This example reads and processes data from XSENS MTi-3 clicks.
*
* The demo application is composed of two sections :
*
* ## Application Init
* Initializes driver and wake-up module.
*
* ## Application Task
* Reads the received data and parses it. Shows Roll, Pitch and Yaw data.
*
* ## Additional Function
* - void xsensmti3_process ( void ) - The general process of collecting data the module sends.
*
* @author Mikroe Team
*
*/
#include "board.h"
#include "log.h"
#include "xsensmti3.h"
#define PROCESS_RX_BUFFER_SIZE 200
#define PROCESS_PARSER_BUFFER_SIZE 1000
static xsensmti3_t xsensmti3;
static log_t logger;
static uint8_t current_parser_buf[ PROCESS_PARSER_BUFFER_SIZE ];
static uint8_t parser_buf_cnt;
static uint8_t active_flag;
static uint8_t start_rsp;
static uint16_t rsp_cnt;
static xsensmti3_parse_t parse_data_obj;
static xsensmti3_data_t data_obj;
/**
* @brief XSENS MTi-3 data reading function.
* @details This function reads data from device and concatenates data to application buffer.
* @return Nothing.
* @note None.
*/
static void xsensmti3_process ( void );
void application_init ( void )
{
log_cfg_t log_cfg; /**< Logger config object. */
xsensmti3_cfg_t xsensmti3_cfg; /**< Click config object. */
/**
* Logger initialization.
* Default baud rate: 115200
* Default log level: LOG_LEVEL_DEBUG
* @note If USB_UART_RX and USB_UART_TX
* are defined as HAL_PIN_NC, you will
* need to define them manually for log to work.
* See @b LOG_MAP_USB_UART macro definition for detailed explanation.
*/
LOG_MAP_USB_UART( log_cfg );
log_init( &logger, &log_cfg );
log_info( &logger, " Application Init " );
// Click initialization.
xsensmti3_cfg_setup( &xsensmti3_cfg );
XSENSMTI3_MAP_MIKROBUS( xsensmti3_cfg, MIKROBUS_1 );
if ( UART_ERROR == xsensmti3_init( &xsensmti3, &xsensmti3_cfg ) )
{
log_error( &logger, " Communication init." );
for ( ; ; );
}
log_info( &logger, " Application Task " );
}
void application_task ( void )
{
uint8_t check_data = 0;
uint8_t cnt = 0;
xsensmti3_process( );
// STARTS COLLECTING DATA
if ( active_flag == XSENSMTI3_WAIT_FOR_START )
{
memset( ¤t_parser_buf[ 0 ], 0 , PROCESS_PARSER_BUFFER_SIZE );
parser_buf_cnt = 0;
active_flag = 0;
start_rsp = 0;
rsp_cnt = 0;
active_flag = XSENSMTI3_START_PROCESS;
}
if ( ( parser_buf_cnt > 100 ) && ( active_flag == XSENSMTI3_START_PROCESS ) )
{
active_flag = XSENSMTI3_DATA_PROCESSING;
}
if ( active_flag == XSENSMTI3_DATA_PROCESSING )
{
check_data = xsensmti3_check_package( ¤t_parser_buf[ 0 ], &start_rsp );
if ( check_data == XSENSMTI3_OK )
{
active_flag = XSENSMTI3_PARSER_DATA;
}
else
{
active_flag = XSENSMTI3_WAIT_FOR_START;
}
}
if ( active_flag == XSENSMTI3_PARSER_DATA )
{
xsensmti3_parser( ¤t_parser_buf[ 0 ], start_rsp, &parse_data_obj );
log_printf( &logger, ">> Quaternion data <<\r\n" );
for ( cnt = 0; cnt < 4; cnt++ )
{
log_printf( &logger, ">> Q: %f\r\n", parse_data_obj.quat_obj.quat_data[ cnt ] );
}
log_printf( &logger, "--------------\r\n" );
xsensmti3_get_data( &parse_data_obj.quat_obj, &data_obj );
log_printf( &logger, ">> ROLL: %.4f \r\n", data_obj.roll );
log_printf( &logger, ">> PITCH: %.4f \r\n", data_obj.pitch );
log_printf( &logger, ">> YAW: %.4f \r\n", data_obj.yaw );
active_flag = XSENSMTI3_WAIT_FOR_START;
log_printf( &logger, "--------------\r\n" );
}
}
void main ( void )
{
application_init( );
for ( ; ; )
{
application_task( );
}
}
static void xsensmti3_process ( void )
{
int32_t rsp_size;
uint8_t uart_rx_buffer[ PROCESS_RX_BUFFER_SIZE ] = { 0 };
rsp_size = xsensmti3_generic_read( &xsensmti3, &uart_rx_buffer, PROCESS_RX_BUFFER_SIZE );
if ( rsp_size > 0 )
{
parser_buf_cnt += rsp_size;
if ( rsp_cnt + rsp_size < PROCESS_PARSER_BUFFER_SIZE )
{
strncat( ¤t_parser_buf[ rsp_cnt ], uart_rx_buffer, rsp_size );
rsp_cnt += rsp_size;
}
else
{
memset( ¤t_parser_buf[ 0 ], 0 , PROCESS_PARSER_BUFFER_SIZE );
parser_buf_cnt = 0;
active_flag = 0;
start_rsp = 0;
rsp_cnt = 0;
}
memset( uart_rx_buffer, 0, PROCESS_RX_BUFFER_SIZE );
}
else
{
Delay_ms( 100 );
}
}
// ------------------------------------------------------------------------ END
