Xsens MTi-1 Series I2C with Raspberry Pi 5

Introduction

This library was tested under Ubuntu 24.04 LTS with Raspberry Pi 5 with MTi-3-DK.

The WiringPi was only used to configure the DRDY and RESET pin, while the Linux I2C library was used to read/write the I2C data.

The xbus and mtinterface are from the embedded example code from the Xsens MT SDK 2022.0, which were slightly adapted to work with Linux I2C library. And the xstypes library is from the Xsens MT SDK 2022.0, which is used to parse the data.

Install WiringPi

Refer to this article

sudo apt-get purge wiringpi
hash -r
git clone https://github.com/WiringPi/WiringPi.git
cd WiringPi
git pull origin
./build

At this point, the library should work. Run the gpio command shown below to view some information about the wiringPi version and the Pi that it is running on.

gpio -v
gpio readall

Setup the 400kHz I2C Fast Mode

Change the I2C Bus Speed to 400kHz fastmode.

find /boot -name "config.txt" | grep config.txt
sudo nano /boot/firmware/config.txt

Change this line to:

dtparam=i2c_arm=on, i2c_arm_baudrate=400000

Hardware Interface

Raspberry Pi 5	MTi-3-DK
3V3 power	3V3(P101-4)
Ground	GND(P101-6)
GPIO 2(SDA)	SDA(P100-9)
GPIO 3(SCL)	SCL(P100-10)
GPIO 17	CTS(P102-4)
GPIO 27	RESET(P102-5)

refer to MTi 1-series DK User Manual and Raspberry-Pi GPIO and the 40-pin header

How to Use

//cd to the mti_rp5 folder
make
sudo ./mti_i2c_rp5

Output Configuration Example command

reference article:

• How to use Device Data View to learn MT Low Level Communications
• MT Low Level Communication Protocol Documentation

Example:

1. For MTi-1/2/3/7/8, SetOutputConfiguration: SampleTimeFine, Acceleration, RateOfTurn, MagneticField, 100Hz

0x10, 0x60, 0xFF, 0xFF, 0x40, 0x20, 0x00, 0x64, 0x80, 0x20, 0x00, 0x64, 0xC0, 0x20, 0x00, 0x64

2. For MTi-2/3/7/8, SetOutputConfiguration: SampleTimeFine, EulerAngles, Acceleration, RateOfTurn, MagneticField, StatusWord, 100Hz

0x10, 0x60, 0xFF, 0xFF, 0x20, 0x30, 0x00, 0x64, 0x40, 0x20, 0x00, 0x64, 0x80, 0x20, 0x00, 0x64, 0xC0, 0x20, 0x00, 0x64, 0xE0, 0x20, 0xFF, 0xFF

3. For MTi-2/3/7/8, SetOutputConfiguration: SampleTimeFine, Quaternion, Acceleration, RateOfTurn, MagneticField, StatusWord, 100Hz

0x10, 0x60, 0xFF, 0xFF, 0x20, 0x10, 0x00, 0x64, 0x40, 0x20, 0x00, 0x64, 0x80, 0x20, 0x00, 0x64, 0xC0, 0x20, 0x00, 0x64, 0xE0, 0x20, 0xFF, 0xFF

4. For MTi-2/3/7/8, SetOutputConfiguration: SampleTimeFine, Quaternion, Acceleration, RateOfTurn, MagneticField, Free Acceleration, StatusWord, 100Hz

0x10, 0x60, 0xFF, 0xFF, 0x20, 0x10, 0x00, 0x64, 0x40, 0x20, 0x00, 0x64, 0x80, 0x20, 0x00, 0x64, 0xC0, 0x20, 0x00, 0x64, 0x40, 0x30, 0x00, 0x64, 0xE0, 0x20, 0xFF, 0xFF

5. For MTi-7/8, SampleTimeFine, Acceleration, RateOfTurn, MagneticField, EulerAngles, LatLon(FP1632), AltitudeEllipsoid(FP1632), VelocityXYZ(FP1632), 100Hz

0x10, 0x60, 0xFF, 0xFF, 0x40, 0x20, 0x00, 0x64, 0x80, 0x20, 0x00, 0x64, 0xC0, 0x20, 0x00, 0x64, 0x20, 0x30, 0x00, 0x64, 0x50, 0x42, 0x00, 0x64, 0x50, 0x22, 0x00, 0x64, 0xD0, 0x12, 0x00, 0x64

You could copy the command and replace the code for the application.cpp for this line:

uint8_t output_config_payload[] = { };