Xsens MTi 1 Series User manual

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Development Kit User
Manual
MTi 1-series
Document MT0512P, Revision 2019.A, Dec 2019

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Revision
Date
By
Changes
A
8 July 2015
MHA
Initial release
…
…
…
…
E
25 June 2018
WBO
Added information on PCB versions with
I2C pull-up resistors
F
22 August 2018
SGI
Refer to new embedded examples (MTSS
v4.9.1)
G
16 Jan 2019
SGI
Update Chapter 3 to match GUI of MTSS
2019.0
H
SGI
Added chapter 4.3: Power Supplies
2019.A
Dec 2019
AKO
Xsens brand update
© 2005-2020, Xsens Technologies B.V. All rights reserved. Information in this document is subject to change
without notice. Xsens, Xsens DOT, MVN, MotionGrid, MTi, MTi-G, MTx, MTw, Awinda and KiC are registered
trademarks or trademarks of Xsens Technologies B.V. and/or its parent, subsidiaries and/or affiliates in The
Netherlands, the USA and/or other countries. All other trademarks are the property of their respective owners.

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Table of Contents
1General information ..................................................................5
1.1 Package information ................................................................................... 5
1.2 Ordering information................................................................................... 6
2Introduction.............................................................................. 7
2.1 Kit contents and features ............................................................................ 7
2.2 Software and documentation ....................................................................... 8
2.2.1 Embedded examples ............................................................................. 8
3Getting started.......................................................................... 9
3.1 Installing MT Software Suite ........................................................................ 9
3.2 Displaying data in MT Manager....................................................................10
3.3 Configuring the MTi 1-series .......................................................................11
4Shield board ............................................................................ 13
4.1 Connections and peripheral switch...............................................................13
4.2 Pin descriptions .........................................................................................17
4.3 Power supplies ..........................................................................................17
4.4 Electrical specifications...............................................................................18
4.5 Absolute maximum ratings .........................................................................18
4.6 Package drawing .......................................................................................20
List of Tables
Table 1: Package contents for 1-series Development Kits ........................................... 5
Table 2: Ordering information for 1-series Development Kits ...................................... 6
Table 3: Connections on external power header (J100 in Figure 7) .............................14
Table 4: Connections on Arduino-compatible header (P100, P101, P102 and P103 in
Figure 7) .............................................................................................................14
Table 5: Connections on UART communication extension sockets (P202 and P203 in
Figure 7) .............................................................................................................15
Table 6: Switch positions to enable interfaces on Shield Board (SW200 in Figure 7)......15
Table 7: Connections on auxiliary sensor extension sockets (P200 and P201 in Figure 7)
..........................................................................................................................16
Table 8: Pin descriptions Shield Board.....................................................................17
Table 9: System specification Shield Board ..............................................................18
Table 10: Absolute maximum ratings Shield Board ...................................................18

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List of Figures
Figure 1: Exploded view of the MTi 1-series Shield board............................................ 7
Figure 2: Start up screen for MT Software Suite installer ............................................ 9
Figure 3: Software components installation............................................................... 9
Figure 4: Successful installation screen ...................................................................10
Figure 5: MT Manager overview..............................................................................11
Figure 6: Output configuration dialog in MT Manager using an MTi-7-DK .....................11
Figure 7: MTi 1-series Shield Board with connector designators ..................................13
Figure 8: Top view (left) and the bottom view (right) of the GNSS daughter card .........16
Figure 9: MTi 1-series Shield Board package drawing (Top and Side view) ...................20

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1General information
This document provides information on the contents and usage of the MTi 1-series
Development Kits. The MTi 1-series module (MTi 1-s) is a fully functional, self-contained
module that is easy to design-in. The MTi 1-s can be connected to a host through I2C,
SPI or UART interfaces. The MTi-3 Development Kit (MTi-3-DK) enables users to evaluate
features for the MTi-3 (AHRS), MTi-2 (VRU) and MTi-1 (IMU) modules. The MTi-7
Development Kit (MTi-7-DK) enables users to evaluate features of the MTi-7 (external-
GNSS/INS). In addition to the MTi 1-s interfaces, both Development Kits include a USB
interface.
The MTi 1-series module consists of components that are sensitive to
stress. As a result, sensor characteristics may change when forces are
applied to the module. As each module is calibrated individually, Xsens
cannot guarantee performance after improper handling. It is therefore
recommended not to remove the module from the socket, and to use
the Development Kit for prototyping and evaluation purposes only. For
more information on proper handling, refer to the MTi 1-series
Hardware Integration manual (see Section 2.2).
1.1 Package information
Table 1: Package contents for 1-series Development Kits
Component
Name
Shield board
MTi 1-series module (MTi 1-s)
GNSS daughter card1
1
Only with MTi-7-DK

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GNSS antenna1
USB cable
1.2 Ordering information
Table 2: Ordering information for 1-series Development Kits
Kit
Description
Package contents
Packing Method
MTi-7-DK
Development kit for MTi-7
(external-GNSS-aided-AHRS)
- Shield board
- MTi-7 module (in the socket)
- GNSS daughter card
- GNSS antenna
- USB cable
Single unit
MTi-3-DK
Development kit for MTi-1 (IMU),
MTi-2 (VRU) and MTi-3 (AHRS)
- Shield board
- MTi-3 module (in the socket)
- USB cable
Single unit

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2Introduction
2.1 Kit contents and features
The MTi 1-series Development Kit contains
- Shield board
- MTi-3 or MTi-7 mounted in the socket
- GNSS daughter card (only with MTi-7-DK)
- GNSS antenna (only with MTi-7-DK)
- USB cable
Figure 1: Exploded view of the MTi 1-series Shield board
The Shield Board, the MTi 1-s (orange module) and the GNSS daughter card (with the
SMA connector) are shown in Figure 1. The features of the Shield Board include:
-3.3 V compatible I/O
-Power indicator LEDs
-Arduino-compatible headers
-External power pin header
-Manual peripheral selection switch for MTi 1-series
-Switching between UART and I2C on Arduino-compatible headers based on PSEL
switch setting
-USB to UART converter
-Auxiliary extension socket
-Optional socket connections for mikroBUS™ RS232/RS485 click boards™
See Section 4 for more details.

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2.2 Software and documentation
The MTi 1-series Development Kit is supported by the MT Software Suite, which includes
the following software components:
- MT Manager
- Magnetic Field Mapper
- MT SDK with documentation
Additionally, the latest firmware for the MTi-3 or the MTi-7 module can be downloaded
and updated using the Firmware Updater that is also available on our website.
The Software components can be downloaded from the Xsens website –www.xsens.com.
Along with the SDK documentation that is part of the MT Software Suite installer
package, the MTi 1-series Development Kit is supported by the following additional
documents
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- Hardware Integration Manual: MTi 1-series (MT1503)
- Datasheet: MTi 1-series (MT0512P)
- MT Low Level Communication Protocol (MT0101P)
- MT Manager User Manual (MT0216P)
- MT Magnetic Field Mapper Documentation (MT0202P)
- Product Change Notification
oMTi 1-series: Components placement change
2.2.1 Embedded examples
The MTi 1-series is designed for easy integration in embedded systems. As of MT
Software Suite version 4.9.1, there are embedded examples available for the MTi 1-
series Development Kit that make use of the SPI and I2C interface. The examples and
corresponding documentation can be found in the MT Software Suite installation folder
at:
C:\Program Files\Xsens\MT Software Suite x.x.x\MT
SDK\Examples\embedded_examples
The examples target the STM32F401 Nucleo board. They allow for a quick start in
receiving measurement data from the MTi, and evaluating the low-level communication
protocol.
It is easy to extend the program with commands from the Xsens Low Level
Communication Protocol (LLCP). This protocol is documented in detail in the Low Level
Communication Protocol Documentation.
2
The latest available documentation can be found in your MT Software Suite installation folder or
via the following link: https://xsens.com/xsens-mti-documentation

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3Getting started
3.1 Installing MT Software Suite
The MT Software Suite is available from the Xsens website (www.xsens.com/mt-software-
suite).
The installation procedure consists of a set of several installers and starts with the GUI as
shown in Figure 2.
Figure 2: Start up screen for MT Software Suite installer
It is possible to choose the components that you need to install (Figure 3).
Figure 3: Software components installation

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When you cancel the installation of a particular component, the installer will continue
with the next component. Make sure to accept the End-User License agreement and
Software License Agreements, and then wait for the successful installation screen to
appear as shown in Figure 4.
Figure 4: Successful installation screen
3.2 Displaying data in MT Manager
When the MTi 1-series Shield Board is connected in MT Manager, the device description is
shown in the “Device List” (Figure 5). To see a real time 3D orientation of the MTi click
the 3D View icon . The inertial data , orientation data in Euler angles and the
status data can be visualized by clicking their respective icons in Figure 5.

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Figure 5: MT Manager overview
3.3 Configuring the MTi 1-series
The MTi-1s can be directly configured by means of MT Manager. Click the Device Settings
button to open the Output Configuration dialog (Figure 6).
Figure 6: Output configuration dialog in MT Manager using an MTi-7-DK

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By default, the output of the MTi-3 and MTi-7 is set to the ‘Onboard Processing’ preset,
whereas the MTi-1 module is set to ‘XDA processing’ preset. Click “Inertial Data” (∆q/∆v
or Rate of Turn/Acceleration) and “Magnetic Field” to be able to show this data in MT
Manager.
With MT Manager, it is possible to record data and export that data for use in other
programs, set alignment matrices, configure synchronization options and to review the
test and calibration report. More information on the functions and features can be found
in the MT Manager User Manual. The MT Manager User Manual can be found via Help –>
Documentation.

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4Shield board
The MTi 1-s modules are available with a development kit. An MTi-3 AHRS or an MTi-7
external-GNSS/INS is mounted in a PLCC-28 socket and connected to USB, UART, I2C
and SPI. The Shield Board exposes the pins of the MTi 1-s module making it easier for
the user to test all the features and the peripherals offered by the MTi 1-s. This chapter
discusses in more detail the connections and peripherals available on the MTi 1-s Shield
Board.
4.1 Connections and peripheral switch
The MTi 1-series Shield Board has the following connections as shown in Figure 7:
-External power pin header (J100)
-Arduino-compatible headers (P100, P101, P102 and P103)
-UART communication extension socket, not placed by default (P202 and P203)
-Micro USB (J102)
-Peripheral selection switch (SW200)
-Auxiliary sensor extension socket (P200 and P201) used for GNSS daughter card
-MTi 1-series module placed in J101
Figure 7: MTi 1-series Shield Board with connector designators
Shield boards from version 2.4 (PCB number: SD180624) and higher
have 2.7 kΩ pull-up resistors on the I2C pins on the Arduino-compatible
header (P100-9 and P100-10). These resistors pull the I2C lines to

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VDDIO. Figure 7 shows the position of the resistors. The version
number of the board can be derived from the last two digits of the PCB
number, located at the bottom side of the board (in the solder mask).
For shield boards of version 2.3 or lower the pull-up resistors need to
be added externally, if the I2C protocol is used.
The External power pin header J100 can be used to directly supply the VDDIO and/or
VDDA supplies for the MTi 1-s module (Table 3). The IOREF pin on this connector can be
used to override the default 3.3 V VDDIO by placing a jumper from this pin to the
adjacent VDDIO pin.
Table 3: Connections on external power header (J100 in Figure 7)
Pin
Description
1
VDDA
2
GND
3
GND
4
VDDIO
5
IOREF
The connections for Arduino-compatible headers with a pitch of 2.54 mm (0.1 inch) are
shown in Table 4. The MTi 1-series Shield Board does not support Arduino-compatible
boards with an IOREF of 5V as the maximum VDDIO is 3.6V for the MTi 1-s module.
Therefore, the VDDIO is by default set to 3.3V. This default VDDIO voltage can be
overruled by placing a jumper on the external power header, but only for voltages within
the operational VDDIO range of the MTi 1-s module. For information on the connections,
refer to the pin description in Section 4.2. Refer to Table 6 on how to enable the various
interfaces on the Shield Board.
Table 4: Connections on Arduino-compatible header (P100, P101, P102 and P103 in Figure 7)
Pin
Arduino
Shield Board
Pin
Arduino
Shield Board
P100-10
SCL/D15
SCL
P100-9
SDA/D14
SDA
P100-8
AVDD
NC
P101-1
NC
NC
P100-7
GND
GND
P101-2
IOREF
IOREF
P100-6
SCK/D13
SCK/ADD0
P101-3
NRST
NC
P100-5
MISO/D12
MISO/ADD1
P101-4
3V3
3V3
P100-4
MOSI/D11
MOSI/ADD2
P101-5
5V
5V
P100-3
CS/D10
nCS
P101-6
GND
GND
P100-2
D9
PSEL0
P101-7
GND
GND
P100-1
D8
PSEL1
P101-8
VIN
NC
P102-8
D7
SYNC_IN
P102-7
D6
SYNC_OUT
P103-1
A0
NC
P102-6
D5
SYNC_PPS
P103-2
A1
NC
P102-5
D4
RESET
P103-3
A2
NC
P102-4
D3
DRDY/CTS/nRE
P103-4
A3
NC
P102-3
D2
RTS/DE
P103-5
A4
NC
P102-2
TX/D1
RxD
P103-6
A5
NC
P102-1
RX/D0
TxD

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The UART communication extension socket is not placed by default. When the socket is
placed, it can be used to directly plug an UART transceiver module of MikroElektronika
like the ‘RS232 click’ or ‘RS485 click 3.3V’. This UART communication extension socket
uses (only) the 3.3V supply pin, which is connected to VDDIO. We recommend to place
low profile sockets (like the CES-108-01-T-S)to make sure that the MTi 1-s module is
still easily accessible. The pin description of these headers is shown in Table 5.
Table 5: Connections on UART communication extension sockets (P202 and P203 in Figure 7)
Pin
Mikro BUS
MTi 1-s
Pin
Mikro BUS
MTi 1-s
P202-1
AN
NC
P203-1
PWM
DRDY/CTS/nRE
P202-2
RST
Pull-down
P203-2
INT
DRDY/CTS/nRE
P202-3
CS
RTS/DE
P203-3
TX
RxD
P202-4
SCK
NC
P203-4
RX
TxD
P202-5
MISO
NC
P203-5
SCL
NC
P202-6
MOSI
NC
P203-6
SDA
NC
P202-7
3.3V
VDDIO
P203-7
5V
NC
P202-8
GND
GND
P203-8
GND
GND
The MTi 1-series Shield Board has a Micro USB connection that can be connected directly
to a USB port on a PC or laptop. Note: Make sure to disconnect any other power supply,
as this will overrule the USB connection.
The Peripheral selection switch sets the interface configuration of the MTi 1-s module in
the socket. The switch connects the PSEL lines (Table 6) to GND with a 5 kΩpull-down
when set to ON. Otherwise, the PSEL lines are pulled-up with a 100 kΩ resistor. The PSEL
pins on the Arduino-compatible headers can be used to overrule these lines.
Table 6: Switch positions to enable interfaces on Shield Board (SW200 in Figure 7)
PSEL1
PSEL0
Interface
Comments
0
0
UART full-
duplex
This interface uses the flow control lines RTS and
CTS. The UART full-duplex communications mode
can be used without hardware flow control. In
this case the CTS line needs to be tied low (GND)
to make the MTi device transmit.
0
1
UART half-
duplex
The UART itself is still full duplex but the DE and
nRE lines are used to control a half-duplex
transceiver
1
0
SPI
1
1
I2C
When I2C interface is selected, it is required to
set the address on the Arduino-compatible
headers (see MTi 1-series Data Sheet for the I2C-
addresses table)

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Figure 8: Top view (left) and the bottom view (right) of the GNSS daughter card
The MTi-7-DK comes with the GNSS daughter card installed in the auxiliary sensor
extension sockets (P200 and P201). As shown in Figure 8, the GNSS daughter card
consists of a GNSS and a barometer sensor component. The LEDs (Power and PPS) give
indication of proper functioning of the GNSS daughter card. The supplied GNSS antenna
can be connected to the SMA connector.
The auxiliary sensor extension socket has mikroBUS™ compatible pinning. This enables
the user to connect alternate GNSS daughter card modules with mikroBUS™ pinning to
the MTi 1-series Shield board. The pinning connections for the auxiliary sensor extension
socket are listed in Table 7. This extension only uses the 3.3V supply pin, which is
connected to VDDIO. Therefore, make sure that the VDDIO is within the required voltage
range of the GNSS module.
Table 7: Connections on auxiliary sensor extension sockets (P200 and P201 in Figure 7)
Pin
Mikro BUS
MTi 1-s
Pin
Mikro BUS
MTi 1-s
P200-1
AN
NC
P201-1
PWM
NC
P200-2
RST
nRST
P201-2
INT
SYNC_PPS
P200-3
CS
AUX_nCS
P201-3
TX
AUX_RxD
P200-4
SCK
AUX_SCK
P201-4
RX
AUX_TxD
P200-5
MISO
AUX_MISO
P201-5
SCL
NC
P200-6
MOSI
AUX_MOSI
P201-6
SDA
NC
P200-7
3.3V
VDDIO
P201-7
5V
NC
P200-8
GND
GND
P201-8
GND
GND

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4.2 Pin descriptions
Table 8: Pin descriptions Shield Board
Name
Type
Description
Power Interface
VDDA
Power
Power supply voltage for sensing elements
VDDIO
Power
Digital I/O supply voltage
Controls
PSEL0
Selection pins
These pins determine the signal interface. Note that when the
PSEL0/PSEL1 is not connected, its logic value is 1. When
PSEL0/PSEL1 is connected to GND, its logic value is 0
PSEL1
RESET
Active high reset pin, connect to GND if not used
Peripheral Interface
SDA
I2C interface
I2C serial data
SCL
I2C serial clock
ADD[0..2]
I2C address selection pins
nCS
SPI interface
SPI chip select
MOSI
SPI serial data input (slave)
MISO
SPI serial data output (slave)
SCK
SPI serial clock
RTS
UART interface
Hardware flow control in UART full-duplex mode (Ready-to-Send)
CTS
Hardware flow control in UART full-duplex mode (Clear-to-Send)
nRE
Receiver control signal in UART half-duplex mode
DE
Transmitter control signal in UART half-duplex mode
RxD
Receiver data input
TxD
Transmitter data output
DRDY
Data ready
Data ready pin indicates that data is available (SPI / I2C)
SYNC_IN
Sync interface
Accepts a trigger input to request the latest available data
message
SYNC_OUT
N/A
SYNC_PPS
Pulse Per Second output of GNSS module
AUX_RxD
Auxiliary UART
interface
Auxiliary UART data input
AUX_TxD
Auxiliary UART data output
AUX_nCS
Auxiliary SPI
interface
Auxiliary SPI chip select
AUX_MOSI
Auxiliary SPI serial data output (master)
AUX_MISO
Auxiliary SPI serial data input (master)
AUX_SCK
Auxiliary SPI serial clock
4.3 Power supplies
The MTi 1-series module requires two different power supplies: VDDIO (used for the
MCU and all IO) and VDDA (used as analog supply for the sensing elements).
The Shield Board has five supply inputs:
1. USB: supplies both VDDIO and VDDA at 3.3V. Forces USB mode
(SPI/I2C/UART interfaces not available).
2. 5V (P101): supplies both VDDIO and VDDA at 3.3V. Forces USB mode
(SPI/I2C/UART interfaces not available).
3. 3V3 (P101): supplies VDDIO directly and overrides USB mode (SPI/I2C/UART
interfaces available).

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4. VDDIO (J100): supplies VDDIO directly, overrides all other VDDIO supplies
and overrides USB mode (SPI/I2C/UART interfaces available).
5. VDDA (J100): supplies VDDA directly.
Note: Only supplying VDDIO (through 3V3 (P101) or VDDIO (J100)) without
supplying VDDA is not recommended. The only single supply options are USB and 5V
(P101), but in both cases the Shield Board will be forced into USB mode.
4.4 Electrical specifications
The Shield Board has the same communication protocol as the MTi 1-s module. Table 9
shows the electrical specifications for the Shield Board.
Table 9: System specification Shield Board
Min
Typ
Max
Unit
VDDA
2.16
3.3
3.6
V
VDDIO
1.8
3.3
3.6
V
VIO
VIH
0.75 *
VDDIO
V
VIL
0.25 *
VDDIO
V
4.5 Absolute maximum ratings
Table 10: Absolute maximum ratings Shield Board
Parameter
Min
Max
Unit
Comments
Storage temperature
-50
+125
ºC
Operating temperature
-40
+85
ºC
VDD
-0.3
4.0
V
Specification for the external
power header J100.
5V on P101 and J102
-0.3
6.0
V
Specification for the Arduino
and USB.
VDDIO
-0.3
4.0
V
Specification for the external
power header J100.
VUART,PSEL,I2C
-0.3
VDDIO +
0.3
V
VRESET,SYNC,SPI
-0.3
VDDIO +
4.0
V
Acceleration 3
10,000
g
Any axis, unpowered, for 0.2
ms
ESD protection4
±2000
V
Human body model
Stresses beyond those listed under “Absolute Maximum Ratings” may cause permanent
damage to the device. These are stress ratings only. Functional operation of the device at
3
This is a mechanical shock (g) sensitive device. Proper handling is required to prevent damage to the part.
4
This is an ESD-sensitive device. Proper handling is required to prevent damage to the part.

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these or any other conditions beyond those indicated in the operational sections of the
specifications is not implied. Exposure to absolute maximum rating conditions for
extended periods may affect device reliability. Make sure not to apply force on the
components of the MTi 1-s module, especially when placing the MTi 1-s module in a PLCC
socket.

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4.6 Package drawing
Figure 9: MTi 1-series Shield Board package drawing (Top and Side view)