xsens-mti

An unofficial and incomplete no_std Rust driver for Xsens MTi-series sensors.

Example

```bash cargo run --example frame-decode

BusId(0xFF), MsgId(0x36), Len(Standard(158)) MTData2 [0] DataId(0x1010, UtcTime, Float32, Enu), Len(12) Flags(0x07: ToW(true), WN(true), UTC(true)) 2021-05-13 12:05:37.4500000 [1] DataId(0x1020, PacketCounter, Float32, Enu), Len(2) 48834 [2] DataId(0x1060, SampleTimeFine, Float32, Enu), Len(4) 24455074 [3] DataId(0x1070, SampleTimeCoarse, Float32, Enu), Len(4) 2445 [4] DataId(0x2034, EulerAngles, Float32, Ned), Len(12) Roll(-179.259), Pitch(-0.636), Yaw(-98.770) [5] DataId(0x4020, Acceleration, Float32, Enu), Len(12) X(-0.076), Y(0.141), Z(9.832) [6] DataId(0x5023, AltitudeEllipsoid, Float64, Enu), Len(8) 603.645 [7] DataId(0x5033, PositionEcef, Float64, Enu), Len(24) X(-1963779.710), Y(-3828825.125), Z(4692929.349) [8] DataId(0x5043, LatLon, Float64, Enu), Len(16) Lat(47.673), Lon(-117.153) [9] DataId(0x8020, RateOfTurn, Float32, Enu), Len(12) X(-0.006), Y(0.008), Z(0.005) [10] DataId(0xD010, VelocityXYZ, Float32, Enu), Len(12) X(-0.141), Y(-0.015), Z(0.032) [11] DataId(0xE020, StatusWord, Float32, Enu), Len(4) StatusWord(0x1800047: SelfTest(true), FilterValid(true), GNSSFix(true), ...) ```

TODOs

check out other IMU crates for their patterns

• https://crates.io/crates/mpu9250
• https://crates.io/crates/bno055
• https://github.com/acburigo/ti154/blob/master/src/parser.rs
• https://github.com/cpsdqs/tinyframe-rs
  • https://github.com/cpsdqs/tinyframe-rs/blob/master/src/lib.rs

make a hal-friendly example with https://github.com/rust-embedded/linux-embedded-hal serial device

do all the grep -R 'TODO' src/ things

diagram/table for the cable pinout * mti cable red : Vin +5v * mti cable black : GND * mti cable yellow : RS232 Tx * mti cable grey : RS232 Rx

DOCS BUG?: page 13 on the proto spec in MT low level IND ID 1 byte? not in xsmessage.h nor is it in the viz?

protocol doc https://www.xsens.com/hubfs/Downloads/Manuals/MTLow-LevelDocumentation.pdf