7 releases (breaking)
0.6.1 | Sep 28, 2023 |
---|---|
0.6.0 | Sep 20, 2023 |
0.5.1 | Oct 9, 2022 |
0.4.0 | Jun 12, 2021 |
0.1.0 | May 13, 2021 |
#98 in No standard library
62 downloads per month
105KB
2.5K
SLoC
xsens-mti
An unofficial and incomplete no_std
Rust driver for Xsens MTi-series sensors.
Example
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), ...)
Protocol
See MT_Low-Level_Documentation.pdf.
CA-MP2-MTi Cable Pinout
The part number of the Fischer connector is SS 102A059-130 Gunfire.
MTi | Description |
---|---|
Red | 4.5-34V |
Black | GND |
Yellow | RS232 Tx |
Grey | RS322 Rx |
TODOs
do all the grep -R 'TODO' src/
things
License
Licensed under either of
- Apache License, Version 2.0, (LICENSE-APACHE or http://www.apache.org/licenses/LICENSE-2.0)
- MIT license (LICENSE-MIT or http://opensource.org/licenses/MIT)
at your option.
Dependencies
~2MB
~43K SLoC