Interfaces

Pin Configuration

 

Xsens Avior series OEM tracker

Below figure shows the pin configuration of the Xsens Avior series OEM tracker.

 

 

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Pin configuration of the Xsens Avior series OEM tracker

 

Below table shows the pin descriptions of the Xsens Avior series OEM tracker based on the interface variant.

 

Overall Pin functions

Pin

UART FD

UART HD

SPI

I2C

I/O type

1

VDDA (3.3 – 5 V)

PWR

2

GND

PWR

3

VDDIO (1.8 – 3.3 V)

PWR

4

GND

PWR

5

RFU

O

6

-

-

DRDY

DRDY

I/-

7

RFU

I

8

GND

GND

VDDIO

I2C_SCL

I

9

SEC_TX

SEC_TX

CAN_TX

CAN_TX

O

10

GND

VDDIO

GND

I2C_SDA

I/O

11

SEC_RX

SEC_RX

CAN_RX

CAN_RX

I

12

GND

PWR

13

MAIN_TX

MAIN_TX

SPI_SCK

RFU

I/O

14

MAIN_RX

MAIN_RX

SPI_NSS

RFU

I

15

MAIN_RTS

MAIN_DE

SPI_MISO

RFU

O

16

MAIN_CTS

-

SPI_MOSI

RFU

I

17

SYNC_IN1

I

18

SYNC_IN2

I

19

RFU

I

20

SYNC_OUT

O

 

Peripheral function selection

PSEL0 (pin 8)

PSEL1 (pin 10)

Function

Description

LOW (GND)

LOW (GND)

UART FD

UART with flow control

LOW (GND)

HIGH (VDDIO)

UART HD

UART with half duplex control

HIGH (VDDIO)

LOW (GND)

SPI

SPI slave

HIGH (pull-up)

HIGH (pull-up)

I2C

I2C slave (both PSEL pins pulled to VDDIO with external pull-up resistors)

 

Function descriptions

Name

I/O type

Description

VDDA

PWR

Analog power input (3.3 – 5 V)

VDDIO

PWR

Digital power input (1.8 – 3.3 V)

GND

PWR

Ground

RFU

I/O

Reserved for future use (do not connect)

SEC_TX

O

Secondary UART transmitter output

SEC_RX

I

Secondary UART receiver input

MAIN_TX

O

Primary UART transmitter output to host

MAIN_RX

I

Primary UART receiver input from host

MAIN_RTS

O

Primary Ready To Send output to host

MAIN_CTS

I

Primary Clear To Send input from host

MAIN_DE

O

Primary UART driver enable output (can also be connected to nRE)

CAN_TX

O

CAN transmitter output to CAN transceiver

CAN_RX

I

CAN receiver input from CAN transceiver

DRDY

O

SPI/I2C data ready output to host

SPI_SCK

I

SPI serial clock input from host

SPI_NSS

I

SPI not chip select input from host

SPI_MISO

O

SPI data output to host

SPI_MOSI

I

SPI data input from host

I2C_SCL

I

Open drain I2C serial clock input from host

I2C_SDA

I/O

Open drain I2C data input/output

SYNC_IN1

I

Multifunctional synchronization input 1

SYNC_IN2

I

Multifunctional synchronization input 2

SYNC_OUT

O

Configurable synchronization output

 

 

UART with flow control option

Pin descriptions Avior OEM Host Interface through UART with flow control

Pin

Name

I/O type

Description

1

VDDA

PWR

Analog power input (3.3 – 5 V)

2

GND

PWR

Ground

3

VDDIO

PWR

Digital power input (1.8 – 3.3 V)

4

GND

PWR

Ground

5

RFU

O

Reserved for future use

6

-

-

  

7

RFU

I

Reserved for future use

8

GND

I

Peripheral selection input 0

9

SEC_TX

O

Secondary UART transmitter output

10

GND

I

Peripheral selection input 1

11

SEC_RX

I

Secondary UART receiver input

12

GND

PWR

Ground

13

MAIN_TX

O

Primary UART transmitter output to host

14

MAIN_RX

I

Primary UART receiver input from host

15

MAIN_RTS

O

Primary Ready To Send output to host

16

MAIN_CTS

I

Primary Clear To Send input from host

17

SYNC_IN1

I

Multifunctional synchronization input 1

18

SYNC_IN2

I

Multifunctional synchronization input 2

19

RFU

I

Reserved for future use

20

SYNC_OUT

O

Configurable synchronization output

 

UART with half duplex control option

Pin descriptions Avior OEM Host Interface through UART with half duplex control

Pin

Name

I/O type

Description

1

VDDA

PWR

Analog power input (3.3 – 5 V)

2

GND

PWR

Ground

3

VDDIO

PWR

Digital power input (1.8 – 3.3 V)

4

GND

PWR

Ground

5

RFU

O

Reserved for future use

6

-

-

  

7

RFU

I

Reserved for future use

8

GND

I

Peripheral selection input 0

9

SEC_TX

O

Secondary UART transmitter output

10

VDDIO

I

Peripheral selection input 1

11

SEC_RX

I

Secondary UART receiver input

12

GND

PWR

Ground

13

MAIN_TX

O

Primary UART transmitter output to host

14

MAIN_RX

I

Primary UART receiver input from host

15

MAIN_DE

O

Primary UART driver enable output (can also be connected to nRE)

16

-

-

 

17

SYNC_IN1

I

Multifunctional synchronization input 1

18

SYNC_IN2

I

Multifunctional synchronization input 2

19

RFU

I

Reserved for future use

20

SYNC_OUT

O

Configurable synchronization output

 

SPI option
Pin descriptions Avior OEM Host Interface through SPI

Pin

Name

I/O type

Description

1

VDDA

PWR

Analog power input (3.3 – 5 V)

2

GND

PWR

Ground

3

VDDIO

PWR

Digital power input (1.8 – 3.3 V)

4

GND

PWR

Ground

5

RFU

O

Reserved for future use

6

DRDY

O

Data ready output to host

7

RFU

I

Reserved for future use

8

VDDIO

I

Peripheral selection input 0

9

CAN_TX

O

CAN transmitter output to CAN transceiver

10

GND

I

Peripheral selection input 1

11

CAN_RX

I

CAN receiver input from CAN transceiver

12

GND

PWR

Ground

13

SPI_SCK

I

SPI serial clock input from host

14

SPI_NSS

I

SPI not chip select input from host

15

SPI_MISO

O

SPI data output to host

16

SPI_MOSI

I

SPI data input from host

17

SYNC_IN1

I

Multifunctional synchronization input 1

18

SYNC_IN2

I

Multifunctional synchronization input 2

19

RFU

I

Reserved for future use

20

SYNC_OUT

O

Configurable synchronization output

 

I2C option
Pin descriptions Avior OEM Host Interface through I2C

Pin

Name

I/O type

Description

1

VDDA

PWR

Analog power input (3.3 – 5 V)

2

GND

PWR

Ground

3

VDDIO

PWR

Digital power input (1.8 – 3.3 V)

4

GND

PWR

Ground

5

RFU

O

Reserved for future use

6

DRDY

O

Data ready output to host

7

RFU

I

Reserved for future use

8

I2C_SCL

I

Open drain I2C serial clock input from host

9

CAN_TX

O

CAN transmitter output to CAN transceiver

10

I2C_SDA

I/O

Open drain I2C data input/output

11

CAN_RX

I

CAN receiver input from CAN transceiver

12

GND

PWR

Ground

13

ADDR0

I

I2C address input 0

14

ADDR1

I

I2C address input 1

15

ADDR2

I

I2C address input 2

16

 ADDR3

I

I2C address input 3

17

SYNC_IN1

I

Multifunctional synchronization input 1

18

SYNC_IN2

I

Multifunctional synchronization input 2

19

RFU

I

Reserved for future use

20

SYNC_OUT

O

Configurable synchronization output

 

 

 

Peripheral interfaces

The Avior OEM series supports different peripheral interfaces depending on the peripheral selection inputs. These are all low-level interfaces that need proper transceivers (e.g. RS232 or CAN transceiver) added externally when communicating over a cable. Some peripherals (e.g. SPI or I2C) can also be directly connected to a host MCU.

 

Communication to host

The Xsens Avior series is designed to be used as a peripheral device in embedded systems or as a standalone unit. The Xsens Avior series supports Controller Area Network (CAN), UART, SPI, and I2C protocols for the communication between the sensor and a host. See the table below for interface specifications.

 

 

Host communication interfaces specifications

Interface

Symbol

Min

Typ

Max

Units

Description

CAN*

fCAN

10.0

250.0

1000

kbps

Host CAN Interface Baud Rate

UART

fRS422

4.8

115.2

2000

kbps

Host UART Interface Baud Rate

I2C

fI2C

 

 

400

kHz

Host I2C interface Clock speed
SPI fSPI     2 MHz Host SPI Interface Clock Speed
DCSCK 30 50 70 % SPI Clock Duty Cycle

* CAN-FD supported baud rates: 2000 kbps, 5000 kbps, 8000 kbps

 

At its core, the Avior series uses the Xsens-proprietary Xbus protocol which is compatible with all Xsens Motion Tracker products. This protocol is available on all interfaces; UART and CAN(-FD).

The MT Low Level Communication Protocol Documentation is a complete reference for the protocol.

 

CAN

The CAN interface of the Xsens Avior does not include a termination resistor; it can be used in a CAN bus that already incorporates the required termination. If used in a single device connection, a 120 Ω termination resistor needs to be added between the CAN_H and CAN_L pins.

 

For more information, please review the MT CAN Protocol Documentation.

 

UART

The UART interface can be used to directly connect to an MCU at 3.3 V IO-levels. The user can configure the MTi Xsens Avior module to communicate over UART. The UART frame configuration is 8 data bits, no parity and 1 stop bit (8N1). The UART protocol can be used with flow control or with half-duplex control.

 

SYNC

The Xsens Avior series has two multifunctional synchronization inputs and one synchronization output. The electrical specifications can be seen in the next chapter: Electrical Specifications. Refer to the Xsens Avior series Datasheet for configuration details.

 

 

 

 

 

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