Xsens Go

A Go client for Xsens IMU(s).

Disclaimer: This is a 3rd party SDK with no official support.

For 1st party support on Xsens devices, turn to the Xsens online support platform BASE.

Documentation

The SDK implements the Xsens MT Low Level Communication Protocol.

Supported devices

This SDK has primarily been tested on the Xsens MTi-G-710, but should be compatible with all products in the MTi product line.

Usage

$ go get -u go.einride.tech/xsens

Examples

Read measurement data

package main

import (
	"context"
	"flag"
	"log"
	"os"

	"go.bug.st/serial"
	"go.einride.tech/xsens"
)

func main() {
	ctx := context.Background()
	log.SetFlags(0)
	port := flag.String("port", "", "serial port to read from")
	baudRateFlag := flag.Int("baudRate", int(serial.BaudRate115200), "baud rate for serial port")
	flag.Parse()
	if *port == "" {
		flag.Usage()
		os.Exit(1)
	}
	// Open serial port.
	serialPort, err := serial.Open(*port, serial.BaudRate(*baudRateFlag))
	if err != nil {
		log.Fatal(err)
	}
	client := xsens.NewClient(serialPort)
	// Perform GoToMeasurement sequence.
	if err := client.GoToMeasurement(ctx); err != nil {
		log.Panic(err)
	}
	for {
		// Scan through all packets in the current MTData2 message.
		log.Println(client.MessageIdentifier())
		for client.ScanMeasurementData() {
			log.Printf("\t%v", client.DataType())
			log.Printf("\t%+v", client.MeasurementData())
		}
		// Receive next MTData2 message.
		if err := client.Receive(ctx); err != nil {
			log.Panic(err)
		}
	}
}