14 Document MT0605P.2018.E© Xsens Technologies B.V. MTi User ManualInternally the Xsens host software is implemented using an object oriented approach in which thefunctionality is only implemented in subclasses, see schematic below.It is important for the developer to use only functions supported by the connected device. During runtime, calling an unsupported function will generate an error status in line with the normal error handlingframework.C++ interfaceTo offer the convenience of object-lifetime management to developers, the XDA is also offered as a C++interface which basically implements a convenience wrapper around the C API. This means that thedeveloper does not have to deal with memory management (i.e. easy object-lifetime management) asthe class implementation takes care of this. This means that for example functions namedXsDevice_ in the C interface are available in the C++ interface as the name> method of the XsDevice class.COM interfaceFor MS Windows environments, all the functionality is also available via a COM interface.3.6.4 Direct low-level communication with MTiThe MTi features a powerful embedded multi-processor core. As the MTi has an on-board non-volatilememory that can store all settings, the MTi can conveniently be used without using a host computer.The low-level communication protocol (named Xbus protocol) offers full control and functionality,however without the convenience advantages that the Xsens Device API offers, such as threading,object-oriented programming and error handling. Low-level communication is essential on platforms thatdo not support the Xsens Device API, such as custom embedded computers.The low-level communication is extensively described in the Low-Level Communication ProtocolDocumentation. Next to that, source code is delivered to make driver development and Xbus messageparsing for the MTi as easy and quick as possible.3.6.5 Terms of use of MT Software SuiteThe installer of the MT Software Suite can install 4 components of the MT Software Suite: the MTManager, the MT SDK, the Magnetic Field Mapper and the MFM SDK. The Firmware Updater is aFigure 7: Functionality implementation for specific products
