Xsens / Mbed 2 deprecated MTi-1_fwu_example

Example for updating the MTi-1's firmware. Uses a platform independent, retargetable pure C implementation of the firmware updater protocol.

Dependencies:   mbed-rtos mbed

Important Information

This example is deprecated and no longer maintained. There are new embedded examples available in the MT SDK folder of the MT Software Suite. For more information please visit: https://xsenstechnologies.force.com/knowledgebase/s/article/Introduction-to-the-MT-SDK-programming-examples-for-MTi-devices

Overview

The purpose of this example is to demonstrate how to update the firmware of an MTi-1 series module using the FwUpdate library. The FwUpdate library is provided as C source in the xbus directory. It is setup to be platform independent and easily retargetable. The user must provide an instance of the FwUpdate struct having the platform specific callback function filled in. Refer to fwupdate.h for more information.

The example embeds an Xsens Firmware File (XFF). The XFF used is the official 1.1.1 MTi1-series firmware release. If needed binary copies of specific firmware files can be requested through our support department. We used srecord to convert the XFF to the C data array (See xffdata.c and xffdata.h). When using requested Xsens provided XFF file use srecord as follows:

srec_cat firmware.xff -binary -o xffdata.c -C-array g_xffData -include


This example updates the firmware only. The eMTS (extended Motion Tracker Settings) are not updated. This means that in rare cases (e.g. when hardware filter parameters are updated), you do not take full advantage of the filter update. Most functionality, such as filter behavior, outputs, output formats and communication options are updated with this example. Please use the Windows/Linux FW updater when HW parameters are updated (see release notes to check if HW parameters were changed).

Communication with the MTi-1 series device is implemented using a either a full-duplex UART, I2C or SPI bus. A reset line is used to reset the MTi during initialization. Data is output to a host PC terminal using a second UART.

Supported Platforms

The program has been tested on the following mbed platforms:

Porting to other mbed platforms is relatively be easy by adding its specific port information to board.h. It is however necessary that the board has sufficient code flash/ROM to keep a copy of the XFF (150K). In case you store the XFF data in a different memory (e.g. an external memory) you must re-implement the readXffData callback function.

Using the Example

  1. To use the example program connect one of the supported mbed boards to the host PC and download the application from the mbed online compiler to the target device.
  2. With the mbed board unpowered (USB disconnected) wire the mbed board to the MTi-1 development board. The following connections are required:
    • In all cases:
      • 5V (or 3V3) main supply to VDD (P300-1)
      • MCU IO voltage (IORef) to VDDIO (P300-2)
      • GND to GND (P300-3)
      • MT_NRESET to nRST P(300-5)
    • For I2C communication:
      • MT_SCL to I2C_SCL (P300-9)
      • MT_SDA to I2C_SDA (P300-11)
      • MT_DRDY to DRDY (P300-15)
      • MT_ADD0 to ADD0 (P300-17)
      • MT_ADD1 to ADD0 (P300-19)
      • MT_ADD2 to ADD0 (P300-21)
    • For SPI communication:
      • MT_DRDY to DRDY (P300-15)
      • MT_SCLK to SPI_SCK (P300-17)
      • MT_MISO to SPI_MISO (P300-19)
      • MT_MOSI to SPI_MOSI (P300-21)
      • MT_nCS to SPI_nCS (P300-23)
    • For UART communication:
      • MT_RX to UART_TX (P300-9)
      • MT_TX to UART_RX (P300-11)

Information

Check the defines in board.h to determine which IO pins are used for the MT_xxx connections on each mbed platform.

Information

The active peripheral (I2C, SPI or UART) is selected on the MTi-1 development board through the PSEL0 and PSEL1 switches. Look on the bottom of the development board for the correct settings.

  1. Connect to the target using a serial terminal. The application is configured for:
    • Baudrate = 921600
    • Stop bits = 1
    • No parity bits
    • No flow control
  2. Reset the mbed board.
  3. You should be presented with a simple user interface as shown below: 
Embedded firmware updater example
Interface: I2C

h: Print this text
c: GotoConfig
m: GotoMeasurement
r: Soft reset the module
b: GotoBootloader
v: Request firmware revision
d: Request deviceId
u: Start firmware update (make sure module is in bootloader mode)
x: Hard reset the module and make it stay in bootloader

To do a firmware update

  • Make the MTi-1 enter bootloader mode. Either through 'b' or 'x'
  • You can check if the MTi-1 is in bootloader by requesting the firmware revision ('v'). The bootloader revision always starts with 255
  • Press 'u' to start the firmware update
  • After about 20 seconds the "Firmware update ready" message should appear indicating the update succeeded
  • The device should automatically reboot into its application firmware (use 'v' to verify)

mtinterface/mtinterface_uart.cpp@5:63985ca16eb9, 2016-12-05 (annotated)

Committer:
tjerkhofmeijer
Date:
Mon Dec 05 10:30:26 2016 +0000
Revision:
5:63985ca16eb9
Parent:
3:93d0057b0690 
- Updated FWU example to use the latest mbed and rtos libraries. This fixes the linking error w.r.t. __aeabi_assert; - During the update process the file position is now shown to indicate progress; - Fixed some local assert.h includes to global

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tjerkhofmeijer 0:6fca643f1aff 1 /*!
tjerkhofmeijer 0:6fca643f1aff 2 * \file
tjerkhofmeijer 0:6fca643f1aff 3 * \copyright Copyright (C) Xsens Technologies B.V., 2015.
tjerkhofmeijer 0:6fca643f1aff 4 *
tjerkhofmeijer 0:6fca643f1aff 5 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
tjerkhofmeijer 0:6fca643f1aff 6 * use this file except in compliance with the License. You may obtain a copy
tjerkhofmeijer 0:6fca643f1aff 7 * of the License at
tjerkhofmeijer 0:6fca643f1aff 8 *
tjerkhofmeijer 0:6fca643f1aff 9 * http://www.apache.org/licenses/LICENSE-2.0
tjerkhofmeijer 0:6fca643f1aff 10 *
tjerkhofmeijer 0:6fca643f1aff 11 * Unless required by applicable law or agreed to in writing, software
tjerkhofmeijer 0:6fca643f1aff 12 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
tjerkhofmeijer 0:6fca643f1aff 13 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
tjerkhofmeijer 0:6fca643f1aff 14 * License for the specific language governing permissions and limitations
tjerkhofmeijer 0:6fca643f1aff 15 * under the License.
tjerkhofmeijer 0:6fca643f1aff 16 */
tjerkhofmeijer 0:6fca643f1aff 17 #include "mtinterface_uart.h"
tjerkhofmeijer 5:63985ca16eb9 18 #include <assert.h>
tjerkhofmeijer 0:6fca643f1aff 19 #include "board.h"
tjerkhofmeijer 0:6fca643f1aff 20 #include "mbed.h"
tjerkhofmeijer 0:6fca643f1aff 21
tjerkhofmeijer 0:6fca643f1aff 22
tjerkhofmeijer 0:6fca643f1aff 23 /*! \class MtInterfaceUart
tjerkhofmeijer 0:6fca643f1aff 24 \brief Implementation of MtInterface for communicating over UART.
tjerkhofmeijer 0:6fca643f1aff 25
tjerkhofmeijer 0:6fca643f1aff 26 The low level UART driver is provided by the mbed platform.
tjerkhofmeijer 0:6fca643f1aff 27 */
tjerkhofmeijer 0:6fca643f1aff 28
tjerkhofmeijer 0:6fca643f1aff 29 static MtInterfaceUart* thisPtr = 0; // required to give callback function access to class members
tjerkhofmeijer 0:6fca643f1aff 30
tjerkhofmeijer 0:6fca643f1aff 31
tjerkhofmeijer 0:6fca643f1aff 32 /*! \brief Constructor
tjerkhofmeijer 3:93d0057b0690 33 \param baudrate Uart baud rate used to communicate with the module
tjerkhofmeijer 0:6fca643f1aff 34 */
tjerkhofmeijer 3:93d0057b0690 35 MtInterfaceUart::MtInterfaceUart(int baudrate)
tjerkhofmeijer 0:6fca643f1aff 36 {
tjerkhofmeijer 0:6fca643f1aff 37 assert(thisPtr == 0); //(only one instance is allowed)
tjerkhofmeijer 0:6fca643f1aff 38 thisPtr = this;
tjerkhofmeijer 0:6fca643f1aff 39 m_serial = new Serial(UART_TX_TO_MODULE, UART_RX_FROM_MODULE);
tjerkhofmeijer 3:93d0057b0690 40 m_serial->baud(baudrate);
tjerkhofmeijer 0:6fca643f1aff 41 m_serial->format(8, Serial::None, 1);
tjerkhofmeijer 0:6fca643f1aff 42 m_serial->attach(uart_rx_interrupt_handler, Serial::RxIrq);
tjerkhofmeijer 0:6fca643f1aff 43 m_txBuffer = new uint8_t[300];
tjerkhofmeijer 0:6fca643f1aff 44 }
tjerkhofmeijer 0:6fca643f1aff 45
tjerkhofmeijer 0:6fca643f1aff 46
tjerkhofmeijer 0:6fca643f1aff 47 /*! \brief Destructor
tjerkhofmeijer 0:6fca643f1aff 48 */
tjerkhofmeijer 0:6fca643f1aff 49 MtInterfaceUart::~MtInterfaceUart()
tjerkhofmeijer 0:6fca643f1aff 50 {
tjerkhofmeijer 0:6fca643f1aff 51 delete m_serial;
tjerkhofmeijer 0:6fca643f1aff 52 delete[] m_txBuffer;
tjerkhofmeijer 0:6fca643f1aff 53 thisPtr = 0;
tjerkhofmeijer 0:6fca643f1aff 54 }
tjerkhofmeijer 0:6fca643f1aff 55
tjerkhofmeijer 0:6fca643f1aff 56
tjerkhofmeijer 0:6fca643f1aff 57 /*! \brief Sends an xbus message to the module via UART
tjerkhofmeijer 0:6fca643f1aff 58 \param xbusMessage Xbus message to be send
tjerkhofmeijer 0:6fca643f1aff 59 */
tjerkhofmeijer 0:6fca643f1aff 60 void MtInterfaceUart::sendXbusMessage(XbusMessage const* xbusMessage)
tjerkhofmeijer 0:6fca643f1aff 61 {
tjerkhofmeijer 0:6fca643f1aff 62 int size = XbusMessage_createRawMessage(m_txBuffer, xbusMessage, XBF_Uart);
tjerkhofmeijer 0:6fca643f1aff 63 for (int n = 0; n < size; n++)
tjerkhofmeijer 0:6fca643f1aff 64 {
tjerkhofmeijer 0:6fca643f1aff 65 m_serial->putc(m_txBuffer[n]);
tjerkhofmeijer 0:6fca643f1aff 66 }
tjerkhofmeijer 0:6fca643f1aff 67 }
tjerkhofmeijer 0:6fca643f1aff 68
tjerkhofmeijer 0:6fca643f1aff 69
tjerkhofmeijer 0:6fca643f1aff 70 /*! \brief Returns the low level bus format used by this interface
tjerkhofmeijer 0:6fca643f1aff 71 */
tjerkhofmeijer 0:6fca643f1aff 72 XbusBusFormat MtInterfaceUart::busFormat()
tjerkhofmeijer 0:6fca643f1aff 73 {
tjerkhofmeijer 0:6fca643f1aff 74 return XBF_Uart;
tjerkhofmeijer 0:6fca643f1aff 75 }
tjerkhofmeijer 0:6fca643f1aff 76
tjerkhofmeijer 0:6fca643f1aff 77
tjerkhofmeijer 0:6fca643f1aff 78 /*! \brief Handles UART bytes received from the motion tracker
tjerkhofmeijer 0:6fca643f1aff 79 */
tjerkhofmeijer 0:6fca643f1aff 80 void MtInterfaceUart::uart_rx_interrupt_handler()
tjerkhofmeijer 0:6fca643f1aff 81 {
tjerkhofmeijer 0:6fca643f1aff 82 while (thisPtr->m_serial->readable())
tjerkhofmeijer 0:6fca643f1aff 83 {
tjerkhofmeijer 0:6fca643f1aff 84 uint8_t c = thisPtr->m_serial->getc();
tjerkhofmeijer 0:6fca643f1aff 85 XbusParser_parseBuffer(thisPtr->m_xbusParser, &c, 1);
tjerkhofmeijer 0:6fca643f1aff 86 }
tjerkhofmeijer 0:6fca643f1aff 87 }
tjerkhofmeijer 0:6fca643f1aff 88
tjerkhofmeijer 3:93d0057b0690 89
tjerkhofmeijer 3:93d0057b0690 90 /*! \brief Set the baudrate
tjerkhofmeijer 3:93d0057b0690 91 \param baudrate The baudrate value which should be set
tjerkhofmeijer 3:93d0057b0690 92 */
tjerkhofmeijer 3:93d0057b0690 93 void MtInterfaceUart::setBaudrate(int baudrate)
tjerkhofmeijer 3:93d0057b0690 94 {
tjerkhofmeijer 3:93d0057b0690 95 m_serial->baud(baudrate);
tjerkhofmeijer 3:93d0057b0690 96 }
tjerkhofmeijer 3:93d0057b0690 97