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This example is deprecated and no longer maintained.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.cpp@0:6fca643f1aff, 2015-11-24 (annotated)

Committer:
tjerkhofmeijer
Date:
Tue Nov 24 13:35:07 2015 +0100
Revision:
0:6fca643f1aff
Child:
3:93d0057b0690
Initial publication of embedded firmware updater example

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.h"
tjerkhofmeijer 0:6fca643f1aff 18 #include <stdlib.h>
tjerkhofmeijer 0:6fca643f1aff 19 #include <assert.h>
tjerkhofmeijer 0:6fca643f1aff 20
tjerkhofmeijer 0:6fca643f1aff 21
tjerkhofmeijer 0:6fca643f1aff 22 /*! \class MtInterface
tjerkhofmeijer 0:6fca643f1aff 23 \brief Abstract interface for communicating with an Xsens Motion Tracker (MT) on an mbed platform
tjerkhofmeijer 0:6fca643f1aff 24
tjerkhofmeijer 0:6fca643f1aff 25 MtInterface defines an abstract interface for communicating with a Motion Tracker (MT) via xbus
tjerkhofmeijer 0:6fca643f1aff 26 messages. Depending on the type of communication interface a specific implementation
tjerkhofmeijer 0:6fca643f1aff 27 must be made which inherits from MtInterface.
tjerkhofmeijer 0:6fca643f1aff 28 */
tjerkhofmeijer 0:6fca643f1aff 29
tjerkhofmeijer 0:6fca643f1aff 30 static MtInterface* g_thisPtr = 0;
tjerkhofmeijer 0:6fca643f1aff 31
tjerkhofmeijer 0:6fca643f1aff 32
tjerkhofmeijer 0:6fca643f1aff 33 /*! \brief Callback function for XbusParserCallback for allocating a block of memory
tjerkhofmeijer 0:6fca643f1aff 34 \param bufferSize buffer size
tjerkhofmeijer 0:6fca643f1aff 35 */
tjerkhofmeijer 0:6fca643f1aff 36 static void *allocateMessageDataWrapper(size_t bufferSize)
tjerkhofmeijer 0:6fca643f1aff 37 {
tjerkhofmeijer 0:6fca643f1aff 38 return g_thisPtr->allocateMessageData(bufferSize);
tjerkhofmeijer 0:6fca643f1aff 39 }
tjerkhofmeijer 0:6fca643f1aff 40
tjerkhofmeijer 0:6fca643f1aff 41
tjerkhofmeijer 0:6fca643f1aff 42 /*! \brief Callback function for XbusParserCallback for deallocating a block of memory
tjerkhofmeijer 0:6fca643f1aff 43 \param buffer Pointer to the buffer that should be deallocated
tjerkhofmeijer 0:6fca643f1aff 44 */
tjerkhofmeijer 0:6fca643f1aff 45 static void deallocateMessageDataWrapper(void const *buffer)
tjerkhofmeijer 0:6fca643f1aff 46 {
tjerkhofmeijer 0:6fca643f1aff 47 g_thisPtr->deallocateMessageData(buffer);
tjerkhofmeijer 0:6fca643f1aff 48 }
tjerkhofmeijer 0:6fca643f1aff 49
tjerkhofmeijer 0:6fca643f1aff 50
tjerkhofmeijer 0:6fca643f1aff 51 /*! \brief Callback function for XbusParserCallback that handles completely received xbus messages from the motion tracker
tjerkhofmeijer 0:6fca643f1aff 52 \param Pointer to the received xbus message
tjerkhofmeijer 0:6fca643f1aff 53 */
tjerkhofmeijer 0:6fca643f1aff 54 static void xbusParserCallbackFunctionWrapper(struct XbusMessage const *message)
tjerkhofmeijer 0:6fca643f1aff 55 {
tjerkhofmeijer 0:6fca643f1aff 56 g_thisPtr->xbusParserCallbackFunction(message);
tjerkhofmeijer 0:6fca643f1aff 57 }
tjerkhofmeijer 0:6fca643f1aff 58
tjerkhofmeijer 0:6fca643f1aff 59
tjerkhofmeijer 0:6fca643f1aff 60 /*! \brief Constructs an MtInterface.
tjerkhofmeijer 0:6fca643f1aff 61 * \note Only a single instance of MtInterface is allowed
tjerkhofmeijer 0:6fca643f1aff 62 */
tjerkhofmeijer 0:6fca643f1aff 63 MtInterface::MtInterface()
tjerkhofmeijer 0:6fca643f1aff 64 {
tjerkhofmeijer 0:6fca643f1aff 65 assert(g_thisPtr == 0);
tjerkhofmeijer 0:6fca643f1aff 66 g_thisPtr = this;
tjerkhofmeijer 0:6fca643f1aff 67
tjerkhofmeijer 0:6fca643f1aff 68 // Create an xbusParser:
tjerkhofmeijer 0:6fca643f1aff 69 XbusParserCallback xbusCallback = {};
tjerkhofmeijer 0:6fca643f1aff 70 xbusCallback.allocateBuffer = allocateMessageDataWrapper;
tjerkhofmeijer 0:6fca643f1aff 71 xbusCallback.deallocateBuffer = deallocateMessageDataWrapper;
tjerkhofmeijer 0:6fca643f1aff 72 xbusCallback.handleMessage = xbusParserCallbackFunctionWrapper;
tjerkhofmeijer 0:6fca643f1aff 73 m_xbusParser = XbusParser_create(&xbusCallback);
tjerkhofmeijer 0:6fca643f1aff 74 }
tjerkhofmeijer 0:6fca643f1aff 75
tjerkhofmeijer 0:6fca643f1aff 76
tjerkhofmeijer 0:6fca643f1aff 77 /*! \brief Destructor
tjerkhofmeijer 0:6fca643f1aff 78 */
tjerkhofmeijer 0:6fca643f1aff 79 MtInterface::~MtInterface()
tjerkhofmeijer 0:6fca643f1aff 80 {
tjerkhofmeijer 0:6fca643f1aff 81 g_thisPtr = 0;
tjerkhofmeijer 0:6fca643f1aff 82 }
tjerkhofmeijer 0:6fca643f1aff 83
tjerkhofmeijer 0:6fca643f1aff 84
tjerkhofmeijer 0:6fca643f1aff 85 /*! \brief Returns the next message from the rx queue or NULL if the queue is empty
tjerkhofmeijer 0:6fca643f1aff 86 \note The caller must dealocate the message with releaseXbusMessage() after use.
tjerkhofmeijer 0:6fca643f1aff 87 */
tjerkhofmeijer 0:6fca643f1aff 88 XbusMessage *MtInterface::getXbusMessage()
tjerkhofmeijer 0:6fca643f1aff 89 {
tjerkhofmeijer 0:6fca643f1aff 90 XbusMessage *xbusMessage = NULL;
tjerkhofmeijer 0:6fca643f1aff 91 osEvent ev = m_xbusRxQueue.get(1);
tjerkhofmeijer 0:6fca643f1aff 92 if (ev.status == osEventMessage)
tjerkhofmeijer 0:6fca643f1aff 93 {
tjerkhofmeijer 0:6fca643f1aff 94 xbusMessage = (XbusMessage*)ev.value.p;
tjerkhofmeijer 0:6fca643f1aff 95 }
tjerkhofmeijer 0:6fca643f1aff 96 return xbusMessage;
tjerkhofmeijer 0:6fca643f1aff 97 }
tjerkhofmeijer 0:6fca643f1aff 98
tjerkhofmeijer 0:6fca643f1aff 99
tjerkhofmeijer 0:6fca643f1aff 100 /*! \brief Releases an xbus message previously obtained by a call to getXbusMessage()
tjerkhofmeijer 0:6fca643f1aff 101 \param xbusMessage that should be released
tjerkhofmeijer 0:6fca643f1aff 102 */
tjerkhofmeijer 0:6fca643f1aff 103 void MtInterface::releaseXbusMessage(XbusMessage *xbusMessage)
tjerkhofmeijer 0:6fca643f1aff 104 {
tjerkhofmeijer 0:6fca643f1aff 105 if (xbusMessage != NULL)
tjerkhofmeijer 0:6fca643f1aff 106 {
tjerkhofmeijer 0:6fca643f1aff 107 deallocateMessageData(xbusMessage->m_data);
tjerkhofmeijer 0:6fca643f1aff 108 m_xbusMessagePool.free(xbusMessage);
tjerkhofmeijer 0:6fca643f1aff 109 }
tjerkhofmeijer 0:6fca643f1aff 110 }
tjerkhofmeijer 0:6fca643f1aff 111
tjerkhofmeijer 0:6fca643f1aff 112
tjerkhofmeijer 0:6fca643f1aff 113 /*! \brief Callback function for XbusParserCallback to allocate a block of memory
tjerkhofmeijer 0:6fca643f1aff 114 \param bufferSize buffer size
tjerkhofmeijer 0:6fca643f1aff 115 */
tjerkhofmeijer 0:6fca643f1aff 116 void *MtInterface::allocateMessageData(size_t bufferSize)
tjerkhofmeijer 0:6fca643f1aff 117 {
tjerkhofmeijer 0:6fca643f1aff 118 assert(bufferSize < m_rxBufferSize);
tjerkhofmeijer 0:6fca643f1aff 119 void *ptr = m_memoryPool.alloc();
tjerkhofmeijer 0:6fca643f1aff 120 assert(ptr);
tjerkhofmeijer 0:6fca643f1aff 121 return ptr;
tjerkhofmeijer 0:6fca643f1aff 122 }
tjerkhofmeijer 0:6fca643f1aff 123
tjerkhofmeijer 0:6fca643f1aff 124
tjerkhofmeijer 0:6fca643f1aff 125 /*! \brief Callback function for XbusParserCallback to deallocate a block of memory
tjerkhofmeijer 0:6fca643f1aff 126 \param buffer Pointer to the buffer that should be deallocated
tjerkhofmeijer 0:6fca643f1aff 127 */
tjerkhofmeijer 0:6fca643f1aff 128 void MtInterface::deallocateMessageData(void const *buffer)
tjerkhofmeijer 0:6fca643f1aff 129 {
tjerkhofmeijer 0:6fca643f1aff 130 m_memoryPool.free((uint8_t(*)[m_rxBufferSize])buffer);
tjerkhofmeijer 0:6fca643f1aff 131 }
tjerkhofmeijer 0:6fca643f1aff 132
tjerkhofmeijer 0:6fca643f1aff 133
tjerkhofmeijer 0:6fca643f1aff 134 /*! \brief Callback function for XbusParserCallback that handles a completely received xbus message from the motion tracker
tjerkhofmeijer 0:6fca643f1aff 135 \param message Pointer to the received xbus message
tjerkhofmeijer 0:6fca643f1aff 136 */
tjerkhofmeijer 0:6fca643f1aff 137 void MtInterface::xbusParserCallbackFunction(struct XbusMessage const *message)
tjerkhofmeijer 0:6fca643f1aff 138 {
tjerkhofmeijer 0:6fca643f1aff 139 XbusMessage *xbusMessage = m_xbusMessagePool.alloc();
tjerkhofmeijer 0:6fca643f1aff 140 assert(xbusMessage);
tjerkhofmeijer 0:6fca643f1aff 141 memcpy(xbusMessage, message, sizeof(XbusMessage));
tjerkhofmeijer 0:6fca643f1aff 142 m_xbusRxQueue.put(xbusMessage);
tjerkhofmeijer 0:6fca643f1aff 143 }
tjerkhofmeijer 0:6fca643f1aff 144