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This example is deprecated and no longer maintained.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/mtssp_spi_driver.cpp@6:fd42cb49cdd0, 2016-12-21 (annotated)

Committer:
tjerkhofmeijer
Date:
Wed Dec 21 09:51:35 2016 +0100
Revision:
6:fd42cb49cdd0
Parent:
0:6fca643f1aff 
Updated the embedded MTi1 firmware file to version 1.1.1

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 "mtssp_spi_driver.h"
tjerkhofmeijer 0:6fca643f1aff 18 #include <string.h>
tjerkhofmeijer 0:6fca643f1aff 19 #include "board.h"
tjerkhofmeijer 0:6fca643f1aff 20
tjerkhofmeijer 0:6fca643f1aff 21
tjerkhofmeijer 0:6fca643f1aff 22 /*! \class MtsspSpiDriver
tjerkhofmeijer 0:6fca643f1aff 23 \brief Implementation of MtsspDriver for communicating over SPI.
tjerkhofmeijer 0:6fca643f1aff 24
tjerkhofmeijer 0:6fca643f1aff 25 The low level SPI driver is provided by the mbed platform.
tjerkhofmeijer 0:6fca643f1aff 26 */
tjerkhofmeijer 0:6fca643f1aff 27
tjerkhofmeijer 0:6fca643f1aff 28
tjerkhofmeijer 0:6fca643f1aff 29 /*! \brief Constructor
tjerkhofmeijer 0:6fca643f1aff 30 */
tjerkhofmeijer 0:6fca643f1aff 31 MtsspSpiDriver::MtsspSpiDriver()
tjerkhofmeijer 0:6fca643f1aff 32 {
tjerkhofmeijer 0:6fca643f1aff 33 m_chipSelect = new DigitalOut(MT_nCS, 1);
tjerkhofmeijer 0:6fca643f1aff 34 *m_chipSelect = 1;
tjerkhofmeijer 0:6fca643f1aff 35 wait(0.1);
tjerkhofmeijer 0:6fca643f1aff 36 m_spi = new SPI(MT_MOSI, MT_MISO, MT_SCLK);
tjerkhofmeijer 0:6fca643f1aff 37
tjerkhofmeijer 0:6fca643f1aff 38 m_spi->frequency(1000000);
tjerkhofmeijer 0:6fca643f1aff 39 m_spi->format(8, 3);
tjerkhofmeijer 0:6fca643f1aff 40 }
tjerkhofmeijer 0:6fca643f1aff 41
tjerkhofmeijer 0:6fca643f1aff 42
tjerkhofmeijer 0:6fca643f1aff 43 /*! \brief Destructor
tjerkhofmeijer 0:6fca643f1aff 44 */
tjerkhofmeijer 0:6fca643f1aff 45 MtsspSpiDriver::~MtsspSpiDriver()
tjerkhofmeijer 0:6fca643f1aff 46 {
tjerkhofmeijer 0:6fca643f1aff 47 delete m_chipSelect;
tjerkhofmeijer 0:6fca643f1aff 48 delete m_spi;
tjerkhofmeijer 0:6fca643f1aff 49 }
tjerkhofmeijer 0:6fca643f1aff 50
tjerkhofmeijer 0:6fca643f1aff 51
tjerkhofmeijer 0:6fca643f1aff 52 /*! \brief Perform a blocking write transfer over SPI
tjerkhofmeijer 0:6fca643f1aff 53 \param opcode Opcode to use
tjerkhofmeijer 0:6fca643f1aff 54 \param data Pointer to data to be written
tjerkhofmeijer 0:6fca643f1aff 55 \param dataLength Number of data bytes to write
tjerkhofmeijer 0:6fca643f1aff 56 */
tjerkhofmeijer 0:6fca643f1aff 57 void MtsspSpiDriver::write(uint8_t opcode, uint8_t const* data, int dataLength)
tjerkhofmeijer 0:6fca643f1aff 58 {
tjerkhofmeijer 0:6fca643f1aff 59 *m_chipSelect = 0;
tjerkhofmeijer 0:6fca643f1aff 60 m_spi->write(opcode);
tjerkhofmeijer 0:6fca643f1aff 61 m_spi->write(0);
tjerkhofmeijer 0:6fca643f1aff 62 m_spi->write(0);
tjerkhofmeijer 0:6fca643f1aff 63 m_spi->write(0);
tjerkhofmeijer 0:6fca643f1aff 64
tjerkhofmeijer 0:6fca643f1aff 65 for (int i = 0; i < dataLength; i++)
tjerkhofmeijer 0:6fca643f1aff 66 {
tjerkhofmeijer 0:6fca643f1aff 67 m_spi->write(data[i]);
tjerkhofmeijer 0:6fca643f1aff 68 }
tjerkhofmeijer 0:6fca643f1aff 69
tjerkhofmeijer 0:6fca643f1aff 70 *m_chipSelect = 1;
tjerkhofmeijer 0:6fca643f1aff 71 }
tjerkhofmeijer 0:6fca643f1aff 72
tjerkhofmeijer 0:6fca643f1aff 73
tjerkhofmeijer 0:6fca643f1aff 74 /*! \brief Perform a blocking read transfer over SPI
tjerkhofmeijer 0:6fca643f1aff 75 \param opcode Opcode to use
tjerkhofmeijer 0:6fca643f1aff 76 \param data Pointer to result buffer
tjerkhofmeijer 0:6fca643f1aff 77 \param dataLength Number of data bytes to read
tjerkhofmeijer 0:6fca643f1aff 78 */
tjerkhofmeijer 0:6fca643f1aff 79 void MtsspSpiDriver::read(uint8_t opcode, uint8_t* data, int dataLength)
tjerkhofmeijer 0:6fca643f1aff 80 {
tjerkhofmeijer 0:6fca643f1aff 81 *m_chipSelect = 0;
tjerkhofmeijer 0:6fca643f1aff 82
tjerkhofmeijer 0:6fca643f1aff 83 m_spi->write(opcode);
tjerkhofmeijer 0:6fca643f1aff 84 m_spi->write(0);
tjerkhofmeijer 0:6fca643f1aff 85 m_spi->write(0);
tjerkhofmeijer 0:6fca643f1aff 86 m_spi->write(0);
tjerkhofmeijer 0:6fca643f1aff 87
tjerkhofmeijer 0:6fca643f1aff 88 for (int i = 0; i < dataLength; i++)
tjerkhofmeijer 0:6fca643f1aff 89 {
tjerkhofmeijer 0:6fca643f1aff 90 data[i] = m_spi->write(0);
tjerkhofmeijer 0:6fca643f1aff 91 }
tjerkhofmeijer 0:6fca643f1aff 92 *m_chipSelect = 1;
tjerkhofmeijer 0:6fca643f1aff 93 }
tjerkhofmeijer 0:6fca643f1aff 94
tjerkhofmeijer 0:6fca643f1aff 95
tjerkhofmeijer 0:6fca643f1aff 96 /*! \brief Perform a blocking write transfer over SPI
tjerkhofmeijer 0:6fca643f1aff 97 \param data Pointer to data to be written
tjerkhofmeijer 0:6fca643f1aff 98 \param dataLength Number of data bytes to write
tjerkhofmeijer 0:6fca643f1aff 99 */
tjerkhofmeijer 0:6fca643f1aff 100 void MtsspSpiDriver::writeRaw(uint8_t const* data, int dataLength)
tjerkhofmeijer 0:6fca643f1aff 101 {
tjerkhofmeijer 0:6fca643f1aff 102 *m_chipSelect = 0;
tjerkhofmeijer 0:6fca643f1aff 103 for (int i = 0; i < dataLength; i++)
tjerkhofmeijer 0:6fca643f1aff 104 {
tjerkhofmeijer 0:6fca643f1aff 105 m_spi->write(data[i]);
tjerkhofmeijer 0:6fca643f1aff 106 }
tjerkhofmeijer 0:6fca643f1aff 107 *m_chipSelect = 1;
tjerkhofmeijer 0:6fca643f1aff 108 }