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This example is deprecated and no longer maintained.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)

xbus/xbusparser.c@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 "xbusparser.h"
tjerkhofmeijer 0:6fca643f1aff 18 #include "xbusdef.h"
tjerkhofmeijer 0:6fca643f1aff 19 #include <stdlib.h>
tjerkhofmeijer 0:6fca643f1aff 20
tjerkhofmeijer 0:6fca643f1aff 21
tjerkhofmeijer 0:6fca643f1aff 22 /*! \brief XbusParser states. */
tjerkhofmeijer 0:6fca643f1aff 23 enum XbusParserState
tjerkhofmeijer 0:6fca643f1aff 24 {
tjerkhofmeijer 0:6fca643f1aff 25 XBPS_Preamble, /*!< \brief Looking for preamble. */
tjerkhofmeijer 0:6fca643f1aff 26 XBPS_BusId, /*!< \brief Waiting for bus ID. */
tjerkhofmeijer 0:6fca643f1aff 27 XBPS_MessageId, /*!< \brief Waiting for message ID. */
tjerkhofmeijer 0:6fca643f1aff 28 XBPS_Length, /*!< \brief Waiting for length. */
tjerkhofmeijer 0:6fca643f1aff 29 XBPS_ExtendedLengthMsb, /*!< \brief Waiting for extended length MSB*/
tjerkhofmeijer 0:6fca643f1aff 30 XBPS_ExtendedLengthLsb, /*!< \brief Waiting for extended length LSB*/
tjerkhofmeijer 0:6fca643f1aff 31 XBPS_Payload, /*!< \brief Reading payload. */
tjerkhofmeijer 0:6fca643f1aff 32 XBPS_Checksum /*!< \brief Waiting for checksum. */
tjerkhofmeijer 0:6fca643f1aff 33 };
tjerkhofmeijer 0:6fca643f1aff 34
tjerkhofmeijer 0:6fca643f1aff 35
tjerkhofmeijer 0:6fca643f1aff 36 /*!
tjerkhofmeijer 0:6fca643f1aff 37 * \brief Xbus Parser state structure.
tjerkhofmeijer 0:6fca643f1aff 38 */
tjerkhofmeijer 0:6fca643f1aff 39 struct XbusParser
tjerkhofmeijer 0:6fca643f1aff 40 {
tjerkhofmeijer 0:6fca643f1aff 41 /*! \brief Callbacks for memory management, and message handling. */
tjerkhofmeijer 0:6fca643f1aff 42 struct XbusParserCallback callbacks;
tjerkhofmeijer 0:6fca643f1aff 43 /*! \brief Storage for the current message being received. */
tjerkhofmeijer 0:6fca643f1aff 44 struct XbusMessage currentMessage;
tjerkhofmeijer 0:6fca643f1aff 45 /*! \brief The number of bytes of payload received for the current message. */
tjerkhofmeijer 0:6fca643f1aff 46 uint16_t payloadReceived;
tjerkhofmeijer 0:6fca643f1aff 47 /*! \brief The calculated checksum for the current message. */
tjerkhofmeijer 0:6fca643f1aff 48 uint8_t checksum;
tjerkhofmeijer 0:6fca643f1aff 49 /*! \brief The state of the parser. */
tjerkhofmeijer 0:6fca643f1aff 50 enum XbusParserState state;
tjerkhofmeijer 0:6fca643f1aff 51 };
tjerkhofmeijer 0:6fca643f1aff 52
tjerkhofmeijer 0:6fca643f1aff 53
tjerkhofmeijer 0:6fca643f1aff 54 /*!
tjerkhofmeijer 0:6fca643f1aff 55 * \brief Get the amount of memory needed for the XbusParser structure.
tjerkhofmeijer 0:6fca643f1aff 56 */
tjerkhofmeijer 0:6fca643f1aff 57 size_t XbusParser_mem(void)
tjerkhofmeijer 0:6fca643f1aff 58 {
tjerkhofmeijer 0:6fca643f1aff 59 return sizeof(struct XbusParser);
tjerkhofmeijer 0:6fca643f1aff 60 }
tjerkhofmeijer 0:6fca643f1aff 61
tjerkhofmeijer 0:6fca643f1aff 62
tjerkhofmeijer 0:6fca643f1aff 63 /*!
tjerkhofmeijer 0:6fca643f1aff 64 * \brief Create a new XbusParser object.
tjerkhofmeijer 0:6fca643f1aff 65 * \param callback Pointer to callback structure containing callback functions
tjerkhofmeijer 0:6fca643f1aff 66 * for memory management and handling received messages.
tjerkhofmeijer 0:6fca643f1aff 67 * \returns Pointer the new XbusParser structure.
tjerkhofmeijer 0:6fca643f1aff 68 *
tjerkhofmeijer 0:6fca643f1aff 69 * Uses malloc to allocate the memory required for the parser.
tjerkhofmeijer 0:6fca643f1aff 70 */
tjerkhofmeijer 0:6fca643f1aff 71 struct XbusParser* XbusParser_create(struct XbusParserCallback const* callback)
tjerkhofmeijer 0:6fca643f1aff 72 {
tjerkhofmeijer 0:6fca643f1aff 73 void* mem = malloc(XbusParser_mem());
tjerkhofmeijer 0:6fca643f1aff 74 if (mem)
tjerkhofmeijer 0:6fca643f1aff 75 {
tjerkhofmeijer 0:6fca643f1aff 76 return XbusParser_init(mem, callback);
tjerkhofmeijer 0:6fca643f1aff 77 }
tjerkhofmeijer 0:6fca643f1aff 78 return NULL;
tjerkhofmeijer 0:6fca643f1aff 79 }
tjerkhofmeijer 0:6fca643f1aff 80
tjerkhofmeijer 0:6fca643f1aff 81
tjerkhofmeijer 0:6fca643f1aff 82 /*!
tjerkhofmeijer 0:6fca643f1aff 83 * \brief Frees an XbusParser structure allocated by XbusParser_create().
tjerkhofmeijer 0:6fca643f1aff 84 */
tjerkhofmeijer 0:6fca643f1aff 85 void XbusParser_destroy(struct XbusParser* parser)
tjerkhofmeijer 0:6fca643f1aff 86 {
tjerkhofmeijer 0:6fca643f1aff 87 free(parser);
tjerkhofmeijer 0:6fca643f1aff 88 }
tjerkhofmeijer 0:6fca643f1aff 89
tjerkhofmeijer 0:6fca643f1aff 90
tjerkhofmeijer 0:6fca643f1aff 91 /*!
tjerkhofmeijer 0:6fca643f1aff 92 * \brief Initializes an XbusParser in the passed memory location.
tjerkhofmeijer 0:6fca643f1aff 93 * \param parserMem Pointer to memory to use for storing parser state. Should
tjerkhofmeijer 0:6fca643f1aff 94 * be at least as big as the value returned by XbusParser_mem().
tjerkhofmeijer 0:6fca643f1aff 95 * \param callback Pointer to callback structure containing callback functions
tjerkhofmeijer 0:6fca643f1aff 96 * for memory management and handling received messages.
tjerkhofmeijer 0:6fca643f1aff 97 * \returns Initialized XbusParser structure.
tjerkhofmeijer 0:6fca643f1aff 98 */
tjerkhofmeijer 0:6fca643f1aff 99 struct XbusParser* XbusParser_init(void* parserMem, struct XbusParserCallback const* callback)
tjerkhofmeijer 0:6fca643f1aff 100 {
tjerkhofmeijer 0:6fca643f1aff 101 struct XbusParser* parser = (struct XbusParser*)parserMem;
tjerkhofmeijer 0:6fca643f1aff 102 parser->state = XBPS_Preamble;
tjerkhofmeijer 0:6fca643f1aff 103 parser->callbacks.allocateBuffer = callback->allocateBuffer;
tjerkhofmeijer 0:6fca643f1aff 104 parser->callbacks.deallocateBuffer = callback->deallocateBuffer;
tjerkhofmeijer 0:6fca643f1aff 105 parser->callbacks.handleMessage = callback->handleMessage;
tjerkhofmeijer 0:6fca643f1aff 106 return parser;
tjerkhofmeijer 0:6fca643f1aff 107 }
tjerkhofmeijer 0:6fca643f1aff 108
tjerkhofmeijer 0:6fca643f1aff 109
tjerkhofmeijer 0:6fca643f1aff 110 /*!
tjerkhofmeijer 0:6fca643f1aff 111 * \brief Prepare for receiving a message payload.
tjerkhofmeijer 0:6fca643f1aff 112 *
tjerkhofmeijer 0:6fca643f1aff 113 * Requests a memory area to store the received data to using the
tjerkhofmeijer 0:6fca643f1aff 114 * registered callbacks.
tjerkhofmeijer 0:6fca643f1aff 115 */
tjerkhofmeijer 0:6fca643f1aff 116 void prepareForPayload(struct XbusParser* parser)
tjerkhofmeijer 0:6fca643f1aff 117 {
tjerkhofmeijer 0:6fca643f1aff 118 parser->payloadReceived = 0;
tjerkhofmeijer 0:6fca643f1aff 119 parser->currentMessage.m_data = parser->callbacks.allocateBuffer(parser->currentMessage.m_length);
tjerkhofmeijer 0:6fca643f1aff 120 }
tjerkhofmeijer 0:6fca643f1aff 121
tjerkhofmeijer 0:6fca643f1aff 122
tjerkhofmeijer 0:6fca643f1aff 123 /*!
tjerkhofmeijer 0:6fca643f1aff 124 * \brief Parse a byte of data from a motion tracker.
tjerkhofmeijer 0:6fca643f1aff 125 *
tjerkhofmeijer 0:6fca643f1aff 126 * When a complete message is received the user will be notified by a call
tjerkhofmeijer 0:6fca643f1aff 127 * to the handleMessage() callback function.
tjerkhofmeijer 0:6fca643f1aff 128 */
tjerkhofmeijer 0:6fca643f1aff 129 void XbusParser_parseByte(struct XbusParser *parser, const uint8_t byte)
tjerkhofmeijer 0:6fca643f1aff 130 {
tjerkhofmeijer 0:6fca643f1aff 131 switch (parser->state)
tjerkhofmeijer 0:6fca643f1aff 132 {
tjerkhofmeijer 0:6fca643f1aff 133 case XBPS_Preamble:
tjerkhofmeijer 0:6fca643f1aff 134 if (byte == XBUS_PREAMBLE)
tjerkhofmeijer 0:6fca643f1aff 135 {
tjerkhofmeijer 0:6fca643f1aff 136 parser->checksum = 0;
tjerkhofmeijer 0:6fca643f1aff 137 parser->state = XBPS_BusId;
tjerkhofmeijer 0:6fca643f1aff 138 }
tjerkhofmeijer 0:6fca643f1aff 139 break;
tjerkhofmeijer 0:6fca643f1aff 140
tjerkhofmeijer 0:6fca643f1aff 141 case XBPS_BusId:
tjerkhofmeijer 0:6fca643f1aff 142 parser->checksum += byte;
tjerkhofmeijer 0:6fca643f1aff 143 parser->state = XBPS_MessageId;
tjerkhofmeijer 0:6fca643f1aff 144 break;
tjerkhofmeijer 0:6fca643f1aff 145
tjerkhofmeijer 0:6fca643f1aff 146 case XBPS_MessageId:
tjerkhofmeijer 0:6fca643f1aff 147 parser->checksum += byte;
tjerkhofmeijer 0:6fca643f1aff 148 parser->currentMessage.m_mid = byte;
tjerkhofmeijer 0:6fca643f1aff 149 parser->state = XBPS_Length;
tjerkhofmeijer 0:6fca643f1aff 150 break;
tjerkhofmeijer 0:6fca643f1aff 151
tjerkhofmeijer 0:6fca643f1aff 152 case XBPS_Length:
tjerkhofmeijer 0:6fca643f1aff 153 parser->checksum += byte;
tjerkhofmeijer 0:6fca643f1aff 154 if (byte == XBUS_NO_PAYLOAD)
tjerkhofmeijer 0:6fca643f1aff 155 {
tjerkhofmeijer 0:6fca643f1aff 156 parser->currentMessage.m_length = byte;
tjerkhofmeijer 0:6fca643f1aff 157 parser->currentMessage.m_data = NULL;
tjerkhofmeijer 0:6fca643f1aff 158 parser->state = XBPS_Checksum;
tjerkhofmeijer 0:6fca643f1aff 159 }
tjerkhofmeijer 0:6fca643f1aff 160 else if (byte < XBUS_EXTENDED_LENGTH)
tjerkhofmeijer 0:6fca643f1aff 161 {
tjerkhofmeijer 0:6fca643f1aff 162 parser->currentMessage.m_length = byte;
tjerkhofmeijer 0:6fca643f1aff 163 prepareForPayload(parser);
tjerkhofmeijer 0:6fca643f1aff 164 parser->state = XBPS_Payload;
tjerkhofmeijer 0:6fca643f1aff 165 }
tjerkhofmeijer 0:6fca643f1aff 166 else
tjerkhofmeijer 0:6fca643f1aff 167 {
tjerkhofmeijer 0:6fca643f1aff 168 parser->state = XBPS_ExtendedLengthMsb;
tjerkhofmeijer 0:6fca643f1aff 169 }
tjerkhofmeijer 0:6fca643f1aff 170 break;
tjerkhofmeijer 0:6fca643f1aff 171
tjerkhofmeijer 0:6fca643f1aff 172 case XBPS_ExtendedLengthMsb:
tjerkhofmeijer 0:6fca643f1aff 173 parser->checksum += byte;
tjerkhofmeijer 0:6fca643f1aff 174 parser->currentMessage.m_length = ((uint16_t)byte) << 8;
tjerkhofmeijer 0:6fca643f1aff 175 parser->state = XBPS_ExtendedLengthLsb;
tjerkhofmeijer 0:6fca643f1aff 176 break;
tjerkhofmeijer 0:6fca643f1aff 177
tjerkhofmeijer 0:6fca643f1aff 178 case XBPS_ExtendedLengthLsb:
tjerkhofmeijer 0:6fca643f1aff 179 parser->checksum += byte;
tjerkhofmeijer 0:6fca643f1aff 180 parser->currentMessage.m_length |= byte;
tjerkhofmeijer 0:6fca643f1aff 181 prepareForPayload(parser);
tjerkhofmeijer 0:6fca643f1aff 182 parser->state = XBPS_Payload;
tjerkhofmeijer 0:6fca643f1aff 183 break;
tjerkhofmeijer 0:6fca643f1aff 184
tjerkhofmeijer 0:6fca643f1aff 185 case XBPS_Payload:
tjerkhofmeijer 0:6fca643f1aff 186 parser->checksum += byte;
tjerkhofmeijer 0:6fca643f1aff 187 if (parser->currentMessage.m_data)
tjerkhofmeijer 0:6fca643f1aff 188 {
tjerkhofmeijer 0:6fca643f1aff 189 ((uint8_t*)parser->currentMessage.m_data)[parser->payloadReceived] = byte;
tjerkhofmeijer 0:6fca643f1aff 190 }
tjerkhofmeijer 0:6fca643f1aff 191 if (++parser->payloadReceived == parser->currentMessage.m_length)
tjerkhofmeijer 0:6fca643f1aff 192 {
tjerkhofmeijer 0:6fca643f1aff 193 parser->state = XBPS_Checksum;
tjerkhofmeijer 0:6fca643f1aff 194 }
tjerkhofmeijer 0:6fca643f1aff 195 break;
tjerkhofmeijer 0:6fca643f1aff 196
tjerkhofmeijer 0:6fca643f1aff 197 case XBPS_Checksum:
tjerkhofmeijer 0:6fca643f1aff 198 parser->checksum += byte;
tjerkhofmeijer 0:6fca643f1aff 199 if ((parser->checksum == 0) &&
tjerkhofmeijer 0:6fca643f1aff 200 ((parser->currentMessage.m_length == 0) ||
tjerkhofmeijer 0:6fca643f1aff 201 parser->currentMessage.m_data))
tjerkhofmeijer 0:6fca643f1aff 202 {
tjerkhofmeijer 0:6fca643f1aff 203 parser->callbacks.handleMessage(&parser->currentMessage);
tjerkhofmeijer 0:6fca643f1aff 204 }
tjerkhofmeijer 0:6fca643f1aff 205 else if (parser->currentMessage.m_data)
tjerkhofmeijer 0:6fca643f1aff 206 {
tjerkhofmeijer 0:6fca643f1aff 207 parser->callbacks.deallocateBuffer(parser->currentMessage.m_data);
tjerkhofmeijer 0:6fca643f1aff 208 }
tjerkhofmeijer 0:6fca643f1aff 209 parser->state = XBPS_Preamble;
tjerkhofmeijer 0:6fca643f1aff 210 break;
tjerkhofmeijer 0:6fca643f1aff 211 }
tjerkhofmeijer 0:6fca643f1aff 212 }
tjerkhofmeijer 0:6fca643f1aff 213
tjerkhofmeijer 0:6fca643f1aff 214
tjerkhofmeijer 0:6fca643f1aff 215 /*!
tjerkhofmeijer 0:6fca643f1aff 216 * \brief Parse a buffer of data received from a motion tracker.
tjerkhofmeijer 0:6fca643f1aff 217 */
tjerkhofmeijer 0:6fca643f1aff 218 void XbusParser_parseBuffer(struct XbusParser* parser, uint8_t const* buf, size_t bufSize)
tjerkhofmeijer 0:6fca643f1aff 219 {
tjerkhofmeijer 0:6fca643f1aff 220 size_t i;
tjerkhofmeijer 0:6fca643f1aff 221 for (i = 0; i < bufSize; ++i)
tjerkhofmeijer 0:6fca643f1aff 222 {
tjerkhofmeijer 0:6fca643f1aff 223 XbusParser_parseByte(parser, buf[i]);
tjerkhofmeijer 0:6fca643f1aff 224 }
tjerkhofmeijer 0:6fca643f1aff 225 }
tjerkhofmeijer 0:6fca643f1aff 226
tjerkhofmeijer 0:6fca643f1aff 227