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

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)

board.h

Committer:
tjerkhofmeijer
Date:
2016-12-21
Revision:
6:fd42cb49cdd0
Parent:
0:6fca643f1aff

File content as of revision 6:fd42cb49cdd0:

/*!
 * \file
 * \copyright Copyright (C) Xsens Technologies B.V., 2015.
 *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
 * use this file except in compliance with the License. You may obtain a copy
 * of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations
 * under the License.
 */
#ifndef BOARD_H
#define BOARD_H
#include "mbed.h"

#if defined(TARGET_NUCLEO_F401RE)

#define MT_DRDY				PB_3
#define MT_RESET			PC_9

// Uart connection with the PC:
#define PC_TX				PA_2
#define PC_RX				PA_3

// SPI connection with the module:
#define MT_SCLK				PB_13
#define MT_MISO				PB_14
#define MT_MOSI				PB_15
#define MT_nCS				PB_6

// I2C connection with the module:
#define MT_SCL				PB_8
#define MT_SDA				PB_9
#define MT_ADD0				PB_13
#define MT_ADD1				PB_14
#define MT_ADD2				PB_15

// UART connection with the module:
#define UART_TX_TO_MODULE   PA_9
#define UART_RX_FROM_MODULE PA_10

#else
#error "Support for selected mbed platform has not been added."
#endif // TARGET_NUCLEO_F401RE

#endif // BOARD_H