Firmware Update (Bootloader) Example Project¶

This ISBootloaderExample project demonstrates firmware update with the InertialSense products (IMX, uAHRS, and uIMU) using the Inertial Sense SDK.

Files¶

Project Files¶

ISBootloaderExample.cpp

SDK Files¶

Implementation¶

Step 1: Add Includes¶

// Change these include paths to the correct paths for your project
#include "../../src/ISComm.h"
#include "../../src/serialPortPlatform.h"
#include "../../src/ISBootloaderThread.h"
#include "../../src/ISBootloaderBase.h"
#include "../../src/ISSerialPort.h"

Step 2: Initialize and open serial port¶

    serial_port_t serialPort;

    // initialize the serial port (Windows, MAC or Linux) - if using an embedded system like Arduino,
    //  you will need to either bootload from Windows, MAC or Linux, or implement your own code that
    //  implements all the function pointers on the serial_port_t struct.
    serialPortPlatformInit(&serialPort);

    // set the port - the bootloader uses this to open the port and enable bootload mode, etc.
    serialPortSetPort(&serialPort, argv[1]);

Step 3: Set bootloader parameters¶

    // bootloader parameters
    bootload_params_t param;

    // very important - initialize the bootloader params to zeros
    memset(&param, 0, sizeof(param));

    // the serial port
    param.port = &serialPort;
    param.baudRate = atoi(argv[2]);

    // the file to bootload, *.hex
    param.fileName = argv[3];

    // optional - bootloader file, *.bin
    param.forceBootloaderUpdate = 0;    //do not force update of bootloader
    if (argc == 5)
        param.bootName = argv[4];
    else
        param.bootName = 0;

Step 4: Run bootloader¶

    if (bootloadFileEx(&param)==0)
    {
        printf("Bootloader success on port %s with file %s\n", serialPort.port, param.fileName);
        return 0;
    }
    else
    {
        printf("Bootloader failed! Error: %s\n", errorBuffer);
        return -1;
    }

Compile & Run (Linux/Mac)¶

Create build directory

cd InertialSenseSDK/ExampleProjects/Bootloader
mkdir build

Run cmake from within build directory
```
cd build
cmake ..
```
Compile using make
```
make
```
If necessary, add current user to the "dialout" group in order to read and write to the USB serial communication ports:
```
sudo usermod -a -G dialout $USER
sudo usermod -a -G plugdev $USER
(reboot computer)
```

Run executable

./ISBootloaderExample /dev/ttyUSB0 IS_uINS-3.hex bootloader-SAMx70.bin

Compile & Run (Windows Powershell)¶

*Note - Install CMake for Windows natively, or install the CMake for Windows extension for Visual Studio

Create build directory

cd InertialSenseSDK/ExampleProjects/IS_firmwareUpdate_v2
mkdir build

Run cmake from within build directory
```
cd build
cmake ..
```
Compile using make
```
cmake --build .
```

Run executable

C:\InertialSenseSDK\ExampleProjects\IS_firmwareUpdate_v2\build\Release\ISBootloaderExample.exe COM3 IS_uINS-3.hex bootloader-SAMx70.bin

Summary¶

This section has covered the basic functionality you need to set up and communicate with Inertial Sense products. If this doesn't cover everything you need, feel free to reach out to us on the Inertial Sense SDK GitHub repository, and we will be happy to help.