Firmware Update (Bootloader) Example Project¶

This ISBootloaderExample project demonstrates firmware update with the InertialSense products (IMX) 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"

using namespace ISBootloader;

Step 2: Define progress and status callbacks¶

The bootloader thread reports upload progress, verify progress, and status/log text through three callbacks that you supply:

static is_operation_result bootloaderUploadProgress(const std::any& obj, float pct, const std::string& stepName, int stepNo, int totalSteps)
{
    int percent = (int)(pct * 100.0f);
    printf("\rUpload Progress: %d%%\r", percent);
    return IS_OP_OK;
}

static is_operation_result bootloaderVerifyProgress(const std::any& obj, float pct, const std::string& stepName, int stepNo, int totalSteps)
{
    int percent = (int)(pct * 100.0f);
    printf("\rVerify Progress: %d%%\r", percent);
    return IS_OP_OK;
}

static void bootloaderStatusText(const std::any& obj, eLogLevel level, const char* str, ...)
{
    static char buffer[256];
    va_list ap;
    va_start(ap, str);
    vsnprintf(buffer, sizeof(buffer) - 1, str, ap);
    va_end(ap);
    printf("%s\r\n", buffer);
}

Step 3: Discover connected devices and select firmware files¶

Rather than targeting one specific port directly, the example enumerates every connected serial port and lets the bootloader logic identify which firmware/bootloader file is appropriate for each device it finds. The same firmware file path is assigned to every device-type slot in firmwares_t; the bootloader only uses the slot that matches what it actually finds on that port.

    // Enumerate all connected serial ports
    std::vector<std::string> portStrings;
    cISSerialPort::GetComPorts(portStrings);

    // Assign the same file to every device-type slot; the bootloader identifies
    // the connected device and only applies the file to the matching slot(s).
    firmwares_t files;
    files.fw_uINS_3.path = std::string(argv[2]);
    files.bl_uINS_3.path = std::string(argv[2]);
    files.fw_IMX_5.path  = std::string(argv[2]);
    files.bl_IMX_5.path  = std::string(argv[2]);
    files.fw_EVB_2.path  = std::string(argv[2]);
    files.bl_EVB_2.path  = std::string(argv[2]);

Step 4: Put devices into bootloader mode¶

    std::vector<cISBootloaderThread::confirm_bootload_t> confirm_device_list;
    if (!cISBootloaderThread::set_mode_and_check_devices(
            portStrings,
            atoi(argv[1]),
            files,
            bootloaderUploadProgress,
            bootloaderVerifyProgress,
            bootloaderStatusText,
            NULL,
            &confirm_device_list))
        return -1;   // Error or no devices found

Step 5: Run the firmware update¶

    std::vector<std::string> all_ports;
    cISSerialPort::GetComPorts(all_ports);

    cISBootloaderThread::update(
        all_ports,
        true,
        atoi(argv[1]),
        files,
        bootloaderUploadProgress,
        bootloaderVerifyProgress,
        bootloaderStatusText,
        NULL);

Note

The example's own usage message ({COMx} {Baudrate} {Firmware file} {Bootloader file (optional)}) is out of date relative to what the code actually reads: argv[1] is the baud rate and argv[2] is the firmware file path, applied to every device-type slot as shown in Step 3 above. There is no separate command-line argument to target one specific COM port — the tool auto-discovers and updates every connected, supported device.

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 (baud rate, then firmware file path)
```
./ISBootloaderExample 921600 IS_uINS-3.hex
```

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/Bootloader
mkdir build

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

Run executable (baud rate, then firmware file path)

C:\InertialSenseSDK\ExampleProjects\Bootloader\build\Release\ISBootloaderExample.exe 921600 IS_uINS-3.hex

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.