initial
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r.koeppe
378
vnproglib/cpp/examples/firmware_update/main.cpp
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378
vnproglib/cpp/examples/firmware_update/main.cpp
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// firmware_update.cpp : This file contains the 'main' function. Program execution begins and ends there.
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//
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#include <iostream>
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// Include this header file to get access to VectorNav sensors.
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#include "vn/sensors.h"
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// We need this file for our sleep function.
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#include "vn/thread.h"
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using namespace std;
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using namespace vn::math;
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using namespace vn::sensors;
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using namespace vn::protocol::uart;
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using namespace vn::xplat;
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void one_call_method_for_the_VN300()
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{
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// This example walks through using the VectorNav C++ Library to do a firmware update on the different processors of the VN300 using the firmwareUpdate method
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// First determine which COM port your sensor is attached to and update the constant below. Also, if you have changed your sensor from the factory
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// default baudrate of 115200, you will need to update the baudrate constant below as well.
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const string SensorPort = "COM4"; // Windows format for physical and virtual (USB) serial port.
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// const string SensorPort = "/dev/ttyS1"; // Linux format for physical serial port.
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// const string SensorPort = "/dev/ttyUSB0"; // Linux format for virtual (USB) serial port.
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// const string SensorPort = "/dev/tty.usbserial-FTXXXXXX"; // Mac OS X format for virtual (USB) serial port.
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// const string SensorPort = "/dev/ttyS0"; // CYGWIN format. Usually the Windows COM port number minus 1. This would connect to COM1.
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const uint32_t SensorBaudrate = 115200;
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const uint32_t FirmwareUpdateBaudrate = 115200; // This can be different than the sensor baudrate, recommend 115200 or slower for reliability
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std::string VN300_NAVFirmwareUpdate("../../FirmwareUpdates/VN300_NAV_v0.5.0.0.vnx");
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std::string VN300_GPSFirmwareUpdate("../../FirmwareUpdates/VN300_GPS_v0.5.0.0.vnx");
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// Now let's create a VnSensor object and use it to connect to our sensor.
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cout << "Connecting to sensor" << endl;
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VnSensor vs;
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vs.connect(SensorPort, SensorBaudrate);
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// Let's query the sensor's model number.
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string mn = vs.readModelNumber();
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cout << "Model Number: " << mn << endl;
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// Let's query the sensor's firmware version.
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string fwv = vs.readFirmwareVersion();
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cout << "Firmware Version: " << fwv << endl;
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// Let's update the NAV firmware first.
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cout << "Updating NAV processor" << endl;
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vs.firmwareUpdate(FirmwareUpdateBaudrate, VN300_NAVFirmwareUpdate);
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// Let's switch to the target processor to update.
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cout << "Switching to the GPS processor to update" << endl;
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vs.switchProcessors(vs.VNPROCESSOR_GPS, mn, fwv);
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// Let's update the GPS firmware Second.
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cout << "Updating GPS processor" << endl;
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vs.firmwareUpdate(FirmwareUpdateBaudrate, VN300_GPSFirmwareUpdate);
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// Now disconnect from the sensor since we are finished.
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cout << "Disconnecting from sensor" << endl;
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vs.disconnect();
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// Depending on the sensor, a power cycle may be needed instead of a reset.
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cout << "Power Cycle the sensor" << endl;
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}
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void manage_each_step_method_for_the_VN200()
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{
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// This example walks through using the VectorNav C++ Library to do a firmware update of the VN200 using the firmwareUpdate method
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// First determine which COM port your sensor is attached to and update the
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// constant below. Also, if you have changed your sensor from the factory
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// default baudrate of 115200, you will need to update the baudrate
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// constant below as well.
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const string SensorPort = "COM3"; // Windows format for physical and virtual (USB) serial port.
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// const string SensorPort = "/dev/ttyS1"; // Linux format for physical serial port.
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// const string SensorPort = "/dev/ttyUSB0"; // Linux format for virtual (USB) serial port.
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// const string SensorPort = "/dev/tty.usbserial-FTXXXXXX"; // Mac OS X format for virtual (USB) serial port.
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// const string SensorPort = "/dev/ttyS0"; // CYGWIN format. Usually the Windows COM port number minus 1. This would connect to COM1.
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const uint32_t SensorBaudrate = 115200;
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const uint32_t FirmwareUpdateBaudrate = 115200; // This can be different than the sensor baudrate, recommend 115200 or slower for reliability
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std::string VN200FirmwareUpdate("../../FirmwareUpdates/VN200_NAV_v2.0.0.1.vnx");
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// Now let's create a VnSensor object and use it to connect to our sensor.
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cout << "Connecting to sensor" << endl;
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VnSensor vs;
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vs.connect(SensorPort, SensorBaudrate);
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// Let's query the sensor's model number.
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string mn = vs.readModelNumber();
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cout << "Model Number: " << mn << endl;
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// Let's query the sensor's firmware version.
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string fwv = vs.readFirmwareVersion();
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cout << "Firmware Version: " << fwv << endl;
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// Let's update the firmware on the target processor.
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cout << "Updating processor" << endl;
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std::string record = "";
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// Open firmware update file
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vs.openFirmwareUpdateFile(VN200FirmwareUpdate);
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// Enter bootloader mode
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vs.firmwareUpdateMode(true);
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// Give the sensor time to reboot into bootloader mode
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Thread::sleepSec(1);
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// Configure baudrate for firmware update
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uint32_t navBaudRate = vs.baudrate();
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vs.setFirmwareUpdateBaudRate(FirmwareUpdateBaudrate);
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// Calibrate the bootloader by letting it calculate the current baudrate.
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std::string bootloaderVersion = vs.calibrateBootloader();
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cout << bootloaderVersion << endl;
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// Send each record from the firmware update file one at a time
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do
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{
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record = vs.getNextFirwareUpdateRecord();
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if (!record.empty())
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{
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cout << ".";
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record.erase(0, 1); // Remove the ':' from the beginning of the line.
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vs.writeFirmwareUpdateRecord(record, true);
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}
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} while (!record.empty());
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cout << endl;
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// Close firmware update file
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vs.closeFirmwareUpdateFile();
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// Reset baudrate
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vs.setFirmwareUpdateBaudRate(navBaudRate);
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// Exit bootloader mode. Sleep for 10 seconds
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Thread::sleepSec(10);
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// Do a reset
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vs.reset();
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// Wait 2 seconds after a reset
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Thread::sleepSec(2);
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// Now disconnect from the sensor since we are finished.
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cout << "Disconnecting from sensor" << endl;
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vs.disconnect();
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// Depending on the sensor, a power cycle may be needed instead of a reset.
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cout << "Power Cycle the sensor" << endl;
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}
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void manage_each_step_method_for_the_VN310()
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{
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const string SensorPort = "COM6";
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const uint32_t SensorBaudrate = 115200;
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const uint32_t FirmwareUpdateBaudrate = 115200; // This can be different than the sensor baudrate, recommend 115200 or slower for reliability
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std::string VN310_NAVFirmwareUpdate("../../FirmwareUpdates/VN310_NAV_v0.8.1.0.vnx");
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std::string VN310_GPSFirmwareUpdate("../../FirmwareUpdates/VN310_GPS_v0.8.1.0.vnx");
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std::string VN310_IMUFirmwareUpdate("../../FirmwareUpdates/VN310_IMU_v2.5.1.0.vnx");
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bool updateNAV = true;
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bool updateGPS = true;
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bool updateIMU = true;
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// Now let's create a VnSensor object and use it to connect to our sensor.
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cout << "Connecting to sensor" << endl;
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VnSensor vs;
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vs.connect(SensorPort, SensorBaudrate);
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// Let's query the sensor's model number.
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string mn = vs.readModelNumber();
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cout << "Model Number: " << mn << endl;
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// Let's query the sensor's firmware version.
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string fwv = vs.readFirmwareVersion();
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cout << "Firmware Version: " << fwv << endl;
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// Let's update the firmware on the target processor.
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cout << "Updating processor" << endl;
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std::string record = "";
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// ******************** Update NAV ********************
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if (updateNAV)
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{
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cout << "********************************************************************************" << endl;
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cout << "Updating the NAV firmware on a VN310" << endl;
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cout << "********************************************************************************" << endl;
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// Open firmware update file
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vs.openFirmwareUpdateFile(VN310_NAVFirmwareUpdate);
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// Enter bootloader mode
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vs.firmwareUpdateMode(true);
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// Give the sensor time to reboot into bootloader mode
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Thread::sleepSec(1);
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// Configure baudrate for firmware update
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uint32_t navBaudRate = vs.baudrate();
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vs.setFirmwareUpdateBaudRate(FirmwareUpdateBaudrate);
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// Calibrate the bootloader by letting it calculate the current baudrate.
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std::string bootloaderVersion = vs.calibrateBootloader();
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cout << bootloaderVersion << endl;
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// Send each record from the firmware update file one at a time
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do
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{
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record = vs.getNextFirwareUpdateRecord();
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if (!record.empty())
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{
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cout << ".";
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record.erase(0, 1); // Remove the ':' from the beginning of the line.
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vs.writeFirmwareUpdateRecord(record, true);
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}
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} while (!record.empty());
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// Close firmware update file
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vs.closeFirmwareUpdateFile();
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// Reset baudrate
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vs.setFirmwareUpdateBaudRate(navBaudRate);
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// Exit bootloader mode. Sleep for 10 seconds
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Thread::sleepSec(10);
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// Do a reset
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vs.reset();
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// Wait 2 seconds after a reset
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Thread::sleepSec(2);
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// Let's switch back to the main processor
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cout << "Switching to the NAV processor" << endl;
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vs.switchProcessors(vs.VNPROCESSOR_NAV, mn, fwv);
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}
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// ******************** Update GPS ********************
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if (updateGPS)
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{
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cout << "********************************************************************************" << endl;
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cout << "Updating the GPS firmware on a VN310" << endl;
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cout << "********************************************************************************" << endl;
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// Let's switch to the target processor to update.
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cout << "Switching to the GPS processor to update" << endl;
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vs.switchProcessors(vs.VNPROCESSOR_GPS, mn, fwv);
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// Open firmware update file
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vs.openFirmwareUpdateFile(VN310_GPSFirmwareUpdate);
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// Enter bootloader mode
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vs.firmwareUpdateMode(true);
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// Give the sensor time to reboot into bootloader mode
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Thread::sleepSec(1);
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// Configure baudrate for firmware update
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uint32_t navBaudRate = vs.baudrate();
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vs.setFirmwareUpdateBaudRate(FirmwareUpdateBaudrate);
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// Calibrate the bootloader by letting it calculate the current baudrate.
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std::string bootloaderVersion = vs.calibrateBootloader();
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cout << bootloaderVersion << endl;
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// Send each record from the firmware update file one at a time
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do
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{
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record = vs.getNextFirwareUpdateRecord();
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if (!record.empty())
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{
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cout << ".";
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record.erase(0, 1); // Remove the ':' from the beginning of the line.
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vs.writeFirmwareUpdateRecord(record, true);
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}
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} while (!record.empty());
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// Close firmware update file
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vs.closeFirmwareUpdateFile();
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// Reset baudrate
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vs.setFirmwareUpdateBaudRate(navBaudRate);
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// Exit bootloader mode. Sleep for 10 seconds
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Thread::sleepSec(10);
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// Do a reset
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vs.reset();
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// Wait 2 seconds after a reset
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Thread::sleepSec(2);
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// Let's switch back to the main processor
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cout << "Switching to the NAV processor" << endl;
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vs.switchProcessors(vs.VNPROCESSOR_NAV, mn, fwv);
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}
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// ******************** Update IMU ********************
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if (updateIMU)
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{
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cout << "********************************************************************************" << endl;
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cout << "Updating the IMU firmware on a VN310" << endl;
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cout << "********************************************************************************" << endl;
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// Let's switch to the target processor to update.
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cout << "Switching to the IMU processor to update" << endl;
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vs.switchProcessors(vs.VNPROCESSOR_IMU, mn, fwv);
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// Open firmware update file
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vs.openFirmwareUpdateFile(VN310_IMUFirmwareUpdate);
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// Enter bootloader mode
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vs.firmwareUpdateMode(true);
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// Give the sensor time to reboot into bootloader mode
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Thread::sleepSec(1);
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// Configure baudrate for firmware update
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uint32_t navBaudRate = vs.baudrate();
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vs.setFirmwareUpdateBaudRate(FirmwareUpdateBaudrate);
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// Calibrate the bootloader by letting it calculate the current baudrate.
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std::string bootloaderVersion = vs.calibrateBootloader();
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cout << bootloaderVersion << endl;
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// Send each record from the firmware update file one at a time
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do
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{
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record = vs.getNextFirwareUpdateRecord();
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if (!record.empty())
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{
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cout << ".";
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record.erase(0, 1); // Remove the ':' from the beginning of the line.
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vs.writeFirmwareUpdateRecord(record, true);
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}
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} while (!record.empty());
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// Close firmware update file
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vs.closeFirmwareUpdateFile();
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// Reset baudrate
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vs.setFirmwareUpdateBaudRate(navBaudRate);
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// Exit bootloader mode. Sleep for 10 seconds
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Thread::sleepSec(10);
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// Do a reset
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vs.reset();
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// Wait 2 seconds after a reset
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Thread::sleepSec(2);
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// Let's switch back to the main processor
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cout << "Switching to the NAV processor" << endl;
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vs.switchProcessors(vs.VNPROCESSOR_NAV, mn, fwv);
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}
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// Now disconnect from the sensor since we are finished.
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cout << "Disconnecting from sensor" << endl;
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vs.disconnect();
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}
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int main()
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{
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cout << "Updating the firmware on a VN200" << endl;
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manage_each_step_method_for_the_VN200();
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cout << "Updating the firmware on a VN300" << endl;
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one_call_method_for_the_VN300();
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cout << "Updating the firmware on a VN310" << endl;
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manage_each_step_method_for_the_VN310();
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return 0;
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}
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