CN105978727A - Node firmware updating method of wearable human body motion capture system - Google Patents
Node firmware updating method of wearable human body motion capture system Download PDFInfo
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- CN105978727A CN105978727A CN201610424641.9A CN201610424641A CN105978727A CN 105978727 A CN105978727 A CN 105978727A CN 201610424641 A CN201610424641 A CN 201610424641A CN 105978727 A CN105978727 A CN 105978727A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F8/00—Arrangements for software engineering
- G06F8/60—Software deployment
- G06F8/65—Updates
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F8/00—Arrangements for software engineering
- G06F8/70—Software maintenance or management
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/38—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
- H04B1/3827—Portable transceivers
- H04B1/385—Transceivers carried on the body, e.g. in helmets
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/08—Configuration management of networks or network elements
- H04L41/0803—Configuration setting
- H04L41/0813—Configuration setting characterised by the conditions triggering a change of settings
- H04L41/082—Configuration setting characterised by the conditions triggering a change of settings the condition being updates or upgrades of network functionality
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/06—Protocols specially adapted for file transfer, e.g. file transfer protocol [FTP]
Abstract
The invention provides a node firmware updating method of a wearable human body motion capture system, in the method, just by means of sending updating instructions and data packets to a data coordinator, program upgrading operations for all sensor nodes in a control range of the coordinator can be completed simply and conveniently; moreover, the sensor nodes are free from being disassembled, or a special programming interface is not needed, and updating and upgrading the nodes one by one is also not required, thus, a lot of manpower cost can be saved, and unnecessary manpower consumption is avoided; furthermore, by the node firmware updating method of the wearable human body motion capture system of the invention, installation of additional wired and wireless connection devices for node program updating is not required, and by means of using a Bluetooth communication device between the node and the data coordinator reasonably, transmission of upgrading instructions and updating data packets can be realized.
Description
Technical field
The present invention relates to dress health technical field, motion-captured particularly to a kind of wearable human
The node firmware update method of system.
Background technology
The general structure of wearable human motion capture system is by a data coordinator (or data base
Stand, data relay center) and multiple sensor node constitute, each sensor node is distributed in health
Each position, the exercise data of collection passes through wired or is wirelessly sent to data harmonization device.One
For as, in order to not affect the motion of human body, the communication mode between sensor and data harmonization device all uses
Communication.
On stream, need repeatedly to change part and need the key parameter of solidification, such as range, precision
With threshold value etc., it has to node updates program one by one；A set of motion capture system is often by about ten joints
Point is constituted.Carrying out program renewal one by one, both labor intensive was the most convenient node.In use,
Client have to be met to requirements such as the performance boost of system, Function Extensions, using the teaching of the invention it is possible to provide upgrade accordingly
Scheme, can reduce cost as far as possible by updating firmware program, realize the re-using to original resource.
In-service units (In-Application Programming) refers to during system is run journey
Sequence performs code and dynamically revises, and can complete online upgrading program, it is to avoid disassemblerassembler again, phase
Than the advantage in original in-system programming (In-System Programming) with uniqueness.
Chinese patent 200720009338.9 discloses a kind of ARM based on GPRS network embedded end
End remote upgrade device, is sent upgrading data packet to equipment to be upgraded by GPRS communication module, if
Program renewal is carried out for the IAP characteristic supported by ARM chip after receiving packet；In view of rising
DBMS bag may be relatively big, can carry out packet divided stator frame.
Chinese patent 201210216152.6 discloses the control device of a kind of air-conditioning equipment, program renewal side
Method, sends renewal instruction and data bag by wireless device (WiFi or Zigbee) to controller, completes
The program of controller is updated；Meanwhile, controller to another controller (off-premises station) send instruction and
Packet, the control program completing off-premises station updates.
Chinese patent 201410821443.7 discloses a kind of configurable whole network based on IAP and remotely saves
Point firmware upgrade method, more new data packets is sent to PLC by Ethernet communication and sets by host computer
Standby, PLC device is transferred to remote node by CAN after receiving packet, is particularly suitable for
Big area distribution formula or on a large scale moveable embedded device, such as large-scale oil depot, storage, city integrated
The field such as body, mobile unit.
Prior art is both for specific application scenario and designs, and is not appropriate for described wearable human fortune
Each node control program of dynamic seizure system updates, and is primarily present the following aspects problem:
1) the applicable more new equipment of GPRS remote terminal upgrading is away from the situation of main frame, can avoid distance
In the case of personnel hurry back and forth and the increase of upgrade cost；But each node must install GPRS device, makes
Hardware and software cost is become to rise；Additionally, GPRS network bandwidth is less, packet can only the multiple data of cutting
Block transmits, and by network environment influence, in the case of packet is relatively big, data transmission, verification all can
Impact upgrading success or failure.
2) consistent updates of controller, air-conditioning it is capable of for air-conditioning equipment method for updating program, but
It is to pertain only to single equipment, it is impossible to meet multiple node address of sensor network, data transmit-receive etc. and ask
Topic.
3) sampling CAN connect network equipment program update scheme be particularly suitable for large-scale oil depot or
The application scenarios such as corridor, can carry out device upgrade in the case of not destroying body of wall, equipment, but
CAN communication agreement is the most complicated, can increase hold if being applied to described Wearable sensor network nodes
Degree of raising difficult questions and need wired connection, is unfavorable for physical activity.
Summary of the invention
In view of this, it is necessary to provide a kind of simple to operate, cost-effective wearable human motion-captured
The node firmware update method of system.
For achieving the above object, the application uses following technical proposals:
The node firmware update method of a kind of wearable human motion capture system, described wearable human is transported
Dynamic seizure system includes host computer, a data coordinator and multiple sensor node, described host computer letter
Number it is connected to described data harmonization device, for renewal firmware instructions and firmware data packet are sent to described number
According to coordinator, described data harmonization device poll scans each sensor node and sends instruction and data bag,
The program that described sensor node receives from data harmonization device updates bag, completes firmware program updating, institute
The node firmware update method stating wearable human motion capture system comprises the steps:
Step S10: initialize described host computer；
Step S20: test described host computer the most normal with described data harmonization device serial communication, if
Normal then transmission firmware updates and instructs "@UpdateFirm@", after described data harmonization device receives instruction
Instruction "@ReceiveingFirm@" is sent to described host computer；
Step S30: after described host computer discrimination instruction, by the more new data packets transmission of the firmware needed for program
To described data harmonization device, and wait that data harmonization device returns result；
Step S40: described data harmonization device receives packet by serial ports, if transmission is not fully complete, to
Described host computer sends " bust this " instruction, request retransmission；If receiving successfully, also need to carry out CRC
Verification: if verifying successfully, sends " being transmitted " instruction to host computer；If verifying unsuccessfully, then send out
Instruction is sent " to verify unsuccessfully " instruction, request retransmission；
Step S50: after described data harmonization device is properly received firmware renewal bag, carries out packet and again seal
Dress, described packet include No. ID of described sensor node, Bluetooth pairing code, packet and its
His additional information；
Step S60: the ID test Bluetooth communication that described data harmonization device sets is the most normal, if just
Often, sending and update instruction " $ UpdateXX $ ", wherein " XX " represents the numbering of described sensor node,
A corresponding No. ID set, described sensor node receives instruction, produces traps, described list
Sheet machine response traps is restarted；
Step S70: described sensor node performs IAP program after restarting, enters data receiver and prepares,
If receiving successfully, return " receiving successfully " instruction to data harmonization device；Otherwise, return " reception failure "
Instruction；
Step S80: after described sensor node finishes receiving packet, parses firmware more new data packets,
Then perform IAP program, write the data packet the FLASH memory block of described sensor node chip,
Sending " being updated successfully " instruction to data harmonization device simultaneously, and produce a traps, control chip is restarted
Perform FLASH user area code；
Step S90: data harmonization device receives the instruction of " being updated successfully ", continues to enter next node
Row communication connection, data transmission and firmware update, and repeat the above steps, until all nodes complete,
And send " firmware upgrade success " instruction to described host computer.
Preferably, described data harmonization device is by the first main control singlechip, wireless communication module, serial communication
Module forms, and described first main control singlechip be used for the instruction differentiation of described host computer, packet
Store and forward and the communicating of all the sensors node；Described wireless communication module is used for and described sensor
The One-to-one communication of node, packet transmission and verification；Described serial communication modular is used for connecting described
One main control singlechip and described host computer.
Preferably, described first main control singlechip uses the STM32F405RG of ST company, described nothing
Line communication module is bluetooth 4.0, and described serial communication modular is USART communication module.
Preferably, also wrapped before the node firmware carrying out described wearable human motion capture system updates
Include and described data harmonization device be updated, specifically include following step:
Step S110: initialize described data harmonization device, including initialize described first main control singlechip,
Wireless communication module, serial communication modular；
Step S120: described first main control singlechip discriminates whether that receiving firmware updates instruction
"@UpdateFirm@", if it did not, normally perform blas；If receiving renewal instruction,
Enter and interrupt, redirect and perform more new procedures；
Step S130: start to perform more new procedures, described first main control singlechip is sent out to described host computer
Send data receiver to be ready to instruct "@ReceiveingFirm@", receive the number from host computer by serial ports
According to bag, if transmission is not fully complete, send instruction "@TransError@" to described host computer；If transmission
Complete, then need to carry out CRC check: if verifying successfully, by " data are transmitted " labelling place value ' 1 ',
And complete with reported data transmission to host computer transmission instruction " FirmFinished "；If verification is lost
Lose, then send instruction " CRCError ", request retransmission to host computer；Verify and the most then send
"@FirmSuccess@" instruction firmware receives successfully；
Step S140: described first main control singlechip judges " data are transmitted " marker bit, if 1,
First packet is stored in the RAM district at described data harmonization device chip, simultaneously to specifying described sensing
Device node sends Bluetooth pairing code, sets up bluetooth and connects；
Step S150: after successful connection, first sends firmware to described sensor node and updates instruction
$ UpdateXX $, wherein " XX " is destination node ID, if returning to waiting for firmware data packet instruction
" $ WaitingFirm $ ", then carry out packet encapsulation, form be " packet synchronisation head+sensor node ID+
Bluetooth pairing code+renewal firmware data packet+CRC check value ", and by Bluetooth transmission to specifying ID's
Node；
Step S160: receive described sensor node return instruction, if transmission be not fully complete or
Being transmitted CRC check to make mistakes, retransfer packet；If transmission success is then by child node
Corresponding " data transmission success " mark position ' 1 ' of ID；
Step S170: wait that node returns firmware and is updated successfully instruction, if it exceeds 20 seconds do not receive,
Then re-start step S140～150；If receiving instruction, by child node ID correspondence, " firmware is updated to
Merit " mark position ' 1 ', simultaneously send " No. ID is that the child node of XX has updated firmware " to host computer；
Step S180: check all of No. ID corresponding " firmware is updated successfully " marker bit, if all
For ' 1 ', then send information to host computer, indicate all node firmware programs the most to update；If there being certain
No. ID corresponding " firmware is updated successfully " marker bit is 0, then perform step S140～160.
Preferably, described sensor node includes the second main control singlechip of band IAP characteristic, radio communication
Module and motion sensor, wherein, wireless communication module mainly completes the communication with data harmonization device, number
Receive according to bag and verification；Described second main control singlechip packet to receiving resolves, instruction identification,
FLASH reads and writes；Motion sensor is used for gathering body motion information.
Preferably, described second main control singlechip uses the STM32L151QC of ST company, described fortune
Dynamic sensor uses the MPU9150 of InvenSense company.
Preferably, also wrapped before the node firmware carrying out described wearable human motion capture system updates
Include and described sensor node be updated, specifically include following step:
Step S210: described sensor node initializes；
Step S220: described second master control monolithic has monitored whether that firmware updates instruction $ UpdateXX $,
And mate the node ID value self arranged, if be detected that order, exit motion monitoring pattern, produce
Traps so that the second master control monolithic restarts execution IAP program；Otherwise, continue Monitoring and Update instruction,
If not receiving in 20 seconds, performing working area program, completing motion monitoring；
Step S230: after entering IAP program, the second master control monolithic first sends to data harmonization device and prepares
Transmit well firmware and update packet instruction " $ WaitingFirm $ ", and by Bluetooth receptions packet；If
Waiting does not has data receiver to arrive in 10 seconds, jumps to user area program；Otherwise, enter data receiver part；
Step S240: enter after data receiver part, if transmission be not fully complete or be transmitted and
CRC check makes mistakes, and sends " $ XXTrsansFaild $ " respectively to coordinator, " $ XXCRCError $ " refers to
Order, instruction packet transmission is not fully complete, request retransmission；If be transmitted, then renewal is ready to mark
Will position ' 1 ', sends to described host computer simultaneously and is transmitted instruction " $ XXTrsansFinished $ ", and
Enter firmware and update subprogram；
Step S250: after entering firmware renewal subprogram, the second master control monolithic first extracts firmware and updates
Packet, and arrange according to IAP, FLASH region is specified in write, after having write, assists to data
Adjust device to send firmware and be updated successfully instruction " $ XXFirmUpdateSuccess $ "；
Step S250: utilize the second main control singlechip to interrupt system and produce a traps, trigger and interrupt
The second master control monolithic is restarted in response so that the second master control monolithic enters IAP program, jumps after waiting 20 seconds
Forward user area program to, perform to update the code of FLASH working region, complete firmware upgrade.
The present invention uses technique scheme, and it has the beneficial effects that:
The node firmware update method of the wearable human motion capture system that the present invention provides, utilizes described
Renewal firmware instructions and firmware data packet are sent to described data harmonization device, described data harmonization by host computer
Device poll scans each sensor node and also sends instruction and data bag, described sensor node receive from
The program of data harmonization device updates bag, completes firmware program updating.The wearable human fortune that the application provides
The node firmware update method of dynamic seizure system, only need to update instruction sum by sending to data harmonization device
According to bag, in can completing coordinator institute span of control, all the sensors node procedure updating operation is the most square
Just；Additionally, without removal sensor node, or use special DLL, it is not required that save one by one
Point is updated upgrading, can save substantial amounts of human cost, it is to avoid good-for-nothing's power consumes；It addition,
The node firmware update method of the wearable human motion capture system that the application provides, it is not necessary to for node journey
The wire and wireless connection equipment that sequence update contruction is extra, by between Appropriate application node and data harmonization device
Bluetooth communication equipment can realize upgrade command and the transmission of more new data packets.
Accompanying drawing explanation
The structural representation of the wearable human motion capture system that Fig. 1 provides for the present invention.
Fig. 2 is the structural representation of described data harmonization device.
Fig. 3 is the structural representation of multiple sensor node 130.
Fig. 4 (a) is that between host computer and data harmonization device, firmware updates packet structure figure.
Fig. 4 (b) is that between data harmonization device and sensor node, firmware updates packet structure figure.
Fig. 5 is the flow chart of steps being updated described data harmonization device.
Fig. 6 is the flow chart of steps being updated described sensor node.
Fig. 7 is that IAP upgrading relates to FLASH memory area division schematic diagram.
Detailed description of the invention
Embodiments of the invention are described below in detail, and the example of described embodiment is shown in the drawings, wherein
The most same or similar label represents same or similar element or has same or like function
Element.The embodiment described below with reference to accompanying drawing is exemplary, is only used for explaining the present invention,
And be not considered as limiting the invention.
Refer to Fig. 1, the structural representation of wearable human motion capture system provided for the present invention,
Described wearable human motion capture system includes 110, data coordinator 120 of host computer and multiple
Sensor node 130, described host computer 110 signal are connected to described data harmonization device 120, and being used for will
Update firmware instructions and firmware data packet is sent to described data harmonization device 120, described data harmonization device 120
Poll scans each sensor node 130 and sends instruction and data bag, and described sensor node 130 connects
The program from data harmonization device 120 of receiving updates bag, completes firmware program updating.
Refer to Fig. 2, for the structural representation of described data harmonization device 120, described data harmonization device 120
It is made up of the first main control singlechip 121, wireless communication module 122, serial communication modular 123, described
First master control monolithic 121 machine be used for described host computer 110 instruction differentiate, the storage of packet and
Forwarding communicates with all the sensors node 130；Described wireless communication module 122 is used for and described sensing
The One-to-one communication of device node 130, packet transmission and verification；Described serial communication modular 123 is used for
Connect described first main control singlechip 121 and described host computer 130.
Preferably, described wireless communication module 122 uses bluetooth 4.0, the first main control singlechip 121 to adopt
(it is configured to main setting with the CC2541 that the STM32F405RG of ST company, Bluetooth chip are TI company
Standby pattern), described serial communication modular 123 uses CP2102 to realize USB to turn serial ports.
Refer to Fig. 3, for the structural representation of multiple sensor nodes 130, including: band IAP characteristic
The second main control singlechip 131, wireless communication module 132 and motion sensor 133, wherein, wireless
Communication module 132 completes the communication with data harmonization device, packet receives and verification；Described second master control
The single-chip microcomputer 131 packet to receiving resolves, and instruction identifies, FLASH read-write；Motion sensor
133 are used for gathering body motion information.
Preferably, the second main control singlechip 131 uses the STM32L151QC of ST company, motion to pass
Sensor uses the MPU9150 of InvenSense company.
The node firmware update method of the wearable human motion capture system that the present invention provides, including following
Step:
Step S10: initialize described host computer；
Step S20: test described host computer the most normal with described data harmonization device serial communication, if
Normal then transmission firmware updates and instructs "@UpdateFirm@", after described data harmonization device receives instruction
Instruction "@ReceiveingFirm@" is sent to described host computer；
Step S30: after described host computer discrimination instruction, by the more new data packets transmission of the firmware needed for program
To described data harmonization device, and wait that data harmonization device returns result；
Step S40: described data harmonization device receives packet by serial ports, if transmission is not fully complete, to
Described host computer sends " bust this " instruction, request retransmission；If receiving successfully, also need to carry out CRC
Verification: if verifying successfully, sends " being transmitted " instruction to host computer；If verifying unsuccessfully, then send out
Instruction is sent " to verify unsuccessfully " instruction, request retransmission；
Step S50: after described data harmonization device is properly received firmware renewal bag, carries out packet and again seal
Dress, described packet include No. ID of described sensor node, Bluetooth pairing code, packet and its
His additional information；
Step S60: the ID test Bluetooth communication that described data harmonization device sets is the most normal, if just
Often, sending and update instruction " $ UpdateXX $ ", wherein " XX " represents the numbering of described sensor node,
A corresponding No. ID set, described sensor node receives instruction, produces traps, described list
Sheet machine response traps is restarted；
Step S70: described sensor node performs IAP program after restarting, enters data receiver and prepares,
If receiving successfully, return " receiving successfully " instruction to data harmonization device；Otherwise, return " reception failure "
Instruction；
Step S80: after described sensor node finishes receiving packet, parses firmware more new data packets,
Then perform IAP program, write the data packet the FLASH memory block of described sensor node chip,
Sending " being updated successfully " instruction to data harmonization device simultaneously, and produce a traps, control chip is restarted
Perform FLASH user area code；
Step S90: data harmonization device receives the instruction of " being updated successfully ", continues to enter next node
Row communication connection, data transmission and firmware update, and repeat the above steps, until all nodes complete,
And send " firmware upgrade success " instruction to described host computer.
Refering to Fig. 4 (a) and Fig. 4 (b), it is expressed as firmware between host computer and data harmonization device and updates
Between packet structure figure and data harmonization device and sensor node, firmware updates packet structure figure.
Wherein:
1. instruct between data harmonization device and host computer:
2. instruct between data harmonization device and node
The node firmware update method of the wearable human motion capture system that the present invention provides, utilizes described
Renewal firmware instructions and firmware data packet are sent to described data harmonization device, described data harmonization by host computer
Device poll scans each sensor node and also sends instruction and data bag, described sensor node receive from
The program of data harmonization device updates bag, completes firmware program updating.
Preferably, refer to Fig. 5, in the node firmware carrying out described wearable human motion capture system
Also include before renewal described data harmonization device is updated, specifically include following step:
Step S110: initialize described data harmonization device, including initialize described first main control singlechip,
Wireless communication module, serial communication modular；
Step S120: described first main control singlechip discriminates whether that receiving firmware updates instruction
"@UpdateFirm@", if it did not, normally perform blas；If receiving renewal instruction,
Enter and interrupt, redirect and perform more new procedures；
Step S130: start to perform more new procedures, described first main control singlechip is sent out to described host computer
Send data receiver to be ready to instruct "@ReceiveingFirm@", receive the number from host computer by serial ports
According to bag, if transmission is not fully complete, send instruction "@TransError@" to described host computer；If transmission
Complete, then need to carry out CRC check: if verifying successfully, by " data are transmitted " labelling place value ' 1 ',
And complete with reported data transmission to host computer transmission instruction " FirmFinished "；If verification is lost
Lose, then send instruction " CRCError ", request retransmission to host computer；Verify and the most then send
"@FirmSuccess@" instruction firmware receives successfully；
Step S140: described first main control singlechip judges " data are transmitted " marker bit, if 1,
First packet is stored in the RAM district at described data harmonization device chip, simultaneously to specifying described sensing
Device node sends Bluetooth pairing code, sets up bluetooth and connects；
Step S150: after successful connection, first sends firmware to described sensor node and updates instruction
$ UpdateXX $, wherein " XX " is destination node ID, if returning to waiting for firmware data packet instruction
" $ WaitingFirm $ ", then carry out packet encapsulation, form be " packet synchronisation head+sensor node ID+
Bluetooth pairing code+renewal firmware data packet+CRC check value ", and by Bluetooth transmission to specifying ID's
Node；
Step S160: receive described sensor node return instruction, if transmission be not fully complete or
Being transmitted CRC check to make mistakes, retransfer packet；If transmission success is then by child node
Corresponding " data transmission success " mark position ' 1 ' of ID；
Step S170: wait that node returns firmware and is updated successfully instruction, if it exceeds 20 seconds do not receive,
Then re-start step S140～150；If receiving instruction, by corresponding for child node ID " firmware renewal
Success " mark position ' 1 ', simultaneously send " No. ID is that the child node of XX has updated firmware " to host computer；
Step S180: check all of No. ID corresponding " firmware is updated successfully " marker bit, if all
For ' 1 ', then send information to host computer, indicate all node firmware programs the most to update；If there being certain
No. ID corresponding " firmware is updated successfully " marker bit is 0, then perform step S140～160.
Preferably, refer to Fig. 6, in the node firmware carrying out described wearable human motion capture system
Also include before renewal described sensor node is updated, specifically include following step:
Step S210: described sensor node initializes；
Step S220: described second master control monolithic has monitored whether that firmware updates instruction $ UpdateXX $,
And mate the node ID value self arranged, if be detected that order, exit motion monitoring pattern, produce
Traps so that the second master control monolithic restarts execution IAP program；Otherwise, continue Monitoring and Update instruction,
If not receiving in 20 seconds, performing working area program, completing motion monitoring；
Step S230: after entering IAP program, the second master control monolithic first sends to data harmonization device and prepares
Transmit well firmware and update packet instruction " $ WaitingFirm $ ", and by Bluetooth receptions packet；If
Waiting does not has data receiver to arrive in 10 seconds, jumps to user area program；Otherwise, enter data receiver part；
Step S240: enter after data receiver part, if transmission be not fully complete or be transmitted and
CRC check makes mistakes, and sends " $ XXTrsansFaild $ " respectively to coordinator, " $ XXCRCError $ " refers to
Order, instruction packet transmission is not fully complete, request retransmission；If be transmitted, then renewal is ready to mark
Will position ' 1 ', sends to described host computer simultaneously and is transmitted instruction " $ XXTrsansFinished $ ", and
Enter firmware and update subprogram；
Step S250: after entering firmware renewal subprogram, the second master control monolithic first extracts firmware and updates
Packet, and arrange according to IAP, FLASH region is specified in write, after having write, assists to data
Adjust device to send firmware and be updated successfully instruction " $ XXFirmUpdateSuccess $ "；
Step S260: utilize the second main control singlechip to interrupt system and produce a traps, trigger and interrupt
The second master control monolithic is restarted in response so that the second master control monolithic enters IAP program, jumps after waiting 20 seconds
Forward user area program to, perform to update the code of FLASH working region, complete firmware upgrade.
Refer to Fig. 7, relate to FLASH memory area for IAP upgrading and divide schematic diagram.It is appreciated that
The firmware code of ARM microcontroller chip is stored in the FLASH address that initial address is 0X,800 0000
Region, full wafer address is divided into IAP code area and operation code district by IAP characteristic.
After ARM chip is restarted or powered on, IAP code is first carried out, if within the time arranged
Receive renewal instruction, then perform firmware update some row operation: receive data, resolve data and
Write work FLASH code district etc.；If overtime, automatically redirect execution working area code, both complete
Fixed function.
The node firmware update method of the wearable human motion capture system that the application provides, only need to pass through
Send to data harmonization device and update instruction and data bag, all biographies in coordinator institute span of control can be completed
Sensor node program upgrade operations is simple and convenient；Additionally, without removal sensor node, or use specially
With DLL, it is not required that node is updated upgrading one by one, can save substantial amounts of human cost,
Avoid good-for-nothing's power consumption；It addition, the node of the wearable human motion capture system of the application offer
Firmware update, it is not necessary to the wire and wireless extra for node procedure update contruction connects equipment, by closing
Reason utilizes the Bluetooth communication equipment between node and data harmonization device can realize upgrade command and update number
Transmission according to bag.
Although the present invention is described with reference to current better embodiment, but those skilled in the art
Will be understood that above-mentioned better embodiment, only for the present invention is described, is not used for limiting the guarantor of the present invention
Protect scope, any within the scope of the spirit and principles in the present invention, any modification of being done, equivalence replace,
Improve, within should be included in the scope of the present invention.
Claims (7)
1. a node firmware update method for wearable human motion capture system, described Wearable people
Body motion capture system includes host computer, a data coordinator and multiple sensor node, described upper
Machine signal is connected to described data harmonization device, for renewal firmware instructions and firmware data packet are sent to institute
Stating data harmonization device, described data harmonization device poll scans each sensor node and sends instruction and data
Bag, the program that described sensor node receives from data harmonization device updates bag, completes firmware program updating,
It is characterized in that, the node firmware update method of described wearable human motion capture system includes following step
Rapid:
Step S10: initialize described host computer；
Step S20: test described host computer the most normal with described data harmonization device serial communication, if
Normal then transmission firmware updates and instructs "@UpdateFirm@", after described data harmonization device receives instruction
Instruction "@ReceiveingFirm@" is sent to described host computer；
Step S30: after described host computer discrimination instruction, by the more new data packets transmission of the firmware needed for program
To described data harmonization device, and wait that data harmonization device returns result；
Step S40: described data harmonization device receives packet by serial ports, if transmission is not fully complete, to
Described host computer sends " bust this " instruction, request retransmission；If receiving successfully, also need to carry out CRC
Verification: if verifying successfully, sends " being transmitted " instruction to host computer；If verifying unsuccessfully, then send out
Instruction is sent " to verify unsuccessfully " instruction, request retransmission；
Step S50: after described data harmonization device is properly received firmware renewal bag, carries out packet and again seal
Dress, described packet include No. ID of described sensor node, Bluetooth pairing code, packet and its
His additional information；
Step S60: the ID test Bluetooth communication that described data harmonization device sets is the most normal, if just
Often, sending and update instruction " $ UpdateXX $ ", wherein " XX " represents the numbering of described sensor node,
A corresponding No. ID set, described sensor node receives instruction, produces traps, described list
Sheet machine response traps is restarted；
Step S70: described sensor node performs IAP program after restarting, enters data receiver and prepares,
If receiving successfully, return " receiving successfully " instruction to data harmonization device；Otherwise, return " reception failure "
Instruction；
Step S80: after described sensor node finishes receiving packet, parses firmware more new data packets,
Then perform IAP program, write the data packet the FLASH memory block of described sensor node chip,
Sending " being updated successfully " instruction to data harmonization device simultaneously, and produce a traps, control chip is restarted
Perform FLASH user area code；
Step S90: data harmonization device receives the instruction of " being updated successfully ", continues to enter next node
Row communication connection, data transmission and firmware update, and repeat the above steps, until all nodes complete,
And send " firmware upgrade success " instruction to described host computer.
2. the node firmware update method of wearable human motion capture system as claimed in claim 1,
It is characterized in that, described data harmonization device is by the first main control singlechip, wireless communication module, serial communication
Module forms, and described first main control singlechip be used for the instruction differentiation of described host computer, packet
Store and forward and the communicating of all the sensors node；Described wireless communication module is used for and described sensor
The One-to-one communication of node, packet transmission and verification；Described serial communication modular is used for connecting described
One main control singlechip and described host computer.
3. the node firmware update method of wearable human motion capture system as claimed in claim 2,
It is characterized in that, described first main control singlechip uses the STM32F405RG of ST company, described nothing
Line communication module is bluetooth 4.0, and described serial communication modular is USART communication module.
4. the node firmware update method of wearable human motion capture system as claimed in claim 3,
It is characterized in that, also wrapped before the node firmware carrying out described wearable human motion capture system updates
Include and described data harmonization device be updated, specifically include following step:
Step S110: initialize described data harmonization device, including initialize described first main control singlechip,
Wireless communication module, serial communication modular；
Step S120: described first main control singlechip discriminates whether that receiving firmware updates instruction
"@UpdateFirm@", if it did not, normally perform blas；If receiving renewal instruction,
Enter and interrupt, redirect and perform more new procedures；
Step S130: start to perform more new procedures, described first main control singlechip is sent out to described host computer
Send data receiver to be ready to instruct "@ReceiveingFirm@", receive the number from host computer by serial ports
According to bag, if transmission is not fully complete, send instruction "@TransError@" to described host computer；If transmission
Complete, then need to carry out CRC check: if verifying successfully, by " data are transmitted " labelling place value ' 1 ',
And complete with reported data transmission to host computer transmission instruction " FirmFinished "；If verification is lost
Lose, then send instruction " CRCError ", request retransmission to host computer；Verify and the most then send
"@FirmSuccess@" instruction firmware receives successfully；
Step S140: described first main control singlechip judges " data are transmitted " marker bit, if 1,
First packet is stored in the RAM district at described data harmonization device chip, simultaneously to specifying described sensing
Device node sends Bluetooth pairing code, sets up bluetooth and connects；
Step S150: after successful connection, first sends firmware to described sensor node and updates instruction
$ UpdateXX $, wherein " XX " is destination node ID, if returning to waiting for firmware data packet instruction
" $ WaitingFirm $ ", then carry out packet encapsulation, form be " packet synchronisation head+sensor node ID+
Bluetooth pairing code+renewal firmware data packet+CRC check value ", and by Bluetooth transmission to specifying ID's
Node；
Step S160: receive described sensor node return instruction, if transmission be not fully complete or
Being transmitted CRC check to make mistakes, retransfer packet；If transmission success is then by child node
Corresponding " data transmission success " mark position ' 1 ' of ID；
Step S170: wait that node returns firmware and is updated successfully instruction, if it exceeds 20 seconds do not receive,
Then re-start step S140～150；If receiving instruction, by child node ID correspondence, " firmware is updated to
Merit " mark position ' 1 ', simultaneously send " No. ID is that the child node of XX has updated firmware " to host computer；
Step S180: check all of No. ID corresponding " firmware is updated successfully " marker bit, if all
For ' 1 ', then send information to host computer, indicate all node firmware programs the most to update；If there being certain
No. ID corresponding " firmware is updated successfully " marker bit is 0, then perform step S140～160.
5. the node firmware update method of wearable human motion capture system as claimed in claim 1,
It is characterized in that, described sensor node includes the second main control singlechip of band IAP characteristic, radio communication
Module and motion sensor, wherein, wireless communication module completes the communication with data harmonization device, packet
Receive and verification；Described second main control singlechip packet to receiving resolves, and instruction identifies, FLASH
Read-write；Motion sensor is used for gathering body motion information.
6. the node firmware update method of wearable human motion capture system as claimed in claim 5,
It is characterized in that, described second main control singlechip uses the STM32L151QC of ST company, described fortune
Dynamic sensor uses the MPU9150 of InvenSense company.
7. the node firmware update method of wearable human motion capture system as claimed in claim 6,
It is characterized in that, also wrapped before the node firmware carrying out described wearable human motion capture system updates
Include and described sensor node be updated, specifically include following step:
Step S210: described sensor node initializes；
Step S220: described second master control monolithic has monitored whether that firmware updates instruction $ UpdateXX $,
And mate the node ID value self arranged, if be detected that order, exit motion monitoring pattern, produce
Traps so that the second master control monolithic restarts execution IAP program；Otherwise, continue Monitoring and Update instruction,
If not receiving in 20 seconds, performing working area program, completing motion monitoring；
Step S230: after entering IAP program, the second master control monolithic first sends to data harmonization device and prepares
Transmit well firmware and update packet instruction " $ WaitingFirm $ ", and by Bluetooth receptions packet；If
Waiting does not has data receiver to arrive in 10 seconds, jumps to user area program；Otherwise, enter data receiver part；
Step S240: enter after data receiver part, if transmission be not fully complete or be transmitted and
CRC check makes mistakes, and sends " $ XXTrsansFaild $ " respectively to coordinator, " $ XXCRCError $ " refers to
Order, instruction packet transmission is not fully complete, request retransmission；If be transmitted, then renewal is ready to mark
Will position ' 1 ', sends to described host computer simultaneously and is transmitted instruction " $ XXTrsansFinished $ ", and
Enter firmware and update subprogram；
Step S250: after entering firmware renewal subprogram, the second master control monolithic first extracts firmware and updates
Packet, and arrange according to IAP, FLASH region is specified in write, after having write, assists to data
Adjust device to send firmware and be updated successfully instruction " $ XXFirmUpdateSuccess $ "；
Step S260: utilize the second main control singlechip to interrupt system and produce a traps, trigger and interrupt
The second master control monolithic is restarted in response so that the second master control monolithic enters IAP program, jumps after waiting 20 seconds
Forward user area program to, perform to update the code of FLASH working region, complete firmware upgrade.
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| CN108829241A (en) * | 2018-05-21 | 2018-11-16 | 云谷（固安）科技有限公司 | A kind of motion capture device and its node configuration method |
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