Release 1.8.0

• uINS-3 firmware v1.8.0 b307_2020-01-31_155910
• EVB-2 firmware v1.8.0 b61_2020-01-31_155936
• EvalTool v1.8.0 b350_2020-01-31_160237

NEW FEATURES:

• (uINS) Support for uINS-3.2 hardware version.
• (uINS) Zero Motion Command user initiated method to aid IMU bias estimation.
• (SDK) Improved bootloader version management. Added version info protocol and consolidated bootloader and application firmware update into single process.
• (uINS) Improved support for degraded GPS environments.

CHANGES:

• (uINS) Improved IMU bias convergence.
• (uINS) Improved Zero Velocity Updates (ZUPT) and Zero Angular Rate (ZARU) detection.
• (uINS) Removed support for second magnetometer for uINS-3.2 hardware.

BUG FIXES:

• (uINS) Fix for automatic save of magnetometer calibration following the mag recalibration process.
• (uINS) Fix for mag recalibration cancel feature.
• (EVB-2) Fix for SPI mode interface with uINS.

KNOWN ISSUES:

• (RTK, Dual GNSS) INS status indicator INS_STATUS_RTK_RAW_GPS_DATA_ERROR (RTK[RAW] in EvalTool) false triggers after 7 days of operation. This indicator should be ignored and will be fixed in the future.

Bootloader Firmware

Overview

The bootloader is embedded firmware stored on the IMX (or uINS) and is used to update the IMX application firmware. Updating the bootloader firmware is occasionally required when new functionality is needed.

Bootloader Update

The bootloader is now checked and updated at the same time as loading new firmware. The following steps outline how to update the IMX bootloader and firmware.

1. Ensure IMX (or uINS) Firmware is Running - (This step is not necessary if the IMX firmware is running and the EvalTool is communicating with the IMX). If the bootloader is running but the firmware is not, version information will not appear in the EvalTool. The LED will also be a fading cyan.
2. Update the Bootloader and Firmware - Use the EvalTool "Update Firmware" button in the Settings tab to upload the latest [bootloader](https://github.com/inertialsense/InertialSenseSDK/releases/tag/bootloader) and the latest firmware. On the uINS, the bootloader can only be updated using serial0 or the native USB ports.

Version History

IS_bootloader-STM32L4 (IMX-5)

v6d (10/10/22)

• Fixed USB double buffer issue which caused application firmware upload stall at 99%.

v6b (9/29/22)

• Original internal working version.
• Software release 1.9.0 support.

bootloader-SAMx70 (uINS & EVB)

v6d (10/10/22)

• Software release 1.9.0 support for the uINS-3. The bootloader v6 must be used to upload release 1.9.0 uINS-3 and IMX-5 firmware. Systems running bootloader v5 must be updated before 1.9.0 firmware can be uploaded.

v5b (4/4/22)

• Revert extended handshake key (string) which caused backwards incompatibility.
• New handshake method requires sync char pattern (five consecutive sync characters 'U' with minimum spacing of 5ms, recommended spacing of 10ms) for more robust bootloader enabling.

v5a (12/01/21) (Use v5b instead.)

• Only supported by SDK release 1.8.6 and later.
• Prevent interference caused by GPS2 on Rugged-2.
• Add bootloader support for Ser2 port on uINS-3.
• Add extended handshake key for more robust bootloader enabling.
• Reset GPS during bootloader on Rugged-2 to prevent interference.
• Revise LED scheme (remove fading LED) to optimize instructions for space.

v4b (3/4/20)

• (EVB only) Disable using serial ports for EVB-2 bootloader to prevent loading issues when data is being streamed from uINS.
• Firmware update port selection, used to prevent external GPS or other serial devices on alternate ports from interfering with firmware update.

v4a (1/31/20)

• Support for uINS-3.2.
• Baud rate accuracy improved (CPU speed increased to 300MHz). Baud rates now match those of the uINS firmware.
  • 230400: 232020 (before), 229360 (after)
  • 921600: 892860 (before), 938090 (after)
• Added ability to read out bootloader version information.
• Added lockout to prevent entering SAM-BA mode from a non SAM-BA capable port.

v3d (2/26/19)

• (EVB only) Disable serial ports on EVB at bootload start and using USB to prevent interruption from serial ports.
• Fixed 23400 bps support.

v3c (2/18/19)

• Universal bootloader for uINS and EVB-2 (SAMS70 and SAME70).
• Fixed 921600 bps and removed 2M bps support.

v3b (1/24/19) (not shipped)

v3a (1/12/19) (not shipped)

• Support for USB CDC interface.

bootloader-SAMS70 (uINS)

v2c r1.5 (4/6/18)

• Support for bootloading larger application firmware (>491520 bytes).

v2b r1.1.4 (2/23/18)

v2a r1.1.4 (11/7/17)

v1 r1.1.3

Release 1.7.6.d (Patch)

• uINS-3 firmware v1.7.6 b239_2019-10-11_145107
• EVB-2 firmware v1.7.6 b33_2019-10-11_145131
• EvalTool v1.7.6 b267_2019-10-11_145414

NEW FEATURES:

• (GNSS Compassing) Official Dual GNSS aided INS for accurate heading measurements without need of vehicle dynamics or magnetic sensors. Addresses beta version issues related to stability and performance.
• (EVB) Ability to update uINS firmware through EVB-2 processor (SAME70) using EVB-USB connection.
• (EVB) Open source project for EVB-2 now available. This project provides an embedded development platform as well as example serial and SPI interface with the uINS.
• (RTK/Compassing) Ability to toggle between RTK precision positioning mode and Dual GNSS compassing mode without reset.

CHANGES:

• (SDK) Cleaned up several compiler warnings.

BREAKING CHANGES:

• (SDK) Added leap seconds (GPS-UTC) offset to binary messages using gps_pos_t and ASCII PGPSP message. Used to convert GPS time to UTC time.
• (Strobe) Strobe functionality must be enabled for each strobe pin using DID_FLASH_CONFIG.ioConfig.
• (Strobe) Strobe input is now interrupt based instead of timer based and now only requires a rising or falling edge with no minimum pulse length.

BUG FIXES:

• (PATCH) Fix for critical fault caused by libc-nano snprintf malloc used with ASCII protocol output.
• (PATCH) Fix RTK stability issue effecting time to fix and generally maintaining lock.
• (PATCH) Corrected INS output timestamp drift, offset, and noise.
• (Dual GNSS) GPS compassing patch: addressed stability and performance issues.
• (USB) Addressed 512 byte buffer limitation on the uINS and EVB USB CDC interface. This issue occurred when sending RTK base observations (RTCM3 or uBlox) over USB.
• (Logger) Issue resolved that prevented .csv logs from being written.
• (uINS) Issue resolved where disabling magnetometer fusion prevents EKF from initializing and states from being updated.
• (uINS) Fixed EKF attitude drift during initialization caused by unaccelerated condition detection.
• (uINS) EKF altitude tracking of GPS issue resolved.
• (uINS) EKF position tracking of RTK GPS position in RTK float.
• (RTK) improved fix hold under accelerated conditions.
• (uINS) Over temperature status indicator fixed.
• (uINS) Fixed EKF discontinuities in roll and pitch estimates.

KNOWN ISSUES:

• (RTK) uINS RTK RTCM base station occasionally results in rover RTK lose of fix.
• (Dual GNSS) Stationary systems with uncalibrated magnetometer may result in heading deviation of several degrees during a GPS compassing outage.
• (uINS) Strobe input configured to trigger on falling edge on pin 5 (G2) does not work and will be fixed in the next release.

BOOTLOADER:

• It is recommended to update to the latest bootloader.

1. Ensure uINS Firmware is Running - (This step is not necessary if the uINS firmware is running and the EvalTool is communicating with the uINS). If the bootloader is running but the firmware is not, version information will not appear in the EvalTool. The LED will also be a fading cyan. The following bootloader update step will not work unless the EvalTool is communicating with the uINS firmware. In this case the firmware must be updated first.
2. Update the Bootloader - Use the EvalTool "Update Bootloader" button in the Settings tab to upload the latest bootloader firmware. If it has a fading cyan LED, the bootloader is running and ready for new firmware to be loaded. The bootloader can only be updated using serial0 or the native USB ports.
3. Update the Firmware - Use the EvalTool "Update Firmware" button to upload the latest uINS firmware.

Release 1.7.5

• uINS-3 firmware v1.7.5 b27_2019-02-25_121747
• EVB-2 firmware v1.7.5 b28_2019-02-25_122655
• EvalTool v1.7.5 b92_2019-02-25_122718

NEW FEATURES:

• (uINS) SPI interface. EVB-2 supports uINS SPI evaluation using the host SAME70 ARM 32bit processor.

BUG FIXES:

• (USB) Addressed issue that prevents SAM-BA over USB from completing the first time.
• (EvalTool) Reduce serial port delay and potential freezing.
• (uINS) Toggling from NAV to AHRS mode due to GPS outliers.
• (ASCII) Hot fix for ASCII issue that prevented negative values from being displayed properly.
• (bootloader) Fixed 921600 baud rate support in SAMx70-Bootloader_v3c.bin.

KNOWN ISSUES

• (Dual GPS) System occasionally falls out of fix.

NOTES

• (EvalTool) 32bit version and version without maps (web services) provided for machines with limited resources.

Release 1.7.4

• uINS-3 firmware v1.7.4 b290_2019-01-24_163630
• EVB-2 firmware v1.7.4 b85_2019-01-24_163726
• EvalTool v1.7.4 b16_2019-01-24_163241

NEW FEATURES:

• (uINS) USB CDC interface. Existing systems require bootloader update (SAMx70-Bootloader_v3.bin). EVB-2 supports native USB evaluation.

CHANGES:

• (USB) SAM-BA support added to allow update of the bootloader image over USB.
• (uINS) Flash writes no longer happen automatically with mag calibration or for GPS position history. Instead, they happen for user changes to DID_FLASH_CONFIG, software resets, or save flash command (CFG_SYS_CMD_SAVE_FLASH).

BUG FIXES:

• (Dual GNSS) Time to fix and general fix issues addressed.
• (Dual GNSS) Incorrect distance to base following GPS outage.
• (uINS) Fixed issue with EKF state run away when in RTK following GPS outage.
• (EVB-2) Addressed XBee radio 9600 baud configuration, communication bridge, and WiFi issues.

KNOWN ISSUES

• (Dual GPS) System occasionally falls out of fix.

Release 1.7.3

• uINS-3 firmware v1.7.3 b191_2019-01-12_102417
• EVB-2 firmware v1.7.3 b12_2019-01-12_102502
• EvalTool v1.7.3 b11_2019-01-12_102054

NEW FEATURES:

• (RTK) Official RTK-GPS precision positioning release. Addresses beta version issues with time to fix and recovery from GPS outages.
• (uINS) BETA - USB CDC interface. Existing systems require bootloader update (SAMx70-Bootloader_v3a.bin). EVB-2 supports native USB evaluation.
• (uINS) BETA - SPI interface. EVB-2 supports SPI evaluation using the host SAME70 ARM 32bit processor.
• (EVB-2) Firmware for the InertialSense EVB-2 designed for evaluation of the uINS, RTK, GPS compassing, and uINS SPI interface. The EVB-2 includes onboard SD card datalogger, XBee radio, WiFi, RS232, RS422/485, CAN bus.
• (CLTool) Sampling/broadcast period is now user configurable.
• (RTK) RTCM now supports Galileo GPS observations.
• (Bootloader) Now supports USB interface.

CHANGES:

• (Dual GPS) Robustness and heading accuracy performance.
• (SDK) Added status to dual_imu_t and preintegrated_imu_t.
• (ASCII) Added GPS time of week to end of ASCII PGPSP message.
• (SDK) DID_CRASH_INFO refactored into DID_SYS_FAULT.

BUG FIXES:

• (uINS) Fixed timestamp jitter in IMU and INS data.
• (Logger) Fixed conversion of GPS velocity from .dat to .csv file format.

KNOWN ISSUES

• (Dual GPS) System occasionally falls out of fix.

Release 1.7.2

CRITICAL - The bootloader must be updated prior to loading this firmware.

1. Ensure uINS Firmware is Running - (This step is not necessary if the uINS firmware is running and the EvalTool is communicating with the uINS). Select the device serial port and update the firmware using 1.6.4 or earlier. If the bootloader is running, version information will not appear in the EvalTool. The following bootloader update step will not work unless the EvalTool is communicating with the uINS firmware.
2. Update the Bootloader - Enable EvalTool Internal Mode to expose the "SAM-BA" button. Restore the bootloader firmware using the "SAM-BA" button in the EvalTool Settings tab to load the bootloader firmware. If it has a fading cyan color on the uINS module, the bootloader is running and ready for new firmware to be loaded.
3. Update the Firmware - to the latest uINS firmware version.

---

Release 1.7.2

• uINS-3 firmware v1.7.2 b150_2018-11-25_105314
• EvalTool v1.7.2 b104_2018-11-25_104932

CHANGES:

• (uINS) Magnetometer and barometer checks added to Built-In Test (BIT).

BUG FIXES:

• (RTK) Addresses RTK solution invalid following base observation outages.
• (RTK) Fix for offset in RTK solution.
• (uINS) Corrected INS initialization and alignment.

Release 1.7.1

CRITICAL - The bootloader must be updated prior to loading this firmware.

1. Ensure uINS Firmware is Running - (This step is not necessary if the uINS firmware is running and the EvalTool is communicating with the uINS). Select the device serial port and update the firmware using 1.6.4 or earlier. If the bootloader is running, version information will not appear in the EvalTool. The following bootloader update step will not work unless the EvalTool is communicating with the uINS firmware.
2. Update the Bootloader - Enable EvalTool Internal Mode to expose the "SAM-BA" button. Restore the bootloader firmware using the "SAM-BA" button in the EvalTool Settings tab to load the bootloader firmware. If it has a fading cyan color on the uINS module, the bootloader is running and ready for new firmware to be loaded.
3. Update the Firmware - to the latest uINS firmware version.

---

• uINS-3 firmware v1.7.1 b3952_2018-11-03_140140
• EvalTool v1.7.1 b97_2018-11-03_135816

NEW FEATURES:

• (uINS) Created ASCII $INFO message which contains version information.
• (uINS) Persistent messages remember the current communications config on startup.
• (EvalTool) Logger tab replaced with Data Logs tab, which is the new location to enable persistent messages.
• (RTK) RTK base position is not broadcast if not valid to help users identify base should be surveyed.

BREAKING CHANGES:

• (SDK) Com Manager Get Data function period parameter is no longer in milliseconds. Rather, it is the data source period multiple. This allows for controlling of message data rates for all messages, including RMC messages.

CHANGES:

• (uINS) Accuracy improvement for slow velocity (walking speed) navigation.
• (uINS) DID_CONFIG (config_t) refactored, which effects the software reset interface.
• (RMC) Method for reducing data rate of each messages added to RMC.

BUG FIXES:

• (uINS) Fixed GPS time of week timestamp roll over issue that occurs at end of the week.
• (RTK / Dual GNSS) Fix for status indicator and LED display error.
• (uINS) EKF alignment on startup issue fixed.
• (Dual GNSS) Fixed status indicator.
• (EvalTool) RTK base survey start/cancel button glitch.
• (uAHRS) Addressed alignment issue in AHRS mode when mag is not calibrated.
• (uINS) Fixed timestamp glitch issue which added noise onto INS output timestamp.

KNOWN ISSUES

• (uINS) Base outage and cycle slip detection and recovery. RTK sometimes requires a reset to get fix following an outage of base data.
• (uINS) Firmware can become bricked if loaded using old bootloader. Please update bootloader prior to updating firmware.

Release 1.7.0

• uINS-3 firmware v1.7.0 b3508_2018-10-16_143952
• EvalTool v1.7.0 b84_2018-10-16_143640

NEW FEATURES:

• (Dual GNSS) Added GPS compassing support that can determine heading using two GPS antennae.
• (RTK) Virtual Reference Station (VRS) support added.

CHANGES:

• (uINS) Relax INS trust of RTK solution.

BUG FIXES:

• (uINS) Fixed broken PGPSP ASCII message.
• (CLTool) Fixed NTRIP and TCP support on Linux OS.
• (ASCII) $STPB now correctly disables all prior enabled ASCII and binary messages.
• (Dual GNSS) Fixed adverse coupling of GPS compassing into roll and/or pitch estimates.

KNOWN ISSUES

• (RTK) Base outage and cycle slip detection and recovery. RTK sometimes requires a reset to get fix following an outage of base data.

Release 1.7.0-beta

• uINS-3 firmware v1.7.0 b3400_2018-09-17_162128
• EvalTool v1.7.0 b77_2018-09-17_161801

NEW FEATURES:

• (Dual GNSS) Added GPS compassing support that can determine heading using two GPS antennae.
• (RTK) Virtual Reference Station (VRS) support added.

CHANGES:

• (uINS) Relax INS trust of RTK solution.

BUG FIXES:

• (uINS) Fixed broken PGPSP ASCII message.
• (CLTool) Fixed NTRIP and TCP support on Linux OS.

KNOWN ISSUES:

• (RTK BETA) RTK sometimes requires a reset to get fix following an outage of base data.