Revision 0:6fca643f1aff, committed 2015-11-24

Comitter:

tjerkhofmeijer

Date:

Tue Nov 24 13:35:07 2015 +0100

Child:

1:7f19a1b1a9df

Commit message:

Initial publication of embedded firmware updater example

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/board.h	Tue Nov 24 13:35:07 2015 +0100
@@ -0,0 +1,51 @@
+/*!
+ * \file
+ * \copyright Copyright (C) Xsens Technologies B.V., 2015.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy
+ * of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ */
+#ifndef BOARD_H
+#define BOARD_H
+#include "mbed.h"
+
+#if defined(TARGET_NUCLEO_F401RE)
+
+#define MT_DRDY				PB_3
+#define MT_RESET			PC_9
+
+// Uart connection with the PC:
+#define PC_TX				PA_2
+#define PC_RX				PA_3
+
+// SPI connection with the module:
+#define MT_SCLK				PB_13
+#define MT_MISO				PB_14
+#define MT_MOSI				PB_15
+#define MT_nCS				PB_6
+
+// I2C connection with the module:
+#define MT_SCL				PB_8
+#define MT_SDA				PB_9
+#define MT_ADD0				PB_13
+#define MT_ADD1				PB_14
+#define MT_ADD2				PB_15
+
+// UART connection with the module:
+#define UART_TX_TO_MODULE   PA_9
+#define UART_RX_FROM_MODULE PA_10
+
+#else
+#error "Support for selected mbed platform has not been added."
+#endif // TARGET_NUCLEO_F401RE
+
+#endif // BOARD_H

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Nov 24 13:35:07 2015 +0100
@@ -0,0 +1,477 @@
+/*! \file
+	\copyright Copyright (C) Xsens Technologies B.V., 2015.
+
+	Licensed under the Apache License, Version 2.0 (the "License"); you may not
+	use this file except in compliance with the License. You may obtain a copy
+	of the License at
+
+	http://www.apache.org/licenses/LICENSE-2.0
+
+	Unless required by applicable law or agreed to in writing, software
+	distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+	WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+	License for the specific language governing permissions and limitations
+	under the License.
+
+	\page Embedded firmware example
+	The purpose of this example is to demonstrate how to update the firmware of a MTi-1 series module using the FwUpdate library.
+	The example embeds an Xsens firmware file (xff) which is converted to a data array with srecord (http://srecord.sourceforge.net).
+	The example is designed to run on a Nucleo F401 board. Porting to other mbed platforms should be easy but not all boards may
+	have enough flash memory to hold the full xff
+
+	\section Software setup
+	Select the required bus mode by uncommenting one of the following defines at the top of main.cpp
+	\verbatim
+	BUS_MODE_SPI
+	BUS_MODE_I2C
+	BUS_MODE_UART
+	\endverbatim
+	Next, build the example and program it in the Nucleo F401 board.
+
+	\section Development board setup
+	Configure the required bus mode (UART, I2C, SPI) with the dip switches on the MTi-1 development board.
+	(At the bottom of the development board a table with switch settings is shown)
+
+	\section Hardware setup
+
+	Unpower the board and make the following connections between the Nucleo F401 board and the
+	MTi 1 series development board (depending on the selected bus mode, the unused connections may be
+	left unconnected)
+
+	Power supply and reset:
+	\verbatim
+	|----------------|---------------|-------------------------|
+	|   Signal       | Nucleo F401   | Mti-1s Dev board header |
+	|----------------|---------------|-------------------------|
+	|    5V          |     5V        |       1                 |
+	|    3V3         |     3V3       |       2                 |
+	|    GND         |     GND       |       3                 |
+	|   RESET        |     PC9       |       5                 |
+	|----------------|---------------|-------------------------|
+	\endverbatim
+
+	Uart:
+	\verbatim
+	|----------------|---------------|-------------------------|
+	|   Signal       | Nucleo F401   | Mti-1s Dev board header |
+	|----------------|---------------|-------------------------|
+	|  Tx of Nucleo  |    PA9        |       11                |
+	|  Tx of MTi     |    PA10       |       9                 |
+	|----------------|---------------|-------------------------|
+	\endverbatim
+
+	I2C:
+	\verbatim
+	|----------------|---------------|-------------------------|
+	|   Signal       | Nucleo F401   | Mti-1s Dev board header |
+	|----------------|---------------|-------------------------|
+	|    SCL         |    PB8        |       11                |
+	|    SDA         |    PB9        |       9                 |
+	|    DRDY        |    PB3        |       15                |
+	|    ADD0        |    PB13       |       17                |
+	|    ADD1        |    PB14       |       19                |
+	|    ADD2        |    PB15       |       21                |
+	|----------------|---------------|-------------------------|
+	\endverbatim
+
+	SPI:
+	\verbatim
+	|----------------|---------------|-------------------------|
+	|   Signal       | Nucleo F401   | Mti-1s Dev board header |
+	|----------------|---------------|-------------------------|
+	|    SCK         |    PB13       |       17                |
+	|    MISO        |    PB14       |       19                |
+	|    MOSI        |    PB15       |       21                |
+	|    nCS         |    PB6        |       23                |
+	|    DRDY        |    PB3        |       15                |
+	|----------------|---------------|-------------------------|
+	\endverbatim
+
+	\section Connection with host PC
+	Connect the Nucleo board with a USB cable to the host PC. Find out on which
+	COM port the Nucleo board is mapped by the OS, and open a terminal emulator (e.g. PuTTY)
+	on this port. The default baud rate of the example is 921600. Pressing 'h' in the terminal
+	window should return the following usage text:
+
+	\verbatim
+	Embedded firmware updater example
+	Interface: SPI
+
+	h: Print this text
+	c: GotoConfig
+	m: GotoMeasurement
+	r: Soft reset the module
+	b: GotoBootloader
+	v: Request firmware revision
+	d: Request deviceId
+	u: Start firmware update (make sure module is in bootloader mode)
+	x: Hard reset the module and make it stay in bootloader
+	\endverbatim
+
+	After power-up the module automatically goes to measurement mode. In this mode
+	only a limited set of commands is supported. Therefore, the module must first be
+	switched to config mode by pressing 'c'. The module should response with XMID_GotoConfigAck.
+
+	Next, the firmware revision can be requested by pressing 'v'. This should return
+	the firmware revision in the format Major.Minor.Patch. If the Major version number is 255, the
+	module is in bootloader mode. Any other Major version number means that the MTi-1s main firmware is
+	running. In this case the module must be set in bootloader mode	before a firmware update can be done.
+	The module can be placed in bootloader mode by pressing either the 'b' or 'x' key
+ */
+
+
+#include "mbed.h"
+#include "rtos.h"
+#include "board.h"
+#include "xbusmessage.h"
+#include "xbusparser.h"
+#include "xbusmessageid.h"
+#include "mtinterface_mtssp.h"
+#include "mtinterface_uart.h"
+#include "mtssp_i2c_driver.h"
+#include "mtssp_spi_driver.h"
+#include "fwupdate.h"
+#include "xffdata.h"
+
+
+/*!	\brief Bus mode to use by this example.
+*/
+//#define BUS_MODE_SPI
+#define BUS_MODE_I2C
+//#define BUS_MODE_UART
+
+
+/*!	\brief Instance of MtInterface. Should be initialized by createMtInterface().
+*/
+static MtInterface* mtInterface = 0;
+
+
+/*!	\brief Serial object for communicating with the PC.
+*/
+static Serial pc(PC_TX, PC_RX);
+
+
+/*!	\brief Reset line towards the module. Pulling this line down keeps the module in reset.
+*/
+static DigitalInOut resetLine(MT_RESET, PIN_INPUT, OpenDrain, 1);
+
+/*!	\brief Instance of the firmware updater
+*/
+static FwUpdate *g_fwUpdate = NULL;
+
+
+/*!	\brief Create an instance of MtInterface.
+*/
+static void createMtInterface()
+{
+#ifdef BUS_MODE_SPI
+	MtsspDriver* mtsspDriver = new MtsspSpiDriver;
+	mtInterface = new MtInterfaceMtssp(mtsspDriver);
+#endif
+
+#ifdef BUS_MODE_I2C
+	MtsspDriver* mtsspDriver = new MtsspI2cDriver;
+	mtInterface = new MtInterfaceMtssp(mtsspDriver);
+#endif
+
+#ifdef BUS_MODE_UART
+	mtInterface = new MtInterfaceUart;
+#endif
+}
+
+
+/*!	\brief Callback function for FwUpdate for reading data from the xff (xsens firmware file) file.
+	\param buffer Target buffer in which the xff data should be written
+	\param offset Offset in the xff file where reading should start
+	\param length Number of bytes which is requested
+	\returns Number of bytes which is actually written to the buffer
+*/
+static int readXffData(uint8_t *buffer, int offset, int length)
+{
+	int n;
+	for (n = 0; n < length; n++)
+	{
+		if (offset + n == g_xffData_length)
+			break;
+		buffer[n] = g_xffData[offset + n];
+	}
+	return n;
+}
+
+
+/*!	\brief Callback function for FwUpdate for signaling that a firmware update has completed.
+	\param result Result of the firmware update, either FWU_Success or FWU_Failed
+*/
+static void readyHandler(FWU_Result result)
+{
+	if (result == FWU_Success)
+		pc.printf("Firmware update ready\r\n");
+	else if (result == FWU_Failed)
+		pc.printf("Firmware update failed\r\n");
+}
+
+
+/*!	\brief Handles xbus messages from the module.
+	\param xbusMessage The xbus message received from the module
+
+	Messages with message identifier XMID_FirmwareUpdate are passed to the firmware updater, other messages are just printed.
+*/
+static void handleXbusMessage(XbusMessage *xbusMessage)
+{
+	switch (xbusMessage->m_mid)
+	{
+	case XMID_Wakeup:
+	{
+		pc.printf("XMID_Wakeup\r\n");
+	} break;
+
+	case XMID_GotoConfigAck:
+	{
+		pc.printf("XMID_GotoConfigAck\r\n");
+	} break;
+
+	case XMID_GotoMeasurementAck:
+	{
+		pc.printf("XMID_GotoMeasurementAck\r\n");
+	} break;
+
+	case XMID_ResetAck:
+	{
+		pc.printf("XMID_ResetAck\r\n");
+	} break;
+
+	case XMID_GotoBootLoaderAck:
+	{
+		pc.printf("XMID_GotoBootLoaderAck\r\n");
+	} break;
+
+	case XMID_Error:
+	{
+		pc.printf("XMID_Error\r\n");
+	} break;
+
+	case XMID_FirmwareUpdate:
+	{
+		if (g_fwUpdate != NULL)
+		{
+			FwUpdate_handleXbus(g_fwUpdate, xbusMessage);
+		}
+	} break;
+
+	case XMID_FirmwareRevision:
+	{
+		pc.printf("XMID_FirmwareRevision: %d.%d.%d\r\n", xbusMessage->m_data[0], xbusMessage->m_data[1], xbusMessage->m_data[2]);
+	} break;
+
+	case XMID_DeviceId:
+	{
+		uint32_t deviceId = (xbusMessage->m_data[0] << 24) | (xbusMessage->m_data[1] << 16) | (xbusMessage->m_data[2] << 8) | xbusMessage->m_data[3];
+		pc.printf("XMID_DeviceId: %08X\r\n", deviceId);
+	} break;
+
+	case XMID_MtData2:
+	{
+		pc.printf("XMID_MtData2\r\n");
+	} break;
+
+	default:
+	{
+		pc.printf("Unhandled xbus message, mid = 0x%02X, len = %d", xbusMessage->m_mid, xbusMessage->m_length);
+		if (xbusMessage->m_length > 0)
+		{
+			pc.printf(", data = ");
+			for (int n = 0; n < xbusMessage->m_length; n++)
+			{
+				pc.printf("%02X ", xbusMessage->m_data[n]);
+			}
+		}
+		pc.printf("\r\n");
+	}
+	}
+}
+
+
+/*!	\brief Reset the module via the hardware reset line.
+	\param stayInBootloader: If stayInBootloader is true, an XMID_GotoBootLoader is sent immediately after the reset.
+
+	By sending an XMID_GotoBootLoader within 100 ms after reset the module stays in bootloader mode
+	instead of booting the application. This can be used if the normal GotoBootloader command fails to put
+	the module in bootloader mode, e.g. because of a faulty firmware.
+*/
+static void hardwareReset(bool stayInBootloader)
+{
+	resetLine = 1;
+	resetLine.output();
+	wait(0.001);
+	resetLine = 0;
+	wait(0.001);
+	resetLine.input();	// (configure the line as input because the OpenDrain setting of the mbed gpio pin does not seem to work correctly)		
+
+	if (stayInBootloader)
+	{
+		wait(0.02);
+		XbusMessage xbusMessage = {XMID_GotoBootLoader};
+		xbusMessage.m_length = 0;
+		mtInterface->sendXbusMessage(&xbusMessage);
+	} else
+	{
+		wait(0.2);
+	}
+}
+
+/*!	\brief C-wrapper for sendXbusMessage callback function of FwUpdate.
+*/
+static void sendXbusMessageWrapper(XbusMessage const* xbusMessage)
+{
+	if (mtInterface)
+		mtInterface->sendXbusMessage(xbusMessage);
+}
+
+
+/*!	\brief Helper function for converting a XbusLowLevelFormat to string.
+*/
+static char* lowLevelFormatToString(XbusBusFormat format)
+{
+	switch (format)
+	{
+	case XBF_I2c:
+		return "I2C";
+	case XBF_Spi:
+		return "SPI";
+	case XBF_Uart:
+		return "UART";
+	}
+	return "unknown";
+}
+
+
+/*!	\brief Print usage info of this example.
+*/
+static void printUsageInfo()
+{
+	pc.printf("\r\nEmbedded firmware updater example\r\n");
+	pc.printf("Interface: %s\r\n\r\n", lowLevelFormatToString(mtInterface->busFormat()));
+	pc.printf("h: Print this text\r\n");
+	pc.printf("c: GotoConfig\r\n");
+	pc.printf("m: GotoMeasurement\r\n");
+	pc.printf("r: Soft reset the module\r\n");
+	pc.printf("b: GotoBootloader\r\n");
+	pc.printf("v: Request firmware revision\r\n");
+	pc.printf("d: Request deviceId\r\n");
+	pc.printf("u: Start firmware update (make sure module is in bootloader mode)\r\n");
+	pc.printf("x: Hard reset the module and make it stay in bootloader\r\n");
+	pc.printf("\r\n");
+}
+
+/*!	\brief Main entry point of the embedded firmware updater example.
+*/
+int main()
+{
+	resetLine.mode(OpenDrain);
+	// Configure communication with the pc:
+	pc.baud(921600);
+	pc.format(8, Serial::None, 1);
+	pc.printf("\r\n\r\n\r\n--------------------------------------\r\n");
+
+	// Initialize the mtInterface object for communicating with the module:
+	createMtInterface();
+
+	// Reset the module
+	hardwareReset(false);
+
+	// Initialize the firmware updater:
+	g_fwUpdate = new FwUpdate();
+	uint8_t* fwuTxBuffer = new uint8_t[FWU_REQUIRED_TXBUFFER_SIZE];
+	g_fwUpdate->m_readXffData = readXffData;
+	g_fwUpdate->m_sendXbusMessage = sendXbusMessageWrapper;
+	g_fwUpdate->m_readyHandler = readyHandler;
+	g_fwUpdate->m_txBuffer = fwuTxBuffer;
+	FwUpdate_init(g_fwUpdate);
+
+	printUsageInfo();
+
+	// Main loop:
+	bool running = true;
+	while (running)
+	{
+		mtInterface->process();
+
+		XbusMessage* xbusMessage = mtInterface->getXbusMessage();
+		if (xbusMessage != NULL)
+		{
+			handleXbusMessage(xbusMessage);
+			mtInterface->releaseXbusMessage(xbusMessage);
+		}
+
+		if (pc.readable())
+		{
+			char cmd = pc.getc();
+			switch (cmd)
+			{
+			case 'h':
+			{
+				printUsageInfo();
+			} break;
+
+			case 'c':
+			{
+				XbusMessage xbusMessage = {XMID_GotoConfig};
+				xbusMessage.m_length = 0;
+				mtInterface->sendXbusMessage(&xbusMessage);
+			} break;
+
+			case 'm':
+			{
+				XbusMessage xbusMessage = {XMID_GotoMeasurement};
+				xbusMessage.m_length = 0;
+				mtInterface->sendXbusMessage(&xbusMessage);
+			} break;
+
+			case 'r':
+			{
+				XbusMessage xbusMessage = {XMID_Reset};
+				xbusMessage.m_length = 0;
+				mtInterface->sendXbusMessage(&xbusMessage);
+			} break;
+
+			case 'b':
+			{
+				XbusMessage xbusMessage = {XMID_GotoBootLoader};
+				xbusMessage.m_length = 0;
+				mtInterface->sendXbusMessage(&xbusMessage);
+			} break;
+
+			case 'v':
+			{
+				XbusMessage xbusMessage = {XMID_ReqFirmwareRevision};
+				xbusMessage.m_length = 0;
+				mtInterface->sendXbusMessage(&xbusMessage);
+			} break;
+
+			case 'd':
+			{
+				XbusMessage xbusMessage = {XMID_ReqDid};
+				xbusMessage.m_length = 0;
+				mtInterface->sendXbusMessage(&xbusMessage);
+			} break;
+
+			case 'u':
+			{
+				pc.printf("Starting firmware update\r\n");
+				FwUpdate_init(g_fwUpdate);
+				FwUpdate_start(g_fwUpdate);
+			} break;
+
+			case 'x':
+			{
+				hardwareReset(true);
+			} break;
+			}
+		}
+	}
+
+	delete g_fwUpdate;
+	delete[] fwuTxBuffer;
+	return -1;
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-rtos.lib	Tue Nov 24 13:35:07 2015 +0100
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed-rtos/#ef0a22cdf839

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Tue Nov 24 13:35:07 2015 +0100
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/9296ab0bfc11
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mtinterface/mtinterface.cpp	Tue Nov 24 13:35:07 2015 +0100
@@ -0,0 +1,144 @@
+/*!
+ * \file
+ * \copyright Copyright (C) Xsens Technologies B.V., 2015.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy
+ * of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ */
+#include "mtinterface.h"
+#include <stdlib.h>
+#include <assert.h>
+
+
+/*!	\class MtInterface
+	\brief Abstract interface for communicating with an Xsens Motion Tracker (MT) on an mbed platform
+
+	MtInterface defines an abstract interface for communicating with a Motion Tracker (MT) via xbus
+	messages. Depending on the type of communication interface a specific implementation
+	must be made which inherits from MtInterface.
+*/
+
+static MtInterface* g_thisPtr = 0;
+
+
+/*!	\brief Callback function for XbusParserCallback for allocating a block of memory
+	\param bufferSize buffer size
+*/
+static void *allocateMessageDataWrapper(size_t bufferSize)
+{
+	return g_thisPtr->allocateMessageData(bufferSize);
+}
+
+
+/*!	\brief Callback function for XbusParserCallback for deallocating a block of memory
+	\param buffer Pointer to the buffer that should be deallocated
+*/
+static void deallocateMessageDataWrapper(void const *buffer)
+{
+	g_thisPtr->deallocateMessageData(buffer);
+}
+
+
+/*!	\brief Callback function for XbusParserCallback that handles completely received xbus messages from the motion tracker
+	\param Pointer to the received xbus message
+*/
+static void xbusParserCallbackFunctionWrapper(struct XbusMessage const *message)
+{
+	g_thisPtr->xbusParserCallbackFunction(message);
+}
+
+
+/*!	\brief Constructs an MtInterface.
+ *	\note Only a single instance of MtInterface is allowed
+*/
+MtInterface::MtInterface()
+{
+	assert(g_thisPtr == 0);
+	g_thisPtr = this;
+
+	// Create an xbusParser:
+	XbusParserCallback xbusCallback = {};
+	xbusCallback.allocateBuffer = allocateMessageDataWrapper;
+	xbusCallback.deallocateBuffer = deallocateMessageDataWrapper;
+	xbusCallback.handleMessage = xbusParserCallbackFunctionWrapper;
+	m_xbusParser = XbusParser_create(&xbusCallback);
+}
+
+
+/*! \brief Destructor
+*/
+MtInterface::~MtInterface()
+{
+	g_thisPtr = 0;
+}
+
+
+/*! \brief Returns the next message from the rx queue or NULL if the queue is empty
+	\note The caller must dealocate the message with releaseXbusMessage() after use.
+*/
+XbusMessage *MtInterface::getXbusMessage()
+{
+	XbusMessage *xbusMessage = NULL;
+	osEvent ev = m_xbusRxQueue.get(1);
+	if (ev.status == osEventMessage)
+	{
+		xbusMessage = (XbusMessage*)ev.value.p;
+	}
+	return xbusMessage;
+}
+
+
+/*!	\brief Releases an xbus message previously obtained by a call to getXbusMessage()
+	\param xbusMessage that should be released
+*/
+void MtInterface::releaseXbusMessage(XbusMessage *xbusMessage)
+{
+	if (xbusMessage != NULL)
+	{
+		deallocateMessageData(xbusMessage->m_data);
+		m_xbusMessagePool.free(xbusMessage);
+	}
+}
+
+
+/*!	\brief Callback function for XbusParserCallback to allocate a block of memory
+	\param bufferSize buffer size
+*/
+void *MtInterface::allocateMessageData(size_t bufferSize)
+{
+	assert(bufferSize < m_rxBufferSize);
+	void *ptr = m_memoryPool.alloc();
+	assert(ptr);
+	return ptr;
+}
+
+
+/*!	\brief Callback function for XbusParserCallback to deallocate a block of memory
+	\param buffer Pointer to the buffer that should be deallocated
+*/
+void MtInterface::deallocateMessageData(void const *buffer)
+{
+	m_memoryPool.free((uint8_t(*)[m_rxBufferSize])buffer);
+}
+
+
+/*!	\brief Callback function for XbusParserCallback that handles a completely received xbus message from the motion tracker
+	\param message Pointer to the received xbus message
+*/
+void MtInterface::xbusParserCallbackFunction(struct XbusMessage const *message)
+{
+	XbusMessage *xbusMessage = m_xbusMessagePool.alloc();
+	assert(xbusMessage);
+	memcpy(xbusMessage, message, sizeof(XbusMessage));
+	m_xbusRxQueue.put(xbusMessage);
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mtinterface/mtinterface.h	Tue Nov 24 13:35:07 2015 +0100
@@ -0,0 +1,63 @@
+/*!
+ * \file
+ * \copyright Copyright (C) Xsens Technologies B.V., 2015.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy
+ * of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ */
+#ifndef MTINTERFACE_H
+#define MTINTERFACE_H
+
+#include "mbed.h"
+#include "rtos.h"
+#include "xbusmessage.h"
+#include "xbusparser.h"
+
+class MtInterface
+{
+public:
+	MtInterface();
+	virtual ~MtInterface();
+
+	/*!	\brief This function must be periodically called from the main loop. Classes which inherid
+		from MtInterface can place functionality which must run periodically in this function.
+	*/
+	virtual void process() = 0;
+
+	/*!	\brief Interface for sending xbus messages to the module
+	*/
+	virtual void sendXbusMessage(XbusMessage const* xbusMessage) = 0;
+
+	/*!	\brief Interface for requesting the low level format used by an MtInterface instance
+	*/
+	virtual XbusBusFormat busFormat() = 0;
+
+	XbusMessage* getXbusMessage();
+	void releaseXbusMessage(XbusMessage *xbusMessage);
+
+protected:
+	static const int m_rxBufferSize = 300;
+	MemoryPool<uint8_t[m_rxBufferSize], 3> m_memoryPool;
+	MemoryPool<XbusMessage, 6> m_xbusMessagePool;
+	XbusParser *m_xbusParser;
+	Queue<XbusMessage, 4> m_xbusRxQueue;
+
+	void *allocateMessageData(size_t bufferSize);
+	void deallocateMessageData(void const *buffer);
+	void xbusParserCallbackFunction(struct XbusMessage const *message);
+
+	friend void *allocateMessageDataWrapper(size_t bufferSize);
+	friend void deallocateMessageDataWrapper(void const *buffer);
+	friend void xbusParserCallbackFunctionWrapper(struct XbusMessage const *message);
+};
+
+#endif //MTINTERFACE_H

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mtinterface/mtinterface_mtssp.cpp	Tue Nov 24 13:35:07 2015 +0100
@@ -0,0 +1,168 @@
+/*!
+ * \file
+ * \copyright Copyright (C) Xsens Technologies B.V., 2015.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy
+ * of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ */
+#include "mtinterface_mtssp.h"
+#include "mbed.h"
+#include "rtos.h"
+#include "board.h"
+#include "xbusmessage.h"
+#include "xbusparser.h"
+#include "assert.h"
+#include "xbusdef.h"
+
+
+/*!	\class MtInterfaceMtssp
+	\brief Implementation of MtInterface for the MTSSP protocol
+
+	MTSSP is the protocol used for communicating with an Xsens motion tracker over I2C or SPI.
+*/
+
+
+/*!	\brief Constructor
+	\param driver Pointer to an MtsspDriver
+*/
+MtInterfaceMtssp::MtInterfaceMtssp(MtsspDriver *driver)
+	: m_driver(driver)
+{
+	m_dataReady = new DigitalIn(MT_DRDY);
+}
+
+
+/*!	\brief Destructor
+*/
+MtInterfaceMtssp::~MtInterfaceMtssp()
+{
+	delete m_dataReady;
+}
+
+
+/*!	\brief Must be polled in the main application loop
+*/
+void MtInterfaceMtssp::process()
+{
+	if (*m_dataReady)
+	{
+		handleDataReady();
+	}
+}
+
+
+/*! \brief Sends an xbus message to the motion tracker
+	\param xbusMessage Pointer to xbus message which should be send
+*/
+void MtInterfaceMtssp::sendXbusMessage(XbusMessage const* xbusMessage)
+{
+	uint8_t* buf = (uint8_t*)allocateMessageData(xbusMessage->m_length + 4);
+	size_t rawLength = XbusMessage_createRawMessage(buf, xbusMessage, m_driver->busFormat());
+	m_driver->writeRaw(buf, rawLength);
+	deallocateMessageData(buf);
+}
+
+
+/*! \brief Returns the low level bus format used
+*/
+XbusBusFormat MtInterfaceMtssp::busFormat()
+{
+	return m_driver->busFormat();
+}
+
+
+/*! \brief Should be called if the data ready line from the motion tracker signals that there is data pending
+*/
+void MtInterfaceMtssp::handleDataReady()
+{
+	uint16_t notificationMessageSize = 0;
+	uint16_t measurementMessageSize = 0;
+	readPipeStatus(&notificationMessageSize, &measurementMessageSize);
+
+	uint16_t size;
+	uint8_t pipe;
+	if (notificationMessageSize)
+	{
+		size = notificationMessageSize;
+		pipe = XBUS_NOTIFICATION_PIPE;
+	}
+	else if (measurementMessageSize)
+	{
+		size = measurementMessageSize;
+		pipe = XBUS_MEASUREMENT_PIPE;
+	}
+	else
+	{
+		return;
+	}
+
+	uint8_t* buffer = (uint8_t*)allocateMessageData(size + 3);
+	buffer[0] = XBUS_PREAMBLE;
+	buffer[1] = XBUS_MASTERDEVICE;
+	readFromPipe(&buffer[2], size, pipe);
+	XbusParser_parseBuffer(m_xbusParser, buffer, 2 + size);
+	deallocateMessageData(buffer);
+}
+
+
+/*!	\brief Read MTSSP protocol info
+	\param[out] version Pointer to receive the version byte
+	\param[out] dataReadyConfig Pointer to receive the data ready configuration byte
+	\sa configureProtocol
+*/
+void MtInterfaceMtssp::readProtocolInfo(uint8_t* version, uint8_t* dataReadyConfig)
+{
+	uint8_t rxdata[2];
+	m_driver->read(XBUS_PROTOCOL_INFO, rxdata, sizeof(rxdata));
+	*version = rxdata[0];
+	*dataReadyConfig = rxdata[1];
+}
+
+
+/*!	\brief Write MTSSP protocol settings
+	\param dataReadyConfig The data ready configuration which must be set
+
+	Bit 7:4	Reserved \n
+	Bit 3	Measurement pipe DRDY event enable: 0 = disabled, 1 = enabled \n
+	Bit 2	Notification pipe DRDY event enable: 0 = disabled, 1 = enabled \n
+	Bit 1	Output type of DRDY pin: = 0 Push/pull, 1 = open drain \n
+	Bit 0	Polarity of DRDY signal: 0 = Idle low, 1 = Idle high \n
+	\sa readProtocolInfo
+*/
+void MtInterfaceMtssp::configureProtocol(uint8_t dataReadyConfig)
+{
+	m_driver->write(XBUS_CONFIGURE_PROTOCOL, &dataReadyConfig, sizeof(dataReadyConfig));
+}
+
+
+/*!	\brief Read the pipe status
+	\param[out] notificationMessageSize Pointer for returning the number of pending notification bytes
+	\param[out] measurementMessageSize Pointer for returning the number of pending measurement bytes
+*/
+void MtInterfaceMtssp::readPipeStatus(uint16_t *notificationMessageSize, uint16_t* measurementMessageSize)
+{
+	uint8_t status[4];
+	m_driver->read(XBUS_PIPE_STATUS, status, sizeof(status));
+	*notificationMessageSize = status[0] | (status[1] << 8);
+	*measurementMessageSize = status[2] | (status[3] << 8);
+}
+
+
+/*!	\brief Read from notification or measurement data pipe
+	\param buffer Result buffer
+	\param size Number of bytes to read
+	\param pipe Pipe from which to read, XBUS_NOTIFICATION_PIPE or XBUS_MEASUREMENT_PIPE
+*/
+void MtInterfaceMtssp::readFromPipe(uint8_t* buffer, uint16_t size, uint8_t pipe)
+{
+	m_driver->read(pipe, buffer, size);
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mtinterface/mtinterface_mtssp.h	Tue Nov 24 13:35:07 2015 +0100
@@ -0,0 +1,87 @@
+/*!
+ * \file
+ * \copyright Copyright (C) Xsens Technologies B.V., 2015.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy
+ * of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ */
+#ifndef MTINTERFACE_MTSSP_H
+#define MTINTERFACE_MTSSP_H
+
+#include "xbusmessage.h"
+#include "xbusparser.h"
+#include "mtinterface.h"
+#include "mbed.h"
+
+
+/*!	\class MtsspDriver
+	\brief Abstract interface providing the MTSSP interface with a abstraction layer to the underlying hardware bus
+
+*/
+class MtsspDriver
+{
+public:
+
+	/*!	\brief Perform a blocking write transfer
+		\param opcode Opcode to use
+		\param data Pointer to data to be written
+		\param dataLength Number of data bytes to write
+	*/
+	virtual void write(uint8_t opcode, uint8_t const* data, int dataLength) = 0;
+
+
+	/*!	\brief Perform a blocking read transfer
+		\param opcode Opcode to use
+		\param data Pointer to result buffer
+		\param dataLength Number of data bytes to read
+	*/
+	virtual void read(uint8_t opcode, uint8_t* data, int dataLength) = 0;
+
+
+	/*!	\brief Perform a blocking write transfer
+		\param data Pointer to data to be written
+		\param dataLength Number of data bytes to write
+	*/
+	virtual void writeRaw(uint8_t const* data, int dataLength) = 0;
+
+
+	/*!	\brief Returns the low level bus format that must be used for tranmitting messages over this hardware bus
+	*/
+	virtual XbusBusFormat busFormat() const = 0;
+};
+
+
+
+class MtInterfaceMtssp : public MtInterface
+{
+public:
+	MtInterfaceMtssp(MtsspDriver* driver);
+	virtual ~MtInterfaceMtssp();
+
+	virtual void process();
+	virtual void sendXbusMessage(XbusMessage const* xbusMessage);
+	virtual XbusBusFormat busFormat();
+
+protected:
+	void handleDataReady();
+	void readProtocolInfo(uint8_t* version, uint8_t* dataReadyConfig);
+	void configureProtocol(uint8_t dataReadyConfig);
+	void readPipeStatus(uint16_t* notificationMessageSize, uint16_t* measurementMessageSize);
+	void readFromPipe(uint8_t* buffer, uint16_t size, uint8_t pipe);
+
+private:
+	MtsspDriver* m_driver;
+	DigitalIn* m_dataReady;
+};
+
+
+#endif // MTINTERFACE_MTSSP_H

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mtinterface/mtinterface_uart.cpp	Tue Nov 24 13:35:07 2015 +0100
@@ -0,0 +1,87 @@
+/*!
+ * \file
+ * \copyright Copyright (C) Xsens Technologies B.V., 2015.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy
+ * of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ */
+#include "mtinterface_uart.h"
+#include "assert.h"
+#include "board.h"
+#include "mbed.h"
+
+
+/*!	\class MtInterfaceUart
+	\brief Implementation of MtInterface for communicating over UART.
+
+	The low level UART driver is provided by the mbed platform.
+*/
+
+static MtInterfaceUart* thisPtr = 0;	// required to give callback function access to class members
+
+
+/*!	\brief Constructor
+*/
+MtInterfaceUart::MtInterfaceUart()
+{
+	assert(thisPtr == 0);	//(only one instance is allowed)
+	thisPtr = this;
+	m_serial = new Serial(UART_TX_TO_MODULE, UART_RX_FROM_MODULE);
+	m_serial->baud(921600);
+	m_serial->format(8, Serial::None, 1);
+	m_serial->attach(uart_rx_interrupt_handler, Serial::RxIrq);
+	m_txBuffer = new uint8_t[300];
+}
+
+
+/*!	\brief Destructor
+*/
+MtInterfaceUart::~MtInterfaceUart()
+{
+	delete m_serial;
+	delete[] m_txBuffer;
+	thisPtr = 0;
+}
+
+
+/*!	\brief Sends an xbus message to the module via UART
+	\param xbusMessage Xbus message to be send
+*/
+void MtInterfaceUart::sendXbusMessage(XbusMessage const* xbusMessage)
+{
+	int size = XbusMessage_createRawMessage(m_txBuffer, xbusMessage, XBF_Uart);
+	for (int n = 0; n < size; n++)
+	{
+		m_serial->putc(m_txBuffer[n]);
+	}
+}
+
+
+/*!	\brief Returns the low level bus format used by this interface
+*/
+XbusBusFormat MtInterfaceUart::busFormat()
+{
+	return XBF_Uart;
+}
+
+
+/*!	\brief Handles UART bytes received from the motion tracker
+*/
+void MtInterfaceUart::uart_rx_interrupt_handler()
+{
+	while (thisPtr->m_serial->readable())
+	{
+		uint8_t c = thisPtr->m_serial->getc();
+		XbusParser_parseBuffer(thisPtr->m_xbusParser, &c, 1);
+	}
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mtinterface/mtinterface_uart.h	Tue Nov 24 13:35:07 2015 +0100
@@ -0,0 +1,42 @@
+/*!
+ * \file
+ * \copyright Copyright (C) Xsens Technologies B.V., 2015.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy
+ * of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ */
+#ifndef MTINTERFACE_UART_H
+#define MTINTERFACE_UART_H
+#include "mbed.h"
+#include "mtinterface.h"
+
+
+class MtInterfaceUart : public MtInterface
+{
+	public:
+		MtInterfaceUart();
+		virtual ~MtInterfaceUart();
+
+		virtual void process() {}
+		virtual void sendXbusMessage(XbusMessage const* xbusMessage);
+		virtual XbusBusFormat busFormat();
+
+	private:
+		static void uart_rx_interrupt_handler();
+
+		Serial* m_serial;
+		uint8_t* m_txBuffer;
+};
+
+
+
+#endif // MTINTERFACE_UART_H

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mtinterface/mtssp_i2c_driver.cpp	Tue Nov 24 13:35:07 2015 +0100
@@ -0,0 +1,86 @@
+/*!
+ * \file
+ * \copyright Copyright (C) Xsens Technologies B.V., 2015.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy
+ * of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ */
+#include "mtssp_i2c_driver.h"
+#include <string.h>
+#include <assert.h>
+#include "board.h"
+
+#define MTI_I2C_ADDRESS 			(0x1D << 1)
+#define MTI_I2C_ADDRESS_SELECTOR	0
+
+
+/*!	\class MtsspI2cDriver
+	\brief Implementation of MtsspDriver for communicating over I2C.
+	
+	The low level I2C driver is provided by the mbed platform.
+*/
+
+
+/*!	\brief Constructor
+*/
+MtsspI2cDriver::MtsspI2cDriver()
+{
+	m_slaveAddress = new BusOut(MT_ADD0, MT_ADD1, MT_ADD2);
+	m_slaveAddress->write(MTI_I2C_ADDRESS_SELECTOR);
+	m_i2c = new I2C(MT_SDA, MT_SCL);
+	m_i2c->frequency(400000);
+}
+
+
+/*!	\brief Destructor
+*/
+MtsspI2cDriver::~MtsspI2cDriver()
+{
+	delete m_i2c;
+}
+
+
+/*!	\brief Perform a blocking write transfer over I2C
+	\param opcode Opcode to use
+	\param data Pointer to data to be written
+	\param dataLength Number of data bytes to write
+*/
+void MtsspI2cDriver::write(uint8_t opcode, uint8_t const* data, int dataLength)
+{
+	uint8_t transferBuffer[8];
+	assert(dataLength < sizeof(transferBuffer));
+	transferBuffer[0] = opcode;
+	memcpy(&transferBuffer[1], data, dataLength);
+	m_i2c->write(MTI_I2C_ADDRESS, (char*)transferBuffer, dataLength + 1);
+}
+
+
+/*!	\brief Perform a blocking read transfer over I2C
+	\param opcode Opcode to use
+	\param data Pointer to result buffer
+	\param dataLength Number of data bytes to read
+*/
+void MtsspI2cDriver::read(uint8_t opcode, uint8_t* data, int dataLength)
+{
+	m_i2c->write(MTI_I2C_ADDRESS, (char*)&opcode, sizeof(opcode), true);
+	m_i2c->read(MTI_I2C_ADDRESS, (char*)data, dataLength);
+}
+
+
+/*!	\brief Perform a blocking write transfer over I2C
+	\param data Pointer to data to be written
+	\param dataLength Number of data bytes to write
+*/
+void MtsspI2cDriver::writeRaw(uint8_t const* data, int dataLength)
+{
+	m_i2c->write(MTI_I2C_ADDRESS, (char*)data, dataLength);
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mtinterface/mtssp_i2c_driver.h	Tue Nov 24 13:35:07 2015 +0100
@@ -0,0 +1,40 @@
+/*!
+ * \file
+ * \copyright Copyright (C) Xsens Technologies B.V., 2015.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy
+ * of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ */
+#ifndef MTSSP_I2C_DRIVER_H
+#define MTSSP_I2C_DRIVER_H
+
+#include "mtinterface_mtssp.h"
+
+class MtsspI2cDriver : public MtsspDriver
+{
+public:
+	MtsspI2cDriver();
+	virtual ~MtsspI2cDriver();
+
+	virtual void write(uint8_t opcode, uint8_t const* data, int dataLength);
+	virtual void read(uint8_t opcode, uint8_t* dest, int destMax);
+	virtual void writeRaw(uint8_t const* data, int dataLength);
+
+	virtual XbusBusFormat busFormat() const { return XBF_I2c; }
+
+private:
+	I2C* m_i2c;
+	BusOut* m_slaveAddress; 
+};
+
+
+#endif //MTSSP_I2C_DRIVER_H

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mtinterface/mtssp_spi_driver.cpp	Tue Nov 24 13:35:07 2015 +0100
@@ -0,0 +1,108 @@
+/*!
+ * \file
+ * \copyright Copyright (C) Xsens Technologies B.V., 2015.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy
+ * of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ */
+#include "mtssp_spi_driver.h"
+#include <string.h>
+#include "board.h"
+
+
+/*!	\class MtsspSpiDriver
+	\brief Implementation of MtsspDriver for communicating over SPI.
+	
+	The low level SPI driver is provided by the mbed platform.
+*/
+
+
+/*!	\brief Constructor
+*/
+MtsspSpiDriver::MtsspSpiDriver()
+{
+	m_chipSelect = new DigitalOut(MT_nCS, 1);
+	*m_chipSelect = 1;
+	wait(0.1);
+	m_spi = new SPI(MT_MOSI, MT_MISO, MT_SCLK);
+	
+	m_spi->frequency(1000000);
+	m_spi->format(8, 3);
+}
+
+
+/*!	\brief Destructor
+*/
+MtsspSpiDriver::~MtsspSpiDriver()
+{
+	delete m_chipSelect;
+	delete m_spi;
+}
+
+
+/*!	\brief Perform a blocking write transfer over SPI
+	\param opcode Opcode to use
+	\param data Pointer to data to be written
+	\param dataLength Number of data bytes to write
+*/
+void MtsspSpiDriver::write(uint8_t opcode, uint8_t const* data, int dataLength)
+{
+	*m_chipSelect = 0;
+	m_spi->write(opcode);
+	m_spi->write(0);
+	m_spi->write(0);
+	m_spi->write(0);
+
+	for (int i = 0; i < dataLength; i++)
+	{
+		m_spi->write(data[i]);
+	}
+
+	*m_chipSelect = 1;
+}
+
+
+/*!	\brief Perform a blocking read transfer over SPI
+	\param opcode Opcode to use
+	\param data Pointer to result buffer
+	\param dataLength Number of data bytes to read
+*/
+void MtsspSpiDriver::read(uint8_t opcode, uint8_t* data, int dataLength)
+{
+	*m_chipSelect = 0;
+
+	m_spi->write(opcode);
+	m_spi->write(0);
+	m_spi->write(0);
+	m_spi->write(0);
+
+	for (int i = 0; i < dataLength; i++)
+	{
+		data[i] = m_spi->write(0);
+	}
+	*m_chipSelect = 1;
+}
+
+
+/*!	\brief Perform a blocking write transfer over SPI
+	\param data Pointer to data to be written
+	\param dataLength Number of data bytes to write
+*/
+void MtsspSpiDriver::writeRaw(uint8_t const* data, int dataLength)
+{
+	*m_chipSelect = 0;
+	for (int i = 0; i < dataLength; i++)
+	{
+		m_spi->write(data[i]);
+	}
+	*m_chipSelect = 1;
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mtinterface/mtssp_spi_driver.h	Tue Nov 24 13:35:07 2015 +0100
@@ -0,0 +1,40 @@
+/*!
+ * \file
+ * \copyright Copyright (C) Xsens Technologies B.V., 2015.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy
+ * of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ */
+#ifndef MTSSP_SPI_H
+#define MTSSP_SPI_H
+
+#include "mtinterface_mtssp.h"
+
+class MtsspSpiDriver : public MtsspDriver
+{
+public:
+	MtsspSpiDriver();
+	virtual ~MtsspSpiDriver();
+
+	virtual void write(uint8_t opcode, uint8_t const* data, int dataLength);
+	virtual void read(uint8_t opcode, uint8_t* dest, int destMax);
+	virtual void writeRaw(uint8_t const* data, int dataLength);
+
+	virtual XbusBusFormat busFormat() const { return XBF_Spi; }
+
+private:
+	SPI* m_spi;
+	DigitalOut *m_chipSelect;
+};
+
+
+#endif //MTSSP_SPI_H

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/xbus/fwupdate.c	Tue Nov 24 13:35:07 2015 +0100
@@ -0,0 +1,446 @@
+/*!
+ * \file
+ * \copyright Copyright (C) Xsens Technologies B.V., 2015.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy
+ * of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ */
+#include "fwupdate.h"
+#include "string.h"
+
+#ifndef LOG
+static void defaultLogFunction(char const* format, ...) { }
+#define LOG defaultLogFunction
+#endif
+
+#define XMID_FIRMWARE_UPDATE (0xF2)
+
+#define FWUP_DEFAULT_SLICE_SIZE	(64)
+
+
+/*!	\brief Firmware updater commands
+*/
+#define FWUP_READY			(unsigned char)0x52	//'R'
+#define FWUP_OK				(unsigned char)0x53	//'S'
+#define FWUP_CSERROR		(unsigned char)0x45	//'E'
+#define FWUP_CRITICAL		(unsigned char)0x46	//'F'
+#define FWUP_FINISHED		(unsigned char)0x46	//'F'
+#define FWUP_PAGE			(unsigned char)0x50	//'P'
+#define FWUP_HEADER			(unsigned char)0x53	//'S'
+#define FWUP_PAGESLICE		(unsigned char)0x54 //'T'
+#define FWUP_STARTED		(unsigned char)0x41	//'A'
+#define FWUP_OTHER			(unsigned char)0x4F	//'O'
+
+
+/*!	\brief Helper function for converting a firmware updater command to a string
+*/
+const char *commandToString(uint8_t command)
+{
+	switch (command)
+	{
+		case FWUP_READY:		return("FWUP_READY");
+		case FWUP_HEADER:		return("FWUP_HEADER");
+		case FWUP_FINISHED:		return("FWUP_FINISHED");
+		case FWUP_PAGE:			return("FWUP_PAGE");
+		case FWUP_PAGESLICE:	return("FWUP_PAGESLICE");
+		case FWUP_STARTED:		return("FWUP_STARTED");
+		case FWUP_OTHER:		return("FWUP_OTHER");
+		default:				return("unknown");
+	}
+}
+
+
+/*!	\brief Helper function for converting a firmware updater command acknowledge to a string
+*/
+const char *ackToString(uint8_t command)
+{
+	switch (command)
+	{
+		case FWUP_READY:		return "FWUP_READY";
+		case FWUP_OK:			return "FWUP_OK";
+		case FWUP_CSERROR:		return "FWUP_CSERROR";
+		case FWUP_CRITICAL:		return "FWUP_CRITICAL";
+		case FWUP_PAGE:			return "FWUP_PAGE";
+		case FWUP_PAGESLICE:	return "FWUP_PAGESLICE";
+		case FWUP_STARTED:		return "FWUP_STARTED";
+		case FWUP_OTHER:		return "FWUP_OTHER";
+		default:				return "unknown";
+	}
+}
+
+
+/*!	\brief Read a uint32_t from the current position in the xff
+*/
+uint32_t readUint32(FwUpdate *thisPtr)
+{
+	uint32_t result;
+	uint8_t buffer[4];
+	int n = thisPtr->m_readXffData(buffer, thisPtr->m_readIndex, 4);
+	thisPtr->m_readIndex += n;
+	if (n == 4)
+	{
+		result = buffer[0] << 24 | buffer[1] << 16 | buffer[2] << 8 | buffer[3];
+	}
+	else
+	{
+		thisPtr->m_endOfFile = 1;
+		result = 0;
+	}
+	return result;
+}
+
+
+/*!	\brief Read a uint16_t from the current position in the xff
+*/
+uint16_t readUint16(FwUpdate *thisPtr)
+{
+	uint16_t result;
+	uint8_t buffer[2];
+	int n = thisPtr->m_readXffData(buffer, thisPtr->m_readIndex, 2);
+	thisPtr->m_readIndex += n;
+	if (n == 2)
+	{
+		result = buffer[0] << 8 | buffer[1];
+	}
+	else
+	{
+		thisPtr->m_endOfFile = 1;
+		result = 0;
+	}
+	return result;
+}
+
+
+/*!	\brief Read a uint8_t from the current position in the xff
+*/
+uint8_t readUint8(FwUpdate *thisPtr)
+{
+	uint8_t result;
+	uint8_t buffer[1];
+	int n = thisPtr->m_readXffData(buffer, thisPtr->m_readIndex, 1);
+	thisPtr->m_readIndex += n;
+	if (n == 1)
+	{
+		result = buffer[0];
+	}
+	else
+	{
+		thisPtr->m_endOfFile = 1;
+		result = 0;
+	}
+	return result;
+}
+
+
+/*!	\brief Read an Xff header from the current position in the xff
+*/
+static void readXffHeader(FwUpdate *thisPtr)
+{
+	LOG("Fwu: readXffHeader()\n");
+
+	thisPtr->m_xffHeader.m_globalId = readUint32(thisPtr);
+	thisPtr->m_xffHeader.m_sectionSize = readUint32(thisPtr);
+	thisPtr->m_xffHeader.m_firmwareRevision[0] = readUint8(thisPtr);
+	thisPtr->m_xffHeader.m_firmwareRevision[1] = readUint8(thisPtr);
+	thisPtr->m_xffHeader.m_firmwareRevision[2] = readUint8(thisPtr);
+	thisPtr->m_xffHeader.m_xffVersion[0] = readUint8(thisPtr);
+	thisPtr->m_xffHeader.m_xffVersion[1] = readUint8(thisPtr);
+	thisPtr->m_xffHeader.m_chipId = readUint8(thisPtr);
+	thisPtr->m_xffHeader.m_numberOfSections = readUint8(thisPtr);
+	thisPtr->m_xffHeader.m_addressLength = readUint8(thisPtr);
+	thisPtr->m_xffHeader.m_pageSize = readUint16(thisPtr);
+	if (thisPtr->m_xffHeader.m_xffVersion[0] >= 2)
+		thisPtr->m_xffHeader.m_sliceSize = readUint16(thisPtr);
+	else
+		thisPtr->m_xffHeader.m_sliceSize = FWUP_DEFAULT_SLICE_SIZE;
+}
+
+
+/*!	\brief Send an XMID_FIRMWARE_UPDATE xbus message
+	\param data Pointer to the xbus message payload data
+	\param length Number of payload bytes
+*/
+static void sendFirmwareUpdateCommand(FwUpdate *thisPtr, uint8_t *data, uint16_t length)
+{
+	struct XbusMessage xbusMessage;
+	xbusMessage.m_mid = XMID_FIRMWARE_UPDATE;
+	xbusMessage.m_length = length;
+	xbusMessage.m_data = data;
+	thisPtr->m_sendXbusMessage(&xbusMessage);
+}
+
+
+/*!	\brief Send a FWUP_READY command
+*/
+static void sendReady(FwUpdate *thisPtr)
+{
+	thisPtr->m_txBuffer[0] = FWUP_READY;
+	sendFirmwareUpdateCommand(thisPtr, thisPtr->m_txBuffer, 1);
+}
+
+
+/*!	\brief Send a FWUP_HEADER command
+*/
+static void sendHeader(FwUpdate *thisPtr)
+{
+	int n;
+	thisPtr->m_txBuffer[0] = FWUP_HEADER;
+	n = thisPtr->m_readXffData(&thisPtr->m_txBuffer[1], thisPtr->m_readIndex, thisPtr->m_xffHeader.m_addressLength);
+	thisPtr->m_readIndex += n;
+	if (n == thisPtr->m_xffHeader.m_addressLength)
+	{
+		memcpy(&thisPtr->m_txBuffer[1 + thisPtr->m_xffHeader.m_addressLength], &thisPtr->m_nofSlicesPerPage, 2);
+		sendFirmwareUpdateCommand(thisPtr, thisPtr->m_txBuffer, 1 + thisPtr->m_xffHeader.m_addressLength + 2);
+	}
+	else
+	{
+		thisPtr->m_endOfFile = 1;
+	}
+}
+
+
+/*!	\brief Send a page slice
+*/
+static void sendSlice(FwUpdate *thisPtr)
+{
+	int n;
+	thisPtr->m_txBuffer[0] = FWUP_PAGESLICE;
+	n = thisPtr->m_readXffData(&thisPtr->m_txBuffer[1], thisPtr->m_readIndex, thisPtr->m_xffHeader.m_sliceSize);
+	thisPtr->m_readIndex += n;
+	if (n == thisPtr->m_xffHeader.m_sliceSize)
+	{
+		sendFirmwareUpdateCommand(thisPtr, thisPtr->m_txBuffer, 1 + thisPtr->m_xffHeader.m_sliceSize);
+	}
+	else
+	{
+		thisPtr->m_endOfFile = 1;
+	}
+}
+
+
+/*!	\brief Send a FWUP_OTHER command
+*/
+static void sendOther(FwUpdate *thisPtr)
+{
+	thisPtr->m_txBuffer[0] = FWUP_OTHER;
+	thisPtr->m_txBuffer[1] = thisPtr->m_xffHeader.m_chipId;
+	LOG("Fwu: Send FWUP_OTHER\n");
+	sendFirmwareUpdateCommand(thisPtr, thisPtr->m_txBuffer, 2);
+}
+
+
+/*!	\brief Send a FWUP_FINISHED command
+*/
+static void sendFinished(FwUpdate *thisPtr)
+{
+	thisPtr->m_txBuffer[0] = FWUP_FINISHED;
+	LOG("Fwu: Send FWUP_FINISHED\n");
+	sendFirmwareUpdateCommand(thisPtr, thisPtr->m_txBuffer, 1);
+}
+
+
+/*!	\brief Enter the next section of the xff file
+*/
+static void enterNewSection(FwUpdate *thisPtr)
+{
+	LOG("\nFwu: enterNewSection()\n");
+	readXffHeader(thisPtr);
+	thisPtr->m_nofPages = thisPtr->m_xffHeader.m_sectionSize / (thisPtr->m_xffHeader.m_pageSize + thisPtr->m_xffHeader.m_addressLength);
+	thisPtr->m_nofSlicesPerPage = thisPtr->m_xffHeader.m_pageSize / thisPtr->m_xffHeader.m_sliceSize;
+	thisPtr->m_pageCounter = 0;
+	thisPtr->m_sliceCounter = 0;
+	sendOther(thisPtr);
+}
+
+
+/*	\brief Public interface of the firmware updater:
+*/
+
+/*!	\brief Initialize a FwUpdate instance
+*/
+void FwUpdate_init(FwUpdate *thisPtr)
+{
+	LOG("Fwu: init()\n");
+	thisPtr->m_state = STATE_Idle;
+}
+
+
+/*!	\brief Start a firmware update
+*/
+void FwUpdate_start(FwUpdate *thisPtr)
+{
+	if (thisPtr->m_state == STATE_Idle)
+	{
+		LOG("Fwu: start() --> Send FWUP_READY\n");
+		thisPtr->m_readIndex = 0;
+		thisPtr->m_endOfFile = 0;
+		thisPtr->m_state = STATE_Start;
+		sendReady(thisPtr);
+	}
+	else
+	{
+		thisPtr->m_readyHandler(FWU_Failed);
+		LOG("Fwu: start() failed\n");
+	}
+}
+
+
+/*!	\brief Handle xbus message coming from the module
+	\param xbusMessage The xbus message from the module to be handled
+*/
+void FwUpdate_handleXbus(FwUpdate* thisPtr, struct XbusMessage* xbusMessage)
+{
+	uint8_t ack;
+	if (xbusMessage->m_mid != XMID_FIRMWARE_UPDATE)
+	{
+		LOG("Fwu: Got unhandled xbus message 0x%02X (ignored)\n", xbusMessage->m_mid);
+		return;
+	}
+
+	ack = xbusMessage->m_data[0];
+
+	switch (thisPtr->m_state)
+	{
+		case STATE_Idle:
+		{
+			LOG("Fwu: Got %s in STATE_Idle (ignored)\n", ackToString(ack));
+		} break;
+
+		case STATE_Start:
+		{
+			if (ack == FWUP_READY)
+			{
+				LOG("Fwu: FWUP_READY in STATE_Start --> Enter new section\n");
+				enterNewSection(thisPtr);
+				thisPtr->m_state = STATE_WaitReady;
+			}
+			else
+			{
+				LOG("Fwu: Got %s in STATE_Start (ignored)\n", ackToString(ack));
+			}
+		} break;
+
+		case STATE_WaitReady:
+		{
+			if (ack == FWUP_READY)
+			{
+				LOG("Fwu: FWUP_READY in STATE_WaitReady --> Send header\n");
+				sendHeader(thisPtr);
+				thisPtr->m_state = STATE_WaitHeaderResult;
+			}
+			else
+			{
+				LOG("Fwu: Got %s in STATE_WaitReady --> Failed\n", ackToString(ack));
+				thisPtr->m_readyHandler(FWU_Failed);
+				thisPtr->m_state = STATE_Idle;
+			}
+		} break;
+
+		case STATE_WaitHeaderResult:
+		{
+			if (ack == FWUP_READY)
+			{
+				LOG("Fwu: FWUP_READY in STATE_WaitHeaderResult --> Send first slice\n");
+				sendSlice(thisPtr);
+				thisPtr->m_sliceCounter = 1;
+				thisPtr->m_state = STATE_WaitSliceReady;
+			}
+			else
+			{
+				LOG("Fwu: Got %s in STATE_WaitHeaderResult --> Failed\n", ackToString(ack));
+				thisPtr->m_readyHandler(FWU_Failed);
+				thisPtr->m_state = STATE_Idle;
+			}
+		} break;
+
+		case STATE_WaitSliceReady:
+		{
+			if (ack == FWUP_READY)
+			{
+				if (thisPtr->m_sliceCounter < thisPtr->m_nofSlicesPerPage)
+				{
+					LOG("Fwu: FWUP_READY in STATE_WaitSliceReady --> Send slice %d\n", thisPtr->m_sliceCounter);
+					sendSlice(thisPtr);
+					thisPtr->m_sliceCounter++;
+				}
+				else
+				{
+					LOG("Fwu: All slices sent --> STATE_WaitPageOk\n");
+					thisPtr->m_state = STATE_WaitPageOk;
+				}
+			}
+			else
+			{
+				LOG("Fwu: Got %s in STATE_WaitSliceReady --> Failed\n", ackToString(ack));
+				thisPtr->m_readyHandler(FWU_Failed);
+				thisPtr->m_state = STATE_Idle;
+			}
+		} break;
+
+		case STATE_WaitPageOk:
+		{
+			if (ack == FWUP_OK)
+			{
+				LOG("Fwu: FWUP_OK in STATE_WaitPageOk --> STATE_WaitPageReady\n");
+				thisPtr->m_state = STATE_WaitPageReady;
+			}
+			else
+			{
+				LOG("Fwu: Got %s in STATE_WaitPageOk --> Failed\n", ackToString(ack));
+				thisPtr->m_readyHandler(FWU_Failed);
+				thisPtr->m_state = STATE_Idle;
+			}
+		} break;
+
+		case STATE_WaitPageReady:
+		{
+			if (ack == FWUP_READY)
+			{
+				thisPtr->m_pageCounter++;
+				if (thisPtr->m_nofPages != 0 && thisPtr->m_pageCounter == thisPtr->m_nofPages)
+				{
+					LOG("Fwu: All pages sent --> Enter new section\n");
+					enterNewSection(thisPtr);
+					thisPtr->m_state = STATE_WaitReady;
+				}
+				else
+				{
+					sendHeader(thisPtr);
+					if (thisPtr->m_endOfFile)
+					{
+						LOG("Fwu: End of file --> Firmware update done\n");
+						sendFinished(thisPtr);
+						thisPtr->m_readyHandler(FWU_Success);
+						thisPtr->m_state = STATE_Idle;
+					}
+					else
+					{
+						LOG("Fwu: FWUP_READY in STATE_WaitPageReady --> Send header\n");
+						thisPtr->m_state = STATE_WaitHeaderResult;
+					}
+				}
+			}
+			else
+			{
+				LOG("Fwu: Got %s in STATE_WaitPageReady --> Failed\n", ackToString(ack));
+				thisPtr->m_readyHandler(FWU_Failed);
+				thisPtr->m_state = STATE_Idle;
+			}
+		} break;
+
+		default:
+		{
+		}
+	}
+}
+
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/xbus/fwupdate.h	Tue Nov 24 13:35:07 2015 +0100
@@ -0,0 +1,121 @@
+/*!
+ * \file
+ * \copyright Copyright (C) Xsens Technologies B.V., 2015.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy
+ * of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ */
+#ifndef FWUPDATE_H
+#define FWUPDATE_H
+
+#include "xbusmessage.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define FWU_REQUIRED_TXBUFFER_SIZE 300
+
+/*!	\brief Result value
+*/
+typedef enum
+{
+	FWU_Success,
+	FWU_Failed
+} FWU_Result;
+
+
+/*!	\brief Definition of a xff section header
+*/
+typedef struct
+{
+	uint32_t m_globalId;
+	uint32_t m_sectionSize;
+	uint8_t m_firmwareRevision[3];
+	uint8_t m_xffVersion[2];
+	uint8_t m_chipId;
+	uint8_t m_numberOfSections;
+	uint8_t m_addressLength;
+	uint16_t m_pageSize;
+	uint16_t m_sliceSize;
+} XffHeader;
+
+
+/*!	\brief Internal state
+*/
+typedef enum
+{
+	STATE_Idle,
+	STATE_Start,
+	STATE_WaitReady,
+	STATE_WaitHeaderResult,
+	STATE_WaitSliceReady,
+	STATE_WaitPageOk,
+	STATE_WaitPageReady
+} FWU_State;
+
+
+
+/*!	\brief FwUpdate object definition
+*/
+typedef struct
+{
+	/*	External dependencies. Host should fill in these members */
+
+	/*!	\brief Callback function by which FwUpdate requests for xff data
+		\param buffer Target buffer in which the xff data should be written by the host
+		\param offset Offset in the xff file where reading should start
+		\param length Number of bytes which is requested
+		\returns Number of bytes which is actually written to the buffer
+	*/
+	int (*m_readXffData)(uint8_t *buffer, int offset, int length);
+
+	/*!	\brief Callback function via which FwUpdate can send xbus messages to the module
+		\param xbusMessage Xbus message that should be send to the module
+	*/
+	void (*m_sendXbusMessage)(struct XbusMessage const* xbusMessage);
+
+	/*!	\brief Callback function by which FwUpdate notifies the host that a firmware update has finished
+		\param result FWU_Success or FWU_Failed
+	*/
+	void (*m_readyHandler)(FWU_Result result);
+
+	/*!	\brief Memory needed by the FwUpdate. Host must allocate a block of memory
+		of size FWU_REQUIRED_TXBUFFER_SIZE
+	*/
+	uint8_t *m_txBuffer;
+
+	/*	State variables for internal use (the user must not touch these) */
+	FWU_State m_state;
+	XffHeader m_xffHeader;
+	int m_nofPages;
+	int m_nofSlicesPerPage;
+	int m_pageCounter;
+	int m_sliceCounter;
+	int m_readIndex;
+	uint8_t m_endOfFile;
+} FwUpdate;
+
+
+void FwUpdate_init(FwUpdate *thisPtr);
+
+void FwUpdate_start(FwUpdate *thisPtr);
+
+void FwUpdate_handleXbus(FwUpdate *thisPtr, struct XbusMessage *xbusMessage);
+
+
+#ifdef __cplusplus
+}
+#endif /* extern "C" */
+
+
+#endif /* FWUPDATE_H */

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/xbus/xbusdef.h	Tue Nov 24 13:35:07 2015 +0100
@@ -0,0 +1,38 @@
+/*!
+ * \file
+ * \copyright Copyright (C) Xsens Technologies B.V., 2015.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy
+ * of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ */
+
+#ifndef __XBUSDEF_H
+#define __XBUSDEF_H
+
+/*! \brief Xbus message preamble byte. */
+#define XBUS_PREAMBLE (0xFA)
+/*! \brief Xbus message bus ID for master devices. */
+#define XBUS_MASTERDEVICE (0xFF)
+/*! \brief Xbus length byte for messages without payload. */
+#define XBUS_NO_PAYLOAD (0x00)
+/*! \brief Xbus length byte for message with an extended payload. */
+#define XBUS_EXTENDED_LENGTH (0xFF)
+
+/*! \brief Opcode to write to control pipe in I2C/SPI mode */
+#define XBUS_PROTOCOL_INFO (0x01)
+#define XBUS_CONFIGURE_PROTOCOL (0x02)
+#define XBUS_CONTROL_PIPE (0x03)
+#define XBUS_PIPE_STATUS (0x04)
+#define XBUS_NOTIFICATION_PIPE (0x05)
+#define XBUS_MEASUREMENT_PIPE (0x06)
+
+#endif // __XBUSDEF_H

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/xbus/xbusmessage.c	Tue Nov 24 13:35:07 2015 +0100
@@ -0,0 +1,99 @@
+/*!
+ * \file
+ * \copyright Copyright (C) Xsens Technologies B.V., 2015.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy
+ * of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ */
+#include "xbusmessage.h"
+#include "xbusdef.h"
+
+/*!	\brief Format a message into the raw mtssp format ready for transmission to a motion tracker.
+*/
+size_t XbusMessage_createRawMessage(uint8_t *raw, struct XbusMessage const *message, enum XbusBusFormat format)
+{
+	int n;
+	uint8_t checksum;
+	uint16_t length;
+	uint8_t *dptr = raw;
+
+	if (raw == 0)
+	{
+		switch (format)
+		{
+		case XBF_I2c:
+			return (message->m_length < 255) ? message->m_length + 4 : message->m_length + 6;
+		case XBF_Spi:
+			return (message->m_length < 255) ? message->m_length + 7 : message->m_length + 9;
+		case XBF_Uart:
+			return (message->m_length < 255) ? message->m_length + 5 : message->m_length + 7;
+		}
+	}
+
+	switch (format)
+	{
+	case XBF_I2c:
+	{
+		*dptr++ = XBUS_CONTROL_PIPE;
+	}
+		break;
+
+	case XBF_Spi:
+	{
+		*dptr++ = XBUS_CONTROL_PIPE;
+		// Fill bytes required to allow MT to process data
+		*dptr++ = 0;
+		*dptr++ = 0;
+		*dptr++ = 0;
+	}
+		break;
+
+	case XBF_Uart:
+	{
+		*dptr++ = XBUS_PREAMBLE;
+		*dptr++ = XBUS_MASTERDEVICE;
+	}
+		break;
+	}
+
+	checksum = (uint8_t)(-XBUS_MASTERDEVICE);
+
+	*dptr = message->m_mid;
+	checksum -= *dptr++;
+
+	length = message->m_length;
+
+	if (length < XBUS_EXTENDED_LENGTH)
+	{
+		*dptr = length;
+		checksum -= *dptr++;
+	}
+	else
+	{
+		*dptr = XBUS_EXTENDED_LENGTH;
+		checksum -= *dptr++;
+		*dptr = length >> 8;
+		checksum -= *dptr++;
+		*dptr = length & 0xFF;
+		checksum -= *dptr++;
+	}
+
+	for (n = 0; n < message->m_length; n++)
+	{
+		*dptr = message->m_data[n];
+		checksum -= *dptr++;
+	}
+
+	*dptr++ = checksum;
+
+	return dptr - raw;
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/xbus/xbusmessage.h	Tue Nov 24 13:35:07 2015 +0100
@@ -0,0 +1,59 @@
+/*!
+ * \file
+ * \copyright Copyright (C) Xsens Technologies B.V., 2015.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy
+ * of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ */
+#ifndef XBUSMESSAGE_H
+#define XBUSMESSAGE_H
+#include <stdint.h>
+#include <stddef.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/*!	\struct XbusMessage
+	\brief Xbus message
+*/
+struct XbusMessage
+{
+	uint8_t m_mid;
+
+	uint16_t m_length;
+
+	uint8_t* m_data;
+};
+
+/*!	\brief Low level bus format for transmitted Xbus messages
+ */
+enum XbusBusFormat
+{
+	/*! \brief Format for use with I2C interface. */
+	XBF_I2c,
+	/*! \brief Format for use with SPI interface. */
+	XBF_Spi,
+	/*! \brief Format for use with UART interface. */
+	XBF_Uart
+};
+
+size_t XbusMessage_createRawMessage(uint8_t *raw, struct XbusMessage const *message, enum XbusBusFormat format);
+
+#ifdef __cplusplus
+}
+//}
+#endif // extern "C"
+
+
+#endif // XBUSMESSAGE_H

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/xbus/xbusparser.c	Tue Nov 24 13:35:07 2015 +0100
@@ -0,0 +1,227 @@
+/*!
+ * \file
+ * \copyright Copyright (C) Xsens Technologies B.V., 2015.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy
+ * of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ */
+#include "xbusparser.h"
+#include "xbusdef.h"
+#include <stdlib.h>
+
+
+/*! \brief XbusParser states. */
+enum XbusParserState
+{
+	XBPS_Preamble,          /*!< \brief Looking for preamble. */
+	XBPS_BusId,             /*!< \brief Waiting for bus ID. */
+	XBPS_MessageId,         /*!< \brief Waiting for message ID. */
+	XBPS_Length,            /*!< \brief Waiting for length. */
+	XBPS_ExtendedLengthMsb, /*!< \brief Waiting for extended length MSB*/
+	XBPS_ExtendedLengthLsb, /*!< \brief Waiting for extended length LSB*/
+	XBPS_Payload,           /*!< \brief Reading payload. */
+	XBPS_Checksum           /*!< \brief Waiting for checksum. */
+};
+
+
+/*!
+ * \brief Xbus Parser state structure.
+ */
+struct XbusParser
+{
+	/*! \brief Callbacks for memory management, and message handling. */
+	struct XbusParserCallback callbacks;
+	/*! \brief Storage for the current message being received. */
+	struct XbusMessage currentMessage;
+	/*! \brief The number of bytes of payload received for the current message. */
+	uint16_t payloadReceived;
+	/*! \brief The calculated checksum for the current message. */
+	uint8_t checksum;
+	/*! \brief The state of the parser. */
+	enum XbusParserState state;
+};
+
+
+/*!
+ * \brief Get the amount of memory needed for the XbusParser structure.
+ */
+size_t XbusParser_mem(void)
+{
+	return sizeof(struct XbusParser);
+}
+
+
+/*!
+ * \brief Create a new XbusParser object.
+ * \param callback Pointer to callback structure containing callback functions
+ * for memory management and handling received messages.
+ * \returns Pointer the new XbusParser structure.
+ *
+ * Uses malloc to allocate the memory required for the parser.
+ */
+struct XbusParser* XbusParser_create(struct XbusParserCallback const* callback)
+{
+	void* mem = malloc(XbusParser_mem());
+	if (mem)
+	{
+		return XbusParser_init(mem, callback);
+	}
+	return NULL;
+}
+
+
+/*!
+ * \brief Frees an XbusParser structure allocated by XbusParser_create().
+ */
+void XbusParser_destroy(struct XbusParser* parser)
+{
+	free(parser);
+}
+
+
+/*!
+ * \brief Initializes an XbusParser in the passed memory location.
+ * \param parserMem Pointer to memory to use for storing parser state. Should
+ * be at least as big as the value returned by XbusParser_mem().
+ * \param callback Pointer to callback structure containing callback functions
+ * for memory management and handling received messages.
+ * \returns Initialized XbusParser structure.
+ */
+struct XbusParser* XbusParser_init(void* parserMem, struct XbusParserCallback const* callback)
+{
+	struct XbusParser* parser = (struct XbusParser*)parserMem;
+	parser->state = XBPS_Preamble;
+	parser->callbacks.allocateBuffer = callback->allocateBuffer;
+	parser->callbacks.deallocateBuffer = callback->deallocateBuffer;
+	parser->callbacks.handleMessage = callback->handleMessage;
+	return parser;
+}
+
+
+/*!
+ * \brief Prepare for receiving a message payload.
+ *
+ * Requests a memory area to store the received data to using the
+ * registered callbacks.
+ */
+void prepareForPayload(struct XbusParser* parser)
+{
+	parser->payloadReceived = 0;
+	parser->currentMessage.m_data = parser->callbacks.allocateBuffer(parser->currentMessage.m_length);
+}
+
+
+/*!
+ * \brief Parse a byte of data from a motion tracker.
+ *
+ * When a complete message is received the user will be notified by a call
+ * to the handleMessage() callback function.
+ */
+void XbusParser_parseByte(struct XbusParser *parser, const uint8_t byte)
+{
+	switch (parser->state)
+	{
+		case XBPS_Preamble:
+			if (byte == XBUS_PREAMBLE)
+			{
+				parser->checksum = 0;
+				parser->state = XBPS_BusId;
+			}
+			break;
+
+		case XBPS_BusId:
+			parser->checksum += byte;
+			parser->state = XBPS_MessageId;
+			break;
+
+		case XBPS_MessageId:
+			parser->checksum += byte;
+			parser->currentMessage.m_mid = byte;
+			parser->state = XBPS_Length;
+			break;
+
+		case XBPS_Length:
+			parser->checksum += byte;
+			if (byte == XBUS_NO_PAYLOAD)
+			{
+				parser->currentMessage.m_length = byte;
+				parser->currentMessage.m_data = NULL;
+				parser->state = XBPS_Checksum;
+			}
+			else if (byte < XBUS_EXTENDED_LENGTH)
+			{
+				parser->currentMessage.m_length = byte;
+				prepareForPayload(parser);
+				parser->state = XBPS_Payload;
+			}
+			else
+			{
+				parser->state = XBPS_ExtendedLengthMsb;
+			}
+			break;
+
+		case XBPS_ExtendedLengthMsb:
+			parser->checksum += byte;
+			parser->currentMessage.m_length = ((uint16_t)byte) << 8;
+			parser->state = XBPS_ExtendedLengthLsb;
+			break;
+
+		case XBPS_ExtendedLengthLsb:
+			parser->checksum += byte;
+			parser->currentMessage.m_length |= byte;
+			prepareForPayload(parser);
+			parser->state = XBPS_Payload;
+			break;
+
+		case XBPS_Payload:
+			parser->checksum += byte;
+			if (parser->currentMessage.m_data)
+			{
+				((uint8_t*)parser->currentMessage.m_data)[parser->payloadReceived] = byte;
+			}
+			if (++parser->payloadReceived == parser->currentMessage.m_length)
+			{
+				parser->state = XBPS_Checksum;
+			}
+			break;
+
+		case XBPS_Checksum:
+			parser->checksum += byte;
+			if ((parser->checksum == 0) &&
+					((parser->currentMessage.m_length == 0) ||
+					 parser->currentMessage.m_data))
+			{
+				parser->callbacks.handleMessage(&parser->currentMessage);
+			}
+			else if (parser->currentMessage.m_data)
+			{
+				parser->callbacks.deallocateBuffer(parser->currentMessage.m_data);
+			}
+			parser->state = XBPS_Preamble;
+			break;
+	}
+}
+
+
+/*!
+ * \brief Parse a buffer of data received from a motion tracker.
+ */
+void XbusParser_parseBuffer(struct XbusParser* parser, uint8_t const* buf, size_t bufSize)
+{
+	size_t i;
+	for (i = 0; i < bufSize; ++i)
+	{
+		XbusParser_parseByte(parser, buf[i]);
+	}
+}
+
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/xbus/xbusparser.h	Tue Nov 24 13:35:07 2015 +0100
@@ -0,0 +1,80 @@
+/*!
+ * \file
+ * \copyright Copyright (C) Xsens Technologies B.V., 2015.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy
+ * of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ */
+#ifndef XBUSPARSER_H
+#define XBUSPARSER_H
+
+#include "xbusmessage.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct XbusParser;
+
+/*!
+ * \brief Callback function structure for use with the XbusParser.
+ */
+struct XbusParserCallback
+{
+	/*!
+	 * \brief Allocate a buffer for message reception.
+	 * \param bufSize The size of the buffer to allocate.
+	 * \returns Pointer to buffer to use for message reception, or NULL if
+	 * a buffer cannot be allocated.
+	 *
+	 * \note It is the resposibility of the user to deallocate the message
+	 * data buffers pointed to by XbusMessage structures passed to the
+	 * handleMessage() callback function.
+	 */
+	void* (*allocateBuffer)(size_t bufSize);
+
+	/*!
+	 * \brief Deallocate a buffer that was previously allocated by a call to
+	 * allocateBuffer.
+	 */
+	void (*deallocateBuffer)(void const* buffer);
+
+	/*!
+	 * \brief Handle a received message.
+	 *
+	 * \note If the passed XbusMessage structure has a non-null data pointer
+	 * then it is the responsibility of the user to free this once handling
+	 * of the message is complete.
+	 */
+	void (*handleMessage)(struct XbusMessage const* message);
+};
+
+
+
+typedef struct XbusParserCallback XbusParserCallback;
+
+size_t XbusParser_mem(void);
+
+struct XbusParser* XbusParser_create(struct XbusParserCallback const* callback);
+
+void XbusParser_destroy(struct XbusParser* parser);
+
+struct XbusParser* XbusParser_init(void* parserMem, struct XbusParserCallback const* callback);
+
+void XbusParser_parseBuffer(struct XbusParser* parser, uint8_t const* buf, size_t bufSize);
+
+
+#ifdef __cplusplus
+}
+#endif // extern "C"
+
+#endif // XBUSPARSER_H

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/xbusmessageid.h	Tue Nov 24 13:35:07 2015 +0100
@@ -0,0 +1,52 @@
+/*!
+ * \file
+ * \copyright Copyright (C) Xsens Technologies B.V., 2015.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy
+ * of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ */
+#ifndef XBUSMESSAGEID_H
+#define XBUSMESSAGEID_H
+
+
+/*! \brief Xbus message IDs. */
+enum XsMessageId
+{
+	XMID_Wakeup              = 0x3E,
+	XMID_WakeupAck           = 0x3F,
+	XMID_ReqDid              = 0x00,
+	XMID_DeviceId            = 0x01,
+	XMID_GotoConfig          = 0x30,
+	XMID_GotoConfigAck       = 0x31,
+	XMID_GotoMeasurement     = 0x10,
+	XMID_GotoMeasurementAck  = 0x11,
+	XMID_MtData2             = 0x36,
+	XMID_ReqOutputConfig     = 0xC0,
+	XMID_SetOutputConfig     = 0xC0,
+	XMID_OutputConfig        = 0xC1,
+	XMID_Reset               = 0x40,
+	XMID_ResetAck            = 0x41,
+	XMID_Error               = 0x42,
+	XMID_ToggleIoPins        = 0xBE,
+	XMID_ToggleIoPinsAck     = 0xBF,
+	XMID_FirmwareUpdate      = 0xF2,
+	XMID_GotoBootLoader      = 0xF0,
+	XMID_GotoBootLoaderAck   = 0xF1,
+	XMID_ReqFirmwareRevision = 0x12,
+	XMID_FirmwareRevision    = 0x13
+
+
+};
+
+
+
+#endif // XBUSMESSAGEID_H

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/xffdata.c	Tue Nov 24 13:35:07 2015 +0100
@@ -0,0 +1,12343 @@
+/* http://srecord.sourceforge.net/ */
+const unsigned char g_xffData[] =
+{
+0x03, 0x88, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0B, 0x02,
+0x00, 0x00, 0x01, 0x04, 0x01, 0x00, 0x00, 0x80, 0x2F, 0x6C, 0x4E, 0x31,
+0xF3, 0x5E, 0xF2, 0x64, 0x42, 0x21, 0x6E, 0xE3, 0x6E, 0x23, 0x84, 0xC2,
+0x40, 0x23, 0x2E, 0x0A, 0xEA, 0x17, 0x52, 0x69, 0xF4, 0x5B, 0x1F, 0x90,
+0x35, 0x2D, 0xDB, 0x09, 0x9C, 0x14, 0x18, 0x57, 0xDA, 0xB3, 0xF3, 0x78,
+0x14, 0xF4, 0x4A, 0x05, 0xB6, 0xDA, 0xD4, 0xAF, 0x92, 0xB5, 0xFB, 0x4E,
+0x07, 0x2D, 0x28, 0x53, 0x36, 0x4D, 0x36, 0xAB, 0xC2, 0x6F, 0xBB, 0x13,
+0x8B, 0x6F, 0x58, 0xD8, 0xE8, 0x56, 0x40, 0x19, 0xC3, 0x65, 0x03, 0xA9,
+0xDF, 0x27, 0x3F, 0xEA, 0xBD, 0x8B, 0xB5, 0x43, 0x13, 0xE6, 0x6F, 0x07,
+0xA8, 0x75, 0xE1, 0x3C, 0x4B, 0x8A, 0x37, 0xC6, 0xB0, 0xF2, 0xBE, 0x14,
+0x7E, 0xC4, 0x91, 0x12, 0x59, 0x72, 0x6D, 0x22, 0xA6, 0x0C, 0x2A, 0x19,
+0x9D, 0x18, 0x08, 0xC8, 0x75, 0x9B, 0xF8, 0x91, 0x6C, 0x79, 0x99, 0xEE,
+0x8F, 0x72, 0xD8, 0xCA, 0xE2, 0xD1, 0x6B, 0xC8, 0x2A, 0xCA, 0x68, 0xF0,
+0x03, 0x05, 0x9D, 0x69, 0x0C, 0x8F, 0x1D, 0x48, 0x83, 0x7B, 0xE8, 0x0C,
+0x99, 0x0A, 0xFC, 0x24, 0x86, 0xE2, 0x29, 0x02, 0x32, 0x1A, 0x70, 0xBF,
+0xF9, 0x0D, 0x47, 0xCF, 0x99, 0xB8, 0x0D, 0x9D, 0x98, 0x23, 0x3B, 0x82,
+0x01, 0x07, 0xC0, 0x91, 0x9F, 0xE9, 0x13, 0xA8, 0x44, 0xEF, 0x30, 0x46,
+0x4E, 0xD5, 0x06, 0x23, 0x63, 0xF9, 0x86, 0x53, 0x94, 0xE4, 0x12, 0xBC,
+0x94, 0xCB, 0xEE, 0xDB, 0x22, 0xC9, 0xE3, 0x86, 0xD7, 0xA6, 0xFB, 0x62,
+0x1B, 0xB8, 0x5F, 0xAC, 0x33, 0x84, 0x64, 0x63, 0xA7, 0xD3, 0x4C, 0x98,
+0x81, 0x67, 0x2C, 0x17, 0x10, 0xA4, 0xA9, 0xCA, 0xD2, 0xB8, 0x4C, 0x18,
+0xB8, 0x47, 0xC1, 0x5A, 0xC6, 0x2F, 0xAD, 0xAF, 0x7E, 0xD0, 0x26, 0x3A,
+0x2A, 0x92, 0x0D, 0xE4, 0x1A, 0x5E, 0xB2, 0x54, 0x6C, 0x9C, 0x39, 0x2B,
+0x45, 0x8C, 0x41, 0x3D, 0x29, 0x3F, 0x41, 0x7D, 0xFC, 0x07, 0x37, 0x12,
+0x66, 0xC7, 0x18, 0xE7, 0x76, 0xC3, 0xF6, 0x15, 0x43, 0x25, 0x6C, 0xA2,
+0x58, 0x22, 0x6D, 0x52, 0xE8, 0x9D, 0xFA, 0x28, 0xB2, 0xCE, 0x15, 0xFF,
+0xA5, 0xC4, 0x7D, 0xFE, 0xD3, 0xB0, 0xE9, 0xD3, 0x8C, 0xE5, 0x3C, 0xB3,
+0xE1, 0x43, 0x51, 0x78, 0xB2, 0x6D, 0xE4, 0xD1, 0xF0, 0xF6, 0x8A, 0x7D,
+0x7B, 0x54, 0xC4, 0x4B, 0x84, 0xE5, 0x2A, 0x1C, 0x48, 0x3F, 0xCC, 0x7C,
+0xB2, 0x67, 0x87, 0x8F, 0x34, 0x23, 0xC7, 0x64, 0xF3, 0xDC, 0x72, 0xB1,
+0xC2, 0x76, 0xBA, 0xF3, 0x64, 0xA2, 0xBB, 0x37, 0x03, 0x1E, 0x40, 0x2E,
+0xAE, 0x42, 0xD2, 0xF2, 0x08, 0x8C, 0xFD, 0x11, 0xE5, 0xFF, 0xA3, 0xEE,
+0x94, 0xCA, 0x90, 0xA9, 0x16, 0x67, 0x2A, 0xF5, 0x67, 0x76, 0xFF, 0x5E,
+0x65, 0x8B, 0x00, 0x26, 0xDA, 0x85, 0x80, 0xCF, 0xCD, 0x29, 0x8E, 0x80,
+0x50, 0x3C, 0x7E, 0xD3, 0xA9, 0xC3, 0xC0, 0x03, 0xEB, 0x05, 0x05, 0xF7,
+0x6B, 0x93, 0x4C, 0x75, 0x99, 0x40, 0xE6, 0x01, 0xB0, 0x6B, 0xDD, 0xEB,
+0x2B, 0x3A, 0xAB, 0x25, 0x59, 0x14, 0x12, 0xAA, 0xC9, 0x57, 0x43, 0x9B,
+0x0E, 0xE9, 0x4B, 0xE4, 0xBF, 0xC8, 0xFF, 0x1C, 0xBA, 0x11, 0x1A, 0x9A,
+0xC7, 0xE5, 0xD0, 0x22, 0xBE, 0x7F, 0x74, 0x99, 0xC0, 0x58, 0x12, 0xAB,
+0xCC, 0xF6, 0xE0, 0x40, 0xB0, 0x5E, 0x94, 0x24, 0x2E, 0xB6, 0xE7, 0xCD,
+0xEB, 0x92, 0x34, 0x4D, 0xD1, 0xDD, 0x08, 0xB5, 0x3E, 0x54, 0x0A, 0x94,
+0x01, 0xC8, 0x81, 0xDD, 0x1A, 0x27, 0x59, 0xAD, 0x17, 0x0B, 0xF2, 0x7B,
+0x83, 0x10, 0x0B, 0x1D, 0xAA, 0x0B, 0x4A, 0x5E, 0x34, 0x97, 0x55, 0x93,
+0xA6, 0xE8, 0xC5, 0x90, 0x64, 0x99, 0xD4, 0x08, 0x06, 0xB7, 0x76, 0x85,
+0x81, 0x4F, 0xA1, 0x94, 0x85, 0x9A, 0xF0, 0x01, 0xA1, 0x59, 0x07, 0x02,
+0x65, 0x31, 0x5B, 0x62, 0xF6, 0x5E, 0x53, 0x1C, 0xC1, 0xD0, 0xE1, 0x3C,
+0xDC, 0x10, 0x5D, 0xB3, 0xCB, 0x3B, 0xE5, 0x26, 0x77, 0xE3, 0x26, 0x44,
+0xAA, 0x68, 0x23, 0x18, 0x09, 0xDA, 0xFA, 0xE9, 0x0B, 0xB3, 0x0D, 0xBE,
+0xD9, 0xFF, 0xB2, 0x78, 0x0F, 0xC2, 0xF0, 0xEB, 0x2F, 0x84, 0x2F, 0x50,
+0x66, 0xFE, 0x05, 0x21, 0x93, 0xB4, 0x9F, 0x79, 0x5C, 0xDF, 0x9A, 0x38,
+0x85, 0x4D, 0xC9, 0x6A, 0x8B, 0x5A, 0x58, 0x41, 0xE2, 0x94, 0xA0, 0x53,
+0x20, 0x5D, 0xBE, 0xE3, 0xFC, 0x2A, 0x37, 0x6C, 0x4F, 0x7E, 0x2A, 0xAE,
+0x79, 0xC7, 0xA4, 0xF3, 0x49, 0x72, 0x9E, 0x0B, 0x60, 0x14, 0xC1, 0x76,
+0x7F, 0x7E, 0x17, 0xC8, 0x29, 0xE7, 0x3D, 0x94, 0xE7, 0x9E, 0x35, 0x91,
+0xEC, 0xEF, 0x95, 0x5A, 0xC1, 0x3C, 0xA2, 0xD7, 0x49, 0x92, 0x1F, 0x63,
+0x3D, 0x2F, 0x54, 0x32, 0xCD, 0xD8, 0xB8, 0x56, 0x7A, 0x29, 0xC8, 0xF8,
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+0xDA, 0xCB, 0xEE, 0xC7, 0xD1, 0x19, 0xBC, 0x84, 0xB1, 0xCE, 0x05, 0x50,
+0x3E, 0x43, 0xFB, 0x2F, 0xC7, 0x89, 0x3F, 0xBA, 0x78, 0xA9, 0x25, 0x60,
+0xB5, 0x24, 0x94, 0xD0, 0x1A, 0xD1, 0x5F, 0x99, 0x4E, 0x51, 0x76, 0x5E,
+0xA9, 0x8B, 0x14, 0x64, 0x98, 0xF7, 0x6E, 0x34, 0x08, 0xB3, 0xE1, 0xE7,
+0x85, 0x58, 0x04, 0x54, 0xA3, 0x4A, 0x19, 0x20, 0x6B, 0x69, 0x9C, 0xA1,
+0x67, 0xC1, 0xCF, 0xF0, 0x49, 0x44, 0x63, 0xC7, 0x29, 0xD0, 0x88, 0x19,
+0xDE, 0x06, 0x02, 0xD3, 0x2A, 0x9D, 0x91, 0xCF, 0x64, 0xB0, 0x2B, 0xC3,
+0x9E, 0x81, 0x9F, 0x88, 0xFC, 0x2F, 0x7E, 0x4C, 0x92, 0x69, 0x54, 0xBC,
+0x07, 0x43, 0x63, 0x0D, 0x53, 0x50, 0xB0, 0x2B, 0x22, 0x5F, 0x7F, 0xF8,
+0x6F, 0x63, 0x12, 0x3E, 0x2C, 0xB1, 0x70, 0x03, 0xF9, 0x17, 0x3E, 0x12,
+0x10, 0xF3, 0xE9, 0x5A, 0xA0, 0x4B, 0xC9, 0xB6, 0x71, 0xF9, 0x8D, 0x49,
+0x10, 0xB2, 0x09, 0x74, 0xF1, 0x8B, 0xFF, 0xDE, 0x54, 0xAE, 0xD8, 0x5C,
+0x2F, 0x13, 0xE9, 0x49, 0xEE, 0x21, 0x3B, 0xA0, 0xEF, 0x7F, 0x2A, 0xB7,
+0x2C, 0xC8, 0x9C, 0xED, 0xD2, 0x90, 0x55, 0xB6, 0x95, 0x60, 0x91, 0x86,
+0x91, 0x46, 0x8D, 0x17, 0xB8, 0xFA, 0x44, 0x1A, 0xE3, 0x38, 0x71, 0x8C,
+0x9D, 0x29, 0x87, 0x18, 0x2C, 0x89, 0xE0, 0x54, 0x02, 0xA6, 0x7F, 0x68,
+0xC9, 0xFF, 0x76, 0x1D, 0x77, 0x74, 0x90, 0x29, 0x4C, 0x81, 0x5C, 0xE3,
+0x16, 0xD3, 0x70, 0x71, 0x81, 0x43, 0xB7, 0x08, 0x52, 0x4A, 0x3E, 0xD9,
+0x87, 0xFC, 0x56, 0x6C, 0xB2, 0xC7, 0x06, 0xB6, 0xDA, 0x24, 0x02, 0x89,
+0x55, 0xB5, 0x58, 0xB8, 0x5C, 0x02, 0xC5, 0x5E, 0xA5, 0x9F, 0x42, 0xC2,
+0xC8, 0xED, 0x97, 0x28, 0x71, 0xC1, 0x83, 0x0C, 0xFE, 0xF1, 0xAD, 0xE8,
+0xEF, 0x24, 0x85, 0x64, 0xE7, 0x0C, 0x43, 0x33, 0x06, 0xC0, 0x60, 0x40,
+0x7C, 0xBB, 0x28, 0xE7, 0x79, 0x7C, 0x49, 0x0C, 0x42, 0xA3, 0x59, 0x09,
+0xE4, 0x07, 0x8B, 0x3C, 0x31, 0xB1, 0xDA, 0x72, 0x4D, 0xB9, 0xBE, 0x08,
+0xF3, 0xAE, 0xFE, 0xD9, 0x95, 0xC9, 0xE0, 0xA3, 0xB9, 0x09, 0xF2, 0x53,
+0x0A, 0x4B, 0x64, 0xB4, 0xC2, 0x35, 0xCE, 0x02, 0x14, 0xC4, 0xF5, 0x8B,
+0x6E, 0x39, 0x6C, 0x44, 0x0D, 0x73, 0x4F, 0x5A, 0xE3, 0x52, 0xEB, 0x44,
+0xEE, 0x09, 0xFF, 0xAD, 0xC9, 0x9E, 0x4D, 0xA6, 0xB3, 0x88, 0xBF, 0x2D,
+0x6D, 0xCA, 0xBF, 0x21, 0x1A, 0x3C, 0x97, 0x99, 0xD2, 0xD2, 0xDD, 0x50,
+0x41, 0x19, 0xF7, 0x7D, 0xF3, 0x2E, 0x12, 0xB8, 0xFB, 0x52, 0xCA, 0xC1,
+0x7C, 0x67, 0x98, 0x97, 0x54, 0x01, 0xF5, 0x43, 0x36, 0x7A, 0x4D, 0x25,
+0x0B, 0xAA, 0x3B, 0xBF, 0x0D, 0x86, 0x15, 0x1F, 0x6E, 0x77, 0x8A, 0xAB,
+0xA6, 0xE1, 0xC6, 0x72, 0x31, 0x01, 0xF6, 0x56, 0x3E, 0x13, 0xBE, 0x44,
+0x20, 0xD6, 0xC3, 0x2D, 0x82, 0x47, 0xFF, 0x3F, 0x0A, 0x67, 0x90, 0x14,
+0x06, 0x1D, 0x51, 0xC4, 0x0D, 0x93, 0xD3, 0x6C, 0x5E, 0x41, 0xCB, 0xFF,
+0xAD, 0x0C, 0xD1, 0xFF, 0x2E, 0x39, 0x17, 0xE8, 0x9A, 0x35, 0x40, 0xF1,
+0x89, 0x06, 0x52, 0x95, 0x9D, 0x15, 0xF9, 0xF8, 0xE7, 0x1A, 0x53, 0x99,
+0xED, 0x97, 0x7C, 0xBC, 0x25, 0x1E, 0x46, 0x9A, 0xD6, 0xEA, 0x9B, 0xAC,
+0x74, 0x60, 0xD3, 0x5A, 0xB2, 0x4E, 0x6A, 0xCF, 0xA2, 0xBE, 0xBF, 0x65,
+0xDF, 0x17, 0xFD, 0x05, 0x7F, 0xF0, 0xC8, 0x60, 0xCF, 0xD9, 0x13, 0x25,
+0x6A, 0x06, 0xF1, 0x37, 0xF8, 0x60, 0x17, 0x09, 0x50, 0x26, 0x56, 0xA9,
+0x10, 0xE1, 0xBE, 0xA4, 0xCC, 0x4B, 0xC1, 0xC0, 0x6A, 0xB7, 0xCD, 0x56,
+0xB2, 0x86, 0x93, 0xC8, 0xC6, 0x5E, 0x2B, 0x47, 0xCB, 0x7D, 0x78, 0xBF,
+0xC0, 0x8D, 0xA0, 0x4D, 0x06, 0xA3, 0x3A, 0xBA, 0x0A, 0x34, 0x9E, 0x29,
+0xE1, 0x75, 0xEA, 0x1C, 0x91, 0x30, 0x38, 0xC1, 0x5F, 0x5C, 0x60, 0xDA,
+0x17, 0xE5, 0x9A, 0xF4, 0xBA, 0xB6, 0xF6, 0x6E, 0xD8, 0x4D, 0xDE, 0x51,
+0x5B, 0x1A, 0x38, 0x8E, 0xB5, 0x92, 0xAD, 0x00, 0x8F, 0x44, 0xA5, 0xD5,
+0x0A, 0xE9, 0x2B, 0x45, 0x27, 0x66, 0xD3, 0xD0, 0x8E, 0x1A, 0xF3, 0x98,
+0x98, 0x3D, 0xAE, 0x72, 0x26, 0x11, 0xB7, 0xD6, 0xCE, 0x00, 0x32, 0x7B,
+0x7D, 0xBA, 0x5F, 0x48, 0x38, 0x89, 0xBB, 0x4E, 0x5F, 0xE9, 0xE4, 0xC7,
+0x54, 0x90, 0x51, 0x10, 0x3A, 0x30, 0xAF, 0xCC, 0x1C, 0x02, 0xA6, 0x57,
+0x3E, 0x57, 0x54, 0x34, 0x93, 0x4B, 0x5B, 0xCC, 0x36, 0x91, 0xD0, 0xA1,
+0x03, 0x8C, 0xB6, 0x5C, 0x37, 0x4F, 0x19, 0x2C, 0x14, 0x10, 0xBC, 0x05,
+0x37, 0x63, 0x22, 0xFD, 0x99, 0x48, 0xEE, 0x08, 0x5B, 0x1B, 0xFB, 0x4E,
+0xCE, 0x0E, 0xD2, 0xA5, 0x0E, 0xA0, 0x02, 0x90, 0x73, 0x5B, 0x4F, 0xA2,
+0x20, 0xC9, 0xFB, 0x9B, 0x32, 0xB0, 0x90, 0xC1, 0x70, 0xFD, 0xAB, 0x44,
+0xDB, 0x79, 0xC6, 0x82, 0x3D, 0x79, 0xDA, 0x25, 0xED, 0x53, 0x58, 0x05,
+0xBB, 0xA6, 0x9F, 0x87, 0xD8, 0x1D, 0xB0, 0x37, 0xF3, 0xEB, 0x31, 0x8A,
+0xAB, 0x39, 0x97, 0xCD, 0xF4, 0x02, 0x43, 0xA9, 0xB7, 0x52, 0x3D, 0xA6,
+0x48, 0x2F, 0x9C, 0xCC, 0x16, 0x03, 0xB2, 0x6F, 0x30, 0x48, 0x57, 0x3E,
+0x6D, 0x64, 0xEF, 0x92, 0x4B, 0xEF, 0xB0, 0x31, 0x0E, 0x92, 0xEC, 0xC3,
+0xEB, 0x8C, 0x38, 0x66, 0xBC, 0x58, 0x37, 0xE9, 0x40, 0xBF, 0x5F, 0x49,
+0x35, 0x49, 0xB2, 0x3D, 0xCD, 0x51, 0x29, 0xEB, 0xC4, 0xAE, 0x95, 0x09,
+0xB9, 0x32, 0x33, 0x91, 0xFB, 0x71, 0x93, 0x44, 0xD8, 0xD9, 0x45, 0xAE,
+0x84, 0x69, 0x5F, 0x83, 0x81, 0xD0, 0x78, 0x3F, 0x88, 0x83, 0x2C, 0xC8,
+0x16, 0x52, 0xCC, 0xBE, 0xDE, 0x4E, 0x93, 0x19, 0x7C, 0x54, 0x7F, 0x4F,
+0xC0, 0xC8, 0x34, 0x1F, 0x9E, 0xCE, 0x83, 0x27, 0xF3, 0xBA, 0x77, 0x3F,
+0x12, 0x48, 0x81, 0x69, 0x1A, 0x55, 0x0A, 0x6F, 0x6F, 0xDE, 0x9C, 0x14,
+0x93, 0xF8, 0x29, 0xA4, 0x70, 0x25, 0x8F, 0x08, 0x91, 0xB9, 0x58, 0x84,
+0x7A, 0x14, 0x32, 0xE2, 0x1C, 0x84, 0x7B, 0xD4, 0xE8, 0x62, 0x6E, 0x90,
+0x73, 0x14, 0xBD, 0x6C, 0x73, 0xC5, 0x2B, 0x86, 0x4D, 0x11, 0x5B, 0x20,
+0x21, 0x3A, 0x9E, 0xDF, 0x1A, 0x24, 0x2C, 0x6A, 0xF7, 0x0B, 0x0E, 0xD1,
+0x26, 0xAD, 0xAD, 0x36, 0xBF, 0x6F, 0xC4, 0x9C, 0xCC, 0xB5, 0x72, 0x93,
+0x3C, 0x4A, 0x94, 0x4E, 0x51, 0xE3, 0xF4, 0x32, 0x79, 0x45, 0x34, 0xCD,
+0x6C, 0x4C, 0x07, 0x28, 0x5B, 0x3B, 0xC8, 0x97, 0x67, 0x74, 0x26, 0x53,
+0xF6, 0x5C, 0x87, 0x29, 0x48, 0x3B, 0xA5, 0x73, 0xEE, 0xB5, 0x55, 0x62,
+0x1C, 0x08, 0x50, 0xC4, 0xE6, 0x1A, 0x84, 0x3C, 0xD1, 0x13, 0xBA, 0x76,
+0x56, 0xFC, 0xD8, 0x68, 0x5C, 0x1F, 0x38, 0x7F, 0xED, 0x9E, 0x86, 0xE5,
+0x12, 0x51, 0x68, 0x47, 0x08, 0x66, 0x86, 0x70, 0x79, 0x2B, 0x74, 0x1B,
+0x1F, 0xEC, 0x58, 0xA8, 0xE7, 0x4E, 0x59, 0x1B, 0x91, 0xCB, 0x3B, 0x30,
+0xAD, 0x9E, 0x29, 0x60, 0xBD, 0xE1, 0x0A, 0x03, 0x21, 0x55, 0x7E, 0x4E,
+0x55, 0x90, 0x4C, 0xE7, 0x4A, 0xF8, 0x18, 0x07, 0xE4, 0x7C, 0xA2, 0x87,
+0x07, 0x41, 0xD2, 0x4F, 0x88, 0x5A, 0x03, 0x3D, 0x3B, 0x77, 0x60, 0xB1,
+0x0F, 0x95, 0x0D, 0xF2, 0xEA, 0xDC, 0xCB, 0x83, 0x6B, 0xA0, 0xD4, 0xE4,
+0x55, 0x85, 0x29, 0x56, 0xB0, 0x96, 0xAA, 0xB0, 0x77, 0xAF, 0x87, 0xB3,
+0xC1, 0xF1, 0x18, 0x9B, 0xC8, 0xA0, 0xC6, 0xDB, 0x06, 0xFC, 0xF8, 0xCC,
+0x92, 0x2C, 0x8C, 0xDC, 0xF4, 0x80, 0x2C, 0x31, 0x7D, 0x5A, 0x00, 0x40,
+0x2C, 0x88, 0xD7, 0xB8, 0x97, 0x79, 0xFD, 0x58, 0x06, 0xD5, 0x09, 0xCB,
+0x4B, 0x5C, 0x2B, 0x52, 0x8B, 0x08, 0xF8, 0x2B, 0x88, 0xDD, 0x7E, 0x22,
+0x42, 0x5D, 0xE0, 0x39, 0xEC, 0xC4, 0x0B, 0xDF, 0x50, 0x66, 0x6B, 0x65,
+0x08, 0xF3, 0xEC, 0x4B, 0x1F, 0x93, 0xDF, 0xAD, 0xE9, 0x8E, 0x59, 0x04,
+0x94, 0xD9, 0x80, 0x9E, 0x91, 0xA0, 0x74, 0x86, 0xD5, 0x4C, 0xC1, 0x6A,
+0x1F, 0x1B, 0x1B, 0x9D, 0xF3, 0xD3, 0x20, 0xB4, 0xA7, 0x48, 0x38, 0xBA,
+0xBE, 0x20, 0xCE, 0x96, 0x44, 0x2B, 0xD9, 0xD5, 0xDF, 0x84, 0x3B, 0x5E,
+0x80, 0xD7, 0xF2, 0xEB, 0x4D, 0x04, 0x38, 0xB4, 0x7D, 0x2E, 0x0A, 0xBA,
+0x4B, 0xFF, 0x60, 0x5F, 0x71, 0xC9, 0xED, 0xAB, 0x3F, 0x42, 0x4A, 0x53,
+0x15, 0x36, 0x96, 0xF0, 0x60, 0x58, 0xEF, 0xFC, 0x39, 0x08, 0xEC, 0xE0,
+0xBB, 0x4F, 0xE1, 0xEC, 0x20, 0xE5, 0x42, 0xC8, 0x6F, 0xD4, 0x41, 0x51,
+0x70, 0xD8, 0xDC, 0x68, 0x1F, 0x0B, 0x8D, 0x56, 0xF9, 0x24, 0x64, 0xE0,
+0x24, 0xE3, 0x63, 0x8F, 0x7E, 0x8E, 0x31, 0xF6, 0xB6, 0x30, 0xFF, 0x6C,
+0xA9, 0x08, 0xFB, 0x5A, 0xA6, 0x35, 0x4B, 0x25, 0xD2, 0x16, 0xAF, 0x1F,
+0x6E, 0x83, 0x02, 0xE0, 0xAC, 0x68, 0xEB, 0x69, 0x6A, 0x0C, 0x77, 0x1E,
+0xAA, 0x96, 0xBE, 0xA0, 0x49, 0x6A, 0xD4, 0x1E, 0xF2, 0xEE, 0x1C, 0xCA,
+0x30, 0x46, 0xF3, 0x0A, 0xB8, 0x09, 0xCD, 0x77, 0xE1, 0xB6, 0x85, 0x89,
+0x8E, 0x28, 0x8B, 0x69, 0xE4, 0xA4, 0xE3, 0xA6, 0x72, 0x27, 0x08, 0xE8,
+0xF5, 0xD5, 0x2B, 0x83, 0x94, 0x9B, 0xE7, 0x3C, 0x99, 0xEB, 0xCB, 0xFC,
+0xF3, 0x3D, 0xFA, 0x3B, 0x5B, 0x88, 0x66, 0x59, 0x8C, 0xA8, 0x9A, 0x4E,
+0x59, 0x42, 0x15, 0x29, 0x05, 0x9D, 0x1F, 0x91, 0x58, 0x2C, 0x87, 0x5D,
+0x79, 0xB3, 0x82, 0xBD, 0x65, 0xB6, 0xDF, 0xE9, 0x64, 0x71, 0x5D, 0x4D,
+0x89, 0xA6, 0xE9, 0xA0, 0x39, 0x19, 0x01, 0x45, 0x10, 0x73, 0x94, 0x10,
+0x53, 0x29, 0xC4, 0x3E, 0x89, 0x3C, 0x3D, 0xCA, 0xC3, 0x94, 0xA6, 0x80,
+0x8E, 0xFB, 0x8F, 0x4E, 0xA8, 0x0D, 0xF4, 0x80, 0x4D, 0xB9, 0xFD, 0xE3,
+0x27, 0x51, 0xA1, 0x8E, 0x88, 0x3E, 0x15, 0xD6, 0xDD, 0xD3, 0x13, 0x9E,
+0x92, 0x96, 0x7A, 0x37, 0xFB, 0x63, 0x2F, 0xA1, 0xB4, 0x1B, 0xCE, 0xC5,
+0x77, 0xA8, 0xC0, 0xE5, 0xF4, 0x34, 0xDA, 0x2E, 0xFA, 0x0A, 0x19, 0xDA,
+0x3F, 0x84, 0x47, 0xB3, 0x00, 0xF0, 0x9B, 0x97, 0x1B, 0x5B, 0x58, 0xA9,
+0x0A, 0x2E, 0xB5, 0x33, 0x97, 0x12, 0xFF, 0xB1, 0x5D, 0x64, 0xB4, 0x4D,
+0xF9, 0xF6, 0x73, 0x8E, 0x31, 0x5B, 0x5A, 0x77, 0xB2, 0x43, 0xFD, 0x45,
+0xE2, 0xA6, 0x4A, 0x1F, 0x9A, 0x4F, 0x41, 0x0B, 0xD6, 0xC8, 0xB3, 0x8F,
+0x11, 0x94, 0x02, 0xA2, 0x7D, 0xA8, 0x21, 0x3B, 0x09, 0x6A, 0xB5, 0xB8,
+0x51, 0xED, 0x56, 0xC0, 0x33, 0x30, 0x82, 0xEB, 0x27, 0xA0, 0xBF, 0x10,
+0xC1, 0x24, 0x58, 0xBC, 0x1A, 0x69, 0xA9, 0xD1, 0x0A, 0xC8, 0xD8, 0x5A,
+0x97, 0xDA, 0x7F, 0x06, 0x0A, 0x35, 0xA2, 0x56, 0x20, 0xB4, 0xC5, 0x46,
+0x5F, 0x6D, 0xBE, 0x35, 0x84, 0x7E, 0xA2, 0xDD, 0x67, 0x90, 0x94, 0x5F,
+0xE4, 0x92, 0x61, 0x98, 0xFA, 0x1A, 0xA3, 0xB7, 0xBD, 0x24, 0xAE, 0x15,
+0xA9, 0xEE, 0x91, 0x02, 0xEA, 0x17, 0x25, 0xBF, 0x95, 0xEC, 0x5E, 0xDF,
+0x96, 0xB4, 0xFF, 0xE3, 0xF8, 0xE5, 0x80, 0x36, 0xA9, 0xC8, 0xD3, 0x09,
+0xCA, 0x50, 0x10, 0xCE, 0x7E, 0xDB, 0xEE, 0x10, 0x2D, 0x9F, 0x14, 0x9B,
+0x15, 0x61, 0x69, 0x17, 0xAA, 0x0B, 0xBC, 0x13, 0x49, 0x43, 0x97, 0x68,
+0x8B, 0x2A, 0xB4, 0x75, 0xC8, 0x6B, 0xEC, 0x8C, 0x7C, 0x5E, 0x48, 0x5A,
+0x4B, 0xDE, 0xC9, 0xCF, 0xAA, 0x25, 0xE1, 0xA5, 0x9E, 0x95, 0x4F, 0x58,
+0xE6, 0x72, 0x71, 0x36, 0x54, 0xDC, 0xDE, 0xE8, 0x35, 0x94, 0x2F, 0x3B,
+0xBB, 0x35, 0xEC, 0xD8, 0xDB, 0x8F, 0xA1, 0xBF, 0x29, 0x5C, 0xDB, 0x66,
+0x50, 0x65, 0x2B, 0x67, 0x45, 0x2E, 0x48, 0x65, 0x65, 0x31, 0x59, 0x62,
+0x77, 0x51, 0x55, 0x4D, 0x34, 0x37, 0x4D, 0x2C, 0x2C, 0x5E, 0x76, 0x25,
+0x3F, 0x46, 0x33, 0x44, 0x2C, 0x52, 0x6C, 0x25, 0x76, 0x35, 0x38, 0x46,
+0x5B, 0x28, 0x57, 0x3D, 0x48, 0x2C, 0x53, 0x35, 0x41, 0x38, 0x57, 0x44,
+0x6E, 0x25, 0x3E, 0x21, 0x67, 0x44, 0x5A, 0x45, 0x39, 0x62, 0x6A, 0x48,
+0x74, 0x34, 0x5E, 0x4A, 0x37, 0x6C, 0x47, 0x68, 0x67, 0x2D, 0x23, 0x2C,
+};
+const unsigned long g_xffData_termination = 0x00000000;
+const unsigned long g_xffData_start       = 0x00000000;
+const unsigned long g_xffData_finish      = 0x000241F8;
+const unsigned long g_xffData_length      = 0x000241F8;
+
+#define G_XFFDATA_TERMINATION 0x00000000
+#define G_XFFDATA_START       0x00000000
+#define G_XFFDATA_FINISH      0x000241F8
+#define G_XFFDATA_LENGTH      0x000241F8

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/xffdata.h	Tue Nov 24 13:35:07 2015 +0100
@@ -0,0 +1,10 @@
+#ifndef ___SRC_XFFDATA_H
+#define ___SRC_XFFDATA_H
+
+extern const unsigned long g_xffData_termination;
+extern const unsigned long g_xffData_start;
+extern const unsigned long g_xffData_finish;
+extern const unsigned long g_xffData_length;
+extern const unsigned char g_xffData[];
+
+#endif /* ___SRC_XFFDATA_H */