Openwater Open-Motion Sensor Module v1.0.0

This repository contains the firmware for the Motion Sensor Module.

Build & Flash

Requires arm-none-eabi-gcc, CMake 3.22+, and Ninja (or use the ghcr.io/openwaterhealth/stm32-build-env:latest Docker image). The configure step downloads the latest FPGA bitstream from GitHub releases; to work offline, pre-place it at fpga/openmotion-camera-fpga.bin.

cmake --preset Debug
cmake --build build/Debug    # → build/Debug/motion-sensor-fw.{elf,hex,bin}

Flash a connected sensor over USB DFU (no ST-LINK needed):

python scripts/deploy.py --device left    # or right; see --help for options
# equivalent: cmake --build build/Debug --target flash-left

The script enters DFU mode through the omotion SDK, flashes the merged firmware + FPGA image, and waits for the sensor to re-enumerate. See scripts/deploy.py --help for options.

Driver Install

This device is a USB composite device with three interfaces and we are required to install the Latest WinUSB Driver for COMMS_HISTO_IMU(HS)

Driver Utility

For the Host machine to communicate with the sensor module from user-space, each interface must be bound to the Microsoft WinUSB driver provided by Windows 10/11 (latest in-box version).

Download Zadig

Associate drivers for COMMS_HISTO_IMU

Connect the Console with Sensor Module(s) attached to your computer.

Run Zadig and select the first interface (two will be listed only need to select one)

Select COMMS_HISTO_IMU(HS) (Interface 0)

Click Install Driver after a little bit you will see success and the driver associated

After successful install you will see that the interface is now associated with WinUSB

Do the same steps for Interface 1 and Interface 2

Once completed close Zadig and you can now run the Open-MOTION software.

TODO: For Windows to auto-load the latest WinUSB without any INF install, you can add Microsoft OS 2.0 descriptors to your firmware with Compatible ID = WINUSB for each interface. On Win8.1+, it will just bind to the in-box WinUSB automatically.