private void BUT_flashup_Click(object sender, EventArgs e)
{
byte[] FLASH = new byte[1];
try
{
StreamReader sr = new StreamReader(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"firmware.hex");
FLASH = readIntelHEXv2(sr);
sr.Close();
}
catch (Exception ex) { CustomMessageBox.Show("Failed to read firmware.hex : " + ex.Message); }
IArduinoComms port = new ArduinoSTK();
if (DialogResult.Yes == CustomMessageBox.Show("is this a 1280?", "", MessageBoxButtons.YesNo))
{
port = new ArduinoSTK();
port.BaudRate = 57600;
}
else
{
port = new ArduinoSTKv2();
port.BaudRate = 115200;
}
port.DataBits = 8;
port.StopBits = StopBits.One;
port.Parity = Parity.None;
port.DtrEnable = true;
try
{
port.PortName = MissionPlanner.MainV2.comPortName;
port.Open();
if (port.connectAP())
{
log.Info("starting");
port.uploadflash(FLASH, 0, FLASH.Length, 0);
log.Info("Uploaded");
}
else
{
CustomMessageBox.Show("Communication Error - no connection");
}
port.Close();
}
catch (Exception ex) { CustomMessageBox.Show("Check port settings or Port in use? " + ex.ToString()); port.Close(); }
}
/// <summary>
/// Search for GD serial port based on Vendor ID
/// </summary>
/// <returns></returns>
private void FindGD_port()
{
// list of all available com ports
string[] ports = System.IO.Ports.SerialPort.GetPortNames().Select(p => p.TrimEnd()).ToArray();
List <string> portsFound = new List <string>();
try
{
ManagementObjectSearcher searcher = new ManagementObjectSearcher("root\\CIMV2", "SELECT * FROM Win32_PnPEntity WHERE Caption like '%(COM%'");
foreach (ManagementObject queryObj in searcher.Get())
{
if (queryObj["DeviceID"].ToString().Contains("VID_0403")) // GD FTDI Vendor ID
{
string devCaption = queryObj["Caption"].ToString();
foreach (string p in ports)
{
if (devCaption.Contains(p))
{
portsFound.Add(p);
}
}
}
}
}
catch
{
MessageBox.Show("PX4 Board is not connected!");
}
// check each FTDI port on connection?
IArduinoComms port = new ArduinoSTKv2 {
BaudRate = 115200
};
foreach (var p in portsFound)
{
try {
port.PortName = p;
port.Open();
if (port.connectAP())
{
GD_Serial_Port = p;
GD_Port.Items.Add(p);
}
}
catch { }
}
}
private void BUT_copy2560_Click(object sender, EventArgs e)
{
ArduinoSTKv2 port = new ArduinoSTKv2();
port.BaudRate = 115200;
port.DataBits = 8;
port.StopBits = StopBits.One;
port.Parity = Parity.None;
port.DtrEnable = true;
try
{
port.PortName = ArdupilotMega.MainV2.comPortName;
log.Info("Open Port");
port.Open();
log.Info("Connect AP");
if (port.connectAP())
{
log.Info("Download AP");
byte[] EEPROM = new byte[1024 * 4];
for (int a = 0; a < EEPROM.Length; a += 0x100)
{
port.setaddress(a);
port.download(0x100).CopyTo(EEPROM, a);
}
log.Info("Verify State");
if (port.keepalive())
{
StreamWriter sw = new StreamWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"EEPROM2560.bin");
BinaryWriter bw = new BinaryWriter(sw.BaseStream);
bw.Write(EEPROM, 0, EEPROM.Length);
bw.Close();
log.Info("Download AP");
byte[] FLASH = new byte[1024 * 256];
for (int a = 0; a < FLASH.Length; a += 0x100)
{
port.setaddress(a);
port.downloadflash(0x100).CopyTo(FLASH, a);
}
sw = new StreamWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"FLASH2560.bin");
bw = new BinaryWriter(sw.BaseStream);
bw.Write(FLASH, 0, FLASH.Length);
bw.Close();
}
else
{
CustomMessageBox.Show("Communication Error - Bad data");
}
}
else
{
CustomMessageBox.Show("Communication Error - no connection");
}
port.Close();
}
catch (Exception ex) { CustomMessageBox.Show("Port Error? " + ex.ToString()); if (port != null && port.IsOpen) { port.Close(); } }
}
private void button1_Click(object sender, EventArgs e)
{
OpenFileDialog openFileDialog1 = new OpenFileDialog();
openFileDialog1.Filter = "EEPROM.bin|*.bin";
openFileDialog1.FilterIndex = 2;
openFileDialog1.RestoreDirectory = true;
openFileDialog1.InitialDirectory = Path.GetDirectoryName(Application.ExecutablePath);
if (openFileDialog1.ShowDialog() == DialogResult.OK)
{
try
{
StreamReader sr = new StreamReader(openFileDialog1.FileName);
BinaryReader br = new BinaryReader(sr.BaseStream);
byte[] EEPROM = br.ReadBytes(1024 * 4);
br.Close();
sr.Close();
ArduinoComms port = new ArduinoSTK();
if (DialogResult.Yes == CustomMessageBox.Show("is this a 1280?", "", MessageBoxButtons.YesNo))
{
port = new ArduinoSTK();
port.BaudRate = 57600;
}
else
{
port = new ArduinoSTKv2();
port.BaudRate = 115200;
}
port.DataBits = 8;
port.StopBits = StopBits.One;
port.Parity = Parity.None;
port.DtrEnable = true;
port.PortName = ArdupilotMega.MainV2.comPortName;
try
{
port.Open();
if (port.connectAP())
{
// waypoints
int start = 0;
int end = 1024*4;
log.Info(start + " to " + end);
port.upload(EEPROM, (short)start, (short)(end - start), (short)start);
if (port.keepalive())
{
// Config
if (port.keepalive())
{
System.Threading.Thread.Sleep(2000);
//MessageBox.Show("Upload Completed");
}
else
{
CustomMessageBox.Show("Communication Error - WPs wrote but no config");
}
}
else
{
CustomMessageBox.Show("Communication Error - Bad data");
}
}
else
{
CustomMessageBox.Show("Communication Error - no connection");
}
port.Close();
}
catch (Exception ex) { CustomMessageBox.Show("Port in use? " + ex.ToString()); port.Close(); }
}
catch (Exception) { CustomMessageBox.Show("Error reading file"); }
}
}
/// <summary>
/// upload to arduino standalone
/// </summary>
/// <param name="filename"></param>
/// <param name="board"></param>
public bool UploadFlash(string comport, string filename, BoardDetect.boards board)
{
if (board == BoardDetect.boards.px4 || board == BoardDetect.boards.px4v2)
{
try
{
return(UploadPX4(filename));
}
catch (MissingFieldException)
{
CustomMessageBox.Show("Please update, your install is currupt", Strings.ERROR);
return(false);
}
}
if (board == BoardDetect.boards.vrbrainv40 || board == BoardDetect.boards.vrbrainv45 || board == BoardDetect.boards.vrbrainv50 || board == BoardDetect.boards.vrbrainv51 || board == BoardDetect.boards.vrbrainv52 || board == BoardDetect.boards.vrherov10 || board == BoardDetect.boards.vrubrainv51 || board == BoardDetect.boards.vrubrainv52 || board == BoardDetect.boards.vrgimbalv20 || board == BoardDetect.boards.vrugimbalv11)
{
return(UploadVRBRAIN(filename));
}
byte[] FLASH = new byte[1];
try
{
updateProgress(0, Strings.ReadingHexFile);
using (StreamReader sr = new StreamReader(filename))
{
FLASH = readIntelHEXv2(sr);
}
log.InfoFormat("\n\nSize: {0}\n\n", FLASH.Length);
}
catch (Exception ex)
{
updateProgress(0, Strings.FailedReadHEX);
CustomMessageBox.Show(Strings.FailedToReadHex + ex.Message);
return(false);
}
IArduinoComms port = new ArduinoSTK();
if (board == BoardDetect.boards.b1280)
{
if (FLASH.Length > 126976)
{
CustomMessageBox.Show("Firmware is to big for a 1280, Please upgrade your hardware!!");
return(false);
}
//port = new ArduinoSTK();
port.BaudRate = 57600;
}
else if (board == BoardDetect.boards.b2560 || board == BoardDetect.boards.b2560v2)
{
port = new ArduinoSTKv2
{
BaudRate = 115200
};
}
port.DataBits = 8;
port.StopBits = System.IO.Ports.StopBits.One;
port.Parity = System.IO.Ports.Parity.None;
port.DtrEnable = true;
try
{
port.PortName = comport;
port.Open();
if (port.connectAP())
{
log.Info("starting");
updateProgress(0, String.Format(Strings.UploadingBytesToBoard, FLASH.Length) + board);
// this is enough to make ap_var reset
//port.upload(new byte[256], 0, 2, 0);
port.Progress += updateProgress;
if (!port.uploadflash(FLASH, 0, FLASH.Length, 0))
{
if (port.IsOpen)
{
port.Close();
}
throw new Exception("Upload failed. Lost sync. Try Arduino!!");
}
port.Progress -= updateProgress;
updateProgress(100, Strings.UploadComplete);
log.Info("Uploaded");
int start = 0;
short length = 0x100;
byte[] flashverify = new byte[FLASH.Length + 256];
updateProgress(0, Strings.VerifyFirmware);
while (start < FLASH.Length)
{
updateProgress((int)((start / (float)FLASH.Length) * 100), Strings.VerifyFirmware);
port.setaddress(start);
//log.Info("Downloading " + length + " at " + start);
port.downloadflash(length).CopyTo(flashverify, start);
start += length;
}
for (int s = 0; s < FLASH.Length; s++)
{
if (FLASH[s] != flashverify[s])
{
CustomMessageBox.Show(String.Format(Strings.UploadSucceededButVerifyFailed, FLASH[s].ToString("X"), flashverify[s].ToString("X")) + s);
port.Close();
return(false);
}
}
updateProgress(100, Strings.VerifyComplete);
}
else
{
updateProgress(0, Strings.FailedUpload);
CustomMessageBox.Show(Strings.CommunicationErrorNoConnection);
}
port.Close();
try
{
((SerialPort)port).Open();
}
catch { }
//CustomMessageBox.Show("1. If you are updating your firmware from a previous version, please verify your parameters are appropriate for the new version.\n2. Please ensure your accelerometer is calibrated after installing or re-calibrated after updating the firmware.");
try
{
((SerialPort)port).Close();
}
catch { }
updateProgress(100, Strings.Done);
}
catch (Exception ex)
{
updateProgress(0, Strings.FailedUpload);
CustomMessageBox.Show(Strings.CheckPortSettingsOr + ex);
try
{
port.Close();
}
catch { }
return(false);
}
MainV2.comPort.giveComport = false;
return(true);
}
/// <summary>
/// upload to arduino standalone
/// </summary>
/// <param name="filename"></param>
/// <param name="board"></param>
public bool UploadFlash(string comport, string filename, string board)
{
if (board == "px4")
{
return(UploadPX4(filename));
}
byte[] FLASH = new byte[1];
StreamReader sr = null;
try
{
updateProgress(0, "Reading Hex File");
sr = new StreamReader(filename);
FLASH = readIntelHEXv2(sr);
sr.Close();
log.InfoFormat("\n\nSize: {0}\n\n", FLASH.Length);
}
catch (Exception ex)
{
if (sr != null)
{
sr.Dispose();
}
updateProgress(0, "Failed read HEX");
CustomMessageBox.Show("Failed to read firmware.hex : " + ex.Message);
return(false);
}
IArduinoComms port = new ArduinoSTK();
if (board == "1280")
{
if (FLASH.Length > 126976)
{
CustomMessageBox.Show("Firmware is to big for a 1280, Please upgrade your hardware!!");
return(false);
}
//port = new ArduinoSTK();
port.BaudRate = 57600;
}
else if (board == "2560" || board == "2560-2")
{
port = new ArduinoSTKv2
{
BaudRate = 115200
};
}
port.DataBits = 8;
port.StopBits = System.IO.Ports.StopBits.One;
port.Parity = System.IO.Ports.Parity.None;
port.DtrEnable = true;
try
{
port.PortName = comport;
port.Open();
if (port.connectAP())
{
log.Info("starting");
updateProgress(0, "Uploading " + FLASH.Length + " bytes to Board: " + board);
// this is enough to make ap_var reset
//port.upload(new byte[256], 0, 2, 0);
port.Progress += updateProgress;
if (!port.uploadflash(FLASH, 0, FLASH.Length, 0))
{
if (port.IsOpen)
{
port.Close();
}
throw new Exception("Upload failed. Lost sync. Try Arduino!!");
}
port.Progress -= updateProgress;
updateProgress(100, "Upload Complete");
log.Info("Uploaded");
int start = 0;
short length = 0x100;
byte[] flashverify = new byte[FLASH.Length + 256];
updateProgress(0, "Verify Firmware");
while (start < FLASH.Length)
{
updateProgress((int)((start / (float)FLASH.Length) * 100), "Verify Firmware");
port.setaddress(start);
log.Info("Downloading " + length + " at " + start);
port.downloadflash(length).CopyTo(flashverify, start);
start += length;
}
for (int s = 0; s < FLASH.Length; s++)
{
if (FLASH[s] != flashverify[s])
{
CustomMessageBox.Show("Upload succeeded, but verify failed: exp " + FLASH[s].ToString("X") + " got " + flashverify[s].ToString("X") + " at " + s);
port.Close();
return(false);
}
}
updateProgress(100, "Verify Complete");
}
else
{
updateProgress(0, "Failed upload");
CustomMessageBox.Show("Communication Error - no connection");
}
port.Close();
try
{
((SerialPort)port).Open();
}
catch { }
//CustomMessageBox.Show("1. If you are updating your firmware from a previous version, please verify your parameters are appropriate for the new version.\n2. Please ensure your accelerometer is calibrated after installing or re-calibrated after updating the firmware.");
try
{
((SerialPort)port).Close();
}
catch { }
updateProgress(100, "Done");
}
catch (Exception ex)
{
updateProgress(0, "Failed upload");
CustomMessageBox.Show("Check port settings or Port in use? " + ex);
try
{
port.Close();
}
catch { }
return(false);
}
MainV2.comPort.giveComport = false;
return(true);
}
private void MenuConnect_Click(object sender, EventArgs e)
{
comPort.giveComport = false;
// sanity check
if (comPort.BaseStream.IsOpen && MainV2.comPort.MAV.cs.groundspeed > 4)
{
if (DialogResult.No == CustomMessageBox.Show("Your model is still moving are you sure you want to disconnect?", "Disconnect", MessageBoxButtons.YesNo))
{
return;
}
}
// cleanup from any previous sessions
if (comPort.logfile != null)
comPort.logfile.Close();
if (comPort.rawlogfile != null)
comPort.rawlogfile.Close();
comPort.logfile = null;
comPort.rawlogfile = null;
// decide if this is a connect or disconnect
if (comPort.BaseStream.IsOpen)
{
try
{
if (speechEngine != null) // cancel all pending speech
speechEngine.SpeakAsyncCancelAll();
comPort.BaseStream.DtrEnable = false;
comPort.Close();
}
catch (Exception ex)
{
log.Error(ex);
}
// now that we have closed the connection, cancel the connection stats
// so that the 'time connected' etc does not grow, but the user can still
// look at the now frozen stats on the still open form
try
{
// if terminal is used, then closed using this button.... exception
((ConnectionStats)this.connectionStatsForm.Controls[0]).StopUpdates();
}
catch { }
this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.connect;
}
else
{
switch (_connectionControl.CMB_serialport.Text)
{
case "TCP":
comPort.BaseStream = new TcpSerial();
break;
case "UDP":
comPort.BaseStream = new UdpSerial();
break;
case "AUTO":
default:
comPort.BaseStream = new Comms.SerialPort();
break;
}
// Tell the connection UI that we are now connected.
_connectionControl.IsConnected(true);
// Here we want to reset the connection stats counter etc.
this.ResetConnectionStats();
MainV2.comPort.MAV.cs.timeInAir = 0;
//cleanup any log being played
comPort.logreadmode = false;
if (comPort.logplaybackfile != null)
comPort.logplaybackfile.Close();
comPort.logplaybackfile = null;
try
{
// do autoscan
if (_connectionControl.CMB_serialport.Text == "AUTO")
{
Comms.CommsSerialScan.Scan(false);
DateTime deadline = DateTime.Now.AddSeconds(50);
while (Comms.CommsSerialScan.foundport == false)
{
System.Threading.Thread.Sleep(100);
if (DateTime.Now > deadline) {
CustomMessageBox.Show("Timeout waiting for autoscan/no mavlink device connected");
_connectionControl.IsConnected(false);
return;
}
}
_connectionControl.CMB_serialport.Text = Comms.CommsSerialScan.portinterface.PortName;
_connectionControl.CMB_baudrate.Text = Comms.CommsSerialScan.portinterface.BaudRate.ToString();
}
// set port, then options
comPort.BaseStream.PortName = _connectionControl.CMB_serialport.Text;
comPort.BaseStream.DataBits = 8;
comPort.BaseStream.StopBits = (StopBits)Enum.Parse(typeof(StopBits), "1");
comPort.BaseStream.Parity = (Parity)Enum.Parse(typeof(Parity), "None");
try
{
comPort.BaseStream.BaudRate = int.Parse(_connectionControl.CMB_baudrate.Text);
}
catch (Exception exp) { log.Error(exp); }
// false here
comPort.BaseStream.DtrEnable = false;
comPort.BaseStream.RtsEnable = false;
// prevent serialreader from doing anything
comPort.giveComport = true;
// reset on connect logic.
if (config["CHK_resetapmonconnect"] == null || bool.Parse(config["CHK_resetapmonconnect"].ToString()) == true)
comPort.BaseStream.toggleDTR();
comPort.giveComport = false;
// setup to record new logs
try
{
Directory.CreateDirectory(MainV2.LogDir);
comPort.logfile = new BinaryWriter(File.Open(MainV2.LogDir + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss") + ".tlog", FileMode.CreateNew, FileAccess.ReadWrite, FileShare.None));
comPort.rawlogfile = new BinaryWriter(File.Open(MainV2.LogDir + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss") + ".rlog", FileMode.CreateNew, FileAccess.ReadWrite, FileShare.None));
}
catch (Exception exp2) { log.Error(exp2); CustomMessageBox.Show("Failed to create log - wont log this session"); } // soft fail
// reset connect time - for timeout functions
connecttime = DateTime.Now;
// do the connect
comPort.Open(true);
// detect firmware we are conected to.
if (comPort.MAV.param["SYSID_SW_TYPE"] != null)
{
if (float.Parse(comPort.MAV.param["SYSID_SW_TYPE"].ToString()) == 10)
{
_connectionControl.TOOL_APMFirmware.SelectedIndex = _connectionControl.TOOL_APMFirmware.Items.IndexOf(Firmwares.ArduCopter2);
}
else if (float.Parse(comPort.MAV.param["SYSID_SW_TYPE"].ToString()) == 7)
{
_connectionControl.TOOL_APMFirmware.SelectedIndex = _connectionControl.TOOL_APMFirmware.Items.IndexOf(Firmwares.Ateryx);
}
else if (float.Parse(comPort.MAV.param["SYSID_SW_TYPE"].ToString()) == 20)
{
_connectionControl.TOOL_APMFirmware.SelectedIndex = _connectionControl.TOOL_APMFirmware.Items.IndexOf(Firmwares.ArduRover);
}
else if (float.Parse(comPort.MAV.param["SYSID_SW_TYPE"].ToString()) == 0)
{
_connectionControl.TOOL_APMFirmware.SelectedIndex = _connectionControl.TOOL_APMFirmware.Items.IndexOf(Firmwares.ArduPlane);
}
}
// save the baudrate for this port
config[_connectionControl.CMB_serialport.Text + "_BAUD"] = _connectionControl.CMB_baudrate.Text;
// refresh config window if needed
if (MyView.current != null && MyView.current.Name == "Config")
{
MyView.ShowScreen("Config");
}
// load wps on connect option.
if (config["loadwpsonconnect"] != null && bool.Parse(config["loadwpsonconnect"].ToString()) == true)
{
MenuFlightPlanner_Click(null, null);
FlightPlanner.BUT_read_Click(null, null);
}
// set connected icon
this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.disconnect;
}
catch (Exception ex)
{
log.Warn(ex);
try
{
_connectionControl.IsConnected(false);
UpdateConnectIcon();
comPort.Close();
}
catch { }
// detect firmware -> scan eeprom contents -> error if no valid ap param/apvar header detected.
try
{
string version = ArduinoDetect.DetectVersion(comPort.BaseStream.PortName);
IArduinoComms port = new ArduinoSTK();
if (version == "1280")
{
port = new ArduinoSTK();
port.BaudRate = 57600;
}
else if (version == "2560")
{
port = new ArduinoSTKv2();
port.BaudRate = 115200;
}
else { throw new Exception("Can not determine APM board type"); }
port.PortName = comPort.BaseStream.PortName;
port.DtrEnable = true;
port.Open();
if (port.connectAP())
{
byte[] buffer = port.download(20);
port.Close();
if ((buffer[0] == 'A' || buffer[0] == 'P') && (buffer[1] == 'A' || buffer[1] == 'P')) // this is the apvar header
{
log.Info("Valid eeprom contents");
}
else
{
CustomMessageBox.Show("You dont appear to have uploaded a firmware yet,\n\nPlease goto the firmware page and upload one.");
return;
}
}
else
{
log.Error("Could not download eeprom contents");
}
}
catch (Exception exp3) { log.Error(exp3); }
CustomMessageBox.Show("Can not establish a connection\n\n" + ex.Message);
return;
}
}
}
public static void UploadFlash(string filename, string board, string portname)
{
byte[] FLASH = new byte[1];
StreamReader sr = null;
try
{
updateprogress("Reading Hex File", 0);
sr = new StreamReader(filename);
FLASH = readIntelHEXv2(sr);
sr.Close();
Console.WriteLine("\n\nSize: {0}\n\n", FLASH.Length);
}
catch (Exception ex) { if (sr != null)
{
sr.Dispose();
}
updateprogress("Failed read HEX", 0); MessageBox.Show("Failed to read firmware.hex : " + ex.Message); return; }
IArduinoComms port = new ArduinoSTK();
if (board == "1280")
{
if (FLASH.Length > 126976)
{
MessageBox.Show("Firmware is to big for a 1280, Please upgrade!!");
return;
}
//port = new ArduinoSTK();
port.BaudRate = 57600;
}
else if (board == "2560" || board == "2560-2")
{
port = new ArduinoSTKv2();
port.BaudRate = 115200;
}
port.DataBits = 8;
port.StopBits = StopBits.One;
port.Parity = Parity.None;
port.DtrEnable = true;
try
{
port.PortName = portname;
port.Open();
if (port.connectAP())
{
Console.WriteLine("starting");
updateprogress("Uploading " + FLASH.Length + " bytes to APM", 0);
// this is enough to make ap_var reset
//port.upload(new byte[256], 0, 2, 0);
port.Progress += new ArdupilotMega.Arduino.ProgressEventHandler(port_Progress);
if (!port.uploadflash(FLASH, 0, FLASH.Length, 0))
{
if (port.IsOpen)
{
port.Close();
}
throw new Exception("Upload failed. Lost sync. Try Arduino!!");
}
port.Progress -= port_Progress;
updateprogress("", 100);
Console.WriteLine("Uploaded");
int start = 0;
short length = 0x100;
byte[] flashverify = new byte[FLASH.Length + 256];
updateprogress("Verify APM", 0);
while (start < FLASH.Length)
{
updateprogress("", (int)((start / (float)FLASH.Length) * 100));
port.setaddress(start);
Console.WriteLine("Downloading " + length + " at " + start);
port.downloadflash(length).CopyTo(flashverify, start);
start += length;
}
updateprogress("", 100);
for (int s = 0; s < FLASH.Length; s++)
{
if (FLASH[s] != flashverify[s])
{
MessageBox.Show("Upload succeeded, but verify failed: exp " + FLASH[s].ToString("X") + " got " + flashverify[s].ToString("X") + " at " + s);
break;
}
}
}
else
{
updateprogress("Failed upload", -1);
MessageBox.Show("Communication Error - no connection");
}
port.Close();
Application.DoEvents();
updateprogress("Done", 100);
}
catch (Exception ex) { updateprogress("Failed upload", -1); MessageBox.Show("Check port settings or Port in use? " + ex.ToString()); port.Close(); }
}
private void BUT_flashup_Click(object sender, EventArgs e)
{
byte[] FLASH = new byte[1];
try
{
StreamReader sr = new StreamReader(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"firmware.hex");
FLASH = readIntelHEXv2(sr);
sr.Close();
}
catch (Exception ex) { CustomMessageBox.Show("Failed to read firmware.hex : " + ex.Message); }
ArduinoComms port = new ArduinoSTK();
if (DialogResult.Yes == CustomMessageBox.Show("is this a 1280?", "", MessageBoxButtons.YesNo))
{
port = new ArduinoSTK();
port.BaudRate = 57600;
}
else
{
port = new ArduinoSTKv2();
port.BaudRate = 115200;
}
port.DataBits = 8;
port.StopBits = StopBits.One;
port.Parity = Parity.None;
port.DtrEnable = true;
try
{
port.PortName = ArdupilotMega.MainV2.comPortName;
port.Open();
if (port.connectAP())
{
log.Info("starting");
port.uploadflash(FLASH, 0, FLASH.Length, 0);
log.Info("Uploaded");
}
else
{
CustomMessageBox.Show("Communication Error - no connection");
}
port.Close();
}
catch (Exception ex) { CustomMessageBox.Show("Check port settings or Port in use? " + ex.ToString()); port.Close(); }
}
private void BUT_dleeprom_Click(object sender, EventArgs e)
{
IArduinoComms port = new ArduinoSTK();
if (DialogResult.Yes == CustomMessageBox.Show("is this a 1280?", "", MessageBoxButtons.YesNo))
{
port = new ArduinoSTK();
port.BaudRate = 57600;
}
else
{
port = new ArduinoSTKv2();
port.BaudRate = 115200;
}
port.DataBits = 8;
port.StopBits = StopBits.One;
port.Parity = Parity.None;
port.DtrEnable = true;
try
{
port.PortName = MissionPlanner.MainV2.comPortName;
log.Info("Open Port");
port.Open();
log.Info("Connect AP");
if (port.connectAP())
{
log.Info("Download AP");
byte[] EEPROM = new byte[1024 * 4];
for (int a = 0; a < 4 * 1024; a += 0x100)
{
port.setaddress(a);
port.download(0x100).CopyTo(EEPROM, a);
}
log.Info("Verify State");
if (port.keepalive())
{
StreamWriter sw = new StreamWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"EEPROM.bin");
BinaryWriter bw = new BinaryWriter(sw.BaseStream);
bw.Write(EEPROM, 0, 1024 * 4);
bw.Close();
}
else
{
CustomMessageBox.Show("Communication Error - Bad data");
}
}
else
{
CustomMessageBox.Show("Communication Error - no connection");
}
port.Close();
}
catch (Exception ex) { CustomMessageBox.Show("Port Error? " + ex.ToString()); if (port != null && port.IsOpen)
{
port.Close();
}
}
}
private void BUT_flashdl_Click(object sender, EventArgs e)
{
byte[] FLASH = new byte[256 * 1024];
IArduinoComms port = new ArduinoSTK();
if (DialogResult.Yes == CustomMessageBox.Show("is this a 1280?", "", MessageBoxButtons.YesNo))
{
port = new ArduinoSTK();
port.BaudRate = 57600;
}
else
{
port = new ArduinoSTKv2();
port.BaudRate = 115200;
}
port.DataBits = 8;
port.StopBits = StopBits.One;
port.Parity = Parity.None;
port.DtrEnable = true;
port.PortName = MissionPlanner.MainV2.comPortName;
try
{
port.Open();
System.Threading.Thread.Sleep(100);
if (port.connectAP())
{
// waypoints
int start = 0;
short length = 0x100;
log.Info(start + " to " + FLASH.Length);
while (start < FLASH.Length)
{
log.Info("Doing " + length + " at " + start);
port.setaddress(start);
port.downloadflash(length).CopyTo(FLASH, start);
start += length;
}
StreamWriter sw = new StreamWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"flash.bin", false);
BinaryWriter bw = new BinaryWriter(sw.BaseStream);
bw.Write(FLASH, 0, FLASH.Length);
bw.Close();
sw = new StreamWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"flash.hex", false);
for (int i = 0; i < FLASH.Length; i += 16)
{
string add = string.Format("{0:X4}", i);
if (i % (0x1000 << 4) == 0)
{
if (i != 0)
{
sw.WriteLine(":02000002{0:X4}{1:X2}", ((i >> 4) & 0xf000), 0x100 - (2 + 2 + (((i >> 4) & 0xf000) >> 8) & 0xff));
}
}
if (add.Length == 5)
{
add = add.Substring(1);
}
sw.Write(":{0:X2}{1}00", 16, add);
byte ck = (byte)(16 + (i & 0xff) + ((i >> 8) & 0xff));
for (int a = 0; a < 16; a++)
{
ck += FLASH[i + a];
sw.Write("{0:X2}", FLASH[i + a]);
}
sw.WriteLine("{0:X2}", (byte)(0x100 - ck));
}
sw.Close();
log.Info("Downloaded");
}
else
{
CustomMessageBox.Show("Communication Error - no connection");
}
port.Close();
}
catch (Exception ex) { CustomMessageBox.Show("Port in use? " + ex.ToString()); port.Close(); }
}
private void BUT_wipeeeprom_Click(object sender, EventArgs e)
{
byte[] EEPROM = new byte[4 * 1024];
for (int i = 0; i < EEPROM.Length; i++)
{
EEPROM[i] = 0xff;
}
IArduinoComms port = new ArduinoSTK();
if (DialogResult.Yes == CustomMessageBox.Show("is this a 1280?", "", MessageBoxButtons.YesNo))
{
port = new ArduinoSTK();
port.BaudRate = 57600;
}
else
{
port = new ArduinoSTKv2();
port.BaudRate = 115200;
}
port.DataBits = 8;
port.StopBits = StopBits.One;
port.Parity = Parity.None;
port.DtrEnable = true;
port.PortName = MissionPlanner.MainV2.comPortName;
try
{
port.Open();
if (port.connectAP())
{
// waypoints
int start = 0;
int end = 1024 * 4;
log.Info(start + " to " + end);
port.upload(EEPROM, (short)start, (short)(end - start), (short)start);
if (port.keepalive())
{
// Config
if (port.keepalive())
{
System.Threading.Thread.Sleep(2000);
//MessageBox.Show("Upload Completed");
}
else
{
CustomMessageBox.Show("Communication Error - WPs wrote but no config");
}
}
else
{
CustomMessageBox.Show("Communication Error - Bad data");
}
}
else
{
CustomMessageBox.Show("Communication Error - no connection");
}
port.Close();
}
catch (Exception ex) { CustomMessageBox.Show("Port in use? " + ex.ToString()); port.Close(); }
}
} // Swap
private void button1_Click(object sender, EventArgs e)
{
OpenFileDialog openFileDialog1 = new OpenFileDialog();
openFileDialog1.Filter = "EEPROM.bin|*.bin";
openFileDialog1.FilterIndex = 2;
openFileDialog1.RestoreDirectory = true;
openFileDialog1.InitialDirectory = Path.GetDirectoryName(Application.ExecutablePath);
if (openFileDialog1.ShowDialog() == DialogResult.OK)
{
try
{
StreamReader sr = new StreamReader(openFileDialog1.FileName);
BinaryReader br = new BinaryReader(sr.BaseStream);
byte[] EEPROM = br.ReadBytes(1024 * 4);
br.Close();
sr.Close();
IArduinoComms port = new ArduinoSTK();
if (DialogResult.Yes == CustomMessageBox.Show("is this a 1280?", "", MessageBoxButtons.YesNo))
{
port = new ArduinoSTK();
port.BaudRate = 57600;
}
else
{
port = new ArduinoSTKv2();
port.BaudRate = 115200;
}
port.DataBits = 8;
port.StopBits = StopBits.One;
port.Parity = Parity.None;
port.DtrEnable = true;
port.PortName = MissionPlanner.MainV2.comPortName;
try
{
port.Open();
if (port.connectAP())
{
// waypoints
int start = 0;
int end = 1024 * 4;
log.Info(start + " to " + end);
port.upload(EEPROM, (short)start, (short)(end - start), (short)start);
if (port.keepalive())
{
// Config
if (port.keepalive())
{
System.Threading.Thread.Sleep(2000);
//MessageBox.Show("Upload Completed");
}
else
{
CustomMessageBox.Show("Communication Error - WPs wrote but no config");
}
}
else
{
CustomMessageBox.Show("Communication Error - Bad data");
}
}
else
{
CustomMessageBox.Show("Communication Error - no connection");
}
port.Close();
}
catch (Exception ex) { CustomMessageBox.Show("Port in use? " + ex.ToString()); port.Close(); }
}
catch (Exception) { CustomMessageBox.Show("Error reading file"); }
}
}
void UploadFlash(string filename, string board)
{
byte[] FLASH = new byte[1];
StreamReader sr = null;
try
{
lbl_status.Text = "Reading Hex File";
this.Refresh();
sr = new StreamReader(filename);
FLASH = readIntelHEXv2(sr);
sr.Close();
Console.WriteLine("\n\nSize: {0}\n\n", FLASH.Length);
}
catch (Exception ex) { if (sr != null) { sr.Dispose(); } lbl_status.Text = "Failed read HEX"; MessageBox.Show("Failed to read firmware.hex : " + ex.Message); return; }
ArduinoComms port = new ArduinoSTK();
if (board == "1280")
{
if (FLASH.Length > 126976)
{
MessageBox.Show("Firmware is to big for a 1280, Please upgrade!!");
return;
}
//port = new ArduinoSTK();
port.BaudRate = 57600;
}
else if (board == "2560" || board == "2560-2")
{
port = new ArduinoSTKv2();
port.BaudRate = 115200;
}
port.DataBits = 8;
port.StopBits = StopBits.One;
port.Parity = Parity.None;
port.DtrEnable = true;
try
{
port.PortName = MainV2.comportname;
port.Open();
flashing = true;
if (port.connectAP())
{
Console.WriteLine("starting");
lbl_status.Text = "Uploading " + FLASH.Length + " bytes to APM";
progress.Value = 0;
this.Refresh();
// this is enough to make ap_var reset
//port.upload(new byte[256], 0, 2, 0);
port.Progress += new ProgressEventHandler(port_Progress);
if (!port.uploadflash(FLASH, 0, FLASH.Length, 0))
{
flashing = false;
if (port.IsOpen)
port.Close();
throw new Exception("Upload failed. Lost sync. Try Arduino!!");
}
port.Progress -= new ProgressEventHandler(port_Progress);
progress.Value = 100;
Console.WriteLine("Uploaded");
this.Refresh();
int start = 0;
short length = 0x100;
byte[] flashverify = new byte[FLASH.Length + 256];
lbl_status.Text = "Verify APM";
progress.Value = 0;
this.Refresh();
while (start < FLASH.Length)
{
progress.Value = (int)((start / (float)FLASH.Length) * 100);
progress.Refresh();
port.setaddress(start);
Console.WriteLine("Downloading " + length + " at " + start);
port.downloadflash(length).CopyTo(flashverify, start);
start += length;
}
progress.Value = 100;
for (int s = 0; s < FLASH.Length; s++)
{
if (FLASH[s] != flashverify[s])
{
MessageBox.Show("Upload succeeded, but verify failed: exp " + FLASH[s].ToString("X") + " got " + flashverify[s].ToString("X") + " at " + s);
break;
}
}
lbl_status.Text = "Write Done... Waiting (60 sec)";
}
else
{
lbl_status.Text = "Failed upload";
MessageBox.Show("Communication Error - no connection");
}
port.Close();
flashing = false;
Application.DoEvents();
System.Threading.Thread.Sleep(60000); // 10 seconds - new apvar erases eeprom on new format version, this should buy us some time.
lbl_status.Text = "Done";
}
catch (Exception ex) { lbl_status.Text = "Failed upload"; MessageBox.Show("Check port settings or Port in use? " + ex.ToString()); port.Close(); }
flashing = false;
MainV2.givecomport = false;
}
private void MenuConnect_Click(object sender, EventArgs e)
{
giveComport = false;
if (comPort.BaseStream.IsOpen && cs.groundspeed > 4)
{
if (DialogResult.No == CustomMessageBox.Show("Your model is still moving are you sure you want to disconnect?", "Disconnect", MessageBoxButtons.YesNo))
{
return;
}
}
if (comPort.BaseStream.IsOpen)
{
try
{
try
{
if (speechEngine != null) // cancel all pending speech
speechEngine.SpeakAsyncCancelAll();
}
catch { }
if (comPort.logfile != null)
comPort.logfile.Close();
if (comPort.rawlogfile != null)
comPort.rawlogfile.Close();
comPort.BaseStream.DtrEnable = false;
comPort.Close();
}
catch (Exception ex) { log.Debug(ex.ToString()); }
this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.connect;
}
else
{
if (_connectionControl.CMB_serialport.Text == "TCP")
{
comPort.BaseStream = new TcpSerial();
}
else if (_connectionControl.CMB_serialport.Text == "UDP")
{
comPort.BaseStream = new UdpSerial();
}
else
{
comPort.BaseStream = new ArdupilotMega.Comms.SerialPort();
}
try
{
// set port, then options
comPort.BaseStream.PortName = _connectionControl.CMB_serialport.Text;
comPort.BaseStream.DataBits = 8;
comPort.BaseStream.StopBits = (StopBits)Enum.Parse(typeof(StopBits), "1");
comPort.BaseStream.Parity = (Parity)Enum.Parse(typeof(Parity), "None");
try
{
comPort.BaseStream.BaudRate = int.Parse(_connectionControl.CMB_baudrate.Text);
}
catch { }
// false here
comPort.BaseStream.DtrEnable = false;
comPort.BaseStream.RtsEnable = false;
if (config["CHK_resetapmonconnect"] == null || bool.Parse(config["CHK_resetapmonconnect"].ToString()) == true)
comPort.BaseStream.toggleDTR();
// cleanup from any previous sessions
if (comPort.logfile != null)
comPort.logfile.Close();
if (comPort.rawlogfile != null)
comPort.rawlogfile.Close();
// setup to record new logs
try
{
Directory.CreateDirectory(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs");
comPort.logfile = new BinaryWriter(File.Open(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss") + ".tlog", FileMode.CreateNew, FileAccess.ReadWrite, FileShare.Read));
comPort.rawlogfile = new BinaryWriter(File.Open(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss") + ".rlog", FileMode.CreateNew, FileAccess.ReadWrite, FileShare.Read));
}
catch { CustomMessageBox.Show("Failed to create log - wont log this session"); } // soft fail
// do the connect
comPort.Open(true);
// detect firmware we are conected to.
if (comPort.param["SYSID_SW_TYPE"] != null)
{
if (float.Parse(comPort.param["SYSID_SW_TYPE"].ToString()) == 10)
{
_connectionControl.TOOL_APMFirmware.SelectedIndex = _connectionControl.TOOL_APMFirmware.Items.IndexOf(Firmwares.ArduCopter2);
}
else if (float.Parse(comPort.param["SYSID_SW_TYPE"].ToString()) == 0)
{
_connectionControl.TOOL_APMFirmware.SelectedIndex = _connectionControl.TOOL_APMFirmware.Items.IndexOf(Firmwares.ArduPlane);
}
}
// save the baudrate for this port
config[_connectionControl.CMB_serialport.Text + "_BAUD"] = _connectionControl.CMB_baudrate.Text;
// load wps on connect option.
if (config["loadwpsonconnect"] != null && bool.Parse(config["loadwpsonconnect"].ToString()) == true)
{
MenuFlightPlanner_Click(null, null);
FlightPlanner.BUT_read_Click(null, null);
}
// set connected icon
this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.disconnect;
}
catch (Exception ex)
{
log.Warn(ex.ToString());
try
{
comPort.Close();
}
catch { }
// detect firmware -> scan eeprom contents -> error if no valid ap param/apvar header detected.
try
{
string version = ArduinoDetect.DetectVersion(comPort.BaseStream.PortName);
ArduinoComms port = new ArduinoSTK();
if (version == "1280")
{
port = new ArduinoSTK();
port.BaudRate = 57600;
}
else if (version == "2560")
{
port = new ArduinoSTKv2();
port.BaudRate = 115200;
}
else { throw new Exception("Can not determine APM board type"); }
port.PortName = comPort.BaseStream.PortName;
port.DtrEnable = true;
port.Open();
if (port.connectAP())
{
byte[] buffer = port.download(20);
port.Close();
if ((buffer[0] == 'A' || buffer[0] == 'P') && (buffer[1] == 'A' || buffer[1] == 'P')) // this is the apvar header
{
log.Info("Valid eeprom contents");
}
else
{
CustomMessageBox.Show("You dont appear to have uploaded a firmware yet,\n\nPlease goto the firmware page and upload one.");
return;
}
}
}
catch { }
log.Debug(ex.ToString());
//MessageBox.Show("Can not establish a connection\n\n" + ex.ToString());
return;
}
}
}
private void BUT_dleeprom_Click(object sender, EventArgs e)
{
ArduinoComms port = new ArduinoSTK();
if (DialogResult.Yes == CustomMessageBox.Show("is this a 1280?", "", MessageBoxButtons.YesNo))
{
port = new ArduinoSTK();
port.BaudRate = 57600;
}
else
{
port = new ArduinoSTKv2();
port.BaudRate = 115200;
}
port.DataBits = 8;
port.StopBits = StopBits.One;
port.Parity = Parity.None;
port.DtrEnable = true;
try
{
port.PortName = ArdupilotMega.MainV2.comPortName;
log.Info("Open Port");
port.Open();
log.Info("Connect AP");
if (port.connectAP())
{
log.Info("Download AP");
byte[] EEPROM = new byte[1024*4];
for (int a = 0; a < 4 * 1024; a += 0x100)
{
port.setaddress(a);
port.download(0x100).CopyTo(EEPROM,a);
}
log.Info("Verify State");
if (port.keepalive())
{
StreamWriter sw = new StreamWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"EEPROM.bin");
BinaryWriter bw = new BinaryWriter(sw.BaseStream);
bw.Write(EEPROM, 0, 1024 * 4);
bw.Close();
}
else
{
CustomMessageBox.Show("Communication Error - Bad data");
}
}
else
{
CustomMessageBox.Show("Communication Error - no connection");
}
port.Close();
}
catch (Exception ex) { CustomMessageBox.Show("Port Error? " + ex.ToString()); if (port != null && port.IsOpen) { port.Close(); } }
}
private void BUT_flashdl_Click(object sender, EventArgs e)
{
byte[] FLASH = new byte[256 * 1024];
ArduinoComms port = new ArduinoSTK();
if (DialogResult.Yes == CustomMessageBox.Show("is this a 1280?", "", MessageBoxButtons.YesNo))
{
port = new ArduinoSTK();
port.BaudRate = 57600;
}
else
{
port = new ArduinoSTKv2();
port.BaudRate = 115200;
}
port.DataBits = 8;
port.StopBits = StopBits.One;
port.Parity = Parity.None;
port.DtrEnable = true;
port.PortName = ArdupilotMega.MainV2.comPortName;
try
{
port.Open();
System.Threading.Thread.Sleep(100);
if (port.connectAP())
{
// waypoints
int start = 0;
short length = 0x100;
log.Info(start + " to " + FLASH.Length);
while (start < FLASH.Length)
{
log.Info("Doing " + length + " at " + start);
port.setaddress(start);
port.downloadflash(length).CopyTo(FLASH, start);
start += length;
}
StreamWriter sw = new StreamWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"flash.bin", false);
BinaryWriter bw = new BinaryWriter(sw.BaseStream);
bw.Write(FLASH, 0, FLASH.Length);
bw.Close();
sw = new StreamWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"flash.hex", false);
for (int i = 0; i < FLASH.Length; i += 16)
{
string add = string.Format("{0:X4}", i);
if (i % (0x1000 << 4) == 0)
{
if (i != 0)
sw.WriteLine(":02000002{0:X4}{1:X2}", ((i >> 4) & 0xf000), 0x100 - (2 + 2 + (((i >> 4) & 0xf000) >> 8) & 0xff));
}
if (add.Length == 5)
{
add = add.Substring(1);
}
sw.Write(":{0:X2}{1}00", 16, add);
byte ck = (byte)(16 + (i & 0xff) + ((i >> 8) & 0xff));
for (int a = 0; a < 16; a++)
{
ck += FLASH[i + a];
sw.Write("{0:X2}", FLASH[i + a]);
}
sw.WriteLine("{0:X2}", (byte)(0x100 - ck));
}
sw.Close();
log.Info("Downloaded");
}
else
{
CustomMessageBox.Show("Communication Error - no connection");
}
port.Close();
}
catch (Exception ex) { CustomMessageBox.Show("Port in use? " + ex.ToString()); port.Close(); }
}
private void BUT_copy2560_Click(object sender, EventArgs e)
{
ArduinoSTKv2 port = new ArduinoSTKv2();
port.BaudRate = 115200;
port.DataBits = 8;
port.StopBits = StopBits.One;
port.Parity = Parity.None;
port.DtrEnable = true;
try
{
port.PortName = MissionPlanner.MainV2.comPortName;
log.Info("Open Port");
port.Open();
log.Info("Connect AP");
if (port.connectAP())
{
log.Info("Download AP");
byte[] EEPROM = new byte[1024 * 4];
for (int a = 0; a < EEPROM.Length; a += 0x100)
{
port.setaddress(a);
port.download(0x100).CopyTo(EEPROM, a);
}
log.Info("Verify State");
if (port.keepalive())
{
StreamWriter sw = new StreamWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"EEPROM2560.bin");
BinaryWriter bw = new BinaryWriter(sw.BaseStream);
bw.Write(EEPROM, 0, EEPROM.Length);
bw.Close();
log.Info("Download AP");
byte[] FLASH = new byte[1024 * 256];
for (int a = 0; a < FLASH.Length; a += 0x100)
{
port.setaddress(a);
port.downloadflash(0x100).CopyTo(FLASH, a);
}
sw = new StreamWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"FLASH2560.bin");
bw = new BinaryWriter(sw.BaseStream);
bw.Write(FLASH, 0, FLASH.Length);
bw.Close();
}
else
{
CustomMessageBox.Show("Communication Error - Bad data");
}
}
else
{
CustomMessageBox.Show("Communication Error - no connection");
}
port.Close();
}
catch (Exception ex) { CustomMessageBox.Show("Port Error? " + ex.ToString()); if (port != null && port.IsOpen)
{
port.Close();
}
}
}
private void BUT_wipeeeprom_Click(object sender, EventArgs e)
{
byte[] EEPROM = new byte[4*1024];
for (int i = 0; i < EEPROM.Length;i++)
{
EEPROM[i] = 0xff;
}
ArduinoComms port = new ArduinoSTK();
if (DialogResult.Yes == CustomMessageBox.Show("is this a 1280?", "", MessageBoxButtons.YesNo))
{
port = new ArduinoSTK();
port.BaudRate = 57600;
}
else
{
port = new ArduinoSTKv2();
port.BaudRate = 115200;
}
port.DataBits = 8;
port.StopBits = StopBits.One;
port.Parity = Parity.None;
port.DtrEnable = true;
port.PortName = ArdupilotMega.MainV2.comPortName;
try
{
port.Open();
if (port.connectAP())
{
// waypoints
int start = 0;
int end = 1024*4;
log.Info(start + " to " + end);
port.upload(EEPROM, (short)start, (short)(end - start), (short)start);
if (port.keepalive())
{
// Config
if (port.keepalive())
{
System.Threading.Thread.Sleep(2000);
//MessageBox.Show("Upload Completed");
}
else
{
CustomMessageBox.Show("Communication Error - WPs wrote but no config");
}
}
else
{
CustomMessageBox.Show("Communication Error - Bad data");
}
}
else
{
CustomMessageBox.Show("Communication Error - no connection");
}
port.Close();
}
catch (Exception ex) { CustomMessageBox.Show("Port in use? " + ex.ToString()); port.Close(); }
}
public void UploadFlash(string filename, string board)
{
if (board == "px4")
{
UploadPX4(filename);
return;
}
byte[] FLASH = new byte[1];
StreamReader sr = null;
try
{
lbl_status.Text = "Reading Hex File";
this.Refresh();
Application.DoEvents();
sr = new StreamReader(filename);
FLASH = readIntelHEXv2(sr);
sr.Close();
log.InfoFormat("\n\nSize: {0}\n\n", FLASH.Length);
}
catch (Exception ex)
{
if (sr != null)
{
sr.Dispose();
}
lbl_status.Text = "Failed read HEX";
CustomMessageBox.Show("Failed to read firmware.hex : " + ex.Message);
return;
}
IArduinoComms port = new ArduinoSTK();
if (board == "1280")
{
if (FLASH.Length > 126976)
{
CustomMessageBox.Show("Firmware is to big for a 1280, Please upgrade your hardware!!");
return;
}
//port = new ArduinoSTK();
port.BaudRate = 57600;
}
else if (board == "2560" || board == "2560-2")
{
port = new ArduinoSTKv2
{
BaudRate = 115200
};
}
port.DataBits = 8;
port.StopBits = System.IO.Ports.StopBits.One;
port.Parity = System.IO.Ports.Parity.None;
port.DtrEnable = true;
try
{
port.PortName = MainV2.comPortName;
port.Open();
flashing = true;
if (port.connectAP())
{
log.Info("starting");
lbl_status.Text = "Uploading " + FLASH.Length + " bytes to APM Board: " + board;
progress.Value = 0;
this.Refresh();
// this is enough to make ap_var reset
//port.upload(new byte[256], 0, 2, 0);
port.Progress += port_Progress;
if (!port.uploadflash(FLASH, 0, FLASH.Length, 0))
{
flashing = false;
if (port.IsOpen)
{
port.Close();
}
throw new Exception("Upload failed. Lost sync. Try Arduino!!");
}
port.Progress -= new ProgressEventHandler(port_Progress);
progress.Value = 100;
log.Info("Uploaded");
this.Refresh();
int start = 0;
short length = 0x100;
byte[] flashverify = new byte[FLASH.Length + 256];
lbl_status.Text = "Verify APM";
progress.Value = 0;
this.Refresh();
while (start < FLASH.Length)
{
progress.Value = (int)((start / (float)FLASH.Length) * 100);
progress.Refresh();
port.setaddress(start);
log.Info("Downloading " + length + " at " + start);
port.downloadflash(length).CopyTo(flashverify, start);
start += length;
}
progress.Value = 100;
for (int s = 0; s < FLASH.Length; s++)
{
if (FLASH[s] != flashverify[s])
{
CustomMessageBox.Show("Upload succeeded, but verify failed: exp " + FLASH[s].ToString("X") + " got " + flashverify[s].ToString("X") + " at " + s);
break;
}
}
lbl_status.Text = "Write Done... Waiting (17 sec)";
}
else
{
lbl_status.Text = "Failed upload";
CustomMessageBox.Show("Communication Error - no connection");
}
port.Close();
flashing = false;
Application.DoEvents();
try
{
((SerialPort)port).Open();
}
catch { }
DateTime startwait = DateTime.Now;
//CustomMessageBox.Show("1. If you are updating your firmware from a previous version, please verify your parameters are appropriate for the new version.\n2. Please ensure your accelerometer is calibrated after installing or re-calibrated after updating the firmware.");
while ((DateTime.Now - startwait).TotalSeconds < 17)
{
try
{
// Console.Write(((SerialPort)port).ReadExisting().Replace("\0"," "));
}
catch { }
System.Threading.Thread.Sleep(1000);
progress.Value = (int)Math.Min(((DateTime.Now - startwait).TotalSeconds / 17 * 100), 100);
Application.DoEvents();
}
try
{
((SerialPort)port).Close();
}
catch { }
progress.Value = 100;
lbl_status.Text = "Done";
}
catch (Exception ex)
{
lbl_status.Text = "Failed upload";
CustomMessageBox.Show("Check port settings or Port in use? " + ex);
try
{
port.Close();
}
catch { }
}
flashing = false;
MainV2.comPort.giveComport = false;
}
