/// <summary>
/// upload to Parrot boards
/// </summary>
/// <param name="filename"></param>
public bool UploadParrot(string filename, BoardDetect.boards board)
{
string vehicleName = board.ToString().Substring(0, 1).ToUpper() + board.ToString().Substring(1).ToLower();
Ping ping = new Ping();
PingReply pingReply = pingParrotVehicle(ping);
updateProgress(0, "Trying to connect to " + vehicleName);
if (pingReply == null || pingReply.Status != IPStatus.Success)
{
bool ssidFound = isParrotWifiConnected(vehicleName);
if (!ssidFound)
{
CustomMessageBox.Show("Please connect to " + vehicleName + " Wifi now and after that press OK", vehicleName, MessageBoxButtons.OK);
ssidFound = isParrotWifiConnected(vehicleName);
pingReply = pingParrotVehicle(ping);
}
while (pingReply == null || pingReply.Status != IPStatus.Success)
{
if (!ssidFound)
{
if (CustomMessageBox.Show("You don't seem connected to " + vehicleName + " Wifi. Please connect to it and press OK to try again", vehicleName, MessageBoxButtons.OKCancel) == DialogResult.Cancel)
{
return false;
}
}
else if (CustomMessageBox.Show("You seem connected to " + vehicleName + " Wifi but it didn't answer our request. Do you want to try again?", vehicleName, MessageBoxButtons.OKCancel) == DialogResult.Cancel)
{
return false;
}
ssidFound = isParrotWifiConnected(vehicleName);
pingReply = pingParrotVehicle(ping);
}
}
try
{
AdbServer.Instance.StartServer("adb.exe", true);
IAdbClient adbClient = AdbClient.Instance;
string response = adbClient.Connect(new DnsEndPoint("192.168.42.1", 9050));
if (!response.Contains("connected to 192.168.42.1:9050"))
{
string ntimes = "four";
if (board == BoardDetect.boards.disco)
{
ntimes = "two";
}
CustomMessageBox.Show("Please press " + vehicleName + " Power button " + ntimes + " times", vehicleName, MessageBoxButtons.OK);
response = adbClient.Connect(new DnsEndPoint("192.168.42.1", 9050));
while (!response.Contains("connected to 192.168.42.1:9050"))
{
if (CustomMessageBox.Show("Couldn't contact " + vehicleName + ". Press the Power button " + ntimes + " times. Do you want to try to connect again?", vehicleName, MessageBoxButtons.OKCancel) == DialogResult.Cancel)
{
return false;
}
response = adbClient.Connect(new DnsEndPoint("192.168.42.1", 9050));
}
}
DeviceData device = adbClient.GetDevices().First();
ConsoleOutputReceiver consoleOut = new ConsoleOutputReceiver();
try
{
using (SyncService service = new SyncService(device))
{
using (FileStream stream = File.OpenRead(filename))
{
updateProgress(10, "Uploading software...");
service.Push(stream, "/data/ftp/internal_000/APM/" + (board == BoardDetect.boards.disco ? "apm-plane-disco" : "arducopter"), 777, DateTime.Now, CancellationToken.None);
updateProgress(50, "Software uploaded");
}
if (board != BoardDetect.boards.disco)
{
using (MemoryStream stream = new MemoryStream())
using (StreamReader sr = new StreamReader(stream))
{
updateProgress(60, "Looking for need to update init scripts...");
service.Pull("/etc/init.d/rcS_mode_default", stream, CancellationToken.None);
bool initChanged = false;
List<string> initLines = new List<string>();
string[] initAPLines = { "if test -x /data/ftp/internal_000/APM/start_ardupilot.sh && test -x /data/ftp/internal_000/APM/arducopter; then",
" /data/ftp/internal_000/APM/start_ardupilot.sh &",
"else" };
int[] initAPLinesIndex = Enumerable.Repeat(-1, initAPLines.Length).ToArray();
int dragonLineIndex = -1;
stream.Seek(0, SeekOrigin.Begin);
while (!sr.EndOfStream)
{
string line = sr.ReadLine();
int dragonIndex = line.IndexOf("DragonStarter.sh");
bool acLine = line.ToLower().Trim().StartsWith("arducopter");
if (dragonIndex != -1)
{
int dragonCommentIndex = line.IndexOf('#');
if (dragonCommentIndex != -1 && dragonCommentIndex < dragonIndex)
{
line = line.Remove(dragonCommentIndex, 1);
initChanged = true;
}
if (line.Substring(0, 2) != " ")
{
line = line.Insert(0, " ");
initChanged = true;
}
dragonLineIndex = initLines.Count;
}
else if (acLine)
{
initChanged = true;
continue;
}
else
{
foreach (int i in Enumerable.Range(0, initAPLines.Length))
{
if (line == initAPLines[i])
{
initAPLinesIndex[i] = initLines.Count;
break;
}
}
}
initLines.Add(line);
}
if (initAPLinesIndex[0] == -1 ||
initAPLinesIndex[1] != (initAPLinesIndex[0] + 1) ||
initAPLinesIndex[2] != (initAPLinesIndex[1] + 1) ||
dragonLineIndex != (initAPLinesIndex[2] + 1))
{
foreach(int i in initAPLinesIndex)
{
if(i != -1)
{
if (i < dragonLineIndex)
dragonLineIndex--;
initLines.RemoveAt(i);
}
}
initLines.InsertRange(dragonLineIndex, initAPLines);
if (initLines[dragonLineIndex + initAPLines.Length + 1] != "fi")
{
initLines.Insert(dragonLineIndex + initAPLines.Length + 1, "fi");
}
initChanged = true;
}
string startAPText = "#!/bin/sh\n\n" +
"# startup fan\n" +
"echo 1 > /sys/devices/platform/user_gpio/FAN/value\n\n" +
"while :; do\n" +
" ulogger -t \"rcS_mode_default\" -p I \"Launching ArduPilot\"\n" +
" /data/ftp/internal_000/APM/arducopter -A udp:192.168.42.255:14550:bcast -B /dev/ttyPA1 -C udp:192.168.42.255:14551:bcast -l /data/ftp/internal_000/APM/logs -t /data/ftp/internal_000/APM/terrain\n" +
"done\n";
// if the above script is changed, change this date to a future date
DateTime startAPDate = new DateTime(2016, 10, 21, 05, 10, 19);
FileStatistics startAPStat = service.Stat("/data/ftp/internal_000/APM/start_ardupilot.sh");
if (startAPStat.FileMode == 0 || startAPStat.Time.CompareTo(startAPDate) < 0)
{
updateProgress(70, "Uploading ArduPilot startup script...");
using (MemoryStream startScriptStream = new MemoryStream(sr.CurrentEncoding.GetBytes(startAPText)))
{
service.Push(startScriptStream, "/data/ftp/internal_000/APM/start_ardupilot.sh", 777, startAPDate, CancellationToken.None);
}
}
FileStatistics binaryStat = service.Stat("/usr/bin/arducopter");
if (initChanged || (binaryStat.FileMode.HasFlag(UnixFileMode.Regular)))
{
adbClient.ExecuteRemoteCommand("mount -o remount,rw /", device, consoleOut);
if (binaryStat.FileMode.HasFlag(UnixFileMode.Regular))
{
// remove old binary location
adbClient.ExecuteRemoteCommand("rm -f /usr/bin/arducopter", device, consoleOut);
}
if (initChanged)
{
// only backup init file if a backup doesn't exist
adbClient.ExecuteRemoteCommand("mv -n /etc/init.d/rcS_mode_default /etc/init.d/rcS_mode_default.backup", device, consoleOut);
updateProgress(80, "Writing modified init script");
stream.SetLength(0);
using (StreamWriter sw = new StreamWriter(stream, sr.CurrentEncoding))
{
sw.NewLine = "\n";
initLines.ForEach(line => sw.WriteLine(line));
sw.Flush();
stream.Seek(0, SeekOrigin.Begin);
service.Push(stream, "/etc/init.d/rcS_mode_default", 755, DateTime.Now, CancellationToken.None);
// a bug in 'adb push' sets 'group' and 'other' permissions equal to 'owner' so we run chmod to have the correct original permissions
adbClient.ExecuteRemoteCommand("chmod 755 /etc/init.d/rcS_mode_default", device, consoleOut);
}
}
}
updateProgress(90, "Scripts updated");
}
}
}
}
finally
{
updateProgress(100, "Rebooting...");
adbClient.ExecuteRemoteCommand("reboot.sh", device, consoleOut);
}
CustomMessageBox.Show("Firmware installed!");
updateProgress(-1, "Firmware installed");
}
catch (Exception e)
{
log.Error(e);
Console.WriteLine("An error occurred: " + e.ToString());
updateProgress(-1, "ERROR: " + e.Message);
return false;
}
finally
{
AdbClient.Instance.KillAdb();
}
return true;
}
/// <summary>
/// upload to vrbrain standalone
/// </summary>
/// <param name="filename"></param>
public bool UploadVRBRAIN(string filename, BoardDetect.boards board)
{
px4uploader.Uploader up;
updateProgress(0, "Reading Hex File");
px4uploader.Firmware fw;
try
{
fw = px4uploader.Firmware.ProcessFirmware(filename);
}
catch (Exception ex)
{
CustomMessageBox.Show(Strings.ErrorFirmwareFile + "\n\n" + ex.ToString(), Strings.ERROR);
return false;
}
try
{
// check if we are seeing heartbeats
MainV2.comPort.BaseStream.Open();
MainV2.comPort.giveComport = true;
if (MainV2.comPort.getHeartBeat().Length > 0)
{
MainV2.comPort.doReboot(true);
MainV2.comPort.Close();
//specific action for VRBRAIN4 board that needs to be manually disconnected before uploading
if (board == BoardDetect.boards.vrbrainv40)
{
CustomMessageBox.Show(
"VRBRAIN 4 detected. Please unplug the board, and then press OK and plug back in.\n");
}
}
else
{
MainV2.comPort.BaseStream.Close();
CustomMessageBox.Show(Strings.PleaseUnplugTheBoardAnd);
}
}
catch (Exception ex)
{
log.Error(ex);
CustomMessageBox.Show(Strings.PleaseUnplugTheBoardAnd);
}
DateTime DEADLINE = DateTime.Now.AddSeconds(30);
updateProgress(0, "Scanning comports");
while (DateTime.Now < DEADLINE)
{
string[] allports = SerialPort.GetPortNames();
foreach (string port in allports)
{
log.Info(DateTime.Now.Millisecond + " Trying Port " + port);
updateProgress(-1, "Connecting");
try
{
up = new px4uploader.Uploader(port, 115200);
}
catch (Exception ex)
{
//System.Threading.Thread.Sleep(50);
Console.WriteLine(ex.Message);
continue;
}
try
{
up.identify();
updateProgress(-1, "Identify");
log.InfoFormat("Found board type {0} boardrev {1} bl rev {2} fwmax {3} on {4}", up.board_type,
up.board_rev, up.bl_rev, up.fw_maxsize, port);
}
catch (Exception)
{
Console.WriteLine("Not There..");
//Console.WriteLine(ex.Message);
up.close();
continue;
}
up.skipotp = true;
try
{
up.currentChecksum(fw);
}
catch
{
up.__reboot();
up.close();
CustomMessageBox.Show(Strings.NoNeedToUpload);
return true;
}
try
{
up.ProgressEvent += new px4uploader.Uploader.ProgressEventHandler(up_ProgressEvent);
up.LogEvent += new px4uploader.Uploader.LogEventHandler(up_LogEvent);
updateProgress(0, "Upload");
up.upload(fw);
updateProgress(100, "Upload Done");
}
catch (Exception ex)
{
updateProgress(0, "ERROR: " + ex.Message);
log.Info(ex);
Console.WriteLine(ex.ToString());
return false;
}
finally
{
up.close();
}
if (up.board_type == 1140 || up.board_type == 1145 || up.board_type == 1150 || up.board_type == 1151 ||
up.board_type == 1152 || up.board_type == 1210 || up.board_type == 1351 || up.board_type == 1352 ||
up.board_type == 1411 || up.board_type == 1520)
{
//VR boards have no tone alarm
if (up.board_type == 1140)
CustomMessageBox.Show("Upload complete! Please unplug and reconnect board.");
else
CustomMessageBox.Show("Upload complete!");
}
else
{
// wait for IO firmware upgrade and boot to a mavlink state
CustomMessageBox.Show(Strings.PleaseWaitForTheMusicalTones);
}
return true;
}
}
updateProgress(0, "ERROR: No Response from board");
return false;
}
/// <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 || board == BoardDetect.boards.px4v4)
{
try
{
return UploadPX4(filename, board);
}
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.vrcorev10 ||
board == BoardDetect.boards.vrubrainv51 || board == BoardDetect.boards.vrubrainv52)
{
return UploadVRBRAIN(filename, board);
}
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>
/// return the software id from eeprom
/// </summary>
/// <param name="comport">Port</param>
/// <param name="version">Board type</param>
/// <returns></returns>
public static int decodeApVar(string comport, BoardDetect.boards version)
{
IArduinoComms port = new ArduinoSTK();
if (version == boards.b1280)
{
port = new ArduinoSTK();
port.BaudRate = 57600;
}
else if (version == boards.b2560 || version == boards.b2560v2)
{
port = new ArduinoSTKv2();
port.BaudRate = 115200;
}
else { return -1; }
port.PortName = comport;
port.DtrEnable = true;
port.Open();
port.connectAP();
byte[] buffer = port.download(1024 * 4);
port.Close();
if (buffer[0] != 'A' && buffer[0] != 'P' || buffer[1] != 'P' && buffer[1] != 'A') // this is the apvar header
{
return -1;
}
else
{
if (buffer[0] == 'A' && buffer[1] == 'P' && buffer[2] == 2)
{ // apvar header and version
int pos = 4;
byte key = 0;
while (pos < (1024 * 4))
{
int size = buffer[pos] & 63;
pos++;
key = buffer[pos];
pos++;
log.InfoFormat("{0:X4}: key {1} size {2}\n ", pos - 2, key, size + 1);
if (key == 0xff)
{
log.InfoFormat("end sentinal at {0}", pos - 2);
break;
}
if (key == 0)
{
//Array.Reverse(buffer, pos, 2);
return BitConverter.ToUInt16(buffer, pos);
}
for (int i = 0; i <= size; i++)
{
Console.Write(" {0:X2}", buffer[pos]);
pos++;
}
}
}
if (buffer[0] == 'P' && buffer[1] == 'A' && buffer[2] == 5) // ap param
{
int pos = 4;
byte key = 0;
while (pos < (1024 * 4))
{
key = buffer[pos];
pos++;
int group = buffer[pos];
pos++;
int type = buffer[pos];
pos++;
int size = type_size((ap_var_type)Enum.Parse(typeof(ap_var_type), type.ToString()));
Console.Write("{0:X4}: type {1} ({2}) key {3} group {4} size {5}\n ", pos - 2, type, type_names[type], key, group, size);
if (key == 0xff)
{
log.InfoFormat("end sentinal at {0}", pos - 2);
break;
}
if (key == 0)
{
//Array.Reverse(buffer, pos, 2);
return BitConverter.ToUInt16(buffer, pos);
}
for (int i = 0; i < size; i++)
{
Console.Write(" {0:X2}", buffer[pos]);
pos++;
}
}
}
if (buffer[0] == 'P' && buffer[1] == 'A' && buffer[2] == 6) // ap param
{
int pos = 4;
byte key = 0;
while (pos < (1024 * 4))
{
key = buffer[pos];
pos++;
if (key == 0xff)
{
log.InfoFormat("end sentinal at {0}", pos - 1);
break;
}
int type = buffer[pos] & 0x3f; // 6 bits
uint group = BitConverter.ToUInt32(buffer, pos);//((byte)(buffer[pos]) >> 6) | ((byte)(buffer[pos + 1]) << 8) | ((byte)(buffer[pos + 2]) << 16); // 18 bits
group = (group >> 6) & 0x3ffff;
pos++;
pos++;
pos++;
int size = BoardDetect.type_size((BoardDetect.ap_var_type)Enum.Parse(typeof(BoardDetect.ap_var_type), type.ToString()));
Console.Write("{0:X4}: type {1} ({2}) key {3} group_element {4} size {5} value ", pos - 4, type, BoardDetect.type_names[type], key, group, size);
if (key == 0)
{
//Array.Reverse(buffer, pos, 2);
return BitConverter.ToUInt16(buffer, pos);
}
for (int i = 0; i < size; i++)
{
Console.Write(" {0:X2}", buffer[pos]);
pos++;
}
Console.WriteLine();
}
}
}
return -1;
}
/// <summary>
/// Upload firmware
/// </summary>
/// <param name="comport"></param>
/// <param name="filename"></param>
/// <param name="board"></param>
/// <returns>pass/fail</returns>
public bool UploadFlash(string comport, string filename, BoardDetect.boards board)
{
if (board == BoardDetect.boards.px4 || board == BoardDetect.boards.px4v2 || board == BoardDetect.boards.px4v4)
{
try
{
return UploadPX4(filename, board);
}
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.vrcorev10 ||
board == BoardDetect.boards.vrubrainv51 || board == BoardDetect.boards.vrubrainv52)
{
return UploadVRBRAIN(filename, board);
}
if (board == BoardDetect.boards.bebop2)
{
return UploadParrot(filename, board);
}
return UploadArduino(comport, filename, board);
}
//Load custom firmware (old CTRL+C shortcut)
private void Custom_firmware_label_Click(object sender, EventArgs e)
{
using (var fd = new OpenFileDialog {
Filter = "Firmware (*.hex;*.px4;*.vrx;*.apj)|*.hex;*.px4;*.vrx;*.apj|All files (*.*)|*.*"
})
{
if (Directory.Exists(custom_fw_dir))
{
fd.InitialDirectory = custom_fw_dir;
}
fd.ShowDialog();
if (File.Exists(fd.FileName))
{
custom_fw_dir = Path.GetDirectoryName(fd.FileName);
Settings.Instance["FirmwareFileDirectory"] = custom_fw_dir;
fw.Progress -= fw_ProgressPDR;
fw.Progress += fw_Progress1;
var boardtype = BoardDetect.boards.none;
try
{
if (fd.FileName.ToLower().EndsWith(".px4") || fd.FileName.ToLower().EndsWith(".apj"))
{
if (solo.Solo.is_solo_alive &&
CustomMessageBox.Show("Solo", "Is this a Solo?", CustomMessageBox.MessageBoxButtons.YesNo) == CustomMessageBox.DialogResult.Yes)
{
boardtype = BoardDetect.boards.solo;
}
else
{
boardtype = BoardDetect.boards.px4v2;
}
}
else
{
var ports = Win32DeviceMgmt.GetAllCOMPorts();
if (ExtraDeviceInfo != null)
{
try
{
ports.AddRange(ExtraDeviceInfo.Invoke());
}
catch
{
}
}
boardtype = BoardDetect.DetectBoard(MainV2.comPortName, ports);
}
if (boardtype == BoardDetect.boards.none)
{
CustomMessageBox.Show(Strings.CantDetectBoardVersion);
return;
}
}
catch
{
CustomMessageBox.Show(Strings.CanNotConnectToComPortAnd, Strings.ERROR);
return;
}
fw.UploadFlash(MainV2.comPortName, fd.FileName, boardtype);
}
}
}
/// <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)
{
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 == 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, "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;
}
