public void upload(Firmware fw)
{
this.port.ReadTimeout = 1000; // 1 sec
//Make sure we are doing the right thing
if (self.board_type != fw.board_id)
{
if (!(self.board_type == 33 && fw.board_id == 9))
{
throw new Exception("Firmware not suitable for this board");
}
}
if (self.fw_maxsize < fw.image_size)
{
throw new Exception("Firmware image is too large for this board");
}
print("erase...");
self.__erase();
print("program...");
self.__program(fw);
print("verify...");
if (self.bl_rev == 2)
{
self.__verify_v2(fw);
}
else
{
self.__verify_v3(fw);
}
print("done, rebooting.");
self.__reboot();
try
{
self.port.Close();
}
catch { }
}
/// <summary>
/// upload to vrbrain standalone
/// </summary>
/// <param name="filename"></param>
public bool UploadVRBRAIN(string filename)
{
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;
BoardDetect.boards board = BoardDetect.DetectBoard(MainV2.comPortName);
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("Please unplug the board, and then press OK and plug back in.\nMission Planner will look for 30 seconds to find the board");
}
}
catch (Exception ex)
{
log.Error(ex);
CustomMessageBox.Show("Please unplug the board, and then press OK and plug back in.\nMission Planner will look for 30 seconds to find the board");
}
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("No need to upload. already on the board");
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("Please wait for the musical tones to finish before clicking OK");
}
return(true);
}
}
updateProgress(0, "ERROR: No Response from board");
return(false);
}
/// <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 px4 standalone
/// </summary>
/// <param name="filename"></param>
public bool UploadPX4(string filename)
{
Uploader up;
updateProgress(0, "Reading Hex File");
px4uploader.Firmware fw;
try
{
fw = px4uploader.Firmware.ProcessFirmware(filename);
}
catch (Exception ex)
{
CustomMessageBox.Show("Error loading firmware file\n\n" + ex.ToString(), "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();
}
else
{
MainV2.comPort.BaseStream.Close();
CustomMessageBox.Show("Please unplug the board, and then press OK and plug back in.\nMission Planner will look for 30 seconds to find the board");
}
}
catch (Exception ex)
{
log.Error(ex);
CustomMessageBox.Show("Please unplug the board, and then press OK and plug back in.\nMission Planner will look for 30 seconds to find the board");
}
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 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;
}
try
{
up.currentChecksum(fw);
}
catch
{
up.__reboot();
up.close();
CustomMessageBox.Show("No need to upload. already on the board");
return true;
}
try
{
up.ProgressEvent += new Uploader.ProgressEventHandler(up_ProgressEvent);
up.LogEvent += new 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();
}
// wait for IO firmware upgrade and boot to a mavlink state
CustomMessageBox.Show("Please wait for the musical tones to finish before clicking OK");
return true;
}
}
updateProgress(0, "ERROR: No Responce from board");
return false;
}
/// <summary>
/// upload to px4 standalone
/// </summary>
/// <param name="filename"></param>
public bool UploadPX4(string filename)
{
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;
BoardDetect.boards board = BoardDetect.DetectBoard(MainV2.comPortName);
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 then press OK and plug back in.\n");
}
}
else
{
MainV2.comPort.BaseStream.Close();
CustomMessageBox.Show("Please unplug the board, and then press OK and plug back in.\nMission Planner will look for 30 seconds to find the board");
}
}
catch (Exception ex)
{
log.Error(ex);
CustomMessageBox.Show("Please unplug the board, and then press OK and plug back in.\nMission Planner will look for 30 seconds to find the board");
}
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 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);
up.ProgressEvent += new Uploader.ProgressEventHandler(up_ProgressEvent);
up.LogEvent += new Uploader.LogEventHandler(up_LogEvent);
}
catch (Exception)
{
Console.WriteLine("Not There..");
//Console.WriteLine(ex.Message);
up.close();
continue;
}
// test if pausing here stops - System.TimeoutException: The write timed out.
System.Threading.Thread.Sleep(500);
try
{
up.verifyotp();
if (up.libre)
{
MissionPlanner.Utilities.Tracking.AddEvent("FWUpload", "verifyotp", "libre", "");
}
else
{
MissionPlanner.Utilities.Tracking.AddEvent("FWUpload", "verifyotp", "Pass", "");
}
}
catch (Org.BouncyCastle.Security.InvalidKeyException ex)
{
MissionPlanner.Utilities.Tracking.AddEvent("FWUpload", "verifyotp","InvalidKeyException","");
log.Error(ex);
CustomMessageBox.Show("You are using unsupported hardware.\nThis board does not contain a valid certificate of authenticity.\nPlease contact your hardware vendor about signing your hardware.", "Invalid Cert");
up.skipotp = true;
}
catch (FormatException ex)
{
MissionPlanner.Utilities.Tracking.AddEvent("FWUpload", "verifyotp", "FormatException", "");
log.Error(ex);
CustomMessageBox.Show("You are using unsupported hardware.\nThis board does not contain a valid certificate of authenticity.\nPlease contact your hardware vendor about signing your hardware.", "Invalid Cert");
up.skipotp = true;
}
catch (IOException ex)
{
MissionPlanner.Utilities.Tracking.AddEvent("FWUpload", "verifyotp", "IOException", "");
log.Error(ex);
CustomMessageBox.Show("lost communication with the board.", "lost comms");
up.close();
return false;
}
catch (TimeoutException ex)
{
MissionPlanner.Utilities.Tracking.AddEvent("FWUpload", "verifyotp", "TimeoutException", "");
log.Error(ex);
CustomMessageBox.Show("lost communication with the board.", "lost comms");
up.close();
return false;
}
catch (Exception ex)
{
MissionPlanner.Utilities.Tracking.AddEvent("FWUpload", "verifyotp", "Exception", "");
log.Error(ex);
CustomMessageBox.Show("lost communication with the board. " + ex.ToString(), "lost comms");
up.close();
return false;
}
try
{
up.currentChecksum(fw);
}
catch (IOException ex)
{
log.Error(ex);
CustomMessageBox.Show("lost communication with the board.", "lost comms");
up.close();
return false;
}
catch
{
up.__reboot();
up.close();
CustomMessageBox.Show("No need to upload. already on the board");
return true;
}
try
{
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();
}
// wait for IO firmware upgrade and boot to a mavlink state
CustomMessageBox.Show("Please wait for the musical tones to finish before clicking OK");
return true;
}
}
updateProgress(0, "ERROR: No Response from board");
return false;
}
private void FWUpload(object?a)
{
try
{
Tuple <int, string> passin = (Tuple <int, string>)a;
var index = passin.Item1;
var portname = passin.Item2;
var tryupload = true;
lock (ports)
if (ports.Contains(portname))
{
tryupload = false;
}
if (tryupload)
{
var fw = Firmware.ProcessFirmware(_args[0]);
Uploader up = null;
try
{
up = new px4uploader.Uploader(new SerialPort(portname, 115200));
}
catch
{
}
if (up != null)
{
up.ProgressEvent += completed =>
{
/* this.BeginInvoke(new Action(() =>
* {
* textBox1.AppendText(portname + " " + (int)completed + "\r\n");
* }));*/
};
bool flashit = false;
bool validcomms = false;
try
{
up.identify();
validcomms = true;
up.currentChecksum(fw);
flashit = true;
}
catch (Exception ex)
{
AppendLine(ex.Message);
}
if (flashit)
{
this.BeginInvoke(new Action(() => { textBox1.AppendText(portname + " Flashing fw\r\n"); }));
up.upload(fw);
}
else
{
this.BeginInvoke(new Action(() => { textBox1.AppendText(portname + " reboot\r\n"); }));
up.__reboot();
}
lock (ports)
ports.Add(portname);
up.close();
this.BeginInvoke(new Action(() => { textBox1.AppendText(portname + " Done fw\r\n"); }));
if (validcomms)
{
return;
}
}
}
var mav = new MAVLinkInterface();
mav.BaseStream = new SerialPort((string)portname, 115200);
var bldone = false;
mav.OnPacketReceived += (sender, message) =>
{
if (message.msgid == (ulong)MAVLink.MAVLINK_MSG_ID.STATUSTEXT)
{
if (ASCIIEncoding.ASCII.GetString(message.ToStructure <MAVLink.mavlink_statustext_t>().text).Trim().Contains("Bootloader up-to-date") ||
ASCIIEncoding.ASCII.GetString(message.ToStructure <MAVLink.mavlink_statustext_t>().text).Trim().Contains("Flash OK"))
{
bldone = true;
}
DisplayText(message);
}
};
try
{
mav.BaseStream.Open();
mav.getHeartBeat();
mav.doCommand(MAVLink.MAV_CMD.FLASH_BOOTLOADER, 0, 0, 0, 0, 290876, 0, 0, false);
mav.getHeartBeat();
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
mav.Close();
this.BeginInvoke(new Action(() =>
{
textBox1.AppendText(portname + " Done bl " + (bldone ? "OK" : "FAIL") + "\r\n");
}));
}
catch (Exception ex)
{
AppendLine(ex.Message);
}
}
catch (Exception ex)
{
AppendLine(ex.Message);
}
}
private void FWUpload(object a)
{
Tuple <int, string> passin = (Tuple <int, string>)a;
var index = passin.Item1;
var portname = passin.Item2;
Console.WriteLine("Thread start for " + portname);
try
{
if (!portstatus.ContainsKey(portname))
{
portstatus[portname] = "";
}
{
Uploader up = null;
try
{
up = new px4uploader.Uploader(new SerialPort(portname, 115200));
}
catch
{
}
if (up != null)
{
up.ProgressEvent += completed =>
{
/* this.BeginInvoke(new Action(() =>
* {
* textBox1.AppendText(portname + " " + (int)completed + "\r\n");
* }));*/
};
bool flashit = false;
bool validcomms = false;
Firmware fw = null;
try
{
up.identify();
validcomms = true;
portstatus[portname] += "BL ";
UpdateTextBox();
fw = Firmware.ProcessFirmware(_args[0]);
up.currentChecksum(fw);
fw.board_id = up.board_type;
flashit = true;
portstatus[portname] += "CS ";
UpdateTextBox();
}
catch (Exception ex)
{
if (ex.Message.Contains("Same Firmware"))
{
portstatus[portname] += "BLUPD OK ";
}
else
{
portstatus[portname] += "BLEX ";
}
UpdateTextBox();
}
if (flashit)
{
DateTime ts = DateTime.Now;
up.ProgressEvent += completed =>
{
if (ts.Second != DateTime.Now.Second)
{
Console.WriteLine("{0}: {1}", portname, completed);
ts = DateTime.Now;
}
};
up.upload(fw);
portstatus[portname] += "BLUPD OK ";
UpdateTextBox();
}
else
{
up.__reboot();
UpdateTextBox();
}
up.close();
if (validcomms)
{
return;
}
}
}
var ports = getPortByVPidInt(txt_vid.Text, txt_pid.Text, txt_int.Text);
if (!ports.Contains(portname))
{
portstatus[portname] += "NOTML OK ";
UpdateTextBox();
return;
}
var mav = new MAVLinkInterface();
mav.BaseStream = new SerialPort((string)portname, 115200);
var bldone = false;
mav.OnPacketReceived += (sender, message) =>
{
if (message.msgid == (ulong)MAVLink.MAVLINK_MSG_ID.STATUSTEXT)
{
if (ASCIIEncoding.ASCII.GetString(message.ToStructure <MAVLink.mavlink_statustext_t>().text).Trim().Contains("Bootloader up-to-date") ||
ASCIIEncoding.ASCII.GetString(message.ToStructure <MAVLink.mavlink_statustext_t>().text).Trim().Contains("Flash OK"))
{
bldone = true;
portstatus[portname] += ASCIIEncoding.ASCII
.GetString(message.ToStructure <MAVLink.mavlink_statustext_t>().text).Trim()
.TrimEnd(new char[] { '\0', '\r', '\n' });
UpdateTextBox();
}
//DisplayText(message);
}
};
try
{
mav.BaseStream.Open();
mav.getHeartBeat();
mav.doCommand(MAVLink.MAV_CMD.FLASH_BOOTLOADER, 0, 0, 0, 0, 290876, 0, 0, false);
mav.getHeartBeat();
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
mav.Close();
if (bldone)
{
portstatus[portname] += "MLBLUPD OK";
}
UpdateTextBox();
}
catch (Exception ex)
{
portstatus[portname] += "MLEX ";
UpdateTextBox();
}
}
catch (Exception ex)
{
portstatus[portname] += "EX!! ";
UpdateTextBox();
}
UpdateTextBox();
}
