//Load custom firmware (old CTRL+C shortcut)
private void Custom_firmware_label_Click(object sender, EventArgs e)
{
var fd = new OpenFileDialog {
Filter = "Firmware (*.hex;*.px4)|*.hex;*.px4"
};
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);
fw.Progress -= fw_Progress;
fw.Progress += fw_Progress1;
BoardDetect.boards boardtype = BoardDetect.boards.none;
try
{
boardtype = BoardDetect.DetectBoard(MainV2.comPortName);
}
catch
{
CustomMessageBox.Show("Can not connect to com port and detect board type", "Error");
return;
}
fw.UploadFlash(MainV2.comPortName, fd.FileName, boardtype);
}
}
/// <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 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);
}
/// <summary>
/// Do full update - get firmware from internet
/// </summary>
/// <param name="temp"></param>
/// <param name="historyhash"></param>
public bool update(string comport, software temp, string historyhash)
{
BoardDetect.boards board = BoardDetect.boards.none;
try
{
updateProgress(-1, Strings.DetectingBoardVersion);
board = BoardDetect.DetectBoard(comport);
if (board == BoardDetect.boards.none)
{
CustomMessageBox.Show(Strings.CantDetectBoardVersion);
return(false);
}
int apmformat_version = -1; // fail continue
if (board != BoardDetect.boards.px4 && board != BoardDetect.boards.px4v2 && 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)
{
try
{
apmformat_version = BoardDetect.decodeApVar(comport, board);
}
catch { }
if (apmformat_version != -1 && apmformat_version != temp.k_format_version)
{
if (DialogResult.No == CustomMessageBox.Show(Strings.EppromChanged, String.Format(Strings.EppromFormatChanged, apmformat_version, temp.k_format_version), MessageBoxButtons.YesNo))
{
CustomMessageBox.Show(Strings.PleaseConnectAndBackupConfig);
return(false);
}
}
}
log.Info("Detected a " + board);
updateProgress(-1, Strings.DetectedA + board);
string baseurl = "";
if (board == BoardDetect.boards.b2560)
{
baseurl = temp.url2560.ToString();
}
else if (board == BoardDetect.boards.b1280)
{
baseurl = temp.url.ToString();
}
else if (board == BoardDetect.boards.b2560v2)
{
baseurl = temp.url2560_2.ToString();
}
else if (board == BoardDetect.boards.px4)
{
baseurl = temp.urlpx4v1.ToString();
}
else if (board == BoardDetect.boards.px4v2)
{
baseurl = temp.urlpx4v2.ToString();
}
else if (board == BoardDetect.boards.vrbrainv40)
{
baseurl = temp.urlvrbrainv40.ToString();
}
else if (board == BoardDetect.boards.vrbrainv45)
{
baseurl = temp.urlvrbrainv45.ToString();
}
else if (board == BoardDetect.boards.vrbrainv50)
{
baseurl = temp.urlvrbrainv50.ToString();
}
else if (board == BoardDetect.boards.vrbrainv51)
{
baseurl = temp.urlvrbrainv51.ToString();
}
else if (board == BoardDetect.boards.vrbrainv52)
{
baseurl = temp.urlvrbrainv52.ToString();
}
else if (board == BoardDetect.boards.vrherov10)
{
baseurl = temp.urlvrherov10.ToString();
}
else if (board == BoardDetect.boards.vrubrainv51)
{
baseurl = temp.urlvrubrainv51.ToString();
}
else if (board == BoardDetect.boards.vrubrainv52)
{
baseurl = temp.urlvrubrainv52.ToString();
}
else if (board == BoardDetect.boards.vrgimbalv20)
{
baseurl = temp.urlvrgimbalv20.ToString();
}
else if (board == BoardDetect.boards.vrugimbalv11)
{
baseurl = temp.urlvrugimbalv11.ToString();
}
else
{
CustomMessageBox.Show(Strings.InvalidBoardType);
return(false);
}
if (board < BoardDetect.boards.px4)
{
if (temp.name.ToLower().Contains("arducopter"))
{
CustomMessageBox.Show("This board has been retired, Mission Planner this will upload the last available version to your board", "Note");
}
}
if (historyhash != "")
{
baseurl = getUrl(historyhash, baseurl);
}
// update to use mirror url
Localizations.ReplaceMirrorUrl(ref baseurl);
log.Info("Using " + baseurl);
// Create a request using a URL that can receive a post.
WebRequest request = WebRequest.Create(baseurl);
request.Timeout = 10000;
// Set the Method property of the request to POST.
request.Method = "GET";
// Get the request stream.
Stream dataStream; //= request.GetRequestStream();
// Get the response.
WebResponse response = request.GetResponse();
// Display the status.
log.Info(((HttpWebResponse)response).StatusDescription);
// Get the stream containing content returned by the server.
dataStream = response.GetResponseStream();
long bytes = response.ContentLength;
long contlen = bytes;
byte[] buf1 = new byte[1024];
FileStream fs = new FileStream(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"firmware.hex", FileMode.Create);
updateProgress(0, Strings.DownloadingFromInternet);
dataStream.ReadTimeout = 30000;
while (dataStream.CanRead)
{
try
{
updateProgress(50, Strings.DownloadingFromInternet);
}
catch { }
int len = dataStream.Read(buf1, 0, 1024);
if (len == 0)
{
break;
}
bytes -= len;
fs.Write(buf1, 0, len);
}
fs.Close();
dataStream.Close();
response.Close();
updateProgress(100, Strings.DownloadedFromInternet);
log.Info("Downloaded");
}
catch (Exception ex)
{
updateProgress(50, Strings.FailedDownload);
CustomMessageBox.Show("Failed to download new firmware : " + ex.ToString());
return(false);
}
MissionPlanner.Utilities.Tracking.AddFW(temp.name, board.ToString());
return(UploadFlash(comport, Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"firmware.hex", board));
}
/// <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>
/// 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>
/// Do full update - get firmware from internet
/// </summary>
/// <param name="temp"></param>
/// <param name="historyhash"></param>
public bool update(string comport, software temp, string historyhash)
{
BoardDetect.boards board = BoardDetect.boards.none;
try
{
updateProgress(-1, "Detecting Board Version");
board = BoardDetect.DetectBoard(comport);
if (board == BoardDetect.boards.none)
{
CustomMessageBox.Show("Cant detect your Board version. Please check your cabling");
return(false);
}
int apmformat_version = -1; // fail continue
if (board != BoardDetect.boards.px4 && board != BoardDetect.boards.px4v2 && board != BoardDetect.boards.vrbrainv40 && board != BoardDetect.boards.vrbrainv45 && board != BoardDetect.boards.vrbrainv50 && board != BoardDetect.boards.vrbrainv51 && board != BoardDetect.boards.vrherov10)
{
try
{
apmformat_version = BoardDetect.decodeApVar(comport, board);
}
catch { }
if (apmformat_version != -1 && apmformat_version != temp.k_format_version)
{
if (DialogResult.No == CustomMessageBox.Show("Epprom changed, all your setting will be lost during the update,\nDo you wish to continue?", "Epprom format changed (" + apmformat_version + " vs " + temp.k_format_version + ")", MessageBoxButtons.YesNo))
{
CustomMessageBox.Show("Please connect and backup your config in the configuration tab.");
return(false);
}
}
}
log.Info("Detected a " + board);
updateProgress(-1, "Detected a " + board);
string baseurl = "";
if (board == BoardDetect.boards.b2560)
{
baseurl = temp.url2560.ToString();
}
else if (board == BoardDetect.boards.b1280)
{
baseurl = temp.url.ToString();
}
else if (board == BoardDetect.boards.b2560v2)
{
baseurl = temp.url2560_2.ToString();
}
else if (board == BoardDetect.boards.px4)
{
baseurl = temp.urlpx4v1.ToString();
}
else if (board == BoardDetect.boards.px4v2)
{
baseurl = temp.urlpx4v2.ToString();
}
else if (board == BoardDetect.boards.vrbrainv40)
{
baseurl = temp.urlvrbrainv40.ToString();
}
else if (board == BoardDetect.boards.vrbrainv45)
{
baseurl = temp.urlvrbrainv45.ToString();
}
else if (board == BoardDetect.boards.vrbrainv50)
{
baseurl = temp.urlvrbrainv50.ToString();
}
else if (board == BoardDetect.boards.vrbrainv51)
{
baseurl = temp.urlvrbrainv51.ToString();
}
else if (board == BoardDetect.boards.vrherov10)
{
baseurl = temp.urlvrherov10.ToString();
}
else
{
CustomMessageBox.Show("Invalid Board Type");
return(false);
}
if (historyhash != "")
{
baseurl = getUrl(historyhash, baseurl);
}
log.Info("Using " + baseurl);
// Create a request using a URL that can receive a post.
WebRequest request = WebRequest.Create(baseurl);
request.Timeout = 10000;
// Set the Method property of the request to POST.
request.Method = "GET";
// Get the request stream.
Stream dataStream; //= request.GetRequestStream();
// Get the response.
WebResponse response = request.GetResponse();
// Display the status.
log.Info(((HttpWebResponse)response).StatusDescription);
// Get the stream containing content returned by the server.
dataStream = response.GetResponseStream();
long bytes = response.ContentLength;
long contlen = bytes;
byte[] buf1 = new byte[1024];
FileStream fs = new FileStream(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"firmware.hex", FileMode.Create);
updateProgress(0, "Downloading from Internet");
dataStream.ReadTimeout = 30000;
while (dataStream.CanRead)
{
try
{
updateProgress(50, "Downloading from Internet");
}
catch { }
int len = dataStream.Read(buf1, 0, 1024);
if (len == 0)
{
break;
}
bytes -= len;
fs.Write(buf1, 0, len);
}
fs.Close();
dataStream.Close();
response.Close();
updateProgress(100, "Downloaded from Internet");
log.Info("Downloaded");
}
catch (Exception ex) { updateProgress(50, "Failed download"); CustomMessageBox.Show("Failed to download new firmware : " + ex.ToString()); return(false); }
MissionPlanner.Utilities.Tracking.AddFW(temp.name, board.ToString());
return(UploadFlash(comport, Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"firmware.hex", board));
}
/// <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);
}
/// <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(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 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.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(Strings.NoNeedToUpload);
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(Strings.PleaseWaitForTheMusicalTones);
return(true);
}
}
updateProgress(0, "ERROR: No Response from board");
return(false);
}
/// <summary>
/// Do full update - get firmware from internet
/// </summary>
/// <param name="temp"></param>
/// <param name="historyhash"></param>
public bool update(string comport, software temp, string historyhash)
{
BoardDetect.boards board = BoardDetect.boards.none;
try
{
updateProgress(-1, Strings.DetectingBoardVersion);
board = BoardDetect.DetectBoard(comport);
if (board == BoardDetect.boards.none)
{
CustomMessageBox.Show(Strings.CantDetectBoardVersion);
return(false);
}
log.Info("Detected a " + board);
updateProgress(-1, Strings.DetectedA + board);
string baseurl = "";
if (board == BoardDetect.boards.b2560)
{
baseurl = temp.url2560.ToString();
}
else if (board == BoardDetect.boards.b1280)
{
baseurl = temp.url.ToString();
}
else if (board == BoardDetect.boards.b2560v2)
{
baseurl = temp.url2560_2.ToString();
}
else if (board == BoardDetect.boards.px4)
{
baseurl = temp.urlpx4v1.ToString();
}
else if (board == BoardDetect.boards.px4v2)
{
baseurl = temp.urlpx4v2.ToString();
}
else if (board == BoardDetect.boards.px4v4)
{
baseurl = temp.urlpx4v4.ToString();
}
else if (board == BoardDetect.boards.vrbrainv40)
{
baseurl = temp.urlvrbrainv40.ToString();
}
else if (board == BoardDetect.boards.vrbrainv45)
{
baseurl = temp.urlvrbrainv45.ToString();
}
else if (board == BoardDetect.boards.vrbrainv50)
{
baseurl = temp.urlvrbrainv50.ToString();
}
else if (board == BoardDetect.boards.vrbrainv51)
{
baseurl = temp.urlvrbrainv51.ToString();
}
else if (board == BoardDetect.boards.vrbrainv52)
{
baseurl = temp.urlvrbrainv52.ToString();
}
else if (board == BoardDetect.boards.vrcorev10)
{
baseurl = temp.urlvrcorev10.ToString();
}
else if (board == BoardDetect.boards.vrubrainv51)
{
baseurl = temp.urlvrubrainv51.ToString();
}
else if (board == BoardDetect.boards.vrubrainv52)
{
baseurl = temp.urlvrubrainv52.ToString();
}
else
{
CustomMessageBox.Show(Strings.InvalidBoardType);
return(false);
}
if (board < BoardDetect.boards.px4)
{
if (temp.name.ToLower().Contains("arducopter"))
{
CustomMessageBox.Show(Strings.ThisBoardHasBeenRetired, Strings.Note);
}
}
if (historyhash != "")
{
baseurl = getUrl(historyhash, baseurl);
}
// update to use mirror url
L10N.ReplaceMirrorUrl(ref baseurl);
log.Info("Using " + baseurl);
// Create a request using a URL that can receive a post.
WebRequest request = WebRequest.Create(baseurl);
request.Timeout = 10000;
// Set the Method property of the request to POST.
request.Method = "GET";
// Get the request stream.
Stream dataStream; //= request.GetRequestStream();
// Get the response (using statement is exception safe)
using (WebResponse response = request.GetResponse())
{
// Display the status.
log.Info(((HttpWebResponse)response).StatusDescription);
// Get the stream containing content returned by the server.
using (dataStream = response.GetResponseStream())
{
long bytes = response.ContentLength;
long contlen = bytes;
byte[] buf1 = new byte[1024];
using (FileStream fs = new FileStream(
Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar +
@"firmware.hex", FileMode.Create))
{
updateProgress(0, Strings.DownloadingFromInternet);
long length = response.ContentLength;
long progress = 0;
dataStream.ReadTimeout = 30000;
while (dataStream.CanRead)
{
try
{
updateProgress(length == 0 ? 50 : (int)((progress * 100) / length), Strings.DownloadingFromInternet);
}
catch
{
}
int len = dataStream.Read(buf1, 0, 1024);
if (len == 0)
{
break;
}
progress += len;
bytes -= len;
fs.Write(buf1, 0, len);
}
fs.Close();
}
dataStream.Close();
}
response.Close();
}
updateProgress(100, Strings.DownloadedFromInternet);
log.Info("Downloaded");
}
catch (Exception ex)
{
updateProgress(50, Strings.FailedDownload);
CustomMessageBox.Show("Failed to download new firmware : " + ex.ToString());
return(false);
}
MissionPlanner.Utilities.Tracking.AddFW(temp.name, board.ToString());
return(UploadFlash(comport,
Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"firmware.hex", board));
}
