/// <summary>
/// STK v2 generate packet
/// </summary>
/// <param name="serialPort"></param>
/// <param name="message"></param>
/// <returns></returns>
static byte[] genstkv2packet(SerialPort serialPort, byte[] message)
{
byte[] data = new byte[300];
byte ck = 0;
data[0] = 0x1b;
ck ^= data[0];
data[1] = 0x1;
ck ^= data[1];
data[2] = (byte)((message.Length >> 8) & 0xff);
ck ^= data[2];
data[3] = (byte)(message.Length & 0xff);
ck ^= data[3];
data[4] = 0xe;
ck ^= data[4];
int a = 5;
foreach (byte let in message)
{
data[a] = let;
ck ^= let;
a++;
}
data[a] = ck;
a++;
serialPort.Write(data, 0, a);
//Console.WriteLine("about to read packet");
byte[] ret = ArduinoDetect.readpacket(serialPort);
//if (ret[1] == 0x0)
{
//Console.WriteLine("received OK");
}
return(ret);
}
/// <summary>
/// detects STK version 1 or 2
/// </summary>
/// <param name="port">comportname</param>
/// <returns>string either (1280/2560) or "" for none</returns>
public static string DetectVersion(string port)
{
SerialPort serialPort = new SerialPort();
serialPort.PortName = port;
if (serialPort.IsOpen)
{
serialPort.Close();
}
serialPort.DtrEnable = true;
serialPort.BaudRate = 57600;
serialPort.Open();
Thread.Sleep(100);
int a = 0;
while (a < 20) // 20 * 50 = 1 sec
{
//Console.WriteLine("write " + DateTime.Now.Millisecond);
serialPort.DiscardInBuffer();
serialPort.Write(new byte[] { (byte)'0', (byte)' ' }, 0, 2);
a++;
Thread.Sleep(50);
//Console.WriteLine("btr {0}", serialPort.BytesToRead);
if (serialPort.BytesToRead >= 2)
{
byte b1 = (byte)serialPort.ReadByte();
byte b2 = (byte)serialPort.ReadByte();
if (b1 == 0x14 && b2 == 0x10)
{
serialPort.Close();
return("1280");
}
}
}
serialPort.Close();
log.Warn("Not a 1280");
Thread.Sleep(500);
serialPort.DtrEnable = true;
serialPort.BaudRate = 115200;
serialPort.Open();
Thread.Sleep(100);
a = 0;
while (a < 4)
{
byte[] temp = new byte[] { 0x6, 0, 0, 0, 0 };
temp = ArduinoDetect.genstkv2packet(serialPort, temp);
a++;
Thread.Sleep(50);
try
{
if (temp[0] == 6 && temp[1] == 0 && temp.Length == 2)
{
serialPort.Close();
return("2560");
}
}
catch
{
}
}
serialPort.Close();
log.Warn("Not a 2560");
return("");
}
/// <summary>
/// Detects APM board version
/// </summary>
/// <param name="port"></param>
/// <returns> (1280/2560/2560-2)</returns>
public static string DetectBoard(string port)
{
SerialPort serialPort = new SerialPort();
serialPort.PortName = port;
if (serialPort.IsOpen)
{
serialPort.Close();
}
serialPort.DtrEnable = true;
serialPort.BaudRate = 57600;
serialPort.Open();
Thread.Sleep(100);
int a = 0;
while (a < 20) // 20 * 50 = 1 sec
{
//Console.WriteLine("write " + DateTime.Now.Millisecond);
serialPort.DiscardInBuffer();
serialPort.Write(new byte[] { (byte)'0', (byte)' ' }, 0, 2);
a++;
Thread.Sleep(50);
//Console.WriteLine("btr {0}", serialPort.BytesToRead);
if (serialPort.BytesToRead >= 2)
{
byte b1 = (byte)serialPort.ReadByte();
byte b2 = (byte)serialPort.ReadByte();
if (b1 == 0x14 && b2 == 0x10)
{
serialPort.Close();
return("1280");
}
}
}
serialPort.Close();
log.Warn("Not a 1280");
Thread.Sleep(500);
serialPort.DtrEnable = true;
serialPort.BaudRate = 115200;
serialPort.Open();
Thread.Sleep(100);
a = 0;
while (a < 4)
{
byte[] temp = new byte[] { 0x6, 0, 0, 0, 0 };
temp = ArduinoDetect.genstkv2packet(serialPort, temp);
a++;
Thread.Sleep(50);
try
{
if (temp[0] == 6 && temp[1] == 0 && temp.Length == 2)
{
serialPort.Close();
//HKEY_LOCAL_MACHINE\SYSTEM\CurrentControlSet\Enum\USB\VID_2341&PID_0010\640333439373519060F0\Device Parameters
if (!MainV2.MONO && !Thread.CurrentThread.CurrentUICulture.IsChildOf(CultureInfoEx.GetCultureInfo("zh-Hans")))
{
ObjectQuery query = new ObjectQuery("SELECT * FROM Win32_USBControllerDevice");
ManagementObjectSearcher searcher = new ManagementObjectSearcher(query);
foreach (ManagementObject obj2 in searcher.Get())
{
//Console.WriteLine("Dependant : " + obj2["Dependent"]);
// all apm 1-1.4 use a ftdi on the imu board.
if (obj2["Dependent"].ToString().Contains(@"USB\\VID_2341&PID_0010"))
{
return("2560-2");
}
}
return("2560");
}
else
{
if (DialogResult.Yes == CustomMessageBox.Show("Is this a APM 2?", "APM 2", MessageBoxButtons.YesNo))
{
return("2560-2");
}
else
{
return("2560");
}
}
}
}
catch { }
}
serialPort.Close();
log.Warn("Not a 2560");
return("");
}