/// <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, string version)
{
ArduinoComms port = new ArduinoSTK();
if (version == "1280")
{
port = new ArduinoSTK();
port.BaudRate = 57600;
}
else if (version == "2560" || version == "2560-2")
{
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++;
}
}
}
}
return -1;
}
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;
}
/// <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 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;
}
/// <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, string version)
{
IArduinoComms port = new ArduinoSTK();
if (version == "1280")
{
port = new ArduinoSTK();
port.BaudRate = 57600;
}
else if (version == "2560" || version == "2560-2")
{
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 = ArduinoDetect.type_size((ArduinoDetect.ap_var_type)Enum.Parse(typeof(ArduinoDetect.ap_var_type), type.ToString()));
Console.Write("{0:X4}: type {1} ({2}) key {3} group_element {4} size {5} value ", pos - 4, type, ArduinoDetect.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);
}