private void BUT_flashup_Click(object sender, EventArgs e)
{
byte[] FLASH = new byte[1];
try
{
StreamReader sr = new StreamReader(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"firmware.hex");
FLASH = readIntelHEXv2(sr);
sr.Close();
}
catch (Exception ex) { CustomMessageBox.Show("Failed to read firmware.hex : " + ex.Message); }
IArduinoComms port = new ArduinoSTK();
if (DialogResult.Yes == CustomMessageBox.Show("is this a 1280?", "", MessageBoxButtons.YesNo))
{
port = new ArduinoSTK();
port.BaudRate = 57600;
}
else
{
port = new ArduinoSTKv2();
port.BaudRate = 115200;
}
port.DataBits = 8;
port.StopBits = StopBits.One;
port.Parity = Parity.None;
port.DtrEnable = true;
try
{
port.PortName = ArdupilotMega.MainV2.comPortName;
port.Open();
if (port.connectAP())
{
log.Info("starting");
port.uploadflash(FLASH, 0, FLASH.Length, 0);
log.Info("Uploaded");
}
else
{
CustomMessageBox.Show("Communication Error - no connection");
}
port.Close();
}
catch (Exception ex) { CustomMessageBox.Show("Check port settings or Port in use? " + ex.ToString()); port.Close(); }
}
private void BUT_copy2560_Click(object sender, EventArgs e)
{
ArduinoSTKv2 port = new ArduinoSTKv2();
port.BaudRate = 115200;
port.DataBits = 8;
port.StopBits = StopBits.One;
port.Parity = Parity.None;
port.DtrEnable = true;
try
{
port.PortName = ArdupilotMega.MainV2.comPortName;
log.Info("Open Port");
port.Open();
log.Info("Connect AP");
if (port.connectAP())
{
log.Info("Download AP");
byte[] EEPROM = new byte[1024 * 4];
for (int a = 0; a < EEPROM.Length; a += 0x100)
{
port.setaddress(a);
port.download(0x100).CopyTo(EEPROM, a);
}
log.Info("Verify State");
if (port.keepalive())
{
StreamWriter sw = new StreamWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"EEPROM2560.bin");
BinaryWriter bw = new BinaryWriter(sw.BaseStream);
bw.Write(EEPROM, 0, EEPROM.Length);
bw.Close();
log.Info("Download AP");
byte[] FLASH = new byte[1024 * 256];
for (int a = 0; a < FLASH.Length; a += 0x100)
{
port.setaddress(a);
port.downloadflash(0x100).CopyTo(FLASH, a);
}
sw = new StreamWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"FLASH2560.bin");
bw = new BinaryWriter(sw.BaseStream);
bw.Write(FLASH, 0, FLASH.Length);
bw.Close();
}
else
{
CustomMessageBox.Show("Communication Error - Bad data");
}
}
else
{
CustomMessageBox.Show("Communication Error - no connection");
}
port.Close();
}
catch (Exception ex) { CustomMessageBox.Show("Port Error? " + ex.ToString()); if (port != null && port.IsOpen)
{
port.Close();
}
}
}
private void BUT_dleeprom_Click(object sender, EventArgs e)
{
IArduinoComms port = new ArduinoSTK();
if (DialogResult.Yes == CustomMessageBox.Show("is this a 1280?", "", MessageBoxButtons.YesNo))
{
port = new ArduinoSTK();
port.BaudRate = 57600;
}
else
{
port = new ArduinoSTKv2();
port.BaudRate = 115200;
}
port.DataBits = 8;
port.StopBits = StopBits.One;
port.Parity = Parity.None;
port.DtrEnable = true;
try
{
port.PortName = ArdupilotMega.MainV2.comPortName;
log.Info("Open Port");
port.Open();
log.Info("Connect AP");
if (port.connectAP())
{
log.Info("Download AP");
byte[] EEPROM = new byte[1024 * 4];
for (int a = 0; a < 4 * 1024; a += 0x100)
{
port.setaddress(a);
port.download(0x100).CopyTo(EEPROM, a);
}
log.Info("Verify State");
if (port.keepalive())
{
StreamWriter sw = new StreamWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"EEPROM.bin");
BinaryWriter bw = new BinaryWriter(sw.BaseStream);
bw.Write(EEPROM, 0, 1024 * 4);
bw.Close();
}
else
{
CustomMessageBox.Show("Communication Error - Bad data");
}
}
else
{
CustomMessageBox.Show("Communication Error - no connection");
}
port.Close();
}
catch (Exception ex) { CustomMessageBox.Show("Port Error? " + ex.ToString()); if (port != null && port.IsOpen)
{
port.Close();
}
}
}
private void BUT_wipeeeprom_Click(object sender, EventArgs e)
{
byte[] EEPROM = new byte[4 * 1024];
for (int i = 0; i < EEPROM.Length; i++)
{
EEPROM[i] = 0xff;
}
IArduinoComms port = new ArduinoSTK();
if (DialogResult.Yes == CustomMessageBox.Show("is this a 1280?", "", MessageBoxButtons.YesNo))
{
port = new ArduinoSTK();
port.BaudRate = 57600;
}
else
{
port = new ArduinoSTKv2();
port.BaudRate = 115200;
}
port.DataBits = 8;
port.StopBits = StopBits.One;
port.Parity = Parity.None;
port.DtrEnable = true;
port.PortName = ArdupilotMega.MainV2.comPortName;
try
{
port.Open();
if (port.connectAP())
{
// waypoints
int start = 0;
int end = 1024 * 4;
log.Info(start + " to " + end);
port.upload(EEPROM, (short)start, (short)(end - start), (short)start);
if (port.keepalive())
{
// Config
if (port.keepalive())
{
System.Threading.Thread.Sleep(2000);
//MessageBox.Show("Upload Completed");
}
else
{
CustomMessageBox.Show("Communication Error - WPs wrote but no config");
}
}
else
{
CustomMessageBox.Show("Communication Error - Bad data");
}
}
else
{
CustomMessageBox.Show("Communication Error - no connection");
}
port.Close();
}
catch (Exception ex) { CustomMessageBox.Show("Port in use? " + ex.ToString()); port.Close(); }
}
private void BUT_flashdl_Click(object sender, EventArgs e)
{
byte[] FLASH = new byte[256 * 1024];
IArduinoComms port = new ArduinoSTK();
if (DialogResult.Yes == CustomMessageBox.Show("is this a 1280?", "", MessageBoxButtons.YesNo))
{
port = new ArduinoSTK();
port.BaudRate = 57600;
}
else
{
port = new ArduinoSTKv2();
port.BaudRate = 115200;
}
port.DataBits = 8;
port.StopBits = StopBits.One;
port.Parity = Parity.None;
port.DtrEnable = true;
port.PortName = ArdupilotMega.MainV2.comPortName;
try
{
port.Open();
System.Threading.Thread.Sleep(100);
if (port.connectAP())
{
// waypoints
int start = 0;
short length = 0x100;
log.Info(start + " to " + FLASH.Length);
while (start < FLASH.Length)
{
log.Info("Doing " + length + " at " + start);
port.setaddress(start);
port.downloadflash(length).CopyTo(FLASH, start);
start += length;
}
StreamWriter sw = new StreamWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"flash.bin", false);
BinaryWriter bw = new BinaryWriter(sw.BaseStream);
bw.Write(FLASH, 0, FLASH.Length);
bw.Close();
sw = new StreamWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"flash.hex", false);
for (int i = 0; i < FLASH.Length; i += 16)
{
string add = string.Format("{0:X4}", i);
if (i % (0x1000 << 4) == 0)
{
if (i != 0)
{
sw.WriteLine(":02000002{0:X4}{1:X2}", ((i >> 4) & 0xf000), 0x100 - (2 + 2 + (((i >> 4) & 0xf000) >> 8) & 0xff));
}
}
if (add.Length == 5)
{
add = add.Substring(1);
}
sw.Write(":{0:X2}{1}00", 16, add);
byte ck = (byte)(16 + (i & 0xff) + ((i >> 8) & 0xff));
for (int a = 0; a < 16; a++)
{
ck += FLASH[i + a];
sw.Write("{0:X2}", FLASH[i + a]);
}
sw.WriteLine("{0:X2}", (byte)(0x100 - ck));
}
sw.Close();
log.Info("Downloaded");
}
else
{
CustomMessageBox.Show("Communication Error - no connection");
}
port.Close();
}
catch (Exception ex) { CustomMessageBox.Show("Port in use? " + ex.ToString()); port.Close(); }
}
private void BUT_wipeeeprom_Click(object sender, EventArgs e)
{
byte[] EEPROM = new byte[4*1024];
for (int i = 0; i < EEPROM.Length;i++)
{
EEPROM[i] = 0xff;
}
ArduinoComms port = new ArduinoSTK();
if (DialogResult.Yes == MessageBox.Show("is this a 1280?", "", MessageBoxButtons.YesNo))
{
port = new ArduinoSTK();
port.BaudRate = 57600;
}
else
{
port = new ArduinoSTKv2();
port.BaudRate = 115200;
}
port.DataBits = 8;
port.StopBits = StopBits.One;
port.Parity = Parity.None;
port.DtrEnable = true;
port.PortName = ArdupilotMega.MainV2.comportname;
try
{
port.Open();
if (port.connectAP())
{
// waypoints
int start = 0;
int end = 1024*4;
Console.WriteLine(start + " to " + end);
port.upload(EEPROM, (short)start, (short)(end - start), (short)start);
if (port.keepalive())
{
// Config
if (port.keepalive())
{
System.Threading.Thread.Sleep(2000);
//MessageBox.Show("Upload Completed");
}
else
{
MessageBox.Show("Communication Error - WPs wrote but no config");
}
}
else
{
MessageBox.Show("Communication Error - Bad data");
}
}
else
{
MessageBox.Show("Communication Error - no connection");
}
port.Close();
}
catch (Exception ex) { MessageBox.Show("Port in use? " + ex.ToString()); port.Close(); }
}
} // Swap
private void button1_Click(object sender, EventArgs e)
{
OpenFileDialog openFileDialog1 = new OpenFileDialog();
openFileDialog1.Filter = "EEPROM.bin|*.bin";
openFileDialog1.FilterIndex = 2;
openFileDialog1.RestoreDirectory = true;
openFileDialog1.InitialDirectory = Path.GetDirectoryName(Application.ExecutablePath);
if (openFileDialog1.ShowDialog() == DialogResult.OK)
{
try
{
StreamReader sr = new StreamReader(openFileDialog1.FileName);
BinaryReader br = new BinaryReader(sr.BaseStream);
byte[] EEPROM = br.ReadBytes(1024 * 4);
br.Close();
sr.Close();
IArduinoComms port = new ArduinoSTK();
if (DialogResult.Yes == CustomMessageBox.Show("is this a 1280?", "", MessageBoxButtons.YesNo))
{
port = new ArduinoSTK();
port.BaudRate = 57600;
}
else
{
port = new ArduinoSTKv2();
port.BaudRate = 115200;
}
port.DataBits = 8;
port.StopBits = StopBits.One;
port.Parity = Parity.None;
port.DtrEnable = true;
port.PortName = ArdupilotMega.MainV2.comPortName;
try
{
port.Open();
if (port.connectAP())
{
// waypoints
int start = 0;
int end = 1024 * 4;
log.Info(start + " to " + end);
port.upload(EEPROM, (short)start, (short)(end - start), (short)start);
if (port.keepalive())
{
// Config
if (port.keepalive())
{
System.Threading.Thread.Sleep(2000);
//MessageBox.Show("Upload Completed");
}
else
{
CustomMessageBox.Show("Communication Error - WPs wrote but no config");
}
}
else
{
CustomMessageBox.Show("Communication Error - Bad data");
}
}
else
{
CustomMessageBox.Show("Communication Error - no connection");
}
port.Close();
}
catch (Exception ex) { CustomMessageBox.Show("Port in use? " + ex.ToString()); port.Close(); }
}
catch (Exception) { CustomMessageBox.Show("Error reading file"); }
}
}
private void BUT_flashdl_Click(object sender, EventArgs e)
{
byte[] FLASH = new byte[256 * 1024];
ArduinoComms port = new ArduinoSTK();
if (DialogResult.Yes == MessageBox.Show("is this a 1280?", "", MessageBoxButtons.YesNo))
{
port = new ArduinoSTK();
port.BaudRate = 57600;
}
else
{
port = new ArduinoSTKv2();
port.BaudRate = 115200;
}
port.DataBits = 8;
port.StopBits = StopBits.One;
port.Parity = Parity.None;
port.DtrEnable = true;
port.PortName = ArdupilotMega.MainV2.comportname;
try
{
port.Open();
System.Threading.Thread.Sleep(100);
if (port.connectAP())
{
// waypoints
int start = 0;
short length = 0x100;
Console.WriteLine(start + " to " + FLASH.Length);
while (start < FLASH.Length)
{
Console.WriteLine("Doing " + length + " at " + start);
port.setaddress(start);
port.downloadflash(length).CopyTo(FLASH, start);
start += length;
}
StreamWriter sw = new StreamWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"flash.bin", false);
BinaryWriter bw = new BinaryWriter(sw.BaseStream);
bw.Write(FLASH, 0, FLASH.Length);
bw.Close();
sw = new StreamWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"flash.hex", false);
for (int i = 0; i < FLASH.Length; i += 16)
{
string add = string.Format("{0:X4}", i);
if (i % (0x1000 << 4) == 0)
{
if (i != 0)
sw.WriteLine(":02000002{0:X4}{1:X2}", ((i >> 4) & 0xf000), 0x100 - (2 + 2 + (((i >> 4) & 0xf000) >> 8) & 0xff));
}
if (add.Length == 5)
{
add = add.Substring(1);
}
sw.Write(":{0:X2}{1}00", 16, add);
byte ck = (byte)(16 + (i & 0xff) + ((i >> 8) & 0xff));
for (int a = 0; a < 16; a++)
{
ck += FLASH[i + a];
sw.Write("{0:X2}", FLASH[i + a]);
}
sw.WriteLine("{0:X2}", (byte)(0x100 - ck));
}
sw.Close();
Console.WriteLine("Downloaded");
}
else
{
MessageBox.Show("Communication Error - no connection");
}
port.Close();
}
catch (Exception ex) { MessageBox.Show("Port in use? " + ex.ToString()); port.Close(); }
}
private void BUT_flashup_Click(object sender, EventArgs e)
{
byte[] FLASH = new byte[1];
try
{
StreamReader sr = new StreamReader(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"firmware.hex");
FLASH = readIntelHEXv2(sr);
sr.Close();
}
catch (Exception ex) { MessageBox.Show("Failed to read firmware.hex : " + ex.Message); }
ArduinoComms port = new ArduinoSTK();
if (DialogResult.Yes == MessageBox.Show("is this a 1280?", "", MessageBoxButtons.YesNo))
{
port = new ArduinoSTK();
port.BaudRate = 57600;
}
else
{
port = new ArduinoSTKv2();
port.BaudRate = 115200;
}
port.DataBits = 8;
port.StopBits = StopBits.One;
port.Parity = Parity.None;
port.DtrEnable = true;
try
{
port.PortName = ArdupilotMega.MainV2.comportname;
port.Open();
if (port.connectAP())
{
Console.WriteLine("starting");
port.uploadflash(FLASH, 0, FLASH.Length, 0);
Console.WriteLine("Uploaded");
}
else
{
MessageBox.Show("Communication Error - no connection");
}
port.Close();
}
catch (Exception ex) { MessageBox.Show("Check port settings or Port in use? " + ex.ToString()); port.Close(); }
}
private void BUT_copy2560_Click(object sender, EventArgs e)
{
ArduinoSTKv2 port = new ArduinoSTKv2();
port.BaudRate = 115200;
port.DataBits = 8;
port.StopBits = StopBits.One;
port.Parity = Parity.None;
port.DtrEnable = true;
try
{
port.PortName = ArdupilotMega.MainV2.comportname;
Console.WriteLine("Open Port");
port.Open();
Console.WriteLine("Connect AP");
if (port.connectAP())
{
Console.WriteLine("Download AP");
byte[] EEPROM = new byte[1024 * 4];
for (int a = 0; a < EEPROM.Length; a += 0x100)
{
port.setaddress(a);
port.download(0x100).CopyTo(EEPROM, a);
}
Console.WriteLine("Verify State");
if (port.keepalive())
{
StreamWriter sw = new StreamWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"EEPROM2560.bin");
BinaryWriter bw = new BinaryWriter(sw.BaseStream);
bw.Write(EEPROM, 0, EEPROM.Length);
bw.Close();
Console.WriteLine("Download AP");
byte[] FLASH = new byte[1024 * 256];
for (int a = 0; a < FLASH.Length; a += 0x100)
{
port.setaddress(a);
port.downloadflash(0x100).CopyTo(FLASH, a);
}
sw = new StreamWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"FLASH2560.bin");
bw = new BinaryWriter(sw.BaseStream);
bw.Write(FLASH, 0, FLASH.Length);
bw.Close();
}
else
{
MessageBox.Show("Communication Error - Bad data");
}
}
else
{
MessageBox.Show("Communication Error - no connection");
}
port.Close();
}
catch (Exception ex) { MessageBox.Show("Port Error? " + ex.ToString()); if (port != null && port.IsOpen) { port.Close(); } }
}
private void BUT_dleeprom_Click(object sender, EventArgs e)
{
ArduinoComms port = new ArduinoSTK();
if (DialogResult.Yes == MessageBox.Show("is this a 1280?", "", MessageBoxButtons.YesNo))
{
port = new ArduinoSTK();
port.BaudRate = 57600;
}
else
{
port = new ArduinoSTKv2();
port.BaudRate = 115200;
}
port.DataBits = 8;
port.StopBits = StopBits.One;
port.Parity = Parity.None;
port.DtrEnable = true;
try
{
port.PortName = ArdupilotMega.MainV2.comportname;
Console.WriteLine("Open Port");
port.Open();
Console.WriteLine("Connect AP");
if (port.connectAP())
{
Console.WriteLine("Download AP");
byte[] EEPROM = new byte[1024*4];
for (int a = 0; a < 4 * 1024; a += 0x100)
{
port.setaddress(a);
port.download(0x100).CopyTo(EEPROM,a);
}
Console.WriteLine("Verify State");
if (port.keepalive())
{
StreamWriter sw = new StreamWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"EEPROM.bin");
BinaryWriter bw = new BinaryWriter(sw.BaseStream);
bw.Write(EEPROM, 0, 1024 * 4);
bw.Close();
}
else
{
MessageBox.Show("Communication Error - Bad data");
}
}
else
{
MessageBox.Show("Communication Error - no connection");
}
port.Close();
}
catch (Exception ex) { MessageBox.Show("Port Error? " + ex.ToString()); if (port != null && port.IsOpen) { port.Close(); } }
}
private void button1_Click(object sender, EventArgs e)
{
OpenFileDialog openFileDialog1 = new OpenFileDialog();
openFileDialog1.Filter = "EEPROM.bin|*.bin";
openFileDialog1.FilterIndex = 2;
openFileDialog1.RestoreDirectory = true;
openFileDialog1.InitialDirectory = Path.GetDirectoryName(Application.ExecutablePath);
if (openFileDialog1.ShowDialog() == DialogResult.OK)
{
try
{
StreamReader sr = new StreamReader(openFileDialog1.FileName);
BinaryReader br = new BinaryReader(sr.BaseStream);
byte[] EEPROM = br.ReadBytes(1024 * 4);
br.Close();
sr.Close();
ArduinoComms port = new ArduinoSTK();
if (DialogResult.Yes == MessageBox.Show("is this a 1280?", "", MessageBoxButtons.YesNo))
{
port = new ArduinoSTK();
port.BaudRate = 57600;
}
else
{
port = new ArduinoSTKv2();
port.BaudRate = 115200;
}
port.DataBits = 8;
port.StopBits = StopBits.One;
port.Parity = Parity.None;
port.DtrEnable = true;
port.PortName = ArdupilotMega.MainV2.comportname;
try
{
port.Open();
if (port.connectAP())
{
// waypoints
int start = 0;
int end = 1024*4;
Console.WriteLine(start + " to " + end);
port.upload(EEPROM, (short)start, (short)(end - start), (short)start);
if (port.keepalive())
{
// Config
if (port.keepalive())
{
System.Threading.Thread.Sleep(2000);
//MessageBox.Show("Upload Completed");
}
else
{
MessageBox.Show("Communication Error - WPs wrote but no config");
}
}
else
{
MessageBox.Show("Communication Error - Bad data");
}
}
else
{
MessageBox.Show("Communication Error - no connection");
}
port.Close();
}
catch (Exception ex) { MessageBox.Show("Port in use? " + ex.ToString()); port.Close(); }
}
catch (Exception) { MessageBox.Show("Error reading file"); }
}
}
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[1] != 'P') // 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++;
Console.Write("{0:X4}: key {1} size {2}\n ", pos - 2, key, size + 1);
if (key == 0xff)
{
Console.WriteLine("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++;
}
Console.WriteLine();
}
}
}
return -1;
}
/// <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);
}
private void MenuConnect_Click(object sender, EventArgs e)
{
givecomport = false;
if (comPort.BaseStream.IsOpen)
{
try
{
if (talk != null) // cancel all pending speech
talk.SpeakAsyncCancelAll();
if (comPort.logfile != null)
comPort.logfile.Close();
comPort.BaseStream.DtrEnable = false;
comPort.Close();
}
catch { }
this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.connect;
}
else
{
if (CMB_serialport.Text == "TCP")
{
comPort.BaseStream = new TcpSerial();
}
else
if (CMB_serialport.Text == "UDP")
{
comPort.BaseStream = new UdpSerial();
}
else
{
comPort.BaseStream = new SerialPort();
}
try
{
comPort.BaseStream.BaudRate = int.Parse(CMB_baudrate.Text);
}
catch { }
comPort.BaseStream.DataBits = 8;
comPort.BaseStream.StopBits = (StopBits)Enum.Parse(typeof(StopBits), "1");
comPort.BaseStream.Parity = (Parity)Enum.Parse(typeof(Parity), "None");
comPort.BaseStream.DtrEnable = false;
if (config["CHK_resetapmonconnect"] == null || bool.Parse(config["CHK_resetapmonconnect"].ToString()) == true)
comPort.BaseStream.DtrEnable = true;
if (DialogResult.OK != Common.MessageShowAgain("Mavlink Connect", "Make sure your APM slider switch is in Flight Mode (away from RC pins)"))
{
return;
}
try
{
if (comPort.logfile != null)
comPort.logfile.Close();
try
{
Directory.CreateDirectory(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs");
comPort.logfile = new BinaryWriter(File.Open(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd hh-mm-ss") + ".tlog", FileMode.CreateNew));
}
catch { MessageBox.Show("Failed to create log - wont log this session"); } // soft fail
comPort.BaseStream.PortName = CMB_serialport.Text;
comPort.Open(true);
if (comPort.param["SYSID_SW_TYPE"] != null)
{
if (float.Parse(comPort.param["SYSID_SW_TYPE"].ToString()) == 10)
{
TOOL_APMFirmware.SelectedIndex = TOOL_APMFirmware.Items.IndexOf(Firmwares.ArduCopter2);
}
else if (float.Parse(comPort.param["SYSID_SW_TYPE"].ToString()) == 0)
{
TOOL_APMFirmware.SelectedIndex = TOOL_APMFirmware.Items.IndexOf(Firmwares.ArduPlane);
}
}
cs.firmware = APMFirmware;
config[CMB_serialport.Text + "_BAUD"] = CMB_baudrate.Text;
if (config["loadwpsonconnect"] != null && bool.Parse(config["loadwpsonconnect"].ToString()) == true)
{
MenuFlightPlanner_Click(null, null);
FlightPlanner.BUT_read_Click(null, null);
}
this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.disconnect;
}
catch (Exception ex)
{
try
{
comPort.Close();
}
catch { }
try
{
string version = ArduinoDetect.DetectVersion(comPort.BaseStream.PortName);
ArduinoComms port = new ArduinoSTK();
if (version == "1280")
{
port = new ArduinoSTK();
port.BaudRate = 57600;
}
else if (version == "2560")
{
port = new ArduinoSTKv2();
port.BaudRate = 115200;
}
else { throw new Exception("Can not determine APM board type"); }
port.PortName = comPort.BaseStream.PortName;
port.DtrEnable = true;
port.Open();
if (port.connectAP())
{
byte[] buffer = port.download(20);
port.Close();
if (buffer[0] != 'A' || buffer[1] != 'P') // this is the apvar header
{
MessageBox.Show("You dont appear to have uploaded a firmware yet,\n\nPlease goto the firmware page and upload one.");
return;
}
else
{
Console.WriteLine("Valid eeprom contents");
}
}
}
catch { }
MessageBox.Show("Is your CLI switch in Flight position?\n(this is required for MAVlink comms)\n\n" + ex.ToString());
return;
}
}
}
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[1] != 'P') // 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++;
Console.Write("{0:X4}: key {1} size {2}\n ", pos - 2, key, size + 1);
if (key == 0xff)
{
Console.WriteLine("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++;
}
Console.WriteLine();
}
}
}
return(-1);
}