/// <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();
serialPort.toggleDTR();
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();
log.Info("is a 1280");
return("1280");
}
}
}
serialPort.Close();
log.Warn("Not a 1280");
Thread.Sleep(500);
serialPort.DtrEnable = true;
serialPort.BaudRate = 115200;
serialPort.Open();
serialPort.toggleDTR();
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();
log.Info("is a 2560");
return("2560");
}
}
catch
{
}
}
serialPort.Close();
log.Warn("Not a 2560");
return("");
}
/// <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);
}
/// <summary>
/// Detects APM board version
/// </summary>
/// <param name="port"></param>
/// <returns> (1280/2560/2560-2/px4)</returns>
public static string DetectBoard(string port)
{
SerialPort serialPort = new SerialPort();
serialPort.PortName = port;
if (!MainV2.MONO)
{
ObjectQuery query = new ObjectQuery("SELECT * FROM Win32_SerialPort"); // Win32_USBControllerDevice
ManagementObjectSearcher searcher = new ManagementObjectSearcher(query);
foreach (ManagementObject obj2 in searcher.Get())
{
Console.WriteLine("PNPID: " + obj2.Properties["PNPDeviceID"].Value.ToString());
// check vid and pid
if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_2341&PID_0010"))
{
// check port name as well
if (obj2.Properties["Name"].Value.ToString().ToUpper().Contains(serialPort.PortName.ToUpper()))
{
log.Info("is a 2560-2");
return("2560-2");
}
}
if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_26AC&PID_0010") || obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_26AC&PID_0011") || obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_26AC&PID_0012") || obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_26AC&PID_0013") || obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_26AC&PID_0014") || obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_26AC&PID_0015") || obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_26AC&PID_0016"))
{
// check port name as well
//if (obj2.Properties["Name"].Value.ToString().ToUpper().Contains(serialPort.PortName.ToUpper()))
{
log.Info("is a px4");
return("px4");
}
}
}
}
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();
log.Info("is a 1280");
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.CurrentCulture.IsChildOf(CultureInfoEx.GetCultureInfo("zh-Hans")))
{
ObjectQuery query = new ObjectQuery("SELECT * FROM Win32_SerialPort"); // 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.
/* obj2.Properties.ForEach(x =>
* {
* try
* {
* log.Info(((PropertyData)x).Name.ToString() + " = " + ((PropertyData)x).Value.ToString());
* }
* catch { }
* });
*/
// check vid and pid
if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_2341&PID_0010"))
{
// check port name as well
if (obj2.Properties["Name"].Value.ToString().ToUpper().Contains(serialPort.PortName.ToUpper()))
{
log.Info("is a 2560-2");
return("2560-2");
}
}
if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_26AC&PID_0010"))
{
// check port name as well
if (obj2.Properties["Name"].Value.ToString().ToUpper().Contains(serialPort.PortName.ToUpper()))
{
log.Info("is a px4");
return("px4");
}
}
}
log.Info("is a 2560");
return("2560");
}
else
{
if (DialogResult.Yes == CustomMessageBox.Show("Is this a APM 2+?", "APM 2+", MessageBoxButtons.YesNo))
{
return("2560-2");
}
else
{
if (DialogResult.Yes == CustomMessageBox.Show("Is this a PX4?", "PX4", MessageBoxButtons.YesNo))
{
return("px4");
}
else
{
return("2560");
}
}
}
}
}
catch { }
}
serialPort.Close();
log.Warn("Not a 2560");
return("");
}