/// <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 = BoardDetect.readpacket(serialPort);
//if (ret[1] == 0x0)
{
//Console.WriteLine("received OK");
}
return ret;
}
/// <summary>
/// Detects APM board version
/// </summary>
/// <param name="port"></param>
/// <returns> (1280/2560/2560-2/px4/px4v2)</returns>
public static boards 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 boards.b2560v2;
}
}
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 boards.px4;
}
}
if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_26AC&PID_0011"))
{
log.Info("is a px4v2");
return boards.px4v2;
}
if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_26AC&PID_0001"))
{
log.Info("is a px4v2 bootloader");
return boards.px4v2;
}
if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_26AC&PID_0016"))
{
log.Info("is a px4v2 bootloader");
CustomMessageBox.Show("You appear to have a bootloader with a bad PID value, please update your bootloader.");
return boards.px4v2;
}
//|| 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")
}
}
else
{
// if its mono
if (DialogResult.Yes == CustomMessageBox.Show("Is this a APM 2+?", "APM 2+", MessageBoxButtons.YesNo))
{
return boards.b2560v2;
}
else
{
if (DialogResult.Yes == CustomMessageBox.Show("Is this a PX4/PIXHAWK?", "PX4/PIXHAWK", MessageBoxButtons.YesNo))
{
if (DialogResult.Yes == CustomMessageBox.Show("Is this a PIXHAWK?", "PIXHAWK", MessageBoxButtons.YesNo))
{
return boards.px4v2;
}
return boards.px4;
}
else
{
return boards.b2560;
}
}
}
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 boards.b1280;
}
}
}
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 = BoardDetect.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 boards.b2560v2;
}
}
}
log.Info("is a 2560");
return boards.b2560;
}
}
}
catch { }
}
serialPort.Close();
log.Warn("Not a 2560");
if (DialogResult.Yes == CustomMessageBox.Show("Is this a APM 2+?", "APM 2+", MessageBoxButtons.YesNo))
{
return boards.b2560v2;
}
else
{
if (DialogResult.Yes == CustomMessageBox.Show("Is this a PX4/PIXHAWK?", "PX4/PIXHAWK", MessageBoxButtons.YesNo))
{
if (DialogResult.Yes == CustomMessageBox.Show("Is this a PIXHAWK?", "PIXHAWK", MessageBoxButtons.YesNo))
{
return boards.px4v2;
}
return boards.px4;
}
else
{
return boards.b2560;
}
}
}
private void UploadFW(bool custom = false)
{
ICommsSerial comPort = new SerialPort();
var uploader = new Uploader();
if (MainV2.comPort.BaseStream.IsOpen)
{
try
{
getTelemPortWithRadio(ref comPort);
uploader.PROG_MULTI_MAX = 64;
}
catch (Exception ex)
{
CustomMessageBox.Show("Error " + ex);
}
}
try
{
comPort.PortName = MainV2.comPort.BaseStream.PortName;
comPort.BaudRate = 115200;
comPort.Open();
}
catch
{
CustomMessageBox.Show("Invalid ComPort or in use");
return;
}
// prep what we are going to upload
var iHex = new IHex();
iHex.LogEvent += iHex_LogEvent;
iHex.ProgressEvent += iHex_ProgressEvent;
var bootloadermode = false;
// attempt bootloader mode
try
{
if (upload_xmodem(comPort))
{
comPort.Close();
return;
}
comPort.BaudRate = 115200;
uploader_ProgressEvent(0);
uploader_LogEvent("Trying Bootloader Mode");
uploader.port = comPort;
uploader.connect_and_sync();
uploader.ProgressEvent += uploader_ProgressEvent;
uploader.LogEvent += uploader_LogEvent;
uploader_LogEvent("In Bootloader Mode");
bootloadermode = true;
}
catch (Exception ex1)
{
log.Error(ex1);
// cleanup bootloader mode fail, and try firmware mode
comPort.Close();
if (MainV2.comPort.BaseStream.IsOpen)
{
// default baud... guess
comPort.BaudRate = 57600;
}
else
{
comPort.BaudRate = MainV2.comPort.BaseStream.BaudRate;
}
try
{
comPort.Open();
}
catch
{
CustomMessageBox.Show("Error opening port", "Error");
return;
}
uploader.ProgressEvent += uploader_ProgressEvent;
uploader.LogEvent += uploader_LogEvent;
uploader_LogEvent("Trying Firmware Mode");
bootloadermode = false;
}
// check for either already bootloadermode, or if we can do a ATI to ID the firmware
if (bootloadermode || doConnect(comPort))
{
// put into bootloader mode/update mode
if (!bootloadermode)
{
try
{
comPort.Write("AT&UPDATE\r\n");
var left = comPort.ReadExisting();
log.Info(left);
Sleep(700);
comPort.BaudRate = 115200;
}
catch
{
}
if (upload_xmodem(comPort))
{
comPort.Close();
return;
}
comPort.BaudRate = 115200;
}
try
{
// force sync after changing baudrate
uploader.connect_and_sync();
}
catch
{
CustomMessageBox.Show("Failed to sync with Radio");
goto exit;
}
var device = Uploader.Board.FAILED;
var freq = Uploader.Frequency.FAILED;
// get the device type and frequency in the bootloader
uploader.getDevice(ref device, ref freq);
// get firmware for this device
if (getFirmware(device, custom))
{
// load the hex
try
{
iHex.load(firmwarefile);
}
catch
{
CustomMessageBox.Show("Bad Firmware File");
goto exit;
}
// upload the hex and verify
try
{
uploader.upload(comPort, iHex);
}
catch (Exception ex)
{
CustomMessageBox.Show("Upload Failed " + ex.Message);
}
}
else
{
CustomMessageBox.Show("Failed to download new firmware");
}
}
else
{
CustomMessageBox.Show("Failed to identify Radio");
}
exit:
if (comPort.IsOpen)
comPort.Close();
}
private static void Main(string[] args)
{
ExtractPacketAddresses("ublox 6mdata.raw", "Addrneo6m.txt", 0x1420, 0x26ddf4);
ExtractPacketAddresses("6mdata.raw", "Addrneo6m-2.txt", 0x1420, 0x26ddf4);
ExtractPacketAddresses("datalea6h.raw", "Addrlea6h.txt", 0x3e4c, 0x8546dc);
ExtractPacketAddresses("datalea6h-nu602.raw", "Addrlea6hnu602.txt", 0x3e4c, 0x8546dc);
ExtractPacketAddresses("dataneo7n.raw", "Addrneo7n.txt", 0x20001188, 0x862f0c);
ExtractPacketAddresses("UBX_M8_301_HPG_111_REFERENCE_NEOM8P2.b45d5e63c7aa261bd58dfbcbc22bad68.bin",
"Addrm8p.txt", 0, 0x6df34, true);
ExtractPacketAddresses("UBX_M8_301_HPG_111_REFERENCE_NEOM8P2.b45d5e63c7aa261bd58dfbcbc22bad68.bin",
"Addrm8p22.txt", 0, 0x6e308, true);
ExtractPacketAddresses("EXT_G60_LEA-6H.fd1146bafac24b1347701312d42bb698.bin",
"Addrlea6h-2.txt", 0, 0x546dc);
ExtractPacketAddresses("FW101_EXT_TITLIS.42ec35ce38d201fd723f2c8b49b6a537.bin",
"Addr7.txt", 0, 0x62f0c);
ExtractPacketAddresses("UBLOX_M8_201.89cc4f1cd4312a0ac1b56c790f7c1622.bin",
"Addr8_201.txt", 0, 0x739e8);
ExtractPacketAddresses("UBX_M8_301_SPG.911f2b77b649eb90f4be14ce56717b49.bin",
"Addr8_301.txt", 0, 0x7904c, true);
ExtractPacketAddresses("UBX_M8_301_HPG_100_REFERENCE.dd38fd00c1d64d05d5b458d8a8fa4b41.bin",
"Addrm8p_301_100.txt", 0, 0x6805c, true);
ExtractPacketAddresses("UBX_M8_301_HPG_100_REFERENCE.dd38fd00c1d64d05d5b458d8a8fa4b41.bin",
"Addrm8p_301_100-2.txt", 0, 0x68394, true);
ExtractPacketAddresses("UBX_M8_301_HPG_130_REFERENCE_NEOM8P2.59a07babb501ba6a89ff87cac2f2765f.bin",
"Addrm8p_301_130-2.txt", 0, 0x718a8, true);
ExtractPacketAddresses("UBX_M8_301_HPG_130_REFERENCE_NEOM8P2.59a07babb501ba6a89ff87cac2f2765f.bin",
"Addrm8p_301_130-2a.txt", 0, 0x71ca0, true);
ExtractPacketAddresses("DO_EXT_301_HPG_140_REFERENCE.ab799cc302b64f28ba73b55dfa945a04.bin",
"Addrm8p_301_140.txt", 0x73980, 0x73980, true);
//0005bd16
// 5bd1a from 20 B1 == 00 bf
var fileBytes = File.ReadAllBytes("DO_EXT_301_HPG_140_REFERENCE.ab799cc302b64f28ba73b55dfa945a04.bin");
var binreader = new BinaryReader(new MemoryStream(fileBytes));
string[] desc =
{
"UBX8",
"?",
"-1", "fwbase ","fwstart", "fwend", "-1", "-1", "0", "-1", "?", "?"
};
for (int a = 0; a < 12; a++)
{
var item = binreader.ReadInt32();
Console.WriteLine("{1}\t0x{0:X} = {0}", item, desc[a]);
}
/*
* 0.0 - Verifying image
*
* 0.0 Image (file size 502984) for u-blox8 accepted
*
* 0.0 Image Ver '3.01 (db0c89)'
* 0.0 - CRC= 0x90A97896 0xEE9EBE1E
* 0.0 - Trying to open port STDIO
*
* undefined4 __fastcall dochecksum(int *param_1,uint param_2)
*
* {
* int *piVar1;
* int iVar2;
* int iVar3;
* uint uVar4;
*
* uVar4 = param_2 >> 2;
* iVar2 = 0;
* iVar3 = 0;
* piVar1 = param_1;
* while (uVar4 != 0) {
* iVar2 = iVar2 + *piVar1;
* piVar1 = piVar1 + 1;
* iVar3 = iVar3 + iVar2;
* uVar4 = uVar4 - 1;
* }
* if ((iVar2 == *(int *)((int)param_1 + (param_2 & 0xfffffffc))) &&
* (iVar3 == *(int *)((int)param_1 + (param_2 & 0xfffffffc) + 4))) {
* return 1;
* }
* return 0;
* }
*
*/
// should == 502972 or 502976 000000000007ACBC 000000000001EB2F
binreader.BaseStream.Seek(4, SeekOrigin.Begin);
var ivar2 = 0;
var ivar3 = 0;
while (binreader.BaseStream.Position < binreader.BaseStream.Length - 8)
{
var b = binreader.ReadInt32();
ivar2 = ivar2 + b;
ivar3 = ivar3 + ivar2;
}
var crc1 = binreader.ReadInt32();
var crc2 = binreader.ReadInt32();
if (ivar2 == crc1 && ivar3 == crc2)
{
Console.WriteLine("CRC passes");
}
else
{
Console.WriteLine("CRC fails should be 0x{0:X8} 0x{1:X8} currently {2:X8} {3:X8}", ivar2, ivar3, crc1,
crc2);
}
Console.ReadLine();
return;
ICommsSerial port;// = /*new TcpSerial();*/ //new SerialPort("com35" ,115200);
port = new MissionPlanner.Comms.SerialPort();
port.PortName = "com5";
port.BaudRate = 115200;
// mp internal pass
//port.PortName = "127.0.0.1";
//port.BaudRate = 500;
port.ReadBufferSize = 1024 * 1024;
port.Open();
/*
*
* ?????
* 0x00800000 0x80000 flash
* 0x20000000 0x20000 ram
* 0x20080000 0x20000 ram
* 0x00200000 0x8000 rom
*
* For ublox6 ROM7.03 use:
*
* to enable RXM-RAW - addr 000016c8
* b5 62 09 01 10 00 c8 16 00 00 00 00 00 00 97 69 21 00 00 00 02 10 2b 22
*
*
* to enable RXM-SFRB - addr 0000190c
* b5 62 09 01 10 00 0c 19 00 00 00 00 00 00 83 69 21 00 00 00 02 11 5f f0
*
*/
var rxmraw6m = new downloadreq();
rxmraw6m.clas = 0x9;
rxmraw6m.subclass = 0x1;
rxmraw6m.length = 0x10;
rxmraw6m.flags = 0;
rxmraw6m.startaddr = 0x16c8;
rxmraw6m.data = new byte[] { 0x97, 0x69, 0x21, 0x00, 0x00, 0x00, 0x02, 0x10 };
var rxmsfrb6m = new downloadreq();
rxmsfrb6m.clas = 0x9;
rxmsfrb6m.subclass = 0x1;
rxmsfrb6m.length = 0x10;
rxmsfrb6m.flags = 0;
rxmsfrb6m.startaddr = 0x190c;
rxmsfrb6m.data = new byte[] { 0x83, 0x69, 0x21, 0x00, 0x00, 0x00, 0x02, 0x11 };
var rxmraw6h = new downloadreq();
rxmraw6h.clas = 0x9;
rxmraw6h.subclass = 0x1;
rxmraw6h.length = 0x10;
rxmraw6h.flags = 0;
rxmraw6h.startaddr = 0x40F4;
rxmraw6h.data = new byte[] { 0xe7, 0xb9, 0x81, 0x00, 0x00, 0x00, 0x02, 0x10 };
var rxmsfrb6h = new downloadreq();
rxmsfrb6h.clas = 0x9;
rxmsfrb6h.subclass = 0x1;
rxmsfrb6h.length = 0x10;
rxmsfrb6h.flags = 0;
rxmsfrb6h.startaddr = 0x4360;
rxmsfrb6h.data = new byte[] { 0xd3, 0xb9, 0x81, 0x00, 0x00, 0x00, 0x02, 0x11 };
byte[] turnonbytes = { 0, 1, 0, 0, 0, 0, 0, 0 };
byte[] header = { 0xb5, 0x62 };
/*
* Load FW binary 'C:\Users\hog\Downloads\NL602-patched-fw (1).bin'
* Binary check success, G60 image valid.
* Version: 7.03 (45970) Mar 17 2011 16:26:24
* FLASH Base: 0x800000
* FW Base: 0x800000
* FW Start: 0x800048
* FW End: 0x860AD4
* FW Size: 0x60ADC
*
* Identifying Flash
* Flash: ManID=0x90, DevID=0x90
*
* firmware: 0x200000
*/
//turnon(port, header, 2, 0x20);
//turnon(port, header, 2, 0x12);
//turnon(port, header, 2, 0x23);
//turnon(port, header, 2, 0x24);
//turnon(port, header, 2, 0x51);
//turnon(port, header, 2, 0x52);
// turnon(port.BaseStream, header, 3, 0xA);
// turnon(port.BaseStream, header, 3, 0xF);
//writepacket(port.BaseStream, header, rxmraw);
//writepacket(port.BaseStream, header, rxmsfrb);
//writepacket(port.BaseStream, header, rxmraw6h);
//writepacket(port.BaseStream, header, rxmsfrb6h);
//writepacket(port.BaseStream, header, rxmraw6m);
//writepacket(port.BaseStream, header, rxmsfrb6m);
//return;
//turnon(port.BaseStream, header, 2, 0x10);
//turnon(port.BaseStream, header, 2, 0x11);
//testmsg.startaddr += 8;
//testmsg.data = turnonbytes;
//writepacket(port.BaseStream, header, testmsg);
/*
* System.Threading.Thread.Sleep(200);
*
* while (port.IsOpen)
* {
*
* while (port.BytesToRead > 0)
* {
* byte data = (byte)port.ReadByte();
*
* // Console.Write("{0,2:x}",data);
*
* processbyte(data);
* }
*
* }
*
* port.Close();
*
* // Console.ReadLine();
*
* return;
*/
// safeboot
var buf = new byte[] { 0xB5, 0x62, 0x09, 0x07, 0x00, 0x00, 0x10, 0x39 };
buf = new byte[] { 0xB5, 0x62, 0x09, 0x07, 0x01, 0x00, 0x01, 0x12, 0x4D };
//port.Write(buf, 0, buf.Length);
//port.Close();
//Thread.Sleep(1000);
//port.Open();
// dump rom/memory
req = new uploadreq();
req.clas = 0x9;
req.subclass = 0x2;
req.length = 12;
req.startaddr = 0x800001;
req.datasize = 128;
req.flags = 0;
var deadline = DateTime.MinValue;
uint lastaddr = 0;
while (port.IsOpen)
{
// determine when to send a new/next request
if (deadline < DateTime.Now || lastaddr != req.startaddr)
{
var datastruct = StaticUtils.StructureToByteArray(req);
var checksum = ubx_checksum(datastruct, datastruct.Length);
port.Write(header, 0, header.Length);
port.Write(datastruct, 0, datastruct.Length);
port.Write(checksum, 0, checksum.Length);
deadline = DateTime.Now.AddMilliseconds(200);
lastaddr = req.startaddr;
}
Thread.Sleep(0);
while (port.BytesToRead > 0)
{
var data = (byte)port.ReadByte();
// Console.Write("{0,2:x}",data);
processbyte(data);
}
}
}
/// <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 "";
}
private static void Main(string[] args)
{
ExtractPacketAddresses("ublox 6mdata.raw", "Addrneo6m.txt", 0x1420, 0x26ddf4);
ExtractPacketAddresses("6mdata.raw", "Addrneo6m-2.txt", 0x1420, 0x26ddf4);
ExtractPacketAddresses("datalea6h.raw", "Addrlea6h.txt", 0x3e4c, 0x8546dc);
ExtractPacketAddresses("datalea6h-nu602.raw", "Addrlea6hnu602.txt", 0x3e4c, 0x8546dc);
ExtractPacketAddresses("dataneo7n.raw", "Addrneo7n.txt", 0x20001188, 0x862f0c);
ExtractPacketAddresses("UBX_M8_301_HPG_111_REFERENCE_NEOM8P2.b45d5e63c7aa261bd58dfbcbc22bad68.bin",
"Addrm8p.txt", 0, 0x6df34, true);
ExtractPacketAddresses("UBX_M8_301_HPG_111_REFERENCE_NEOM8P2.b45d5e63c7aa261bd58dfbcbc22bad68.bin",
"Addrm8p22.txt", 0, 0x6e308, true);
ExtractPacketAddresses("EXT_G60_LEA-6H.fd1146bafac24b1347701312d42bb698.bin",
"Addrlea6h-2.txt", 0, 0x546dc);
ExtractPacketAddresses("FW101_EXT_TITLIS.42ec35ce38d201fd723f2c8b49b6a537.bin",
"Addr7.txt", 0, 0x62f0c);
ExtractPacketAddresses("UBLOX_M8_201.89cc4f1cd4312a0ac1b56c790f7c1622.bin",
"Addr8_201.txt", 0, 0x739e8);
ExtractPacketAddresses("UBX_M8_301_SPG.911f2b77b649eb90f4be14ce56717b49.bin",
"Addr8_301.txt", 0, 0x7904c, true);
ExtractPacketAddresses("UBX_M8_301_HPG_100_REFERENCE.dd38fd00c1d64d05d5b458d8a8fa4b41.bin",
"Addrm8p_301_100.txt", 0, 0x6805c, true);
ExtractPacketAddresses("UBX_M8_301_HPG_100_REFERENCE.dd38fd00c1d64d05d5b458d8a8fa4b41.bin",
"Addrm8p_301_100-2.txt", 0, 0x68394, true);
ExtractPacketAddresses("UBX_M8_301_HPG_130_REFERENCE_NEOM8P2.59a07babb501ba6a89ff87cac2f2765f.bin",
"Addrm8p_301_130-2.txt", 0, 0x718a8, true);
ExtractPacketAddresses("UBX_M8_301_HPG_130_REFERENCE_NEOM8P2.59a07babb501ba6a89ff87cac2f2765f.bin",
"Addrm8p_301_130-2a.txt", 0, 0x71ca0, true);
return;
ICommsSerial port;// = /*new TcpSerial();*/ //new SerialPort("com35" ,115200);
port = new MissionPlanner.Comms.SerialPort();
port.PortName = "com5";
port.BaudRate = 115200;
// mp internal pass
//port.PortName = "127.0.0.1";
//port.BaudRate = 500;
port.ReadBufferSize = 1024 * 1024;
port.Open();
/*
*
* ?????
* 0x00800000 0x80000 flash
* 0x20000000 0x20000 ram
* 0x20080000 0x20000 ram
* 0x00200000 0x8000 rom
*
* For ublox6 ROM7.03 use:
*
* to enable RXM-RAW - addr 000016c8
* b5 62 09 01 10 00 c8 16 00 00 00 00 00 00 97 69 21 00 00 00 02 10 2b 22
*
*
* to enable RXM-SFRB - addr 0000190c
* b5 62 09 01 10 00 0c 19 00 00 00 00 00 00 83 69 21 00 00 00 02 11 5f f0
*
*/
var rxmraw6m = new downloadreq();
rxmraw6m.clas = 0x9;
rxmraw6m.subclass = 0x1;
rxmraw6m.length = 0x10;
rxmraw6m.flags = 0;
rxmraw6m.startaddr = 0x16c8;
rxmraw6m.data = new byte[] { 0x97, 0x69, 0x21, 0x00, 0x00, 0x00, 0x02, 0x10 };
var rxmsfrb6m = new downloadreq();
rxmsfrb6m.clas = 0x9;
rxmsfrb6m.subclass = 0x1;
rxmsfrb6m.length = 0x10;
rxmsfrb6m.flags = 0;
rxmsfrb6m.startaddr = 0x190c;
rxmsfrb6m.data = new byte[] { 0x83, 0x69, 0x21, 0x00, 0x00, 0x00, 0x02, 0x11 };
var rxmraw6h = new downloadreq();
rxmraw6h.clas = 0x9;
rxmraw6h.subclass = 0x1;
rxmraw6h.length = 0x10;
rxmraw6h.flags = 0;
rxmraw6h.startaddr = 0x40F4;
rxmraw6h.data = new byte[] { 0xe7, 0xb9, 0x81, 0x00, 0x00, 0x00, 0x02, 0x10 };
var rxmsfrb6h = new downloadreq();
rxmsfrb6h.clas = 0x9;
rxmsfrb6h.subclass = 0x1;
rxmsfrb6h.length = 0x10;
rxmsfrb6h.flags = 0;
rxmsfrb6h.startaddr = 0x4360;
rxmsfrb6h.data = new byte[] { 0xd3, 0xb9, 0x81, 0x00, 0x00, 0x00, 0x02, 0x11 };
byte[] turnonbytes = { 0, 1, 0, 0, 0, 0, 0, 0 };
byte[] header = { 0xb5, 0x62 };
/*
* Load FW binary 'C:\Users\hog\Downloads\NL602-patched-fw (1).bin'
* Binary check success, G60 image valid.
* Version: 7.03 (45970) Mar 17 2011 16:26:24
* FLASH Base: 0x800000
* FW Base: 0x800000
* FW Start: 0x800048
* FW End: 0x860AD4
* FW Size: 0x60ADC
*
* Identifying Flash
* Flash: ManID=0x90, DevID=0x90
*
* firmware: 0x200000
*/
//turnon(port, header, 2, 0x20);
//turnon(port, header, 2, 0x12);
//turnon(port, header, 2, 0x23);
//turnon(port, header, 2, 0x24);
//turnon(port, header, 2, 0x51);
//turnon(port, header, 2, 0x52);
// turnon(port.BaseStream, header, 3, 0xA);
// turnon(port.BaseStream, header, 3, 0xF);
//writepacket(port.BaseStream, header, rxmraw);
//writepacket(port.BaseStream, header, rxmsfrb);
//writepacket(port.BaseStream, header, rxmraw6h);
//writepacket(port.BaseStream, header, rxmsfrb6h);
//writepacket(port.BaseStream, header, rxmraw6m);
//writepacket(port.BaseStream, header, rxmsfrb6m);
//return;
//turnon(port.BaseStream, header, 2, 0x10);
//turnon(port.BaseStream, header, 2, 0x11);
//testmsg.startaddr += 8;
//testmsg.data = turnonbytes;
//writepacket(port.BaseStream, header, testmsg);
/*
* System.Threading.Thread.Sleep(200);
*
* while (port.IsOpen)
* {
*
* while (port.BytesToRead > 0)
* {
* byte data = (byte)port.ReadByte();
*
* // Console.Write("{0,2:x}",data);
*
* processbyte(data);
* }
*
* }
*
* port.Close();
*
* // Console.ReadLine();
*
* return;
*/
// safeboot
var buf = new byte[] { 0xB5, 0x62, 0x09, 0x07, 0x00, 0x00, 0x10, 0x39 };
buf = new byte[] { 0xB5, 0x62, 0x09, 0x07, 0x01, 0x00, 0x01, 0x12, 0x4D };
//port.Write(buf, 0, buf.Length);
//port.Close();
//Thread.Sleep(1000);
//port.Open();
// dump rom/memory
req = new uploadreq();
req.clas = 0x9;
req.subclass = 0x2;
req.length = 12;
req.startaddr = 0x800001;
req.datasize = 128;
req.flags = 0;
var deadline = DateTime.MinValue;
uint lastaddr = 0;
while (port.IsOpen)
{
// determine when to send a new/next request
if (deadline < DateTime.Now || lastaddr != req.startaddr)
{
var datastruct = StaticUtils.StructureToByteArray(req);
var checksum = ubx_checksum(datastruct, datastruct.Length);
port.Write(header, 0, header.Length);
port.Write(datastruct, 0, datastruct.Length);
port.Write(checksum, 0, checksum.Length);
deadline = DateTime.Now.AddMilliseconds(200);
lastaddr = req.startaddr;
}
Thread.Sleep(0);
while (port.BytesToRead > 0)
{
var data = (byte)port.ReadByte();
// Console.Write("{0,2:x}",data);
processbyte(data);
}
}
}
