/// <summary>
/// Do full update - get firmware from internet
/// </summary>
/// <param name="temp"></param>
/// <param name="historyhash"></param>
public bool update(string comport, software temp, string historyhash)
{
BoardDetect.boards board = BoardDetect.boards.none;
try
{
updateProgress(-1, "Detecting Board Version");
board = BoardDetect.DetectBoard(comport);
if (board == BoardDetect.boards.none)
{
CustomMessageBox.Show("Cant detect your Board version. Please check your cabling");
return(false);
}
int apmformat_version = -1; // fail continue
if (board != BoardDetect.boards.px4 && board != BoardDetect.boards.px4v2 && board != BoardDetect.boards.vrbrainv40 && board != BoardDetect.boards.vrbrainv45 && board != BoardDetect.boards.vrbrainv50 && board != BoardDetect.boards.vrbrainv51 && board != BoardDetect.boards.vrherov10 && board != BoardDetect.boards.vrubrainv51)
{
try
{
apmformat_version = BoardDetect.decodeApVar(comport, board);
}
catch { }
if (apmformat_version != -1 && apmformat_version != temp.k_format_version)
{
if (DialogResult.No == CustomMessageBox.Show("Epprom changed, all your setting will be lost during the update,\nDo you wish to continue?", "Epprom format changed (" + apmformat_version + " vs " + temp.k_format_version + ")", MessageBoxButtons.YesNo))
{
CustomMessageBox.Show("Please connect and backup your config in the configuration tab.");
return(false);
}
}
}
log.Info("Detected a " + board);
updateProgress(-1, "Detected a " + board);
string baseurl = "";
if (board == BoardDetect.boards.b2560)
{
baseurl = temp.url2560.ToString();
}
else if (board == BoardDetect.boards.b1280)
{
baseurl = temp.url.ToString();
}
else if (board == BoardDetect.boards.b2560v2)
{
baseurl = temp.url2560_2.ToString();
}
else if (board == BoardDetect.boards.px4)
{
baseurl = temp.urlpx4v1.ToString();
}
else if (board == BoardDetect.boards.px4v2)
{
baseurl = temp.urlpx4v2.ToString();
}
else if (board == BoardDetect.boards.vrbrainv40)
{
baseurl = temp.urlvrbrainv40.ToString();
}
else if (board == BoardDetect.boards.vrbrainv45)
{
baseurl = temp.urlvrbrainv45.ToString();
}
else if (board == BoardDetect.boards.vrbrainv50)
{
baseurl = temp.urlvrbrainv50.ToString();
}
else if (board == BoardDetect.boards.vrbrainv51)
{
baseurl = temp.urlvrbrainv51.ToString();
}
else if (board == BoardDetect.boards.vrherov10)
{
baseurl = temp.urlvrherov10.ToString();
}
else if (board == BoardDetect.boards.vrubrainv51)
{
baseurl = temp.urlvrubrainv51.ToString();
}
else
{
CustomMessageBox.Show("Invalid Board Type");
return(false);
}
if (historyhash != "")
{
baseurl = getUrl(historyhash, baseurl);
}
log.Info("Using " + baseurl);
// Create a request using a URL that can receive a post.
WebRequest request = WebRequest.Create(baseurl);
request.Timeout = 10000;
// Set the Method property of the request to POST.
request.Method = "GET";
// Get the request stream.
Stream dataStream; //= request.GetRequestStream();
// Get the response.
WebResponse response = request.GetResponse();
// Display the status.
log.Info(((HttpWebResponse)response).StatusDescription);
// Get the stream containing content returned by the server.
dataStream = response.GetResponseStream();
long bytes = response.ContentLength;
long contlen = bytes;
byte[] buf1 = new byte[1024];
FileStream fs = new FileStream(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"firmware.hex", FileMode.Create);
updateProgress(0, "Downloading from Internet");
dataStream.ReadTimeout = 30000;
while (dataStream.CanRead)
{
try
{
updateProgress(50, "Downloading from Internet");
}
catch { }
int len = dataStream.Read(buf1, 0, 1024);
if (len == 0)
{
break;
}
bytes -= len;
fs.Write(buf1, 0, len);
}
fs.Close();
dataStream.Close();
response.Close();
updateProgress(100, "Downloaded from Internet");
log.Info("Downloaded");
}
catch (Exception ex) { updateProgress(50, "Failed download"); CustomMessageBox.Show("Failed to download new firmware : " + ex.ToString()); return(false); }
MissionPlanner.Utilities.Tracking.AddFW(temp.name, board.ToString());
return(UploadFlash(comport, Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"firmware.hex", board));
}
/// <summary>
/// Detect board version
/// </summary>
/// <param name="port"></param>
/// <returns> boards enum value</returns>
public static boards DetectBoard(string port)
{
SerialPort serialPort = new SerialPort();
serialPort.PortName = port;
if (!MainV2.MONO)
{
try
{
var ports = Win32DeviceMgmt.GetAllCOMPorts();
foreach (var item in ports)
{
log.InfoFormat("{0}: {1} - {2}", item.name, item.description, item.board);
if (port.ToLower() == item.name.ToLower())
{
if (item.board == "PX4 FMU v4.x")
{
log.Info("is a px4v4 pixracer");
return(boards.px4v4);
}
/*if (item.board == "PX4 FMU v2.x")
* {
* log.Info("is a px4v2");
* return boards.px4v2;
* }
* if (item.board == "Arduino Mega 2560")
* {
* log.Info("is a 2560v2");
* return boards.b2560v2;
* }*/
if (item.board == "revo-mini")
{
log.Info("is a revo-mini");
return(boards.none);
}
}
}
} catch { }
ObjectQuery query = new ObjectQuery("SELECT * FROM Win32_SerialPort"); // Win32_USBControllerDevice
ManagementObjectSearcher searcher = new ManagementObjectSearcher(query);
foreach (ManagementObject obj2 in searcher.Get())
{
log.InfoFormat("-----------------------------------");
log.InfoFormat("Win32_USBDevice instance");
log.InfoFormat("-----------------------------------");
foreach (var item in obj2.Properties)
{
log.InfoFormat("{0}: {1}", item.Name, item.Value);
}
// 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"))
{
CustomMessageBox.Show(Strings.PleaseUnplugTheBoardAnd);
DateTime DEADLINE = DateTime.Now.AddSeconds(30);
while (DateTime.Now < DEADLINE)
{
string[] allports = SerialPort.GetPortNames();
foreach (string port1 in allports)
{
log.Info(DateTime.Now.Millisecond + " Trying Port " + port1);
try
{
using (var up = new Uploader(port1, 115200))
{
up.identify();
Console.WriteLine(
"Found board type {0} boardrev {1} bl rev {2} fwmax {3} on {4}",
up.board_type,
up.board_rev, up.bl_rev, up.fw_maxsize, port1);
if (up.fw_maxsize == 2080768 && up.board_type == 9 && up.bl_rev >= 5)
{
log.Info("is a px4v3");
return(boards.px4v3);
}
else
{
log.Info("is a px4v2");
return(boards.px4v2);
}
}
}
catch (Exception ex)
{
log.Error(ex);
}
}
}
log.Info("Failed to detect px4 board type");
return(boards.none);
}
if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_26AC&PID_0021"))
{
log.Info("is a px4v3 X2.1");
return(boards.px4v3);
}
if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_26AC&PID_0012"))
{
log.Info("is a px4v4 pixracer");
return(boards.px4v4);
}
if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_26AC&PID_0013"))
{
log.Info("is a px4v4pro pixhawk 3 pro");
return(boards.px4v4pro);
}
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")
if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_27AC&PID_1140"))
{
log.Info("is a vrbrain 4.0 bootloader");
return(boards.vrbrainv40);
}
if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_27AC&PID_1145"))
{
log.Info("is a vrbrain 4.5 bootloader");
return(boards.vrbrainv45);
}
if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_27AC&PID_1150"))
{
log.Info("is a vrbrain 5.0 bootloader");
return(boards.vrbrainv50);
}
if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_27AC&PID_1151"))
{
log.Info("is a vrbrain 5.1 bootloader");
return(boards.vrbrainv51);
}
if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_27AC&PID_1152"))
{
log.Info("is a vrbrain 5.2 bootloader");
return(boards.vrbrainv52);
}
if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_27AC&PID_1154"))
{
log.Info("is a vrbrain 5.4 bootloader");
return(boards.vrbrainv54);
}
if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_27AC&PID_1910"))
{
log.Info("is a vrbrain core 1.0 bootloader");
return(boards.vrcorev10);
}
if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_27AC&PID_1351"))
{
log.Info("is a vrubrain 5.1 bootloader");
return(boards.vrubrainv51);
}
if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_27AC&PID_1352"))
{
log.Info("is a vrubrain 5.2 bootloader");
return(boards.vrubrainv52);
}
}
}
else
{
// if its mono
if ((int)DialogResult.Yes == CustomMessageBox.Show("Is this a APM 2+?", "APM 2+", MessageBoxButtons.YesNo))
{
return(boards.b2560v2);
}
else
{
if ((int)DialogResult.Yes ==
CustomMessageBox.Show("Is this a PX4/PIXHAWK/PIXRACER?", "PX4/PIXHAWK", MessageBoxButtons.YesNo))
{
if ((int)DialogResult.Yes ==
CustomMessageBox.Show("Is this a PIXRACER?", "PIXRACER", MessageBoxButtons.YesNo))
{
return(boards.px4v4);
}
if ((int)DialogResult.Yes ==
CustomMessageBox.Show("Is this a CUBE?", "CUBE", MessageBoxButtons.YesNo))
{
return(boards.px4v3);
}
if ((int)DialogResult.Yes ==
CustomMessageBox.Show("Is this a PIXHAWK?", "PIXHAWK", MessageBoxButtons.YesNo))
{
return(boards.px4v2);
}
return(boards.px4);
}
else
{
return(boards.b2560);
}
}
}
if ((int)DialogResult.Yes == CustomMessageBox.Show("Is this a Linux board?", "Linux", MessageBoxButtons.YesNo))
{
if ((int)DialogResult.Yes == CustomMessageBox.Show("Is this Bebop2?", "Bebop2", MessageBoxButtons.YesNo))
{
return(boards.bebop2);
}
if ((int)DialogResult.Yes == CustomMessageBox.Show("Is this Disco?", "Disco", MessageBoxButtons.YesNo))
{
return(boards.disco);
}
}
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);
}
}
}
if (serialPort.IsOpen)
{
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 ((int)DialogResult.Yes == CustomMessageBox.Show("Is this a APM 2+?", "APM 2+", MessageBoxButtons.YesNo))
{
return(boards.b2560v2);
}
else
{
if ((int)DialogResult.Yes ==
CustomMessageBox.Show("Is this a PX4/PIXHAWK?", "PX4/PIXHAWK", MessageBoxButtons.YesNo))
{
if ((int)DialogResult.Yes ==
CustomMessageBox.Show("Is this a PIXHAWK?", "PIXHAWK", MessageBoxButtons.YesNo))
{
return(boards.px4v2);
}
return(boards.px4);
}
else
{
return(boards.b2560);
}
}
}
/// <summary>
/// upload to vrbrain standalone
/// </summary>
/// <param name="filename"></param>
public bool UploadVRBRAIN(string filename)
{
px4uploader.Uploader up;
updateProgress(0, "Reading Hex File");
px4uploader.Firmware fw;
try
{
fw = px4uploader.Firmware.ProcessFirmware(filename);
}
catch (Exception ex)
{
CustomMessageBox.Show(Strings.ErrorFirmwareFile + "\n\n" + ex.ToString(), Strings.ERROR);
return(false);
}
try
{
// check if we are seeing heartbeats
MainV2.comPort.BaseStream.Open();
MainV2.comPort.giveComport = true;
BoardDetect.boards board = BoardDetect.DetectBoard(MainV2.comPortName);
if (MainV2.comPort.getHeartBeat().Length > 0)
{
MainV2.comPort.doReboot(true);
MainV2.comPort.Close();
//specific action for VRBRAIN4 board that needs to be manually disconnected before uploading
if (board == BoardDetect.boards.vrbrainv40)
{
CustomMessageBox.Show("VRBRAIN 4 detected. Please unplug the board, and then press OK and plug back in.\n");
}
}
else
{
MainV2.comPort.BaseStream.Close();
CustomMessageBox.Show("Please unplug the board, and then press OK and plug back in.\nMission Planner will look for 30 seconds to find the board");
}
}
catch (Exception ex)
{
log.Error(ex);
CustomMessageBox.Show("Please unplug the board, and then press OK and plug back in.\nMission Planner will look for 30 seconds to find the board");
}
DateTime DEADLINE = DateTime.Now.AddSeconds(30);
updateProgress(0, "Scanning comports");
while (DateTime.Now < DEADLINE)
{
string[] allports = SerialPort.GetPortNames();
foreach (string port in allports)
{
log.Info(DateTime.Now.Millisecond + " Trying Port " + port);
updateProgress(-1, "Connecting");
try
{
up = new px4uploader.Uploader(port, 115200);
}
catch (Exception ex)
{
//System.Threading.Thread.Sleep(50);
Console.WriteLine(ex.Message);
continue;
}
try
{
up.identify();
updateProgress(-1, "Identify");
log.InfoFormat("Found board type {0} boardrev {1} bl rev {2} fwmax {3} on {4}", up.board_type, up.board_rev, up.bl_rev, up.fw_maxsize, port);
}
catch (Exception)
{
Console.WriteLine("Not There..");
//Console.WriteLine(ex.Message);
up.close();
continue;
}
up.skipotp = true;
try
{
up.currentChecksum(fw);
}
catch
{
up.__reboot();
up.close();
CustomMessageBox.Show("No need to upload. already on the board");
return(true);
}
try
{
up.ProgressEvent += new px4uploader.Uploader.ProgressEventHandler(up_ProgressEvent);
up.LogEvent += new px4uploader.Uploader.LogEventHandler(up_LogEvent);
updateProgress(0, "Upload");
up.upload(fw);
updateProgress(100, "Upload Done");
}
catch (Exception ex)
{
updateProgress(0, "ERROR: " + ex.Message);
log.Info(ex);
Console.WriteLine(ex.ToString());
return(false);
}
finally
{
up.close();
}
if (up.board_type == 1140 || up.board_type == 1145 || up.board_type == 1150 || up.board_type == 1151 || up.board_type == 1152 || up.board_type == 1210 || up.board_type == 1351 || up.board_type == 1352 || up.board_type == 1411 || up.board_type == 1520)
{//VR boards have no tone alarm
if (up.board_type == 1140)
{
CustomMessageBox.Show("Upload complete! Please unplug and reconnect board.");
}
else
{
CustomMessageBox.Show("Upload complete!");
}
}
else
{
// wait for IO firmware upgrade and boot to a mavlink state
CustomMessageBox.Show("Please wait for the musical tones to finish before clicking OK");
}
return(true);
}
}
updateProgress(0, "ERROR: No Response from board");
return(false);
}
/// <summary>
/// Do full update - get firmware from internet
/// </summary>
/// <param name="temp"></param>
/// <param name="historyhash"></param>
public bool update(string comport, software temp, string historyhash)
{
BoardDetect.boards board = BoardDetect.boards.none;
try
{
updateProgress(-1, Strings.DetectingBoardVersion);
board = BoardDetect.DetectBoard(comport);
if (board == BoardDetect.boards.none)
{
CustomMessageBox.Show(Strings.CantDetectBoardVersion);
return(false);
}
log.Info("Detected a " + board);
updateProgress(-1, Strings.DetectedA + board);
string baseurl = "";
if (board == BoardDetect.boards.b2560)
{
baseurl = temp.url2560.ToString();
}
else if (board == BoardDetect.boards.b1280)
{
baseurl = temp.url.ToString();
}
else if (board == BoardDetect.boards.b2560v2)
{
baseurl = temp.url2560_2.ToString();
}
else if (board == BoardDetect.boards.px4)
{
baseurl = temp.urlpx4v1.ToString();
}
else if (board == BoardDetect.boards.px4v2)
{
baseurl = temp.urlpx4v2.ToString();
}
else if (board == BoardDetect.boards.px4v4)
{
baseurl = temp.urlpx4v4.ToString();
}
else if (board == BoardDetect.boards.vrbrainv40)
{
baseurl = temp.urlvrbrainv40.ToString();
}
else if (board == BoardDetect.boards.vrbrainv45)
{
baseurl = temp.urlvrbrainv45.ToString();
}
else if (board == BoardDetect.boards.vrbrainv50)
{
baseurl = temp.urlvrbrainv50.ToString();
}
else if (board == BoardDetect.boards.vrbrainv51)
{
baseurl = temp.urlvrbrainv51.ToString();
}
else if (board == BoardDetect.boards.vrbrainv52)
{
baseurl = temp.urlvrbrainv52.ToString();
}
else if (board == BoardDetect.boards.vrcorev10)
{
baseurl = temp.urlvrcorev10.ToString();
}
else if (board == BoardDetect.boards.vrubrainv51)
{
baseurl = temp.urlvrubrainv51.ToString();
}
else if (board == BoardDetect.boards.vrubrainv52)
{
baseurl = temp.urlvrubrainv52.ToString();
}
else
{
CustomMessageBox.Show(Strings.InvalidBoardType);
return(false);
}
if (board < BoardDetect.boards.px4)
{
if (temp.name.ToLower().Contains("arducopter"))
{
CustomMessageBox.Show(Strings.ThisBoardHasBeenRetired, Strings.Note);
}
}
if (historyhash != "")
{
baseurl = getUrl(historyhash, baseurl);
}
// update to use mirror url
L10N.ReplaceMirrorUrl(ref baseurl);
log.Info("Using " + baseurl);
// Create a request using a URL that can receive a post.
WebRequest request = WebRequest.Create(baseurl);
request.Timeout = 10000;
// Set the Method property of the request to POST.
request.Method = "GET";
// Get the request stream.
Stream dataStream; //= request.GetRequestStream();
// Get the response (using statement is exception safe)
using (WebResponse response = request.GetResponse())
{
// Display the status.
log.Info(((HttpWebResponse)response).StatusDescription);
// Get the stream containing content returned by the server.
using (dataStream = response.GetResponseStream())
{
long bytes = response.ContentLength;
long contlen = bytes;
byte[] buf1 = new byte[1024];
using (FileStream fs = new FileStream(
Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar +
@"firmware.hex", FileMode.Create))
{
updateProgress(0, Strings.DownloadingFromInternet);
long length = response.ContentLength;
long progress = 0;
dataStream.ReadTimeout = 30000;
while (dataStream.CanRead)
{
try
{
updateProgress(length == 0 ? 50 : (int)((progress * 100) / length), Strings.DownloadingFromInternet);
}
catch
{
}
int len = dataStream.Read(buf1, 0, 1024);
if (len == 0)
{
break;
}
progress += len;
bytes -= len;
fs.Write(buf1, 0, len);
}
fs.Close();
}
dataStream.Close();
}
response.Close();
}
updateProgress(100, Strings.DownloadedFromInternet);
log.Info("Downloaded");
}
catch (Exception ex)
{
updateProgress(50, Strings.FailedDownload);
CustomMessageBox.Show("Failed to download new firmware : " + ex.ToString());
return(false);
}
MissionPlanner.Utilities.Tracking.AddFW(temp.name, board.ToString());
return(UploadFlash(comport,
Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"firmware.hex", board));
}
/// <summary>
/// upload to px4 standalone
/// </summary>
/// <param name="filename"></param>
public bool UploadPX4(string filename)
{
Uploader up;
updateProgress(0, "Reading Hex File");
px4uploader.Firmware fw;
try
{
fw = px4uploader.Firmware.ProcessFirmware(filename);
}
catch (Exception ex)
{
CustomMessageBox.Show(Strings.ErrorFirmwareFile + "\n\n" + ex.ToString(), Strings.ERROR);
return(false);
}
try
{
// check if we are seeing heartbeats
MainV2.comPort.BaseStream.Open();
MainV2.comPort.giveComport = true;
BoardDetect.boards board = BoardDetect.DetectBoard(MainV2.comPortName);
if (MainV2.comPort.getHeartBeat().Length > 0)
{
MainV2.comPort.doReboot(true);
MainV2.comPort.Close();
//specific action for VRBRAIN4 board that needs to be manually disconnected before uploading
if (board == BoardDetect.boards.vrbrainv40)
{
CustomMessageBox.Show("VRBRAIN 4 detected. Please unplug the board then press OK and plug back in.\n");
}
}
else
{
MainV2.comPort.BaseStream.Close();
CustomMessageBox.Show("Please unplug the board, and then press OK and plug back in.\nMission Planner will look for 30 seconds to find the board");
}
}
catch (Exception ex)
{
log.Error(ex);
CustomMessageBox.Show("Please unplug the board, and then press OK and plug back in.\nMission Planner will look for 30 seconds to find the board");
}
DateTime DEADLINE = DateTime.Now.AddSeconds(30);
updateProgress(0, "Scanning comports");
while (DateTime.Now < DEADLINE)
{
string[] allports = SerialPort.GetPortNames();
foreach (string port in allports)
{
log.Info(DateTime.Now.Millisecond + " Trying Port " + port);
updateProgress(-1, "Connecting");
try
{
up = new Uploader(port, 115200);
}
catch (Exception ex)
{
//System.Threading.Thread.Sleep(50);
Console.WriteLine(ex.Message);
continue;
}
try
{
up.identify();
updateProgress(-1, "Identify");
log.InfoFormat("Found board type {0} boardrev {1} bl rev {2} fwmax {3} on {4}", up.board_type, up.board_rev, up.bl_rev, up.fw_maxsize, port);
up.ProgressEvent += new Uploader.ProgressEventHandler(up_ProgressEvent);
up.LogEvent += new Uploader.LogEventHandler(up_LogEvent);
}
catch (Exception)
{
Console.WriteLine("Not There..");
//Console.WriteLine(ex.Message);
up.close();
continue;
}
// test if pausing here stops - System.TimeoutException: The write timed out.
System.Threading.Thread.Sleep(500);
try
{
up.verifyotp();
if (up.libre)
{
MissionPlanner.Utilities.Tracking.AddEvent("FWUpload", "verifyotp", "libre", "");
}
else
{
MissionPlanner.Utilities.Tracking.AddEvent("FWUpload", "verifyotp", "Pass", "");
}
}
catch (Org.BouncyCastle.Security.InvalidKeyException ex)
{
MissionPlanner.Utilities.Tracking.AddEvent("FWUpload", "verifyotp", "InvalidKeyException", "");
log.Error(ex);
CustomMessageBox.Show("You are using unsupported hardware.\nThis board does not contain a valid certificate of authenticity.\nPlease contact your hardware vendor about signing your hardware.", "Invalid Cert");
up.skipotp = true;
}
catch (FormatException ex)
{
MissionPlanner.Utilities.Tracking.AddEvent("FWUpload", "verifyotp", "FormatException", "");
log.Error(ex);
CustomMessageBox.Show("You are using unsupported hardware.\nThis board does not contain a valid certificate of authenticity.\nPlease contact your hardware vendor about signing your hardware.", "Invalid Cert");
up.skipotp = true;
}
catch (IOException ex)
{
MissionPlanner.Utilities.Tracking.AddEvent("FWUpload", "verifyotp", "IOException", "");
log.Error(ex);
CustomMessageBox.Show("lost communication with the board.", "lost comms");
up.close();
return(false);
}
catch (TimeoutException ex)
{
MissionPlanner.Utilities.Tracking.AddEvent("FWUpload", "verifyotp", "TimeoutException", "");
log.Error(ex);
CustomMessageBox.Show("lost communication with the board.", "lost comms");
up.close();
return(false);
}
catch (Exception ex)
{
MissionPlanner.Utilities.Tracking.AddEvent("FWUpload", "verifyotp", "Exception", "");
log.Error(ex);
CustomMessageBox.Show("lost communication with the board. " + ex.ToString(), "lost comms");
up.close();
return(false);
}
try
{
up.currentChecksum(fw);
}
catch (IOException ex)
{
log.Error(ex);
CustomMessageBox.Show("lost communication with the board.", "lost comms");
up.close();
return(false);
}
catch
{
up.__reboot();
up.close();
CustomMessageBox.Show("No need to upload. already on the board");
return(true);
}
try
{
updateProgress(0, "Upload");
up.upload(fw);
updateProgress(100, "Upload Done");
}
catch (Exception ex)
{
updateProgress(0, "ERROR: " + ex.Message);
log.Info(ex);
Console.WriteLine(ex.ToString());
return(false);
}
finally
{
up.close();
}
// wait for IO firmware upgrade and boot to a mavlink state
CustomMessageBox.Show("Please wait for the musical tones to finish before clicking OK");
return(true);
}
}
updateProgress(0, "ERROR: No Response from board");
return(false);
}
/// <summary>
/// Do full update - get firmware from internet
/// </summary>
/// <param name="temp"></param>
/// <param name="historyhash"></param>
public bool update(string comport, software temp, string historyhash)
{
BoardDetect.boards board = BoardDetect.boards.none;
try
{
updateProgress(-1, Strings.DetectingBoardVersion);
board = BoardDetect.DetectBoard(comport);
if (board == BoardDetect.boards.none)
{
CustomMessageBox.Show(Strings.CantDetectBoardVersion);
return(false);
}
int apmformat_version = -1; // fail continue
if (board != BoardDetect.boards.px4 && board != BoardDetect.boards.px4v2 && board != BoardDetect.boards.vrbrainv40 && board != BoardDetect.boards.vrbrainv45 && board != BoardDetect.boards.vrbrainv50 && board != BoardDetect.boards.vrbrainv51 && board != BoardDetect.boards.vrbrainv52 && board != BoardDetect.boards.vrherov10 && board != BoardDetect.boards.vrubrainv51 && board != BoardDetect.boards.vrubrainv52 && board != BoardDetect.boards.vrgimbalv20 && board != BoardDetect.boards.vrugimbalv11)
{
try
{
apmformat_version = BoardDetect.decodeApVar(comport, board);
}
catch { }
if (apmformat_version != -1 && apmformat_version != temp.k_format_version)
{
if (DialogResult.No == CustomMessageBox.Show(Strings.EppromChanged, String.Format(Strings.EppromFormatChanged, apmformat_version, temp.k_format_version), MessageBoxButtons.YesNo))
{
CustomMessageBox.Show(Strings.PleaseConnectAndBackupConfig);
return(false);
}
}
}
log.Info("Detected a " + board);
updateProgress(-1, Strings.DetectedA + board);
string baseurl = "";
if (board == BoardDetect.boards.b2560)
{
baseurl = temp.url2560.ToString();
}
else if (board == BoardDetect.boards.b1280)
{
baseurl = temp.url.ToString();
}
else if (board == BoardDetect.boards.b2560v2)
{
baseurl = temp.url2560_2.ToString();
}
else if (board == BoardDetect.boards.px4)
{
baseurl = temp.urlpx4v1.ToString();
}
else if (board == BoardDetect.boards.px4v2)
{
baseurl = temp.urlpx4v2.ToString();
}
else if (board == BoardDetect.boards.vrbrainv40)
{
baseurl = temp.urlvrbrainv40.ToString();
}
else if (board == BoardDetect.boards.vrbrainv45)
{
baseurl = temp.urlvrbrainv45.ToString();
}
else if (board == BoardDetect.boards.vrbrainv50)
{
baseurl = temp.urlvrbrainv50.ToString();
}
else if (board == BoardDetect.boards.vrbrainv51)
{
baseurl = temp.urlvrbrainv51.ToString();
}
else if (board == BoardDetect.boards.vrbrainv52)
{
baseurl = temp.urlvrbrainv52.ToString();
}
else if (board == BoardDetect.boards.vrherov10)
{
baseurl = temp.urlvrherov10.ToString();
}
else if (board == BoardDetect.boards.vrubrainv51)
{
baseurl = temp.urlvrubrainv51.ToString();
}
else if (board == BoardDetect.boards.vrubrainv52)
{
baseurl = temp.urlvrubrainv52.ToString();
}
else if (board == BoardDetect.boards.vrgimbalv20)
{
baseurl = temp.urlvrgimbalv20.ToString();
}
else if (board == BoardDetect.boards.vrugimbalv11)
{
baseurl = temp.urlvrugimbalv11.ToString();
}
else
{
CustomMessageBox.Show(Strings.InvalidBoardType);
return(false);
}
if (board < BoardDetect.boards.px4)
{
if (temp.name.ToLower().Contains("arducopter"))
{
CustomMessageBox.Show(Strings.ThisBoardHasBeenRetired, Strings.Note);
}
}
if (historyhash != "")
{
baseurl = getUrl(historyhash, baseurl);
}
// update to use mirror url
Localizations.ReplaceMirrorUrl(ref baseurl);
log.Info("Using " + baseurl);
// Create a request using a URL that can receive a post.
WebRequest request = WebRequest.Create(baseurl);
request.Timeout = 10000;
// Set the Method property of the request to POST.
request.Method = "GET";
// Get the request stream.
Stream dataStream; //= request.GetRequestStream();
// Get the response.
WebResponse response = request.GetResponse();
// Display the status.
log.Info(((HttpWebResponse)response).StatusDescription);
// Get the stream containing content returned by the server.
dataStream = response.GetResponseStream();
long bytes = response.ContentLength;
long contlen = bytes;
byte[] buf1 = new byte[1024];
FileStream fs = new FileStream(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"firmware.hex", FileMode.Create);
updateProgress(0, Strings.DownloadingFromInternet);
dataStream.ReadTimeout = 30000;
while (dataStream.CanRead)
{
try
{
updateProgress(50, Strings.DownloadingFromInternet);
}
catch { }
int len = dataStream.Read(buf1, 0, 1024);
if (len == 0)
{
break;
}
bytes -= len;
fs.Write(buf1, 0, len);
}
fs.Close();
dataStream.Close();
response.Close();
updateProgress(100, Strings.DownloadedFromInternet);
log.Info("Downloaded");
}
catch (Exception ex)
{
updateProgress(50, Strings.FailedDownload);
CustomMessageBox.Show("Failed to download new firmware : " + ex.ToString());
return(false);
}
MissionPlanner.Utilities.Tracking.AddFW(temp.name, board.ToString());
return(UploadFlash(comport, Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"firmware.hex", board));
}
/// <summary>
/// Detect board version
/// </summary>
/// <param name="port"></param>
/// <returns> boards enum value</returns>
public static boards DetectBoard(string port, List <DeviceInfo> ports)
{
var t = Type.GetType("Mono.Runtime");
var MONO = (t != null);
SerialPort serialPort = new SerialPort();
serialPort.PortName = port;
if (!MONO)
{
try
{
// check the device reported productname
foreach (var item in ports)
{
log.InfoFormat("{0}: {1} - {2}", item.name, item.description, item.board);
//if (port.ToLower() == item.name.ToLower())
{
//USB\VID_0483&PID_DF11 -- stm32 bootloader
//USB\VID_1209&PID_5740 -- ardupilot chibios
// new style bootloader
if (item.hardwareid.StartsWith(@"USB\VID_0483&PID_5740") ||
Regex.IsMatch(item.hardwareid, "VID_2DAE") ||
Regex.IsMatch(item.hardwareid, "VID_3162") ||
item.hardwareid.StartsWith(@"USB\VID_1209&PID_5740"))
{
if (item.board == "fmuv2" || item.board.ToLower() == "fmuv2-bl")
{
log.Info("is a fmuv2");
return(boards.px4v2);
}
if (item.board == "fmuv3" || item.board.ToLower() == "fmuv3-bl")
{
log.Info("is a fmuv3");
return(boards.px4v3);
}
if (item.board == "fmuv4" || item.board.ToLower() == "fmuv4-bl")
{
log.Info("is a fmuv4");
return(boards.px4v4);
}
if (item.board == "fmuv5" || item.board.ToLower() == "fmuv5-bl")
{
log.Info("is a fmuv5");
}
if (item.board == "revo-mini" || item.board.ToLower() == "revo-mini-bl")
{
log.Info("is a revo-mini");
//return boards.revomini;
}
if (item.board == "mini-pix" || item.board.ToLower() == "mini-pix-bl")
{
log.Info("is a mini-pix");
//return boards.minipix;
}
if (item.board == "mindpx-v2" || item.board.ToLower() == "mindpx-v2-bl")
{
log.Info("is a mindpx-v2");
//return boards.mindpxv2;
}
chbootloader = item.board.Replace("-bl", "").Replace("-Bl", "").Replace("-BL", "");
return(boards.chbootloader);
}
// old style bootloader
else if (item.board == "PX4 FMU v5.x")
{
//USB\VID_26AC&PID_0032\0
log.Info("is a PX4 FMU v5.x (fmuv5)");
return(boards.fmuv5);
}
else if (item.board == "PX4 FMU v4.x")
{
log.Info("is a px4v4 pixracer");
return(boards.px4v4);
}
else if (item.board == "PX4 FMU v2.x")
{
CustomMessageBox.Show(Strings.PleaseUnplugTheBoardAnd);
DateTime DEADLINE = DateTime.Now.AddSeconds(30);
while (DateTime.Now < DEADLINE)
{
string[] allports = SerialPort.GetPortNames();
foreach (string port1 in allports)
{
log.Info(DateTime.Now.Millisecond + " Trying Port " + port1);
try
{
using (var up = new Uploader(port1, 115200))
{
up.identify();
Console.WriteLine("Found board type {0} brdrev {1} blrev {2} fwmax {3} chip {5:X} chipdes {6} on {4}", up.board_type,
up.board_rev, up.bl_rev, up.fw_maxsize, port1, up.chip, up.chip_desc);
if (up.fw_maxsize == 2080768 && up.board_type == 9 && up.bl_rev >= 5)
{
log.Info("is a px4v3");
return(boards.px4v3);
}
else
{
log.Info("is a px4v2");
return(boards.px4v2);
}
}
}
catch (Exception ex)
{
log.Error(ex);
}
}
}
log.Info("Failed to detect px4 board type");
return(boards.none);
}
}
}
}
catch (Exception ex)
{
log.Error(ex);
}
ObjectQuery query = new ObjectQuery("SELECT * FROM Win32_SerialPort"); // Win32_USBControllerDevice
ManagementObjectSearcher searcher = new ManagementObjectSearcher(query);
foreach (ManagementObject obj2 in searcher.Get())
{
log.InfoFormat("-----------------------------------");
log.InfoFormat("Win32_USBDevice instance");
log.InfoFormat("-----------------------------------");
foreach (var item in obj2.Properties)
{
log.InfoFormat("{0}: {1}", item.Name, item.Value);
}
// 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);
}
}
else 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);
}
}
else if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_26AC&PID_0032"))
{
// check port name as well
//if (obj2.Properties["Name"].Value.ToString().ToUpper().Contains(serialPort.PortName.ToUpper()))
{
log.Info("is a CUAVv5");
chbootloader = "CUAVv5";
return(boards.chbootloader);
}
}
// chibios or normal px4
else if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_0483&PID_5740") ||
obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_26AC&PID_0011") ||
obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_1209&PID_5740"))
{
CustomMessageBox.Show(Strings.PleaseUnplugTheBoardAnd);
DateTime DEADLINE = DateTime.Now.AddSeconds(30);
while (DateTime.Now < DEADLINE)
{
string[] allports = SerialPort.GetPortNames();
foreach (string port1 in allports)
{
log.Info(DateTime.Now.Millisecond + " Trying Port " + port1);
try
{
using (var up = new Uploader(port1, 115200))
{
up.identify();
Console.WriteLine("Found board type {0} brdrev {1} blrev {2} fwmax {3} chip {5:X} chipdes {6} on {4}", up.board_type,
up.board_rev, up.bl_rev, up.fw_maxsize, port1, up.chip, up.chip_desc);
if (up.fw_maxsize == 2080768 && up.board_type == 9 && up.bl_rev >= 5)
{
log.Info("is a px4v3");
return(boards.px4v3);
}
else if (up.fw_maxsize == 2080768 && up.board_type == 50 && up.bl_rev >= 5)
{
log.Info("is a fmuv5");
return(boards.fmuv5);
}
else
{
log.Info("is a px4v2");
return(boards.px4v2);
}
}
}
catch (Exception ex)
{
log.Error(ex);
}
}
}
log.Info("Failed to detect px4 board type");
return(boards.none);
}
else if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_26AC&PID_0021"))
{
log.Info("is a px4v3 X2.1");
return(boards.px4v3);
}
else if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_26AC&PID_0012"))
{
log.Info("is a px4v4 pixracer");
return(boards.px4v4);
}
else if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_26AC&PID_0013"))
{
log.Info("is a px4v4pro pixhawk 3 pro");
return(boards.px4v4pro);
}
else if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_26AC&PID_0001"))
{
log.Info("is a px4v2 bootloader");
return(boards.px4v2);
}
else if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_26AC&PID_0016"))
{
return(boards.px4rl);
}
//|| 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 (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_27AC&PID_1140"))
{
log.Info("is a vrbrain 4.0 bootloader");
return(boards.vrbrainv40);
}
else if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_27AC&PID_1145"))
{
log.Info("is a vrbrain 4.5 bootloader");
return(boards.vrbrainv45);
}
else if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_27AC&PID_1150"))
{
log.Info("is a vrbrain 5.0 bootloader");
return(boards.vrbrainv50);
}
else if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_27AC&PID_1151"))
{
log.Info("is a vrbrain 5.1 bootloader");
return(boards.vrbrainv51);
}
else if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_27AC&PID_1152"))
{
log.Info("is a vrbrain 5.2 bootloader");
return(boards.vrbrainv52);
}
else if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_27AC&PID_1154"))
{
log.Info("is a vrbrain 5.4 bootloader");
return(boards.vrbrainv54);
}
else if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_27AC&PID_1910"))
{
log.Info("is a vrbrain core 1.0 bootloader");
return(boards.vrcorev10);
}
else if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_27AC&PID_1351"))
{
log.Info("is a vrubrain 5.1 bootloader");
return(boards.vrubrainv51);
}
else if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_27AC&PID_1352"))
{
log.Info("is a vrubrain 5.2 bootloader");
return(boards.vrubrainv52);
}
else if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_1FC9&PID_001C"))
{
log.Info("is a NXP RDDRONE-FMUK66");
return(boards.nxpfmuk66);
}
}
}
else
{
// if its mono
if (CustomMessageBox.DialogResult.Yes ==
CustomMessageBox.Show("Is this a APM 2+?", "APM 2+", CustomMessageBox.MessageBoxButtons.YesNo))
{
return(boards.b2560v2);
}
else
{
if (CustomMessageBox.DialogResult.Yes ==
CustomMessageBox.Show("Is this a CUBE/PX4/PIXHAWK/PIXRACER?", "PX4/PIXHAWK",
CustomMessageBox.MessageBoxButtons.YesNo))
{
if (CustomMessageBox.DialogResult.Yes ==
CustomMessageBox.Show("Is this a PIXRACER?", "PIXRACER",
CustomMessageBox.MessageBoxButtons.YesNo))
{
return(boards.px4v4);
}
else if (CustomMessageBox.DialogResult.Yes ==
CustomMessageBox.Show("Is this a CUBE?", "CUBE",
CustomMessageBox.MessageBoxButtons.YesNo))
{
return(boards.px4v3);
}
else if (CustomMessageBox.DialogResult.Yes ==
CustomMessageBox.Show("Is this a PIXHAWK?", "PIXHAWK",
CustomMessageBox.MessageBoxButtons.YesNo))
{
return(boards.px4v2);
}
return(boards.px4);
}
else
{
return(boards.b2560);
}
}
}
if (CustomMessageBox.DialogResult.Yes ==
CustomMessageBox.Show("Is this a Linux board?", "Linux", CustomMessageBox.MessageBoxButtons.YesNo))
{
if (CustomMessageBox.DialogResult.Yes ==
CustomMessageBox.Show("Is this Bebop2?", "Bebop2", CustomMessageBox.MessageBoxButtons.YesNo))
{
return(boards.bebop2);
}
if (CustomMessageBox.DialogResult.Yes == CustomMessageBox.Show("Is this Disco?", "Disco",
CustomMessageBox.MessageBoxButtons.YesNo))
{
return(boards.disco);
}
}
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);
}
}
}
if (serialPort.IsOpen)
{
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 (!MONO)
{
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 (CustomMessageBox.DialogResult.Yes == CustomMessageBox.Show("Is this a APM 2+?", "APM 2+",
CustomMessageBox.MessageBoxButtons.YesNo))
{
return(boards.b2560v2);
}
else
{
if (CustomMessageBox.DialogResult.Yes ==
CustomMessageBox.Show("Is this a PX4/PIXHAWK?", "PX4/PIXHAWK",
CustomMessageBox.MessageBoxButtons.YesNo))
{
if (CustomMessageBox.DialogResult.Yes ==
CustomMessageBox.Show("Is this a PIXHAWK?", "PIXHAWK",
CustomMessageBox.MessageBoxButtons.YesNo))
{
return(boards.px4v2);
}
return(boards.px4);
}
else
{
return(boards.b2560);
}
}
}
/// <summary>
/// upload to px4 standalone
/// </summary>
/// <param name="filename"></param>
public bool UploadPX4(string filename)
{
Uploader up;
updateProgress(0, "Reading Hex File");
px4uploader.Firmware fw;
try
{
fw = px4uploader.Firmware.ProcessFirmware(filename);
}
catch (Exception ex)
{
CustomMessageBox.Show(Strings.ErrorFirmwareFile + "\n\n" + ex.ToString(), Strings.ERROR);
return(false);
}
try
{
// check if we are seeing heartbeats
MainV2.comPort.BaseStream.Open();
MainV2.comPort.giveComport = true;
BoardDetect.boards board = BoardDetect.DetectBoard(MainV2.comPortName);
if (MainV2.comPort.getHeartBeat().Length > 0)
{
MainV2.comPort.doReboot(true);
MainV2.comPort.Close();
//specific action for VRBRAIN4 board that needs to be manually disconnected before uploading
if (board == BoardDetect.boards.vrbrainv40)
{
CustomMessageBox.Show(
"VRBRAIN 4 detected. Please unplug the board then press OK and plug back in.\n");
}
}
else
{
MainV2.comPort.BaseStream.Close();
CustomMessageBox.Show(Strings.PleaseUnplugTheBoardAnd);
}
}
catch (Exception ex)
{
log.Error(ex);
CustomMessageBox.Show(Strings.PleaseUnplugTheBoardAnd);
}
DateTime DEADLINE = DateTime.Now.AddSeconds(30);
updateProgress(0, "Scanning comports");
while (DateTime.Now < DEADLINE)
{
string[] allports = SerialPort.GetPortNames();
foreach (string port in allports)
{
log.Info(DateTime.Now.Millisecond + " Trying Port " + port);
updateProgress(-1, "Connecting");
try
{
up = new Uploader(port, 115200);
}
catch (Exception ex)
{
//System.Threading.Thread.Sleep(50);
Console.WriteLine(ex.Message);
continue;
}
try
{
up.identify();
updateProgress(-1, "Identify");
log.InfoFormat("Found board type {0} boardrev {1} bl rev {2} fwmax {3} on {4}", up.board_type,
up.board_rev, up.bl_rev, up.fw_maxsize, port);
up.ProgressEvent += new Uploader.ProgressEventHandler(up_ProgressEvent);
up.LogEvent += new Uploader.LogEventHandler(up_LogEvent);
}
catch (Exception)
{
Console.WriteLine("Not There..");
//Console.WriteLine(ex.Message);
up.close();
continue;
}
// test if pausing here stops - System.TimeoutException: The write timed out.
System.Threading.Thread.Sleep(500);
try
{
up.currentChecksum(fw);
}
catch (IOException ex)
{
log.Error(ex);
CustomMessageBox.Show("lost communication with the board.", "lost comms");
up.close();
return(false);
}
catch
{
up.__reboot();
up.close();
CustomMessageBox.Show(Strings.NoNeedToUpload);
return(true);
}
try
{
updateProgress(0, "Upload");
up.upload(fw);
updateProgress(100, "Upload Done");
}
catch (Exception ex)
{
updateProgress(0, "ERROR: " + ex.Message);
log.Info(ex);
Console.WriteLine(ex.ToString());
return(false);
}
finally
{
up.close();
}
// wait for IO firmware upgrade and boot to a mavlink state
CustomMessageBox.Show(Strings.PleaseWaitForTheMusicalTones);
return(true);
}
}
updateProgress(0, "ERROR: No Response from board");
return(false);
}
/// <summary>
/// Detect board version
/// </summary>
/// <param name="port"></param>
/// <returns> boards enum value</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_0012"))
{
log.Info("is a px4v4 pixracer");
return(boards.px4v4);
}
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")
if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_27AC&PID_1140"))
{
log.Info("is a vrbrain 4.0 bootloader");
return(boards.vrbrainv40);
}
if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_27AC&PID_1145"))
{
log.Info("is a vrbrain 4.5 bootloader");
return(boards.vrbrainv45);
}
if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_27AC&PID_1150"))
{
log.Info("is a vrbrain 5.0 bootloader");
return(boards.vrbrainv50);
}
if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_27AC&PID_1151"))
{
log.Info("is a vrbrain 5.1 bootloader");
return(boards.vrbrainv51);
}
if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_27AC&PID_1152"))
{
log.Info("is a vrbrain 5.2 bootloader");
return(boards.vrbrainv52);
}
if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_27AC&PID_1910"))
{
log.Info("is a vrbrain core 1.0 bootloader");
return(boards.vrcorev10);
}
if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_27AC&PID_1351"))
{
log.Info("is a vrubrain 5.1 bootloader");
return(boards.vrubrainv51);
}
if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_27AC&PID_1352"))
{
log.Info("is a vrubrain 5.2 bootloader");
return(boards.vrubrainv52);
}
}
}
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/PIXRACER?", "PX4/PIXHAWK", MessageBoxButtons.YesNo))
{
if (DialogResult.Yes ==
CustomMessageBox.Show("Is this a PIXRACER?", "PIXRACER", MessageBoxButtons.YesNo))
{
return(boards.px4v4);
}
if (DialogResult.Yes ==
CustomMessageBox.Show("Is this a PIXHAWK?", "PIXHAWK", MessageBoxButtons.YesNo))
{
return(boards.px4v2);
}
return(boards.px4);
}
else
{
return(boards.b2560);
}
}
}
if (DialogResult.Yes == CustomMessageBox.Show("Is this a Linux board?", "Linux", MessageBoxButtons.YesNo))
{
if (DialogResult.Yes == CustomMessageBox.Show("Is this Bebop2?", "Bebop2", MessageBoxButtons.YesNo))
{
return(boards.bebop2);
}
}
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);
}
}
}
if (serialPort.IsOpen)
{
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);
}
}
}
