Exemplo n.º 1
0
        /// <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")

                    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?", "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);
                    }
                }
            }

            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);
                }
            }
        }
Exemplo n.º 2
0
        /// <summary>
        /// return the software id from eeprom
        /// </summary>
        /// <param name="comport">Port</param>
        /// <param name="version">Board type</param>
        /// <returns></returns>
        public static int decodeApVar(string comport, BoardDetect.boards version)
        {
            IArduinoComms port = new ArduinoSTK();

            if (version == boards.b1280)
            {
                port          = new ArduinoSTK();
                port.BaudRate = 57600;
            }
            else if (version == boards.b2560 || version == boards.b2560v2)
            {
                port          = new ArduinoSTKv2();
                port.BaudRate = 115200;
            }
            else
            {
                return(-1);
            }
            port.PortName  = comport;
            port.DtrEnable = true;
            port.Open();
            port.connectAP();
            byte[] buffer = port.download(1024 * 4);
            port.Close();

            if (buffer[0] != 'A' && buffer[0] != 'P' || buffer[1] != 'P' && buffer[1] != 'A')
            // this is the apvar header
            {
                return(-1);
            }
            else
            {
                if (buffer[0] == 'A' && buffer[1] == 'P' && buffer[2] == 2)
                {
                    // apvar header and version
                    int  pos = 4;
                    byte key = 0;
                    while (pos < (1024 * 4))
                    {
                        int size = buffer[pos] & 63;
                        pos++;
                        key = buffer[pos];
                        pos++;

                        log.InfoFormat("{0:X4}: key {1} size {2}\n ", pos - 2, key, size + 1);

                        if (key == 0xff)
                        {
                            log.InfoFormat("end sentinal at {0}", pos - 2);
                            break;
                        }

                        if (key == 0)
                        {
                            //Array.Reverse(buffer, pos, 2);
                            return(BitConverter.ToUInt16(buffer, pos));
                        }


                        for (int i = 0; i <= size; i++)
                        {
                            Console.Write(" {0:X2}", buffer[pos]);
                            pos++;
                        }
                    }
                }

                if (buffer[0] == 'P' && buffer[1] == 'A' && buffer[2] == 5) // ap param
                {
                    int  pos = 4;
                    byte key = 0;
                    while (pos < (1024 * 4))
                    {
                        key = buffer[pos];
                        pos++;
                        int group = buffer[pos];
                        pos++;
                        int type = buffer[pos];
                        pos++;

                        int size = type_size((ap_var_type)Enum.Parse(typeof(ap_var_type), type.ToString()));


                        Console.Write("{0:X4}: type {1} ({2}) key {3} group {4} size {5}\n ", pos - 2, type,
                                      type_names[type], key, group, size);

                        if (key == 0xff)
                        {
                            log.InfoFormat("end sentinal at {0}", pos - 2);
                            break;
                        }

                        if (key == 0)
                        {
                            //Array.Reverse(buffer, pos, 2);
                            return(BitConverter.ToUInt16(buffer, pos));
                        }


                        for (int i = 0; i < size; i++)
                        {
                            Console.Write(" {0:X2}", buffer[pos]);
                            pos++;
                        }
                    }
                }

                if (buffer[0] == 'P' && buffer[1] == 'A' && buffer[2] == 6) // ap param
                {
                    int  pos = 4;
                    byte key = 0;
                    while (pos < (1024 * 4))
                    {
                        key = buffer[pos];
                        pos++;

                        if (key == 0xff)
                        {
                            log.InfoFormat("end sentinal at {0}", pos - 1);
                            break;
                        }

                        int type = buffer[pos] & 0x3f; // 6 bits

                        uint group = BitConverter.ToUInt32(buffer, pos);
                        //((byte)(buffer[pos]) >> 6) | ((byte)(buffer[pos + 1]) << 8) | ((byte)(buffer[pos + 2]) << 16); // 18 bits

                        group = (group >> 6) & 0x3ffff;
                        pos++;
                        pos++;
                        pos++;

                        int size =
                            BoardDetect.type_size(
                                (BoardDetect.ap_var_type)Enum.Parse(typeof(BoardDetect.ap_var_type), type.ToString()));

                        Console.Write("{0:X4}: type {1} ({2}) key {3} group_element {4} size {5} value ", pos - 4, type,
                                      BoardDetect.type_names[type], key, group, size);

                        if (key == 0)
                        {
                            //Array.Reverse(buffer, pos, 2);
                            return(BitConverter.ToUInt16(buffer, pos));
                        }


                        for (int i = 0; i < size; i++)
                        {
                            Console.Write(" {0:X2}", buffer[pos]);
                            pos++;
                        }
                        Console.WriteLine();
                    }
                }
            }
            return(-1);
        }