public void __verify_v3(Firmware fw)
{
//Expected 0x33E22A51
//Got 0x8117524C
//System.Exception: Program CRC failed
//python
//Expected 0x4c521781
//Got 0x4c521781
int expect_crc = fw.crc(self.fw_maxsize);
__send(new byte[] { (byte)Code.GET_CRC,
(byte)Code.EOC });
int report_crc = __recv_int();
__getSync();
print("Expected 0x" + hexlify(BitConverter.GetBytes(expect_crc)) + " " + expect_crc);
print("Got 0x" + hexlify(BitConverter.GetBytes(report_crc)) + " " + report_crc);
if (report_crc != expect_crc)
{
throw new Exception("Program CRC failed");
}
}
public void currentChecksum(Firmware fw)
{
if (self.bl_rev < 3)
{
return;
}
this.port.ReadTimeout = 1000; // 1 sec
int expect_crc = fw.crc(self.fw_maxsize);
__send(new byte[] { (byte)Code.GET_CRC,
(byte)Code.EOC });
int report_crc = __recv_int();
self.__getSync();
print("FW File 0x" + hexlify(BitConverter.GetBytes(expect_crc)) + " " + expect_crc);
print("Current 0x" + hexlify(BitConverter.GetBytes(report_crc)) + " " + report_crc);
if (expect_crc == report_crc)
{
throw new Exception("Same Firmware. Not uploading");
}
}
public void upload(Firmware fw)
{
this.port.ReadTimeout = 1000; // 1 sec
//Make sure we are doing the right thing
if (self.board_type != fw.board_id)
{
if (!(self.board_type == 33 && fw.board_id == 9))
{
throw new Exception("Firmware not suitable for this board fw:" + fw.board_id + " - board:" +
self.board_type);
}
}
if (self.fw_maxsize < fw.image_size && self.fw_maxsize != 0)
{
throw new Exception("Firmware image is too large for this board");
}
if (self.extf_maxsize < fw.extf_image_size && self.extf_maxsize != 0)
{
throw new Exception("extf image is too large for this board");
}
if (fw.image_size > 0)
{
print("erase...");
self.__erase();
print("program...");
self.__program(fw);
print("verify...");
if (self.bl_rev == 2)
{
self.__verify_v2(fw);
}
else
{
self.__verify_v3(fw);
}
}
if (fw.extf_image_size > 0)
{
print("erase extf...");
self.__erase_extf(fw);
print("program extf...");
self.__program_extf(fw);
print("verify extf...");
self.__verify_extf(fw);
}
print("done, rebooting.");
self.__reboot();
try
{
self.port.Close();
}
catch { }
}
public void __verify_v2(Firmware fw)
{
self.__send(new byte[] { (byte)Code.CHIP_VERIFY
, (byte)Code.EOC });
self.__getSync();
byte[] code = fw.imagebyte;
List <byte[]> groups = self.__split_len(code, (byte)Code.READ_MULTI_MAX);
int a = 1;
foreach (byte[] bytes in groups)
{
if (!self.__verify_multi(bytes))
{
throw new Exception("Verification failed");
}
Console.WriteLine("Verify {0}/{1}", a, groups.Count);
a++;
if (ProgressEvent != null)
{
ProgressEvent((a / (float)groups.Count) * 100.0);
}
}
}
public static Firmware ProcessFirmware(string path)
{
// JavaScriptSerializer serializer = new JavaScriptSerializer();
Console.WriteLine("Read File " + path);
// read the file
StreamReader f = new StreamReader(File.OpenRead(path));
//fw = serializer.Deserialize<Firmware>(f.ReadToEnd());
fw = JSON.Instance.ToObject <Firmware>(f.ReadToEnd());
f.Close();
byte[] data = Convert.FromBase64String(fw.image);
MemoryStream imagems = new MemoryStream(data, true);
ZlibStream decompressionStream = new ZlibStream(imagems, CompressionMode.Decompress);
int size = fw.image_size + (fw.image_size % 4);
fw.imagebyte = new byte[size];
for (int a = 0; a < fw.imagebyte.Length; a++)
{
fw.imagebyte[a] = 0xff;
}
try
{
decompressionStream.Read(fw.imagebyte, 0, fw.image_size);
}
catch { Console.WriteLine("Possible bad file - usually safe to ignore"); }
Console.WriteLine("image_size {0} size {1}", fw.image_size, size);
using (BinaryWriter sw = new BinaryWriter(File.Open("px4fw.bin", FileMode.Create)))
{
foreach (byte by in fw.imagebyte)
{
sw.Write(by);
// Console.Write("{0:x2}", by);
}
sw.Close();
}
// pad image to 4-byte length
//while ((fw.imagebyte.Length % 4) != 0) {
//fw.imagebyte. += b'\x00'
return(fw);
}
public static Firmware ProcessFirmware(string path)
{
// JavaScriptSerializer serializer = new JavaScriptSerializer();
Console.WriteLine("Read File " + path);
// read the file
StreamReader f = new StreamReader(File.OpenRead(path));
//fw = serializer.Deserialize<Firmware>(f.ReadToEnd());
fw = JSON.Instance.ToObject<Firmware>(f.ReadToEnd());
f.Close();
byte[] data = Convert.FromBase64String(fw.image);
MemoryStream imagems = new MemoryStream(data, true);
ZlibStream decompressionStream = new ZlibStream(imagems, CompressionMode.Decompress);
int size = fw.image_size + (fw.image_size % 4);
fw.imagebyte = new byte[size];
for (int a = 0; a < fw.imagebyte.Length; a++)
{
fw.imagebyte[a] = 0xff;
}
try
{
decompressionStream.Read(fw.imagebyte, 0, fw.image_size);
}
catch { Console.WriteLine("Possible bad file - usualy safe to ignore"); }
Console.WriteLine("image_size {0} size {1}",fw.image_size,size);
BinaryWriter sw = new BinaryWriter(File.Open("px4fw.bin", FileMode.Create));
foreach (byte by in fw.imagebyte)
{
sw.Write(by);
// Console.Write("{0:x2}", by);
}
sw.Close();
// pad image to 4-byte length
//while ((fw.imagebyte.Length % 4) != 0) {
//fw.imagebyte. += b'\x00'
return fw;
}
public void currentChecksum(Firmware fw)
{
if (self.bl_rev < 3)
{
return;
}
__sync();
this.port.ReadTimeout = 1000; // 1 sec
if (self.fw_maxsize > 0)
{
int expect_crc = fw.crc(self.fw_maxsize);
__send(new byte[] { (byte)Code.GET_CRC,
(byte)Code.EOC });
int report_crc = __recv_int();
self.__getSync();
print("FW File 0x" + hexlify(BitConverter.GetBytes(expect_crc)) + " " + expect_crc);
print("Current 0x" + hexlify(BitConverter.GetBytes(report_crc)) + " " + report_crc);
if (expect_crc == report_crc)
{
throw new Exception("Same Firmware. Not uploading");
}
}
if (self.extf_maxsize > 0)
{
int expect_crc = fw.extf_crc(fw.extf_image_size);
byte[] size_bytes = BitConverter.GetBytes(fw.extf_image_size);
__send(new byte[] { (byte)Code.EXTF_GET_CRC,
size_bytes[0], size_bytes[1], size_bytes[2], size_bytes[3],
(byte)Code.EOC });
// crc can be slow, give it 10s
__wait_for_bytes(4, 30);
int report_crc = __recv_int();
self.__getSync();
print("Ext FW File 0x" + hexlify(BitConverter.GetBytes(expect_crc)) + " " + expect_crc);
print("Current 0x" + hexlify(BitConverter.GetBytes(report_crc)) + " " + report_crc);
if (expect_crc == report_crc)
{
throw new Exception("Same Firmware. Not uploading");
}
}
}
public void __verify_extf(Firmware fw)
{
int expect_crc = fw.crc(self.extf_maxsize);
__send(new byte[] { (byte)Code.EXTF_GET_CRC,
(byte)Code.EOC });
int report_crc = __recv_int();
__getSync();
print("extf Expected 0x" + hexlify(BitConverter.GetBytes(expect_crc)) + " " + expect_crc);
print("extf Got 0x" + hexlify(BitConverter.GetBytes(report_crc)) + " " + report_crc);
if (report_crc != expect_crc)
{
throw new Exception("Program extf CRC failed");
}
}
public void __verify_extf(Firmware fw)
{
int expect_crc = fw.extf_crc(fw.extf_image_size);
byte[] size_bytes = BitConverter.GetBytes(fw.extf_image_size);
__send(new byte[] { (byte)Code.EXTF_GET_CRC,
size_bytes[0], size_bytes[1], size_bytes[2], size_bytes[3],
(byte)Code.EOC });
DateTime deadline = DateTime.Now.AddSeconds(10);
while (DateTime.Now < deadline)
{
port.BaseStream.Flush();
if (port.BytesToRead >= 4)
{
if (ProgressEvent != null)
{
ProgressEvent(100);
}
break;
}
if (ProgressEvent != null)
{
TimeSpan ts = new TimeSpan(deadline.Ticks - DateTime.Now.Ticks);
ProgressEvent(((10.0 - ts.TotalSeconds) / 10.0) * 100.0);
}
Thread.Yield();
}
__wait_for_bytes(4, 20);
int report_crc = __recv_int();
__getSync();
print("extf Expected 0x" + hexlify(BitConverter.GetBytes(expect_crc)) + " " + expect_crc);
print("extf Got 0x" + hexlify(BitConverter.GetBytes(report_crc)) + " " + report_crc);
if (report_crc != expect_crc)
{
throw new Exception("Program extf CRC failed");
}
}
public void __erase_extf(Firmware fw)
{
__sync();
// fix for bootloader bug - must see a sync and a get_device
__getInfo(Info.BL_REV);
byte[] size_bytes = BitConverter.GetBytes(fw.extf_image_size);
__send(new byte[] { (byte)Code.EXTF_ERASE,
size_bytes[0], size_bytes[1], size_bytes[2], size_bytes[3],
(byte)Code.EOC });
__getSync();
int last_pct = 0;
while (true)
{
if (last_pct < 95)
{
int pct = __recv()[0];
if (last_pct != pct)
{
last_pct = pct;
if (ProgressEvent != null)
{
ProgressEvent(pct);
}
}
}
else if (__trySync())
{
if (ProgressEvent != null)
{
ProgressEvent(100);
}
break;
}
}
}
public void __program(Firmware fw)
{
byte[] code = fw.imagebyte;
List <byte[]> groups = self.__split_len(code, PROG_MULTI_MAX);
int a = 1;
foreach (Byte[] bytes in groups)
{
self.__program_multi(bytes);
System.Diagnostics.Debug.WriteLine("Program {0}/{1}", a, groups.Count);
a++;
if (ProgressEvent != null)
{
ProgressEvent((a / (float)groups.Count) * 100.0);
}
}
}
public void upload(Firmware fw)
{
this.port.ReadTimeout = 1000; // 1 sec
//Make sure we are doing the right thing
if (self.board_type != fw.board_id)
{
throw new Exception("Firmware not suitable for this board");
}
if (self.fw_maxsize < fw.image_size)
{
throw new Exception("Firmware image is too large for this board");
}
if (!verifyotp())
{
throw new Exception("Bad board OTP");
}
print("erase...");
self.__erase();
print("program...");
self.__program(fw);
print("verify...");
if (self.bl_rev == 2)
{
self.__verify_v2(fw);
}
else
{
self.__verify_v3(fw);
}
print("done, rebooting.");
self.__reboot();
try
{
self.port.Close();
}
catch { }
}
public void __program(Firmware fw)
{
byte[] code = fw.imagebyte;
List <byte[]> groups = self.__split_len(code, (byte)Code.PROG_MULTI_MAX);
Console.WriteLine("Programing packet total: " + groups.Count);
int a = 1;
foreach (Byte[] bytes in groups)
{
self.__program_multi(bytes);
Console.WriteLine("Program {0}/{1}", a, groups.Count);
a++;
if (ProgressEvent != null)
{
ProgressEvent((a / (float)groups.Count) * 100.0);
}
}
}
public void upload(Firmware fw)
{
this.port.ReadTimeout = 1000; // 1 sec
//Make sure we are doing the right thing
if (self.board_type != fw.board_id)
throw new Exception("Firmware not suitable for this board");
if (self.fw_maxsize < fw.image_size)
throw new Exception("Firmware image is too large for this board");
print("erase...");
self.__erase();
print("program...");
self.__program(fw);
print("verify...");
if (self.bl_rev == 2)
self.__verify_v2(fw);
else
self.__verify_v3(fw);
print("done, rebooting.");
self.__reboot();
try
{
self.port.Close();
}
catch { }
}
public void currentChecksum(Firmware fw)
{
if (self.bl_rev < 3)
return;
this.port.ReadTimeout = 1000; // 1 sec
int expect_crc = fw.crc(self.fw_maxsize);
__send(new byte[] {(byte)Code.GET_CRC,
(byte) Code.EOC});
int report_crc = __recv_int();
self.__getSync();
print("FW File 0x" + hexlify(BitConverter.GetBytes(expect_crc)) + " " + expect_crc);
print("Current 0x" + hexlify(BitConverter.GetBytes(report_crc)) + " " + report_crc);
if (expect_crc == report_crc)
throw new Exception("Same Firmware. Not uploading");
}
public void __verify_v3(Firmware fw)
{
//Expected 0x33E22A51
//Got 0x8117524C
//System.Exception: Program CRC failed
//python
//Expected 0x4c521781
//Got 0x4c521781
int expect_crc = fw.crc(self.fw_maxsize);
__send(new byte[] {(byte)Code.GET_CRC,
(byte) Code.EOC});
int report_crc = __recv_int();
__getSync();
print("Expected 0x" + hexlify(BitConverter.GetBytes(expect_crc)) + " " + expect_crc);
print("Got 0x" + hexlify(BitConverter.GetBytes(report_crc)) + " " + report_crc);
if (report_crc != expect_crc)
{
throw new Exception("Program CRC failed");
}
}
public void __verify_v2(Firmware fw)
{
self.__send(new byte[] {(byte)Code.CHIP_VERIFY
, (byte)Code.EOC});
self.__getSync();
byte[] code = fw.imagebyte;
List<byte[]> groups = self.__split_len(code, READ_MULTI_MAX);
int a = 1;
foreach (byte[] bytes in groups)
{
if (!self.__verify_multi(bytes))
{
throw new Exception("Verification failed");
}
Console.WriteLine("Verify {0}/{1}", a, groups.Count);
a++;
if (ProgressEvent != null)
ProgressEvent((a / (float)groups.Count) * 100.0);
}
}
public void __program(Firmware fw)
{
byte[] code = fw.imagebyte;
List<byte[]> groups = self.__split_len(code, PROG_MULTI_MAX);
Console.WriteLine("Programing packet total: "+groups.Count);
int a = 1;
foreach (Byte[] bytes in groups)
{
self.__program_multi(bytes);
Console.WriteLine("Program {0}/{1}",a, groups.Count);
a++;
if (ProgressEvent != null)
ProgressEvent((a / (float)groups.Count) * 100.0);
}
}
public void UploadPX4(string filename)
{
DateTime DEADLINE = DateTime.Now.AddSeconds(30);
Uploader up;
px4uploader.Firmware fw = px4uploader.Firmware.ProcessFirmware(filename);
CustomMessageBox.Show("Press reset the board, and then press OK within 5 seconds.\nMission Planner will look for 30 seconds to find the board");
while (DateTime.Now < DEADLINE)
{
string port = MainV2.comPortName;
Console.WriteLine(DateTime.Now.Millisecond + " Trying Port " + port);
lbl_status.Text = "Connecting";
Application.DoEvents();
try
{
up = new Uploader(port, 115200);
}
catch (Exception ex)
{
//System.Threading.Thread.Sleep(50);
Console.WriteLine(ex.Message);
continue;
}
try
{
up.identify();
lbl_status.Text = "Identify";
Application.DoEvents();
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, port);
up.currentChecksum(fw);
}
catch (Exception)
{
Console.WriteLine("Not There..");
//Console.WriteLine(ex.Message);
up.close();
continue;
}
try
{
up.ProgressEvent += new Uploader.ProgressEventHandler(up_ProgressEvent);
up.LogEvent += new Uploader.LogEventHandler(up_LogEvent);
progress.Value = 0;
Application.DoEvents();
up.upload(fw);
lbl_status.Text = "Done";
Application.DoEvents();
}
catch (Exception ex)
{
lbl_status.Text = "ERROR: " + ex.Message;
Application.DoEvents();
Console.WriteLine(ex.ToString());
}
up.close();
break;
}
CustomMessageBox.Show("Please unplug, and plug back in your px4, before you try connecting");
}
public static Firmware ProcessFirmware(StreamReader f)
{
Firmware fw = JSON.Instance.ToObject <Firmware>(f.ReadToEnd());
f.Close();
if (fw.image_size > 0)
{
byte[] data = Convert.FromBase64String(fw.image);
MemoryStream imagems = new MemoryStream(data, true);
ZlibStream decompressionStream = new ZlibStream(imagems, CompressionMode.Decompress);
int size = fw.image_size + (fw.image_size % 4);
fw.imagebyte = new byte[size];
for (int a = 0; a < fw.imagebyte.Length; a++)
{
fw.imagebyte[a] = 0xff;
}
try
{
decompressionStream.Read(fw.imagebyte, 0, fw.image_size);
}
catch { Console.WriteLine("Possible bad file - usually safe to ignore"); }
Console.WriteLine("image_size {0} size {1}", fw.image_size, size);
// pad image to 4-byte length
while ((fw.imagebyte.Length % 4) != 0)
{
Array.Resize(ref fw.imagebyte, fw.imagebyte.Length + (4 - (fw.imagebyte.Length % 4)));
}
}
if (fw.extf_image_size > 0)
{
byte[] data = Convert.FromBase64String(fw.extf_image);
MemoryStream imagems = new MemoryStream(data, true);
ZlibStream decompressionStream = new ZlibStream(imagems, CompressionMode.Decompress);
int size = fw.extf_image_size + (fw.extf_image_size % 4);
fw.extf_imagebyte = new byte[size];
for (int a = 0; a < fw.extf_imagebyte.Length; a++)
{
fw.extf_imagebyte[a] = 0xff;
}
try
{
decompressionStream.Read(fw.extf_imagebyte, 0, fw.extf_image_size);
}
catch { Console.WriteLine("Possible bad file - usually safe to ignore"); }
Console.WriteLine("extf_image_size {0} size {1}", fw.extf_image_size, size);
// pad image to 4-byte length
while ((fw.extf_imagebyte.Length % 4) != 0)
{
Array.Resize(ref fw.extf_imagebyte, fw.extf_imagebyte.Length + (4 - (fw.extf_imagebyte.Length % 4)));
}
}
return(fw);
}
/// <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 = px4uploader.Firmware.ProcessFirmware(filename);
try
{
// MainV2.comPort.BaseStream.Open();
// if (MainV2.comPort.BaseStream.IsOpen)
{
// MainV2.comPort.doReboot(true);
// MainV2.comPort.Close();
}
// else
{
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 {
// MainV2.comPort.Close();
}
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);
}
catch (Exception)
{
Console.WriteLine("Not There..");
//Console.WriteLine(ex.Message);
up.close();
continue;
}
try
{
up.currentChecksum(fw);
}
catch {
CustomMessageBox.Show("No need to upload. already on the board");
break;
}
try
{
up.ProgressEvent += new Uploader.ProgressEventHandler(up_ProgressEvent);
up.LogEvent += new 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());
}
up.close();
CustomMessageBox.Show("Please unplug, and plug back in your px4, before you try connecting");
return(true);
}
}
updateProgress(0, "ERROR: No Responce from board");
return(false);
}
/// <summary>
/// upload to px4 standalone
/// </summary>
/// <param name="filename"></param>
public bool UploadPX4(string filename)
{
DateTime DEADLINE = DateTime.Now.AddSeconds(30);
Uploader up;
px4uploader.Firmware fw = px4uploader.Firmware.ProcessFirmware(filename);
CustomMessageBox.Show("Press reset the board, and then press OK within 5 seconds.\nMission Planner will look for 30 seconds to find the board");
while (DateTime.Now < DEADLINE)
{
string[] allports = SerialPort.GetPortNames();
foreach (string port in allports)
{
Console.WriteLine(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");
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, port);
up.currentChecksum(fw);
}
catch (Exception)
{
Console.WriteLine("Not There..");
//Console.WriteLine(ex.Message);
up.close();
continue;
}
try
{
up.ProgressEvent += new Uploader.ProgressEventHandler(up_ProgressEvent);
up.LogEvent += new Uploader.LogEventHandler(up_LogEvent);
updateProgress(0, "Upload");
up.upload(fw);
updateProgress(100, "Upload Done");
}
catch (Exception ex)
{
updateProgress(0, "ERROR: " + ex.Message);
Console.WriteLine(ex.ToString());
}
up.close();
CustomMessageBox.Show("Please unplug, and plug back in your px4, before you try connecting");
return(true);
}
}
return(false);
}
public static bool Uploader(string fn)
{
Firmware fw;
Uploader up;
fw = Firmware.ProcessFirmware(fn);
Console.WriteLine("Loaded firmware for {0},{1} waiting for the bootloader...", fw.board_id, fw.board_revision);
while (true)
{
string[] ports = GetPortNames();
//ports = new string[] { "COM9"};
foreach (string port in ports)
{
if (!port.StartsWith("COM") && !port.Contains("APM") && !port.Contains("ACM") && !port.Contains("usb"))
{
continue;
}
Console.WriteLine(DateTime.Now.Millisecond + " Trying Port " + port);
try
{
up = new Uploader(port, 115200);
}
catch (Exception ex)
{
//System.Threading.Thread.Sleep(50);
Console.WriteLine(DateTime.Now.Millisecond + " " + ex.Message);
continue;
}
try
{
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, port);
}
catch (Exception)
{
try
{
//System.Threading.ThreadPool.QueueUserWorkItem(up.__mavlinkreboot);
}
catch {
//up.close();
}
Console.WriteLine(DateTime.Now.Millisecond + " " + "Not There..");
//Console.WriteLine(ex.Message);
try
{
up.close();
}
catch { }
continue;
}
try
{
up.currentChecksum(fw);
}
catch (Exception ex) { Console.WriteLine("No need to upload. already on the board" + ex.ToString()); up.close(); return(true); }
try
{
up.upload(fw);
}
catch (Exception ex)
{
Console.WriteLine(ex.ToString());
}
up.close();
return(true);
}
}
}