/// <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
{
// check the device reported productname
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())
{
//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
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);
}
if (item.board == "PX4 FMU v4.x")
{
log.Info("is a px4v4 pixracer");
return(boards.px4v4);
}
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} 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);
}
}
}
} 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);
}
}
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_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
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} 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 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);
}
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"))
{
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")
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);
}
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 ((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 CUBE/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);
}
}
}
private void LookForPort(APFirmware.MAV_TYPE mavtype, bool alloptions = false)
{
var ports = Win32DeviceMgmt.GetAllCOMPorts();
if (alloptions)
{
ports.Add(default(DeviceInfo));
}
foreach (var deviceInfo in ports)
{
long?devid = detectedboardid;
// make best guess at board_id based on usb info
if (!devid.HasValue)
{
devid = APFirmware.GetBoardID(deviceInfo);
}
if (devid.HasValue && devid.Value != 0 || alloptions == true)
{
log.InfoFormat("{0}: {1} - {2}", deviceInfo.name, deviceInfo.description, deviceInfo.board);
var baseurl = "";
// get the options for this device
var fwitems = APFirmware.Manifest.Firmware.Where(a =>
a.BoardId == devid && a.MavType == mavtype.ToString() &&
a.MavFirmwareVersionType == REL_Type.ToString()).ToList();
if (alloptions)
{
fwitems = APFirmware.Manifest.Firmware.ToList();
}
if (fwitems?.Count == 1)
{
baseurl = fwitems[0].Url.ToString();
}
else if (fwitems?.Count > 0)
{
FirmwareSelection fws = new FirmwareSelection(fwitems, deviceInfo);
fws.ShowXamarinControl(550, 400);
baseurl = fws.FinalResult;
if (fws.FinalResult == null)
{
// user canceled
return;
}
}
else
{
CustomMessageBox.Show(Strings.No_firmware_available_for_this_board, Strings.ERROR);
}
var tempfile = Path.GetTempFileName();
try
{
// update to use mirror url
log.Info("Using " + baseurl);
var starttime = DateTime.Now;
// Create a request using a URL that can receive a post.
WebRequest request = WebRequest.Create(baseurl);
if (!String.IsNullOrEmpty(Settings.Instance.UserAgent))
{
((HttpWebRequest)request).UserAgent = Settings.Instance.UserAgent;
}
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(tempfile, FileMode.Create))
{
fw_Progress1(0, Strings.DownloadingFromInternet);
long length = response.ContentLength;
long progress = 0;
dataStream.ReadTimeout = 30000;
while (dataStream.CanRead)
{
try
{
fw_Progress1(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();
}
var timetook = (DateTime.Now - starttime).TotalMilliseconds;
Tracking.AddTiming("Firmware Download", deviceInfo.board, timetook, deviceInfo.description);
fw_Progress1(100, Strings.DownloadedFromInternet);
log.Info("Downloaded");
}
catch
{
CustomMessageBox.Show(Strings.FailedDownload, Strings.ERROR);
return;
}
MissionPlanner.Utilities.Tracking.AddFW(mavtype.ToString(), deviceInfo.board);
var fw = new Firmware();
fw.Progress += fw_Progress1;
var uploadstarttime = DateTime.Now;
fw.UploadFlash(deviceInfo.name, tempfile, BoardDetect.boards.pass);
var uploadtime = (DateTime.Now - uploadstarttime).TotalMilliseconds;
Tracking.AddTiming("Firmware Upload", deviceInfo.board, uploadtime, deviceInfo.description);
return;
}
else
{
CustomMessageBox.Show("Failed to discover board id. Please reconnect via usb and try again.", Strings.ERROR);
return;
}
}
CustomMessageBox.Show("Failed to detect port to upload to", Strings.ERROR);
return;
}
private void findfirmware(Firmware.software fwtoupload)
{
var dr = CustomMessageBox.Show(Strings.AreYouSureYouWantToUpload + fwtoupload.name + Strings.QuestionMark,
Strings.Continue, MessageBoxButtons.YesNo);
if (dr == (int)DialogResult.Yes)
{
try
{
MainV2.comPort.BaseStream.Close();
}
catch
{
}
fw.Progress -= fw_ProgressPDR;
fw.Progress += fw_Progress1;
var history = (CMB_history.SelectedValue == null) ? "" : CMB_history.SelectedValue.ToString();
if (history != "")
{
foreach (var propertyInfo in fwtoupload.GetType().GetFields())
{
try
{
if (propertyInfo.Name.Contains("url"))
{
var oldurl = propertyInfo.GetValue(fwtoupload).ToString();
if (oldurl == "")
{
continue;
}
var newurl = Firmware.getUrl(history, oldurl);
propertyInfo.SetValue(fwtoupload, newurl);
}
}
catch { }
}
//history = "";
}
var updated = fw.update(MainV2.comPortName, fwtoupload, history, Win32DeviceMgmt.GetAllCOMPorts());
if (updated)
{
if (fwtoupload.url2560_2 != null && fwtoupload.url2560_2.ToLower().Contains("copter") &&
fwtoupload.name.ToLower().Contains("3.1"))
{
CustomMessageBox.Show(Strings.WarningAC31, Strings.Warning);
}
if (fwtoupload.url2560_2 != null && fwtoupload.url2560_2.ToLower().Contains("copter") &&
fwtoupload.name.ToLower().Contains("3.2"))
{
CustomMessageBox.Show(Strings.WarningAC32, Strings.Warning);
}
}
else
{
CustomMessageBox.Show(Strings.ErrorUploadingFirmware, Strings.ERROR);
}
}
}
