public Status Disconnect()
{
try
{
_xIMUSerial.Close();
return(Status.Good);
}
catch
{
return(Status.Bad);
}
}
/// <summary>
/// Main method.
/// </summary>
/// <param name="args">
/// Unused.
/// </param>
static void Main(string[] args)
{
Console.WriteLine(Assembly.GetExecutingAssembly().GetName().Name + " " + Assembly.GetExecutingAssembly().GetName().Version.Major.ToString() + "." + Assembly.GetExecutingAssembly().GetName().Version.Minor.ToString());
try
{
while (true)
{
// Connect to x-IMU
Console.WriteLine("Searching for x-IMU...");
x_IMU_API.PortAssignment[] portAssignment = (new x_IMU_API.PortScanner(true, true)).Scan();
x_IMU_API.xIMUserial xIMUserial = new x_IMU_API.xIMUserial(portAssignment[0].PortName);
xIMUserial.QuaternionDataReceived += new x_IMU_API.xIMUserial.onQuaternionDataReceived(xIMUserial_QuaternionDataReceived);
xIMUserial.DigitalIODataReceived += new x_IMU_API.xIMUserial.onDigitalIODataReceived(xIMUserial_DigitalIODataReceived);
xIMUserial.Open();
Console.WriteLine("Connected to x-IMU " + portAssignment[0].DeviceID + " on " + portAssignment[0].PortName + ".");
// Poll for key press and detect if connection lost
Console.WriteLine("Press Esc to exit or any other key to set cursor centre orientation (i.e. tare).");
int prevCount;
do
{
prevCount = xIMUserial.PacketsReadCounter.TotalPackets;
Thread.Sleep(1000);
if (Console.KeyAvailable == true)
{
if (Console.ReadKey(true).Key == ConsoleKey.Escape)
{
return;
}
xIMUserial.SendCommandPacket(x_IMU_API.CommandCodes.AlgorithmTare);
}
} while (prevCount != xIMUserial.PacketsReadCounter.TotalPackets);
Console.WriteLine("No data received from x-IMU. Closing port.");
xIMUserial.Close();
}
}
catch (Exception ex)
{
Console.WriteLine("Error: " + ex.Message);
}
Console.WriteLine("Press any key to exit...");
Console.ReadKey();
}
/// <summary>
/// Form close event to close serial ports.
/// </summary>
private void Form_main_FormClosed(object sender, FormClosedEventArgs e)
{
xIMUserial.Close();
gimbalSerial.Close();
}
/// <summary>
/// Button Click event to upload firmware.
/// </summary>
private void button_bootloaderUpload_Click(object sender, EventArgs e)
{
// Error if file not exist
if (!File.Exists(textBox_bootloaderFilePath.Text))
{
MessageBox.Show("File does not exist.", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
return;
}
// Error if selected port name = "Auto"
if (string.Equals(comboBox_portName.Text, "Auto", StringComparison.CurrentCultureIgnoreCase))
{
MessageBox.Show("Port name \"Auto\" cannot be used for bootloading. Please select the port name assigned to the USB connection.", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
return;
}
// User confirmation
if (MessageBox.Show("Please ensure that the selected port name is the port assigned to the x-IMU USB connection else the upload will fail." + Environment.NewLine + Environment.NewLine +
"The new firmware will be uploaded to the x-IMU and the current firmware will be lost." + Environment.NewLine + Environment.NewLine +
"Do not switch off or disconnect the x-IMU while firmware is being uploaded as this may permanently damage the x-IMU.", "Warning", MessageBoxButtons.OKCancel, MessageBoxIcon.Warning) == System.Windows.Forms.DialogResult.Cancel)
{
return;
}
// Disable bootloader form controls
textBox_bootloaderFilePath.Enabled = false;
button_bootloaderBrowse.Enabled = false;
button_bootloaderUpload.Enabled = false;
button_bootloaderUpload.Text = "Uploading...";
this.Update();
// Close port is currently open
bool reopenPort = false;
if (xIMUserial.IsOpen)
{
xIMUserial.Close();
reopenPort = true;
}
// Perform firmware upload procedure
try
{
// Reset device
x_IMU_API.xIMUserial tempxIMUserial = new x_IMU_API.xIMUserial(comboBox_portName.Text);
tempxIMUserial.Open();
tempxIMUserial.SendCommandPacket(x_IMU_API.CommandCodes.Reset);
tempxIMUserial.Close();
// Run external bootloader process
ProcessStartInfo processInfo = new ProcessStartInfo("Bootloader/16-Bit Flash Programmer.exe");
processInfo.Arguments = "-i " + "\\\\.\\" + comboBox_portName.Text + " -b 115200 \"" + textBox_bootloaderFilePath.Text + "\"";
processInfo.UseShellExecute = false;
Process process = Process.Start(processInfo);
process.WaitForExit();
process.Close();
}
catch (Exception ex)
{
MessageBox.Show(ex.Message, "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
// Re-enable bootloader form controls
textBox_bootloaderFilePath.Enabled = true;
button_bootloaderBrowse.Enabled = true;
button_bootloaderUpload.Enabled = true;
button_bootloaderUpload.Text = "Upload";
// Re-open port if was closed prior to bootload
if (reopenPort)
{
xIMUserial.Open();
}
}