示例#1
0
        /// <summary>
        /// STK v2 generate packet
        /// </summary>
        /// <param name="serialPort"></param>
        /// <param name="message"></param>
        /// <returns></returns>
        static byte[] genstkv2packet(SerialPort serialPort, byte[] message)
        {
            byte[] data = new byte[300];
            byte   ck   = 0;

            data[0] = 0x1b;
            ck     ^= data[0];
            data[1] = 0x1;
            ck     ^= data[1];
            data[2] = (byte)((message.Length >> 8) & 0xff);
            ck     ^= data[2];
            data[3] = (byte)(message.Length & 0xff);
            ck     ^= data[3];
            data[4] = 0xe;
            ck     ^= data[4];

            int a = 5;

            foreach (byte let in message)
            {
                data[a] = let;
                ck     ^= let;
                a++;
            }
            data[a] = ck;
            a++;

            serialPort.Write(data, 0, a);
            //Console.WriteLine("about to read packet");

            byte[] ret = ArduinoDetect.readpacket(serialPort);

            //if (ret[1] == 0x0)
            {
                //Console.WriteLine("received OK");
            }

            return(ret);
        }
示例#2
0
        /// <summary>
        /// detects STK version 1 or 2
        /// </summary>
        /// <param name="port">comportname</param>
        /// <returns>string either (1280/2560) or "" for none</returns>
        public static string DetectVersion(string port)
        {
            SerialPort serialPort = new SerialPort();

            serialPort.PortName = port;

            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();
                        return("1280");
                    }
                }
            }

            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 = ArduinoDetect.genstkv2packet(serialPort, temp);
                a++;
                Thread.Sleep(50);

                try
                {
                    if (temp[0] == 6 && temp[1] == 0 && temp.Length == 2)
                    {
                        serialPort.Close();

                        return("2560");
                    }
                }
                catch
                {
                }
            }

            serialPort.Close();
            log.Warn("Not a 2560");
            return("");
        }
示例#3
0
        /// <summary>
        /// Detects APM board version
        /// </summary>
        /// <param name="port"></param>
        /// <returns> (1280/2560/2560-2)</returns>
        public static string DetectBoard(string port)
        {
            SerialPort serialPort = new SerialPort();

            serialPort.PortName = port;

            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();
                        return("1280");
                    }
                }
            }

            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 = ArduinoDetect.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.CurrentUICulture.IsChildOf(CultureInfoEx.GetCultureInfo("zh-Hans")))
                        {
                            ObjectQuery query = new ObjectQuery("SELECT * FROM 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.

                                if (obj2["Dependent"].ToString().Contains(@"USB\\VID_2341&PID_0010"))
                                {
                                    return("2560-2");
                                }
                            }

                            return("2560");
                        }
                        else
                        {
                            if (DialogResult.Yes == CustomMessageBox.Show("Is this a APM 2?", "APM 2", MessageBoxButtons.YesNo))
                            {
                                return("2560-2");
                            }
                            else
                            {
                                return("2560");
                            }
                        }
                    }
                }
                catch { }
            }

            serialPort.Close();
            log.Warn("Not a 2560");
            return("");
        }