// private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
/// <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();
serialPort.toggleDTR();
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 "1280";
}
}
}
serialPort.Close();
// log.Warn("Not a 1280");
Thread.Sleep(500);
serialPort.DtrEnable = true;
serialPort.BaudRate = 115200;
serialPort.Open();
serialPort.toggleDTR();
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();
// log.Info("is a 2560");
return "2560";
}
}
catch
{
}
}
serialPort.Close();
// log.Warn("Not a 2560");
return "";
}
/// <summary>
///
/// </summary>
/// <param name="serialPort"></param>
/// <returns></returns>
static byte[] readpacket(SerialPort serialPort)
{
byte[] temp = new byte[4000];
byte[] mes = new byte[2] { 0x0, 0xC0 }; // fail
int a = 7;
int count = 0;
serialPort.ReadTimeout = 1000;
while (count < a)
{
//Console.WriteLine("count {0} a {1} mes leng {2}",count,a,mes.Length);
try
{
temp[count] = (byte)serialPort.ReadByte();
}
catch { break; }
//Console.Write("{1}", temp[0], (char)temp[0]);
if (temp[0] != 0x1b)
{
count = 0;
continue;
}
if (count == 3)
{
a = (temp[2] << 8) + temp[3];
mes = new byte[a];
a += 5;
}
if (count >= 5)
{
mes[count - 5] = temp[count];
}
count++;
}
//Console.WriteLine("read ck");
try
{
temp[count] = (byte)serialPort.ReadByte();
}
catch { }
count++;
Array.Resize<byte>(ref temp, count);
//Console.WriteLine(this.BytesToRead);
return mes;
}
/// <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();
// log.Info("is a 1280");
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 (!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 "2560-2";
}
}
}
// log.Info("is a 2560");
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 "";
}