ardupilot/Tools/ArdupilotMegaPlanner/ArduinoDetect.cs

361 lines
11 KiB
C#
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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Management;
using System.Windows.Forms;
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namespace ArdupilotMega
{
class ArduinoDetect
{
/// <summary>
/// detects STK version 1 or 2
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/// </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();
System.Threading.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++;
System.Threading.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();
Console.WriteLine("Not a 1280");
System.Threading.Thread.Sleep(500);
serialPort.DtrEnable = true;
serialPort.BaudRate = 115200;
serialPort.Open();
System.Threading.Thread.Sleep(100);
a = 0;
while (a < 4)
{
byte[] temp = new byte[] { 0x6, 0, 0, 0, 0 };
temp = ArduinoDetect.genstkv2packet(serialPort, temp);
a++;
System.Threading.Thread.Sleep(50);
try
{
if (temp[0] == 6 && temp[1] == 0 && temp.Length == 2)
{
serialPort.Close();
return "2560";
}
}
catch { }
}
serialPort.Close();
Console.WriteLine("Not a 2560");
return "";
}
/// <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();
System.Threading.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++;
System.Threading.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();
Console.WriteLine("Not a 1280");
System.Threading.Thread.Sleep(500);
serialPort.DtrEnable = true;
serialPort.BaudRate = 115200;
serialPort.Open();
System.Threading.Thread.Sleep(100);
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a = 0;
while (a < 4)
{
byte[] temp = new byte[] { 0x6, 0, 0, 0, 0 };
temp = ArduinoDetect.genstkv2packet(serialPort, temp);
a++;
System.Threading.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)
{
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 == MessageBox.Show("Is this a APM 2?", "APM 2", MessageBoxButtons.YesNo))
{
return "2560-2";
}
else
{
return "2560";
}
}
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}
}
catch { }
}
serialPort.Close();
Console.WriteLine("Not a 2560");
return "";
}
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public static int decodeApVar(string comport, string version)
{
ArduinoComms port = new ArduinoSTK();
if (version == "1280")
{
port = new ArduinoSTK();
port.BaudRate = 57600;
}
else if (version == "2560" || version == "2560-2")
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{
port = new ArduinoSTKv2();
port.BaudRate = 115200;
}
else { return -1; }
port.PortName = comport;
port.DtrEnable = true;
port.Open();
port.connectAP();
byte[] buffer = port.download(1024 * 4);
port.Close();
if (buffer[0] != 'A' || buffer[1] != 'P') // this is the apvar header
{
return -1;
}
else
{
if (buffer[0] == 'A' && buffer[1] == 'P' && buffer[2] == 2)
{ // apvar header and version
int pos = 4;
byte key = 0;
while (pos < (1024 * 4))
{
int size = buffer[pos] & 63;
pos++;
key = buffer[pos];
pos++;
Console.Write("{0:X4}: key {1} size {2}\n ", pos - 2, key, size + 1);
if (key == 0xff)
{
Console.WriteLine("end sentinal at {0}", pos - 2);
break;
}
if (key == 0)
{
//Array.Reverse(buffer, pos, 2);
return BitConverter.ToUInt16(buffer, pos);
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}
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for (int i = 0; i <= size; i++)
{
Console.Write(" {0:X2}", buffer[pos]);
pos++;
}
Console.WriteLine();
}
}
}
return -1;
}
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;
}
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;
}
}
}