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using System ;
using System.Collections.Generic ;
using System.ComponentModel ;
using System.Data ;
using System.Drawing ;
using System.Linq ;
using System.Text ;
using System.Windows.Forms ;
using System.Text.RegularExpressions ;
using System.IO.Ports ;
using System.IO ;
using System.Runtime.InteropServices ;
using System.Xml ;
using System.Net ;
namespace ArdupilotMega.GCSViews
{
class Firmware : MyUserControl
{
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private ImageLabel pictureBoxAPM ;
private ImageLabel pictureBoxQuad ;
private ImageLabel pictureBoxHexa ;
private ImageLabel pictureBoxTri ;
private ImageLabel pictureBoxY6 ;
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private System . Windows . Forms . Label lbl_status ;
private System . Windows . Forms . ProgressBar progress ;
private System . Windows . Forms . Label label2 ;
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private ImageLabel pictureBoxHeli ;
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private MyButton BUT_setup ;
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private PictureBox pictureBoxHilimage ;
private PictureBox pictureBoxAPHil ;
private PictureBox pictureBoxACHil ;
private PictureBox pictureBoxACHHil ;
private ImageLabel pictureBoxOcta ;
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private Label label1 ;
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private ImageLabel pictureBoxOctav ;
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private void InitializeComponent ( )
{
System . ComponentModel . ComponentResourceManager resources = new System . ComponentModel . ComponentResourceManager ( typeof ( Firmware ) ) ;
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this . pictureBoxAPM = new ArdupilotMega . ImageLabel ( ) ;
this . pictureBoxQuad = new ArdupilotMega . ImageLabel ( ) ;
this . pictureBoxHexa = new ArdupilotMega . ImageLabel ( ) ;
this . pictureBoxTri = new ArdupilotMega . ImageLabel ( ) ;
this . pictureBoxY6 = new ArdupilotMega . ImageLabel ( ) ;
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this . lbl_status = new System . Windows . Forms . Label ( ) ;
this . progress = new System . Windows . Forms . ProgressBar ( ) ;
this . label2 = new System . Windows . Forms . Label ( ) ;
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this . pictureBoxHeli = new ArdupilotMega . ImageLabel ( ) ;
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this . BUT_setup = new ArdupilotMega . MyButton ( ) ;
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this . pictureBoxHilimage = new System . Windows . Forms . PictureBox ( ) ;
this . pictureBoxAPHil = new System . Windows . Forms . PictureBox ( ) ;
this . pictureBoxACHil = new System . Windows . Forms . PictureBox ( ) ;
this . pictureBoxACHHil = new System . Windows . Forms . PictureBox ( ) ;
this . pictureBoxOcta = new ArdupilotMega . ImageLabel ( ) ;
this . pictureBoxOctav = new ArdupilotMega . ImageLabel ( ) ;
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this . label1 = new System . Windows . Forms . Label ( ) ;
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( ( System . ComponentModel . ISupportInitialize ) ( this . pictureBoxHilimage ) ) . BeginInit ( ) ;
( ( System . ComponentModel . ISupportInitialize ) ( this . pictureBoxAPHil ) ) . BeginInit ( ) ;
( ( System . ComponentModel . ISupportInitialize ) ( this . pictureBoxACHil ) ) . BeginInit ( ) ;
( ( System . ComponentModel . ISupportInitialize ) ( this . pictureBoxACHHil ) ) . BeginInit ( ) ;
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this . SuspendLayout ( ) ;
//
// pictureBoxAPM
//
this . pictureBoxAPM . Cursor = System . Windows . Forms . Cursors . Hand ;
this . pictureBoxAPM . Image = global :: ArdupilotMega . Properties . Resources . APM_airframes_001 ;
resources . ApplyResources ( this . pictureBoxAPM , "pictureBoxAPM" ) ;
this . pictureBoxAPM . Name = "pictureBoxAPM" ;
this . pictureBoxAPM . TabStop = false ;
this . pictureBoxAPM . Click + = new System . EventHandler ( this . pictureBoxAPM_Click ) ;
//
// pictureBoxQuad
//
this . pictureBoxQuad . Cursor = System . Windows . Forms . Cursors . Hand ;
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this . pictureBoxQuad . Image = ( ( System . Drawing . Image ) ( resources . GetObject ( "pictureBoxQuad.Image" ) ) ) ;
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resources . ApplyResources ( this . pictureBoxQuad , "pictureBoxQuad" ) ;
this . pictureBoxQuad . Name = "pictureBoxQuad" ;
this . pictureBoxQuad . TabStop = false ;
this . pictureBoxQuad . Click + = new System . EventHandler ( this . pictureBoxQuad_Click ) ;
//
// pictureBoxHexa
//
this . pictureBoxHexa . Cursor = System . Windows . Forms . Cursors . Hand ;
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this . pictureBoxHexa . Image = global :: ArdupilotMega . Properties . Resources . hexa ;
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resources . ApplyResources ( this . pictureBoxHexa , "pictureBoxHexa" ) ;
this . pictureBoxHexa . Name = "pictureBoxHexa" ;
this . pictureBoxHexa . TabStop = false ;
this . pictureBoxHexa . Click + = new System . EventHandler ( this . pictureBoxHexa_Click ) ;
//
// pictureBoxTri
//
this . pictureBoxTri . Cursor = System . Windows . Forms . Cursors . Hand ;
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this . pictureBoxTri . Image = global :: ArdupilotMega . Properties . Resources . tri ;
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resources . ApplyResources ( this . pictureBoxTri , "pictureBoxTri" ) ;
this . pictureBoxTri . Name = "pictureBoxTri" ;
this . pictureBoxTri . TabStop = false ;
this . pictureBoxTri . Click + = new System . EventHandler ( this . pictureBoxTri_Click ) ;
//
// pictureBoxY6
//
this . pictureBoxY6 . Cursor = System . Windows . Forms . Cursors . Hand ;
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this . pictureBoxY6 . Image = global :: ArdupilotMega . Properties . Resources . y6 ;
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resources . ApplyResources ( this . pictureBoxY6 , "pictureBoxY6" ) ;
this . pictureBoxY6 . Name = "pictureBoxY6" ;
this . pictureBoxY6 . TabStop = false ;
this . pictureBoxY6 . Click + = new System . EventHandler ( this . pictureBoxY6_Click ) ;
//
// lbl_status
//
resources . ApplyResources ( this . lbl_status , "lbl_status" ) ;
this . lbl_status . Name = "lbl_status" ;
//
// progress
//
resources . ApplyResources ( this . progress , "progress" ) ;
this . progress . Name = "progress" ;
this . progress . Step = 1 ;
//
// label2
//
resources . ApplyResources ( this . label2 , "label2" ) ;
this . label2 . Name = "label2" ;
//
// pictureBoxHeli
//
this . pictureBoxHeli . Cursor = System . Windows . Forms . Cursors . Hand ;
this . pictureBoxHeli . Image = global :: ArdupilotMega . Properties . Resources . APM_airframes_08 ;
resources . ApplyResources ( this . pictureBoxHeli , "pictureBoxHeli" ) ;
this . pictureBoxHeli . Name = "pictureBoxHeli" ;
this . pictureBoxHeli . TabStop = false ;
this . pictureBoxHeli . Click + = new System . EventHandler ( this . pictureBoxHeli_Click ) ;
//
// BUT_setup
//
resources . ApplyResources ( this . BUT_setup , "BUT_setup" ) ;
this . BUT_setup . Name = "BUT_setup" ;
this . BUT_setup . UseVisualStyleBackColor = true ;
this . BUT_setup . Click + = new System . EventHandler ( this . BUT_setup_Click ) ;
//
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// pictureBoxHilimage
//
this . pictureBoxHilimage . Image = global :: ArdupilotMega . Properties . Resources . hil ;
resources . ApplyResources ( this . pictureBoxHilimage , "pictureBoxHilimage" ) ;
this . pictureBoxHilimage . Name = "pictureBoxHilimage" ;
this . pictureBoxHilimage . TabStop = false ;
//
// pictureBoxAPHil
//
this . pictureBoxAPHil . Cursor = System . Windows . Forms . Cursors . Hand ;
this . pictureBoxAPHil . Image = global :: ArdupilotMega . Properties . Resources . hilplane ;
resources . ApplyResources ( this . pictureBoxAPHil , "pictureBoxAPHil" ) ;
this . pictureBoxAPHil . Name = "pictureBoxAPHil" ;
this . pictureBoxAPHil . TabStop = false ;
this . pictureBoxAPHil . Click + = new System . EventHandler ( this . pictureBoxAPHil_Click ) ;
//
// pictureBoxACHil
//
this . pictureBoxACHil . Cursor = System . Windows . Forms . Cursors . Hand ;
this . pictureBoxACHil . Image = global :: ArdupilotMega . Properties . Resources . hilquad ;
resources . ApplyResources ( this . pictureBoxACHil , "pictureBoxACHil" ) ;
this . pictureBoxACHil . Name = "pictureBoxACHil" ;
this . pictureBoxACHil . TabStop = false ;
this . pictureBoxACHil . Click + = new System . EventHandler ( this . pictureBoxACHil_Click ) ;
//
// pictureBoxACHHil
//
this . pictureBoxACHHil . Cursor = System . Windows . Forms . Cursors . Hand ;
this . pictureBoxACHHil . Image = global :: ArdupilotMega . Properties . Resources . hilheli ;
resources . ApplyResources ( this . pictureBoxACHHil , "pictureBoxACHHil" ) ;
this . pictureBoxACHHil . Name = "pictureBoxACHHil" ;
this . pictureBoxACHHil . TabStop = false ;
this . pictureBoxACHHil . Click + = new System . EventHandler ( this . pictureBoxACHHil_Click ) ;
//
// pictureBoxOcta
//
this . pictureBoxOcta . Image = global :: ArdupilotMega . Properties . Resources . octo ;
resources . ApplyResources ( this . pictureBoxOcta , "pictureBoxOcta" ) ;
this . pictureBoxOcta . Name = "pictureBoxOcta" ;
this . pictureBoxOcta . TabStop = false ;
this . pictureBoxOcta . Click + = new System . EventHandler ( this . pictureBoxOcta_Click ) ;
//
// pictureBoxOctav
//
this . pictureBoxOctav . Image = global :: ArdupilotMega . Properties . Resources . octov ;
resources . ApplyResources ( this . pictureBoxOctav , "pictureBoxOctav" ) ;
this . pictureBoxOctav . Name = "pictureBoxOctav" ;
this . pictureBoxOctav . TabStop = false ;
this . pictureBoxOctav . Click + = new System . EventHandler ( this . pictureBoxOctav_Click ) ;
//
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// label1
//
resources . ApplyResources ( this . label1 , "label1" ) ;
this . label1 . Name = "label1" ;
//
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// Firmware
//
resources . ApplyResources ( this , "$this" ) ;
this . AutoScaleMode = System . Windows . Forms . AutoScaleMode . Font ;
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this . Controls . Add ( this . label1 ) ;
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this . Controls . Add ( this . pictureBoxOctav ) ;
this . Controls . Add ( this . pictureBoxOcta ) ;
this . Controls . Add ( this . pictureBoxACHHil ) ;
this . Controls . Add ( this . pictureBoxACHil ) ;
this . Controls . Add ( this . pictureBoxAPHil ) ;
this . Controls . Add ( this . pictureBoxHilimage ) ;
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this . Controls . Add ( this . BUT_setup ) ;
this . Controls . Add ( this . pictureBoxHeli ) ;
this . Controls . Add ( this . label2 ) ;
this . Controls . Add ( this . lbl_status ) ;
this . Controls . Add ( this . progress ) ;
this . Controls . Add ( this . pictureBoxY6 ) ;
this . Controls . Add ( this . pictureBoxTri ) ;
this . Controls . Add ( this . pictureBoxHexa ) ;
this . Controls . Add ( this . pictureBoxQuad ) ;
this . Controls . Add ( this . pictureBoxAPM ) ;
this . MinimumSize = new System . Drawing . Size ( 1008 , 461 ) ;
this . Name = "Firmware" ;
this . Load + = new System . EventHandler ( this . FirmwareVisual_Load ) ;
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( ( System . ComponentModel . ISupportInitialize ) ( this . pictureBoxHilimage ) ) . EndInit ( ) ;
( ( System . ComponentModel . ISupportInitialize ) ( this . pictureBoxAPHil ) ) . EndInit ( ) ;
( ( System . ComponentModel . ISupportInitialize ) ( this . pictureBoxACHil ) ) . EndInit ( ) ;
( ( System . ComponentModel . ISupportInitialize ) ( this . pictureBoxACHHil ) ) . EndInit ( ) ;
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this . ResumeLayout ( false ) ;
this . PerformLayout ( ) ;
}
protected override bool ProcessCmdKey ( ref Message msg , Keys keyData )
{
if ( keyData = = ( Keys . Control | Keys . B ) )
{
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findfirmware ( "AP-trunk" ) ;
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return true ;
}
if ( keyData = = ( Keys . Control | Keys . A ) )
{
findfirmware ( "AC2-QUADHIL" ) ;
return true ;
}
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if ( keyData = = ( Keys . Control | Keys . C ) )
{
OpenFileDialog fd = new OpenFileDialog ( ) ;
fd . Filter = "Firmware (*.hex)|*.hex" ;
fd . ShowDialog ( ) ;
if ( File . Exists ( fd . FileName ) )
{
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UploadFlash ( fd . FileName , ArduinoDetect . DetectBoard ( MainV2 . comportname ) ) ;
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}
return true ;
}
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return base . ProcessCmdKey ( ref msg , keyData ) ;
}
List < software > softwares = new List < software > ( ) ;
bool flashing = false ;
public struct software
{
public string url ;
public string url2560 ;
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public string url2560_2 ;
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public string name ;
public string desc ;
public int k_format_version ;
}
public enum FRAMETYPES
{
NONE ,
TRI ,
QUAD ,
HEXA ,
Y6 ,
APM ,
APMHIL ,
HELI
}
public Firmware ( )
{
InitializeComponent ( ) ;
WebRequest . DefaultWebProxy . Credentials = System . Net . CredentialCache . DefaultCredentials ;
}
private void FirmwareVisual_Load ( object sender , EventArgs e )
{
string url = "" ;
string url2560 = "" ;
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string url2560_2 = "" ;
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string name = "" ;
string desc = "" ;
int k_format_version = 0 ;
software temp = new software ( ) ;
try
{
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using ( XmlTextReader xmlreader = new XmlTextReader ( "http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml" ) )
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{
while ( xmlreader . Read ( ) )
{
xmlreader . MoveToElement ( ) ;
switch ( xmlreader . Name )
{
case "url" :
url = xmlreader . ReadString ( ) ;
break ;
case "url2560" :
url2560 = xmlreader . ReadString ( ) ;
break ;
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case "url2560-2" :
url2560_2 = xmlreader . ReadString ( ) ;
break ;
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case "name" :
name = xmlreader . ReadString ( ) ;
break ;
case "format_version" :
k_format_version = int . Parse ( xmlreader . ReadString ( ) ) ;
break ;
case "desc" :
desc = xmlreader . ReadString ( ) ;
break ;
case "Firmware" :
if ( ! url . Equals ( "" ) & & ! name . Equals ( "" ) & & ! desc . Equals ( "Please Update" ) )
{
temp . desc = desc ;
temp . name = name ;
temp . url = url ;
temp . url2560 = url2560 ;
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temp . url2560_2 = url2560_2 ;
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temp . k_format_version = k_format_version ;
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try
{
updateDisplayName ( temp ) ;
}
catch { } // just in case
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softwares . Add ( temp ) ;
}
url = "" ;
url2560 = "" ;
name = "" ;
desc = "" ;
k_format_version = 0 ;
temp = new software ( ) ;
break ;
default :
break ;
}
}
}
List < string > list = new List < string > ( ) ;
}
catch ( Exception ex ) { MessageBox . Show ( "Failed to get Firmware List : " + ex . Message ) ; }
}
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void updateDisplayName ( software temp )
{
if ( temp . url . ToLower ( ) . Contains ( "firmware/AP-1" . ToLower ( ) ) )
{
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pictureBoxAPM . Text = temp . name ;
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}
else if ( temp . url . ToLower ( ) . Contains ( "firmware/APHIL-" . ToLower ( ) ) )
{
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pictureBoxAPHil . Text = temp . name ;
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}
else if ( temp . url . ToLower ( ) . Contains ( "firmware/ac2-quad-" . ToLower ( ) ) )
{
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pictureBoxQuad . Text = temp . name ;
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}
else if ( temp . url . ToLower ( ) . Contains ( "firmware/ac2-tri" . ToLower ( ) ) )
{
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pictureBoxTri . Text = temp . name ;
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}
else if ( temp . url . ToLower ( ) . Contains ( "firmware/ac2-hexa" . ToLower ( ) ) )
{
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pictureBoxHexa . Text = temp . name ;
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}
else if ( temp . url . ToLower ( ) . Contains ( "firmware/ac2-y6" . ToLower ( ) ) )
{
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pictureBoxY6 . Text = temp . name ;
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}
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else if ( temp . url . ToLower ( ) . Contains ( "firmware/ac2-heli-1" . ToLower ( ) ) )
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{
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pictureBoxHeli . Text = temp . name ;
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}
else if ( temp . url . ToLower ( ) . Contains ( "firmware/ac2-quadhil" . ToLower ( ) ) )
{
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pictureBoxACHil . Text = temp . name ;
}
else if ( temp . url . ToLower ( ) . Contains ( "firmware/ac2-octav-" . ToLower ( ) ) )
{
pictureBoxOctav . Text = temp . name ;
}
else if ( temp . url . ToLower ( ) . Contains ( "firmware/ac2-octa-" . ToLower ( ) ) )
{
pictureBoxOcta . Text = temp . name ;
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}
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else
{
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Console . WriteLine ( "No Home " + temp . name + " " + temp . url ) ;
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}
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}
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void findfirmware ( string findwhat )
{
foreach ( software temp in softwares )
{
if ( temp . url . ToLower ( ) . Contains ( findwhat . ToLower ( ) ) )
{
DialogResult dr = MessageBox . Show ( "Are you sure you want to upload " + temp . name + "?" , "Continue" , MessageBoxButtons . YesNo ) ;
if ( dr = = System . Windows . Forms . DialogResult . Yes )
{
update ( temp ) ;
}
return ;
}
}
MessageBox . Show ( "The requested firmware was not found." ) ;
}
private void pictureBoxAPM_Click ( object sender , EventArgs e )
{
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findfirmware ( "firmware/AP-1" ) ;
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}
private void pictureBoxAPMHIL_Click ( object sender , EventArgs e )
{
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findfirmware ( "firmware/APHIL-" ) ;
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}
private void pictureBoxQuad_Click ( object sender , EventArgs e )
{
findfirmware ( "AC2-Quad-" ) ;
}
private void pictureBoxHexa_Click ( object sender , EventArgs e )
{
findfirmware ( "AC2-Hexa-" ) ;
}
private void pictureBoxTri_Click ( object sender , EventArgs e )
{
findfirmware ( "AC2-Tri-" ) ;
}
private void pictureBoxY6_Click ( object sender , EventArgs e )
{
findfirmware ( "AC2-Y6-" ) ;
}
private void pictureBoxHeli_Click ( object sender , EventArgs e )
{
findfirmware ( "AC2-Heli-" ) ;
}
private void pictureBoxQuadHil_Click ( object sender , EventArgs e )
{
findfirmware ( "AC2-QUADHIL" ) ;
}
private void update ( software temp )
{
string board = "" ;
MainV2 . comPort . BaseStream . DtrEnable = false ;
MainV2 . comPort . Close ( ) ;
System . Threading . Thread . Sleep ( 100 ) ;
MainV2 . givecomport = true ;
try
{
if ( softwares . Count = = 0 )
{
MessageBox . Show ( "No valid options" ) ;
return ;
}
lbl_status . Text = "Detecting APM Version" ;
this . Refresh ( ) ;
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board = ArduinoDetect . DetectBoard ( MainV2 . comportname ) ;
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if ( board = = "" )
{
MessageBox . Show ( "Cant detect your APM version. Please check your cabling" ) ;
return ;
}
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int apmformat_version = - 1 ; // fail continue
try
{
apmformat_version = ArduinoDetect . decodeApVar ( MainV2 . comportname , board ) ;
}
catch { }
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if ( apmformat_version ! = - 1 & & apmformat_version ! = temp . k_format_version )
{
if ( DialogResult . No = = MessageBox . Show ( "Epprom changed, all your setting will be lost during the update,\nDo you wish to continue?" , "Epprom format changed (" + apmformat_version + " vs " + temp . k_format_version + ")" , MessageBoxButtons . YesNo ) )
{
MessageBox . Show ( "Please connect and backup your config in the configuration tab." ) ;
return ;
}
}
Console . WriteLine ( "Detected a " + board ) ;
string baseurl = "" ;
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if ( board = = "2560" )
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{
baseurl = temp . url2560 . ToString ( ) ;
}
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else if ( board = = "1280" )
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{
baseurl = temp . url . ToString ( ) ;
}
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else if ( board = = "2560-2" )
{
baseurl = temp . url2560_2 . ToString ( ) ;
}
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else
{
MessageBox . Show ( "Invalid Board Type" ) ;
return ;
}
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Console . WriteLine ( "Using " + baseurl ) ;
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// Create a request using a URL that can receive a post.
WebRequest request = WebRequest . Create ( baseurl ) ;
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.
WebResponse response = request . GetResponse ( ) ;
// Display the status.
Console . WriteLine ( ( ( HttpWebResponse ) response ) . StatusDescription ) ;
// Get the stream containing content returned by the server.
dataStream = response . GetResponseStream ( ) ;
long bytes = response . ContentLength ;
long contlen = bytes ;
byte [ ] buf1 = new byte [ 1024 ] ;
FileStream fs = new FileStream ( Path . GetDirectoryName ( Application . ExecutablePath ) + Path . DirectorySeparatorChar + @"firmware.hex" , FileMode . Create ) ;
lbl_status . Text = "Downloading from Internet" ;
this . Refresh ( ) ;
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dataStream . ReadTimeout = 30000 ;
while ( dataStream . CanRead )
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{
try
{
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progress . Value = 50 ; // (int)(((float)(response.ContentLength - bytes) / (float)response.ContentLength) * 100);
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this . progress . Refresh ( ) ;
}
catch { }
int len = dataStream . Read ( buf1 , 0 , 1024 ) ;
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if ( len = = 0 )
break ;
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bytes - = len ;
fs . Write ( buf1 , 0 , len ) ;
}
fs . Close ( ) ;
dataStream . Close ( ) ;
response . Close ( ) ;
progress . Value = 100 ;
this . Refresh ( ) ;
Console . WriteLine ( "Downloaded" ) ;
}
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catch ( Exception ex ) { lbl_status . Text = "Failed download" ; MessageBox . Show ( "Failed to download new firmware : " + ex . ToString ( ) ) ; return ; }
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UploadFlash ( Path . GetDirectoryName ( Application . ExecutablePath ) + Path . DirectorySeparatorChar + @"firmware.hex" , board ) ;
}
void UploadFlash ( string filename , string board )
{
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byte [ ] FLASH = new byte [ 1 ] ;
StreamReader sr = null ;
try
{
lbl_status . Text = "Reading Hex File" ;
this . Refresh ( ) ;
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sr = new StreamReader ( filename ) ;
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FLASH = readIntelHEXv2 ( sr ) ;
sr . Close ( ) ;
Console . WriteLine ( "\n\nSize: {0}\n\n" , FLASH . Length ) ;
}
catch ( Exception ex ) { if ( sr ! = null ) { sr . Dispose ( ) ; } lbl_status . Text = "Failed read HEX" ; MessageBox . Show ( "Failed to read firmware.hex : " + ex . Message ) ; return ; }
ArduinoComms port = new ArduinoSTK ( ) ;
if ( board = = "1280" )
{
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if ( FLASH . Length > 126976 )
{
MessageBox . Show ( "Firmware is to big for a 1280, Please upgrade!!" ) ;
return ;
}
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//port = new ArduinoSTK();
port . BaudRate = 57600 ;
}
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else if ( board = = "2560" | | board = = "2560-2" )
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{
port = new ArduinoSTKv2 ( ) ;
port . BaudRate = 115200 ;
}
port . DataBits = 8 ;
port . StopBits = StopBits . One ;
port . Parity = Parity . None ;
port . DtrEnable = true ;
try
{
port . PortName = MainV2 . comportname ;
port . Open ( ) ;
flashing = true ;
if ( port . connectAP ( ) )
{
Console . WriteLine ( "starting" ) ;
lbl_status . Text = "Uploading " + FLASH . Length + " bytes to APM" ;
progress . Value = 0 ;
this . Refresh ( ) ;
// this is enough to make ap_var reset
//port.upload(new byte[256], 0, 2, 0);
port . Progress + = new ProgressEventHandler ( port_Progress ) ;
if ( ! port . uploadflash ( FLASH , 0 , FLASH . Length , 0 ) )
{
flashing = false ;
if ( port . IsOpen )
port . Close ( ) ;
throw new Exception ( "Upload failed. Lost sync. Try Arduino!!" ) ;
}
port . Progress - = new ProgressEventHandler ( port_Progress ) ;
progress . Value = 100 ;
Console . WriteLine ( "Uploaded" ) ;
this . Refresh ( ) ;
int start = 0 ;
short length = 0x100 ;
byte [ ] flashverify = new byte [ FLASH . Length + 256 ] ;
lbl_status . Text = "Verify APM" ;
progress . Value = 0 ;
this . Refresh ( ) ;
while ( start < FLASH . Length )
{
progress . Value = ( int ) ( ( start / ( float ) FLASH . Length ) * 100 ) ;
progress . Refresh ( ) ;
port . setaddress ( start ) ;
Console . WriteLine ( "Downloading " + length + " at " + start ) ;
port . downloadflash ( length ) . CopyTo ( flashverify , start ) ;
start + = length ;
}
progress . Value = 100 ;
for ( int s = 0 ; s < FLASH . Length ; s + + )
{
if ( FLASH [ s ] ! = flashverify [ s ] )
{
MessageBox . Show ( "Upload succeeded, but verify failed: exp " + FLASH [ s ] . ToString ( "X" ) + " got " + flashverify [ s ] . ToString ( "X" ) + " at " + s ) ;
break ;
}
}
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lbl_status . Text = "Write Done... Waiting (90 sec)" ;
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}
else
{
lbl_status . Text = "Failed upload" ;
MessageBox . Show ( "Communication Error - no connection" ) ;
}
port . Close ( ) ;
flashing = false ;
Application . DoEvents ( ) ;
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try
{
( ( SerialPort ) port ) . Open ( ) ;
}
catch { }
DateTime startwait = DateTime . Now ;
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while ( ( DateTime . Now - startwait ) . TotalSeconds < 75 )
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{
try
{
Console . Write ( ( ( SerialPort ) port ) . ReadExisting ( ) . Replace ( "\0" , " " ) ) ;
}
catch { }
System . Threading . Thread . Sleep ( 1000 ) ;
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progress . Value = ( int ) ( ( DateTime . Now - startwait ) . TotalSeconds / 75 * 100 ) ;
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progress . Refresh ( ) ;
}
try
{
( ( SerialPort ) port ) . Close ( ) ;
}
catch { }
progress . Value = 100 ;
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lbl_status . Text = "Done" ;
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}
catch ( Exception ex ) { lbl_status . Text = "Failed upload" ; MessageBox . Show ( "Check port settings or Port in use? " + ex . ToString ( ) ) ; port . Close ( ) ; }
flashing = false ;
MainV2 . givecomport = false ;
}
void port_Progress ( int progress )
{
Console . WriteLine ( "Progress {0} " , progress ) ;
this . progress . Value = progress ;
this . progress . Refresh ( ) ;
}
byte [ ] readIntelHEXv2 ( StreamReader sr )
{
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byte [ ] FLASH = new byte [ 1024 * 1024 ] ;
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int optionoffset = 0 ;
int total = 0 ;
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bool hitend = false ;
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while ( ! sr . EndOfStream )
{
progress . Value = ( int ) ( ( ( float ) sr . BaseStream . Position / ( float ) sr . BaseStream . Length ) * 100 ) ;
progress . Refresh ( ) ;
string line = sr . ReadLine ( ) ;
if ( line . StartsWith ( ":" ) )
{
int length = Convert . ToInt32 ( line . Substring ( 1 , 2 ) , 16 ) ;
int address = Convert . ToInt32 ( line . Substring ( 3 , 4 ) , 16 ) ;
int option = Convert . ToInt32 ( line . Substring ( 7 , 2 ) , 16 ) ;
Console . WriteLine ( "len {0} add {1} opt {2}" , length , address , option ) ;
if ( option = = 0 )
{
string data = line . Substring ( 9 , length * 2 ) ;
for ( int i = 0 ; i < length ; i + + )
{
byte byte1 = Convert . ToByte ( data . Substring ( i * 2 , 2 ) , 16 ) ;
FLASH [ optionoffset + address ] = byte1 ;
address + + ;
if ( ( optionoffset + address ) > total )
total = optionoffset + address ;
}
}
else if ( option = = 2 )
{
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optionoffset = ( int ) Convert . ToUInt16 ( line . Substring ( 9 , 4 ) , 16 ) < < 4 ;
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}
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else if ( option = = 1 )
{
hitend = true ;
}
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int checksum = Convert . ToInt32 ( line . Substring ( line . Length - 2 , 2 ) , 16 ) ;
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byte checksumact = 0 ;
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for ( int z = 0 ; z < ( ( line . Length - 1 - 2 ) / 2 ) ; z + + ) // minus 1 for : then mins 2 for checksum itself
{
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checksumact + = Convert . ToByte ( line . Substring ( z * 2 + 1 , 2 ) , 16 ) ;
}
checksumact = ( byte ) ( 0x100 - checksumact ) ;
if ( checksumact ! = checksum )
{
MessageBox . Show ( "The hex file loaded is invalid, please try again." ) ;
throw new Exception ( "Checksum Failed - Invalid Hex" ) ;
}
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}
//Regex regex = new Regex(@"^:(..)(....)(..)(.*)(..)$"); // length - address - option - data - checksum
}
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if ( ! hitend )
{
MessageBox . Show ( "The hex file did no contain an end flag. aborting" ) ;
throw new Exception ( "No end flag in file" ) ;
}
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Array . Resize < byte > ( ref FLASH , total ) ;
return FLASH ;
}
private void FirmwareVisual_FormClosing ( object sender , FormClosingEventArgs e )
{
if ( flashing = = true )
{
e . Cancel = true ;
MessageBox . Show ( "Cant exit while updating" ) ;
}
}
private void BUT_setup_Click ( object sender , EventArgs e )
{
Form temp = new Setup . Setup ( ) ;
MainV2 . fixtheme ( temp ) ;
temp . ShowDialog ( ) ;
}
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private void pictureBoxOctav_Click ( object sender , EventArgs e )
{
findfirmware ( "AC2-Octav-" ) ;
}
private void pictureBoxOcta_Click ( object sender , EventArgs e )
{
findfirmware ( "AC2-Octa-" ) ;
}
private void pictureBoxAPHil_Click ( object sender , EventArgs e )
{
findfirmware ( "Firmware/APHIL-" ) ;
}
private void pictureBoxACHil_Click ( object sender , EventArgs e )
{
findfirmware ( "AC2-QUADHIL-" ) ;
}
private void pictureBoxACHHil_Click ( object sender , EventArgs e )
{
findfirmware ( "AC2-HELHIL-" ) ;
}
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}
}