zrzk
/
zr-v4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
You can not select more than 25 topics Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
1373 Commits
10 Branches
0 Tags
227 MiB
 
 
 
 
 
 
Tree: c2d20808ec
Branches Tags
${ item.name }
Create tag ${ searchTerm }
Create branch ${ searchTerm }
from 'c2d20808ec'
${ noResults }
zr-v4/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs

708 lines
28 KiB
Raw Blame History

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
{
private System.Windows.Forms.PictureBox pictureBoxAPM;
private System.Windows.Forms.PictureBox pictureBoxAPMHIL;
private System.Windows.Forms.PictureBox pictureBoxQuad;
private System.Windows.Forms.PictureBox pictureBoxHexa;
private System.Windows.Forms.PictureBox pictureBoxTri;
private System.Windows.Forms.PictureBox pictureBoxY6;
private System.Windows.Forms.Label lbl_status;
private System.Windows.Forms.ProgressBar progress;
private System.Windows.Forms.Label label1;
private System.Windows.Forms.Label label2;
private System.Windows.Forms.Label label3;
private System.Windows.Forms.Label label4;
private System.Windows.Forms.Label label5;
private System.Windows.Forms.Label label6;
private Label label8;
private PictureBox pictureBoxHeli;
private MyButton BUT_setup;
private Label label9;
private PictureBox pictureBoxQuadHil;
private System.Windows.Forms.Label label7;
private void InitializeComponent()
{
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Firmware));
this.pictureBoxAPM = new System.Windows.Forms.PictureBox();
this.pictureBoxAPMHIL = new System.Windows.Forms.PictureBox();
this.pictureBoxQuad = new System.Windows.Forms.PictureBox();
this.pictureBoxHexa = new System.Windows.Forms.PictureBox();
this.pictureBoxTri = new System.Windows.Forms.PictureBox();
this.pictureBoxY6 = new System.Windows.Forms.PictureBox();
this.lbl_status = new System.Windows.Forms.Label();
this.progress = new System.Windows.Forms.ProgressBar();
this.label1 = new System.Windows.Forms.Label();
this.label2 = new System.Windows.Forms.Label();
this.label3 = new System.Windows.Forms.Label();
this.label4 = new System.Windows.Forms.Label();
this.label5 = new System.Windows.Forms.Label();
this.label6 = new System.Windows.Forms.Label();
this.label7 = new System.Windows.Forms.Label();
this.label8 = new System.Windows.Forms.Label();
this.pictureBoxHeli = new System.Windows.Forms.PictureBox();
this.label9 = new System.Windows.Forms.Label();
this.pictureBoxQuadHil = new System.Windows.Forms.PictureBox();
this.BUT_setup = new ArdupilotMega.MyButton();
((System.ComponentModel.ISupportInitialize)(this.pictureBoxAPM)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.pictureBoxAPMHIL)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.pictureBoxQuad)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.pictureBoxHexa)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.pictureBoxTri)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.pictureBoxY6)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.pictureBoxHeli)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.pictureBoxQuadHil)).BeginInit();
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);
//
// pictureBoxAPMHIL
//
this.pictureBoxAPMHIL.Cursor = System.Windows.Forms.Cursors.Hand;
this.pictureBoxAPMHIL.Image = global::ArdupilotMega.Properties.Resources.APM_airframes_002;
resources.ApplyResources(this.pictureBoxAPMHIL, "pictureBoxAPMHIL");
this.pictureBoxAPMHIL.Name = "pictureBoxAPMHIL";
this.pictureBoxAPMHIL.TabStop = false;
this.pictureBoxAPMHIL.Click += new System.EventHandler(this.pictureBoxAPMHIL_Click);
//
// pictureBoxQuad
//
this.pictureBoxQuad.Cursor = System.Windows.Forms.Cursors.Hand;
this.pictureBoxQuad.Image = global::ArdupilotMega.Properties.Resources.frames_03;
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;
this.pictureBoxHexa.Image = global::ArdupilotMega.Properties.Resources.frames_07;
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;
this.pictureBoxTri.Image = global::ArdupilotMega.Properties.Resources.frames_05;
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;
this.pictureBoxY6.Image = global::ArdupilotMega.Properties.Resources.frames_08;
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;
//
// label1
//
resources.ApplyResources(this.label1, "label1");
this.label1.Name = "label1";
//
// label2
//
resources.ApplyResources(this.label2, "label2");
this.label2.Name = "label2";
//
// label3
//
resources.ApplyResources(this.label3, "label3");
this.label3.Name = "label3";
//
// label4
//
resources.ApplyResources(this.label4, "label4");
this.label4.Name = "label4";
//
// label5
//
resources.ApplyResources(this.label5, "label5");
this.label5.Name = "label5";
//
// label6
//
resources.ApplyResources(this.label6, "label6");
this.label6.Name = "label6";
//
// label7
//
resources.ApplyResources(this.label7, "label7");
this.label7.Name = "label7";
//
// label8
//
resources.ApplyResources(this.label8, "label8");
this.label8.Name = "label8";
//
// 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);
//
// label9
//
resources.ApplyResources(this.label9, "label9");
this.label9.Name = "label9";
//
// pictureBoxQuadHil
//
this.pictureBoxQuadHil.Cursor = System.Windows.Forms.Cursors.Hand;
this.pictureBoxQuadHil.Image = global::ArdupilotMega.Properties.Resources.new_frames_09;
resources.ApplyResources(this.pictureBoxQuadHil, "pictureBoxQuadHil");
this.pictureBoxQuadHil.Name = "pictureBoxQuadHil";
this.pictureBoxQuadHil.TabStop = false;
this.pictureBoxQuadHil.Click += new System.EventHandler(this.pictureBoxQuadHil_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);
//
// Firmware
//
resources.ApplyResources(this, "$this");
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.Controls.Add(this.label9);
this.Controls.Add(this.pictureBoxQuadHil);
this.Controls.Add(this.BUT_setup);
this.Controls.Add(this.label8);
this.Controls.Add(this.pictureBoxHeli);
this.Controls.Add(this.label7);
this.Controls.Add(this.label6);
this.Controls.Add(this.label5);
this.Controls.Add(this.label4);
this.Controls.Add(this.label3);
this.Controls.Add(this.label2);
this.Controls.Add(this.label1);
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.pictureBoxAPMHIL);
this.Controls.Add(this.pictureBoxAPM);
this.MinimumSize = new System.Drawing.Size(1008, 461);
this.Name = "Firmware";
this.Load += new System.EventHandler(this.FirmwareVisual_Load);
((System.ComponentModel.ISupportInitialize)(this.pictureBoxAPM)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.pictureBoxAPMHIL)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.pictureBoxQuad)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.pictureBoxHexa)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.pictureBoxTri)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.pictureBoxY6)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.pictureBoxHeli)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.pictureBoxQuadHil)).EndInit();
this.ResumeLayout(false);
this.PerformLayout();
}
protected override bool ProcessCmdKey(ref Message msg, Keys keyData)
{
if (keyData == (Keys.Control | Keys.B))
{
findfirmware("AP-trunk");
return true;
}
if (keyData == (Keys.Control | Keys.A))
{
findfirmware("AC2-QUADHIL");
return true;
}
return base.ProcessCmdKey(ref msg, keyData);
}
List<software> softwares = new List<software>();
bool flashing = false;
public struct software
{
public string url;
public string url2560;
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 = "";
string name = "";
string desc = "";
int k_format_version = 0;
software temp = new software();
try
{
using (XmlTextReader xmlreader = new XmlTextReader("http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml"))
{
while (xmlreader.Read())
{
xmlreader.MoveToElement();
switch (xmlreader.Name)
{
case "url":
url = xmlreader.ReadString();
break;
case "url2560":
url2560 = xmlreader.ReadString();
break;
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;
temp.k_format_version = k_format_version;
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); }
}
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)
{
findfirmware("firmware/AP-");
}
private void pictureBoxAPMHIL_Click(object sender, EventArgs e)
{
findfirmware("firmware/APHIL-");
}
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();
board = ArduinoDetect.DetectVersion(MainV2.comportname);
if (board == "")
{
MessageBox.Show("Cant detect your APM version. Please check your cabling");
return;
}
int apmformat_version = ArduinoDetect.decodeApVar(MainV2.comportname, board);
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 = "";
if (board == "2560")
{
baseurl = temp.url2560.ToString();
}
else
{
baseurl = temp.url.ToString();
}
// 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();
dataStream.ReadTimeout = 30000;
while (dataStream.CanRead)
{
try
{
progress.Value = 50;// (int)(((float)(response.ContentLength - bytes) / (float)response.ContentLength) * 100);
this.progress.Refresh();
}
catch { }
int len = dataStream.Read(buf1, 0, 1024);
if (len == 0)
break;
bytes -= len;
fs.Write(buf1, 0, len);
}
fs.Close();
dataStream.Close();
response.Close();
progress.Value = 100;
this.Refresh();
Console.WriteLine("Downloaded");
}
catch (Exception ex) { lbl_status.Text = "Failed download"; MessageBox.Show("Failed to download new firmware : " + ex.Message); return; }
byte[] FLASH = new byte[1];
StreamReader sr = null;
try
{
lbl_status.Text = "Reading Hex File";
this.Refresh();
sr = new StreamReader(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"firmware.hex");
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")
{
//port = new ArduinoSTK();
port.BaudRate = 57600;
}
else if (board == "2560")
{
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;
}
}
lbl_status.Text = "Done";
}
else
{
lbl_status.Text = "Failed upload";
MessageBox.Show("Communication Error - no connection");
}
port.Close();
flashing = false;
Application.DoEvents();
System.Threading.Thread.Sleep(5000); // 5 seconds - new apvar erases eeprom on new format version, this should buy us some time.
}
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)
{
byte[] FLASH = new byte[sr.BaseStream.Length / 2];
int optionoffset = 0;
int total = 0;
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)
{
optionoffset += (int)Convert.ToUInt16(line.Substring(9, 4), 16) << 4;
}
int checksum = Convert.ToInt32(line.Substring(line.Length - 2, 2), 16);
}
//Regex regex = new Regex(@"^:(..)(....)(..)(.*)(..)$"); // length - address - option - data - checksum
}
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();
}
}
}