| 0,0 → 1,334 |
|---|
| using System; |
| using System.Collections.Generic; |
| using System.Text; |
| using System.IO.Ports; |
| using System.Threading; |
| |
| // Written by Michael Oborne |
| |
| namespace ArdupilotMega |
| { |
| class ArduinoSTK : SerialPort |
| { |
| public delegate void ProgressEventHandler(int progress); |
| |
| public event ProgressEventHandler Progress; |
| |
| public new void Open() |
| { |
| // default dtr status is false |
| |
| //from http://svn.savannah.nongnu.org/viewvc/RELEASE_5_11_0/arduino.c?root=avrdude&view=markup |
| base.Open(); |
| |
| base.DtrEnable = false; |
| base.RtsEnable = false; |
| |
| System.Threading.Thread.Sleep(50); |
| |
| base.DtrEnable = true; |
| base.RtsEnable = true; |
| |
| System.Threading.Thread.Sleep(50); |
| } |
| |
| /// <summary> |
| /// Used to start initial connecting after serialport.open |
| /// </summary> |
| /// <returns>true = passed, false = failed</returns> |
| public bool connectAP() |
| { |
| if (!this.IsOpen) |
| { |
| return false; |
| } |
| int a = 0; |
| while (a < 50) |
| { |
| this.DiscardInBuffer(); |
| this.Write(new byte[] { (byte)'0', (byte)' ' }, 0, 2); |
| a++; |
| Thread.Sleep(50); |
| |
| Console.WriteLine("btr {0}", this.BytesToRead); |
| if (this.BytesToRead >= 2) |
| { |
| byte b1 = (byte)this.ReadByte(); |
| byte b2 = (byte)this.ReadByte(); |
| if (b1 == 0x14 && b2 == 0x10) |
| { |
| return true; |
| } |
| } |
| } |
| |
| return false; |
| } |
| |
| /// <summary> |
| /// Used to keep alive the connection |
| /// </summary> |
| /// <returns>true = passed, false = lost connection</returns> |
| public bool keepalive() |
| { |
| return connectAP(); |
| } |
| /// <summary> |
| /// Syncs after a private command has been sent |
| /// </summary> |
| /// <returns>true = passed, false = failed</returns> |
| public bool sync() |
| { |
| if (!this.IsOpen) |
| { |
| return false; |
| } |
| this.ReadTimeout = 1000; |
| int f = 0; |
| while (this.BytesToRead < 1) |
| { |
| f++; |
| System.Threading.Thread.Sleep(1); |
| if (f > 1000) |
| return false; |
| } |
| int a = 0; |
| while (a < 10) |
| { |
| if (this.BytesToRead >= 2) |
| { |
| byte b1 = (byte)this.ReadByte(); |
| byte b2 = (byte)this.ReadByte(); |
| Console.WriteLine("bytes {0:X} {1:X}", b1, b2); |
| |
| if (b1 == 0x14 && b2 == 0x10) |
| { |
| return true; |
| } |
| } |
| Console.WriteLine("btr {0}", this.BytesToRead); |
| Thread.Sleep(10); |
| a++; |
| } |
| return false; |
| } |
| /// <summary> |
| /// Downloads the eeprom with the given length - set Address first |
| /// </summary> |
| /// <param name="length">eeprom length</param> |
| /// <returns>downloaded data</returns> |
| public byte[] download(short length) |
| { |
| if (!this.IsOpen) |
| { |
| throw new Exception(); |
| } |
| byte[] data = new byte[length]; |
| |
| byte[] command = new byte[] { (byte)'t', (byte)(length >> 8), (byte)(length & 0xff), (byte)'E', (byte)' ' }; |
| this.Write(command, 0, command.Length); |
| |
| if (this.ReadByte() == 0x14) |
| { // 0x14 |
| |
| int step = 0; |
| while (step < length) |
| { |
| byte chr = (byte)this.ReadByte(); |
| data[step] = chr; |
| step++; |
| } |
| |
| if (this.ReadByte() != 0x10) // 0x10 |
| throw new Exception("Lost Sync 0x10"); |
| } |
| else |
| { |
| throw new Exception("Lost Sync 0x14"); |
| } |
| return data; |
| } |
| |
| public byte[] downloadflash(short length) |
| { |
| if (!this.IsOpen) |
| { |
| throw new Exception("Port Not Open"); |
| } |
| byte[] data = new byte[length]; |
| |
| this.ReadTimeout = 1000; |
| |
| byte[] command = new byte[] { (byte)'t', (byte)(length >> 8), (byte)(length & 0xff), (byte)'F', (byte)' ' }; |
| this.Write(command, 0, command.Length); |
| |
| if (this.ReadByte() == 0x14) |
| { // 0x14 |
| |
| int read = length; |
| while (read > 0) |
| { |
| //Console.WriteLine("offset {0} read {1}", length - read, read); |
| read -= this.Read(data, length - read, read); |
| //System.Threading.Thread.Sleep(1); |
| } |
| |
| if (this.ReadByte() != 0x10) // 0x10 |
| throw new Exception("Lost Sync 0x10"); |
| } |
| else |
| { |
| throw new Exception("Lost Sync 0x14"); |
| } |
| return data; |
| } |
| |
| public bool uploadflash(byte[] data, int startfrom, int length, int startaddress) |
| { |
| if (!this.IsOpen) |
| { |
| return false; |
| } |
| int loops = (length / 0x100); |
| int totalleft = length; |
| int sending = 0; |
| |
| for (int a = 0; a <= loops; a++) |
| { |
| if (totalleft > 0x100) |
| { |
| sending = 0x100; |
| } |
| else |
| { |
| sending = totalleft; |
| } |
| |
| //startaddress = 256; |
| if (sending == 0) |
| return true; |
| |
| setaddress(startaddress); |
| startaddress += sending; |
| |
| byte[] command = new byte[] { (byte)'d', (byte)(sending >> 8), (byte)(sending & 0xff), (byte)'F' }; |
| this.Write(command, 0, command.Length); |
| Console.WriteLine((startfrom + (length - totalleft)) + " - " + sending); |
| this.Write(data, startfrom + (length - totalleft), sending); |
| command = new byte[] { (byte)' ' }; |
| this.Write(command, 0, command.Length); |
| |
| totalleft -= sending; |
| |
| |
| if (Progress != null) |
| Progress((int)(((float)startaddress / (float)length) * 100)); |
| |
| if (!sync()) |
| { |
| Console.WriteLine("No Sync"); |
| return false; |
| } |
| } |
| return true; |
| } |
| |
| /// <summary> |
| /// Sets the eeprom start read or write address |
| /// </summary> |
| /// <param name="address">address, must be eaven number</param> |
| /// <returns>true = passed, false = failed</returns> |
| public bool setaddress(int address) |
| { |
| if (!this.IsOpen) |
| { |
| return false; |
| } |
| |
| if (address % 2 == 1) |
| { |
| throw new Exception("Address must be an even number"); |
| } |
| |
| Console.WriteLine("Sending address " + ((ushort)(address / 2))); |
| |
| address /= 2; |
| address = (ushort)address; |
| |
| byte[] command = new byte[] { (byte)'U', (byte)(address & 0xff), (byte)(address >> 8), (byte)' ' }; |
| this.Write(command, 0, command.Length); |
| |
| return sync(); |
| } |
| /// <summary> |
| /// Upload data at preset address |
| /// </summary> |
| /// <param name="data">array to read from</param> |
| /// <param name="startfrom">start array index</param> |
| /// <param name="length">length to send</param> |
| /// <param name="startaddress">sets eeprom start programing address</param> |
| /// <returns>true = passed, false = failed</returns> |
| public bool upload(byte[] data, short startfrom, short length, short startaddress) |
| { |
| if (!this.IsOpen) |
| { |
| return false; |
| } |
| int loops = (length / 0x100); |
| int totalleft = length; |
| int sending = 0; |
| |
| for (int a = 0; a <= loops; a++) |
| { |
| if (totalleft > 0x100) |
| { |
| sending = 0x100; |
| } |
| else |
| { |
| sending = totalleft; |
| } |
| |
| if (sending == 0) |
| return true; |
| |
| setaddress(startaddress); |
| startaddress += (short)sending; |
| |
| byte[] command = new byte[] { (byte)'d', (byte)(sending >> 8), (byte)(sending & 0xff), (byte)'E' }; |
| this.Write(command, 0, command.Length); |
| Console.WriteLine((startfrom + (length - totalleft)) + " - " + sending); |
| this.Write(data, startfrom + (length - totalleft), sending); |
| command = new byte[] { (byte)' ' }; |
| this.Write(command, 0, command.Length); |
| |
| totalleft -= sending; |
| |
| if (!sync()) |
| { |
| Console.WriteLine("No Sync"); |
| return false; |
| } |
| } |
| return true; |
| } |
| |
| public new bool Close() |
| { |
| try |
| { |
| |
| byte[] command = new byte[] { (byte)'Q', (byte)' ' }; |
| this.Write(command, 0, command.Length); |
| } |
| catch { } |
| |
| if (base.IsOpen) |
| base.Close(); |
| |
| this.DtrEnable = false; |
| this.RtsEnable = false; |
| return true; |
| } |
| } |
| } |