C# Comms.SerialPort类代码示例

        Stream port = null;// File.Open(@"C:\Users\hog\Desktop\gps data\asterx-m", FileMode.Open);

        public AP_GPS_COMNAV()
        {
            var sport = new SerialPort("COM13", 115200);

            sport.Open();

            port = sport.BaseStream;
        }

        private void BUT_savesettings_Click(object sender, EventArgs e)
        {
            ICommsSerial comPort = new SerialPort();

            try
            {
                comPort.PortName = MainV2.comPort.BaseStream.PortName;
                comPort.BaudRate = MainV2.comPort.BaseStream.BaudRate;

                comPort.ReadTimeout = 4000;

                comPort.Open();

            }
            catch { CustomMessageBox.Show("Invalid ComPort or in use"); return; }

            lbl_status.Text = "Connecting";

            if (doConnect(comPort))
            {
                // cleanup
                doCommand(comPort, "AT&T");

                comPort.DiscardInBuffer();

                lbl_status.Text = "Doing Command";

                if (RTI.Text != "")
                {

                    // remote
                    string answer = doCommand(comPort, "RTI5");

                    string[] items = answer.Split('\n');

                    foreach (string item in items)
                    {
                        if (item.StartsWith("S"))
                        {
                            string[] values = item.Split(':', '=');

                            if (values.Length == 3)
                            {
                                Control[] controls = this.Controls.Find("R" + values[0].Trim(), true);

                                if (controls.Length > 0)
                                {
                                    if (controls[0].GetType() == typeof(CheckBox))
                                    {
                                        string value = ((CheckBox)controls[0]).Checked ? "1" : "0";

                                        if (value != values[2].Trim())
                                        {
                                            string cmdanswer = doCommand(comPort, "RT" + values[0].Trim() + "=" + value + "\r");

                                            if (cmdanswer.Contains("OK"))
                                            {

                                            }
                                            else
                                            {
                                                CustomMessageBox.Show("Set Command error");
                                            }
                                        }
                                    }
                                    else
                                    {
                                        if (controls[0] is TextBox)
                                        {

                                        }
                                        else
                                        {
                                            if (((ComboBox)controls[0]).SelectedValue != null)
                                            {
                                                if (((ComboBox)controls[0]).SelectedValue.ToString() != values[2].Trim())
                                                {
                                                    string cmdanswer = doCommand(comPort, "RT" + values[0].Trim() + "=" + ((ComboBox)controls[0]).SelectedValue + "\r");

                                                    if (cmdanswer.Contains("OK"))
                                                    {

                                                    }
                                                    else
                                                    {
                                                        CustomMessageBox.Show("Set Command error");
                                                    }
                                                }
                                            }
                                            else if (controls[0].Text != values[2].Trim() && controls[0].Text != "")
                                            {
                                                string cmdanswer = doCommand(comPort, "RT" + values[0].Trim() + "=" + controls[0].Text + "\r");

                                                if (cmdanswer.Contains("OK"))
                                                {

                                                }
                                                else
                                                {
                                                    CustomMessageBox.Show("Set Command error");
//.........这里部分代码省略.........

        private void BUT_resettodefault_Click(object sender, EventArgs e)
        {
            ICommsSerial comPort = new SerialPort();

            try
            {
                comPort.PortName = MainV2.comPort.BaseStream.PortName;
                comPort.BaudRate = MainV2.comPort.BaseStream.BaudRate;

                comPort.ReadTimeout = 4000;

                comPort.Open();

            }
            catch { CustomMessageBox.Show("Invalid ComPort or in use"); return; }

            lbl_status.Text = "Connecting";

            if (doConnect(comPort))
            {
                // cleanup
                doCommand(comPort, "AT&T");

                comPort.DiscardInBuffer();

                lbl_status.Text = "Doing Command ATI & AT&F";

                doCommand(comPort, "AT&F");

                doCommand(comPort, "AT&W");

                lbl_status.Text = "Reset";

                doCommand(comPort, "ATZ");

                comPort.Close();

                BUT_getcurrent_Click(sender, e);
            }
            else
            {

                // off hook
                doCommand(comPort, "ATO");

                lbl_status.Text = "Fail";
                CustomMessageBox.Show("Failed to enter command mode");
            }

            if (comPort.IsOpen)
                comPort.Close();
        }

        private void BUT_getcurrent_Click(object sender, EventArgs e)
        {
            ICommsSerial comPort = new SerialPort();

            try
            {
                comPort.PortName = MainV2.comPort.BaseStream.PortName;
                comPort.BaudRate = MainV2.comPort.BaseStream.BaudRate;

                comPort.ReadTimeout = 4000;

                comPort.Open();

            }
            catch { CustomMessageBox.Show("Invalid ComPort or in use"); return; }

            lbl_status.Text = "Connecting";

            if (doConnect(comPort))
            {
                // cleanup
                doCommand(comPort, "AT&T");

                comPort.DiscardInBuffer();

                lbl_status.Text = "Doing Command ATI & RTI";

                ATI.Text = doCommand(comPort, "ATI");

                RTI.Text = doCommand(comPort, "RTI");

                uploader.Uploader.Frequency freq = (uploader.Uploader.Frequency)Enum.Parse(typeof(uploader.Uploader.Frequency), doCommand(comPort, "ATI3"));
                uploader.Uploader.Board board = (uploader.Uploader.Board)Enum.Parse(typeof(uploader.Uploader.Board), doCommand(comPort, "ATI2"));

                    ATI3.Text = freq.ToString();

                    ATI2.Text = board.ToString();
                    try
                    {
                        RTI2.Text = ((uploader.Uploader.Board)Enum.Parse(typeof(uploader.Uploader.Board), doCommand(comPort, "RTI2"))).ToString();
                    }
                    catch { }
                // 8 and 9
                    if (freq == uploader.Uploader.Frequency.FREQ_915)
                    {
                        S8.DataSource = Range(895000, 1000, 935000);
                        RS8.DataSource = Range(895000, 1000, 935000);

                        S9.DataSource = Range(895000, 1000, 935000);
                        RS9.DataSource = Range(895000, 1000, 935000);
                    }
                    else if (freq == uploader.Uploader.Frequency.FREQ_433)
                    {
                        S8.DataSource = Range(414000, 100, 454000);
                        RS8.DataSource = Range(414000, 100, 454000);

                        S9.DataSource = Range(414000, 100, 454000);
                        RS9.DataSource = Range(414000, 100, 454000);
                    }
                    else if (freq == uploader.Uploader.Frequency.FREQ_868)
                    {
                        S8.DataSource = Range(849000, 1000, 889000);
                        RS8.DataSource = Range(849000, 1000, 889000);

                        S9.DataSource = Range(849000, 1000, 889000);
                        RS9.DataSource = Range(849000, 1000, 889000);
                    }

                    if (board == uploader.Uploader.Board.DEVICE_ID_RFD900 || board == uploader.Uploader.Board.DEVICE_ID_RFD900A)
                    {
                        S4.DataSource = Range(1, 1, 30);
                        RS4.DataSource = Range(1, 1, 30);
                    }

                RSSI.Text = doCommand(comPort, "ATI7").Trim();

                lbl_status.Text = "Doing Command ATI5";

                string answer = doCommand(comPort, "ATI5");

                string[] items = answer.Split('\n');

                foreach (string item in items)
                {
                    if (item.StartsWith("S"))
                    {
                        string[] values = item.Split(':', '=');

                        if (values.Length == 3)
                        {
                            Control[] controls = this.Controls.Find(values[0].Trim(), true);

                            if (controls.Length > 0)
                            {
                                controls[0].Enabled = true;

                                if (controls[0] is CheckBox)
                                {
                                    ((CheckBox)controls[0]).Checked = values[2].Trim() == "1";
                                }
//.........这里部分代码省略.........

        private void UploadFW(bool custom = false)
        {
            ICommsSerial comPort = new SerialPort();

            uploader.Uploader uploader = new uploader.Uploader();

            if (MainV2.comPort.BaseStream.IsOpen)
            {
                try
                {
                    comPort = new MAVLinkSerialPort(MainV2.comPort, 0);//MAVLink.SERIAL_CONTROL_DEV.TELEM1);

                    uploader.PROG_MULTI_MAX = 64;

                }
                catch (Exception ex) 
                {
                    CustomMessageBox.Show("Error " + ex.ToString());
                }
            }

            try
            {
                comPort.PortName = MainV2.comPort.BaseStream.PortName;
                comPort.BaudRate = 115200;

                comPort.Open();

            }
            catch { CustomMessageBox.Show("Invalid ComPort or in use"); return; }

            // prep what we are going to upload
            uploader.IHex iHex = new uploader.IHex();

            iHex.LogEvent += new LogEventHandler(iHex_LogEvent);

            iHex.ProgressEvent += new ProgressEventHandler(iHex_ProgressEvent);

            bool bootloadermode = false;

            // attempt bootloader mode
            try
            {
                uploader_ProgressEvent(0);
                uploader_LogEvent("Trying Bootloader Mode");
                uploader.port = comPort;
                uploader.connect_and_sync();

                uploader.ProgressEvent += new ProgressEventHandler(uploader_ProgressEvent);
                uploader.LogEvent += new LogEventHandler(uploader_LogEvent);

                uploader_LogEvent("In Bootloader Mode");
                bootloadermode = true;
            }
            catch
            {
                // cleanup bootloader mode fail, and try firmware mode
                comPort.Close();
                if (MainV2.comPort.BaseStream.IsOpen)
                {
                    // default baud... guess
                    comPort.BaudRate = 57600;
                } else {
                    comPort.BaudRate = MainV2.comPort.BaseStream.BaudRate;
                }
                try
                {
                    comPort.Open();
                }
                catch { CustomMessageBox.Show("Error opening port", "Error"); return; }

                uploader.ProgressEvent += new ProgressEventHandler(uploader_ProgressEvent);
                uploader.LogEvent += new LogEventHandler(uploader_LogEvent);

                uploader_LogEvent("Trying Firmware Mode");
                bootloadermode = false;
            }

            // check for either already bootloadermode, or if we can do a ATI to ID the firmware 
            if (bootloadermode || doConnect(comPort))
            {
                // put into bootloader mode/udpate mode
                if (!bootloadermode)
                {
                    try
                    {
                        comPort.Write("AT&UPDATE\r\n");
                        string left = comPort.ReadExisting();
                        log.Info(left);
                        Sleep(700);
                        comPort.BaudRate = 115200;
                    }
                    catch { }
                }

                // force sync after changing baudrate
                uploader.connect_and_sync();

                global::uploader.Uploader.Board device = global::uploader.Uploader.Board.FAILED;
                global::uploader.Uploader.Frequency freq = global::uploader.Uploader.Frequency.FAILED;
//.........这里部分代码省略.........

        /// <summary>
        /// Upload the specified image_data.
        /// </summary>
        /// <param name='image_data'>
        /// Image_data to be uploaded.
        /// </param>
        public void upload(SerialPort on_port, IHex image_data)
        {
            progress (0);

            port = on_port;

            try {
                connect_and_sync ();
                upload_and_verify (image_data);
                cmdReboot ();
            } catch {
                if (port.IsOpen)
                    port.Close ();
                throw;
            }
        }

        /// <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>
        /// STK v2 generate packet
        /// </summary>
        /// <param name="serialPort"></param>
        /// <param name="message"></param>
        /// <returns></returns>
        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 = BoardDetect.readpacket(serialPort);

            //if (ret[1] == 0x0)
            {
                //Console.WriteLine("received OK");
            }

            return ret;
        }

        /// <summary>
        /// Detects APM board version
        /// </summary>
        /// <param name="port"></param>
        /// <returns> (1280/2560/2560-2/px4/px4v2)</returns>
        public static boards DetectBoard(string port)
        {
            SerialPort serialPort = new SerialPort();
            serialPort.PortName = port;

            if (!MainV2.MONO)
            {
                ObjectQuery query = new ObjectQuery("SELECT * FROM Win32_SerialPort"); // Win32_USBControllerDevice
                ManagementObjectSearcher searcher = new ManagementObjectSearcher(query);
                foreach (ManagementObject obj2 in searcher.Get())
                {
                    Console.WriteLine("PNPID: " + obj2.Properties["PNPDeviceID"].Value.ToString());

                    // 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 boards.b2560v2;
                        }
                    }

                    if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_26AC&PID_0010"))
                    {
                        // check port name as well
                        //if (obj2.Properties["Name"].Value.ToString().ToUpper().Contains(serialPort.PortName.ToUpper()))
                        {
                            log.Info("is a px4");
                            return boards.px4;
                        }
                    }

                    if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_26AC&PID_0011"))
                    {
                        log.Info("is a px4v2");
                        return boards.px4v2;
                    }

                    if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_26AC&PID_0001"))
                    {
                        log.Info("is a px4v2 bootloader");
                        return boards.px4v2;
                    }

                    if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_26AC&PID_0016"))
                    {
                        log.Info("is a px4v2 bootloader");
                        CustomMessageBox.Show("You appear to have a bootloader with a bad PID value, please update your bootloader.");
                        return boards.px4v2;
                    }

                    //|| obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_26AC&PID_0012") || obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_26AC&PID_0013") || obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_26AC&PID_0014") || obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_26AC&PID_0015") || obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_26AC&PID_0016")

                }

            }
            else
            {
                // if its mono
                if (DialogResult.Yes == CustomMessageBox.Show("Is this a APM 2+?", "APM 2+", MessageBoxButtons.YesNo))
                {
                    return boards.b2560v2;
                }
                else
                {
                    if (DialogResult.Yes == CustomMessageBox.Show("Is this a PX4/PIXHAWK?", "PX4/PIXHAWK", MessageBoxButtons.YesNo))
                    {
                        if (DialogResult.Yes == CustomMessageBox.Show("Is this a PIXHAWK?", "PIXHAWK", MessageBoxButtons.YesNo))
                        {
                            return boards.px4v2;
                        }
                        return boards.px4;
                    }
                    else
                    {
                        return boards.b2560;
                    }
                }
            }

            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);
//.........这里部分代码省略.........

        private void BUT_getcurrent_Click(object sender, EventArgs e)
        {
            ICommsSerial comPort = new SerialPort();

            try
            {
                if (MainV2.comPort.BaseStream.IsOpen)
                {
                    getTelemPortWithRadio(ref comPort);
                }
                else
                {
                    comPort.PortName = MainV2.comPort.BaseStream.PortName;
                    comPort.BaudRate = MainV2.comPort.BaseStream.BaudRate;
                }

                comPort.ReadTimeout = 4000;

                comPort.Open();
            }
            catch
            {
                CustomMessageBox.Show("Invalid ComPort or in use");
                return;
            }

            lbl_status.Text = "Connecting";

            try
            {
                if (doConnect(comPort))
                {
                    // cleanup
                    doCommand(comPort, "AT&T");

                    comPort.DiscardInBuffer();

                    lbl_status.Text = "Doing Command ATI & RTI";

                    ATI.Text = doCommand(comPort, "ATI");

                    var freq =
                        (Uploader.Frequency)
                            Enum.Parse(typeof (Uploader.Frequency), doCommand(comPort, "ATI3"));
                    var board =
                        (Uploader.Board)
                            Enum.Parse(typeof (Uploader.Board), doCommand(comPort, "ATI2"));

                    ATI3.Text = freq.ToString();

                    ATI2.Text = board.ToString();

                    // 8 and 9
                    if (freq == Uploader.Frequency.FREQ_915)
                    {
                        MIN_FREQ.DataSource = Range(895000, 1000, 935000);
                        RMIN_FREQ.DataSource = Range(895000, 1000, 935000);

                        MAX_FREQ.DataSource = Range(895000, 1000, 935000);
                        RMAX_FREQ.DataSource = Range(895000, 1000, 935000);
                    }
                    else if (freq == Uploader.Frequency.FREQ_433)
                    {
                        MIN_FREQ.DataSource = Range(414000, 50, 460000);
                        RMIN_FREQ.DataSource = Range(414000, 50, 460000);

                        MAX_FREQ.DataSource = Range(414000, 50, 460000);
                        RMAX_FREQ.DataSource = Range(414000, 50, 460000);
                    }
                    else if (freq == Uploader.Frequency.FREQ_868)
                    {
                        MIN_FREQ.DataSource = Range(849000, 1000, 889000);
                        RMIN_FREQ.DataSource = Range(849000, 1000, 889000);

                        MAX_FREQ.DataSource = Range(849000, 1000, 889000);
                        RMAX_FREQ.DataSource = Range(849000, 1000, 889000);
                    }

                    if (board == Uploader.Board.DEVICE_ID_RFD900 ||
                        board == Uploader.Board.DEVICE_ID_RFD900A
                        || board == Uploader.Board.DEVICE_ID_RFD900P ||
                        board == Uploader.Board.DEVICE_ID_RFD900U ||
                        board == Uploader.Board.DEVICE_ID_RFD900Plus)
                    {
                        TXPOWER.DataSource = Range(1, 1, 30);
                        RTXPOWER.DataSource = Range(1, 1, 30);
                    }

                    txt_aeskey.Text = doCommand(comPort, "AT&E?").Trim();

                    RSSI.Text = doCommand(comPort, "ATI7").Trim();

                    lbl_status.Text = "Doing Command ATI5";

                    var answer = doCommand(comPort, "ATI5", true);

                    var items = answer.Split('\n');

                    foreach (var item in items)
                    {
//.........这里部分代码省略.........

        private void BUT_savesettings_Click(object sender, EventArgs e)
        {
            ICommsSerial comPort = new SerialPort();

            try
            {
                if (MainV2.comPort.BaseStream.IsOpen)
                {
                    getTelemPortWithRadio(ref comPort);
                }
                else
                {
                    comPort.PortName = MainV2.comPort.BaseStream.PortName;
                    comPort.BaudRate = MainV2.comPort.BaseStream.BaudRate;
                }

                comPort.ReadTimeout = 4000;

                comPort.Open();
            }
            catch
            {
                CustomMessageBox.Show("Invalid ComPort or in use");
                return;
            }

            lbl_status.Text = "Connecting";

            if (doConnect(comPort))
            {
                // cleanup
                doCommand(comPort, "AT&T");

                comPort.DiscardInBuffer();

                lbl_status.Text = "Doing Command";

                // set encryption keys at the same time, so if we are enabled we dont lose comms.
                if (RENCRYPTION_LEVEL.Checked)
                {
                    doCommand(comPort, "RT&E=" + txt_Raeskey.Text.PadRight(32, '0'), true);
                }
                if (ENCRYPTION_LEVEL.Checked)
                {
                    doCommand(comPort, "AT&E=" + txt_aeskey.Text.PadRight(32, '0'), true);
                }

                if (RTI.Text != "")
                {
                    // remote
                    var answer = doCommand(comPort, "RTI5", true);

                    var items = answer.Split(new[] {'\n'}, StringSplitOptions.RemoveEmptyEntries);

                    foreach (var item in items)
                    {
                        if (item.StartsWith("S"))
                        {
                            var values = item.Split(':', '=');

                            if (values.Length == 3)
                            {
                                values[1] = values[1].Replace("/", "_");

                                var controls = groupBoxRemote.Controls.Find("R" + values[1].Trim(), true);

                                if (controls.Length > 0)
                                {
                                    if (controls[0].GetType() == typeof (CheckBox))
                                    {
                                        var value = ((CheckBox) controls[0]).Checked ? "1" : "0";

                                        if (value != values[2].Trim())
                                        {
                                            var cmdanswer = doCommand(comPort,
                                                "RT" + values[0].Trim() + "=" + value + "\r");

                                            if (cmdanswer.Contains("OK"))
                                            {
                                            }
                                            else
                                            {
                                                CustomMessageBox.Show("Set Command error");
                                            }
                                        }
                                    }
                                    else if (controls[0] is TextBox)
                                    {
                                    }
                                    else if (controls[0].Name.Contains("MAVLINK")) //
                                    {
                                        if (((ComboBox) controls[0]).SelectedValue.ToString() != values[2].Trim())
                                        {
                                            var cmdanswer = doCommand(comPort,
                                                "RT" + values[0].Trim() + "=" + ((ComboBox) controls[0]).SelectedValue +
                                                "\r");

                                            if (cmdanswer.Contains("OK"))
                                            {
                                            }
//.........这里部分代码省略.........

        /// <summary>
        /// Detects APM board version
        /// </summary>
        /// <param name="port"></param>
        /// <returns> (1280/2560/2560-2/px4/px4v2)</returns>
        public static boards DetectBoard(string port)
        {
            SerialPort serialPort = new SerialPort();
            serialPort.PortName = port;

            ObjectQuery query = new ObjectQuery("SELECT * FROM Win32_SerialPort"); // Win32_USBControllerDevice
            ManagementObjectSearcher searcher = new ManagementObjectSearcher(query);
            foreach (ManagementObject obj2 in searcher.Get())
            {
                Console.WriteLine("PNPID: " + obj2.Properties["PNPDeviceID"].Value.ToString());

                if (obj2.Properties["PNPDeviceID"].Value.ToString().Contains(@"USB\VID_26AC&PID_0002"))
                {
                    log.Info("is a playuav osd bootloader");
                    return boards.playuavosd;
                }

            }

            return boards.none;
        }

        /// <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 "";
        }

        private void BUT_savesettings_Click(object sender, EventArgs e)
        {
            ICommsSerial comPort = new SerialPort();

            try
            {
                if (MainV2.comPort.BaseStream.IsOpen)
                {
                    comPort = new MAVLinkSerialPort(MainV2.comPort, 0); //MAVLink.SERIAL_CONTROL_DEV.TELEM1);

                    comPort.BaudRate = 57600;
                }
                else
                {
                    comPort.PortName = MainV2.comPort.BaseStream.PortName;
                    comPort.BaudRate = MainV2.comPort.BaseStream.BaudRate;
                }

                comPort.ReadTimeout = 4000;

                comPort.Open();
            }
            catch
            {
                CustomMessageBox.Show("Invalid ComPort or in use");
                return;
            }

            lbl_status.Text = "Connecting";

            if (doConnect(comPort))
            {
                // cleanup
                doCommand(comPort, "AT&T");

                comPort.DiscardInBuffer();

                lbl_status.Text = "Doing Command";

                if (RTI.Text != "")
                {
                    // remote
                    var answer = doCommand(comPort, "RTI5", true);

                    var items = answer.Split(new[] {'\n'}, StringSplitOptions.RemoveEmptyEntries);

                    foreach (var item in items)
                    {
                        if (item.StartsWith("S"))
                        {
                            var values = item.Split(':', '=');

                            if (values.Length == 3)
                            {
                                var controls = Controls.Find("R" + values[0].Trim(), true);

                                if (controls.Length > 0)
                                {
                                    if (controls[0].GetType() == typeof (CheckBox))
                                    {
                                        var value = ((CheckBox) controls[0]).Checked ? "1" : "0";

                                        if (value != values[2].Trim())
                                        {
                                            var cmdanswer = doCommand(comPort,
                                                "RT" + values[0].Trim() + "=" + value + "\r");

                                            if (cmdanswer.Contains("OK"))
                                            {
                                            }
                                            else
                                            {
                                                CustomMessageBox.Show("Set Command error");
                                            }
                                        }
                                    }
                                    else if (controls[0] is TextBox)
                                    {
                                    }
                                    else if (controls[0].Name.Contains("S6")) //
                                    {
                                        if (((ComboBox) controls[0]).SelectedValue.ToString() != values[2].Trim())
                                        {
                                            var cmdanswer = doCommand(comPort,
                                                "RT" + values[0].Trim() + "=" + ((ComboBox) controls[0]).SelectedValue +
                                                "\r");

                                            if (cmdanswer.Contains("OK"))
                                            {
                                            }
                                            else
                                            {
                                                CustomMessageBox.Show("Set Command error");
                                            }
                                        }
                                    }
                                    else if (controls[0] is ComboBox)
                                    {
                                        if (controls[0].Text != values[2].Trim())
                                        {
//.........这里部分代码省略.........