ArdupilotMega.ArduinoSTK.upload C# (CSharp) Метод

        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;
        }

        private void BUT_copyto1280_Click(object sender, EventArgs e)
        {
            IArduinoComms port = new ArduinoSTK();

            port.BaudRate = 57600;

            port.DataBits  = 8;
            port.StopBits  = StopBits.One;
            port.Parity    = Parity.None;
            port.DtrEnable = true;

            StreamReader sr = new StreamReader(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"EEPROM1280.bin");
            BinaryReader br = new BinaryReader(sr.BaseStream);

            byte[] EEPROM = br.ReadBytes(1024 * 4);
            br.Close();
            sr.Close();

            sr = new StreamReader(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"FLASH1280.bin");
            br = new BinaryReader(sr.BaseStream);
            byte[] FLASH = br.ReadBytes(1024 * 128);
            br.Close();
            sr.Close();

            try
            {
                port.PortName = ArdupilotMega.MainV2.comPortName;

                port.Open();



                if (port.connectAP())
                {
                    log.Info("starting");


                    port.uploadflash(FLASH, 0, FLASH.Length, 0);

                    port.upload(EEPROM, 0, (short)EEPROM.Length, 0);


                    log.Info("Uploaded");
                }
                else
                {
                    CustomMessageBox.Show("Communication Error - no connection");
                }
                port.Close();
            }
            catch (Exception ex) { CustomMessageBox.Show("Check port settings or Port in use? " + ex.ToString()); port.Close(); }
        }