rename python test file names

controller/fw/embed/test/send_angle.py

@@ -0,0 +1,67 @@
+from can.interface import Bus
+import can
+import struct
+import time
+import argparse
+
+# Константы
+CAN_INTERFACE = 'can0'
+DEVICE_ID = 0x27          # ID ADDR for servo
+REG_WRITE = 0x8
+REG_POS = 0x72             # MOTOR+ANGLE = 0x72
+
+def validate_crc16(data):
+    #   Calculate   CRC16
+    crc = 0xFFFF
+    for byte in data:
+        crc ^= byte
+        for _ in range(8):
+            if crc & 0x0001:
+                crc = (crc >> 1) ^ 0xA001
+            else:
+                crc >>= 1
+    return crc
+
+def send_target_angle(bus, target_angle):
+    # ID and cmd
+    arbitration_id = (DEVICE_ID << 4) | REG_WRITE
+    id_bytes = list(arbitration_id.to_bytes(2, byteorder='little'))
+
+    # cmd + parametrs
+    data_write = [REG_POS] + list(struct.pack('<f', target_angle))  
+
+    
+    full_data_for_crc = id_bytes + data_write
+    crc = validate_crc16(full_data_for_crc)
+    crc_bytes = list(crc.to_bytes(2, byteorder='little'))
+
+    # Full packet
+    packet = data_write + crc_bytes
+
+
+    msg = can.Message(
+        arbitration_id=arbitration_id,
+        is_extended_id=False,
+        data=packet
+    )
+
+    try:
+        bus.send(msg)
+        print(f"[Отправка] CAN ID: 0x{arbitration_id:03X}, Угол: {target_angle} rad, Данные: {list(msg.data)}")
+    except can.CanError:
+        print("Ошибка отправки сообщения")
+
+def main():
+    parser = argparse.ArgumentParser(description="Отправка угла позиции по CAN.")
+    parser.add_argument("--angle", type=float, required=True, help="Угол (в градусах)")
+    args = parser.parse_args()
+
+    # Инициализация CAN
+    bus = Bus(channel=CAN_INTERFACE, bustype='socketcan')
+    print("CAN шина инициализирована.")
+
+    send_target_angle(bus, args.angle)
+
+    bus.shutdown()
+if __name__ == '__main__':
+    main()