fix: typo in header name and change buf0 flags and fix tests

controller/fw/embed/test/python_can.py

@@ -2,29 +2,68 @@ import can
 import struct
 import time
 
-def process_can_message(msg):
-    if msg.dlc == 5:  # Check the message length
-        print(f"Received message with ID: {msg.arbitration_id}")
-        print(f"Data: {msg.data}")
 
-        # The first byte determines the data type (flag)
-        flag = chr(msg.data[0])
-        
-        if flag == 'A':  # Angle
-            angle_bytes = msg.data[1:5]
-            angle = struct.unpack('<f', bytes(angle_bytes))[0]
-            print(f"Angle: {angle} degrees")
-        elif flag == 'V':  # Velocity
-            velocity_bytes = msg.data[1:5]
-            velocity = struct.unpack('<f', bytes(velocity_bytes))[0]
-            print(f"Velocity: {velocity} rad/s")
-        elif flag == 'E' and msg.dlc >= 2:  # Enable/Disable
-            enabled = msg.data[1]  # Expecting 1 byte (0 or 1)
-            print(f"Enabled: {bool(enabled)}")
-        else:
-            print(f"Unknown flag: {flag}")
-    else:
-        print(f"Received message with unexpected length: {msg.dlc}")
+REG_READ = 0x7
+DEVICE_ID = 0x00          # Старый ID устройства
+REG_POS = 0x72             # Предположим, что команда записи позиции — 0x2
+CAN_INTERFACE = 'can0'
+
+
+def validate_crc16(data):
+    """Функция расчета CRC16 (MODBUS)"""
+    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 process_can_message(bus):
+    # ID и команда
+    arbitration_id = (DEVICE_ID << 4) | REG_READ
+    id_bytes = list(arbitration_id.to_bytes(2, byteorder='little'))
+
+    # Команда и параметры
+    data_read = [REG_POS] + list(struct.pack('<f', 0))
+
+    # Для CRC — весь пакет: id + команда + параметры
+    full_data_for_crc = id_bytes + data_read
+    crc = validate_crc16(full_data_for_crc)
+    crc_bytes = list(crc.to_bytes(2, byteorder='little'))
+
+    # Итоговый пакет
+    packet = data_read + crc_bytes
+
+    # Создание и отправка сообщения
+    msg = can.Message(
+        arbitration_id=arbitration_id,
+        is_extended_id=False,
+        data=packet
+    )
+
+    try:
+        bus.send(msg)
+    except can.CanError:
+        print("Ошибка отправки сообщения")
+
+
+def receive_response(bus, timeout=2.0):
+    """Ожидание ответа"""
+    start_time = time.time()
+    while time.time() - start_time < timeout:
+        msg = bus.recv(timeout=timeout)
+        data_bytes = msg.data[1:5]  # берём первые 4 байта
+        print(data_bytes)
+        angle = struct.unpack('<f', bytes(data_bytes))[0]  # '<f' = little-endian float
+        # angle = int.from_bytes(data_bytes, byteorder='little', signed=True)  # или 'big'
+        if msg:
+            print(f"[Прием] Angle: 0x{msg.arbitration_id:03X}, Данные: {angle}, RAW: {bytes(msg.data)}")
+            return msg
+    print("[Ошибка] Таймаут")
+    return None
 
 def receive_can_messages():
     try:
@@ -34,9 +73,26 @@ def receive_can_messages():
         print("Waiting for messages on the CAN bus...")
 
         while True:
-            msg = bus.recv()
-            if msg:
-                process_can_message(msg)
+            process_can_message(bus)
+            response = receive_response(bus)
+            if response:
+                data = response.data
+                if len(data) < 4:
+                    print("Ответ слишком короткий")
+                else:
+                    received_crc = int.from_bytes(data[-2:], byteorder='little')
+                    print("Полученный CRC: ", received_crc)
+                    # Расчет CRC по всему пакету без CRC
+                    calc_crc = validate_crc16(data[:-2])
+                    if received_crc == calc_crc:
+                        if data[0] == REG_POS:
+                            print("\nУСПЕХ!")
+                        else:
+                            print(f"Некорректный ответ: {list(data)}")
+                    else:
+                        print("CRC не совпадает, данные повреждены.")
+            else:
+                print("Нет ответа от устройства.")
 
     except KeyboardInterrupt:
         print("\nExiting program...")