Добавлена адресация к бутлоадеру

controller/fw/embed/test/python_test_boot.py

@@ -1,4 +1,5 @@
 import can
+import sys
 import time
 from intelhex import IntelHex
 from crc import Calculator, Crc16
@@ -6,10 +7,12 @@ from crc import Calculator, Crc16
 CAN_CHANNEL = 'socketcan'
 CAN_INTERFACE = 'can0'
 CAN_BITRATE = 1000000
-BOOT_CAN_ID = 0x71
-DATA_CAN_ID = 0x73
-BOOT_CAN_END = 0x72
-ACK_CAN_ID = 0x75
+#ch =int(input("Введите id устройства:"))
+ch = int(sys.argv[2])
+BOOT_CAN_ID = (ch * 16) + 1
+DATA_CAN_ID = (ch * 16) + 3 
+BOOT_CAN_END = (ch * 16) + 2
+ACK_CAN_ID = 0x05
 
 #конфиг для crc16 ibm
 
@@ -18,6 +21,17 @@ ACK_CAN_ID = 0x75
 def debug_print(msg):
     print(f"[DEBUG] {msg}")
 
+def calculate_crc16_modbus(data: bytes) -> int:
+    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_firmware(hex_file):
     try:
         debug_print("Инициализация CAN...")
@@ -36,7 +50,7 @@ def send_firmware(hex_file):
         # Расчет CRC
         debug_print("Расчёт CRC...")
         calculator = Calculator(Crc16.IBM)
-        fw_crc = calculator.checksum(binary_data)
+        fw_crc = calculate_crc16_modbus(binary_data)
         debug_print(f"CRC: 0x{fw_crc:04X}")
 
         # Отправка START
@@ -100,8 +114,8 @@ def send_firmware(hex_file):
         )
         bus.send(finish_msg)
         
-        ack = wait_for_ack(bus, timeout=5)
-        if ack == 0xAA:
+        ack = wait_for_ack(bus, timeout=3)
+        if ack and ack.data[0] ==  0xAA:
             debug_print("Прошивка подтверждена!")
         else:
             debug_print("Ошибка верификации!")
@@ -121,7 +135,7 @@ def wait_for_ack(bus, timeout=1.0):
 
 if __name__ == "__main__":
     import sys
-    if len(sys.argv) != 2:
+    if len(sys.argv) != 3:
         print("Использование: sudo python3 can_flasher.py firmware.hex")
         sys.exit(1)