Fix include and add/fixed python test

controller/fw/bootloader/include

@@ -1 +0,0 @@
-Subproject commit 01e1b2f27e07936f3b700e2d02c28ba75c32179d

controller/fw/bootloader/include/flash.h

@@ -0,0 +1,85 @@
+#ifndef FLASH_H_
+#define FLASH_H_
+#include "stm32f446xx.h"
+#include <stdio.h>
+#include <stdlib.h>
+
+
+/*      no padding for this struct, beacuse storing 8 bytes*/
+typedef struct{
+    uint8_t data_id;  // data_id = id register of can
+    uint8_t data_type;  
+    uint16_t crc;
+    uint32_t value;
+    // uint32_t write_ptr_now;
+  }FLASH_RECORD;
+enum {
+  addr_id   = 0,
+  pid_p     = 1, 
+  pid_i,
+  pid_d,
+  foc_id,
+  angl,
+  vel
+};
+
+/*  for saved in FLASH float data*/
+union{
+    uint32_t i;
+    float f;
+}conv_float_to_int;
+
+#define FLASH_RECORD_SIZE sizeof(FLASH_RECORD)    //size flash struct
+
+// Flash sectors for STM32F407
+#define APP_ADDRESS     0x08008000    // Адрес основной прошивки
+#define FLAG_BOOT       0x08060000 // Адрес хранения флага для обновления прошивки
+#define UPDATE_FLAG     0xDEADBEEF  // Уникальное 32-битное значение
+#define BOOT_CAN_ID     0x01         // CAN ID бутлоадера
+#define BOOT_CAN_END    0x02         // CAN ID завершения передачи
+#define DATA_CAN_ID     0x03         // CAN ID данных
+#define ACK_CAN_ID      0x05         // CAN ID подтверждения
+#define MAX_FW_SIZE     0x3FFF   // Макс. размер прошивки (256KB) 
+#define PARAM_COUNT 4             // count data in flash
+#define SECTOR_6     0x08040000  // 128KB
+#define SECTOR_6_END (SECTOR_6 + 128 * 1024) // sector 6 end
+// Flash keys for unlocking flash memory
+#define BYTE32           0
+#define BYTE8            1
+//FLASH SET ONE PROGRAMM WORD
+#define FLASH_8BYTE  FLASH->CR &= ~FLASH_CR_PSIZE & ~FLASH_CR_PSIZE_1
+#define FLASH_32BYTE \
+    FLASH->CR = (FLASH->CR & ~FLASH_CR_PSIZE) | (0x2 << FLASH_CR_PSIZE_Pos)
+
+// Flash command bits
+#define FLASH_LOCK   FLASH->CR |= FLASH_CR_LOCK
+#define FLASH_UNLOCK FLASH->KEYR = FLASH_KEY1; FLASH->KEYR = FLASH_KEY2
+
+
+// Flash status flags
+#define FLASH_BUSY   (FLASH->SR & FLASH_SR_BSY)
+#define FLASH_ERROR  (FLASH->SR & (FLASH_SR_WRPERR | FLASH_SR_PGAERR | FLASH_SR_PGPERR | FLASH_SR_PGSERR))
+
+//for bootloader    
+typedef void(*pFunction)(void); 
+
+
+/*      for start addr in FLASH     */
+static uint32_t write_ptr = SECTOR_6;
+static uint32_t ptr_fl = APP_ADDRESS;
+// Function prototypes
+void flash_unlock(void);
+void flash_lock(void);
+void erase_sector(uint8_t sector);
+void flash_program_word(uint32_t address, uint32_t data,uint32_t byte_len);
+uint8_t flash_read_word(uint32_t address);
+FLASH_RECORD* load_params();
+void compact_page();
+void flash_read(uint32_t addr,FLASH_RECORD* ptr);
+uint16_t validate_crc16(uint8_t *data,uint32_t length);
+void flash_write(uint32_t addr, FLASH_RECORD* record);
+void write_flash_page(const uint8_t* data, uint16_t len);
+void erase_flash_pages();
+void write_param(uint8_t param_id,uint32_t val);
+uint16_t calc_crc_struct(FLASH_RECORD* res);
+#endif /* FLASH_H_ */

controller/fw/bootloader/include/hal_conf_extra.h

@@ -0,0 +1,38 @@
+#pragma once
+
+#pragma region "Motor and sensor setup"
+#define LED1 PC10
+#define LED2 PC11
+#define HARDWARE_SERIAL_RX_PIN PB7
+#define HARDWARE_SERIAL_TX_PIN PB6
+#define AS5045_CS PB15
+#define AS5045_MISO PB14
+#define AS5045_MOSI PC1
+#define AS5045_SCLK PB10
+#define CURRENT_SENSOR_1 PB1
+#define CURRENT_SENSOR_2 PB0
+#define CURRENT_SENSOR_3 PC5
+#define TIM1_CH1 PA8
+#define TIM1_CH2 PA9
+#define TIM1_CH3 PA10
+#define EN_W_GATE_DRIVER PC6
+#define EN_U_GATE_DRIVER PA11
+#define EN_V_GATE_DRIVER PA12
+#define SLEEP_DRIVER PC9
+#define RESET_DRIVER PC8
+#define FAULT_DRIVER PC7
+#define POLE_PAIRS 14
+#define CAN2_TX PB13
+#define CAN2_RX PB12
+#define CAN1_TX PB9
+#define CAN1_RX PB8
+#define GM6208_RESISTANCE 31
+#define OWN_RESISTANCE 26
+#pragma endregion
+
+#if !defined(HAL_CAN_MODULE_ENABLED)
+#define HAL_CAN_MODULE_ENABLED
+#endif
+#include "stm32f4xx_hal.h"
+#include "stm32f4xx_hal_can.h"
+#include <STM32_CAN.h>

controller/fw/bootloader/include/reg_cah.h

@@ -0,0 +1,38 @@
+#ifndef REG_CAH_H_
+#define REG_CAH_H_
+
+#define APP_ADDR        0x0800400  // 16KB - Application
+#define ADDR_VAR        0x8040000
+
+
+#define REG_READ                0x07
+#define REG_WRITE               0x08
+
+
+/*               Startup    ID device          */
+#define START_ID               0x00
+
+/*              CAN REGISTER     ID       */
+#define REG_ID                  0x01
+#define REG_BAUDRATE            0x02
+
+#define REG_MOTOR_POSPID_Kp     0x30
+#define REG_MOTOR_POSPID_Ki     0x31
+#define REG_MOTOR_POSPID_Kd     0x32
+
+#define REG_MOTOR_VELPID_Kp     0x40
+#define REG_MOTOR_VELPID_Ki     0x41
+#define REG_MOTOR_VELPID_Kd     0x42
+
+#define REG_MOTOR_IMPPID_Kp     0x50
+#define REG_MOTOR_IMPPID_Kd     0x51
+
+#define REG_RESET               0x88
+#define REG_LED_BLINK           0x8B
+
+#define FOC_STATE               0x60
+
+#define MOTOR_VELOCITY          0x70
+#define MOTOR_ENABLED           0x71
+#define MOTOR_ANGLE             0x72
+#endif  // REG_CAH_H_

controller/fw/embed/test/python_firmware.py

@@ -0,0 +1,141 @@
+import can
+import sys
+import time
+from intelhex import IntelHex
+# Конфигурация
+CAN_CHANNEL = 'socketcan'
+CAN_INTERFACE = 'can0'
+CAN_BITRATE = 1000000
+#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
+
+
+
+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...")
+        bus = can.interface.Bus(
+            channel=CAN_INTERFACE,
+            bustype=CAN_CHANNEL,
+            bitrate=CAN_BITRATE
+        )
+        
+        debug_print("Чтение HEX-файла...")
+        ih = IntelHex(hex_file)
+        binary_data = ih.tobinstr()  # Исправлено на tobinstr()
+        fw_size = len(binary_data)
+        debug_print(f"Размер прошивки: {fw_size} байт")
+    
+        # Расчет CRC
+        debug_print("Расчёт CRC...")
+       # calculator = Calculator(Crc16.IBM)
+        fw_crc = calculate_crc16_modbus(binary_data)
+        debug_print(f"CRC: 0x{fw_crc:04X}")
+
+        # Отправка START
+        start_data = bytearray([0x01])
+        start_data += fw_size.to_bytes(4, 'little')
+        start_data += fw_crc.to_bytes(2, 'little')
+        
+        debug_print(f"START: {list(start_data)}")
+        start_msg = can.Message(
+            arbitration_id=BOOT_CAN_ID,
+            data=bytes(start_data),
+            is_extended_id=False
+        )
+        
+        try:
+            bus.send(start_msg)
+        except can.CanError as e:
+            debug_print(f"Ошибка отправки START: {str(e)}")
+            return
+
+        # Ожидание ACK
+        debug_print("Ожидание ACK...")
+        ack = wait_for_ack(bus)
+        if not ack:
+            debug_print("Таймаут ACK START")
+            return
+        debug_print(f"Получен ACK: {list(ack.data)}")
+
+        # Отправка данных
+        packet_size = 8
+        for i in range(0, len(binary_data), packet_size):
+            chunk = binary_data[i:i+packet_size]
+            # Дополнение до 8 байт
+            if len(chunk) < 8:
+                chunk += b'\xFF' * (8 - len(chunk))
+            
+            debug_print(f"Пакет {i//8}: {list(chunk)}")
+            data_msg = can.Message(
+                arbitration_id=DATA_CAN_ID,
+                data=chunk,
+                is_extended_id=False
+            )
+            
+            try:
+                bus.send(data_msg)
+            except can.CanError as e:
+                debug_print(f"Ошибка отправки данных: {str(e)}")
+                return
+
+            ack = wait_for_ack(bus)
+            if not ack:
+                debug_print("Таймаут ACK DATA")
+                return
+
+        # Финал
+        debug_print("Отправка FINISH...")
+        finish_msg = can.Message(
+            arbitration_id=BOOT_CAN_END,
+            data=bytes([0xAA]),
+            is_extended_id=False
+        )
+        bus.send(finish_msg)
+        
+        ack = wait_for_ack(bus, timeout=3)
+        if ack and ack.data[0] ==  0xAA:
+            debug_print("Прошивка подтверждена!")
+        else:
+            debug_print("Ошибка верификации!")
+
+    except Exception as e:
+        debug_print(f"Критическая ошибка: {str(e)}")
+    finally:
+        bus.shutdown()
+
+def wait_for_ack(bus, timeout=1.0):
+    start_time = time.time()
+    while time.time() - start_time < timeout:
+        msg = bus.recv(timeout=0)  # Неблокирующий режим
+        if msg and msg.arbitration_id == ACK_CAN_ID:
+            return msg
+    return None
+
+if __name__ == "__main__":
+    import sys
+    if len(sys.argv) != 3:
+        print("Использование: sudo python3 can_flasher.py firmware.hex")
+        sys.exit(1)
+        
+    send_firmware(sys.argv[1])

controller/fw/embed/test/python_read_id.py

@@ -1,11 +1,11 @@
 import can
 import time
-
+import sys
 # Конфигурация
 CAN_INTERFACE = 'can0'
-OLD_DEVICE_ID = 0x03  # Текущий ID устройства (по умолчанию)
+OLD_DEVICE_ID = int(sys.argv[1]) # Текущий ID устройства (по умолчанию)
 REG_READ = 0x7        # Код команды чтения
-REG_ID = 0x1          # Адрес регистра с ID устройства
+REG_ID = 0x01          # Адрес регистра с ID устройства
 
 def send_can_message(bus, can_id, data):
     """Отправка CAN-сообщения"""
@@ -100,3 +100,9 @@ else:
 
 # Завершаем работу с шиной
 bus.shutdown()
+
+if __name__ == "__main__":
+    import sys
+    if len(sys.argv) != 2:
+        print("Использование: python3 can_flasher.py address")
+        sys.exit(1)

controller/fw/embed/test/python_test_id.py

@@ -1,10 +1,10 @@
 import can
 import time
-
+import sys
 # Конфигурация
 CAN_INTERFACE = 'can0'
-OLD_DEVICE_ID = 0x03
+OLD_DEVICE_ID = int(sys.argv[1])
-NEW_DEVICE_ID = 0x69
+NEW_DEVICE_ID = int(sys.argv[2])
 REG_WRITE = 0x8
 REG_READ = 0x7
 REG_ID = 0x1
@@ -116,3 +116,9 @@ else:
     print("Нет ответа от устройства.")
 
 bus.shutdown()
+
+if __name__ == "__main__":
+    import sys
+    if len(sys.argv) != 3:
+        print("Использование: python3 can_flasher.py old_addr new addr")
+        sys.exit(1)