synchronization_03.06.2025

2025-06-03 16:12:31 +03:00
48 changed files with 594 additions and 3426 deletions
--- a/controller/fw/README.md
+++ b/controller/fw/README.md
@ -1,68 +0,0 @@
-# Встроенное ПО для сервопривода на STM32F446RE
-
-## Для разработки
- [Установить platformio](#introduction)
-```bash
-pip install -U platformio
-```
- Установить python3
-```bash
-sudo apt install python3
-```
- Устаноивть st-link
-```bash
-sudo apt install st-link
-```
-### Прошивка делится на два файла один для загрузчика другой для основной прошивки. Чтобы загрузить как описано ниже нужно находится в директории этого проекта. Нужно сделать как для bootloader так и для embed 
- [Скомпилировать проект](#build_project)
-```bash
-platformio run --environment robotroller_reborn
-```
- [Загрузить прошивку](#upload_project)
-```bash
-platformio run --target upload --environment robotroller_reborn 
-```
-
-## Другой способ прошивки
-## Выбор интерфейса прошивки
-### Для основной прошивки в директории ./embed
- Если уже есть какя-то основная прошивка, то чтобы перепрошить другую прошивку, добавляем флаг для бутлоадера
-```bash
-python3 firmw_update_flag.py [адрес устройства]
-```
- Передача прошивки по CAN
-```bash
-python3 firmware_can.py firmware.hex [адрес устройства]
-```
-### St-link(нет адресации можно прошивать только по одному)
-```bash
-python3 st-link.py firmware.hex
-``` 
-### St-link_full(полная прошивка без адресации) 
-#### Прошивает и программатор и основную прошивку можно находится как в ./embed, так и в ./bootloader(в директории где есть данный тест в папке test).
-
- Если до этого сохраняли адреса и данные, то они останутся даже при полной перепрошивке
- Если бутлоадер не был прошит и FLASH микрокотроллера полностью стерта
-
- [Скачать прошивку и бутлоадер в hex формате]
-ССЫЛКА
-
- [Прошить через программатор]
-```bash
-python3 st-link_full.py bootloader.hex firmware.hex
-```
-
-## Работа по CAN
-#### Для основной прошивки в директории ./embed
- Установка адреса(если до этого не был установлен адрес, то адрес устройства = 0)
-```bash
-python3 set_id.py [адрес устройства]
-```
-
- Установка PID коэффициентов для угла
-```bash 
-python3 writePID_angle_parametrs.py [адрес устройства]
-```
-Чтение PID коэффициентов для угла
-```bash
-python3 readPID_angle_parametrs.py [адрес устройства]
--- a/controller/fw/bootloader/.clang-tidy
+++ b/controller/fw/bootloader/.clang-tidy
@ -1 +0,0 @@
-Checks: '-*, -misc-definitions-in-headers' 
--- a/controller/fw/bootloader/.clangd
+++ b/controller/fw/bootloader/.clangd
@ -1,18 +0,0 @@
-CompileFlags:                    
-  Add:
-    [
-      # -mlong-calls,
-      -DSSIZE_MAX,
-      -DLWIP_NO_UNISTD_H=1,
-      -Dssize_t=long,
-      -D_SSIZE_T_DECLARED,
-    ]
-  Remove:
-    [
-      -fno-tree-switch-conversion,
-      -mtext-section-literals,
-      -mlongcalls,
-      -fstrict-volatile-bitfields,
-      -free,
-      -fipa-pta,
-    ]
--- a/controller/fw/bootloader/.gitignore
+++ b/controller/fw/bootloader/.gitignore
@ -1,9 +0,0 @@
-.pio
-.vscode/.browse.c_cpp.db*
-.vscode/c_cpp_properties.json
-.vscode/launch.json
-.vscode/ipch
-.cache/
-.metadata/
-cubemx_config/
-compile_commands.json
--- a/controller/fw/bootloader/check_gcc_version.py
+++ b/controller/fw/bootloader/check_gcc_version.py
@ -1,19 +0,0 @@
-Import("env")
-
-# Получаем путь к компилятору из окружения PlatformIO
-gcc_path = env.subst("$CC")
-
-# Выполняем команду для получения версии компилятора
-import subprocess
-
-try:
-    result = subprocess.run([gcc_path, "--version"], stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
-    if result.returncode == 0:
-        print(f"GCC version: {result.stdout}")
-    else:
-        print(f"Failed to get GCC version: {result.stderr}")
-except Exception as e:
-    print(f"Error while getting GCC version: {e}")
-
-# Дополнительно проверяем путь к компилятору
-print(f"Compiler path: {gcc_path}")
--- a/controller/fw/bootloader/cubemx_config.ioc
+++ b/controller/fw/bootloader/cubemx_config.ioc
@ -1,299 +0,0 @@
-#MicroXplorer Configuration settings - do not modify
-ADC2.Channel-1\#ChannelRegularConversion=ADC_CHANNEL_15
-ADC2.Channel-5\#ChannelRegularConversion=ADC_CHANNEL_8
-ADC2.Channel-6\#ChannelRegularConversion=ADC_CHANNEL_9
-ADC2.EOCSelection=ADC_EOC_SEQ_CONV
-ADC2.IPParameters=Rank-1\#ChannelRegularConversion,Channel-1\#ChannelRegularConversion,SamplingTime-1\#ChannelRegularConversion,NbrOfConversionFlag,InjNumberOfConversion,NbrOfConversion,Rank-5\#ChannelRegularConversion,Channel-5\#ChannelRegularConversion,SamplingTime-5\#ChannelRegularConversion,Rank-6\#ChannelRegularConversion,Channel-6\#ChannelRegularConversion,SamplingTime-6\#ChannelRegularConversion,EOCSelection
-ADC2.InjNumberOfConversion=0
-ADC2.NbrOfConversion=3
-ADC2.NbrOfConversionFlag=1
-ADC2.Rank-1\#ChannelRegularConversion=1
-ADC2.Rank-5\#ChannelRegularConversion=2
-ADC2.Rank-6\#ChannelRegularConversion=3
-ADC2.SamplingTime-1\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
-ADC2.SamplingTime-5\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
-ADC2.SamplingTime-6\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
-FREERTOS.IPParameters=Tasks01,configENABLE_FPU,configTIMER_TASK_PRIORITY
-FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
-FREERTOS.configENABLE_FPU=1
-FREERTOS.configTIMER_TASK_PRIORITY=1
-File.Version=6
-GPIO.groupedBy=Group By Peripherals
-KeepUserPlacement=false
-Mcu.CPN=STM32F446RET6
-Mcu.Family=STM32F4
-Mcu.IP0=ADC2
-Mcu.IP1=FREERTOS
-Mcu.IP2=NVIC
-Mcu.IP3=RCC
-Mcu.IP4=SPI2
-Mcu.IP5=SYS
-Mcu.IP6=TIM1
-Mcu.IP7=TIM3
-Mcu.IP8=TIM5
-Mcu.IP9=USART1
-Mcu.IPNb=10
-Mcu.Name=STM32F446R(C-E)Tx
-Mcu.Package=LQFP64
-Mcu.Pin0=PC1
-Mcu.Pin1=PC5
-Mcu.Pin10=PC9
-Mcu.Pin11=PA8
-Mcu.Pin12=PA9
-Mcu.Pin13=PA10
-Mcu.Pin14=PA11
-Mcu.Pin15=PA12
-Mcu.Pin16=PA13
-Mcu.Pin17=PA14
-Mcu.Pin18=PC10
-Mcu.Pin19=PC11
-Mcu.Pin2=PB0
-Mcu.Pin20=PC12
-Mcu.Pin21=PD2
-Mcu.Pin22=PB6
-Mcu.Pin23=PB7
-Mcu.Pin24=VP_FREERTOS_VS_CMSIS_V2
-Mcu.Pin25=VP_SYS_VS_tim2
-Mcu.Pin26=VP_TIM1_VS_ClockSourceINT
-Mcu.Pin27=VP_TIM3_VS_ClockSourceINT
-Mcu.Pin28=VP_TIM5_VS_ClockSourceINT
-Mcu.Pin3=PB1
-Mcu.Pin4=PB10
-Mcu.Pin5=PB14
-Mcu.Pin6=PB15
-Mcu.Pin7=PC6
-Mcu.Pin8=PC7
-Mcu.Pin9=PC8
-Mcu.PinsNb=29
-Mcu.ThirdPartyNb=0
-Mcu.UserConstants=
-Mcu.UserName=STM32F446RETx
-MxCube.Version=6.5.0
-MxDb.Version=DB.6.0.50
-NVIC.ADC_IRQn=true\:5\:0\:true\:true\:true\:1\:true\:true\:true\:true
-NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-NVIC.ForceEnableDMAVector=true
-NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false\:false
-NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
-NVIC.SPI2_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false
-NVIC.SavedPendsvIrqHandlerGenerated=true
-NVIC.SavedSvcallIrqHandlerGenerated=true
-NVIC.SavedSystickIrqHandlerGenerated=true
-NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false
-NVIC.TIM2_IRQn=true\:15\:0\:true\:false\:true\:false\:false\:true\:true
-NVIC.TIM3_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.TimeBase=TIM2_IRQn
-NVIC.TimeBaseIP=TIM2
-NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-PA10.Signal=S_TIM1_CH3
-PA11.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
-PA11.GPIO_Label=EN_U
-PA11.GPIO_PuPd=GPIO_PULLDOWN
-PA11.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
-PA11.Locked=true
-PA11.Signal=GPIO_Output
-PA12.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
-PA12.GPIO_Label=EN_V
-PA12.GPIO_PuPd=GPIO_PULLDOWN
-PA12.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
-PA12.Locked=true
-PA12.Signal=GPIO_Output
-PA13.Mode=Serial_Wire
-PA13.Signal=SYS_JTMS-SWDIO
-PA14.Mode=Serial_Wire
-PA14.Signal=SYS_JTCK-SWCLK
-PA8.Signal=S_TIM1_CH1
-PA9.Signal=S_TIM1_CH2
-PB0.GPIOParameters=GPIO_Label
-PB0.GPIO_Label=SENSE2
-PB0.Locked=true
-PB0.Signal=ADCx_IN8
-PB1.GPIOParameters=GPIO_Label
-PB1.GPIO_Label=SENSE1
-PB1.Locked=true
-PB1.Signal=ADCx_IN9
-PB10.Locked=true
-PB10.Mode=Full_Duplex_Master
-PB10.Signal=SPI2_SCK
-PB14.Locked=true
-PB14.Mode=Full_Duplex_Master
-PB14.Signal=SPI2_MISO
-PB15.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label
-PB15.GPIO_Label=AS5045_CS
-PB15.GPIO_PuPd=GPIO_PULLUP
-PB15.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
-PB15.Locked=true
-PB15.PinState=GPIO_PIN_SET
-PB15.Signal=GPIO_Output
-PB6.Mode=Asynchronous
-PB6.Signal=USART1_TX
-PB7.Mode=Asynchronous
-PB7.Signal=USART1_RX
-PC1.Mode=Full_Duplex_Master
-PC1.Signal=SPI2_MOSI
-PC10.GPIOParameters=GPIO_Label
-PC10.GPIO_Label=LED1
-PC10.Locked=true
-PC10.Signal=GPIO_Output
-PC11.GPIOParameters=GPIO_Label
-PC11.GPIO_Label=LED2
-PC11.Locked=true
-PC11.Signal=GPIO_Output
-PC12.GPIOParameters=GPIO_Label
-PC12.GPIO_Label=LED3
-PC12.Locked=true
-PC12.Signal=GPIO_Output
-PC5.GPIOParameters=GPIO_Label
-PC5.GPIO_Label=SENSE3
-PC5.Locked=true
-PC5.Signal=ADCx_IN15
-PC6.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
-PC6.GPIO_Label=EN_W
-PC6.GPIO_PuPd=GPIO_PULLDOWN
-PC6.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
-PC6.Locked=true
-PC6.Signal=GPIO_Output
-PC7.GPIOParameters=GPIO_Label
-PC7.GPIO_Label=DRV_FAULT
-PC7.Locked=true
-PC7.Signal=GPIO_Input
-PC8.GPIOParameters=GPIO_Label
-PC8.GPIO_Label=DRV_RESET
-PC8.Locked=true
-PC8.Signal=GPIO_Output
-PC9.GPIOParameters=GPIO_Label
-PC9.GPIO_Label=DRV_SLEEP
-PC9.Locked=true
-PC9.Signal=GPIO_Output
-PD2.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
-PD2.GPIO_Label=spi1_cs
-PD2.GPIO_PuPd=GPIO_PULLDOWN
-PD2.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
-PD2.Locked=true
-PD2.Signal=GPIO_Output
-PinOutPanel.RotationAngle=0
-ProjectManager.AskForMigrate=true
-ProjectManager.BackupPrevious=false
-ProjectManager.CompilerOptimize=6
-ProjectManager.ComputerToolchain=false
-ProjectManager.CoupleFile=true
-ProjectManager.CustomerFirmwarePackage=
-ProjectManager.DefaultFWLocation=true
-ProjectManager.DeletePrevious=true
-ProjectManager.DeviceId=STM32F446RETx
-ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.27.1
-ProjectManager.FreePins=false
-ProjectManager.HalAssertFull=false
-ProjectManager.HeapSize=0x200
-ProjectManager.KeepUserCode=true
-ProjectManager.LastFirmware=true
-ProjectManager.LibraryCopy=1
-ProjectManager.MainLocation=Src
-ProjectManager.NoMain=false
-ProjectManager.PreviousToolchain=STM32CubeIDE
-ProjectManager.ProjectBuild=false
-ProjectManager.ProjectFileName=cubemx_config.ioc
-ProjectManager.ProjectName=cubemx_config
-ProjectManager.RegisterCallBack=
-ProjectManager.StackSize=0x400
-ProjectManager.TargetToolchain=Other Toolchains (GPDSC)
-ProjectManager.ToolChainLocation=
-ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_TIM1_Init-TIM1-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_SPI2_Init-SPI2-false-HAL-true,6-MX_TIM3_Init-TIM3-false-HAL-true,7-MX_ADC2_Init-ADC2-false-HAL-true,8-MX_TIM5_Init-TIM5-false-HAL-true
-RCC.AHBFreq_Value=180000000
-RCC.APB1CLKDivider=RCC_HCLK_DIV4
-RCC.APB1Freq_Value=45000000
-RCC.APB1TimFreq_Value=90000000
-RCC.APB2CLKDivider=RCC_HCLK_DIV2
-RCC.APB2Freq_Value=90000000
-RCC.APB2TimFreq_Value=180000000
-RCC.CECFreq_Value=32786.88524590164
-RCC.CortexFreq_Value=180000000
-RCC.FCLKCortexFreq_Value=180000000
-RCC.FMPI2C1Freq_Value=45000000
-RCC.FamilyName=M
-RCC.HCLKFreq_Value=180000000
-RCC.HSE_VALUE=8000000
-RCC.I2S1Freq_Value=96000000
-RCC.I2S2Freq_Value=96000000
-RCC.IPParameters=AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2CLKDivider,APB2Freq_Value,APB2TimFreq_Value,CECFreq_Value,CortexFreq_Value,FCLKCortexFreq_Value,FMPI2C1Freq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,I2S1Freq_Value,I2S2Freq_Value,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLI2SPCLKFreq_Value,PLLI2SQCLKFreq_Value,PLLI2SRCLKFreq_Value,PLLI2SoutputFreq_Value,PLLM,PLLN,PLLQCLKFreq_Value,PLLRCLKFreq_Value,PLLSAIPCLKFreq_Value,PLLSAIQCLKFreq_Value,PLLSAIoutputFreq_Value,PWRFreq_Value,SAIAFreq_Value,SAIBFreq_Value,SDIOFreq_Value,SPDIFRXFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,USBFreq_Value,VCOI2SInputFreq_Value,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VCOSAIInputFreq_Value,VCOSAIOutputFreq_Value
-RCC.MCO2PinFreq_Value=180000000
-RCC.PLLCLKFreq_Value=180000000
-RCC.PLLI2SPCLKFreq_Value=96000000
-RCC.PLLI2SQCLKFreq_Value=96000000
-RCC.PLLI2SRCLKFreq_Value=96000000
-RCC.PLLI2SoutputFreq_Value=96000000
-RCC.PLLM=8
-RCC.PLLN=180
-RCC.PLLQCLKFreq_Value=180000000
-RCC.PLLRCLKFreq_Value=180000000
-RCC.PLLSAIPCLKFreq_Value=96000000
-RCC.PLLSAIQCLKFreq_Value=96000000
-RCC.PLLSAIoutputFreq_Value=96000000
-RCC.PWRFreq_Value=180000000
-RCC.SAIAFreq_Value=96000000
-RCC.SAIBFreq_Value=96000000
-RCC.SDIOFreq_Value=180000000
-RCC.SPDIFRXFreq_Value=180000000
-RCC.SYSCLKFreq_VALUE=180000000
-RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
-RCC.USBFreq_Value=180000000
-RCC.VCOI2SInputFreq_Value=1000000
-RCC.VCOI2SOutputFreq_Value=192000000
-RCC.VCOInputFreq_Value=2000000
-RCC.VCOOutputFreq_Value=360000000
-RCC.VCOSAIInputFreq_Value=1000000
-RCC.VCOSAIOutputFreq_Value=192000000
-SH.ADCx_IN15.0=ADC2_IN15,IN15
-SH.ADCx_IN15.ConfNb=1
-SH.ADCx_IN8.0=ADC2_IN8,IN8
-SH.ADCx_IN8.ConfNb=1
-SH.ADCx_IN9.0=ADC2_IN9,IN9
-SH.ADCx_IN9.ConfNb=1
-SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1
-SH.S_TIM1_CH1.ConfNb=1
-SH.S_TIM1_CH2.0=TIM1_CH2,PWM Generation2 CH2
-SH.S_TIM1_CH2.ConfNb=1
-SH.S_TIM1_CH3.0=TIM1_CH3,PWM Generation3 CH3
-SH.S_TIM1_CH3.ConfNb=1
-SPI2.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_64
-SPI2.CLKPhase=SPI_PHASE_1EDGE
-SPI2.CLKPolarity=SPI_POLARITY_LOW
-SPI2.CalculateBaudRate=703.125 KBits/s
-SPI2.DataSize=SPI_DATASIZE_16BIT
-SPI2.Direction=SPI_DIRECTION_2LINES
-SPI2.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,DataSize,CLKPhase,BaudRatePrescaler,CLKPolarity
-SPI2.Mode=SPI_MODE_MASTER
-SPI2.VirtualType=VM_MASTER
-TIM1.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
-TIM1.BreakState=TIM_BREAK_DISABLE
-TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
-TIM1.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
-TIM1.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
-TIM1.CounterMode=TIM_COUNTERMODE_CENTERALIGNED1
-TIM1.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,TIM_MasterOutputTrigger,AutoReloadPreload,BreakState,OffStateRunMode,OffStateIDLEMode,CounterMode,Period
-TIM1.OffStateIDLEMode=TIM_OSSI_DISABLE
-TIM1.OffStateRunMode=TIM_OSSR_DISABLE
-TIM1.Period=2399
-TIM1.TIM_MasterOutputTrigger=TIM_TRGO_RESET
-TIM3.IPParameters=Period,Prescaler
-TIM3.Period=99
-TIM3.Prescaler=89
-USART1.IPParameters=VirtualMode
-USART1.VirtualMode=VM_ASYNC
-VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2
-VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2
-VP_SYS_VS_tim2.Mode=TIM2
-VP_SYS_VS_tim2.Signal=SYS_VS_tim2
-VP_TIM1_VS_ClockSourceINT.Mode=Internal
-VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT
-VP_TIM3_VS_ClockSourceINT.Mode=Internal
-VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT
-VP_TIM5_VS_ClockSourceINT.Mode=Internal
-VP_TIM5_VS_ClockSourceINT.Signal=TIM5_VS_ClockSourceINT
-board=custom
--- a/controller/fw/bootloader/gen_compile_commands.py
+++ b/controller/fw/bootloader/gen_compile_commands.py
@ -1,8 +0,0 @@
-import os
-Import("env")
-
-# include toolchain paths
-env.Replace(COMPILATIONDB_INCLUDE_TOOLCHAIN=True)
-
-# override compilation DB path
-env.Replace(COMPILATIONDB_PATH="compile_commands.json")
--- a/controller/fw/bootloader/hex_compile.py
+++ b/controller/fw/bootloader/hex_compile.py
@ -1,11 +0,0 @@
-Import("env")
-
-hex_name = "bootloader.hex"
-# Custom HEX from ELF
-env.AddPostAction(
-    "$BUILD_DIR/${PROGNAME}.elf",
-    env.VerboseAction(" ".join([
-        "$OBJCOPY", "-O", "ihex", "-R", ".eeprom",
-        "$BUILD_DIR/${PROGNAME}.elf", "$BUILD_DIR/{}".format(hex_name)
-    ]), "Building $BUILD_DIR/{}".format(hex_name))
-) 
--- a/controller/fw/bootloader/include/flash.h
+++ b/controller/fw/bootloader/include/flash.h
@ -1,86 +0,0 @@
-#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,
-  firmw,
-  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    
-#define UPDATE_FLAG     0xDEADBEEF  // flag forz update firmware
-#define BOOT_CAN_ID     0x01         // CAN ID bootloader
-#define BOOT_CAN_END    0x02         // CAN ID end of transfer
-#define DATA_CAN_ID     0x03         // CAN ID packet data
-#define ACK_CAN_ID      0x05         // CAN ID acknowledge
-#define MAX_FW_SIZE     0x3FFF   // Max size firmware = 256 kB
-#define PARAM_COUNT 5             // 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_ */
--- a/controller/fw/bootloader/include/hal_conf_extra.h
+++ b/controller/fw/bootloader/include/hal_conf_extra.h
@ -1,38 +0,0 @@
-#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>
--- a/controller/fw/bootloader/include/reg_cah.h
+++ b/controller/fw/bootloader/include/reg_cah.h
@ -1,38 +0,0 @@
-#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_
--- a/controller/fw/bootloader/platformio.ini
+++ b/controller/fw/bootloader/platformio.ini
@ -1,31 +0,0 @@
-; PlatformIO Project Configuration File
-;
-;   Build options: build flags, source filter
-;   Upload options: custom upload port, speed and extra flags
-;   Library options: dependencies, extra library storages
-;   Advanced options: extra scripting
-;
-; Please visit documentation for the other options and examples
-; https://docs.platformio.org/page/projectconf.html
-
-[platformio]
-
-[env:robotroller_reborn]
-platform = ststm32
-board = genericSTM32F446RE
-framework = arduino
-upload_protocol = stlink
-debug_tool = stlink
-monitor_speed = 19200
-monitor_parity = N
-build_flags = 
-	-DSTM32F446xx
-	-D HAL_CAN_MODULE_ENABLED
-	-D SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH
-lib_deps = 
-	askuric/Simple FOC@^2.3.4
-	pazi88/STM32_CAN@^1.1.2
-	
-extra_scripts = 
-	pre:gen_compile_commands.py
-	post:hex_compile.py
--- a/controller/fw/bootloader/src/flash.cpp
+++ b/controller/fw/bootloader/src/flash.cpp
@ -1,272 +0,0 @@
-#include "flash.h"
-#include <stdbool.h>
-#include "hal_conf_extra.h"
-
-
-
-void flash_unlock(){
-
-    // Check if flash is locked
-    if(!(FLASH->CR & FLASH_CR_LOCK)) {
-        return; // Already unlocked
-    }
-
-    // Write flash key sequence to unlock
-    FLASH->KEYR = 0x45670123;  // First key
-    FLASH->KEYR = 0xCDEF89AB;  // Second key
-
-}
-
-void flash_lock() {
-    if(FLASH->CR & FLASH_CR_LOCK) { 
-        return; // Already locked
-    }
-    FLASH->CR |= FLASH_CR_LOCK; // Lock flash memory
-}
-
-void erase_sector(uint8_t sector){
-    
-    // Wait if flash is busy
-    while(FLASH_BUSY);
-
-    // Check if flash is locked and unlock if needed
-    if(FLASH->CR & FLASH_CR_LOCK) {
-        flash_unlock();
-    }
-
-    // Set sector erase bit and sector number
-    FLASH->CR |= FLASH_CR_SER;
-    FLASH->CR &= ~FLASH_CR_SNB;
-    FLASH->CR |= (sector << FLASH_CR_SNB_Pos) & FLASH_CR_SNB_Msk;
-
-    // Start erase
-    FLASH->CR |= FLASH_CR_STRT;
-
-    // Wait for erase to complete
-    while(FLASH_BUSY);
-    
-    // Clear sector erase bit
-    FLASH->CR &= ~FLASH_CR_SER;
-
-}
-
-void flash_program_word(uint32_t address,uint32_t data,uint32_t byte_len){
-
-    // Wait if flash is busy
-    while(FLASH_BUSY);
-    // Check if flash is locked and unlock if needed
-    if(FLASH->CR & FLASH_CR_LOCK) {
-        flash_unlock();
-    }
-
-    // Set program bit 32bit programm size and  Write data to address
-    if(byte_len == 1) {
-        FLASH_8BYTE;
-        FLASH->CR |= FLASH_CR_PG;
-        *(volatile uint8_t*)address = (uint8_t)data;
-    } else {
-        FLASH_32BYTE;
-        FLASH->CR |= FLASH_CR_PG;
-        *(volatile uint32_t*)address = data;
-    }
-
-    // Wait for programming to complete
-    while(FLASH_BUSY);
-
-    // Clear program bit
-    FLASH->CR &= ~FLASH_CR_PG;
-
-}
-void flash_write(uint32_t addr, FLASH_RECORD* record){
-
-    uint32_t* data = (uint32_t*)record;
-    uint32_t size = FLASH_RECORD_SIZE / 4;    //count words in struct
-    // Wait if flash is busy
-    while(FLASH_BUSY);
-
-    // Check if flash is locked and unlock if needed
-    if(FLASH->CR & FLASH_CR_LOCK) {
-        flash_unlock();
-    }
-
-    // Set program bit and write data to flash
-    FLASH_32BYTE;
-    FLASH->CR |= FLASH_CR_PG;
-    
-    for(int i = 0;i < size;i++){
-        *(volatile uint32_t*)(addr + (i * 4)) = data[i];
-    }
-    
-    // Clear program bit
-    FLASH->CR &= ~FLASH_CR_PG;
-    write_ptr = addr + (size * 4);  //increase variable storing addr
-    flash_lock();
-}
-
-uint8_t flash_read_word(uint32_t address){
-   
-    // Check if address is valid
-    if(address < FLASH_BASE || address > FLASH_END) {
-        return 0;
-    }
-
-    // Read byte from flash memory
-    return *((volatile uint8_t*)address);
-
-}
-    // Wait if flash
-// bool validata_crc(FLASH_RECORD* crc){
-//     return crc->crc == 0x6933? true : false;
-// }
-
-uint16_t validate_crc16(uint8_t *data, uint32_t length) {
-    uint16_t crc = 0xFFFF; // start value for CRC MODBUS
-    while (length--) {
-        crc ^= *data++; // XOR 
-        for (uint8_t i = 0; i < 8; i++) {
-            if (crc & 0x0001) { 
-                crc = (crc >> 1) ^ 0xA001; // polynome 0x8005 (reverse)
-            } else {
-                crc >>= 1;
-            }
-        }
-    }
-    return crc; 
-}
-
-
-
-uint16_t calc_crc_struct(FLASH_RECORD* res){
-        
-    uint8_t arr_res[FLASH_RECORD_SIZE - 2];
-    uint16_t crc_res;
-        /*          sorting data without CRC         */
-    arr_res[0] = res->data_id;
-    arr_res[1] = res->data_type;
-
-        /*          from 32 to 8  bit                */
-    for(int i = 0;i < 4;i++)
-        arr_res[i + 2] = (uint8_t)(res->value >> i * 8);
-
-    crc_res = validate_crc16(arr_res,FLASH_RECORD_SIZE - 2);
-    return crc_res;
-}
-
-
-
-/*      read struct from FLASH      */
-void flash_read(uint32_t addr,FLASH_RECORD* ptr){
-    uint8_t* flash_ptr = (uint8_t*)addr;
-    uint8_t* dest = (uint8_t*)ptr;
-    for(int i = 0;i < FLASH_RECORD_SIZE;i++)
-        dest[i] = flash_ptr[i]; 
-}
-
-void compact_page(){
-    FLASH_RECORD latest[PARAM_COUNT] = {0};
-    for(int i = (uint32_t)SECTOR_6;i < (uint32_t)SECTOR_6_END;i += FLASH_RECORD_SIZE) {
-        FLASH_RECORD rec;
-        flash_read(i,&rec);
-        uint16_t calculated_crc = calc_crc_struct(&rec);
-       
-        if (calculated_crc == rec.crc && rec.data_id < PARAM_COUNT) {
-            // if the crc does not match, we check further
-            latest[rec.data_id] = rec;
-        }
-        else 
-        // if 
-            continue; 
-    }
-
-    erase_sector(6);
-    write_ptr = SECTOR_6; // Сброс на начало
-    for (int i = 0; i < PARAM_COUNT; i++) {
-        if (latest[i].data_id != 0xFF) {
-            // alignment
-            if (write_ptr % 4 != 0) {
-                write_ptr += (4 - (write_ptr % 4));
-            }
-            flash_write(write_ptr, &latest[i]);
-
-        }
-    }
-}
-
-void write_param(uint8_t param_id, uint32_t val) {
-    FLASH_RECORD param_flash;
-    // __disable_irq(); // Interrupt off
-    param_flash.data_id = param_id;
-    param_flash.value = val;
-    param_flash.data_type = sizeof(uint8_t);
-    param_flash.crc = calc_crc_struct(&param_flash);    
-    
-     // check alignment
-    if (write_ptr % 8 != 0) {
-        write_ptr += (8 - (write_ptr % 8));
-    }
-    
-    // check buffer overflow
-    if (write_ptr + FLASH_RECORD_SIZE >= SECTOR_6_END) {
-        compact_page(); // after compact_page update
-        // alignment
-        if (write_ptr % 8 != 0) {
-            write_ptr += (8 - (write_ptr % 8));
-        }
-    }
-    
-    flash_write(write_ptr, &param_flash); //inside the function, the write_ptr pointer is automatically incremented by the size of the structure
-    
-    // __enable_irq(); // Interrupt on
-}
-
-
- void write_flash_page(const uint8_t* data, uint16_t len) { // Добавлен const
-    flash_unlock();
-    uint32_t word = 0;
-    for (uint16_t i = 0; i < len; i += 4) {
-        memcpy(&word, &data[i], 4); // Безопасное копирование
-        HAL_FLASH_Program(FLASH_TYPEPROGRAM_WORD, ptr_fl + i, word);
-    }
-    ptr_fl += len;
-    flash_lock();
-}
-
-
-
-void erase_flash_pages() {
-    FLASH_EraseInitTypeDef erase;
-    erase.TypeErase = FLASH_TYPEERASE_SECTORS;
-    erase.Sector = FLASH_SECTOR_2;
-    erase.NbSectors = 4;
-    erase.VoltageRange = FLASH_VOLTAGE_RANGE_3;
-    
-    uint32_t error;
-    flash_unlock();
-    HAL_FLASHEx_Erase(&erase, &error);
-    flash_lock();
-}
-
-
-FLASH_RECORD* load_params(){
-    __disable_irq();
-    static FLASH_RECORD latest[PARAM_COUNT] = {0};
-    FLASH_RECORD res;
-
-    for(uint32_t addr = SECTOR_6;addr < SECTOR_6_END;addr +=FLASH_RECORD_SIZE) {
-        flash_read(addr,&res);
-
-        
-        uint16_t calculated_crc = calc_crc_struct(&res);
-        if (calculated_crc != res.crc || res.data_id >= PARAM_COUNT) continue;
-        
-        else{ 
-            latest[res.data_id] = res;
-            write_ptr = addr + FLASH_RECORD_SIZE;
-        }
-    }
-
-    __enable_irq();
-    return latest;
-}
-
-
--- a/controller/fw/bootloader/src/main.cpp
+++ b/controller/fw/bootloader/src/main.cpp
@ -1,171 +0,0 @@
-#include "Arduino.h"
-#include <STM32_CAN.h>
-#include "flash.h"
-
-
-
-STM32_CAN Can(CAN2, DEF);
-
-volatile bool fw_update = false;
-volatile bool app_valid = false;
-
-volatile uint32_t fw_size = 0;
-volatile uint16_t fw_crc = 0;
-volatile uint32_t jump;
-static FLASH_RECORD *flash_record = {0};
-static uint32_t ptr_flash;
-
-volatile uint32_t msg_id;
-volatile uint16_t id_x;
-volatile uint8_t msg_ch;
-
-// Прототипы функций
-void jump_to_app();
-void process_can_message(const CAN_message_t &msg);
-void erase_flash_pages();
-bool verify_firmware();
-void send_ack(uint8_t status);
-bool is_app_valid();
-
-void setup() {
-    Serial.setRx(HARDWARE_SERIAL_RX_PIN);
-    Serial.setTx(HARDWARE_SERIAL_TX_PIN);
-    Serial.begin(115200);
-    Can.begin();
-    Can.setBaudRate(1000000);
-    TIM_TypeDef *Instance = TIM2;
-    HardwareTimer *SendTimer = new HardwareTimer(Instance);
-    SendTimer->setOverflow(100, HERTZ_FORMAT);  // 50 Hz
-    SendTimer->resume();
-    Can.setFilter(0, 0, STD);
-
-    // Настройка GPIO
-    RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
-    GPIOC->MODER |= GPIO_MODER_MODE10_0 | GPIO_MODER_MODE11_0;
-    GPIOC->ODR &= ~GPIO_ODR_OD11;
-    GPIOC->ODR |= GPIO_ODR_OD10;
-
-    flash_record = load_params();
-    if(flash_record[firmw].value == UPDATE_FLAG) {
-        fw_update = true;
-        for(int i = 0; i < 5;i++){
-            GPIOC->ODR ^= GPIO_ODR_OD10;  // Indecate message
-            delay(100);
-        }
-        // write_param(firmw,0);   //reset flasg
-        erase_flash_pages();
-    }
-    else{
-        // for st-link update, because he doesnt reset flag_update
-        if(is_app_valid()) jump_to_app();   //firmware exist
-        else fw_update = true; //firmware doesnt exist, but we in bootloader
-    }
-
-    GPIOC->ODR |= GPIO_ODR_OD10;
-}
-
-
-
-void process_can_message(const CAN_message_t &msg) {
-     msg_id = msg.id;
-    /*          0x697  
-    69  -   slave addr    
-    7 || 8   -   REG_READ or REG_WRITE    */
-
-    id_x = (msg_id >> 4) & 0xFFFF;  // saved address
-    msg_ch  = msg_id & 0xF;         // saved id
-    if(id_x == flash_record[addr_id].value){
-    switch(msg_ch) {
-        case BOOT_CAN_ID:
-            if(msg.buf[0] == 0x01) {  // start transfer
-                fw_size = *(uint32_t*)&msg.buf[1];  //size of firmware
-                fw_crc = *(uint16_t*)&msg.buf[5];  //crc
-                ptr_flash = APP_ADDRESS;
-                send_ack(0x01);
-            }
-            break;
-
-        case DATA_CAN_ID:  // Data packet
-            if(ptr_flash < (APP_ADDRESS + fw_size)) {
-                write_flash_page((const uint8_t*)msg.buf, msg.len);
-                ptr_flash += msg.len;
-                send_ack(0x02);
-
-            }
-            break;    
-
-        case BOOT_CAN_END:  // End of transfer
-            if(verify_firmware()) {
-                send_ack(0xAA);
-                write_param(firmw,0);   //reset flag set 0
-                fw_update = false; //reset flag
-                // erase_sector(7);  
-                delay(500);
-                NVIC_SystemReset();
-            } else {
-                send_ack(0x55);
-                erase_flash_pages();    //if error
-            }
-            break;
-    }
-}
-}
-
-void jump_to_app() {
-    __disable_irq();
-    jump = *(volatile uint32_t*)(APP_ADDRESS + 4);
-    void (*app_entry)(void);
-    app_entry = (void (*)(void))jump;
-
-
-    for (uint32_t i = 0; i < 8; i++) {
-        NVIC->ICPR[i] = 0xFFFFFFFF;
-    }
-
-   __set_MSP(*(volatile uint32_t*)APP_ADDRESS);
-   	// SCB->VTOR = (uint32_t)0x08008004;
-    app_entry();
-}
-
-
-bool verify_firmware() {
-    uint16_t calculated_crc = 0;
-    calculated_crc = validate_crc16((uint8_t*)APP_ADDRESS,fw_size);
-    return (calculated_crc == fw_crc);
-}
-
-void send_ack(uint8_t status) {
-
-    CAN_message_t ack;
-    ack.id = ACK_CAN_ID;
-    ack.len = 1;
-    ack.buf[0] = status;
-    Can.write(ack);
-}
-
-bool is_app_valid() {
-
-    volatile uint32_t* app_vector = (volatile uint32_t*)APP_ADDRESS;
-    
-    // Check stack pointer
-    bool sp_valid = (app_vector[0] >= 0x20000000) && 
-                   (app_vector[0] <= (0x20000000 + 128*1024)); // Для STM32 с 128K RAM
-    
-    //  check reset_handler
-    bool pc_valid = (app_vector[1] >= 0x08000000) && 
-                   (app_vector[1] <= (0x08000000 + 1024*1024)); // Для 1MB Flash
-    
-    // check two words on reset value
-    bool not_erased = (app_vector[0] != 0xFFFFFFFF) && 
-                     (app_vector[1] != 0xFFFFFFFF);
-    
-    return sp_valid && pc_valid && not_erased;
-}
-
-void loop() {
-    if(fw_update) {
-    CAN_message_t msg;
-    while(Can.read(msg)) 
-        process_can_message(msg);
-    }
-}
--- a/controller/fw/bootloader/test/firmware_can.py
+++ b/controller/fw/bootloader/test/firmware_can.py
@ -1,141 +0,0 @@
-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(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(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=1.0)
-        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=0.1)  # 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])
--- a/controller/fw/bootloader/test/firmware_update_flag.py
+++ b/controller/fw/bootloader/test/firmware_update_flag.py
@ -1,70 +0,0 @@
-import can
-import time
-import sys
-# Конфигурация
-CAN_INTERFACE = 'can0'
-OLD_DEVICE_ID = int(sys.argv[1]) # Текущий ID устройства (по умолчанию)
-REG_WRITE = 0x8        # Код команды чтения
-REG_ID = 0x55          # Адрес регистра с Firmware Update
-
-def send_can_message(bus, can_id, data):
-    """Отправка CAN-сообщения"""
-    try:
-        msg = can.Message(
-            arbitration_id=can_id,
-            data=data,
-            is_extended_id=False
-        )
-        bus.send(msg)
-        print(f"[Отправка] CAN ID: 0x{can_id:03X}, Данные: {list(data)}")
-        return True
-    except can.CanError as e:
-        print(f"Ошибка CAN: {e}")
-        return False
-
-
-def validate_crc16(data):
-    """Расчет CRC16 (MODBUS) для проверки целостности данных"""
-    crc = 0xFFFF
-    for byte in data:
-        crc ^= byte
-        for _ in range(8):
-            if crc & 0x0001:
-                crc = (crc >> 1) ^ 0xA001
-            else:
-                crc >>= 1
-    return crc
-
-# Инициализация CAN-интерфейса
-bus = can.interface.Bus(channel=CAN_INTERFACE, bustype='socketcan')
-
-# ======= 1. Запрос текущего ID устройства =======
-
-# Формируем CAN ID для чтения: (OLD_DEVICE_ID << 4) | REG_READ
-can_id_read = (OLD_DEVICE_ID << 4) | REG_WRITE
-
-# Данные для запроса: [регистр, резервный байт]
-data_read = [REG_ID, 0x00]
-
-# Формируем полные данные для расчета CRC:
-# - CAN ID разбивается на 2 байта (little-endian)
-# - Добавляем данные запроса
-full_data_for_crc = list(can_id_read.to_bytes(2, 'little')) + data_read
-
-# Рассчитываем CRC и разбиваем на байты (little-endian)
-crc = validate_crc16(full_data_for_crc)
-crc_bytes = list(crc.to_bytes(2, 'little'))
-
-# Собираем итоговый пакет: данные + CRC
-packet_read = data_read + crc_bytes
-
-print("Переход в boot режим", packet_read)
-send_can_message(bus, can_id_read, packet_read)
-
-bus.shutdown()
-
-if __name__ == "__main__":
-    import sys
-    if len(sys.argv) != 2:
-        print("Использование: python3 firmware_test.py address")
-        sys.exit(1)
--- a/controller/fw/bootloader/test/st-link.py
+++ b/controller/fw/bootloader/test/st-link.py
@ -1,78 +0,0 @@
-import subprocess
-import os
-import sys
-
-def flash_hex_with_stlink(hex_file_path):
-    if not os.path.isfile(hex_file_path):
-        print(f"❌ Файл не найден: {hex_file_path}")
-        return False
-
-    command = [
-        "st-flash",
-        "--format", "ihex",
-        "write",
-        hex_file_path
-    ]
-
-    try:
-        print(f"⚡️ Прошиваем {hex_file_path} через ST-Link...")
-        result = subprocess.run(
-            command,
-            stdout=subprocess.PIPE,
-            stderr=subprocess.PIPE,
-            universal_newlines=True,
-            timeout=30
-        )
-        
-        print("▬▬▬ STDOUT ▬▬▬")
-        print(result.stdout)
-        
-        print("▬▬▬ STDERR ▬▬▬")
-        print(result.stderr)
-        
-        if result.returncode == 0:
-            print("✅ Прошивка успешно завершена!")
-            
-            # Добавленный блок сброса
-            try:
-                print("🔄 Выполняем сброс устройства...")
-                reset_result = subprocess.run(
-                    ["st-info", "--reset"],
-                    stdout=subprocess.PIPE,
-                    stderr=subprocess.PIPE,
-                    universal_newlines=True,
-                    timeout=10
-                )
-                if reset_result.returncode == 0:
-                    print("♻️ Устройство успешно сброшено!")
-                else:
-                    print(f"⚠️ Ошибка  (код: {reset_result.returncode})")
-                    print("▬▬▬ STDERR сброса ▬▬▬")
-                    print(reset_result.stderr)
-            except Exception as e:
-                print(f"⚠️ Ошибка при сбросе: {str(e)}")
-            
-            return True
-        else:
-            print(f"❌ Ошибка прошивки (код: {result.returncode})")
-            return False
-            
-    except FileNotFoundError:
-        print("❌ st-flash не найден! Установите stlink-tools.")
-        return False
-    except subprocess.TimeoutExpired:
-        print("❌ Таймаут операции! Проверьте подключение ST-Link.")
-        return False
-    except Exception as e:
-        print(f"❌ Неизвестная ошибка: {str(e)}")
-        return False
-
-if __name__ == "__main__":
-    if len(sys.argv) != 2:
-        print("Использование: python stlink_flash.py <firmware.hex>")
-        sys.exit(1)
-    
-    if flash_hex_with_stlink(sys.argv[1]):
-        sys.exit(0)
-    else:
-        sys.exit(1)
--- a/controller/fw/bootloader/test/st-link_full.py
+++ b/controller/fw/bootloader/test/st-link_full.py
@ -1,100 +0,0 @@
-import subprocess
-import os
-import sys
-import time
-
-def flash_hex_with_stlink(hex_file_path, component_name):
-    if not os.path.isfile(hex_file_path):
-        print(f"❌ Файл {component_name} не найден: {hex_file_path}")
-        return False
-
-    command = [
-        "st-flash",
-        "--format", "ihex",
-        "write",
-        hex_file_path
-    ]
-
-    try:
-        print(f"⚡️ Прошиваем {component_name} ({hex_file_path}) через ST-Link...")
-        result = subprocess.run(
-            command,
-            stdout=subprocess.PIPE,
-            stderr=subprocess.PIPE,
-            universal_newlines=True,
-            timeout=30
-        )
-        
-        print("▬▬▬ STDOUT ▬▬▬")
-        print(result.stdout)
-        
-        print("▬▬▬ STDERR ▬▬▬")
-        print(result.stderr)
-        
-        if result.returncode == 0:
-            print(f"✅ {component_name} успешно прошит!")
-            return True
-        else:
-            print(f"❌ Ошибка прошивки {component_name} (код: {result.returncode})")
-            return False
-            
-    except FileNotFoundError:
-        print("❌ st-flash не найден! Установите stlink-tools.")
-        return False
-    except subprocess.TimeoutExpired:
-        print(f"❌ Таймаут операции при прошивке {component_name}! Проверьте подключение ST-Link.")
-        return False
-    except Exception as e:
-        print(f"❌ Неизвестная ошибка при прошивке {component_name}: {str(e)}")
-        return False
-
-def reset_device():
-    try:
-        print("🔄 Выполняем сброс(перезагрузку) устройства...")
-        reset_result = subprocess.run(
-            ["st-info", "--reset"],
-            stdout=subprocess.PIPE,
-            stderr=subprocess.PIPE,
-            universal_newlines=True,
-            timeout=10
-        )
-        if reset_result.returncode == 0:
-            print("♻️ Устройство успешно сброшено!")
-            return True
-        else:
-            print(f"⚠️ Ошибка при сбросе (код: {reset_result.returncode})")
-            print("▬▬▬ STDERR сброса ▬▬▬")
-            print(reset_result.stderr)
-            return False
-    except Exception as e:
-        print(f"⚠️ Ошибка при сбросе: {str(e)}")
-        return False
-
-if __name__ == "__main__":
-    if len(sys.argv) != 3:
-        print("Использование: python stlink_flash.py <bootloader.hex> <application.hex>")
-        print("Пример: python stlink_flash.py bootloader.hex firmware.hex")
-        sys.exit(1)
-    
-    bootloader_path = sys.argv[1]
-    app_path = sys.argv[2]
-    
-    # Прошиваем сначала бутлоадер
-    if not flash_hex_with_stlink(bootloader_path, "Bootloader"):
-        print("\n💥 Ошибка прошивки бутлоадера!")
-        sys.exit(1)
-    
-    # Сбрасываем устройство после прошивки бутлоадера
-    reset_device()
-    time.sleep(1)  # Короткая пауза
-    
-    # Прошиваем основное приложение
-    if not flash_hex_with_stlink(app_path, "Application"):
-        print("\n💥 Ошибка прошивки основного приложения!")
-        sys.exit(1)
-    
-    # Финальный сброс устройства
-    reset_device()
-    
-    print("\n🎉 Все компоненты успешно прошиты!")
-    sys.exit(0)
--- a/controller/fw/embed/.gitignore
+++ b/controller/fw/embed/.gitignore
@ -7,4 +7,3 @@
 .metadata/
 cubemx_config/
 compile_commands.json
-../embed.rar
--- a/controller/fw/embed/README.md
+++ b/controller/fw/embed/README.md
@ -0,0 +1,20 @@
+# Встроенное ПО для сервипривода на STM32F446RE
+
+## Для разработки
+
+- [Установить platformio](#introduction)
+```bash
+pip install -U platformio
+```
+- [Скомпилировать проект](#build_project)
+```bash
+platformio run --environment robotroller_reborn
+```
+- [Загрузить прошивку](#upload_project)
+```bash
+platformio run --target upload --environment robotroller_reborn 
+```
+- [Открыть монитор UART](#monitor_port)
+```bash
+platformio device monitor
+```
--- a/controller/fw/embed/custom_script.ld
+++ b/controller/fw/embed/custom_script.ld
@ -1,178 +0,0 @@
-/**
- ******************************************************************************
- * @file      LinkerScript.ld
- * @author    Auto-generated by STM32CubeIDE
- * @brief     Linker script for STM32F446RCTx Device from STM32F4 series
- *                      256Kbytes FLASH
- *                      128Kbytes RAM
- *
- *            Set heap size, stack size and stack location according
- *            to application requirements.
- *
- *            Set memory bank area and size if external memory is used
- ******************************************************************************
- * @attention
- *
- * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
- * All rights reserved.</center></h2>
- *
- * This software component is licensed by ST under BSD 3-Clause license,
- * the "License"; You may not use this file except in compliance with the
- * License. You may obtain a copy of the License at:
- *                        opensource.org/licenses/BSD-3-Clause
- *
- ******************************************************************************
- */
-
-/* Entry Point */
-ENTRY(Reset_Handler)
-
-/* Highest address of the user mode stack */
-_estack = ORIGIN(RAM) + LENGTH(RAM);	/* end of "RAM" Ram type memory */
-
-_Min_Heap_Size = 0x200;	/* required amount of heap  */
-_Min_Stack_Size = 0x400;	/* required amount of stack */
-
-
-/* Memories definition */
-MEMORY
-{
-  RAM    (xrw)    : ORIGIN = 0x20000000,   LENGTH = LD_MAX_DATA_SIZE
-  FLASH    (rx)    : ORIGIN = 0x8000000 + 0x8000, LENGTH = 512K - 0x8000
-}
-
-/* Sections */
-SECTIONS
-{
-  /* The startup code into "FLASH" Rom type memory */
-  .isr_vector :
-  {
-    . = ALIGN(4);
-    KEEP(*(.isr_vector)) /* Startup code */
-    . = ALIGN(4);
-  } >FLASH
-
-  /* The program code and other data into "FLASH" Rom type memory */
-  .text :
-  {
-    . = ALIGN(4);
-    *(.text)           /* .text sections (code) */
-    *(.text*)          /* .text* sections (code) */
-    *(.glue_7)         /* glue arm to thumb code */
-    *(.glue_7t)        /* glue thumb to arm code */
-    *(.eh_frame)
-
-    KEEP (*(.init))
-    KEEP (*(.fini))
-
-    . = ALIGN(4);
-    _etext = .;        /* define a global symbols at end of code */
-  } >FLASH
-
-  /* Constant data into "FLASH" Rom type memory */
-  .rodata :
-  {
-    . = ALIGN(4);
-    *(.rodata)         /* .rodata sections (constants, strings, etc.) */
-    *(.rodata*)        /* .rodata* sections (constants, strings, etc.) */
-    . = ALIGN(4);
-  } >FLASH
-
-  .ARM.extab (READONLY) : {
-    . = ALIGN(4);
-    *(.ARM.extab* .gnu.linkonce.armextab.*)
-    . = ALIGN(4);
-  } >FLASH
-
-  .ARM (READONLY) : {
-    . = ALIGN(4);
-    __exidx_start = .;
-    *(.ARM.exidx*)
-    __exidx_end = .;
-    . = ALIGN(4);
-  } >FLASH
-
-  .preinit_array (READONLY) :
-  {
-    . = ALIGN(4);
-    PROVIDE_HIDDEN (__preinit_array_start = .);
-    KEEP (*(.preinit_array*))
-    PROVIDE_HIDDEN (__preinit_array_end = .);
-    . = ALIGN(4);
-  } >FLASH
-
-  .init_array (READONLY) :
-  {
-    . = ALIGN(4);
-    PROVIDE_HIDDEN (__init_array_start = .);
-    KEEP (*(SORT(.init_array.*)))
-    KEEP (*(.init_array*))
-    PROVIDE_HIDDEN (__init_array_end = .);
-    . = ALIGN(4);
-  } >FLASH
-
-  .fini_array (READONLY) :
-  {
-    . = ALIGN(4);
-    PROVIDE_HIDDEN (__fini_array_start = .);
-    KEEP (*(SORT(.fini_array.*)))
-    KEEP (*(.fini_array*))
-    PROVIDE_HIDDEN (__fini_array_end = .);
-    . = ALIGN(4);
-  } >FLASH
-
-  /* Used by the startup to initialize data */
-  _sidata = LOADADDR(.data);
-
-  /* Initialized data sections into "RAM" Ram type memory */
-  .data :
-  {
-    . = ALIGN(4);
-    _sdata = .;        /* create a global symbol at data start */
-    *(.data)           /* .data sections */
-    *(.data*)          /* .data* sections */
-    *(.RamFunc)        /* .RamFunc sections */
-    *(.RamFunc*)       /* .RamFunc* sections */
-
-    . = ALIGN(4);
-    _edata = .;        /* define a global symbol at data end */
-
-  } >RAM AT> FLASH
-
-  /* Uninitialized data section into "RAM" Ram type memory */
-  . = ALIGN(4);
-  .bss :
-  {
-    /* This is used by the startup in order to initialize the .bss section */
-    _sbss = .;         /* define a global symbol at bss start */
-    __bss_start__ = _sbss;
-    *(.bss)
-    *(.bss*)
-    *(COMMON)
-
-    . = ALIGN(4);
-    _ebss = .;         /* define a global symbol at bss end */
-    __bss_end__ = _ebss;
-  } >RAM
-
-  /* User_heap_stack section, used to check that there is enough "RAM" Ram  type memory left */
-  ._user_heap_stack :
-  {
-    . = ALIGN(8);
-    PROVIDE ( end = . );
-    PROVIDE ( _end = . );
-    . = . + _Min_Heap_Size;
-    . = . + _Min_Stack_Size;
-    . = ALIGN(8);
-  } >RAM
-
-  /* Remove information from the compiler libraries */
-  /DISCARD/ :
-  {
-    libc.a ( * )
-    libm.a ( * )
-    libgcc.a ( * )
-  }
-
-  .ARM.attributes 0 : { *(.ARM.attributes) }
-}
--- a/controller/fw/embed/hex_compile.py
+++ b/controller/fw/embed/hex_compile.py
@ -1,10 +0,0 @@
-Import("env")
-
-# Custom HEX from ELF
-env.AddPostAction(
-    "$BUILD_DIR/${PROGNAME}.elf",
-    env.VerboseAction(" ".join([
-        "$OBJCOPY", "-O", "ihex", "-R", ".eeprom",
-        "$BUILD_DIR/${PROGNAME}.elf", "$BUILD_DIR/${PROGNAME}.hex"
-    ]), "Building $BUILD_DIR/${PROGNAME}.hex")
-) 
--- a/controller/fw/embed/include/config.h
+++ b/controller/fw/embed/include/config.h
@ -1,31 +0,0 @@
-#pragma once
-#include "Arduino.h"
-#include <AS5045.h>
-#include <DRV8313.h>
-#include <SimpleFOC.h>
-#include <STM32_CAN.h>
-#include "flash.h"
-
-extern STM32_CAN Can;
-extern SPIClass spi;
-extern MagneticSensorAS5045 encoder;
-extern BLDCMotor motor;
-extern DRV8313Driver driver;
-extern LowsideCurrentSense current_sense;
-extern Commander command;
-
-struct MotorControlInputs {
-  float target_angle = 0.0;
-  float target_velocity = 0.0;
-  bool motor_enabled = false;
-  bool foc_state = false;
-};
-
-extern MotorControlInputs motor_control_inputs;
-
-void doMotor(char *cmd);
-void setup_foc(MagneticSensorAS5045 *encoder, BLDCMotor *motor,
-               DRV8313Driver *driver, LowsideCurrentSense *current_sense,
-    FLASH_RECORD* pid_data);
-
-void foc_step(BLDCMotor *motor);
--- a/controller/fw/embed/include/flash.h
+++ b/controller/fw/embed/include/flash.h
@ -4,36 +4,27 @@
 #include <stdio.h>
 #include <stdlib.h>

-/*      for addr in FLASH     */

-/*      no padding for this struct, beacuse storing 8 bytes*/
+/*      for addr in FLASH     */
 typedef struct{
    uint8_t data_id;  // data_id = id register of can
-    uint8_t data_type;  
+    uint8_t value;
    uint16_t crc;
-    uint32_t value;
    // uint32_t write_ptr_now;
  }FLASH_RECORD;
 enum {
  addr_id   = 0,
-  pid_p     = 1, 
+  foc_id    = 1,
+  angl      = 2,
+  vel       = 3,
+  pid_p     = 4,  
  pid_i,
-  pid_d,
-  firmw,
-  foc_id,
-  angl,
-  vel
+  pid_d
 };

-/*  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
-#define PARAM_COUNT 5             // count data in flash
-#define FIRMWARE_FLAG   (uint32_t)0xDEADBEEF
+#define PARAM_COUNT 4             // count data in flash
+
 // Flash sectors for STM32F407

 #define SECTOR_2     0x08008000  // 16KB
@ -49,7 +40,7 @@ union{
 // Flash keys for unlocking flash memory
 #define BYTE32           0
 #define BYTE8            1
-#define UPDATE_FLAG     0xDEADBEEF  // Unique 32bit value
+#define UPDATE_FLAG     0xDEADBEEF  // Уникальное 32-битное значение
 //FLASH SET ONE PROGRAMM WORD
 #define FLASH_8BYTE  FLASH->CR &= ~FLASH_CR_PSIZE & ~FLASH_CR_PSIZE_1
 #define FLASH_32BYTE \
@ -63,24 +54,21 @@ union{
 // 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))
-static uint32_t write_ptr = SECTOR_6;
+
 //for bootloader    
 typedef void(*pFunction)(void); 

-
 // 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);
+void write_param(uint8_t param_id, uint8_t val);
 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);
 bool validaate_crc(FLASH_RECORD* crc);
-
-void write_param(uint8_t param_id,uint32_t val);
-
 #endif /* FLASH_H_ */
--- a/controller/fw/embed/include/process_can.h
+++ b/controller/fw/embed/include/process_can.h
@ -1,27 +0,0 @@
-#pragma once 
-#include "config.h"
-#include "STM32_CAN.h"
-#include "flash.h"
-#include "reg_cah.h"
-
-extern FLASH_RECORD *flash_rec;
-extern volatile uint16_t msg_id;
-extern volatile uint16_t id_x;
-extern volatile uint8_t msg_ch;
-extern volatile uint8_t crc_h;
-extern volatile uint8_t crc_l;
-
-
-void send_velocity();
-void send_angle();
-void send_motor_enabled();
-void send_motor_enabled();
-void send_id();
-void firmware_update();
-void send_pid_angle(uint8_t param_pid);
-// void send_motor_torque();
-void send_pid(uint8_t param_pid);
-void setup_id(uint8_t my_id);
-void setup_angle(float target_angle);
-void setup_pid_angle(uint8_t param_pid, float data);
-void listen_can(const CAN_message_t &msg);
--- a/controller/fw/embed/include/reg_cah.h
+++ b/controller/fw/embed/include/reg_cah.h
@ -37,12 +37,4 @@
 #define MOTOR_ANGLE             0x72
 #define MOTOR_TORQUE            0x73

-#define FIRMWARE_UPDATE         0x55
-
-//For send
-#define CAN_MSG_MAX_LEN 7
-#define CRC_SIZE        2
-#define ID_SIZE         sizeof(uint8_t)
-
-
 #endif  // REG_CAH_H_
--- a/controller/fw/embed/platformio.ini
+++ b/controller/fw/embed/platformio.ini
@ -1,3 +1,15 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[platformio]
+
 [env:robotroller_reborn]
 platform = ststm32
 board = genericSTM32F446RE
@ -6,19 +18,11 @@ upload_protocol = stlink
 debug_tool = stlink
 monitor_speed = 19200
 monitor_parity = N
-
-board_upload.offset_address = 0x08008000
-board_build.ldscript = ${PROJECT_DIR}/custom_script.ld
-
 build_flags = 
 	-DSTM32F446xx
 	-D HAL_CAN_MODULE_ENABLED
 	-D SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH
-
 lib_deps = 
 	askuric/Simple FOC@^2.3.4
 	pazi88/STM32_CAN@^1.1.2
-
-extra_scripts = 
-    pre:gen_compile_commands.py
-    post:hex_compile.py
+extra_scripts = pre:gen_compile_commands.py
--- a/controller/fw/embed/src/config.cpp
+++ b/controller/fw/embed/src/config.cpp
@ -1,75 +0,0 @@
-#include "config.h"
-
-
-void setup_foc(MagneticSensorAS5045 *encoder, BLDCMotor *motor,
-               DRV8313Driver *driver, LowsideCurrentSense *current_sense,
-                FLASH_RECORD* pid_data) {
-  encoder->init(&spi);
-  
-  /* convert data from flash int value to float*/
-  conv_float_to_int.i = pid_data[pid_p].value;
-  float p = conv_float_to_int.f;
-
-  conv_float_to_int.i = pid_data[pid_i].value;
-  float i = conv_float_to_int.f;
-
-  conv_float_to_int.i = pid_data[pid_d].value;
-  float d = conv_float_to_int.f;
-
-  // Driver configuration
-  driver->pwm_frequency = 20000;
-  driver->voltage_power_supply = 24;
-  driver->voltage_limit = 24;
-  driver->init();
-
-  // Current sense initialization
-  current_sense->linkDriver(driver);
-  current_sense->init();
-
-  // Motor configuration
-  motor->linkSensor(encoder);
-  motor->linkDriver(driver);
-  motor->linkCurrentSense(current_sense);
-  motor->controller = MotionControlType::angle;
-  motor->torque_controller = TorqueControlType::voltage;
-  motor->foc_modulation = FOCModulationType::SpaceVectorPWM;
-
-  // PID Configuration
-  motor->PID_velocity.P = 0.5f;
-  motor->PID_velocity.I = 2.0f;
-  motor->PID_velocity.D = 0.0f;
-
-  motor->LPF_velocity.Tf = 0.01f;
-  motor->P_angle.P = p;
-  motor->P_angle.I = i;
-  motor->P_angle.D = d;
-  motor->LPF_angle.Tf = 0.02f;
-
-  // Motor limits
-  motor->velocity_limit = 40;  // Speed limit in rad/s (382 rpm)
-  motor->voltage_limit = 24;
-  motor->current_limit = 0.5;
-  
-  motor->sensor_direction = Direction::CCW;
-  motor->init();
-  motor->initFOC();
-}
-
-
-void foc_step(BLDCMotor *motor) {
-  if (motor_control_inputs.target_velocity != 0 ||
-      motor->controller == MotionControlType::velocity) {
-    if (motor->controller != MotionControlType::velocity) {
-      motor->controller = MotionControlType::velocity;
-    }
-    motor->target = motor_control_inputs.target_velocity;
-  } else {
-    if (motor->controller != MotionControlType::angle) {
-      motor->controller = MotionControlType::angle;
-    }
-    motor->target = motor_control_inputs.target_angle;
-  }
-
-  motor->loopFOC();
-  motor->move();
-}
--- a/controller/fw/embed/src/flash.cpp
+++ b/controller/fw/embed/src/flash.cpp
@ -2,8 +2,10 @@
 #include <stdbool.h>
 #include "hal_conf_extra.h"

+static uint32_t write_ptr = SECTOR_6;

 void flash_unlock(){
+
    // Check if flash is locked
    if(!(FLASH->CR & FLASH_CR_LOCK)) {
        return; // Already unlocked
@ -92,12 +94,12 @@ void flash_write(uint32_t addr, FLASH_RECORD* record){
    FLASH->CR |= FLASH_CR_PG;
    
    for(int i = 0;i < size;i++){
-        *(volatile uint32_t*)(addr + (i * 4)) = data[i];
+        *(volatile uint32_t*)(addr + i) = data[i];
+        write_ptr++;
    }
    
    // Clear program bit
    FLASH->CR &= ~FLASH_CR_PG;
-    write_ptr = addr + (size * 4);  //increase variable storing addr
    flash_lock();
 }

@ -113,53 +115,29 @@ uint8_t flash_read_word(uint32_t address){

 }
    // Wait if flash
-// bool validata_crc(FLASH_RECORD* crc){
-//     return crc->crc == 0x6933? true : false;
-// }
+bool validata_crc(FLASH_RECORD* crc){
+    return crc->crc == 0x6933? true : false;
+}

 uint16_t validate_crc16(uint8_t *data, uint32_t length) {
-    uint16_t crc = 0xFFFF; // start value for CRC MODBUS
+    uint16_t crc = 0xFFFF; // Начальное значение для MODBUS
    while (length--) {
-        crc ^= *data++; // XOR 
+        crc ^= *data++; // XOR с очередным байтом данных
        for (uint8_t i = 0; i < 8; i++) {
            if (crc & 0x0001) { 
-                crc = (crc >> 1) ^ 0xA001; // polynome 0x8005 (reverse)
+                crc = (crc >> 1) ^ 0xA001; // Полином 0x8005 (reverse)
            } else {
                crc >>= 1;
            }
        }
    }
-    return crc; 
+    return crc; // Возвращаем вычисленный CRC
 }



-uint16_t calc_crc_struct(FLASH_RECORD* res){
-        
-    uint8_t arr_res[FLASH_RECORD_SIZE - 2];
-    uint16_t crc_res;
-        /*          sorting data without CRC         */
-    arr_res[0] = res->data_id;
-    arr_res[1] = res->data_type;
-
-        /*          from 32 to 8  bit                */
-    for(int i = 0;i < 4;i++)
-        arr_res[i + 2] = (uint8_t)(res->value >> i * 8);    
-
-    crc_res = validate_crc16(arr_res,FLASH_RECORD_SIZE - 2);
-    return crc_res;
-}
-
-
-void disable_flash_protection() {
-    HAL_FLASH_Unlock();
-    __HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR);
-    HAL_FLASH_Lock();
-}
-
 /*      read struct from FLASH      */
 void flash_read(uint32_t addr,FLASH_RECORD* ptr){
-    disable_flash_protection();
    uint8_t* flash_ptr = (uint8_t*)addr;
    uint8_t* dest = (uint8_t*)ptr;
    for(int i = 0;i < FLASH_RECORD_SIZE;i++)
@ -171,14 +149,14 @@ void compact_page(){
    for(int i = (uint32_t)SECTOR_6;i < (uint32_t)SECTOR_7;i += FLASH_RECORD_SIZE) {
        FLASH_RECORD rec;
        flash_read(i,&rec);
-        uint16_t calculated_crc = calc_crc_struct(&rec);
+        uint16_t calculated_crc = validate_crc16((uint8_t*)&rec, sizeof(FLASH_RECORD) - 2); //Вычисляем CRC без последних двух байтов.STRUCT - 2BYTE__CRC
       
        if (calculated_crc == rec.crc && rec.data_id < PARAM_COUNT) {
-            // if the crc does not match, we check further
+            // Если CRC совпадает и ID параметра валидный, сохраняем последнее значение
            latest[rec.data_id] = rec;
        }
        else 
-        // if 
+        //Если не совпадает продолжить читать флэш
            continue; 
    }

@ -186,7 +164,7 @@ void compact_page(){
    write_ptr = SECTOR_6; // Сброс на начало
    for (int i = 0; i < PARAM_COUNT; i++) {
        if (latest[i].data_id != 0xFF) {
-            // alignment
+            // Выравнивание перед каждой записью
            if (write_ptr % 4 != 0) {
                write_ptr += (4 - (write_ptr % 4));
            }
@ -196,56 +174,48 @@ void compact_page(){
    }
 }

-void write_param(uint8_t param_id, uint32_t val) {
-    FLASH_RECORD param_flash;
-    // __disable_irq(); // Interrupt off
-    param_flash.data_id = param_id;
-    param_flash.value = val;
-    param_flash.data_type = sizeof(uint8_t);
-    param_flash.crc = calc_crc_struct(&param_flash);    

-     // check alignment
-    if (write_ptr % 8 != 0) {
-        write_ptr += (8 - (write_ptr % 8));
+void write_param(uint8_t param_id, uint8_t val) {
+    FLASH_RECORD param_flash = {param_id, val};
+    // __disable_irq(); // Запрещаем прерывания на время всей операции
+
+    param_flash.crc = validate_crc16((uint8_t*)&param_flash,sizeof(param_flash) - 2);//Нахождение CRC для данных, хранящихся во флэш памяти
+    
+    // Проверка выравнивания ДО проверки границ сектора кратного 4
+    if (write_ptr % 4 != 0) {
+        write_ptr += (4 - (write_ptr % 4));
    }
    
-    // check buffer overflow
+    // Проверка переполнения с учётом выравнивания
    if (write_ptr + FLASH_RECORD_SIZE >= SECTOR_6_END) {
-        compact_page(); // after compact_page update
-        // alignment
-        if (write_ptr % 8 != 0) {
-            write_ptr += (8 - (write_ptr % 8));
+        compact_page(); // После compact_page write_ptr обновляется
+        // Повторно выравниваем после функции. То есть сколько не хватает для кратности
+        if (write_ptr % 4 != 0) {
+            write_ptr += (4 - (write_ptr % 4));
        }
    }
    
-    flash_write(write_ptr, &param_flash); //inside the function, the write_ptr pointer is automatically incremented by the size of the structure
+    flash_write(write_ptr, &param_flash); //внутри функции итак автоматические инкрементируется указатель write_ptr на размер структуры
    
-    // __enable_irq(); // Interrupt on
+    // __enable_irq(); // Разрешаем прерывания
 }

-
-
-
 FLASH_RECORD* load_params(){
    __disable_irq();
    static FLASH_RECORD latest[PARAM_COUNT] = {0};
    FLASH_RECORD res;
-
    for(uint32_t addr = SECTOR_6;addr < SECTOR_6_END;addr +=FLASH_RECORD_SIZE) {
        flash_read(addr,&res);
-
-        
-        uint16_t calculated_crc = calc_crc_struct(&res);
-        if (calculated_crc != res.crc || res.data_id >= PARAM_COUNT) continue;
-        
+        /*          провекра CRC           */
+        uint16_t calculated_crc = validate_crc16((uint8_t*)&res, sizeof(FLASH_RECORD) - 2); //Вычисляем CRC без последних двух байтов.STRUCT - 2BYTE__CRC
+        if (calculated_crc != res.crc || res.data_id >= PARAM_COUNT) 
+            continue;
        else{
            latest[res.data_id] = res;
-            write_ptr = addr + FLASH_RECORD_SIZE;
    }
+    write_ptr = addr + FLASH_RECORD_SIZE;
 }

    __enable_irq();
    return latest;
 }
-
-
--- a/controller/fw/embed/src/main.cpp
+++ b/controller/fw/embed/src/main.cpp
@ -1,3 +1,4 @@
+// clang-format off
 #include "Arduino.h"
 #include "stm32f446xx.h"
 #include <SimpleFOC.h>
@ -5,23 +6,21 @@
 #include <AS5045.h>
 #include <DRV8313.h>
 #include <cstring>
-#include <iostream>
 #include <iterator>
 #include "common/base_classes/FOCMotor.h"
 #include "hal_conf_extra.h"
 #include "wiring_analog.h"
 #include "wiring_constants.h"
 // clang-format on
-
 #include "reg_cah.h"
 #include "flash.h"
-#include "config.h"
-#include "process_can.h"
+

 void SysTick_Handler(void) {
  HAL_IncTick();
 }

+
 STM32_CAN Can(CAN2, DEF);
 /*      for FLASH         */
 uint32_t flash_flag;
@ -30,14 +29,18 @@ uint32_t flash_error;
 FLASH_EraseInitTypeDef pEraseInit;
 uint32_t SectorError;

+volatile uint16_t msg_id;
+volatile uint16_t id_x;
+volatile uint8_t msg_ch;
+volatile uint8_t crc_h;
+volatile uint8_t crc_l;

-/* bool for test CAN    */
-volatile bool CAN_GET = false;
-
-volatile float kt = 0.1;  // Torque calculation constant
-
-FLASH_RECORD* flash_rec;
+volatile float kt = 0.1;  //for torgue calculation

+static FLASH_RECORD* flash_rec;
+static FLASH_RECORD flash_buf[PARAM_COUNT];
+static CAN_message_t CAN_TX_msg;
+static CAN_message_t CAN_inMsg;

 SPIClass spi;
 MagneticSensorAS5045 encoder(AS5045_CS, AS5045_MOSI, AS5045_MISO, AS5045_SCLK);
@ -50,19 +53,398 @@ DRV8313Driver driver(TIM1_CH1, TIM1_CH2, TIM1_CH3, EN_W_GATE_DRIVER,
 LowsideCurrentSense current_sense(0.01, 10.0, CURRENT_SENSOR_1,
                                  CURRENT_SENSOR_2, CURRENT_SENSOR_3);

-// Commander command(Serial);
+Commander command(Serial);
+
+struct MotorControlInputs {
+  float target_angle = 0.0;
+  float target_velocity = 0.0;
+  bool motor_enabled = false;
+  bool foc_state = false;
+};

 MotorControlInputs motor_control_inputs;

- volatile uint16_t msg_id;
- volatile uint16_t id_x;
- volatile uint8_t msg_ch;
- volatile uint8_t crc_h;
- volatile uint8_t crc_l;
+void doMotor(char *cmd) {
+  command.motor(&motor, cmd);
+  digitalWrite(PC10, !digitalRead(PC10));
+  delayMicroseconds(2);
+}
+
+void CAN2_RX0_IRQHandler() {
+  // Пустая функция, но прерывание не приведет к Default Handler
+}
+
+void setup_foc(MagneticSensorAS5045 *encoder, BLDCMotor *motor,
+               DRV8313Driver *driver, LowsideCurrentSense *current_sense,
+               Commander *commander, CommandCallback callback) {
+  encoder->init(&spi);
+
+  driver->pwm_frequency = 20000;
+  driver->voltage_power_supply = 24;
+  driver->voltage_limit = 24;
+  driver->init();
+
+  current_sense->linkDriver(driver);
+  current_sense->init();
+
+  motor->linkSensor(encoder);
+  motor->linkDriver(driver);
+  motor->linkCurrentSense(current_sense);
+  motor->useMonitoring(Serial);
+  motor->monitor_downsample = 5000;  // default 0
+  motor->controller = MotionControlType::angle;
+  motor->torque_controller = TorqueControlType::voltage;
+  motor->foc_modulation = FOCModulationType::SpaceVectorPWM;
+
+  //  PID start
+  motor->PID_velocity.P = 0.75;
+  motor->PID_velocity.I = 20;
+  motor->LPF_velocity.Tf = 0.005;
+  motor->P_angle.P = 0.5;
+  motor->LPF_angle.Tf = 0.001;
+  //  PID end
+
+  motor->velocity_limit = 40;  // Ограничение по скорости вращения rad/s (382 rpm)
+  motor->voltage_limit = 24;
+  motor->current_limit = 0.5;
+
+  motor->sensor_direction = Direction::CCW;
+  motor->init();
+  motor->initFOC();
+}
+
+void send_can_with_id_crc(uint32_t id, uint8_t message_type, const void* data, size_t data_length) {
+  // Создаем сообщение
+  CAN_message_t msg;
+  msg.id = id;
+  msg.len = 8; // или как в протоколе
+  msg.buf[0] = message_type;
+  memcpy(&msg.buf[1], data, data_length);
+
+  // Формируем массив для CRC, включающий ID и все данные
+  size_t crc_data_size = sizeof(msg.id) + data_length;
+  uint8_t crc_data[crc_data_size];
+
+  // Копируем ID
+  memcpy(crc_data, &msg.id, sizeof(msg.id));
+  // Копируем все байты data
+  memcpy(crc_data + sizeof(msg.id), data, data_length);
+
+  // Расчет CRC
+  uint16_t crc_value = validate_crc16(crc_data, crc_data_size);
+
+  // Вставляем CRC в буфер
+  msg.buf[6] = crc_value & 0xFF;
+  msg.buf[7] = (crc_value >> 8) & 0xFF;
+
+  // Отправляем
+  Can.write(msg);
+  __NOP();
+}
+
+
+
+void send_velocity() {
+  float current_velocity = motor.shaftVelocity();
+  flash_rec = load_params();
+  if (flash_rec == nullptr) { // Проверка на NULL
+      // Обработка ошибки: запись в лог, сигнализация и т.д.
+      return;
+  }
+  uint8_t value = flash_rec[vel].value;
+  uint8_t id = flash_rec[addr_id].value;
+  send_can_with_id_crc(id,'V',&value,sizeof(value));
+}
+
+void send_angle() {
+  float current_angle = motor.shaftAngle();
+
+  flash_rec = load_params();
+  if (flash_rec == nullptr) { // Проверка на NULL
+      // Обработка ошибки: запись в лог, сигнализация и т.д.
+      return;
+  }
+  // uint8_t value = flash_rec[angl].value;
+  uint8_t id = flash_rec[addr_id].value;
+  send_can_with_id_crc(id,'A',&current_angle,sizeof(current_angle));
+}
+
+void send_motor_enabled() {
+  uint8_t id = *(volatile uint8_t*)ADDR_VAR;
+  CAN_TX_msg.id = id;
+  CAN_TX_msg.buf[0] = 'E';
+  memcpy(&CAN_TX_msg.buf[1], &motor_control_inputs.motor_enabled,
+         sizeof(motor_control_inputs.motor_enabled));
+  Can.write(CAN_TX_msg);
+}
+
+void send_foc_state() {
+    /*          data for reading of firmware      */
+    flash_rec = load_params();
+    if (flash_rec == nullptr) { // Проверка на NULL
+        // Обработка ошибки: запись в лог, сигнализация и т.д.
+        return;
+    }
+
+  uint8_t value = flash_rec[foc_id].value;
+  uint8_t id = flash_rec[addr_id].value;
+  send_can_with_id_crc(id,'F',&value,sizeof(value));
+}
+
+void send_id() {
+  /*          data for reading of firmware      */
+  flash_rec = load_params();
+  if (flash_rec == nullptr) { // Проверка на NULL
+      // Обработка ошибки: запись в лог, сигнализация и т.д.
+      return;
+  }
+  uint8_t id = flash_rec[addr_id].value;
+  send_can_with_id_crc(id,'I',&id,sizeof(id));
+  __NOP();
+}
+
+void send_motor_torque() {
+  float i_q = motor.current.q; // Ток по оси q (А)
+  float torque = kt * i_q; // Расчет момента
+  torque *= 100;
+  flash_rec = load_params();
+  CAN_TX_msg.id = flash_rec->value;
+  CAN_TX_msg.buf[0] = 'T';
+  CAN_TX_msg.len = 5;
+  memcpy(&CAN_TX_msg.buf[1], &torque, sizeof(torque));
+  Can.write(CAN_TX_msg);
+}
+
+
+void send_pid(uint8_t param_pid){
+  flash_rec = load_params();
+  if (flash_rec == nullptr) { // Проверка на NULL
+    return;
+  }
+  uint8_t id = flash_rec[addr_id].value;
+  uint8_t d = flash_rec[param_pid].value;
+  uint8_t data_send = 0;
+  int l = 0;
+  while(d /= 10)
+    l++;
+  if(l >= 2)
+    data_send = (float)d;
+  
+  else if(l == 1)
+    data_send = (float)(d * 10);
+
+  else
+    data_send = (float)(d * 100);
+  if(param_pid == pid_p)param_pid = REG_MOTOR_POSPID_Kp;
+  else if(param_pid == pid_i)param_pid = REG_MOTOR_POSPID_Ki;
+  else if(param_pid == pid_d)param_pid = REG_MOTOR_POSPID_Kd;
+  send_can_with_id_crc(id,param_pid,&data_send,sizeof(data_send));
+}
+
+void setup_id(uint8_t my_id) {
+  write_param(addr_id,my_id);
+  // send_id();
+}
+
+void setup_angle(float target_angle) {
+  // float target_angle = target_angle_rad / 100.0f; // Предполагаем, что передается в значениях сотых градуса или сотые радианы
+  motor.enable();  // Включаем мотор если он отключен
+  motor.controller = MotionControlType::angle;
+  motor.move(target_angle);
+}
+
+void setup_pid_angle(uint8_t param_pid, float data){
+  switch (param_pid)
+  {
+  case pid_p:
+    motor.P_angle.P = data;
+    break;
+
+  case pid_i:
+    motor.P_angle.I = data;
+    break;
+
+  case pid_d:
+    motor.P_angle.D = data;
+    break;
+
+  default:
+    break;
+  }
+  uint8_t check = uint8_t(data);
+  uint8_t data_save = 0;
+  if(check != 0)
+    if(check /= 10)
+      data_save = check;
+
+    else 
+    data_save = (uint8_t)(data * 10);
+
+  else
+    data_save = (uint8_t)(data * 100);
+
+  write_param(param_pid,data_save);
+}
+
+
+void listen_can(const CAN_message_t &msg) {
+  msg_id = msg.id;
+
+  msg_ch = msg_id & 0xF;         // получения id, чтобы выбрать, что делать
+  id_x = (msg_id >> 4) & 0x7FF;  //получение адреса устройства страшие 2 бита  msg_ch  = msg_id & 0xF;         // получения id, чтобы выбрать, что делать
+  
+  
+  /*          Вычисление CRC          */
+  // Объединение старшего и младшего байтов для получения полученного CRC
+  uint16_t received_crc = (msg.buf[msg.len - 2]) | (msg.buf[msg.len - 1] << 8);
+  uint8_t data[10] = {0}; //буфер хранения сообщения и расчета его CRC для проверки
+
+  // Копируем ID сообщения в буфер данных для расчета CRC 2 байта
+  memcpy(data, (uint8_t*)&msg_id, sizeof(msg_id));
+  
+  // Копируем данные сообщения в буфер (без байтов CRC)
+  memcpy(data + sizeof(msg_id), msg.buf, msg.len - 2);
+  
+  // Рассчитываем CRC для полученных данных
+  uint16_t calculated_crc = validate_crc16(data, sizeof(msg_id) + msg.len - 2);
+  
+  // Проверяем совпадение CRC
+  if (calculated_crc != received_crc) {
+    // Несовпадение CRC, игнорируем сообщение
+    return;
+  }
+
+
+  /*          0x691  
+  69  -   адрес устройства    
+  1   -   что делать дальше с данными     */
+  
+  if(id_x == flash_rec->value){
+    if(msg_ch == REG_WRITE){
+    switch(msg.buf[0]) {
+      case REG_ID:
+  /*      setup new id            */
+        setup_id(msg.buf[1]); 
+        break;
+
+      case REG_LED_BLINK:
+        for (int i = 0; i < 10; i++) {
+          GPIOC->ODR ^= GPIO_ODR_OD10;
+         delay(100);
+        }
+      break;
+
+      case MOTOR_ANGLE:
+      memcpy(&motor_control_inputs.target_angle, &CAN_inMsg.buf[1],
+        sizeof(motor_control_inputs.target_angle));
+        setup_angle(motor_control_inputs.target_angle);
+        break;
+
+      case REG_MOTOR_POSPID_Kp:
+        setup_pid_angle(pid_p,msg.buf[1]);
+        break;
+
+      case REG_MOTOR_POSPID_Ki:
+        setup_pid_angle(pid_i,msg.buf[1]);
+        break;
+
+      case REG_MOTOR_POSPID_Kd:
+        setup_pid_angle(pid_d,msg.buf[1]);
+        break;
+
+      case MOTOR_ENABLED:
+        if (msg.buf[1] == 1) {
+          motor.enable();
+          motor_control_inputs.motor_enabled = 1;
+    }   else {
+          motor.disable();
+          motor_control_inputs.motor_enabled = 0;
+      }
+
+    default:
+      break;
+    }
+  }
+ else if (msg_ch == REG_READ) {
+    switch (msg.buf[0]) {
+    case REG_ID:
+      send_id();
+      break;
+    case MOTOR_VELOCITY:
+      send_velocity(); 
+      break;
+
+    case MOTOR_ANGLE:
+      send_angle();
+      break;
+
+    case MOTOR_ENABLED:
+      send_motor_enabled();
+      break;
+
+    case MOTOR_TORQUE:
+      send_motor_torque();
+      break;
+
+    case FOC_STATE:
+      send_foc_state();
+      break;
+    
+    case REG_MOTOR_POSPID_Kp:
+      send_pid(pid_p);
+      break;
+
+    case REG_MOTOR_POSPID_Ki:
+      send_pid(pid_i);
+      break;
+
+    case REG_MOTOR_POSPID_Kd:
+      send_pid(pid_d);
+      break;
+
+
+
+    default:
+      break;
+    }
+  }
+}
+}
+
+
+
+
+volatile uint32_t ipsr_value = 0;
+
+
+void foc_step(BLDCMotor *motor, Commander *commander) {
+  if (motor_control_inputs.target_velocity != 0 ||
+      motor->controller == MotionControlType::velocity) {
+    if (motor->controller != MotionControlType::velocity) {
+      motor->controller = MotionControlType::velocity;
+    }
+    motor->target = motor_control_inputs.target_velocity;
+
+  } else {
+    if (motor->controller != MotionControlType::angle) {
+      motor->controller = MotionControlType::angle;
+    }
+    motor->target = motor_control_inputs.target_angle;
+  }
+
+  motor->loopFOC();
+  motor->move();
+  motor->monitor();
+  commander->run();
+}
+
+
+

 void setup(){
-  SCB->VTOR = (volatile uint32_t)0x08008004;
-  
+  /*   bias for vector int    */
+  // __set_MSP(*(volatile uint32_t*)0x08008000);
+  // SCB->VTOR = (volatile uint32_t)0x08008000;
 Serial.setRx(HARDWARE_SERIAL_RX_PIN);
 Serial.setTx(HARDWARE_SERIAL_TX_PIN);
 Serial.begin(115200);
@ -70,46 +452,31 @@ MotorControlInputs motor_control_inputs;
 pinMode(PC11, OUTPUT);
 pinMode(PC10,OUTPUT);
 GPIOC->ODR &= ~GPIO_ODR_OD10;
-  // Can.enableMBInterrupts();
+// Setup thermal sensor pin
+// pinMode(TH1, INPUT_ANALOG);
 Can.begin();
 Can.setBaudRate(1000000);
-  // Настройка прерываний CAN
-  CAN2->IER |= CAN_IER_FMPIE0;
-  flash_rec = load_params();    //for update write_ptr
-  if(flash_rec[firmw].value == FIRMWARE_FLAG) NVIC_SystemReset();  //if in flash go to the bootloader
-  
-  // Initialize FOC system
-  setup_foc(&encoder, &motor, &driver, &current_sense,flash_rec);
-  
-  CAN2->IER |= CAN_IER_FMPIE0 |  // Сообщение в FIFO0
-  CAN_IER_FFIE0 |   // FIFO0 full
-  CAN_IER_FOVIE0;    // FIFO0 overflow
-
-
-  // Default motor configuration
-  GPIOC->ODR |= GPIO_ODR_OD11;  //set LED
+TIM_TypeDef *Instance = TIM2;
+HardwareTimer *SendTimer = new HardwareTimer(Instance);
+// SendTimer->setOverflow(100, HERTZ_FORMAT);  // 50 Hz
+// SendTimer->attachInterrupt(send_data);
+// SendTimer->resume();
+  flash_rec = load_params();
+  for(int i = 0;i < PARAM_COUNT;i++)
+    flash_buf[i] = flash_rec[i];
+  setup_foc(&encoder, &motor, &driver, &current_sense, &command, doMotor);
+  GPIOC->ODR |= GPIO_ODR_OD11;
  motor.torque_controller = TorqueControlType::foc_current;
  motor.controller = MotionControlType::torque;
  __enable_irq();
-  
  }

-
-
 void loop() {
-  __enable_irq();
-  foc_step(&motor);
+ foc_step(&motor, &command);
  CAN_message_t msg;
-  
-  // Process incoming CAN messages
+  GPIOC->ODR ^= GPIO_ODR_OD11;
+  delay(500);
  while (Can.read(msg)) {
    listen_can(msg);
-    CAN_GET = true;
-  }
-  /*  If receive data from  CAN */
-  if(CAN_GET) {
-
-    CAN_GET = false;
  }
 }
-
--- a/controller/fw/embed/src/process_can.cpp
+++ b/controller/fw/embed/src/process_can.cpp
@ -1,245 +0,0 @@
-#include "process_can.h"
-
-
-static CAN_message_t CAN_TX_msg;
-static CAN_message_t CAN_inMsg;
-
-
-template <typename T>
-void send_can_with_id_crc(uint8_t id, uint8_t message_type, T* data) {
-  // Create CAN message
-  CAN_message_t msg_l;
-  msg_l.id = id;
-  // msg_l.len = 8;  // Protocol-defined message length
-  memcpy(&msg_l.buf[0], &message_type, sizeof(uint8_t));
-  memcpy(&msg_l.buf[1], data, sizeof(T));
-
-  // Prepare CRC calculation buffer (ID + data)
-  uint8_t crc_data[CAN_MSG_MAX_LEN];
-
-  // Copy message ID 
-  memcpy(crc_data, (uint8_t*)&msg_l.id, sizeof(T));
-  // Copy all data bytes
-  memcpy(crc_data + 1, msg_l.buf, 6);
-
-  // Calculate CRC  
-  uint16_t crc_value = validate_crc16(crc_data, CAN_MSG_MAX_LEN);
- 
-  // Insert CRC into buffer
-//   memcpy(&msg_l.buf[6], &crc_value, sizeof(uint16_t));
-    msg_l.buf[6] = crc_value & 0xFF;
-    msg_l.buf[7] = (crc_value >> 8) & 0xFF;
-
-  // Send message
-  Can.write(msg_l);
-}
-
-void send_velocity() {  
-  float current_velocity = motor.shaftVelocity();  
-  if (flash_rec == nullptr) {  // Null check  
-      // Error handling: logging, alerts, etc.  
-      return;
-  }
-  float value = flash_rec[vel].value;
-  uint8_t id = flash_rec[addr_id].value;
-  send_can_with_id_crc(id,'V',&value);
-}
-
-void send_angle() {
-  float current_angle = motor.shaftAngle();
-  if (flash_rec == nullptr) {  // Null check
-      // Error handling: logging, alerts, etc.
-      return;
-  }
-  uint8_t id = flash_rec[addr_id].value;
-  send_can_with_id_crc(id,'A',&current_angle);
-}
-
-
-void send_motor_enabled() {
-  /* Firmware data reading */
-  if (flash_rec == nullptr) {  // Null check
-      // Error handling: logging, alerts, etc.
-      return;
-  }
-  uint8_t value = motor_control_inputs.motor_enabled; //copy current motor state
-  uint8_t id = flash_rec[addr_id].value;
-  send_can_with_id_crc(id,'M',&value);
-}
-
-void send_id() {
-  /* Firmware data reading */
-  if (flash_rec == nullptr) {  // Null check
-      // Error handling: logging, alerts, etc.
-      return;
-  }
-
-  uint8_t id = flash_rec[addr_id].value;
-  send_can_with_id_crc(id,'I',&id);
-}
-
-// void send_motor_torque() {
-//   float i_q = motor.current.q;  // Q-axis current (A)
-//   float torque = kt * i_q;      // Torque calculation
-//   torque *= 100;
-//   CAN_TX_msg.id = flash_rec->value;
-//   CAN_TX_msg.buf[0] = 'T';
-//   CAN_TX_msg.len = 5;
-//   memcpy(&CAN_TX_msg.buf[1], &torque, sizeof(torque));
-//   Can.write(CAN_TX_msg);
-// }
-
-void send_pid_angle(uint8_t param_pid){
-  if (flash_rec == nullptr) {  // Null check
-    return;
-  }
-  uint8_t id = flash_rec[addr_id].value;
-  conv_float_to_int.i = flash_rec[param_pid].value;
-  uint32_t data = conv_float_to_int.i;
-  switch(param_pid){
-    case pid_p:
-      param_pid = REG_MOTOR_POSPID_Kp;
-      break;
-
-    case pid_i:
-      param_pid = REG_MOTOR_POSPID_Ki;
-      break;
-
-    case pid_d:
-      param_pid = REG_MOTOR_POSPID_Kd;
-      break;
-  }
-
-  send_can_with_id_crc(id,param_pid,&data);
-}
-
-void setup_id(uint8_t my_id) {
-  write_param(addr_id,my_id);
-}
-
-void firmware_update(){
-  write_param(firmw,FIRMWARE_FLAG);
-  NVIC_SystemReset();
-}
-
-void setup_angle(float target_angle) {
-  motor.enable();  // Enable motor if disabled
-  // motor.controller = MotionControlType::angle;
-  motor_control_inputs.target_angle = target_angle;
-  // motor.move(target_angle);
-}
-
-// void setup_pid_angle(uint8_t param_pid, uint32_t data){
-//   conv_float_to_int.f = data;
-//   switch (param_pid) {
-//     case pid_p:
-//       motor.P_angle.P = conv_float_to_int.f;
-//       break;
-//     case pid_i:
-//       motor.P_angle.I = conv_float_to_int.f;
-//       break;
-//     case pid_d:
-//       motor.P_angle.D = conv_float_to_int.f;
-//       break;
-//     default:
-//       break;
-//   }
-
-//   write_param(param_pid,data);
-// }
-
-
-void listen_can(const CAN_message_t &msg) {
-  msg_id = msg.id;
-  msg_ch = msg_id & 0xF;        // Extract message channel
-  uint16_t id_x = (msg_id >> 4) & 0x7FF; // Extract device address
-
-  /* CRC Calculation */
-  uint16_t received_crc = (msg.buf[msg.len - 2]) | (msg.buf[msg.len - 1] << 8);
-  uint8_t data[10] = {0}; // Message buffer for CRC verification
-
-  // Copy message ID (2 bytes)
-  memcpy(data, (uint8_t*)&msg_id, sizeof(msg_id));
-  // Copy message data (excluding CRC bytes)
-  memcpy(data + sizeof(msg_id), msg.buf, msg.len - 2);
-  
-  // Calculate CRC
-  uint16_t calculated_crc = validate_crc16(data, sizeof(msg_id) + msg.len - 2);
-  
-  // Verify CRC match
-  if (calculated_crc != received_crc) {
-    return; // Ignore message on CRC mismatch
-  }
-  flash_rec = load_params();
-  /* Message Structure: 0x691
-     69 - Device address
-     1 - Action code */
-  if(id_x == flash_rec[addr_id].value){
-    if(msg_ch == REG_WRITE){
-      switch(msg.buf[0]) {
-        case REG_ID:
-          setup_id(msg.buf[1]); 
-          break;
-        case REG_LED_BLINK:
-          for (int i = 0; i < 10; i++) {
-            GPIOC->ODR ^= GPIO_ODR_OD10;
-            delay(100);
-          }
-          break;
-          
-        case MOTOR_ANGLE:
-          memcpy(&motor_control_inputs.target_angle, &msg.buf[1],
-                sizeof(motor_control_inputs.target_angle));
-          setup_angle(motor_control_inputs.target_angle);
-          break;
-
-        case REG_MOTOR_POSPID_Kp:
-          memcpy(&motor.P_angle.P, &msg.buf[1], sizeof(float));
-          conv_float_to_int.f = motor.P_angle.P;
-          write_param(pid_p,conv_float_to_int.i);
-          break;
-
-        case REG_MOTOR_POSPID_Ki:
-          memcpy(&motor.P_angle.I, &msg.buf[1], sizeof(float));
-          conv_float_to_int.f = motor.P_angle.I;
-          write_param(pid_i,conv_float_to_int.i);
-          break;
-
-        case REG_MOTOR_POSPID_Kd:
-          memcpy(&motor.P_angle.D, &msg.buf[1], sizeof(float));
-          conv_float_to_int.f = motor.P_angle.D;
-          write_param(pid_d,conv_float_to_int.i);
-          break;
-        
-        case FIRMWARE_UPDATE:
-          firmware_update();
-          break;
-
-        case MOTOR_ENABLED:
-          if (msg.buf[1] == 1) {
-            motor.enable();
-            motor_control_inputs.motor_enabled = 1;
-          } else {
-            motor.disable();
-            motor_control_inputs.motor_enabled = 0;
-          }
-        default:
-          break;
-      }
-    }
-    else if (msg_ch == REG_READ) {
-      switch (msg.buf[0]) {
-        case REG_ID: send_id(); break;
-        case MOTOR_VELOCITY: send_velocity(); break;
-        case MOTOR_ANGLE: send_angle(); break;
-        case MOTOR_ENABLED: send_motor_enabled(); break;
-        // case MOTOR_TORQUE: send_motor_torque(); break;
-        // case FOC_STATE: send_foc_state(); break;
-        case REG_MOTOR_POSPID_Kp: send_pid_angle(pid_p); break;
-        case REG_MOTOR_POSPID_Ki: send_pid_angle(pid_i); break;
-        case REG_MOTOR_POSPID_Kd: send_pid_angle(pid_d); break;
-        default: break;
-      }
-    }
-  }
-}
--- a/controller/fw/embed/test/firmware_can.py
+++ b/controller/fw/embed/test/firmware_can.py
@ -1,141 +0,0 @@
-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(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(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=1.0)
-        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=0.1)  # 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])
--- a/controller/fw/embed/test/firmware_update_flag.py
+++ b/controller/fw/embed/test/firmware_update_flag.py
@ -1,70 +0,0 @@
-import can
-import time
-import sys
-# Конфигурация
-CAN_INTERFACE = 'can0'
-OLD_DEVICE_ID = int(sys.argv[1]) # Текущий ID устройства (по умолчанию)
-REG_WRITE = 0x8        # Код команды чтения
-REG_ID = 0x55          # Адрес регистра с Firmware Update
-
-def send_can_message(bus, can_id, data):
-    """Отправка CAN-сообщения"""
-    try:
-        msg = can.Message(
-            arbitration_id=can_id,
-            data=data,
-            is_extended_id=False
-        )
-        bus.send(msg)
-        print(f"[Отправка] CAN ID: 0x{can_id:03X}, Данные: {list(data)}")
-        return True
-    except can.CanError as e:
-        print(f"Ошибка CAN: {e}")
-        return False
-
-
-def validate_crc16(data):
-    """Расчет CRC16 (MODBUS) для проверки целостности данных"""
-    crc = 0xFFFF
-    for byte in data:
-        crc ^= byte
-        for _ in range(8):
-            if crc & 0x0001:
-                crc = (crc >> 1) ^ 0xA001
-            else:
-                crc >>= 1
-    return crc
-
-# Инициализация CAN-интерфейса
-bus = can.interface.Bus(channel=CAN_INTERFACE, bustype='socketcan')
-
-# ======= 1. Запрос текущего ID устройства =======
-
-# Формируем CAN ID для чтения: (OLD_DEVICE_ID << 4) | REG_READ
-can_id_read = (OLD_DEVICE_ID << 4) | REG_WRITE
-
-# Данные для запроса: [регистр, резервный байт]
-data_read = [REG_ID, 0x00]
-
-# Формируем полные данные для расчета CRC:
-# - CAN ID разбивается на 2 байта (little-endian)
-# - Добавляем данные запроса
-full_data_for_crc = list(can_id_read.to_bytes(2, 'little')) + data_read
-
-# Рассчитываем CRC и разбиваем на байты (little-endian)
-crc = validate_crc16(full_data_for_crc)
-crc_bytes = list(crc.to_bytes(2, 'little'))
-
-# Собираем итоговый пакет: данные + CRC
-packet_read = data_read + crc_bytes
-
-print("Переход в boot режим", packet_read)
-send_can_message(bus, can_id_read, packet_read)
-
-bus.shutdown()
-
-if __name__ == "__main__":
-    import sys
-    if len(sys.argv) != 2:
-        print("Использование: python3 firmware_test.py address")
-        sys.exit(1)
--- a/controller/fw/embed/test/pid_p.py
+++ b/controller/fw/embed/test/pid_p.py
@ -1,103 +0,0 @@
-import can
-import time
-import struct
-# Конфигурация
-CAN_INTERFACE = 'can0'
-OLD_DEVICE_ID = 0x00  # Текущий ID устройства (по умолчанию)
-REG_READ = 0x7        # Код команды чтения
-REG_ID = 0x30          # Адрес регистра с REG_PMOTOR_POSPID_Kp  устройства
-
-def send_can_message(bus, can_id, data):
-    """Отправка CAN-сообщения"""
-    try:
-        msg = can.Message(
-            arbitration_id=can_id,
-            data=data,
-            is_extended_id=False
-        )
-        bus.send(msg)
-        print(f"[Отправка] CAN ID: 0x{can_id:03X}, Данные: {list(data)}")
-        return True
-    except can.CanError as e:
-        print(f"Ошибка CAN: {e}")
-        return False
-
-def receive_response(bus, timeout=1.0):
-    """Ожидание ответа от устройства"""
-    start_time = time.time()
-    while time.time() - start_time < timeout:
-        msg = bus.recv(timeout=0.1)
-        if msg:
-            print(f"[Прием] CAN ID: 0x{msg.arbitration_id:03X}, Данные: {list(msg.data)}")
-            return msg
-    print("[Ошибка] Таймаут")
-    return None
-
-def validate_crc16(data):
-    """Расчет CRC16 (MODBUS) для проверки целостности данных"""
-    crc = 0xFFFF
-    for byte in data:
-        crc ^= byte
-        for _ in range(8):
-            if crc & 0x0001:
-                crc = (crc >> 1) ^ 0xA001
-            else:
-                crc >>= 1
-    return crc
-
-# Инициализация CAN-интерфейса
-bus = can.interface.Bus(channel=CAN_INTERFACE, bustype='socketcan')
-
-# ======= 1. Запрос текущего ID устройства =======
-
-# Формируем CAN ID для чтения: (OLD_DEVICE_ID << 4) | REG_READ
-can_id_read = (OLD_DEVICE_ID << 4) | REG_READ
-
-# Данные для запроса: [регистр, резервный байт]
-data_read = [REG_ID, 0x00]
-
-# Формируем полные данные для расчета CRC:
-# - CAN ID разбивается на 2 байта (little-endian)
-# - Добавляем данные запроса
-full_data_for_crc = list(can_id_read.to_bytes(2, 'little')) + data_read
-
-# Рассчитываем CRC и разбиваем на байты (little-endian)
-crc = validate_crc16(full_data_for_crc)
-crc_bytes = list(crc.to_bytes(2, 'little'))
-
-# Собираем итоговый пакет: данные + CRC
-packet_read = data_read + crc_bytes
-
-print("Запрос на чтение ID:", packet_read)
-send_can_message(bus, can_id_read, packet_read)
-
-# ======= 2. Получение и проверка ответа =======
-response = receive_response(bus)     
-if response:
-    data = response.data
-
-    if len(data) < 4:
-        print("Слишком короткий ответ")
-
-    # Проверяем минимальную длину ответа (данные + CRC)
-    else:
-        id_bytes = response.arbitration_id.to_bytes(1,byteorder='little')
-        #buff with id and data without CRC
-        full_data = list(id_bytes) + list(data[:-2])
-        print(f"Received full_data: {list(full_data)}")
-        received_crc = int.from_bytes(data[-2:], byteorder='little')
-        #calc CRC
-        calc_crc = validate_crc16(full_data)
-        
-        print(f"Расчитанный CRC PYTHON : 0x{calc_crc:02X}")
-        if received_crc == calc_crc:
-            # Если CRC совпадает, проверяем структуру ответа:
-            kp_value = struct.unpack('<f', bytes(data[1:5]))[0]
-            print(f"Текущий Kp устройства: {kp_value:.3f}") 
-        else:
-            print("Ошибка: CRC не совпадает")
-else:
-    print("Устройство не ответило")
-
-# Завершаем работу с шиной
-bus.shutdown()
--- a/controller/fw/embed/test/python_can.py
+++ b/controller/fw/embed/test/python_can.py
@ -0,0 +1,47 @@
+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}")
+
+def receive_can_messages():
+    try:
+        # Connect to the CAN bus
+        bus = can.interface.Bus(channel='can0', bustype='socketcan')
+
+        print("Waiting for messages on the CAN bus...")
+
+        while True:
+            msg = bus.recv()
+            if msg:
+                process_can_message(msg)
+
+    except KeyboardInterrupt:
+        print("\nExiting program...")
+    except Exception as e:
+        print(f"Error: {e}")
+
+if __name__ == '__main__':
+    receive_can_messages()
--- a/controller/fw/embed/test/python_enable_motor.py
+++ b/controller/fw/embed/test/python_enable_motor.py
--- a/controller/fw/embed/test/python_send_angle.py
+++ b/controller/fw/embed/test/python_send_angle.py
@ -0,0 +1,37 @@
+import can
+import struct
+import time
+import argparse
+
+# Function to send the target angle
+def send_target_angle(bus, target_angle):
+    msg = can.Message()
+    msg.arbitration_id = 1  # Message ID
+    msg.is_extended_id = False
+    msg.dlc = 5  # Message length
+    msg.data = [ord('A')] + list(struct.pack('<f', target_angle))  # 'A' for the command identifier, followed by the angle in float format
+
+    try:
+        bus.send(msg)
+        print(f"Sent message with target angle: {target_angle} degrees")
+        print(f"Message data: {msg.data}")
+    except can.CanError:
+        print("Message failed to send")
+
+# Main function
+def main():
+    parser = argparse.ArgumentParser(description="Send target angles over CAN bus.")
+    parser.add_argument("--angle", type=float, required=True, help="Target angle to send over the CAN bus")
+    args = parser.parse_args()
+
+    target_angle = args.angle
+
+    # CAN interface setup
+    bus = can.interface.Bus(channel='can0', bustype='socketcan', bitrate=1000000)  # Ensure the bitrate matches the microcontroller settings
+    print("CAN bus initialized, sending target angles...")
+
+    # Loop to send messages
+    send_target_angle(bus, target_angle)
+
+if __name__ == '__main__':
+    main()
--- a/controller/fw/embed/test/python_send_velocity.py
+++ b/controller/fw/embed/test/python_send_velocity.py
--- a/controller/fw/embed/test/readPID_angle_parametrs.py
+++ b/controller/fw/embed/test/readPID_angle_parametrs.py
@ -1,126 +0,0 @@
-import can
-import time
-import struct
-import sys
-# Конфигурация
-CAN_INTERFACE = 'can0'
-DEVICE_ID = int(sys.argv[1])          # ID ADDR for servo
-REG_READ = 0x7          # Код команды чтения
-REG_MOTOR_POSPID_Kp = 0x30
-REG_MOTOR_POSPID_Ki = 0x31
-REG_MOTOR_POSPID_Kd = 0x32
-
-def send_can_message(bus, can_id, data):
-    """Отправка CAN-сообщения"""
-    try:
-        msg = can.Message(
-            arbitration_id=can_id,
-            data=data,
-            is_extended_id=False
-        )
-        bus.send(msg)
-        print(f"[Отправка] CAN ID: 0x{can_id:03X}, Данные: {list(data)}")
-        return True
-    except can.CanError as e:
-        print(f"Ошибка CAN: {e}")
-        return False
-
-def validate_crc16(data):
-    """Расчет 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 send_read_request(bus, device_id, register):
-    """Отправка запроса на чтение регистра"""
-    can_id = (device_id << 4) | REG_READ
-    data_part = [register, 0x00]
-    
-    # Расчет CRC для CAN ID (2 байта) + данные
-    full_data_for_crc = list(can_id.to_bytes(2, 'little')) + data_part
-    crc = validate_crc16(full_data_for_crc)
-    crc_bytes = list(crc.to_bytes(2, 'little'))
-    
-    # Формирование итогового пакета
-    packet = data_part + crc_bytes
-    send_can_message(bus, can_id, packet)
-
-def receive_pid_response(bus, timeout=1.0):
-    """Получение и проверка ответа с PID-значением"""
-    start_time = time.time()
-    while time.time() - start_time < timeout:
-        msg = bus.recv(timeout=0.1)
-        if msg and msg.arbitration_id == DEVICE_ID:
-            print(f"[Прием] CAN ID: 0x{msg.arbitration_id:03X}, Данные: {list(msg.data)}")
-            
-            if len(msg.data) < 8:
-                print("Ошибка: Слишком короткий ответ")
-                return None
-                
-            # Извлечение данных и CRC
-            data = msg.data
-            received_crc = int.from_bytes(data[-2:], byteorder='little')
-            
-            # Подготовка данных для проверки CRC
-            id_bytes = msg.arbitration_id.to_bytes(1, 'little')
-            full_data = list(id_bytes) + list(data[:-2])
-            
-            # Проверка CRC
-            calc_crc = validate_crc16(full_data)
-            if calc_crc != received_crc:
-                print(f"Ошибка CRC: ожидалось 0x{calc_crc:04X}, получено 0x{received_crc:04X}")
-                return None
-                
-            # Извлечение float значения
-            try:
-                value = struct.unpack('<f', bytes(data[1:5]))[0]
-                return value
-            except struct.error:
-                print("Ошибка распаковки float")
-                return None
-                
-    print("Таймаут ожидания ответа")
-    return None
-
-def main():
-    """Основная логика чтения PID-коэффициентов"""
-    bus = can.interface.Bus(channel=CAN_INTERFACE, bustype='socketcan')
-    
-    try:
-        # Чтение коэффициентов с задержкой
-        print("\nЧтение Kp...")
-        send_read_request(bus, DEVICE_ID, REG_MOTOR_POSPID_Kp)
-        kp = receive_pid_response(bus)
-        if kp is not None: 
-            print(f"Текущий Kp: {kp:.3f}")
-        
-        time.sleep(1)
-        
-        print("\nЧтение Ki...")
-        send_read_request(bus, DEVICE_ID, REG_MOTOR_POSPID_Ki)
-        ki = receive_pid_response(bus)
-        if ki is not None:
-            print(f"Текущий Ki: {ki:.3f}")
-        
-        time.sleep(1)
-        
-        print("\nЧтение Kd...")
-        send_read_request(bus, DEVICE_ID, REG_MOTOR_POSPID_Kd)
-        kd = receive_pid_response(bus)
-        if kd is not None:
-            print(f"Текущий Kd: {kd:.3f}")
-            
-    finally:
-        bus.shutdown()
-
-if __name__ == "__main__":
-    if len(sys.argv) != 2:
-        print("Используйте python3 read_pid.py addr")
-        sys.exit(1)
-    main()
--- a/controller/fw/embed/test/read_angle.py
+++ b/controller/fw/embed/test/read_angle.py
@ -1,98 +0,0 @@
-import can
-import struct
-import time
-import argparse
-
-# Константы
-CAN_INTERFACE = 'can0'
-DEVICE_ID = 0x27          # ID ADDR for servo
-REG_WRITE = 0x7
-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 receive_response(bus, timeout=1.0):
-    """Ожидание ответа от устройства"""
-    start_time = time.time()
-    while time.time() - start_time < timeout:
-        msg = bus.recv(timeout=0.1)
-        if msg:
-            print(f"[Прием] CAN ID: 0x{msg.arbitration_id:03X}, Данные: {list(msg.data)}")
-            return msg
-    print("[Ошибка] Таймаут")
-    return None
-
-def send_target_angle(bus):
-    # 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]
-
-    
-    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
-    )
-
-    bus.send(msg)
-    response = receive_response(bus)
-
-
-    if response:
-        data = response.data
-
-        if len(data) < 4:
-            print("Слишком короткий ответ")
-
-        # Проверяем минимальную длину ответа (данные + CRC)
-        else:
-            id_bytes = response.arbitration_id.to_bytes(1,byteorder='little')
-            #buff with id and data without CRC
-            full_data = list(id_bytes) + list(data[:-2])
-            print(f"Received full_data: {list(full_data)}")
-            received_crc = int.from_bytes(data[-2:], byteorder='little')
-            #calc CRC
-            calc_crc = validate_crc16(full_data)
-            
-            print(f"Расчитанный CRC PYTHON : 0x{calc_crc:02X}")
-            if received_crc == calc_crc:
-                # Если CRC совпадает, проверяем структуру ответа:
-                velocity = struct.unpack('<f', bytes(data[1:5]))[0]
-                print(f"Угол: {velocity}")
-            else:
-                print("Ошибка: CRC не совпадает")
-    else:
-        print("Устройство не ответило")
-
-def main():
-    # Инициализация CAN
-    bus = can.interface.Bus(channel=CAN_INTERFACE, bustype='socketcan')
-    print("CAN шина инициализирована.")
-
-    send_target_angle(bus)
-
-    bus.shutdown()
-if __name__ == '__main__':
-    main()
--- a/controller/fw/embed/test/read_id.py
+++ b/controller/fw/embed/test/read_id.py
@ -1,108 +0,0 @@
-import can
-import time
-import sys
-# Конфигурация
-CAN_INTERFACE = 'can0'
-OLD_DEVICE_ID = int(sys.argv[1]) # Текущий ID устройства (по умолчанию)
-REG_READ = 0x7        # Код команды чтения
-REG_ID = 0x01          # Адрес регистра с ID устройства
-
-def send_can_message(bus, can_id, data):
-    """Отправка CAN-сообщения"""
-    try:
-        msg = can.Message(
-            arbitration_id=can_id,
-            data=data,
-            is_extended_id=False
-        )
-        bus.send(msg)
-        print(f"[Отправка] CAN ID: 0x{can_id:03X}, Данные: {list(data)}")
-        return True
-    except can.CanError as e:
-        print(f"Ошибка CAN: {e}")
-        return False
-
-def receive_response(bus, timeout=1.0):
-    """Ожидание ответа от устройства"""
-    start_time = time.time()
-    while time.time() - start_time < timeout:
-        msg = bus.recv(timeout=0.1)
-        if msg:
-            print(f"[Прием] CAN ID: 0x{msg.arbitration_id:03X}, Данные: {list(msg.data)}")
-            return msg
-    print("[Ошибка] Таймаут")
-    return None
-
-def validate_crc16(data):
-    """Расчет CRC16 (MODBUS) для проверки целостности данных"""
-    crc = 0xFFFF
-    for byte in data:
-        crc ^= byte
-        for _ in range(8):
-            if crc & 0x0001:
-                crc = (crc >> 1) ^ 0xA001
-            else:
-                crc >>= 1
-    return crc
-
-# Инициализация CAN-интерфейса
-bus = can.interface.Bus(channel=CAN_INTERFACE, bustype='socketcan')
-
-# ======= 1. Запрос текущего ID устройства =======
-
-# Формируем CAN ID для чтения: (OLD_DEVICE_ID << 4) | REG_READ
-can_id_read = (OLD_DEVICE_ID << 4) | REG_READ
-
-# Данные для запроса: [регистр, резервный байт]
-data_read = [REG_ID, 0x00]
-
-# Формируем полные данные для расчета CRC:
-# - CAN ID разбивается на 2 байта (little-endian)
-# - Добавляем данные запроса
-full_data_for_crc = list(can_id_read.to_bytes(2, 'little')) + data_read
-
-# Рассчитываем CRC и разбиваем на байты (little-endian)
-crc = validate_crc16(full_data_for_crc)
-crc_bytes = list(crc.to_bytes(2, 'little'))
-
-# Собираем итоговый пакет: данные + CRC
-packet_read = data_read + crc_bytes
-
-print("Запрос на чтение ID:", packet_read)
-send_can_message(bus, can_id_read, packet_read)
-
-# ======= 2. Получение и проверка ответа =======
-response = receive_response(bus)     
-if response:
-    data = response.data
-
-    if len(data) < 4:
-        print("Слишком короткий ответ")
-
-    # Проверяем минимальную длину ответа (данные + CRC)
-    else:
-        id_bytes = response.arbitration_id.to_bytes(1,byteorder='little')
-        #buff with id and data without CRC
-        full_data = list(id_bytes) + list(data[:-2])
-        print(f"Received full_data: {list(full_data)}")
-        received_crc = int.from_bytes(data[-2:], byteorder='little')
-        #calc CRC
-        calc_crc = validate_crc16(full_data)
-        
-        print(f"Расчитанный CRC PYTHON : 0x{calc_crc:02X}")
-        if received_crc == calc_crc:
-            # Если CRC совпадает, проверяем структуру ответа:
-            print(f"Текущий ID устройства: 0x{data[1]:02X}")
-        else:
-            print("Ошибка: CRC не совпадает")
-else:
-    print("Устройство не ответило")
-
-# 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)
--- a/controller/fw/embed/test/send_angle.py
+++ b/controller/fw/embed/test/send_angle.py
@ -1,67 +0,0 @@
-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()
--- a/controller/fw/embed/test/set_id.py
+++ b/controller/fw/embed/test/set_id.py
@ -1,124 +0,0 @@
-import can
-import time
-import sys
-# Конфигурация
-CAN_INTERFACE = 'can0'
-OLD_DEVICE_ID = int(sys.argv[1])
-NEW_DEVICE_ID = int(sys.argv[2])
-REG_WRITE = 0x8
-REG_READ = 0x7
-REG_ID = 0x1
-
-def send_can_message(bus, can_id, data):
-    """Отправка CAN-сообщения"""
-    try:
-        msg = can.Message(
-            arbitration_id=can_id,
-            data=data,
-            is_extended_id=False
-        )
-        bus.send(msg)
-        print(f"[Отправка] CAN ID: 0x{can_id:03X}, Данные: {list(data)}")
-        return True
-    except can.CanError as e:
-        print(f"Ошибка CAN: {e}")
-        return False
-
-def receive_response(bus, timeout=1.0):
-    """Ожидание ответа"""
-    start_time = time.time()
-    while time.time() - start_time < timeout:
-        msg = bus.recv(timeout=0.1)
-        if msg:
-            print(f"[Прием] CAN ID: 0x{msg.arbitration_id:03X}, Данные: {list(msg.data)}")
-            return msg
-    print("[Ошибка] Таймаут")
-    return None
-
-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
-
-# Инициализация
-bus = can.interface.Bus(channel=CAN_INTERFACE, bustype='socketcan')
-
-# ======= 1. Отправляем команду изменить ID =======
-
-# Весь буфер: id + команда + параметры
-OLD_WITH_REG = (OLD_DEVICE_ID << 4) | REG_WRITE
-id_bytes = list(OLD_WITH_REG.to_bytes(2, byteorder='little'))
-
-# Важные части сообщения: address (id), команда, параметры
-data_write = [REG_ID, NEW_DEVICE_ID]  # команда изменить ID
-
-# Полностью собираем массив для CRC (включая id и команду)
-full_data_for_crc = id_bytes + data_write
-
-# Расчет CRC по всему пакету
-crc = validate_crc16(full_data_for_crc)
-crc_bytes = list(crc.to_bytes(2, byteorder='little'))
-
-# Итоговый пакет: команда + параметры + CRC
-packet_write = data_write + crc_bytes
-
-print("Отправляем: команда изменить ID + CRC:", packet_write)
-# Отправляем с `OLD_DEVICE_ID` в качестве адреса
-send_can_message(bus, (OLD_DEVICE_ID << 4) | REG_WRITE, packet_write)
-
-time.sleep(1.0)
-
-# ======= 2. Запрашиваем текущий ID (используем новый адрес) =======
-
-# Теперь для запроса используем **уже новый id**
-NEW_WITH_REG = (NEW_DEVICE_ID << 4) | REG_READ
-current_id_bytes = list(NEW_WITH_REG.to_bytes(2, byteorder='little'))
-data_read = [REG_ID, 0x00]
-
-full_data_for_crc = current_id_bytes + data_read
-crc = validate_crc16(full_data_for_crc)
-crc_bytes = list(crc.to_bytes(2, byteorder='little'))
-packet_read = data_read + crc_bytes
-
-print("Запрос на чтение ID + CRC (после смены):", packet_read)
-send_can_message(bus, (NEW_DEVICE_ID << 4) | REG_READ, packet_read)
-
-# ======= 3. Получение и проверка ответа =======
-
-response = receive_response(bus)
-if response:
-    data = response.data
-    if len(data) < 4:
-        print("Ответ слишком короткий")
-    else:
-        id_bytes = response.arbitration_id.to_bytes(1,byteorder='little')
-        #buff with id and data without CRC
-        full_data = list(id_bytes) + list(data[:-2])
-        print(f"Received full_data: {list(full_data)}")
-        received_crc = int.from_bytes(data[-2:], byteorder='little')
-        #calc CRC
-        calc_crc = validate_crc16(full_data)
-        if received_crc == calc_crc:
-            if data[0] == ord('I') and data[1] == NEW_DEVICE_ID:
-                print(f"\nУСПЕХ! ID устройства изменен на 0x{NEW_DEVICE_ID:02X}")
-            else:
-                print(f"Некорректный ответ: {list(data)}")
-        else:
-            print("CRC не совпадает, данные повреждены.")
-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)
--- a/controller/fw/embed/test/st-link.py
+++ b/controller/fw/embed/test/st-link.py
@ -1,78 +0,0 @@
-import subprocess
-import os
-import sys
-
-def flash_hex_with_stlink(hex_file_path):
-    if not os.path.isfile(hex_file_path):
-        print(f"❌ Файл не найден: {hex_file_path}")
-        return False
-
-    command = [
-        "st-flash",
-        "--format", "ihex",
-        "write",
-        hex_file_path
-    ]
-
-    try:
-        print(f"⚡️ Прошиваем {hex_file_path} через ST-Link...")
-        result = subprocess.run(
-            command,
-            stdout=subprocess.PIPE,
-            stderr=subprocess.PIPE,
-            universal_newlines=True,
-            timeout=30
-        )
-        
-        print("▬▬▬ STDOUT ▬▬▬")
-        print(result.stdout)
-        
-        print("▬▬▬ STDERR ▬▬▬")
-        print(result.stderr)
-        
-        if result.returncode == 0:
-            print("✅ Прошивка успешно завершена!")
-            
-            # Добавленный блок сброса
-            try:
-                print("🔄 Выполняем сброс устройства...")
-                reset_result = subprocess.run(
-                    ["st-info", "--reset"],
-                    stdout=subprocess.PIPE,
-                    stderr=subprocess.PIPE,
-                    universal_newlines=True,
-                    timeout=10
-                )
-                if reset_result.returncode == 0:
-                    print("♻️ Устройство успешно сброшено!")
-                else:
-                    print(f"⚠️ Ошибка  (код: {reset_result.returncode})")
-                    print("▬▬▬ STDERR сброса ▬▬▬")
-                    print(reset_result.stderr)
-            except Exception as e:
-                print(f"⚠️ Ошибка при сбросе: {str(e)}")
-            
-            return True
-        else:
-            print(f"❌ Ошибка прошивки (код: {result.returncode})")
-            return False
-            
-    except FileNotFoundError:
-        print("❌ st-flash не найден! Установите stlink-tools.")
-        return False
-    except subprocess.TimeoutExpired:
-        print("❌ Таймаут операции! Проверьте подключение ST-Link.")
-        return False
-    except Exception as e:
-        print(f"❌ Неизвестная ошибка: {str(e)}")
-        return False
-
-if __name__ == "__main__":
-    if len(sys.argv) != 2:
-        print("Использование: python stlink_flash.py <firmware.hex>")
-        sys.exit(1)
-    
-    if flash_hex_with_stlink(sys.argv[1]):
-        sys.exit(0)
-    else:
-        sys.exit(1)
--- a/controller/fw/embed/test/st-link_full.py
+++ b/controller/fw/embed/test/st-link_full.py
@ -1,100 +0,0 @@
-import subprocess
-import os
-import sys
-import time
-
-def flash_hex_with_stlink(hex_file_path, component_name):
-    if not os.path.isfile(hex_file_path):
-        print(f"❌ Файл {component_name} не найден: {hex_file_path}")
-        return False
-
-    command = [
-        "st-flash",
-        "--format", "ihex",
-        "write",
-        hex_file_path
-    ]
-
-    try:
-        print(f"⚡️ Прошиваем {component_name} ({hex_file_path}) через ST-Link...")
-        result = subprocess.run(
-            command,
-            stdout=subprocess.PIPE,
-            stderr=subprocess.PIPE,
-            universal_newlines=True,
-            timeout=30
-        )
-        
-        print("▬▬▬ STDOUT ▬▬▬")
-        print(result.stdout)
-        
-        print("▬▬▬ STDERR ▬▬▬")
-        print(result.stderr)
-        
-        if result.returncode == 0:
-            print(f"✅ {component_name} успешно прошит!")
-            return True
-        else:
-            print(f"❌ Ошибка прошивки {component_name} (код: {result.returncode})")
-            return False
-            
-    except FileNotFoundError:
-        print("❌ st-flash не найден! Установите stlink-tools.")
-        return False
-    except subprocess.TimeoutExpired:
-        print(f"❌ Таймаут операции при прошивке {component_name}! Проверьте подключение ST-Link.")
-        return False
-    except Exception as e:
-        print(f"❌ Неизвестная ошибка при прошивке {component_name}: {str(e)}")
-        return False
-
-def reset_device():
-    try:
-        print("🔄 Выполняем сброс(перезагрузку) устройства...")
-        reset_result = subprocess.run(
-            ["st-info", "--reset"],
-            stdout=subprocess.PIPE,
-            stderr=subprocess.PIPE,
-            universal_newlines=True,
-            timeout=10
-        )
-        if reset_result.returncode == 0:
-            print("♻️ Устройство успешно сброшено!")
-            return True
-        else:
-            print(f"⚠️ Ошибка при сбросе (код: {reset_result.returncode})")
-            print("▬▬▬ STDERR сброса ▬▬▬")
-            print(reset_result.stderr)
-            return False
-    except Exception as e:
-        print(f"⚠️ Ошибка при сбросе: {str(e)}")
-        return False
-
-if __name__ == "__main__":
-    if len(sys.argv) != 3:
-        print("Использование: python stlink_flash.py <bootloader.hex> <application.hex>")
-        print("Пример: python stlink_flash.py bootloader.hex firmware.hex")
-        sys.exit(1)
-    
-    bootloader_path = sys.argv[1]
-    app_path = sys.argv[2]
-    
-    # Прошиваем сначала бутлоадер
-    if not flash_hex_with_stlink(bootloader_path, "Bootloader"):
-        print("\n💥 Ошибка прошивки бутлоадера!")
-        sys.exit(1)
-    
-    # Сбрасываем устройство после прошивки бутлоадера
-    reset_device()
-    time.sleep(1)  # Короткая пауза
-    
-    # Прошиваем основное приложение
-    if not flash_hex_with_stlink(app_path, "Application"):
-        print("\n💥 Ошибка прошивки основного приложения!")
-        sys.exit(1)
-    
-    # Финальный сброс устройства
-    reset_device()
-    
-    print("\n🎉 Все компоненты успешно прошиты!")
-    sys.exit(0)
--- a/controller/fw/embed/test/writePID_angle_parametrs.py
+++ b/controller/fw/embed/test/writePID_angle_parametrs.py
@ -1,95 +0,0 @@
-import can
-import time
-import struct
-import sys
-# Конфигурация
-CAN_INTERFACE = 'can0'
-DEVICE_ID = int(sys.argv[1])          # ID ADDR for servo
-REG_WRITE = 0x8         # Код команды записи
-REG_MOTOR_POSPID_Kp = 0x30
-REG_MOTOR_POSPID_Ki = 0x31
-REG_MOTOR_POSPID_Kd = 0x32
-
-def send_can_message(bus, can_id, data):
-    """Отправка CAN-сообщения"""
-    try:
-        msg = can.Message(
-            arbitration_id=can_id,
-            data=data,
-            is_extended_id=False
-        )
-        bus.send(msg)
-        print(f"[Отправка] CAN ID: 0x{can_id:03X}, Данные: {list(data)}")
-        return True
-    except can.CanError as e:
-        print(f"Ошибка CAN: {e}")
-        return False
-
-def validate_crc16(data):
-    """Расчет CRC16 (MODBUS) для проверки целостности данных"""
-    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_pid_value(bus, device_id, reg, value):
-    """Отправка коэффициента PID на устройство"""
-    # Формируем CAN ID для записи: (device_id << 4) | REG_WRITE
-    can_id_write = (device_id << 4) | REG_WRITE
-    
-    # Упаковываем значение в байты (little-endian)
-    float_bytes = struct.pack('<f', value)
-    
-    # Формируем часть данных (регистр + значение)
-    data_part = [reg] + list(float_bytes)
-    
-    # Полные данные для расчета CRC: CAN ID + данные
-    full_data_for_crc = list(can_id_write.to_bytes(2, 'little')) + data_part
-    
-    # Рассчитываем CRC и разбиваем на байты (little-endian)
-    crc = validate_crc16(full_data_for_crc)
-    crc_bytes = list(crc.to_bytes(2, 'little'))
-    
-    # Собираем итоговый пакет данных
-    can_data = data_part + crc_bytes
-    
-    # Отправляем сообщение
-    send_can_message(bus, can_id_write, can_data)
-
-def main():
-    # Запрос коэффициентов у пользователя
-    try:
-        p = float(input("Введите коэффициент P: "))
-        i = float(input("Введите коэффициент I: "))
-        d = float(input("Введите коэффициент D: "))
-    except ValueError:
-        print("Ошибка: Введите числовые значения.")
-        return
-
-    # Инициализация CAN-интерфейса
-    bus = can.interface.Bus(channel=CAN_INTERFACE, bustype='socketcan')
-    
-    try:
-        # Отправка коэффициентов с задержкой
-        send_pid_value(bus, DEVICE_ID, REG_MOTOR_POSPID_Kp, p)
-        time.sleep(1)
-        
-        send_pid_value(bus, DEVICE_ID, REG_MOTOR_POSPID_Ki, i)
-        time.sleep(1)
-        
-        send_pid_value(bus, DEVICE_ID, REG_MOTOR_POSPID_Kd, d)
-        
-    finally:
-        # Завершение работы с шиной
-        bus.shutdown()
-
-if __name__ == "__main__":
-    if len(sys.argv) != 2:
-        print("Используйте python3 pid_set.py addr")
-        sys.exit(1)
-    main()
--- a/controller/fw/embed/test/write_pidP.py
+++ b/controller/fw/embed/test/write_pidP.py
@ -1,122 +0,0 @@
-import can
-import time
-import struct
-# Конфигурация
-CAN_INTERFACE = 'can0'
-DEVICE_ID = 0x00
-SET_PID_P = 3.6     
-REG_WRITE = 0x8
-REG_READ = 0x7
-REG_ID = 0x30       #REG_MOTOR_POSPID_Kp
-PID_P  = 0x01
-
-def send_can_message(bus, can_id, data):
-    """Отправка CAN-сообщения"""
-    try:
-        msg = can.Message(
-            arbitration_id=can_id,
-            data=data,
-            is_extended_id=False
-        )
-        bus.send(msg)
-        print(f"[Отправка] CAN ID: 0x{can_id:03X}, Данные: {list(data)}")
-        return True
-    except can.CanError as e:
-        print(f"Ошибка CAN: {e}")
-        return False
-
-def receive_response(bus, timeout=1.0):
-    print("Ожидание ответа")
-    start_time = time.time()
-    while time.time() - start_time < timeout:
-        msg = bus.recv(timeout=0.1)
-        if msg:
-            print(f"[Прием] CAN ID: 0x{msg.arbitration_id:03X}, Данные: {list(msg.data)}")
-            return msg
-    print("[Ошибка] Таймаут")
-    return None
-
-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
-
-# Инициализация
-bus = can.interface.Bus(channel=CAN_INTERFACE, bustype='socketcan')
-# Перевод float -> hex -> int
-result = (struct.unpack('<I',struct.pack('<f', float(SET_PID_P)))[0])
-result_bytes = result.to_bytes(4, byteorder='little')
-# ======= 1. Отправляем команду изменить ID =======
-
-# Весь буфер: id + команда + параметры
-OLD_WITH_REG = (DEVICE_ID << 4) | REG_WRITE
-id_bytes = list(OLD_WITH_REG.to_bytes(2, byteorder='little'))
-
-# Важные части сообщения: address (id), команда, параметры
-data_write = [REG_ID] + list(result_bytes)  # команда изменить PID_P
-
-# Полностью собираем массив для CRC (включая id и команду)
-full_data_for_crc = id_bytes + data_write
-
-# Расчет CRC по всему пакету
-crc = validate_crc16(full_data_for_crc)
-crc_bytes = list(crc.to_bytes(2, byteorder='little'))
-
-# Итоговый пакет: команда + параметры + CRC
-packet_write = data_write + crc_bytes
-
-print("Отправляем: команда изменить PID_p + CRC:", packet_write)
-# Отправляем с `OLD_DEVICE_ID` в качестве адреса
-send_can_message(bus, (DEVICE_ID << 4) | REG_WRITE, packet_write)
-
-time.sleep(1.0)
-
-# ======= 2. Запрашиваем текущий ID (используем новый адрес) =======
-
-# Теперь для запроса используем **уже новый id**
-NEW_WITH_REG = (DEVICE_ID << 4) | REG_READ
-current_id_bytes = list(NEW_WITH_REG.to_bytes(2, byteorder='little'))
-data_read = [REG_ID, 0x00]
-
-full_data_for_crc = current_id_bytes + data_read
-crc = validate_crc16(full_data_for_crc)
-crc_bytes = list(crc.to_bytes(2, byteorder='little'))
-packet_read = data_read + crc_bytes
-
-print("Запрос на чтение ID + CRC (после смены):", packet_read)
-send_can_message(bus, (DEVICE_ID << 4) | REG_READ, packet_read)
-
-# ======= 3. Получение и проверка ответа =======
-
-response = receive_response(bus)
-if response:
-    data = response.data
-    if len(data) < 4:
-        print("Ответ слишком короткий")
-    else:
-        id_bytes = response.arbitration_id.to_bytes(1,byteorder='little')
-        #buff with id and data without CRC
-        full_data = list(id_bytes) + list(data[:-2])
-        print(f"Received full_data: {list(full_data)}")
-        received_crc = int.from_bytes(data[-2:], byteorder='little')
-        #calc CRC
-        calc_crc = validate_crc16(full_data)
-        if received_crc == calc_crc:
-            if data[0] == int(REG_ID):
-                kp_val = struct.unpack('<f', bytes(data[1:5]))[0]
-                print(f"\nУСПЕХ! PID_P = {kp_val:.3f}")
-            else:
-                print(f"Некорректный ответ: {list(data)}")
-        else:
-            print("CRC не совпадает, данные повреждены.")
-else:
-    print("Нет ответа от устройства.")
-
-bus.shutdown()