Актуализированы модели CAD, добавлены потерянные версии

Co-authored-by: Vladimir Latukhin <vlatukhin@gmail.com>

.gitignore

@@ -1,5 +1,6 @@
 ~$*.SLDPRT
 ~$*.SLDASM
+*.STL
 
 # For PCBs designed using KiCad: http://www.kicad-pcb.org/
 # Format documentation: http://kicad-pcb.org/help/file-formats/
@@ -29,4 +30,11 @@ fp-info-cache
 
 # Autorouter files (exported from Pcbnew)
 *.dsn
-*.ses
+*.ses
+
+# Visual Studio Code
+*.vscode/
+# Platformio .pio
+.pio/
+# JetBrains CLion
+.idea/

.gitlab-ci.yml

@@ -9,11 +9,11 @@ build_firmware:
   image: python:3.9
   rules:
     - changes:
-      - "firmware/*"
+      - "controller/fw/*"
       - ".gitlab-ci.yml"
       when: on_success
   before_script:
-    - cd firmware
+    - cd controller/fw/embed
     - pip install -U platformio
     - pio update
   script:
@@ -21,10 +21,25 @@ build_firmware:
     - pio run
   artifacts:
     paths:
-      - firmware/.pio/build/robotroller_reborn/firmware.elf
-      - firmware/.pio/build/robotroller_reborn/firmware.bin
+      - controller/fw/embed/.pio/build/robotroller_reborn/firmware.elf
+      - controller/fw/embed/.pio/build/robotroller_reborn/firmware.bin
     expire_in: 1 week
 
+lint_firmware:
+  stage: gen_fabrication_files
+  image: python:3.9
+  rules:
+    - changes:
+      - "controller/fw/*"
+      - ".gitlab-ci.yml"
+      when: on_success
+  before_script:
+    - cd controller/fw/embed/
+    - pip install cpplint
+  script:
+    - pwd
+    - cpplint --extensions=h,hpp,cpp --recursive --linelength=120 --filter=-build/include_subdir,-legal/copyright --output=vs7 src include test lib
+
 ### Gitlab CI/CD example for KiCad
 
 # workflow:
@@ -45,7 +60,7 @@ clone:
   stage: gen_fabrication_files
   trigger:
     include:
-      - remote: 'https://gitlab.com/robossembler/roboarm-diy-version/-/raw/f763e3ee6c516aefee3651e369b5000ed4c90d94/.kicad-pipeline.yml'
+      - remote: 'https://gitlab.com/robossembler/roboarm-diy-version/-/raw/a200bcad9708b65b51f54da9ed426d2233308b84/.kicad-pipeline.yml'
     strategy: depend
   rules: !reference [.default_rules, rules]
 
@@ -62,6 +77,6 @@ clone:
 Robotroller-PCB:
   variables:
     PACKAGE_NAME: 'Robotroller-PCB'
-    FOLDER: 'brd'
+    FOLDER: 'controller/hw'
     PROJECT_NAME: 'motor_controller_50mm'
   extends: .kicad-pipeline

CHANGELOG.md

@@ -4,12 +4,31 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](http://keepachangelog.com/)
 and this project adheres to [Semantic Versioning](http://semver.org/).
  
-## [Unreleased] - yyyy-mm-dd
- 
+## [0.1.0] 70mm Servo - 2024-06-19
+
+Изменения в конструкции 70 мм. двигателей
+
 ### Added
 
+Добавлены модификации двигателей для металлического магнитопровода
+1. на 2 элементах статора добавены лучи, препятствующие перетиранию провода о металл сердечника
+2. Поправлены размер фиксатора крышки мотора статора.
+
 ### Changed
 
+Ротор 70 мм
+1. Изменены размеры отверстий под установку магнитов
+2. Изменён крепеж вала ротора к подшипнику
+3. Увеличены вентиляционные лопатки
+4. Увеличен диаметр отверстия для установки магнита датчика угла
+5. Изменена верхняя крышка для улучшения процесса печати
+6. Уменьшены фиксирующие магниты пластины для уменьшения вероятности трения ротора о статор
+7. Увеличена толщина стенок для получения более жесткой конструкции
+
+Статор 70 мм
+1. Изменена форма щёчек катушек для улучшения процесса печати
+2. Добавлено отверстие для крепления провода (концов звезды в соответствующей схеме подключения)
+
 ### Fixed
 
 ## [0.4.0] PCB Controller - 2024-03-24

README.md

@@ -1,24 +1,71 @@
 # Сервопривод Робосборщика
 
-![servo printed images](img/title-bar-rbs-servo.png)
+![servo printed images](img/robossembler-servo-reducer-exploding-view-01.jpg)
+![servo printed images](img/robossembler-servo-reducer-exploding-view-02.jpg)
 
-Бесщёточный сервопривод постоянного тока, адаптированный для автоматического производства. Разработан для управления 6-осевым роботом-манипулятором Robossembler Arm, но может использоваться и как самостоятельное изделие в составе других систем.
+Сервопривод на базе бесщёточного двигателя постоянного тока, адаптированный для производства с помощью 3D-печати. Разработан для управления 6-осевым роботом-манипулятором [Robossembler Arm](https://gitlab.com/robossembler/roboarm-diy-version), но может использоваться и как самостоятельное изделие в составе других систем. Предусматривается две конструкции статора двигателя: один для изготовления с помощью 3D-печати, другой с помощью листовой электротехнеской стали, нарезаемой на лазерном станке.
 
-Ключевые особенности: 
+Ключевые особенности:
 - Высокая мощность (допустимость редуктора)
 - Высокая скорость (компенсация наличия редуктора)
 - Хорошая динамика (разгон-торможение)
 - Возможность электрического тормоза
 
+В состав репозитория включены модели редукторов двух типов для использования в составе сервопривода. Исходные файлы редукторов представлены в директории `src/REDUCTOR`. В настоящее время основным является прециссирующий редуктор с соотношением 1:43.
+
 Для управления используется универсальная плата-контроллер, которая может быть использована в вариантах исполнения двигателей разных диаметров (на данный момент 50 мм и 70 мм) со сходными характеристиками обмоток. Контроллер управляется через CAN-интерфейс.
 
+## Внешний вид
+
+![](img/servo-reducer-assembled.jpg)
+
 ## Описание директорий
 
-- `brd` - KiCAD проект печатной платы контроллера.
-- `src` - 3D-модели вариантов исполнения мотора: 50 мм, 70 мм, металлическая версия двигателя (не интегрирована с контроллером).
+```[servo]
+├── controller/                           # Плата контроллер
+│   ├── fw/                               # Исходный код прошивки микроконтроллера
+│   │   ├── embed/                        # Инструкция по сборке и загрузке прошивки
+│   │   └── test/                         # Тесты для проверки встроенного ПО
+│   └── hw/                               # Проект печатной платы контроллера в kicad
+├── img/                                  # Изображения для README.md
+├── motor/                                # Все файлы сборок и деталей моторов в формате Solidworks
+├── reducer/                              # Проекты редукторов в формате Solidworks
+├── ros2_environment/                     # Пакеты для управления мотором из ROS 2 с помощью ros2_control
+└── tools/                                # Вспомогательное оборудование для тестирования, испытаний
+    ├── conductor-for-fasteners-70mm/     # Проект оснастки для вкручивания винтов в пластиковый статор 72мм мотора
+    ├── test-reductor-stend/              # Стенд для испытания редуктора
+    └── torque-test-stend/                # Стенд для измерения усилия сервопривода
+```
+
+## Краткая инструкция по изготовлению
+
+### Статор
+
+Для удобства изготовления статоров разработан станок для намотки катушек индуктивности. Исходные файлы для производства станка и инструкции размещены в репозитории [gitlab.com/robossembler/cnc/motor-wire-winder](https://gitlab.com/robossembler/cnc/motor-wire-winder). 
+
+### Сборка
+
+1. Вставить 28 магнитов в ротор
+2. Установить подшипник в статор
+3. Установить проставку в статор между подшипником и платой
+4. Припаять плату к обмоткам (схема обмоток приведена ниже) и установить ее в статор
+5. Накрыть плату крышкой
+6. Установить фиксирующий шплинт
+7. Надеть на сборку статора ротор
+8. Подключить разъем программирования XP3 и прошить с помощью ST-Link-совместимого программатора
 
 ## Фото прототипов
 
 Первый прототип изготовленного печатного мотора диаметром 50мм.
 
-![servo printed](img/first-prototype-rbs-servo-50mm.png)
+![servo printed](img/first-prototype-rbs-servo-50mm.png)
+
+Современная версия привода диаметром 70мм.
+
+![](img/70mm-prototype-02-inside.jpg)
+
+## Схемы намотки
+
+| Двигатель 70мм | Двигатель 50мм |
+| ----------- | ----------- |
+| ![coil winder schema](img/coil_winder_schema.jpg) | ![coil winder schema](img/coil_winder_schema_50mm.jpg) |

brd/motor_controller_50mm-cache.lib

@@ -1,547 +0,0 @@
-EESchema-LIBRARY Version 2.4
-#encoding utf-8
-#
-# Amplifier_Current_INA194
-#
-DEF Amplifier_Current_INA194 U 0 5 Y Y 1 F N
-F0 "U" 150 150 50 H V C CNN
-F1 "Amplifier_Current_INA194" 150 -150 50 H V C CNN
-F2 "Package_TO_SOT_SMD:SOT-23-5" 0 0 50 H I C CNN
-F3 "" 0 0 50 H I C CNN
-ALIAS INA194 INA195
-$FPLIST
- SOT?23*
-$ENDFPLIST
-DRAW
-P 4 0 1 10 200 0 -200 200 -200 -200 200 0 f
-X ~ 1 300 0 100 L 50 50 1 1 O
-X GND 2 -100 -300 150 U 50 50 1 1 W
-X + 3 -300 100 100 R 50 50 1 1 I
-X - 4 -300 -100 100 R 50 50 1 1 I
-X V+ 5 -100 300 150 D 50 50 1 1 W
-ENDDRAW
-ENDDEF
-#
-# Connector_Generic_Conn_02x05_Counter_Clockwise
-#
-DEF Connector_Generic_Conn_02x05_Counter_Clockwise J 0 40 Y N 1 F N
-F0 "J" 50 300 50 H V C CNN
-F1 "Connector_Generic_Conn_02x05_Counter_Clockwise" 50 -300 50 H V C CNN
-F2 "" 0 0 50 H I C CNN
-F3 "" 0 0 50 H I C CNN
-$FPLIST
- Connector*:*_2x??_*
-$ENDFPLIST
-DRAW
-S -50 -195 0 -205 1 1 6 N
-S -50 -95 0 -105 1 1 6 N
-S -50 5 0 -5 1 1 6 N
-S -50 105 0 95 1 1 6 N
-S -50 205 0 195 1 1 6 N
-S -50 250 150 -250 1 1 10 f
-S 150 -195 100 -205 1 1 6 N
-S 150 -95 100 -105 1 1 6 N
-S 150 5 100 -5 1 1 6 N
-S 150 105 100 95 1 1 6 N
-S 150 205 100 195 1 1 6 N
-X Pin_1 1 -200 200 150 R 50 50 1 1 P
-X Pin_10 10 300 200 150 L 50 50 1 1 P
-X Pin_2 2 -200 100 150 R 50 50 1 1 P
-X Pin_3 3 -200 0 150 R 50 50 1 1 P
-X Pin_4 4 -200 -100 150 R 50 50 1 1 P
-X Pin_5 5 -200 -200 150 R 50 50 1 1 P
-X Pin_6 6 300 -200 150 L 50 50 1 1 P
-X Pin_7 7 300 -100 150 L 50 50 1 1 P
-X Pin_8 8 300 0 150 L 50 50 1 1 P
-X Pin_9 9 300 100 150 L 50 50 1 1 P
-ENDDRAW
-ENDDEF
-#
-# Connector_Generic_Conn_02x08_Odd_Even
-#
-DEF Connector_Generic_Conn_02x08_Odd_Even J 0 40 Y N 1 F N
-F0 "J" 50 400 50 H V C CNN
-F1 "Connector_Generic_Conn_02x08_Odd_Even" 50 -500 50 H V C CNN
-F2 "" 0 0 50 H I C CNN
-F3 "" 0 0 50 H I C CNN
-$FPLIST
- Connector*:*_2x??_*
-$ENDFPLIST
-DRAW
-S -50 -395 0 -405 1 1 6 N
-S -50 -295 0 -305 1 1 6 N
-S -50 -195 0 -205 1 1 6 N
-S -50 -95 0 -105 1 1 6 N
-S -50 5 0 -5 1 1 6 N
-S -50 105 0 95 1 1 6 N
-S -50 205 0 195 1 1 6 N
-S -50 305 0 295 1 1 6 N
-S -50 350 150 -450 1 1 10 f
-S 150 -395 100 -405 1 1 6 N
-S 150 -295 100 -305 1 1 6 N
-S 150 -195 100 -205 1 1 6 N
-S 150 -95 100 -105 1 1 6 N
-S 150 5 100 -5 1 1 6 N
-S 150 105 100 95 1 1 6 N
-S 150 205 100 195 1 1 6 N
-S 150 305 100 295 1 1 6 N
-X Pin_1 1 -200 300 150 R 50 50 1 1 P
-X Pin_10 10 300 -100 150 L 50 50 1 1 P
-X Pin_11 11 -200 -200 150 R 50 50 1 1 P
-X Pin_12 12 300 -200 150 L 50 50 1 1 P
-X Pin_13 13 -200 -300 150 R 50 50 1 1 P
-X Pin_14 14 300 -300 150 L 50 50 1 1 P
-X Pin_15 15 -200 -400 150 R 50 50 1 1 P
-X Pin_16 16 300 -400 150 L 50 50 1 1 P
-X Pin_2 2 300 300 150 L 50 50 1 1 P
-X Pin_3 3 -200 200 150 R 50 50 1 1 P
-X Pin_4 4 300 200 150 L 50 50 1 1 P
-X Pin_5 5 -200 100 150 R 50 50 1 1 P
-X Pin_6 6 300 100 150 L 50 50 1 1 P
-X Pin_7 7 -200 0 150 R 50 50 1 1 P
-X Pin_8 8 300 0 150 L 50 50 1 1 P
-X Pin_9 9 -200 -100 150 R 50 50 1 1 P
-ENDDRAW
-ENDDEF
-#
-# Device_C
-#
-DEF Device_C C 0 10 N Y 1 F N
-F0 "C" 25 100 50 H V L CNN
-F1 "Device_C" 25 -100 50 H V L CNN
-F2 "" 38 -150 50 H I C CNN
-F3 "" 0 0 50 H I C CNN
-$FPLIST
- C_*
-$ENDFPLIST
-DRAW
-P 2 0 1 20 -80 -30 80 -30 N
-P 2 0 1 20 -80 30 80 30 N
-X ~ 1 0 150 110 D 50 50 1 1 P
-X ~ 2 0 -150 110 U 50 50 1 1 P
-ENDDRAW
-ENDDEF
-#
-# Device_C_Small
-#
-DEF Device_C_Small C 0 10 N N 1 F N
-F0 "C" 10 70 50 H V L CNN
-F1 "Device_C_Small" 10 -80 50 H V L CNN
-F2 "" 0 0 50 H I C CNN
-F3 "" 0 0 50 H I C CNN
-$FPLIST
- C_*
-$ENDFPLIST
-DRAW
-P 2 0 1 13 -60 -20 60 -20 N
-P 2 0 1 12 -60 20 60 20 N
-X ~ 1 0 100 80 D 50 50 1 1 P
-X ~ 2 0 -100 80 U 50 50 1 1 P
-ENDDRAW
-ENDDEF
-#
-# Device_L
-#
-DEF Device_L L 0 40 N N 1 F N
-F0 "L" -50 0 50 V V C CNN
-F1 "Device_L" 75 0 50 V V C CNN
-F2 "" 0 0 50 H I C CNN
-F3 "" 0 0 50 H I C CNN
-$FPLIST
- Choke_*
- *Coil*
- Inductor_*
- L_*
-$ENDFPLIST
-DRAW
-A 0 -75 25 -899 899 0 1 0 N 0 -100 0 -50
-A 0 -25 25 -899 899 0 1 0 N 0 -50 0 0
-A 0 25 25 -899 899 0 1 0 N 0 0 0 50
-A 0 75 25 -899 899 0 1 0 N 0 50 0 100
-X 1 1 0 150 50 D 50 50 1 1 P
-X 2 2 0 -150 50 U 50 50 1 1 P
-ENDDRAW
-ENDDEF
-#
-# Device_LED
-#
-DEF Device_LED D 0 40 N N 1 F N
-F0 "D" 0 100 50 H V C CNN
-F1 "Device_LED" 0 -100 50 H V C CNN
-F2 "" 0 0 50 H I C CNN
-F3 "" 0 0 50 H I C CNN
-$FPLIST
- LED*
- LED_SMD:*
- LED_THT:*
-$ENDFPLIST
-DRAW
-P 2 0 1 10 -50 -50 -50 50 N
-P 2 0 1 0 -50 0 50 0 N
-P 4 0 1 10 50 -50 50 50 -50 0 50 -50 N
-P 5 0 1 0 -120 -30 -180 -90 -150 -90 -180 -90 -180 -60 N
-P 5 0 1 0 -70 -30 -130 -90 -100 -90 -130 -90 -130 -60 N
-X K 1 -150 0 100 R 50 50 1 1 P
-X A 2 150 0 100 L 50 50 1 1 P
-ENDDRAW
-ENDDEF
-#
-# Device_R
-#
-DEF Device_R R 0 0 N Y 1 F N
-F0 "R" 80 0 50 V V C CNN
-F1 "Device_R" 0 0 50 V V C CNN
-F2 "" -70 0 50 V I C CNN
-F3 "" 0 0 50 H I C CNN
-$FPLIST
- R_*
-$ENDFPLIST
-DRAW
-S -40 -100 40 100 0 1 10 N
-X ~ 1 0 150 50 D 50 50 1 1 P
-X ~ 2 0 -150 50 U 50 50 1 1 P
-ENDDRAW
-ENDDEF
-#
-# Device_Thermistor_NTC
-#
-DEF Device_Thermistor_NTC TH 0 0 N Y 1 F N
-F0 "TH" -175 0 50 V V C CNN
-F1 "Device_Thermistor_NTC" 125 0 50 V V C CNN
-F2 "" 0 50 50 H I C CNN
-F3 "" 0 50 50 H I C CNN
-$FPLIST
- *NTC*
- *Thermistor*
- PIN?ARRAY*
- bornier*
- *Terminal?Block*
- R_*
-$ENDFPLIST
-DRAW
-A -126 88 7 -265 818 0 1 0 N -120 85 -125 95
-A -110 85 10 1800 -900 0 1 0 N -120 85 -110 75
-A -110 85 10 -900 0 0 1 0 N -110 75 -100 85
-A -110 110 10 0 900 0 1 0 N -100 110 -110 120
-A -110 110 10 900 1800 0 1 0 N -110 120 -120 110
-A -110 110 10 1800 -900 0 1 0 N -120 110 -110 100
-A -104 119 20 -1075 -253 0 1 0 N -110 100 -85 110
-S -40 100 40 -100 0 1 10 N
-P 2 0 1 0 -100 85 -100 110 N
-P 4 0 1 0 -70 100 -70 60 70 -60 70 -100 N
-P 6 0 1 0 -100 -145 -100 -55 -110 -85 -90 -85 -100 -55 -100 -65 F
-P 6 0 1 0 -70 -55 -70 -145 -80 -115 -60 -115 -70 -145 -70 -135 F
-X ~ 1 0 150 50 D 50 50 1 1 P
-X ~ 2 0 -150 50 U 50 50 1 1 P
-ENDDRAW
-ENDDEF
-#
-# Diode_1N5818
-#
-DEF Diode_1N5818 D 0 40 N N 1 F N
-F0 "D" 0 100 50 H V C CNN
-F1 "Diode_1N5818" 0 -100 50 H V C CNN
-F2 "Diode_THT:D_DO-41_SOD81_P10.16mm_Horizontal" 0 -175 50 H I C CNN
-F3 "" 0 0 50 H I C CNN
-ALIAS SB130 SB140 SB150 SB160 1N5817 1N5818 1N5819
-$FPLIST
- D*DO?41*
-$ENDFPLIST
-DRAW
-P 2 0 1 0 50 0 -50 0 N
-P 4 0 1 10 50 50 50 -50 -50 0 50 50 N
-P 6 0 1 10 -75 25 -75 50 -50 50 -50 -50 -25 -50 -25 -25 N
-X K 1 -150 0 100 R 50 50 1 1 P
-X A 2 150 0 100 L 50 50 1 1 P
-ENDDRAW
-ENDDEF
-#
-# Driver_Motor_drv8313
-#
-DEF Driver_Motor_drv8313 U 0 40 Y Y 1 F N
-F0 "U" -300 50 50 H V C CNN
-F1 "Driver_Motor_drv8313" 200 50 50 H V C CNN
-F2 "" -700 0 50 H I C CNN
-F3 "" -700 0 50 H I C CNN
-DRAW
-S -450 -50 350 -1550 0 1 0 f
-X cpl 1 -550 -150 100 R 50 50 1 1 I
-X pgnd3 10 -550 -1050 100 R 50 50 1 1 I
-X vm 11 -550 -1150 100 R 50 50 1 1 I
-X compp 12 -550 -1250 100 R 50 50 1 1 I
-X compn 13 -550 -1350 100 R 50 50 1 1 I
-X gnd 14 -550 -1450 100 R 50 50 1 1 W
-X v3p3 15 450 -1450 100 L 50 50 1 1 w
-X nReset 16 450 -1350 100 L 50 50 1 1 I
-X nSleep 17 450 -1250 100 L 50 50 1 1 I
-X nFault 18 450 -1150 100 L 50 50 1 1 O
-X nCompo 19 450 -1050 100 L 50 50 1 1 I
-X cph 2 -550 -250 100 R 50 50 1 1 I
-X gnd 20 450 -950 100 L 50 50 1 1 W
-X nc 21 450 -850 100 L 50 50 1 1 I
-X en3 22 450 -750 100 L 50 50 1 1 I
-X in3 23 450 -650 100 L 50 50 1 1 I
-X en2 24 450 -550 100 L 50 50 1 1 I
-X in2 25 450 -450 100 L 50 50 1 1 I
-X en1 26 450 -350 100 L 50 50 1 1 I
-X in1 27 450 -250 100 L 50 50 1 1 I
-X gnd 28 450 -150 100 L 50 50 1 1 W
-X vcp 3 -550 -350 100 R 50 50 1 1 I
-X vm 4 -550 -450 100 R 50 50 1 1 I
-X out1 5 -550 -550 100 R 50 50 1 1 O
-X pgnd1 6 -550 -650 100 R 50 50 1 1 I
-X pgnd2 7 -550 -750 100 R 50 50 1 1 I
-X out2 8 -550 -850 100 R 50 50 1 1 O
-X out3 9 -550 -950 100 R 50 50 1 1 O
-ENDDRAW
-ENDDEF
-#
-# Interface_CAN_LIN_SN65HVD235
-#
-DEF Interface_CAN_LIN_SN65HVD235 U 0 40 Y Y 1 F N
-F0 "U" -100 400 50 H V R CNN
-F1 "Interface_CAN_LIN_SN65HVD235" -100 300 50 H V R CNN
-F2 "Package_SO:SOIC-8_3.9x4.9mm_P1.27mm" 0 -500 50 H I C CNN
-F3 "" -100 400 50 H I C CNN
-$FPLIST
- SOIC*3.9x4.9mm*P1.27mm*
-$ENDFPLIST
-DRAW
-S -300 200 300 -300 0 1 10 f
-X D 1 -400 100 100 R 50 50 1 1 I
-X GND 2 0 -400 100 U 50 50 1 1 W
-X VCC 3 0 300 100 D 50 50 1 1 W
-X R 4 -400 0 100 R 50 50 1 1 O
-X AB 5 -400 -100 100 R 50 50 1 1 I
-X CANL 6 400 -100 100 L 50 50 1 1 B
-X CANH 7 400 0 100 L 50 50 1 1 B
-X Rs 8 -400 -200 100 R 50 50 1 1 I
-ENDDRAW
-ENDDEF
-#
-# MCU_ST_STM32F4_STM32F446RETx
-#
-DEF MCU_ST_STM32F4_STM32F446RETx U 0 20 Y Y 1 F N
-F0 "U" -600 1650 50 H V L CNN
-F1 "MCU_ST_STM32F4_STM32F446RETx" 400 1650 50 H V L CNN
-F2 "Package_QFP:LQFP-64_10x10mm_P0.5mm" -600 -1700 50 H I R CNN
-F3 "" 0 0 50 H I C CNN
-ALIAS STM32F446RETx
-$FPLIST
- LQFP*10x10mm*P0.5mm*
-$ENDFPLIST
-DRAW
-S -600 -1700 600 1600 0 1 10 f
-X VBAT 1 -200 1700 100 D 50 50 1 1 W
-X PC2 10 -700 -300 100 R 50 50 1 1 B
-X PC3 11 -700 -400 100 R 50 50 1 1 B
-X VSSA 12 200 -1800 100 U 50 50 1 1 W
-X VDDA 13 300 1700 100 D 50 50 1 1 W
-X PA0 14 700 1500 100 L 50 50 1 1 B
-X PA1 15 700 1400 100 L 50 50 1 1 B
-X PA2 16 700 1300 100 L 50 50 1 1 B
-X PA3 17 700 1200 100 L 50 50 1 1 B
-X VSS 18 -200 -1800 100 U 50 50 1 1 W
-X VDD 19 -100 1700 100 D 50 50 1 1 W
-X PC13 2 -700 -1400 100 R 50 50 1 1 B
-X PA4 20 700 1100 100 L 50 50 1 1 B
-X PA5 21 700 1000 100 L 50 50 1 1 B
-X PA6 22 700 900 100 L 50 50 1 1 B
-X PA7 23 700 800 100 L 50 50 1 1 B
-X PC4 24 -700 -500 100 R 50 50 1 1 B
-X PC5 25 -700 -600 100 R 50 50 1 1 B
-X PB0 26 700 -200 100 L 50 50 1 1 B
-X PB1 27 700 -300 100 L 50 50 1 1 B
-X PB2 28 700 -400 100 L 50 50 1 1 B
-X PB10 29 700 -1200 100 L 50 50 1 1 B
-X PC14 3 -700 -1500 100 R 50 50 1 1 B
-X VCAP_1 30 -700 1100 100 R 50 50 1 1 W
-X VSS 31 -100 -1800 100 U 50 50 1 1 W
-X VDD 32 0 1700 100 D 50 50 1 1 W
-X PB12 33 700 -1300 100 L 50 50 1 1 B
-X PB13 34 700 -1400 100 L 50 50 1 1 B
-X PB14 35 700 -1500 100 L 50 50 1 1 B
-X PB15 36 700 -1600 100 L 50 50 1 1 B
-X PC6 37 -700 -700 100 R 50 50 1 1 B
-X PC7 38 -700 -800 100 R 50 50 1 1 B
-X PC8 39 -700 -900 100 R 50 50 1 1 B
-X PC15 4 -700 -1600 100 R 50 50 1 1 B
-X PC9 40 -700 -1000 100 R 50 50 1 1 B
-X PA8 41 700 700 100 L 50 50 1 1 B
-X PA9 42 700 600 100 L 50 50 1 1 B
-X PA10 43 700 500 100 L 50 50 1 1 B
-X PA11 44 700 400 100 L 50 50 1 1 B
-X PA12 45 700 300 100 L 50 50 1 1 B
-X PA13 46 700 200 100 L 50 50 1 1 B
-X VSS 47 0 -1800 100 U 50 50 1 1 W
-X VDD 48 100 1700 100 D 50 50 1 1 W
-X PA14 49 700 100 100 L 50 50 1 1 B
-X PH0 5 -700 400 100 R 50 50 1 1 I
-X PA15 50 700 0 100 L 50 50 1 1 B
-X PC10 51 -700 -1100 100 R 50 50 1 1 B
-X PC11 52 -700 -1200 100 R 50 50 1 1 B
-X PC12 53 -700 -1300 100 R 50 50 1 1 B
-X PD2 54 -700 100 100 R 50 50 1 1 B
-X PB3 55 700 -500 100 L 50 50 1 1 B
-X PB4 56 700 -600 100 L 50 50 1 1 B
-X PB5 57 700 -700 100 L 50 50 1 1 B
-X PB6 58 700 -800 100 L 50 50 1 1 B
-X PB7 59 700 -900 100 L 50 50 1 1 B
-X PH1 6 -700 300 100 R 50 50 1 1 I
-X BOOT0 60 -700 1300 100 R 50 50 1 1 I
-X PB8 61 700 -1000 100 L 50 50 1 1 B
-X PB9 62 700 -1100 100 L 50 50 1 1 B
-X VSS 63 100 -1800 100 U 50 50 1 1 W
-X VDD 64 200 1700 100 D 50 50 1 1 W
-X NRST 7 -700 1500 100 R 50 50 1 1 I
-X PC0 8 -700 -100 100 R 50 50 1 1 B
-X PC1 9 -700 -200 100 R 50 50 1 1 B
-ENDDRAW
-ENDDEF
-#
-# Mechanical_MountingHole_Pad
-#
-DEF Mechanical_MountingHole_Pad H 0 40 N N 1 F N
-F0 "H" 0 250 50 H V C CNN
-F1 "Mechanical_MountingHole_Pad" 0 175 50 H V C CNN
-F2 "" 0 0 50 H I C CNN
-F3 "" 0 0 50 H I C CNN
-$FPLIST
- MountingHole*Pad*
-$ENDFPLIST
-DRAW
-C 0 50 50 0 1 50 N
-X 1 1 0 -100 100 U 50 50 1 1 I
-ENDDRAW
-ENDDEF
-#
-# Regulator_Switching_LM2594HVM-3.3
-#
-DEF Regulator_Switching_LM2594HVM-3.3 U 0 20 Y Y 1 F N
-F0 "U" -300 250 50 H V L CNN
-F1 "Regulator_Switching_LM2594HVM-3.3" 0 250 50 H V L CNN
-F2 "Package_SO:SOIC-8_3.9x4.9mm_P1.27mm" 200 -250 50 H I L CIN
-F3 "" 0 100 50 H I C CNN
-ALIAS LM2594M-5.0 LM2594M-12 LM2594M-ADJ LM2594HVM-3.3 LM2594HVM-5.0 LM2594HVM-12 LM2594HVM-ADJ
-$FPLIST
- SOIC*3.9x4.9mm*
-$ENDFPLIST
-DRAW
-S -300 200 300 -200 0 1 10 f
-X NC 1 -200 -300 100 U 50 50 1 1 P
-X NC 2 -100 -300 100 U 50 50 1 1 P
-X NC 3 0 -300 100 U 50 50 1 1 P
-X FB 4 400 100 100 L 50 50 1 1 I
-X ~ON~/OFF 5 -400 0 100 R 50 50 1 1 I
-X GND 6 200 -300 100 U 50 50 1 1 W
-X VIN 7 -400 100 100 R 50 50 1 1 W
-X OUT 8 400 0 100 L 50 50 1 1 O
-ENDDRAW
-ENDDEF
-#
-# Sensor_Magnetic_AS5045B
-#
-DEF Sensor_Magnetic_AS5045B U 0 20 Y Y 1 F N
-F0 "U" -400 450 50 H V L CNN
-F1 "Sensor_Magnetic_AS5045B" 450 450 50 H V R CNN
-F2 "Package_SO:SSOP-16_5.3x6.2mm_P0.65mm" 150 -450 50 H I L CNN
-F3 "" -2150 1600 50 H I C CNN
-$FPLIST
- SSOP*5.3x6.2mm*P0.65mm*
-$ENDFPLIST
-DRAW
-A 0 0 110 -1799 -1 0 1 10 N -110 0 110 0
-C 0 0 80 0 1 10 N
-S -400 400 400 -400 0 1 10 f
-P 2 0 1 10 -110 0 -130 -20 N
-P 2 0 1 10 -110 0 -90 -20 N
-P 2 0 1 10 110 0 90 -20 N
-P 2 0 1 10 110 0 130 -20 N
-P 4 0 1 0 10 10 50 -30 30 -50 -10 -10 N
-P 7 0 1 0 -30 50 10 10 -10 -10 -50 30 -40 40 -30 50 -25 45 F
-X MagINCn 1 -500 -200 100 R 50 50 1 1 C
-X CLK 10 500 100 100 L 50 50 1 1 I
-X CSn 11 500 0 100 L 50 50 1 1 I
-X PWM 12 500 -300 100 L 50 50 1 1 O
-X NC 13 400 -200 100 L 50 50 1 1 N N
-X NC 14 100 -400 100 U 50 50 1 1 N N
-X VDD3V3 15 -100 500 100 D 50 50 1 1 W
-X VDD5V 16 0 500 100 D 50 50 1 1 W
-X MagDECn 2 -500 -300 100 R 50 50 1 1 C
-X A 3 -500 300 100 R 50 50 1 1 O
-X B 4 -500 200 100 R 50 50 1 1 O
-X NC 5 400 -100 100 L 50 50 1 1 N N
-X I 6 -500 100 100 R 50 50 1 1 O
-X VSS 7 0 -500 100 U 50 50 1 1 W
-X PDIO 8 500 300 100 L 50 50 1 1 I
-X DO 9 500 200 100 L 50 50 1 1 O
-ENDDRAW
-ENDDEF
-#
-# kicad_Library_PROGRAMMATOR
-#
-DEF kicad_Library_PROGRAMMATOR xp 0 40 Y Y 1 F N
-F0 "xp" -350 900 50 H V C CNN
-F1 "kicad_Library_PROGRAMMATOR" -400 200 50 H V C CNN
-F2 "Connector_IDC:IDC-Header_2x05_P2.54mm_Vertical" -350 900 50 H I C CNN
-F3 "" -350 900 50 H I C CNN
-DRAW
-S -700 800 50 300 0 1 0 f
-X GND 1 -800 750 100 R 50 50 1 1 P
-X +5V 10 150 350 100 L 50 50 1 1 w
-X +3V 2 150 750 100 L 50 50 1 1 w
-X RESET 3 -800 650 100 R 50 50 1 1 I
-X BOOT 4 150 650 100 L 50 50 1 1 I
-X RX 5 -800 550 100 R 50 50 1 1 I
-X TX 6 150 550 100 L 50 50 1 1 O
-X SWDCLK 7 -800 450 100 R 50 50 1 1 I
-X SWDDTA 8 150 450 100 L 50 50 1 1 B
-X GND 9 -800 350 100 R 50 50 1 1 P
-ENDDRAW
-ENDDEF
-#
-# power_+24V
-#
-DEF power_+24V #PWR 0 0 Y Y 1 F P
-F0 "#PWR" 0 -150 50 H I C CNN
-F1 "power_+24V" 0 140 50 H V C CNN
-F2 "" 0 0 50 H I C CNN
-F3 "" 0 0 50 H I C CNN
-DRAW
-P 2 0 1 0 -30 50 0 100 N
-P 2 0 1 0 0 0 0 100 N
-P 2 0 1 0 0 100 30 50 N
-X +24V 1 0 0 0 U 50 50 1 1 W N
-ENDDRAW
-ENDDEF
-#
-# power_+3.3V
-#
-DEF power_+3.3V #PWR 0 0 Y Y 1 F P
-F0 "#PWR" 0 -150 50 H I C CNN
-F1 "power_+3.3V" 0 140 50 H V C CNN
-F2 "" 0 0 50 H I C CNN
-F3 "" 0 0 50 H I C CNN
-ALIAS +3.3V
-DRAW
-P 2 0 1 0 -30 50 0 100 N
-P 2 0 1 0 0 0 0 100 N
-P 2 0 1 0 0 100 30 50 N
-X +3V3 1 0 0 0 U 50 50 1 1 W N
-ENDDRAW
-ENDDEF
-#
-# power_GND
-#
-DEF power_GND #PWR 0 0 Y Y 1 F P
-F0 "#PWR" 0 -250 50 H I C CNN
-F1 "power_GND" 0 -150 50 H V C CNN
-F2 "" 0 0 50 H I C CNN
-F3 "" 0 0 50 H I C CNN
-DRAW
-P 6 0 1 0 0 0 0 -50 50 -50 0 -100 -50 -50 0 -50 N
-X GND 1 0 0 0 D 50 50 1 1 W N
-ENDDRAW
-ENDDEF
-#
-#End Library

controller/fw/README.md

@@ -0,0 +1,68 @@
+# 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]

controller/fw/bootloader/.clang-tidy

@@ -0,0 +1 @@
+Checks: '-*, -misc-definitions-in-headers' 

controller/fw/bootloader/.clangd

@@ -0,0 +1,18 @@
+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,
+    ]

controller/fw/bootloader/.gitignore

@@ -3,3 +3,7 @@
 .vscode/c_cpp_properties.json
 .vscode/launch.json
 .vscode/ipch
+.cache/
+.metadata/
+cubemx_config/
+compile_commands.json

controller/fw/bootloader/check_gcc_version.py

@@ -0,0 +1,19 @@
+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}")

controller/fw/bootloader/gen_compile_commands.py

@@ -0,0 +1,8 @@
+import os
+Import("env")
+
+# include toolchain paths
+env.Replace(COMPILATIONDB_INCLUDE_TOOLCHAIN=True)
+
+# override compilation DB path
+env.Replace(COMPILATIONDB_PATH="compile_commands.json")

controller/fw/bootloader/hex_compile.py

@@ -0,0 +1,11 @@
+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))
+) 

controller/fw/bootloader/include/flash.h

@@ -0,0 +1,86 @@
+#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_ */

controller/fw/bootloader/include/hal_conf_extra.h

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

controller/fw/bootloader/include/reg_cah.h

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

controller/fw/bootloader/platformio.ini

@@ -16,6 +16,16 @@ board = genericSTM32F446RE
 framework = arduino
 upload_protocol = stlink
 debug_tool = stlink
-monitor_speed = 115200
+monitor_speed = 19200
 monitor_parity = N
-lib_deps = askuric/Simple FOC@^2.3.2
+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

controller/fw/bootloader/src/flash.cpp

@@ -0,0 +1,272 @@
+#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;
+}
+
+

controller/fw/bootloader/src/main.cpp

@@ -0,0 +1,171 @@
+#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);
+    }
+}

controller/fw/bootloader/test/firmware_can.py

@@ -0,0 +1,141 @@
+import can
+import sys
+import time
+from intelhex import IntelHex
+# Конфигурация
+CAN_CHANNEL = 'socketcan'
+CAN_INTERFACE = 'can0'
+CAN_BITRATE = 1000000
+#ch =int(input("Введите id устройства:"))
+ch = int(sys.argv[2])
+BOOT_CAN_ID = (ch * 16) + 1
+DATA_CAN_ID = (ch * 16) + 3 
+BOOT_CAN_END = (ch * 16) + 2
+ACK_CAN_ID = 0x05
+
+#конфиг для crc16 ibm
+
+
+
+def debug_print(msg):
+    print(f"[DEBUG] {msg}")
+
+def calculate_crc16(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])

controller/fw/bootloader/test/firmware_update_flag.py

@@ -0,0 +1,70 @@
+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)

controller/fw/bootloader/test/st-link.py

@@ -0,0 +1,78 @@
+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)

controller/fw/bootloader/test/st-link_full.py

@@ -0,0 +1,100 @@
+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)

controller/fw/embed/.clang-tidy

@@ -0,0 +1 @@
+Checks: '-*, -misc-definitions-in-headers' 

controller/fw/embed/.clangd

@@ -0,0 +1,18 @@
+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,
+    ]

controller/fw/embed/.gitignore

@@ -0,0 +1,10 @@
+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch
+.cache/
+.metadata/
+cubemx_config/
+compile_commands.json
+../embed.rar

controller/fw/embed/check_gcc_version.py

@@ -0,0 +1,19 @@
+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}")

controller/fw/embed/cubemx_config.ioc

@@ -0,0 +1,299 @@
+#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

controller/fw/embed/custom_script.ld

@@ -0,0 +1,178 @@
+/**
+ ******************************************************************************
+ * @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) }
+}

controller/fw/embed/gen_compile_commands.py

@@ -0,0 +1,8 @@
+import os
+Import("env")
+
+# include toolchain paths
+env.Replace(COMPILATIONDB_INCLUDE_TOOLCHAIN=True)
+
+# override compilation DB path
+env.Replace(COMPILATIONDB_PATH="compile_commands.json")

controller/fw/embed/hex_compile.py

@@ -0,0 +1,10 @@
+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")
+) 

controller/fw/embed/include/config.h

@@ -0,0 +1,31 @@
+#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);

controller/fw/embed/include/flash.h

@@ -0,0 +1,86 @@
+#ifndef FLASH_H_
+#define FLASH_H_
+#include "stm32f446xx.h"
+#include <stdio.h>
+#include <stdlib.h>
+
+/*      for addr in FLASH     */
+
+/*      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
+#define PARAM_COUNT 5             // count data in flash
+#define FIRMWARE_FLAG   (uint32_t)0xDEADBEEF
+// Flash sectors for STM32F407
+
+#define SECTOR_2     0x08008000  // 16KB
+#define SECTOR_3     0x0800C000  // 16KB
+#define SECTOR_4     0x08010000  // 64KB
+#define SECTOR_5     0x08020000  // 128KB
+#define SECTOR_6     0x08040000  // 128KB
+#define SECTOR_6_END (SECTOR_6 + 128 * 1024) // sector 6 end
+#define SECTOR_7     0x08060000  // 128KB
+
+
+#define FLAG_BOOT    (0x08040000 + 4)
+// Flash keys for unlocking flash memory
+#define BYTE32           0
+#define BYTE8            1
+#define UPDATE_FLAG     0xDEADBEEF  // Unique 32bit value
+//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))
+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);
+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_ */

controller/fw/embed/include/hal_conf_extra.h

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

controller/fw/embed/include/process_can.h

@@ -0,0 +1,27 @@
+#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);

controller/fw/embed/include/reg_cah.h

@@ -0,0 +1,48 @@
+#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
+#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_

controller/fw/embed/lib/AS5045/AS5045.cpp

@@ -0,0 +1,44 @@
+#include "AS5045.h"
+
+
+MagneticSensorAS5045::MagneticSensorAS5045(uint16_t as5040_cs, uint16_t as5040_mosi, uint16_t as5040_miso,
+                                           uint16_t as5040_sclk): AS5040_CS_(as5040_cs),
+                                                                  AS5040_MOSI_(as5040_mosi),
+                                                                  AS5040_MISO_(as5040_miso),
+                                                                  AS5040_SCLK_(as5040_sclk),
+                                                                  spi(nullptr),
+                                                                  settings(AS5145SSISettings) {
+}
+
+MagneticSensorAS5045::~MagneticSensorAS5045() = default;
+
+auto MagneticSensorAS5045::init(SPIClass *_spi) -> void {
+    this->spi = _spi;
+    settings = AS5145SSISettings;
+    pinMode(AS5040_CS_, OUTPUT);
+    pinMode(AS5040_MISO_, INPUT);
+    pinMode(AS5040_MOSI_, OUTPUT);
+    pinMode(AS5040_SCLK_, OUTPUT);
+
+    spi->setMISO(AS5040_MISO_);
+    spi->setMOSI(AS5040_MOSI_);
+    spi->setSCLK(AS5040_SCLK_);
+    spi->begin();
+    this->Sensor::init();
+}
+
+float MagneticSensorAS5045::getSensorAngle() {
+    float angle_data = readRawAngleSSI();
+    angle_data = (static_cast<float>(angle_data) / AS5045_CPR) * _2PI;
+    return angle_data;
+}
+
+uint16_t MagneticSensorAS5045::readRawAngleSSI() const {
+    spi->beginTransaction(settings);
+    digitalWrite(AS5040_CS_, LOW);
+    uint16_t value = spi->transfer16(0x0000);
+    digitalWrite(AS5040_CS_, HIGH);
+    spi->endTransaction();
+    delayMicroseconds(30);
+    return (value >> 3) & 0x1FFF;  // TODO(vanyabeat): Add error checking MAGNETIC OWERFLOW and etc.
+}

controller/fw/embed/lib/AS5045/AS5045.h

@@ -0,0 +1,32 @@
+#pragma once
+
+#include "SimpleFOC.h"
+#include "SPI.h"
+
+#ifndef MSBFIRST
+#define MSBFIRST BitOrder::MSBFIRST
+#endif
+
+#define AS5045_BITORDER MSBFIRST
+#define AS5045_CPR 4096.0f
+#define _2PI 6.28318530718f
+
+static SPISettings AS5145SSISettings(1000000, AS5045_BITORDER, SPI_MODE0);
+
+class MagneticSensorAS5045 final: public Sensor {
+ public:
+    MagneticSensorAS5045(uint16_t as5040_cs, uint16_t as5040_mosi, uint16_t as5040_miso, uint16_t as5040_sclk);
+
+    virtual ~MagneticSensorAS5045();
+
+    float getSensorAngle() override;
+
+    virtual void init(SPIClass *_spi = &SPI);
+
+    [[nodiscard]] uint16_t readRawAngleSSI() const;
+
+ private:
+    uint16_t AS5040_CS_, AS5040_MOSI_, AS5040_MISO_, AS5040_SCLK_;
+    SPIClass *spi;
+    SPISettings settings;
+};

controller/fw/embed/lib/AS5045/library.properties

@@ -0,0 +1,10 @@
+name=AS5045
+version=1.0.1
+author=vanyabeat <vanyabeat@protonmail.com>
+maintainer=vanyabeat <vanyabeat@protonmail.com>
+sentence=Simple library to work with AS5040 and Simple FOC (for Robotroller in Robosemmbler) Fork from https://github.com/runger1101001 
+paragraph=Simple library to work with AS5040 and Simple FOC and simple library intended for hobby comunity to run the AS5040 magnetic sensor using FOC algorithm. It is intended to support as many BLDC/Stepper motor+sensor+driver combinations as possible and in the same time maintain simplicity of usage. Library supports Arudino devices such as Arduino UNO, MEGA, NANO and similar, stm32 boards such as Nucleo and Bluepill, ESP32 and Teensy boards.
+category=Device Control
+url=https://docs.simplefoc.com
+architectures=*
+includes=SimpleFOC.h

controller/fw/embed/lib/DRV8313/DRV8313.cpp

@@ -0,0 +1,42 @@
+#include "DRV8313.h"
+
+DRV8313Driver::DRV8313Driver(int phA, int phB, int phC, int en1, int en2, int en3, int slp, int rst,
+                             int flt) : BLDCDriver3PWM(phA, phB, phC, en1, en2, en3), slp_pin(slp), rst_pin(rst),
+                                        flt_pin(flt) {
+}
+
+int DRV8313Driver::init() {
+    // Get state from flt pin
+    if (_isset(flt_pin)) {
+        pinMode(flt_pin, INPUT);
+        if (digitalRead(flt_pin) == HIGH) {
+            // if the fault pin is high the driver is in fault state
+            // reset the driver
+            if (_isset(rst_pin)) {
+                pinMode(rst_pin, OUTPUT);
+                digitalWrite(rst_pin, LOW);
+                delay(1);
+                digitalWrite(rst_pin, HIGH);
+                delay(1);
+            }
+        }
+    }
+    return BLDCDriver3PWM::init();
+}
+
+void DRV8313Driver::enable() {
+    // Enable the driver
+    if (_isset(slp_pin)) {
+        pinMode(slp_pin, OUTPUT);
+        digitalWrite(slp_pin, HIGH);
+    }
+    BLDCDriver3PWM::enable();
+}
+
+void DRV8313Driver::disable() {
+    if (_isset(slp_pin)) {
+        pinMode(slp_pin, OUTPUT);
+        digitalWrite(slp_pin, LOW);
+    }
+    BLDCDriver3PWM::disable();
+}

controller/fw/embed/lib/DRV8313/DRV8313.h

@@ -0,0 +1,20 @@
+#pragma once
+
+#include "SimpleFOC.h"
+
+class DRV8313Driver : public BLDCDriver3PWM {
+ public:
+    DRV8313Driver(int phA, int phB, int phC, int en1 = NOT_SET, int en2 = NOT_SET, int en3 = NOT_SET, int slp = NOT_SET,
+                  int rst = NOT_SET, int flt = NOT_SET);
+
+    int init() override;
+
+    void enable() override;
+
+    void disable() override;
+
+ private:
+    int slp_pin;
+    int rst_pin;
+    int flt_pin;
+};

controller/fw/embed/lib/DRV8313/library.properties

@@ -0,0 +1,10 @@
+name=DRV8313 Simple FOC
+version=1.0.0
+author=vanyabeat <vanyabeat@protonmail.com>
+maintainer=vanyabeat <vanyabeat@protonmail.com>
+sentence=Simple library to work with DRV8313 and Simple FOC (for Robotroller in Robosemmbler)
+paragraph=Simple library to work with DRV8313 and Simple FOC and simple library intended for hobby comunity to run the BLDC and Stepper motor using FOC algorithm. It is intended to support as many BLDC/Stepper motor+sensor+driver combinations as possible and in the same time maintain simplicity of usage. Library supports Arudino devices such as Arduino UNO, MEGA, NANO and similar, stm32 boards such as Nucleo and Bluepill, ESP32 and Teensy boards.
+category=Device Control
+url=https://docs.simplefoc.com
+architectures=*
+includes=SimpleFOC.h

controller/fw/embed/platformio.ini

@@ -0,0 +1,24 @@
+[env:robotroller_reborn]
+platform = ststm32
+board = genericSTM32F446RE
+framework = arduino
+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 = 
+    -D STM32F446xx
+    -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

controller/fw/embed/src/config.cpp

@@ -0,0 +1,75 @@
+#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();
+}

controller/fw/embed/src/flash.cpp

@@ -0,0 +1,251 @@
+#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;
+}
+
+
+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++)
+        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_7;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
+}
+
+
+
+
+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;
+}
+
+

controller/fw/embed/src/main.cpp

@@ -0,0 +1,115 @@
+#include "Arduino.h"
+#include "stm32f446xx.h"
+#include <SimpleFOC.h>
+#include <STM32_CAN.h>
+#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;
+uint8_t flag_can = 0;
+uint32_t flash_error;
+FLASH_EraseInitTypeDef pEraseInit;
+uint32_t SectorError;
+
+
+/* bool for test CAN    */
+volatile bool CAN_GET = false;
+
+volatile float kt = 0.1;  // Torque calculation constant
+
+FLASH_RECORD* flash_rec;
+
+
+SPIClass spi;
+MagneticSensorAS5045 encoder(AS5045_CS, AS5045_MOSI, AS5045_MISO, AS5045_SCLK);
+
+BLDCMotor motor(POLE_PAIRS);
+
+DRV8313Driver driver(TIM1_CH1, TIM1_CH2, TIM1_CH3, EN_W_GATE_DRIVER,
+                     EN_U_GATE_DRIVER, EN_V_GATE_DRIVER, SLEEP_DRIVER,
+                     RESET_DRIVER, FAULT_DRIVER);
+LowsideCurrentSense current_sense(0.01, 10.0, CURRENT_SENSOR_1,
+                                  CURRENT_SENSOR_2, CURRENT_SENSOR_3);
+
+// Commander command(Serial);
+
+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 setup(){
+  SCB->VTOR = (volatile uint32_t)0x08008004;
+  
+  Serial.setRx(HARDWARE_SERIAL_RX_PIN);
+  Serial.setTx(HARDWARE_SERIAL_TX_PIN);
+  Serial.begin(115200);
+
+  pinMode(PC11, OUTPUT);
+  pinMode(PC10,OUTPUT);
+  GPIOC->ODR &= ~GPIO_ODR_OD10;
+  // Can.enableMBInterrupts();
+  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
+  motor.torque_controller = TorqueControlType::foc_current;
+  motor.controller = MotionControlType::torque;
+  __enable_irq();
+  
+}
+
+
+
+void loop() {
+  __enable_irq();
+  foc_step(&motor);
+  CAN_message_t msg;
+  
+  // Process incoming CAN messages
+  while (Can.read(msg)) {
+    listen_can(msg);
+    CAN_GET = true;
+  }
+  /*  If receive data from  CAN */
+  if(CAN_GET) {
+
+    CAN_GET = false;
+  }
+}
+

controller/fw/embed/src/process_can.cpp

@@ -0,0 +1,245 @@
+#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;
+      }
+    }
+  }
+}

controller/fw/embed/test/README.md

@@ -0,0 +1,86 @@
+# CAN Communication Scripts
+
+This repository contains Python scripts for testing and interacting with a CAN bus system. These scripts enable sending and receiving CAN messages to control a motor, set angles, and adjust velocities.
+
+## Prerequisites
+
+1. **Python 3.7+** installed on your system.
+2. **`python-can` library** installed. Install it via pip:
+   ```bash
+   pip install python-can
+   ```
+3. **SocketCAN interface** properly configured on your Linux system. The default channel is `can0`.
+
+## Usage
+
+### 1. Receiving CAN Messages
+
+The script `python_can.py` listens to the CAN bus and processes incoming messages.
+
+#### Run:
+```bash
+python3 python_can.py
+```
+
+#### Features:
+- Processes messages with data length 5.
+- Parses the first byte (`flag`) to determine the type:
+  - `'A'`: Angle (float).
+  - `'V'`: Velocity (float).
+  - `'E'`: Enable/disable status (boolean).
+
+### 2. Enabling or Disabling the Motor
+
+The script `python_enable_motor.py` sends commands to enable or disable the motor.
+
+#### Run:
+```bash
+python3 python_enable_motor.py <0|1>
+```
+
+#### Arguments:
+- `0`: Disable the motor.
+- `1`: Enable the motor.
+
+### 3. Sending Target Angle
+
+The script `python_send_angle.py` sends a target angle to the CAN bus.
+
+#### Run:
+```bash
+python3 python_send_angle.py
+```
+
+#### Behavior:
+- Sends a message with a predefined target angle every second.
+- Adjust the target angle in the script (`target_angle` variable).
+
+### 4. Sending Target Velocity
+
+The script `python_send_velocity.py` sends a target velocity to the CAN bus.
+
+#### Run:
+```bash
+python3 python_send_velocity.py
+```
+
+#### Behavior:
+- Sends a message with a predefined target velocity every second.
+- Adjust the target velocity in the script (`target_speed` variable).
+
+## Configuration
+
+### CAN Interface
+The scripts use the following default CAN bus settings:
+- **Channel**: `can0`
+- **Bitrate**: `1 Mbps`
+
+If your configuration differs, update the `Bus()` initialization in the scripts.
+
+## Troubleshooting
+
+1. **"Error initializing CAN bus"**:
+   - Ensure your CAN interface is correctly configured and active:
+     ```bash
+     sudo ip link set can0 up type can bitrate 1000000
+     ```

controller/fw/embed/test/enable_motor.py

@@ -0,0 +1,54 @@
+import can
+import sys
+
+# Function to send the motor enable/disable command
+def send_motor_enable(bus, enable):
+    """
+    Sends a command to enable or disable the motor.
+
+    :param bus: The CAN bus
+    :param enable: 1 to enable the motor, 0 to disable it
+    """
+    msg = can.Message()
+    msg.arbitration_id = 1  # Message ID
+    msg.is_extended_id = False
+    msg.dlc = 2  # Message length (flag + 1 byte of data)
+    msg.data = [ord('E'), enable]  # 'E' for the command, followed by 0 or 1
+
+    try:
+        bus.send(msg)
+        state = "enabled" if enable else "disabled"
+        print(f"Sent message to {state} motor")
+        print(f"Message data: {msg.data}")
+    except can.CanError as e:
+        print(f"Message failed to send: {e}")
+        sys.exit(1)  # Exit the program on failure
+
+def main():
+    # CAN interface setup
+    bus = None  # Define outside the try block for proper shutdown
+    try:
+        bus = can.interface.Bus(channel='can0', bustype='socketcan', bitrate=1000000)  # Ensure the bitrate matches the microcontroller settings
+        print("CAN bus initialized.")
+
+        # Ensure the state is passed via arguments
+        if len(sys.argv) != 2 or sys.argv[1] not in ['0', '1']:
+            print("Usage: python3 script_name.py <0|1>")
+            print("0 - Disable motor, 1 - Enable motor")
+            sys.exit(1)
+
+        enable = int(sys.argv[1])
+        send_motor_enable(bus, enable)
+
+    except Exception as e:
+        print(f"Error initializing CAN bus: {e}")
+        sys.exit(1)
+
+    finally:
+        # Ensure the bus is properly shut down
+        if bus is not None:
+            bus.shutdown()
+            print("CAN bus shut down.")
+
+if __name__ == '__main__':
+    main()

controller/fw/embed/test/firmware_can.py

@@ -0,0 +1,141 @@
+import can
+import sys
+import time
+from intelhex import IntelHex
+# Конфигурация
+CAN_CHANNEL = 'socketcan'
+CAN_INTERFACE = 'can0'
+CAN_BITRATE = 1000000
+#ch =int(input("Введите id устройства:"))
+ch = int(sys.argv[2])
+BOOT_CAN_ID = (ch * 16) + 1
+DATA_CAN_ID = (ch * 16) + 3 
+BOOT_CAN_END = (ch * 16) + 2
+ACK_CAN_ID = 0x05
+
+#конфиг для crc16 ibm
+
+
+
+def debug_print(msg):
+    print(f"[DEBUG] {msg}")
+
+def calculate_crc16(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])

controller/fw/embed/test/firmware_update_flag.py

@@ -0,0 +1,70 @@
+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)

controller/fw/embed/test/pid_p.py

@@ -0,0 +1,103 @@
+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()

controller/fw/embed/test/python_test_id.py

@@ -0,0 +1,115 @@
+import can
+import time
+
+# Конфигурация
+CAN_INTERFACE = 'can0'
+OLD_DEVICE_ID = 0x00
+NEW_DEVICE_ID = 0x69
+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=2.0):
+    """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(0.5)
+
+# ======= 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:
+        received_crc = int.from_bytes(data[-2:], byteorder='little')
+        print("Полученный CRC: ", received_crc)
+        # Расчет CRC по всему пакету без CRC
+        calc_crc = validate_crc16(data[:-2])
+        if received_crc == calc_crc:
+            if data[0] == 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()

controller/fw/embed/test/readPID_angle_parametrs.py

@@ -0,0 +1,126 @@
+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()

controller/fw/embed/test/read_angle.py

@@ -0,0 +1,98 @@
+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()

controller/fw/embed/test/read_id.py

@@ -0,0 +1,108 @@
+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)

controller/fw/embed/test/send_angle.py

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

controller/fw/embed/test/send_velocity.py

@@ -0,0 +1,76 @@
+import can
+import struct
+import time
+import sys
+
+# Function to send the target speed
+def send_target_speed(bus, target_speed):
+    msg = can.Message()
+    msg.arbitration_id = 1  # Message ID
+    msg.is_extended_id = False
+    msg.dlc = 5  # Message length
+    msg.data = bytearray([ord('V')] + list(struct.pack('<f', target_speed)))  # 'V' for the command identifier, followed by the speed in float format
+
+    try:
+        bus.send(msg)
+        print(f"Sent message with target speed: {target_speed} rad/s")
+    except can.CanError:
+        print("Message failed to send")
+
+# Function to send the motor enable/disable command
+def send_motor_enable(bus, enable):
+    """
+    Sends a command to enable or disable the motor.
+    
+    :param bus: The CAN bus
+    :param enable: 1 to enable the motor, 0 to disable it
+    """
+    msg = can.Message()
+    msg.arbitration_id = 1  # Message ID
+    msg.is_extended_id = False
+    msg.dlc = 2  # Message length (flag + 1 byte of data)
+    msg.data = bytearray([ord('E'), enable])  # 'E' for the command, followed by 0 or 1
+
+    try:
+        bus.send(msg)
+        state = "enabled" if enable else "disabled"
+        print(f"Sent message to {state} motor")
+    except can.CanError as e:
+        print(f"Message failed to send: {e}")
+        sys.exit(1)  # Exit the program on failure
+
+    send_target_speed(bus,0.0)
+
+def main():
+    # CAN interface setup
+    bus = None  # Define outside the try block for proper shutdown
+    try:
+        bus = can.interface.Bus(channel='COM4', bustype='slcan', bitrate=1000000)  # Ensure the bitrate matches the microcontroller settings
+        print("CAN bus initialized.")
+
+        while True:
+            user_input = input("Enter target speed: ")
+            if user_input.lower() == 'exit':
+                print("Exiting...")
+                break
+            try:
+                target_speed = float(user_input)
+                send_target_speed(bus, target_speed)
+            except ValueError:
+                print("Invalid input. Please enter a valid number.")
+
+        # Disable motor before exiting
+        send_motor_enable(bus, 0)
+        print("Motor disabled.")
+    
+    except Exception as e:
+        print(f"Error initializing1 CAN bus: {e}")
+        sys.exit(1)
+
+    finally:
+        if bus is not None:
+            bus.shutdown()
+            print("CAN bus shut down.")
+
+if __name__ == '__main__':
+    main()

controller/fw/embed/test/send_velocity_impulses.py

@@ -0,0 +1,35 @@
+import can
+import struct
+import time
+
+# Function to send the target speed
+def send_target_speed(bus, target_speed):
+    msg = can.Message()
+    msg.arbitration_id = 1  # Message ID
+    msg.is_extended_id = False
+    msg.dlc = 5  # Message length
+    msg.data = [ord('V')] + list(struct.pack('<f', target_speed))  # 'V' for the command identifier, followed by the speed in float format
+
+    try:
+        bus.send(msg)
+        print(f"Sent message with target speed: {target_speed} m/s")
+        print(f"Message data: {msg.data}")
+    except can.CanError:
+        print("Message failed to send")
+
+# Main function
+def main():
+    # 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 speed impulses...")
+
+    # Send impulses of target speed from -2 to 2 m/s
+    target_speeds = [-1, 1]
+
+    while True:
+        for speed in target_speeds:
+            send_target_speed(bus, speed)
+            time.sleep(1)  # 1-second delay between messages
+
+if __name__ == '__main__':
+    main()

controller/fw/embed/test/set_id.py

@@ -0,0 +1,124 @@
+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)

controller/fw/embed/test/st-link.py

@@ -0,0 +1,78 @@
+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)

controller/fw/embed/test/st-link_full.py

@@ -0,0 +1,100 @@
+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)

controller/fw/embed/test/writePID_angle_parametrs.py

@@ -0,0 +1,95 @@
+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()

controller/fw/embed/test/write_pidP.py

@@ -0,0 +1,122 @@
+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()

controller/fw/test/bring_up_can.sh

@@ -0,0 +1,4 @@
+#!/bin/bash
+
+ip link set can0 type can bitrate 1000000
+ip link set up can0

controller/fw/test/send_can.sh

@@ -0,0 +1,34 @@
+#!/bin/bash
+
+# Read 8 byte ascii from $1 and send it to CAN bus
+
+# <can_id>:
+#  3 (SFF) or 8 (EFF) hex chars
+# {data}:
+#  0..8 (0..64 CAN FD) ASCII hex-values (optionally separated by '.')
+# {len}:
+#  an optional 0..8 value as RTR frames can contain a valid dlc field
+# <flags>:
+#  a single ASCII Hex value (0 .. F) which defines canfd_frame.flags
+
+can_id=$1
+input=$2
+
+if [[ ${#input} -gt 8 ]]; then
+  echo "Error: Input string must be no longer than 8 characters."
+  exit 1
+fi
+
+hex_output=""
+for (( i=0; i<${#input}; i++ )); do
+  hex_char=$(printf "%02x" "'${input:$i:1}")
+  hex_output+="${hex_char}"
+done
+
+hex_output=$(printf "%-16s" "$hex_output")
+hex_output=${hex_output// /0}
+
+can_id=$(printf "%03X" $can_id)
+
+cansend can0 $can_id#$hex_output
+

controller/fw/test/test_driver.sh

@@ -0,0 +1,30 @@
+#!/bin/bash
+
+
+/bin/bash $(pwd)/send_can.sh 1 E0
+
+/bin/bash $(pwd)/send_can.sh 1 E1
+
+/bin/bash $(pwd)/send_can.sh 1 C2
+
+/bin/bash $(pwd)/send_can.sh 1 1
+sleep 1
+/bin/bash $(pwd)/send_can.sh 1 -1
+sleep 1
+/bin/bash $(pwd)/send_can.sh 1 -1
+sleep 1
+/bin/bash $(pwd)/send_can.sh 1 2
+sleep 1
+/bin/bash $(pwd)/send_can.sh 1 C1
+sleep 1
+/bin/bash $(pwd)/send_can.sh 1 0.5
+sleep 5
+/bin/bash $(pwd)/send_can.sh 1 2
+sleep 5
+/bin/bash $(pwd)/send_can.sh 1 5
+sleep 5
+/bin/bash $(pwd)/send_can.sh 1 -5
+sleep 5
+/bin/bash $(pwd)/send_can.sh 1 20
+sleep 5
+/bin/bash $(pwd)/send_can.sh 1 E0

controller/hw/motor_controller_50mm.kicad_prl

@@ -67,7 +67,7 @@
       39,
       40
     ],
-    "visible_layers": "0003ef3_80000001",
+    "visible_layers": "0001010_00000001",
     "zone_display_mode": 0
   },
   "git": {

controller/hw/motor_controller_50mm.kicad_pro

@@ -74,6 +74,7 @@
         "footprint_type_mismatch": "ignore",
         "hole_clearance": "error",
         "hole_near_hole": "error",
+        "holes_co_located": "warning",
         "invalid_outline": "error",
         "isolated_copper": "warning",
         "item_on_disabled_layer": "error",
@@ -830,7 +831,7 @@
       "plot": "",
       "pos_files": "",
       "specctra_dsn": "",
-      "step": "",
+      "step": "../../../../motor_controller_50mm_new.step",
       "svg": "",
       "vrml": ""
     },

controller/hw/motor_controller_50mm.kicad_sch

@@ -1698,6 +1698,188 @@
 				)
 			)
 		)
+		(symbol "Device:L_45deg"
+			(pin_numbers hide)
+			(pin_names
+				(offset 0)
+			)
+			(exclude_from_sim no)
+			(in_bom yes)
+			(on_board yes)
+			(property "Reference" "L"
+				(at 5.08 2.54 0)
+				(effects
+					(font
+						(size 1.27 1.27)
+					)
+				)
+			)
+			(property "Value" "L_45deg"
+				(at 8.255 0.635 0)
+				(effects
+					(font
+						(size 1.27 1.27)
+					)
+				)
+			)
+			(property "Footprint" ""
+				(at 0 1.778 0)
+				(effects
+					(font
+						(size 1.27 1.27)
+					)
+					(hide yes)
+				)
+			)
+			(property "Datasheet" "~"
+				(at 0 0 0)
+				(effects
+					(font
+						(size 1.27 1.27)
+					)
+					(hide yes)
+				)
+			)
+			(property "Description" "Inductor, rotated by 45°"
+				(at 0 0 0)
+				(effects
+					(font
+						(size 1.27 1.27)
+					)
+					(hide yes)
+				)
+			)
+			(property "ki_keywords" "inductor choke coil reactor magnetic inductor"
+				(at 0 0 0)
+				(effects
+					(font
+						(size 1.27 1.27)
+					)
+					(hide yes)
+				)
+			)
+			(property "ki_fp_filters" "L_* Choke_* Inductor_* *Coil*"
+				(at 0 0 0)
+				(effects
+					(font
+						(size 1.27 1.27)
+					)
+					(hide yes)
+				)
+			)
+			(symbol "L_45deg_0_1"
+				(polyline
+					(pts
+						(xy -1.27 1.27) (xy -2.54 2.54)
+					)
+					(stroke
+						(width 0)
+						(type default)
+					)
+					(fill
+						(type none)
+					)
+				)
+				(polyline
+					(pts
+						(xy 2.54 -2.54) (xy 1.27 -1.27)
+					)
+					(stroke
+						(width 0)
+						(type default)
+					)
+					(fill
+						(type none)
+					)
+				)
+			)
+			(symbol "L_45deg_1_1"
+				(arc
+					(start -0.635 0.635)
+					(mid -0.6462 1.2588)
+					(end -1.27 1.27)
+					(stroke
+						(width 0.254)
+						(type default)
+					)
+					(fill
+						(type none)
+					)
+				)
+				(arc
+					(start 0 0)
+					(mid -0.0062 0.6288)
+					(end -0.635 0.635)
+					(stroke
+						(width 0.254)
+						(type default)
+					)
+					(fill
+						(type none)
+					)
+				)
+				(arc
+					(start 0.635 -0.635)
+					(mid 0.6256 -0.0094)
+					(end 0 0)
+					(stroke
+						(width 0.254)
+						(type default)
+					)
+					(fill
+						(type none)
+					)
+				)
+				(arc
+					(start 1.27 -1.27)
+					(mid 1.265 -0.6449)
+					(end 0.635 -0.635)
+					(stroke
+						(width 0.254)
+						(type default)
+					)
+					(fill
+						(type none)
+					)
+				)
+				(pin passive line
+					(at 2.54 -2.54 180)
+					(length 0)
+					(name "~"
+						(effects
+							(font
+								(size 1.27 1.27)
+							)
+						)
+					)
+					(number "1"
+						(effects
+							(font
+								(size 1.27 1.27)
+							)
+						)
+					)
+				)
+				(pin passive line
+					(at -2.54 2.54 0)
+					(length 0)
+					(name "~"
+						(effects
+							(font
+								(size 1.27 1.27)
+							)
+						)
+					)
+					(number "2"
+						(effects
+							(font
+								(size 1.27 1.27)
+							)
+						)
+					)
+				)
+			)
+		)
 		(symbol "Device:R"
 			(pin_numbers hide)
 			(pin_names
@@ -5801,6 +5983,12 @@
 		(color 0 0 0 0)
 		(uuid "38c69b4b-311f-4415-bc2b-099aa87991af")
 	)
+	(junction
+		(at 494.03 129.54)
+		(diameter 0)
+		(color 0 0 0 0)
+		(uuid "3c3925ae-53c6-4627-a632-7235c4c3d314")
+	)
 	(junction
 		(at 444.5 59.69)
 		(diameter 0)
@@ -5957,6 +6145,12 @@
 		(color 0 0 0 0)
 		(uuid "8e9280c1-6aad-409b-ab8c-fc916265b5a7")
 	)
+	(junction
+		(at 491.49 170.18)
+		(diameter 0)
+		(color 0 0 0 0)
+		(uuid "912cec1e-3504-4dab-af40-a2051d7e2b14")
+	)
 	(junction
 		(at 452.12 82.55)
 		(diameter 0)
@@ -6095,6 +6289,12 @@
 		(color 0 0 0 0)
 		(uuid "daced859-6ad5-4317-9265-02c3cecd416a")
 	)
+	(junction
+		(at 538.48 156.21)
+		(diameter 0)
+		(color 0 0 0 0)
+		(uuid "de67082a-0c22-40de-aba0-22d35d21b2a0")
+	)
 	(junction
 		(at 251.46 217.17)
 		(diameter 0)
@@ -6119,6 +6319,12 @@
 		(color 0 0 0 0)
 		(uuid "e44a3bdd-f73e-4b73-870d-ae5fe4c397d3")
 	)
+	(junction
+		(at 492.76 204.47)
+		(diameter 0)
+		(color 0 0 0 0)
+		(uuid "e49f204d-811f-47b8-9089-30926b942c82")
+	)
 	(junction
 		(at 452.12 252.73)
 		(diameter 0)
@@ -6623,6 +6829,16 @@
 		)
 		(uuid "12c8b6b8-0ec1-418a-96fd-ecc53ba0f0e2")
 	)
+	(wire
+		(pts
+			(xy 529.59 129.54) (xy 494.03 129.54)
+		)
+		(stroke
+			(width 0)
+			(type default)
+		)
+		(uuid "131897dc-1113-4984-a5ce-952d8bbc32c0")
+	)
 	(wire
 		(pts
 			(xy 302.26 209.55) (xy 293.37 209.55)
@@ -6783,16 +6999,6 @@
 		)
 		(uuid "19f5f9d0-f4c4-4fb3-831f-a835e286c514")
 	)
-	(wire
-		(pts
-			(xy 477.52 170.18) (xy 477.52 166.37)
-		)
-		(stroke
-			(width 0)
-			(type default)
-		)
-		(uuid "1a0eb7da-427d-44c5-beec-e15045cbfcf4")
-	)
 	(wire
 		(pts
 			(xy 257.81 217.17) (xy 251.46 217.17)
@@ -7153,6 +7359,16 @@
 		)
 		(uuid "331eed92-469f-4f1a-9fb1-c511733f970f")
 	)
+	(wire
+		(pts
+			(xy 492.76 204.47) (xy 557.53 204.47)
+		)
+		(stroke
+			(width 0)
+			(type default)
+		)
+		(uuid "3331a88b-8771-4acb-93d8-d5b5d12b509c")
+	)
 	(wire
 		(pts
 			(xy 91.44 227.33) (xy 102.87 227.33)
@@ -7333,16 +7549,6 @@
 		)
 		(uuid "42ff8e11-5385-4e53-833a-ed6690e3c7b4")
 	)
-	(wire
-		(pts
-			(xy 538.48 166.37) (xy 477.52 166.37)
-		)
-		(stroke
-			(width 0)
-			(type default)
-		)
-		(uuid "43939165-d654-477e-abf6-b227efb47edc")
-	)
 	(wire
 		(pts
 			(xy 72.39 85.09) (xy 72.39 86.36)
@@ -7473,6 +7679,16 @@
 		)
 		(uuid "489f12ba-0516-485d-b390-2b8057334cee")
 	)
+	(wire
+		(pts
+			(xy 491.49 170.18) (xy 491.49 165.1)
+		)
+		(stroke
+			(width 0)
+			(type default)
+		)
+		(uuid "48e4f759-7e02-4489-a52b-61062183fd2a")
+	)
 	(wire
 		(pts
 			(xy 74.93 226.06) (xy 74.93 227.33)
@@ -7565,7 +7781,7 @@
 	)
 	(wire
 		(pts
-			(xy 541.02 129.54) (xy 473.71 129.54)
+			(xy 494.03 129.54) (xy 473.71 129.54)
 		)
 		(stroke
 			(width 0)
@@ -7613,6 +7829,16 @@
 		)
 		(uuid "517f8daf-c5f6-4af9-9e9a-09f74e435e2f")
 	)
+	(wire
+		(pts
+			(xy 494.03 125.73) (xy 494.03 129.54)
+		)
+		(stroke
+			(width 0)
+			(type default)
+		)
+		(uuid "52c23abf-b547-4af9-8321-5664a1f210aa")
+	)
 	(wire
 		(pts
 			(xy 232.41 276.86) (xy 246.38 276.86)
@@ -7865,7 +8091,7 @@
 	)
 	(wire
 		(pts
-			(xy 473.71 204.47) (xy 539.75 204.47)
+			(xy 473.71 204.47) (xy 492.76 204.47)
 		)
 		(stroke
 			(width 0)
@@ -7893,6 +8119,16 @@
 		)
 		(uuid "628bee6b-7a77-4cb3-bfaf-07aed46650ae")
 	)
+	(wire
+		(pts
+			(xy 529.59 156.21) (xy 529.59 129.54)
+		)
+		(stroke
+			(width 0)
+			(type default)
+		)
+		(uuid "630dcdcc-49da-4c8d-9571-f34acc6bae57")
+	)
 	(bus
 		(pts
 			(xy 220.98 204.47) (xy 220.98 209.55)
@@ -7903,6 +8139,16 @@
 		)
 		(uuid "6345ef14-1a4f-48d6-8976-01b4e285752a")
 	)
+	(wire
+		(pts
+			(xy 557.53 151.13) (xy 557.53 204.47)
+		)
+		(stroke
+			(width 0)
+			(type default)
+		)
+		(uuid "638d166b-cc36-46a1-af86-4c79d6f49283")
+	)
 	(wire
 		(pts
 			(xy 273.05 176.53) (xy 273.05 201.93)
@@ -7945,7 +8191,7 @@
 	)
 	(wire
 		(pts
-			(xy 449.58 170.18) (xy 477.52 170.18)
+			(xy 449.58 170.18) (xy 491.49 170.18)
 		)
 		(stroke
 			(width 0)
@@ -8943,6 +9189,16 @@
 		)
 		(uuid "aa4e3a64-ffd4-4e66-970a-18769d5adffc")
 	)
+	(wire
+		(pts
+			(xy 543.56 170.18) (xy 491.49 170.18)
+		)
+		(stroke
+			(width 0)
+			(type default)
+		)
+		(uuid "abeb8355-1328-406b-a38d-882ec82a98b3")
+	)
 	(wire
 		(pts
 			(xy 414.02 74.93) (xy 414.02 67.31)
@@ -9143,6 +9399,16 @@
 		)
 		(uuid "b918ac10-e4f8-4a8f-85fb-36ff88c13d94")
 	)
+	(wire
+		(pts
+			(xy 537.21 156.21) (xy 538.48 156.21)
+		)
+		(stroke
+			(width 0)
+			(type default)
+		)
+		(uuid "ba205271-d477-42a1-abd3-37b456c8da80")
+	)
 	(wire
 		(pts
 			(xy 363.22 275.59) (xy 345.44 275.59)
@@ -9483,6 +9749,16 @@
 		)
 		(uuid "cef48e73-7ce1-434a-98f7-61657d3eb2ae")
 	)
+	(wire
+		(pts
+			(xy 492.76 198.12) (xy 492.76 204.47)
+		)
+		(stroke
+			(width 0)
+			(type default)
+		)
+		(uuid "cf8014a1-1465-427b-8aba-35391164e6fc")
+	)
 	(wire
 		(pts
 			(xy 447.04 252.73) (xy 452.12 252.73)
@@ -9643,6 +9919,16 @@
 		)
 		(uuid "d7a57e91-b375-4e4f-b835-986426db8ec8")
 	)
+	(wire
+		(pts
+			(xy 543.56 161.29) (xy 543.56 170.18)
+		)
+		(stroke
+			(width 0)
+			(type default)
+		)
+		(uuid "d85642a9-17d0-4b91-aabe-6c2fc083baf8")
+	)
 	(wire
 		(pts
 			(xy 293.37 186.69) (xy 293.37 187.96)
@@ -9923,6 +10209,16 @@
 		)
 		(uuid "e755e3d6-0c8b-4ced-9c22-61f984a7cbf6")
 	)
+	(wire
+		(pts
+			(xy 557.53 151.13) (xy 543.56 151.13)
+		)
+		(stroke
+			(width 0)
+			(type default)
+		)
+		(uuid "e79dee28-b3b3-4a43-ac0a-bf6df4e09611")
+	)
 	(wire
 		(pts
 			(xy 144.78 250.19) (xy 144.78 254)
@@ -10285,7 +10581,7 @@
 		(uuid "01986c87-ea3d-4d13-ab1b-41513d003f0b")
 	)
 	(label "W"
-		(at 534.67 204.47 0)
+		(at 487.68 204.47 0)
 		(fields_autoplaced yes)
 		(effects
 			(font
@@ -10362,7 +10658,7 @@
 		(uuid "11c42e64-6f65-485f-8bb6-aa79d85eec4c")
 	)
 	(label "V"
-		(at 534.67 166.37 0)
+		(at 487.68 170.18 0)
 		(fields_autoplaced yes)
 		(effects
 			(font
@@ -10483,7 +10779,7 @@
 		(uuid "291e0bbb-a369-45ac-a2b4-c46768878b78")
 	)
 	(label "U"
-		(at 534.67 129.54 0)
+		(at 487.68 129.54 0)
 		(fields_autoplaced yes)
 		(effects
 			(font
@@ -18333,7 +18629,7 @@
 	)
 	(symbol
 		(lib_id "Mechanical:MountingHole_Pad")
-		(at 541.02 127 0)
+		(at 494.03 123.19 0)
 		(unit 1)
 		(exclude_from_sim no)
 		(in_bom no)
@@ -18341,7 +18637,7 @@
 		(dnp yes)
 		(uuid "00000000-0000-0000-0000-0000653d28e0")
 		(property "Reference" "U1"
-			(at 543.56 125.7554 0)
+			(at 496.57 121.9454 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -18350,7 +18646,7 @@
 			)
 		)
 		(property "Value" "MountingHole_Pad"
-			(at 543.56 128.0668 0)
+			(at 496.57 124.2568 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -18359,7 +18655,7 @@
 			)
 		)
 		(property "Footprint" "Connector_Pin:Pin_D1.0mm_L10.0mm_LooseFit"
-			(at 541.02 127 0)
+			(at 494.03 123.19 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -18368,7 +18664,7 @@
 			)
 		)
 		(property "Datasheet" "~"
-			(at 541.02 127 0)
+			(at 494.03 123.19 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -18377,7 +18673,7 @@
 			)
 		)
 		(property "Description" ""
-			(at 541.02 127 0)
+			(at 494.03 123.19 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -18386,7 +18682,7 @@
 			)
 		)
 		(property "manf#" ""
-			(at 541.02 127 0)
+			(at 494.03 123.19 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -18408,7 +18704,7 @@
 	)
 	(symbol
 		(lib_id "Mechanical:MountingHole_Pad")
-		(at 538.48 163.83 0)
+		(at 491.49 162.56 0)
 		(unit 1)
 		(exclude_from_sim no)
 		(in_bom no)
@@ -18416,7 +18712,7 @@
 		(dnp yes)
 		(uuid "00000000-0000-0000-0000-0000653d3012")
 		(property "Reference" "V1"
-			(at 541.02 162.5854 0)
+			(at 494.03 161.3154 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -18425,7 +18721,7 @@
 			)
 		)
 		(property "Value" "MountingHole_Pad"
-			(at 541.02 164.8968 0)
+			(at 494.03 163.6268 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -18434,7 +18730,7 @@
 			)
 		)
 		(property "Footprint" "Connector_Pin:Pin_D1.0mm_L10.0mm_LooseFit"
-			(at 538.48 163.83 0)
+			(at 491.49 162.56 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -18443,7 +18739,7 @@
 			)
 		)
 		(property "Datasheet" "~"
-			(at 538.48 163.83 0)
+			(at 491.49 162.56 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -18452,7 +18748,7 @@
 			)
 		)
 		(property "Description" ""
-			(at 538.48 163.83 0)
+			(at 491.49 162.56 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -18461,7 +18757,7 @@
 			)
 		)
 		(property "manf#" ""
-			(at 538.48 163.83 0)
+			(at 491.49 162.56 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -18483,7 +18779,7 @@
 	)
 	(symbol
 		(lib_id "Mechanical:MountingHole_Pad")
-		(at 539.75 201.93 0)
+		(at 492.76 195.58 0)
 		(unit 1)
 		(exclude_from_sim no)
 		(in_bom no)
@@ -18491,7 +18787,7 @@
 		(dnp yes)
 		(uuid "00000000-0000-0000-0000-0000653d37ec")
 		(property "Reference" "W1"
-			(at 542.29 200.6854 0)
+			(at 495.3 194.3354 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -18500,7 +18796,7 @@
 			)
 		)
 		(property "Value" "MountingHole_Pad"
-			(at 542.29 202.9968 0)
+			(at 495.3 196.6468 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -18509,7 +18805,7 @@
 			)
 		)
 		(property "Footprint" "Connector_Pin:Pin_D1.0mm_L10.0mm_LooseFit"
-			(at 539.75 201.93 0)
+			(at 492.76 195.58 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -18518,7 +18814,7 @@
 			)
 		)
 		(property "Datasheet" "~"
-			(at 539.75 201.93 0)
+			(at 492.76 195.58 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -18527,7 +18823,7 @@
 			)
 		)
 		(property "Description" ""
-			(at 539.75 201.93 0)
+			(at 492.76 195.58 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -18536,7 +18832,7 @@
 			)
 		)
 		(property "manf#" ""
-			(at 539.75 201.93 0)
+			(at 492.76 195.58 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -21762,6 +22058,142 @@
 			)
 		)
 	)
+	(symbol
+		(lib_id "Device:L_45deg")
+		(at 541.02 153.67 270)
+		(unit 1)
+		(exclude_from_sim no)
+		(in_bom no)
+		(on_board no)
+		(dnp no)
+		(uuid "414532b0-b634-4d81-abe5-90c945c529d7")
+		(property "Reference" "L3"
+			(at 537.972 152.146 90)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(justify left)
+			)
+		)
+		(property "Value" "W phase"
+			(at 532.13 149.098 90)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(justify left)
+			)
+		)
+		(property "Footprint" ""
+			(at 542.798 153.67 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(hide yes)
+			)
+		)
+		(property "Datasheet" "~"
+			(at 541.02 153.67 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(hide yes)
+			)
+		)
+		(property "Description" "Inductor, rotated by 45°"
+			(at 541.02 153.67 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(hide yes)
+			)
+		)
+		(pin "2"
+			(uuid "4a632bdf-e756-46eb-941c-f58fd80e98e3")
+		)
+		(pin "1"
+			(uuid "17b77971-ccbe-481b-877c-946830eed99d")
+		)
+		(instances
+			(project "motor_controller_50mm"
+				(path "/59b011af-aa16-42e7-b91d-08a229fb46fa"
+					(reference "L3")
+					(unit 1)
+				)
+			)
+		)
+	)
+	(symbol
+		(lib_id "Device:L_45deg")
+		(at 541.02 158.75 0)
+		(unit 1)
+		(exclude_from_sim no)
+		(in_bom no)
+		(on_board no)
+		(dnp no)
+		(uuid "4eabbd4a-6c11-4ea7-8989-8483bd98ba8d")
+		(property "Reference" "L2"
+			(at 543.306 157.48 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+			)
+		)
+		(property "Value" "V phase"
+			(at 548.132 160.02 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+			)
+		)
+		(property "Footprint" ""
+			(at 541.02 156.972 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(hide yes)
+			)
+		)
+		(property "Datasheet" "~"
+			(at 541.02 158.75 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(hide yes)
+			)
+		)
+		(property "Description" "Inductor, rotated by 45°"
+			(at 541.02 158.75 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(hide yes)
+			)
+		)
+		(pin "2"
+			(uuid "776dd402-6d5f-4f41-91cd-2bc6e7fc011f")
+		)
+		(pin "1"
+			(uuid "3c053b4f-708b-42a8-b44e-eb3af9e5b717")
+		)
+		(instances
+			(project "motor_controller_50mm"
+				(path "/59b011af-aa16-42e7-b91d-08a229fb46fa"
+					(reference "L2")
+					(unit 1)
+				)
+			)
+		)
+	)
 	(symbol
 		(lib_id "power:PWR_FLAG")
 		(at 459.74 260.35 0)
@@ -21905,6 +22337,82 @@
 			)
 		)
 	)
+	(symbol
+		(lib_id "Device:L")
+		(at 533.4 156.21 270)
+		(unit 1)
+		(exclude_from_sim no)
+		(in_bom no)
+		(on_board no)
+		(dnp no)
+		(uuid "e7b14cdd-3622-4f1b-8924-d25672ba9c64")
+		(property "Reference" "L4"
+			(at 534.924 158.75 90)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+			)
+		)
+		(property "Value" "U phase"
+			(at 532.13 161.29 90)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+			)
+		)
+		(property "Footprint" ""
+			(at 533.4 156.21 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(hide yes)
+			)
+		)
+		(property "Datasheet" "~"
+			(at 533.4 156.21 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(hide yes)
+			)
+		)
+		(property "Description" "Inductor"
+			(at 533.4 156.21 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(hide yes)
+			)
+		)
+		(property "manf#" ""
+			(at 533.4 156.21 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(hide yes)
+			)
+		)
+		(pin "2"
+			(uuid "7391295e-60fe-480b-a2a3-fb8adfadf916")
+		)
+		(pin "1"
+			(uuid "cac3d900-3342-48bc-864c-71133a60c7e5")
+		)
+		(instances
+			(project "motor_controller_50mm"
+				(path "/59b011af-aa16-42e7-b91d-08a229fb46fa"
+					(reference "L4")
+					(unit 1)
+				)
+			)
+		)
+	)
 	(symbol
 		(lib_id "power:PWR_FLAG")
 		(at 251.46 217.17 0)

firmware/lib/AS5040/AS5040.cpp

@@ -1,36 +0,0 @@
-#include "AS5040.h"
-
-AS5040Sensor::AS5040Sensor(uint16_t cs, uint16_t mosi, uint16_t miso, uint16_t sck) {
-    cs_ = cs;
-    mosi_ = mosi;
-    miso_ = miso;
-    sck_ = sck;
-}
-void AS5040Sensor::init(SPIClass *_spi) {
-    spi = _spi;
-    // 1MHz clock (AMS should be able to accept up to 10MHz)
-    settings = SPISettings(1000000, MSBFIRST, SPI_MODE0);
-    //setup pins
-    pinMode(cs_, OUTPUT);
-    pinMode(miso_, INPUT);
-    pinMode(mosi_, OUTPUT);
-    pinMode(sck_, OUTPUT);
-    spi->setMISO(miso_);
-    spi->setMOSI(mosi_);
-    spi->setSCLK(sck_);
-    spi->begin();
-    this->Sensor::init(); // call base class init
-}
-
-float AS5040Sensor::getSensorAngle() {
-    //SPI - begin transaction
-    spi->beginTransaction(settings);
-    //Send the command
-    digitalWrite(cs_, LOW);
-    uint16_t data = spi->transfer16(0x3FFF);
-    digitalWrite(cs_,HIGH);
-//SPI - end transaction
-    spi->endTransaction();
-    data = (data) >> 5;
-    return (float)data * _2PI / cpr;
-}

firmware/lib/AS5040/AS5040.h

@@ -1,26 +0,0 @@
-#pragma once
-
-#include "SimpleFOC.h"
-
-
-class AS5040Sensor : public Sensor {
-public:
-
-    AS5040Sensor(uint16_t cs, uint16_t mosi, uint16_t miso, uint16_t sck);
-
-    /** sensor initialise pins */
-    void init(SPIClass *_spi = &SPI);
-
-    // implementation of abstract functions of the Sensor class
-    /** get current angle (rad) */
-    float getSensorAngle() override;
-
-private:
-    uint16_t cs_ = 0;
-    uint16_t mosi_ = 0;
-    uint16_t miso_ = 0;
-    uint16_t sck_ = 0;
-    float cpr = 1024;
-    SPISettings settings;
-    SPIClass *spi;
-};

firmware/src/main.cpp

@@ -1,122 +0,0 @@
-#include <AS5040.h>
-#include <Arduino.h>
-#include <SPI.h>
-#include <SimpleFOC.h>
-
-#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 AS5040_CS PB15
-#define AS5040_MISO PB14
-#define AS5040_MOSI PC1
-#define AS5040_SCLK PB10
-#define CURRENT_SENSOR_1 PB1 // INA180A
-#define CURRENT_SENSOR_2 PB0
-#define CURRENT_SENSOR_3 PC5
-#pragma endregion
-// simple foc debug mode
-#define DEBUG_SIMPLE_FOC
-
-// Init AS5040
-AS5040Sensor sensor(AS5040_CS, AS5040_MOSI, AS5040_MISO, AS5040_SCLK);
-// Init iPower 6208
-BLDCMotor motor = BLDCMotor(16);
-// Init 3PWM driver DRV8313
-BLDCDriver3PWM driver = BLDCDriver3PWM(PA8, PA9, PA10, PC6, PA11, PA12);
-
-// Init current sense
-InlineCurrentSense current_sense = InlineCurrentSense(
-    0.0263, 100, CURRENT_SENSOR_2, CURRENT_SENSOR_1, CURRENT_SENSOR_3);
-// Init UART Commander
-Commander command = Commander(Serial);
-void doMotor(char *cmd) { command.motor(&motor, cmd); }
-
-void setup() {
-  SimpleFOCDebug::enable(&Serial);
-  // Setup hardware serial
-  Serial.setRx(HARDWARE_SERIAL_RX_PIN);
-  Serial.setTx(HARDWARE_SERIAL_TX_PIN);
-  Serial.begin(115200);
-  // Init pins
-  pinMode(PC8, OUTPUT);
-  pinMode(PC9, OUTPUT);
-  pinMode(PA11, OUTPUT);
-  pinMode(PA12, OUTPUT);
-  pinMode(PA10, OUTPUT);
-  pinMode(PC6, OUTPUT);
-  pinMode(PA8, OUTPUT);
-  pinMode(PA9, OUTPUT);
-  pinMode(PA10, OUTPUT);
-  // end init pins
-  digitalWrite(PC8, HIGH);
-  digitalWrite(PC9, HIGH);
-  delay(1);
-  digitalWrite(PA11, HIGH);
-  digitalWrite(PA12, HIGH);
-  digitalWrite(PC6, HIGH);
-
-  sensor.init();
-  motor.linkSensor(&sensor);
-
-  driver.pwm_frequency = 20000;
-  driver.voltage_power_supply = 20;
-  driver.voltage_limit = 20;
-  driver.init();
-  motor.linkDriver(&driver);
-  current_sense.linkDriver(&driver);
-  motor.controller = MotionControlType::angle;
-  motor.torque_controller = TorqueControlType::foc_current;
-  motor.foc_modulation = FOCModulationType::SinePWM;
-  motor.voltage_limit = 20;
-  motor.velocity_limit = 20;
-  motor.useMonitoring(Serial);
-  motor.init();
-  current_sense.init();
-  motor.linkCurrentSense(&current_sense);
-  motor.torque_controller = TorqueControlType::foc_current;
-  motor.controller = MotionControlType::angle;
-  motor.motion_downsample = 0.0;
-  motor.PID_velocity.P = 0.5;
-  motor.PID_velocity.I = 10.0;
-  motor.PID_velocity.D = 0.0;
-  motor.PID_velocity.output_ramp = 1000.0;
-  motor.PID_velocity.limit = 2.0;
-  motor.LPF_velocity.Tf = 0.005;
-  motor.P_angle.P = 0.5;
-  motor.P_angle.I = 10;
-  motor.P_angle.D = 1;
-  motor.P_angle.output_ramp = 0.0;
-  motor.P_angle.limit = 20.0;
-  motor.LPF_angle.Tf = 0.0;
-  motor.PID_current_q.P = 3.0;
-  motor.PID_current_q.I = 300.0;
-  motor.PID_current_q.D = 0.0;
-  motor.PID_current_q.output_ramp = 0.0;
-  motor.PID_current_q.limit = 12.0;
-  motor.LPF_current_q.Tf = 0.005;
-  motor.PID_current_d.P = 3.0;
-  motor.PID_current_d.I = 300.0;
-  motor.PID_current_d.D = 0.0;
-  motor.PID_current_d.output_ramp = 0.0;
-  motor.PID_current_d.limit = 12.0;
-  motor.LPF_current_d.Tf = 0.005;
-  motor.velocity_limit = 20.0;
-  motor.voltage_limit = 20.0;
-  motor.current_limit = 2.0;
-  motor.sensor_offset = 0.0;
-  motor.phase_resistance = 3.608;
-  motor.foc_modulation = FOCModulationType::SinePWM;
-  motor.modulation_centered = 1.0;
-  command.add('M', doMotor, "motor");
-  motor.useMonitoring(Serial);
-  _delay(1000);
-}
-
-void loop() {
-  motor.loopFOC();
-  motor.move();
-  motor.monitor();
-  command.run();
-}

firmware/test/README

@@ -1,11 +0,0 @@
-
-This directory is intended for PlatformIO Test Runner and project tests.
-
-Unit Testing is a software testing method by which individual units of
-source code, sets of one or more MCU program modules together with associated
-control data, usage procedures, and operating procedures, are tested to
-determine whether they are fit for use. Unit testing finds problems early
-in the development cycle.
-
-More information about PlatformIO Unit Testing:
-- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html

motor/README.md

@@ -0,0 +1,19 @@
+## Описание директорий и файлов
+
+```[motor]
+├── parts/                                # Детали моторов
+│   ├── 53mm/                             # Детали для 53мм мотора с пластиковым ротором
+│   ├── 53mm_metal/                       # Детали для 53мм мотора с металлическим ротором
+│   ├── 72mm/                             # Детали для 72мм мотора с пластиковым ротором
+│   ├── 72mm_metal/                       # Детали для 72мм мотора с металлическим ротором
+│   ├── magnetic_parts_dxf/               # Файлы для лазерной резки деталей металлических статоров
+│   └── сommon_parts/                     # Детали общие для разных моторов
+├── _asm_53mm_metall_motor.SLDASM         # Сборка мотора 53мм с металлическим ротором
+├── _asm_53mm_motor.SLDASM                # Сборка мотора 53мм с пластиковым ротором
+├── _asm_72mm_metall_motor.SLDASM         # Сборка мотора 72мм с металлическим ротором
+└── _asm_72mm_motor.SLDASM                # Сборка мотора 72мм с пластиковым ротором
+```
+
+Важно, что каждая сборка использует файлы из разных папок.
+Поэтому, для открытия, необходимо скачать все папки.
+