101 lines
2.9 KiB
Python
101 lines
2.9 KiB
Python
import can
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import time
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from intelhex import IntelHex
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from crc import Calculator, Crc16
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# Конфигурация CAN
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CAN_CHANNEL = 'socketcan'
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CAN_INTERFACE = 'can0'
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CAN_BITRATE = 1000000
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# Параметры из заголовочного файла
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BOOT_CAN_ID = 0x721
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DATA_CAN_ID = 0x730
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BOOT_CAN_END = 0x722
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ACK_CAN_ID = 0x723
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# Конфигурация CRC16
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CRC16_POLYNOMIAL = 0x8005 # Стандартный полином CRC-16-IBM
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CRC16_INIT = 0xFFFF
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def send_firmware(hex_file):
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bus = can.interface.Bus(channel='can0',
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bustype='socketcan')
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# Чтение и преобразование HEX-файла
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ih = IntelHex(hex_file)
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binary_data = ih.tobinarray()
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fw_size = len(binary_data)
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# Расчет CRC16
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# calculator = Calculator(Crc16.CCITT, optimize=True)
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fw_crc = 0x6933
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# Отправка команды START
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start_data = bytearray([0x01])
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start_data += fw_size.to_bytes(4, 'little')
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start_data += fw_crc.to_bytes(2, 'little') # 2 байта для CRC16
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start_msg = can.Message(
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arbitration_id=BOOT_CAN_ID,
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data=start_data,
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is_extended_id=False
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)
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bus.send(start_msg)
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# Ожидание подтверждения
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ack = wait_for_ack(bus)
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if not ack or ack.data[0] != 0x01:
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print("Ошибка инициализации!")
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bus.shutdown()
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return
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# Отправка данных
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packet_size = 8
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for i in range(0, len(binary_data), packet_size):
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chunk = binary_data[i:i+packet_size]
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chunk += b'\x00' * (8 - len(chunk))
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data_msg = can.Message(
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arbitration_id=DATA_CAN_ID,
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data=chunk,
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is_extended_id=False
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)
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bus.send(data_msg)
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ack = wait_for_ack(bus)
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if not ack or ack.data[0] != 0x02:
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print("Ошибка передачи данных!")
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break
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progress = (i + len(chunk)) / fw_size * 100
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print(f"\rПрогресс: {progress:.1f}%", end='')
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# Завершение передачи
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finish_msg = can.Message(
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arbitration_id=BOOT_CAN_END,
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data=[0xAA],
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is_extended_id=False
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)
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bus.send(finish_msg)
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ack = wait_for_ack(bus, timeout=5)
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if ack and ack.data[0] == 0xAA:
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print("\nПрошивка успешно загружена!")
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else:
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print("\nОшибка верификации!")
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bus.shutdown()
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def wait_for_ack(bus, timeout=1.0):
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start_time = time.time()
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while time.time() - start_time < timeout:
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msg = bus.recv(timeout=0.1)
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if msg and msg.arbitration_id == ACK_CAN_ID:
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return msg
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return None
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if __name__ == "__main__":
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import sys
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if len(sys.argv) != 2:
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print("Использование: python can_flasher.py firmware.hex")
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sys.exit(1)
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