First

2026-07-27 15:09:32 +03:00
commit fa89c89fbe
21 changed files with 1043 additions and 0 deletions
@@ -0,0 +1,124 @@
+#!/usr/bin/env python3
+
+import serial
+import struct
+import threading
+import time
+
+PORT = "/dev/ttyACM0"
+BAUDRATE = 115200
+
+COMMAND_PREFIX = 0x69
+
+COMMAND_ERROR = 0
+COMMAND_ACK = 1
+COMMAND_NACK = 2
+LED = 3
+
+DEVICE_ID = 0
+
+
+def calculate_crc(msg: bytes) -> int:
+    s = sum(msg) & 0xFF
+    return (-s) & 0xFF
+
+
+def make_packet(command: int, data: bytes = b"") -> bytes:
+    length = len(data)
+
+    pkt = bytearray()
+    pkt.append(COMMAND_PREFIX)
+    pkt.append(length)
+    pkt.append(DEVICE_ID)
+    pkt.append(command)
+    pkt.append(0)              # CRC placeholder
+    pkt.extend(data)
+
+    pkt[4] = calculate_crc(pkt[:4] + pkt[5:])
+
+    return bytes(pkt)
+
+
+def verify_crc(packet: bytes) -> bool:
+    crc = packet[4]
+    calc = calculate_crc(packet[:4] + packet[5:])
+    return crc == calc
+
+
+def packet_size(buf: bytes):
+    if len(buf) < 2:
+        return None
+    return 5 + buf[1]
+
+
+def reader(ser):
+    rx = bytearray()
+
+    while True:
+        data = ser.read(64)
+        if not data:
+            continue
+
+        rx.extend(data)
+
+        while rx:
+            # Binary packet?
+            if rx[0] == COMMAND_PREFIX:
+                size = packet_size(rx)
+                if size is None or len(rx) < size:
+                    break
+
+                pkt = bytes(rx[:size])
+                del rx[:size]
+
+                if not verify_crc(pkt):
+                    print("RX: Bad CRC:", pkt.hex())
+                    continue
+
+                length = pkt[1]
+                dev_id = pkt[2]
+                cmd = pkt[3]
+
+                if cmd == COMMAND_ACK:
+                    print(f"<-- ACK (device={dev_id})")
+
+                elif cmd == COMMAND_NACK:
+                    print(f"<-- NACK (device={dev_id})")
+
+                elif cmd == COMMAND_ERROR:
+                    print(f"<-- ERROR (device={dev_id})")
+
+                else:
+                    print(f"<-- Command {cmd} len={length}")
+
+            else:
+                # ASCII log output
+                idx = rx.find(b'\n')
+                if idx == -1:
+                    break
+
+                line = rx[:idx + 1]
+                del rx[:idx + 1]
+
+                try:
+                    print("[LOG]", line.decode().rstrip())
+                except UnicodeDecodeError:
+                    print("[RAW]", line.hex())
+
+
+def main():
+    ser = serial.Serial(PORT, BAUDRATE, timeout=0.05)
+
+    threading.Thread(target=reader, args=(ser,), daemon=True).start()
+
+    for i in range(10):
+        print(f"--> Sending LED command {i + 1}")
+        ser.write(make_packet(LED))
+        time.sleep(0.5)
+
+    print("Done.")
+    time.sleep(2)
+
+
+if __name__ == "__main__":
+    main()