запущен проект motor identification c терминалкой

AD_Keil_Project/AD_docs/BINARY_TRANSPORT.md

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+# Binary Telemetry Transport
+
+The firmware initializes two physical transports for the existing binary
+telemetry packet:
+
+- USB FS CDC ACM on PA11/PA12, clocked from HSI48.
+- FDCAN1 classic CAN on PB8/PB9, default 500 kbit/s with an external CAN transceiver.
+
+Modbus RTU on USART2 remains active as the control channel. This is intentional:
+the host can always switch the telemetry mode back without reflashing.
+
+## Modbus Selection Registers
+
+Modbus protocol/register-map version is `7`.
+
+| Address hex / dec | Field | Access | Purpose |
+|---:|---|---|---|
+| `0x001C` / `28` | `H028_control_host_protocol` | R/W | `0`=Modbus control only, `1`=binary telemetry output enabled |
+| `0x001D` / `29` | `H029_control_binary_transport` | R/W | `0`=USB CDC, `1`=CAN/FDCAN1, `2`=USB CDC and CAN |
+
+## USB CDC
+
+USB is exposed as a CDC ACM serial stream. The stream does not guarantee message
+boundaries, so the PC side should parse by the telemetry header:
+
+- `magic`
+- `payload_size`
+- `sequence`
+- `crc16`
+
+## CAN/FDCAN
+
+CAN carries the same binary packet split into classic 8-byte frames:
+
+| Standard ID | Payload |
+|---:|---|
+| `0x5A0` | packet bytes `0..7` |
+| `0x5A1` | packet bytes `8..15` |
+| `0x5A2` | packet bytes `16..23` |
+
+The base standard ID is controlled by `AD_CAN_TELEMETRY_STD_ID_BASE`, default
+`0x5A0`. The receiver reconstructs the packet from sequential frame IDs and
+uses the normal binary telemetry header to determine the full packet length.