botterm/botterm/BootloaderCommands.cs

@@ -12,9 +12,10 @@ namespace BootloaderGUI
         public const byte ERASE = 0x01;
         public const byte RECEIVE = 0x02;
         public const byte WRITE = 0x03;
-        public const byte JUMP = 0x04;
+        public const byte VERIFY = 0x04;
-        public const byte RESET = 0x05;
+        public const byte JUMP = 0x05;
-        public const byte GO_TO_BOOT = 0x06;
+        public const byte RESET = 0x06;
+        public const byte GO_TO_BOOT = 0x07;
 
         public const int PAGE_SIZE = 2048;
         public const int CAN_ID_BOOTLOADER = 0x123;

botterm/botterm/CanInterface.cs

@@ -1,9 +1,6 @@
 using System;
 using System.Runtime.InteropServices;
 using System.Windows.Forms;
-using System.Threading;
-using System.Threading.Tasks;
-using System.Collections.Concurrent;
 
 namespace BootloaderGUI
 {
@@ -11,11 +8,7 @@ namespace BootloaderGUI
     {
         private const string DLL_NAME = "slcan.dll";
         public IntPtr hDevice { get; private set; } = IntPtr.Zero;
-        public event Action<UInt16> ErrorReceived;  // событие для ошибок
-        private CancellationTokenSource rxCts;
-        private ConcurrentQueue<SLCAN_MESSAGE> rxQueue = new ConcurrentQueue<SLCAN_MESSAGE>();
         private bool slcanLoaded = false;
-        private bool waitingForResponse = false;
 
 
         public const ushort SLCAN_BR_CIA_1000K = 0x8000;
@@ -320,95 +313,44 @@ namespace BootloaderGUI
         public bool WaitForResponse(uint timeoutMs, out UInt16 error)
         {
             error = 0;
-            waitingForResponse = true; // включаем режим ожидания
 
-            DateTime start = DateTime.Now;
+            // 1) Очистим RX буфер у устройства
-            while ((DateTime.Now - start).TotalMilliseconds < timeoutMs)
+            try
             {
-                if (rxQueue.TryDequeue(out var msg))
+                // SLCAN_PURGE_RX_CLEAR определён в заголовке
-                {
+                SlCan_DevicePurge(hDevice, SLCAN_PURGE_RX_CLEAR);
-                    byte[] response = msg.Data;
+            }
+            catch
+            {
+                // если purge не доступен/ошибка — можно продолжить, но логировать
+            }
 
-                    waitingForResponse = false; // мы получили ответ — отключаем режим
+            // 2) Ждём один свежий пакет (блокирующе, с таймаутом)
+            SLCAN_MESSAGE[] buffer = new SLCAN_MESSAGE[1];
+            buffer[0].Data = new byte[8];
+
+            if (SlCan_DeviceReadMessages(hDevice, timeoutMs, buffer, 1, out uint read))
+            {
+                if (read > 0)
+                {
+                    byte[] response = buffer[0].Data;
                     if (response[0] == 0)
+                    {
                         return true;
+                    }
                     else
                     {
                         error = (UInt16)((response[1] << 8) | response[2]);
                         return false;
                     }
                 }
-                Thread.Sleep(1);
             }
 
-            waitingForResponse = false; // таймаут
+            error = 0xFFFF; // таймаут / ничего не пришло
-            error = 0xFFFF;
             return false;
         }
 
 
-
-
-
-
-
-
-        /// <summary>
-        /// Запуск фонового приёма сообщений только с ID=123.
-        /// </summary>
-        public void StartBackgroundReceive()
-        {
-            rxCts = new CancellationTokenSource();
-            Task.Run(() =>
-            {
-                SLCAN_MESSAGE[] buffer = new SLCAN_MESSAGE[1];
-                buffer[0].Data = new byte[8];
-
-                while (!rxCts.Token.IsCancellationRequested)
-                {
-                    if (SlCan_DeviceReadMessages(hDevice, 200, buffer, 1, out uint read) && read > 0)
-                    {
-                        if (buffer[0].ID == 123)
-                        {
-                            if (waitingForResponse)
-                            {
-                                // Кладём пакет в очередь для WaitForResponse
-                                rxQueue.Enqueue(buffer[0]);
-                            }
-                            // Проверяем, ошибка ли это
-                            byte[] resp = buffer[0].Data;
-                            if (resp[0] != 0) // ошибка
-                            {
-                                UInt16 err = (UInt16)((resp[1] << 8) | resp[2]);
-                                ErrorReceived?.Invoke(err); // вызываем событие
-                            }
-                        }
-                    }
-                    else
-                    {
-                        Thread.Sleep(1);
-                    }
-                }
-            }, rxCts.Token);
-        }
-
-
-        /// <summary>
-        /// Остановка фонового приёма.
-        /// </summary>
-        public void StopBackgroundReceive()
-        {
-            try
-            {
-                rxCts?.Cancel();
-            }
-            catch { }
-        }
-
-
-
-
-
         public void Disconnect()
         {
             if (hDevice != IntPtr.Zero)

botterm/botterm/LowLevelBoot.cs

@@ -74,12 +74,13 @@ namespace BootloaderGUI
 
             top += numPage.Height + gap;
             btnErase = new Button() { Top = top, Left = left, Width = wBtn, Text = "ERASE Firmware" };
-            Tab.Controls.AddRange(new Control[] { btnErase,  });
+            btnReceive = new Button() { Top = top, Left = left + wBtn + gap, Width = wBtn, Text = "SEND Page" };
+            Tab.Controls.AddRange(new Control[] { btnErase, btnReceive });
 
             top += hBtn + gap;
-            btnReceive = new Button() { Top = top, Left = left + wBtn + gap, Width = wBtn, Text = "SEND Page" };
             btnWrite = new Button() { Top = top, Left = left, Width = wBtn, Text = "WRITE Page" };
-            Tab.Controls.AddRange(new Control[] { btnReceive, btnWrite });
+            btnVerify = new Button() { Top = top, Left = left + wBtn + gap, Width = wBtn, Text = "VERIFY Firmware" };
+            Tab.Controls.AddRange(new Control[] { btnWrite, btnVerify });
 
             top += hBtn + gap;
             btnJump = new Button() { Top = top, Left = left, Width = wBtn, Text = "JUMP to App" };
@@ -91,6 +92,7 @@ namespace BootloaderGUI
             btnErase.Click += (s, e) => sendCmdSync(BootloaderCommands.ERASE);
             btnReceive.Click += (s, e) => sendPage((int)numPage.Value);
             btnWrite.Click += (s, e) => sendCmdSync(BootloaderCommands.WRITE);
+            btnVerify.Click += (s, e) => sendCmdSync(BootloaderCommands.VERIFY);
             btnJump.Click += (s, e) => sendCmdSync(BootloaderCommands.JUMP);
             btnReset.Click += (s, e) => sendCmdSync(BootloaderCommands.RESET);
             btnGoBoot.Click += (s, e) => sendCmdSync(BootloaderCommands.GO_TO_BOOT);

botterm/botterm/Program.cs

@@ -112,18 +112,9 @@ namespace BootloaderGUI
 
                 string status;
                 if (can.ConnectFirstDevice(bitrate.Value, out status))
-                {
                     lblStatus.Text = status;
-
-                    // запуск фонового приёма
-                    can.ErrorReceived -= Can_ErrorReceived; // безопасно удалить старую подписку
-                    can.ErrorReceived += Can_ErrorReceived;
-                    can.StartBackgroundReceive();
-                }
                 else
-                {
                     lblStatus.Text = "Connect failed";
-                }
             };
 
 
@@ -153,20 +144,11 @@ namespace BootloaderGUI
         }
 
 
-        private void Can_ErrorReceived(UInt16 err)
-        {
-            this.BeginInvoke(new Action(() =>
-            {
-                lblStatus.Text = $"Error received: 0x{err:X4}";
-                MessageBox.Show($"Error received from device: 0x{err:X4}", "CAN Error", MessageBoxButtons.OK, MessageBoxIcon.Warning);
-            }));
-        }
 
         private void MainForm_FormClosing(object sender, FormClosingEventArgs e)
         {
             try
             {
-                can?.StopBackgroundReceive();
                 can?.Disconnect();
                 can?.Free();
             }
@@ -240,7 +222,7 @@ namespace BootloaderGUI
         {
             uint timeout = 1000u;
             UInt16 error = 0;
-            Thread.Sleep(10);
+
             try
             {
                 if (fwData == null) return;
@@ -321,7 +303,6 @@ namespace BootloaderGUI
             {
                 UpdateStatusOnUI("Error during RECEIVE: " + ex.Message);
             }
-
         }
 
         private bool SendCmdSync(byte cmd)
@@ -334,16 +315,12 @@ namespace BootloaderGUI
 
             if (!can.SendCmd(cmd, out UInt16 error))
             {
-                if ((error == 0xFFFF) && cmd != (BootloaderCommands.RESET) && (cmd != BootloaderCommands.JUMP))
+                if (error == 0xFFFF)
-                {
                     MessageBox.Show($"Command 0x{cmd:X2} timed out", "Error", MessageBoxButtons.OK, MessageBoxIcon.Warning);
-                    return false;
+                else
-                }
-                else if ((error != 0xFFFF) && (error != 0))
-                {
                     MessageBox.Show($"Command 0x{cmd:X2} failed, error code: 0x{error:X4}", "Error", MessageBoxButtons.OK, MessageBoxIcon.Warning);
-                    return false;
+
-                }
+                return false;
             }
 
             UpdateStatusOnUI($"Command 0x{cmd:X2} sent successfully");

botterm/botterm/UserFriendlyBoot.cs

@@ -58,14 +58,7 @@ namespace BootloaderGUI
 
             // Кнопка "Go To Boot"
             btnGoBoot = new Button() { Top = top, Left = left + wBtn + gap, Width = wBtn, Height = hBtn, Text = "Go To Boot" };
-            btnGoBoot.Click += (s, e) =>
+            btnGoBoot.Click += (s, e) => sendCmdSync(BootloaderCommands.GO_TO_BOOT);
-            {
-                if(sendCmdSync(BootloaderCommands.GO_TO_BOOT))
-                    UpdateStatus("You're in Bootloader");
-                else
-                    UpdateStatus("Failed: Jump to Bootloader");
-
-            };
 
             top += hBtn + gap;
 
@@ -73,21 +66,13 @@ namespace BootloaderGUI
             Button btnGoApp = new Button() { Top = top, Left = left, Width = wBtn, Height = hBtn, Text = "Go To App" };
             btnGoApp.Click += (s, e) =>
             {
-                if(sendCmdSync(BootloaderCommands.JUMP))
+                UpdateStatus("Jumping to app...");
-                    UpdateStatus("Jumping to app...");
+                sendCmdSync(BootloaderCommands.JUMP);
-                else
-                    UpdateStatus("Failed: Jump to App");
             };
 
             // Кнопка "Reset"
             btnReset = new Button() { Top = top, Left = left + wBtn + gap, Width = wBtn, Height = hBtn, Text = "Reset" };
-            btnReset.Click += (s, e) =>
+            btnReset.Click += (s, e) => sendCmdSync(BootloaderCommands.RESET);
-            {
-                if (sendCmdSync(BootloaderCommands.RESET))
-                    UpdateStatus("Resetting...");
-                else
-                    UpdateStatus("Failed: Reset MCU");
-            };
 
             Tab.Controls.AddRange(new Control[] { btnFirmware, btnGoBoot, btnGoApp, btnReset });
         }
@@ -113,17 +98,24 @@ namespace BootloaderGUI
             for (int page = 0; page < totalPages; page++)
             {
                 UpdateStatus($"Sending page {page + 1}/{totalPages}");
-                await Task.Delay(5); // небольшая пауза для UI
                 sendPage(page);
 
                 UpdateStatus($"Writing page {page + 1}/{totalPages}");
-                await Task.Delay(5); // небольшая пауза для UI
                 if (!sendCmdSync(BootloaderCommands.WRITE))
                 {
                     UpdateStatus($"Write failed on page {page}");
                     return;
                 }
 
+                await Task.Delay(5); // небольшая пауза для UI
+            }
+
+            UpdateStatus("Verifying...");
+            await Task.Delay(5); // небольшая пауза для UI
+            if (!sendCmdSync(BootloaderCommands.VERIFY))
+            {
+                UpdateStatus("Verify failed");
+                return;
             }
 
             UpdateStatus("Jumping to app...");