работает но не стабильно

botterm/botterm/CanInterface.cs

@@ -1,6 +1,9 @@
 using System;
 using System.Runtime.InteropServices;
 using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Concurrent;
 
 namespace BootloaderGUI
 {
@@ -8,7 +11,11 @@ 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;
@@ -313,44 +320,95 @@ namespace BootloaderGUI
         public bool WaitForResponse(uint timeoutMs, out UInt16 error)
         {
             error = 0;
+            waitingForResponse = true; // включаем режим ожидания
 
-            // 1) Очистим RX буфер у устройства
+            DateTime start = DateTime.Now;
-            try
+            while ((DateTime.Now - start).TotalMilliseconds < timeoutMs)
             {
-                // SLCAN_PURGE_RX_CLEAR определён в заголовке
+                if (rxQueue.TryDequeue(out var msg))
-                SlCan_DevicePurge(hDevice, SLCAN_PURGE_RX_CLEAR);
-            }
-            catch
-            {
-                // если purge не доступен/ошибка — можно продолжить, но логировать
-            }
-
-            // 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;
+                    byte[] response = msg.Data;
+
+                    waitingForResponse = false; // мы получили ответ — отключаем режим
                     if (response[0] == 0)
-                    {
                         return true;
-                    }
                     else
                     {
                         error = (UInt16)((response[1] << 8) | response[2]);
                         return false;
                     }
                 }
+                Thread.Sleep(1);
             }
 
-            error = 0xFFFF; // таймаут / ничего не пришло
+            waitingForResponse = false; // таймаут
+            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/Program.cs

@@ -112,9 +112,18 @@ 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";
+                }
             };
 
 
@@ -144,11 +153,20 @@ 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();
             }
@@ -222,7 +240,7 @@ namespace BootloaderGUI
         {
             uint timeout = 1000u;
             UInt16 error = 0;
-
+            Thread.Sleep(10);
             try
             {
                 if (fwData == null) return;
@@ -303,6 +321,7 @@ namespace BootloaderGUI
             {
                 UpdateStatusOnUI("Error during RECEIVE: " + ex.Message);
             }
+
         }
 
         private bool SendCmdSync(byte cmd)
@@ -315,12 +334,16 @@ namespace BootloaderGUI
 
             if (!can.SendCmd(cmd, out UInt16 error))
             {
-                if (error == 0xFFFF)
+                if ((error == 0xFFFF) && cmd != (BootloaderCommands.RESET) && (cmd != BootloaderCommands.JUMP))
+                {
                     MessageBox.Show($"Command 0x{cmd:X2} timed out", "Error", MessageBoxButtons.OK, MessageBoxIcon.Warning);
-                else
+                    return false;
+                }
+                else if ((error != 0xFFFF) && (error != 0))
+                {
                     MessageBox.Show($"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

@@ -58,7 +58,14 @@ 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) => sendCmdSync(BootloaderCommands.GO_TO_BOOT);
+            btnGoBoot.Click += (s, e) =>
+            {
+                if(sendCmdSync(BootloaderCommands.GO_TO_BOOT))
+                    UpdateStatus("You're in Bootloader");
+                else
+                    UpdateStatus("Failed: Jump to Bootloader");
+
+            };
 
             top += hBtn + gap;
 
@@ -66,13 +73,21 @@ namespace BootloaderGUI
             Button btnGoApp = new Button() { Top = top, Left = left, Width = wBtn, Height = hBtn, Text = "Go To App" };
             btnGoApp.Click += (s, e) =>
             {
-                UpdateStatus("Jumping to app...");
+                if(sendCmdSync(BootloaderCommands.JUMP))
-                sendCmdSync(BootloaderCommands.JUMP);
+                    UpdateStatus("Jumping to app...");
+                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) => sendCmdSync(BootloaderCommands.RESET);
+            btnReset.Click += (s, e) =>
+            {
+                if (sendCmdSync(BootloaderCommands.RESET))
+                    UpdateStatus("Resetting...");
+                else
+                    UpdateStatus("Failed: Reset MCU");
+            };
 
             Tab.Controls.AddRange(new Control[] { btnFirmware, btnGoBoot, btnGoApp, btnReset });
         }
@@ -98,16 +113,17 @@ 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("Jumping to app...");