/* * ble_ota.cpp - BLE OTA GATT 服务器实现 (ESP-IDF 6.0 NimBLE) * T5.1 - T5.5 * * 通过 BLE GATT 接收上位机固件，支持两种目标: * - GD32: 存入 Flash → 触发 SPI 中继转发到 GD32 * - ESP32: 直接写入 OTA 分区 → 触发重启升级自身 * * GATT 服务: * Service UUID: 0xFFFF * - CTRL (0x0001, Write): 0xF7=触发GD32中继, 0xF8=触发ESP32 OTA升级 * - DATA_IN (0x0002, Write): cmd=0x00=GD32数据, cmd=0x01=ESP32数据 * - DATA_OUT (0x0003, Notify): 推送响应 * - VERSION (0x0004, Read): 固件版本 */ #include #include #include "freertos/FreeRTOS.h" #include "freertos/task.h" #include "freertos/semphr.h" #include "freertos/queue.h" #include "esp_err.h" #include "esp_ota_ops.h" #include "esp_system.h" #include "esp_timer.h" // NimBLE 协议栈 #include "nimble/nimble_port.h" #include "nimble/nimble_port_freertos.h" #include "host/ble_hs.h" #include "host/ble_gap.h" #include "services/gap/ble_svc_gap.h" #include "services/gatt/ble_svc_gatt.h" #include "host/ble_att.h" #include "app_config.h" #include "ble_ota.h" #include "ota_relay.h" #include "health_monitor.h" #include "monitor/debug_log.h" #define TAG "BLE_OTA" #define BLE_OTA_NOTIFY_ACK 0xA1 #define BLE_OTA_NOTIFY_FINISH 0xB1 #define BLE_OTA_FINISH_BEGIN_OTA_END 0x01 #define BLE_OTA_FINISH_DONE_OTA_END 0x02 #define BLE_OTA_FINISH_BEGIN_SET_BOOT 0x03 #define BLE_OTA_FINISH_DONE_SET_BOOT 0x04 #define BLE_OTA_FINISH_BEGIN_DELAY 0x05 #define BLE_OTA_FINISH_DONE_DELAY 0x06 #define BLE_OTA_FINISH_REBOOT_NOW 0x07 #define BLE_OTA_FINISH_ERR_OTA_END 0x81 #define BLE_OTA_FINISH_ERR_SET_BOOT 0x82 #define BLE_OTA_ACK_WINDOW 8 // ============================================================ // 前向声明（GAP event handler 在广播函数之前定义，需要声明） // ============================================================ static void ble_ota_start_advertising(void); static void ble_ota_send_window_ack(uint8_t cmd, uint16_t seq, uint32_t completed_bytes); static void ble_ota_send_finish_event(uint8_t stage, uint32_t value); // ============================================================ // 静态状态 // ============================================================ static bool s_ble_ready = false; // NimBLE 同步完成 static bool s_ble_connected = false; // GATT 客户端已连接 /** @brief 当前 BLE 连接句柄。 */ static uint16_t s_conn_handle = BLE_HS_CONN_HANDLE_NONE; static uint16_t s_data_out_val_handle = 0; // DATA_OUT 值句柄 (供通知用) // ESP32 自身 OTA 状态 static bool s_esp32_ota_active = false; static esp_ota_handle_t s_esp32_ota_handle = 0; static const esp_partition_t *s_esp32_update_partition = NULL; static size_t s_esp32_received = 0; static bool s_esp32_reboot_pending = false; static uint8_t s_esp32_last_cmd = 0; static uint16_t s_esp32_last_seq = 0xFFFFU; /** * @brief 异步完成 ESP32 OTA 收尾并触发重启。 * @param pvParameters 任务参数，当前未使用。 */ static void ble_esp32_finish_and_reboot_task(void *pvParameters) { (void)pvParameters; DEBUG_INFO(TAG, "ESP32 OTA 异步收尾任务启动"); if (s_esp32_last_seq != 0xFFFFU) { ble_ota_send_window_ack(s_esp32_last_cmd, s_esp32_last_seq, (uint32_t)s_esp32_received); DEBUG_INFO(TAG, "ESP32 最终 ACK 已补发: seq=%u", s_esp32_last_seq); } vTaskDelay(pdMS_TO_TICKS(150)); if (!s_esp32_ota_active || s_esp32_update_partition == NULL) { DEBUG_WARN(TAG, "异步收尾时 OTA 状态无效，放弃重启"); s_esp32_reboot_pending = false; vTaskDelete(NULL); return; } DEBUG_INFO(TAG, "ESP32 OTA 收尾: 共 %u 字节, 设置启动分区...", (unsigned int)s_esp32_received); int64_t t0_us = esp_timer_get_time(); DEBUG_INFO(TAG, "[FINISH] 即将执行 esp_ota_end()"); ble_ota_send_finish_event(BLE_OTA_FINISH_BEGIN_OTA_END, 0); esp_err_t err = esp_ota_end(s_esp32_ota_handle); int64_t t1_us = esp_timer_get_time(); if (err != ESP_OK) { DEBUG_ERR(TAG, "[FINISH] esp_ota_end 失败: %s (耗时=%lld ms)", esp_err_to_name(err), (long long)((t1_us - t0_us) / 1000)); ble_ota_send_finish_event(BLE_OTA_FINISH_ERR_OTA_END, (uint32_t)err); esp_ota_abort(s_esp32_ota_handle); s_esp32_ota_active = false; s_esp32_ota_handle = 0; s_esp32_update_partition = NULL; s_esp32_received = 0; s_esp32_reboot_pending = false; vTaskDelete(NULL); return; } DEBUG_INFO(TAG, "[FINISH] esp_ota_end 完成 (耗时=%lld ms)", (long long)((t1_us - t0_us) / 1000)); ble_ota_send_finish_event(BLE_OTA_FINISH_DONE_OTA_END, (uint32_t)((t1_us - t0_us) / 1000)); int64_t t2_us = esp_timer_get_time(); DEBUG_INFO(TAG, "[FINISH] 即将执行 esp_ota_set_boot_partition()"); ble_ota_send_finish_event(BLE_OTA_FINISH_BEGIN_SET_BOOT, 0); err = esp_ota_set_boot_partition(s_esp32_update_partition); int64_t t3_us = esp_timer_get_time(); if (err != ESP_OK) { DEBUG_ERR(TAG, "[FINISH] 设置启动分区失败: %s (耗时=%lld ms)", esp_err_to_name(err), (long long)((t3_us - t2_us) / 1000)); ble_ota_send_finish_event(BLE_OTA_FINISH_ERR_SET_BOOT, (uint32_t)err); s_esp32_ota_active = false; s_esp32_ota_handle = 0; s_esp32_update_partition = NULL; s_esp32_received = 0; s_esp32_reboot_pending = false; vTaskDelete(NULL); return; } DEBUG_INFO(TAG, "[FINISH] esp_ota_set_boot_partition 完成 (耗时=%lld ms)", (long long)((t3_us - t2_us) / 1000)); ble_ota_send_finish_event(BLE_OTA_FINISH_DONE_SET_BOOT, (uint32_t)((t3_us - t2_us) / 1000)); s_esp32_ota_active = false; s_esp32_ota_handle = 0; s_esp32_update_partition = NULL; s_esp32_received = 0; DEBUG_INFO(TAG, "ESP32 OTA 收尾完成，800ms 后重启..."); int64_t t4_us = esp_timer_get_time(); DEBUG_INFO(TAG, "[FINISH] 即将进入 800ms 重启前等待"); ble_ota_send_finish_event(BLE_OTA_FINISH_BEGIN_DELAY, 800); vTaskDelay(pdMS_TO_TICKS(800)); int64_t t5_us = esp_timer_get_time(); DEBUG_INFO(TAG, "[FINISH] 800ms 等待结束 (实际耗时=%lld ms)", (long long)((t5_us - t4_us) / 1000)); ble_ota_send_finish_event(BLE_OTA_FINISH_DONE_DELAY, (uint32_t)((t5_us - t4_us) / 1000)); DEBUG_INFO(TAG, "ESP32 即将重启"); ble_ota_send_finish_event(BLE_OTA_FINISH_REBOOT_NOW, 0); esp_restart(); } // ============================================================ // NimBLE 工具: 从 mbuf 读取原始数据 /** * @brief 将 NimBLE mbuf 中的数据拷贝到普通字节缓冲区。 * @param om NimBLE mbuf 数据指针。 * @param buf 输出缓冲区。 * @param buf_len 缓冲区最大长度。 * @return 拷贝的字节数，失败返回 -1。 */ static int ble_ota_mbuf_to_buf(struct os_mbuf *om, uint8_t *buf, size_t buf_len) { if (!om || !buf) return -1; uint16_t om_len = OS_MBUF_PKTLEN(om); uint16_t copy_len = (om_len > buf_len) ? (uint16_t)buf_len : om_len; os_mbuf_copydata(om, 0, copy_len, buf); return (int)copy_len; } /** * @brief 初始化 ESP32 本机 OTA 写入会话并选择目标分区。 * @param total_size 固件总大小（字节）。 * @return ESP_OK 成功，其他为失败错误码。 */ static esp_err_t ble_esp32_ota_begin(size_t total_size) { const esp_partition_t *boot_partition = esp_ota_get_running_partition(); DEBUG_INFO(TAG, "当前启动分区: %s, size=%u, address=0x%lx", boot_partition->label, boot_partition->size, boot_partition->address); if (s_esp32_ota_active) { DEBUG_WARN(TAG, "检测到未完成的 ESP32 OTA，会先中止旧会话"); esp_ota_abort(s_esp32_ota_handle); s_esp32_ota_active = false; s_esp32_ota_handle = 0; s_esp32_update_partition = NULL; s_esp32_received = 0; s_esp32_reboot_pending = false; s_esp32_last_seq = 0xFFFFU; } s_esp32_update_partition = esp_partition_find_first( ESP_PARTITION_TYPE_APP, ESP_PARTITION_SUBTYPE_APP_OTA_0, NULL); if (s_esp32_update_partition == NULL || s_esp32_update_partition->address == boot_partition->address) { s_esp32_update_partition = esp_partition_find_first( ESP_PARTITION_TYPE_APP, ESP_PARTITION_SUBTYPE_APP_OTA_1, NULL); } if (s_esp32_update_partition == NULL) { DEBUG_ERR(TAG, "找不到可用的 OTA 分区"); return ESP_FAIL; } DEBUG_INFO(TAG, "ESP32 OTA 目标分区: %s, size=%u, address=0x%lx", s_esp32_update_partition->label, s_esp32_update_partition->size, s_esp32_update_partition->address); if (total_size > s_esp32_update_partition->size) { DEBUG_ERR(TAG, "ESP32 固件太大: %u > 分区大小: %u", total_size, s_esp32_update_partition->size); s_esp32_update_partition = NULL; return ESP_FAIL; } esp_err_t err = esp_ota_begin(s_esp32_update_partition, total_size, &s_esp32_ota_handle); if (err != ESP_OK) { DEBUG_ERR(TAG, "esp_ota_begin 失败: %s", esp_err_to_name(err)); s_esp32_update_partition = NULL; s_esp32_ota_handle = 0; return err; } s_esp32_received = 0; s_esp32_ota_active = true; s_esp32_reboot_pending = false; s_esp32_last_cmd = 0; s_esp32_last_seq = 0xFFFFU; DEBUG_INFO(TAG, "ESP32 OTA 开始，目标分区: %s", s_esp32_update_partition->label); return ESP_OK; } /** * @brief 向 ESP32 OTA 分区写入一段固件数据。 * @param data 待写入数据指针。 * @param len 写入长度（字节）。 * @return ESP_OK 成功，其他为失败错误码。 */ static esp_err_t ble_esp32_ota_write(const uint8_t *data, size_t len) { if (!s_esp32_ota_active || s_esp32_update_partition == NULL) { return ESP_ERR_INVALID_STATE; } esp_err_t err = esp_ota_write(s_esp32_ota_handle, data, len); if (err == ESP_OK) { s_esp32_received += len; } return err; } /** * @brief 发送窗口 ACK 通知，回报已处理的分块序号与累计字节数。 * @param cmd 对应的数据命令字节。 * @param seq 当前确认的分块序号。 * @param completed_bytes 已完成写入的累计字节数。 */ static void ble_ota_send_window_ack(uint8_t cmd, uint16_t seq, uint32_t completed_bytes) { uint8_t ack[8] = {0}; ack[0] = BLE_OTA_NOTIFY_ACK; ack[1] = cmd; ack[2] = (uint8_t)(seq & 0xFFU); ack[3] = (uint8_t)((seq >> 8) & 0xFFU); ack[4] = (uint8_t)(completed_bytes & 0xFFU); ack[5] = (uint8_t)((completed_bytes >> 8) & 0xFFU); ack[6] = (uint8_t)((completed_bytes >> 16) & 0xFFU); ack[7] = (uint8_t)((completed_bytes >> 24) & 0xFFU); esp_err_t err = ble_ota_notify_response(ack, sizeof(ack)); if (err != ESP_OK) { DEBUG_WARN(TAG, "发送 ACK 失败: cmd=0x%02X seq=%u err=%s", cmd, seq, esp_err_to_name(err)); } else { DEBUG_DBG(TAG, "已发送 ACK: cmd=0x%02X seq=%u bytes=%lu", cmd, seq, (unsigned long)completed_bytes); } } /** * @brief 发送收尾阶段事件通知（开始/完成/失败/重启等）。 * @param stage 阶段标识码。 * @param value 阶段附带值（错误码或耗时等）。 */ static void ble_ota_send_finish_event(uint8_t stage, uint32_t value) { uint8_t pkt[6] = {0}; pkt[0] = BLE_OTA_NOTIFY_FINISH; pkt[1] = stage; pkt[2] = (uint8_t)(value & 0xFFU); pkt[3] = (uint8_t)((value >> 8) & 0xFFU); pkt[4] = (uint8_t)((value >> 16) & 0xFFU); pkt[5] = (uint8_t)((value >> 24) & 0xFFU); esp_err_t err = ble_ota_notify_response(pkt, sizeof(pkt)); if (err != ESP_OK) { DEBUG_WARN(TAG, "发送 FINISH 事件失败: stage=0x%02X err=%s", stage, esp_err_to_name(err)); } } // ============================================================ // GATT 访问回调 // ============================================================ /* * CTRL (0x0001) - Write * 写入 0xF7 触发 OTA 中继 */ /** * @brief GATT CTRL 特征访问回调，处理控制命令写入。 * @param conn_handle BLE 连接句柄。 * @param attr_handle GATT 属性句柄。 * @param ctxt GATT 访问上下文。 * @param arg 回调用户参数。 * @return NimBLE ATT 错误码，0 表示成功。 */ static int ble_ota_ctrl_access(uint16_t conn_handle, uint16_t attr_handle, struct ble_gatt_access_ctxt *ctxt, void *arg) { (void)conn_handle; (void)attr_handle; (void)arg; if (ctxt->op != BLE_GATT_ACCESS_OP_WRITE_CHR) { return BLE_ATT_ERR_REQ_NOT_SUPPORTED; } uint8_t buf[4] = {0}; int len = ble_ota_mbuf_to_buf(ctxt->om, buf, sizeof(buf)); if (len < 1) { DEBUG_WARN(TAG, "CTRL 数据为空"); return BLE_ATT_ERR_INVALID_ATTR_VALUE_LEN; } DEBUG_INFO(TAG, "CTRL 写入: cmd=0x%02X", buf[0]); if (buf[0] == BLE_OTA_CTRL_TRIGGER_GD32) { // 检查固件是否存储完毕 → 触发 GD32 OTA 中继 ota_meta_t meta; esp_err_t err = meta_load(&meta); if (err == ESP_OK && meta.total_size > 0 && meta.stored_size >= meta.total_size) { DEBUG_INFO(TAG, "GD32 固件就绪 (%" PRIu32 " / %" PRIu32 " 字节)，触发中继", meta.stored_size, meta.total_size); ble_ota_signal_relay(); } else { DEBUG_WARN(TAG, "GD32 固件未就绪 (stored=%" PRIu32 ", total=%" PRIu32 ")", meta.stored_size, meta.total_size); } } else if (buf[0] == BLE_OTA_CTRL_TRIGGER_ESP32) { if (!s_esp32_ota_active || s_esp32_update_partition == NULL) { DEBUG_WARN(TAG, "ESP32 OTA 未激活，无法触发升级"); return 0; } if (s_esp32_reboot_pending) { DEBUG_WARN(TAG, "ESP32 OTA 收尾已在进行中，忽略重复 CTRL"); return 0; } s_esp32_reboot_pending = true; BaseType_t ok = xTaskCreate(ble_esp32_finish_and_reboot_task, "ble_ota_finish", 4096, NULL, 5, NULL); if (ok != pdPASS) { DEBUG_ERR(TAG, "创建 ESP32 OTA 收尾任务失败"); s_esp32_reboot_pending = false; } else { DEBUG_INFO(TAG, "ESP32 OTA 收尾任务已创建（由设备端异步完成）"); } } return 0; // BLE_ATT_ERR_OK 在 NimBLE 中就是 0 } /* * DATA_IN (0x0002) - Write * 数据块格式: * [0] cmd (0x00=数据) * [1-2] seq uint16 LE - 分块序号 * [3-6] total_size uint32 LE - 固件总大小 (仅 seq=0 时有效) * [7..n-4] payload 固件数据 * [n-4..n] crc 校验 (预留) */ /** * @brief GATT DATA_IN 特征访问回调，接收并处理 OTA 数据块。 * @param conn_handle BLE 连接句柄。 * @param attr_handle GATT 属性句柄。 * @param ctxt GATT 访问上下文。 * @param arg 回调用户参数。 * @return NimBLE ATT 错误码，0 表示成功。 */ static int ble_ota_data_in_access(uint16_t conn_handle, uint16_t attr_handle, struct ble_gatt_access_ctxt *ctxt, void *arg) { (void)conn_handle; (void)attr_handle; (void)arg; if (ctxt->op != BLE_GATT_ACCESS_OP_WRITE_CHR) { return BLE_ATT_ERR_REQ_NOT_SUPPORTED; } uint8_t buf[BLE_MTU_SIZE] = {0}; int recv_len = ble_ota_mbuf_to_buf(ctxt->om, buf, sizeof(buf)); if (recv_len < 12) { DEBUG_WARN(TAG, "DATA_IN 数据太短: %d 字节 (最少 12)", recv_len); return BLE_ATT_ERR_INVALID_ATTR_VALUE_LEN; } // 解析包头 uint8_t cmd = buf[0]; uint16_t seq = (uint16_t)(buf[1] | (buf[2] << 8)); uint32_t total_size = (uint32_t)(buf[3] | (buf[4] << 8) | (buf[5] << 16) | (buf[6] << 24)); size_t data_offset = 7; size_t data_len = (size_t)recv_len - data_offset; // 尾 4 字节 CRC 预留，实际 payload = data_len - 4 if (data_len < 4) { DEBUG_WARN(TAG, "DATA_IN 负载不足: data_len=%zu", data_len); return BLE_ATT_ERR_INVALID_ATTR_VALUE_LEN; } data_len -= 4; // 减去尾部 CRC 预留 DEBUG_DBG(TAG, "DATA_IN: cmd=0x%02X seq=%u total=%" PRIu32 " payload=%zu", cmd, seq, total_size, data_len); // --- ESP32 自身 OTA：直接写 OTA 分区 --- if (cmd == BLE_OTA_CMD_ESP32_DATA) { if (seq == 0) { if (total_size == 0) { DEBUG_ERR(TAG, "ESP32 固件大小非法: %" PRIu32, total_size); return BLE_ATT_ERR_UNLIKELY; } const esp_partition_t *boot_partition = esp_ota_get_running_partition(); const esp_partition_t *check_partition = esp_partition_find_first( ESP_PARTITION_TYPE_APP, ESP_PARTITION_SUBTYPE_APP_OTA_0, NULL); if (check_partition == NULL || check_partition->address == boot_partition->address) { check_partition = esp_partition_find_first( ESP_PARTITION_TYPE_APP, ESP_PARTITION_SUBTYPE_APP_OTA_1, NULL); } if (check_partition == NULL) { DEBUG_ERR(TAG, "找不到 ESP32 OTA 目标分区"); return BLE_ATT_ERR_UNLIKELY; } if (total_size > check_partition->size) { DEBUG_ERR(TAG, "ESP32 固件太大: %" PRIu32 " > OTA分区 %u", total_size, check_partition->size); return BLE_ATT_ERR_UNLIKELY; } esp_err_t err = ble_esp32_ota_begin(total_size); if (err != ESP_OK) { return BLE_ATT_ERR_UNLIKELY; } } esp_err_t err = ble_esp32_ota_write(&buf[data_offset], data_len); if (err != ESP_OK) { DEBUG_ERR(TAG, "ESP32 OTA 写入失败: seq=%u err=%s", seq, esp_err_to_name(err)); return BLE_ATT_ERR_UNLIKELY; } DEBUG_DBG(TAG, "ESP32 OTA 写入成功: seq=%u received=%u", seq, (unsigned int)s_esp32_received); if ((((uint32_t)seq + 1U) % BLE_OTA_ACK_WINDOW) == 0U || (total_size > 0 && s_esp32_received >= total_size)) { ble_ota_send_window_ack(cmd, seq, (uint32_t)s_esp32_received); } if (total_size > 0 && s_esp32_received >= total_size) { DEBUG_INFO(TAG, "★ ESP32 固件接收完毕: %u / %" PRIu32 " 字节 (共 %u 块)", (unsigned int)s_esp32_received, total_size, seq + 1); s_esp32_last_cmd = cmd; s_esp32_last_seq = seq; if (!s_esp32_reboot_pending) { s_esp32_reboot_pending = true; BaseType_t ok = xTaskCreate(ble_esp32_finish_and_reboot_task, "ble_ota_finish", 4096, NULL, 5, NULL); if (ok != pdPASS) { DEBUG_ERR(TAG, "创建 ESP32 OTA 收尾任务失败"); s_esp32_reboot_pending = false; return BLE_ATT_ERR_UNLIKELY; } DEBUG_INFO(TAG, "ESP32 OTA 收尾任务已创建，等待设备端自动重启"); } else { DEBUG_WARN(TAG, "ESP32 OTA 收尾任务已存在，忽略重复完成触发"); } } return 0; } // --- GD32 OTA：首个分块时创建存储元数据 --- if (seq == 0 && total_size > 0) { uint32_t rounded_size = (uint32_t)(((total_size + (uint32_t)GD32_OTA_PACKET_SIZE - 1U) / (uint32_t)GD32_OTA_PACKET_SIZE) * (uint32_t)GD32_OTA_PACKET_SIZE); if (total_size == 0U || total_size > OTA_MAX_FIRMWARE_SIZE || rounded_size > OTA_MAX_FIRMWARE_SIZE) { DEBUG_ERR(TAG, "GD32 固件大小非法: raw=%" PRIu32 " rounded48=%" PRIu32 " max=%zu", total_size, rounded_size, OTA_MAX_FIRMWARE_SIZE); return BLE_ATT_ERR_UNLIKELY; } ota_meta_t meta = {}; meta.total_size = total_size; meta.stored_size = 0; meta.last_seq = 0; meta.chunk_count = (total_size + (uint32_t)data_len - 1U) / (uint32_t)data_len; esp_err_t err = meta_save(&meta); if (err != ESP_OK) { DEBUG_ERR(TAG, "元数据保存失败"); return BLE_ATT_ERR_UNLIKELY; } DEBUG_INFO(TAG, "GD32 固件存储开始: total=%" PRIu32 " chunk_count=%" PRIu32 ", payload=%zu", meta.total_size, meta.chunk_count, data_len); } ota_meta_t meta = {}; if (meta_load(&meta) != ESP_OK || meta.total_size == 0) { DEBUG_ERR(TAG, "GD32 元数据无效，拒绝写入: seq=%u", seq); return BLE_ATT_ERR_UNLIKELY; } if (seq > 0 && meta.last_seq != (uint32_t)(seq - 1)) { DEBUG_ERR(TAG, "GD32 分包序号不连续: seq=%u last_seq=%" PRIu32, seq, meta.last_seq); return BLE_ATT_ERR_UNLIKELY; } // --- GD32 写入 Flash --- // 按已存储字节数顺序追加，兼容更大的 BLE payload，避免把步长硬编码死。 uint32_t flash_offset = meta.stored_size; if (flash_offset + (uint32_t)data_len > meta.total_size) { DEBUG_ERR(TAG, "GD32 写入越界: offset=%" PRIu32 " len=%zu total=%" PRIu32, flash_offset, data_len, meta.total_size); return BLE_ATT_ERR_UNLIKELY; } esp_err_t err = flash_write_chunk(flash_offset, &buf[data_offset], data_len); if (err != ESP_OK) { DEBUG_ERR(TAG, "Flash 写入失败: seq=%u offset=%" PRIu32 " err=%s", seq, flash_offset, esp_err_to_name(err)); return BLE_ATT_ERR_UNLIKELY; } uint32_t stored_size = flash_offset + (uint32_t)data_len; err = meta_update(stored_size, seq); if (err != ESP_OK) { DEBUG_WARN(TAG, "元数据更新失败 (seq=%u)", seq); } if ((((uint32_t)seq + 1U) % BLE_OTA_ACK_WINDOW) == 0U || (meta.total_size > 0 && stored_size >= meta.total_size)) { ble_ota_send_window_ack(cmd, seq, stored_size); } DEBUG_DBG(TAG, "Flash 写入成功: seq=%u offset=%" PRIu32 " stored=%" PRIu32, seq, flash_offset, stored_size); // --- 检查 GD32 固件是否接收完毕 --- if (meta_load(&meta) == ESP_OK && meta.total_size > 0 && meta.stored_size >= meta.total_size) { DEBUG_INFO(TAG, "★ GD32 固件接收完毕: %" PRIu32 " / %" PRIu32 " 字节 (共 %u 块)", meta.stored_size, meta.total_size, seq + 1); } return 0; } /* * VERSION (0x0004) - Read * 返回固件版本字符串 */ /** * @brief GATT VERSION 特征访问回调，返回固件版本字符串。 * @param conn_handle BLE 连接句柄。 * @param attr_handle GATT 属性句柄。 * @param ctxt GATT 访问上下文。 * @param arg 回调用户参数。 * @return NimBLE ATT 错误码，0 表示成功。 */ static int ble_ota_version_access(uint16_t conn_handle, uint16_t attr_handle, struct ble_gatt_access_ctxt *ctxt, void *arg) { (void)conn_handle; (void)attr_handle; (void)arg; if (ctxt->op != BLE_GATT_ACCESS_OP_READ_CHR) { return BLE_ATT_ERR_REQ_NOT_SUPPORTED; } const char *version = FW_VERSION; int rc = os_mbuf_append(ctxt->om, version, strlen(version)); return (rc == 0) ? 0 : BLE_ATT_ERR_UNLIKELY; } /* * DATA_OUT (0x0003) - Notify only * 访问回调不做读写处理，通知由 ble_ota_notify_response() 发送 */ /** * @brief GATT DATA_OUT 特征访问回调（Notify-only，占位实现）。 * @param conn_handle BLE 连接句柄。 * @param attr_handle GATT 属性句柄。 * @param ctxt GATT 访问上下文。 * @param arg 回调用户参数。 * @return 0。 */ static int ble_ota_data_out_access(uint16_t conn_handle, uint16_t attr_handle, struct ble_gatt_access_ctxt *ctxt, void *arg) { (void)conn_handle; (void)attr_handle; (void)ctxt; (void)arg; return 0; } // ============================================================ // GATT 服务定义 // ============================================================ // BLE_UUID16_DECLARE 在 C++ 中产生 "taking address of rvalue" 编译错误。 // 改用 static ble_uuid16_t 变量，再取 .u 地址。 /** @brief OTA GATT 服务 UUID */ static const ble_uuid16_t GATT_SVC_UUID = BLE_UUID16_INIT(BLE_OTA_SERVICE_UUID); /** @brief CTRL 特征 UUID，写入 0xF7 触发中继 */ static const ble_uuid16_t GATT_CTRL_UUID = BLE_UUID16_INIT(BLE_OTA_CTRL_UUID); /** @brief DATA_IN 特征 UUID，接收固件数据块 */ static const ble_uuid16_t GATT_DATA_IN_UUID = BLE_UUID16_INIT(BLE_OTA_DATA_IN_UUID); /** @brief DATA_OUT 特征 UUID，Notify 推送 GD32 响应 */ static const ble_uuid16_t GATT_DATA_OUT_UUID = BLE_UUID16_INIT(BLE_OTA_DATA_OUT_UUID); /** @brief VERSION 特征 UUID，返回固件版本字符串 */ static const ble_uuid16_t GATT_VERSION_UUID = BLE_UUID16_INIT(BLE_OTA_VERSION_UUID); // NimBLE C 结构体在 C++ designated initializer 不能显式初始化全部字段。 // 用 pragma 局部关闭 -Wmissing-field-initializers 警告。 #ifdef __cplusplus #pragma GCC diagnostic push #pragma GCC diagnostic ignored "-Wmissing-field-initializers" #endif static const struct ble_gatt_chr_def gatt_ota_chrs[] = { { .uuid = &GATT_CTRL_UUID.u, .access_cb = ble_ota_ctrl_access, .flags = BLE_GATT_CHR_F_WRITE, }, { .uuid = &GATT_DATA_IN_UUID.u, .access_cb = ble_ota_data_in_access, .flags = BLE_GATT_CHR_F_WRITE, }, { .uuid = &GATT_DATA_OUT_UUID.u, .access_cb = ble_ota_data_out_access, .flags = BLE_GATT_CHR_F_NOTIFY, .val_handle = &s_data_out_val_handle, }, { .uuid = &GATT_VERSION_UUID.u, .access_cb = ble_ota_version_access, .flags = BLE_GATT_CHR_F_READ, }, {} // 终止符 }; static const struct ble_gatt_svc_def gatt_ota_svcs[] = { { .type = BLE_GATT_SVC_TYPE_PRIMARY, .uuid = &GATT_SVC_UUID.u, .characteristics = (struct ble_gatt_chr_def *)gatt_ota_chrs, }, {} // 终止符 }; #ifdef __cplusplus #pragma GCC diagnostic pop #endif // ============================================================ // GAP 事件回调 // ============================================================ /** * @brief BLE GAP 事件回调，处理连接和断开事件。 * @param event * @param arg * @return 0 成功。 */ static int ble_ota_gap_event(struct ble_gap_event *event, void *arg) { (void)arg; switch (event->type) { case BLE_GAP_EVENT_CONNECT: if (event->connect.status == 0) { // 连接成功 s_ble_connected = true; /** @brief 当前 BLE 连接句柄。 */ s_conn_handle = event->connect.conn_handle; DEBUG_INFO(TAG, "BLE 客户端已连接: handle=%d", s_conn_handle); // 向对端请求更快的连接参数，提升 OTA 吞吐 struct ble_gap_upd_params up = {}; up.itvl_min = 6; // 7.5 ms 最小连接间隔 up.itvl_max = 12; // 15 ms 最大连接间隔 up.latency = 0; // 无延迟 up.supervision_timeout = 2000; // 2 秒监控超时 up.min_ce_len = 0; // 控制器自行决定 up.max_ce_len = 0; int rc = ble_gap_update_params(s_conn_handle, &up); if (rc != 0) { DEBUG_WARN(TAG, "请求更新连接参数失败: rc=%d（对端不一定接受，继续运行）", rc); } else { DEBUG_INFO(TAG, "已请求更快的连接参数: itvl=%.1f-%.1fms latency=0", up.itvl_min * 1.25f, up.itvl_max * 1.25f); } } else { DEBUG_WARN(TAG, "BLE 连接失败: status=%d", event->connect.status); /** @brief BLE GATT 客户端连接状态。 */ s_ble_connected = false; } return 0; case BLE_GAP_EVENT_DISCONNECT: DEBUG_INFO(TAG, "BLE 客户端已断开: reason=%d", event->disconnect.reason); /** @brief BLE GATT 客户端连接状态。 */ s_ble_connected = false; /** @brief 当前 BLE 连接句柄。 */ s_conn_handle = BLE_HS_CONN_HANDLE_NONE; // 恢复广播以接受新连接 ble_ota_start_advertising(); return 0; case BLE_GAP_EVENT_ADV_COMPLETE: DEBUG_INFO(TAG, "广播周期结束，重新开始"); ble_ota_start_advertising(); return 0; case BLE_GAP_EVENT_SUBSCRIBE: DEBUG_INFO(TAG, "CCC 描述符更新: conn=%d attr=%d notify=%d indicate=%d", event->subscribe.conn_handle, event->subscribe.attr_handle, event->subscribe.cur_notify, event->subscribe.cur_indicate); return 0; case BLE_GAP_EVENT_MTU: DEBUG_INFO(TAG, "MTU 协商: conn=%d mtu=%d", event->mtu.conn_handle, event->mtu.value); return 0; default: return 0; } } // ============================================================ // BLE 广播 // ============================================================ /** * @brief 启动 BLE 广播，使设备可被发现和连接。 */ static void ble_ota_start_advertising(void) { int rc; // 自动推断可用地址类型（优先 Public，不可用则生成 Random） uint8_t own_addr_type; rc = ble_hs_id_infer_auto(0, &own_addr_type); if (rc != 0) { DEBUG_ERR(TAG, "推断地址类型失败: rc=%d, 尝试生成随机地址", rc); // 生成不可解析随机地址作为 fallback ble_addr_t rnd_addr; rc = ble_hs_id_gen_rnd(0, &rnd_addr); if (rc != 0) { DEBUG_ERR(TAG, "生成随机地址也失败: rc=%d, BLE 广播无法启动", rc); return; } own_addr_type = rnd_addr.type; } DEBUG_INFO(TAG, "使用地址类型: %s", own_addr_type == BLE_OWN_ADDR_PUBLIC ? "Public" : "Random"); // --- 构建广播数据 --- uint8_t adv_data[31] = {0}; int adv_pos = 0; // AD Flags: LE General Discoverable + BR/EDR Not Supported adv_data[adv_pos++] = 0x02; // 长度 adv_data[adv_pos++] = 0x01; // 类型 = Flags adv_data[adv_pos++] = 0x06; // 值 // Complete Local Name const char *name = BLE_DEVICE_NAME; size_t name_len = strlen(name); if (name_len > 29 - adv_pos - 2) { name_len = 29 - adv_pos - 2; // 截断以适配广播包 } adv_data[adv_pos++] = (uint8_t)(name_len + 1); adv_data[adv_pos++] = 0x09; // 类型 = Complete Local Name memcpy(&adv_data[adv_pos], name, name_len); adv_pos += name_len; rc = ble_gap_adv_set_data(adv_data, adv_pos); if (rc != 0) { DEBUG_ERR(TAG, "设置广播数据失败: %d", rc); return; } // 扫描响应: 包含 Service UUID 以帮助发现 uint8_t scan_rsp[31] = {0}; int rsp_pos = 0; scan_rsp[rsp_pos++] = 0x11; // 长度 (2 + 15) scan_rsp[rsp_pos++] = 0x09; // 类型 = Complete Local Name name_len = strlen(name); if (name_len > (size_t)(31 - rsp_pos)) { name_len = 31 - rsp_pos; } memcpy(&scan_rsp[rsp_pos], name, name_len); rsp_pos += name_len; rc = ble_gap_adv_rsp_set_data(scan_rsp, rsp_pos); if (rc != 0) { DEBUG_WARN(TAG, "设置扫描响应数据失败: %d", rc); } // 开始广播 struct ble_gap_adv_params adv_params = {}; adv_params.conn_mode = BLE_GAP_CONN_MODE_UND; adv_params.disc_mode = BLE_GAP_DISC_MODE_GEN; // own_addr_type 已在上面由 ble_hs_id_infer_auto 推断 rc = ble_gap_adv_start(own_addr_type, NULL, BLE_HS_FOREVER, &adv_params, ble_ota_gap_event, NULL); if (rc != 0) { DEBUG_ERR(TAG, "启动广播失败: %d", rc); } else { DEBUG_INFO(TAG, "BLE 广播已启动: \"%s\"", name); } } // ============================================================ // NimBLE 同步/重置回调 // ============================================================ /** * @brief NimBLE 协议栈同步完成回调，初始化广播。 */ static void ble_ota_on_sync(void) { DEBUG_INFO(TAG, "NimBLE 协议栈同步完成"); // GATT 服务已在 ble_ota_server_start() 中注册，不再重复注册 // 重复调用 ble_gatts_count_cfg / ble_gatts_add_svcs 会导致 BLE_HS_EBUSY s_ble_ready = true; ble_ota_start_advertising(); } /** * @brief NimBLE 协议栈重置回调。 * @param reason */ static void ble_ota_on_reset(int reason) { DEBUG_WARN(TAG, "NimBLE 协议栈重置: reason=%d", reason); /** @brief NimBLE 协议栈同步完成标志。 */ s_ble_ready = false; } // ============================================================ // NimBLE Host 任务（独立 FreeRTOS 任务） // ============================================================ /** * @brief NimBLE 主机任务入口，处理协议栈事件循环。 * @param param */ static void ble_ota_nimble_host_task(void *param) { (void)param; DEBUG_INFO(TAG, "NimBLE Host 任务启动"); nimble_port_run(); // 正常情况下不会到达这里 DEBUG_INFO(TAG, "NimBLE Host 任务退出"); } // ============================================================ // 公开 API // ============================================================ /** * @brief 启动 BLE GATT 服务器并注册 OTA 服务。 * @return ESP_OK 成功，其他失败。 */ esp_err_t ble_ota_server_start(void) { int rc; DEBUG_INFO(TAG, "=== 初始化 BLE OTA GATT 服务器 ==="); DEBUG_INFO(TAG, " Device: %s", BLE_DEVICE_NAME); DEBUG_INFO(TAG, " MTU: %" PRIu16, BLE_MTU_SIZE); DEBUG_INFO(TAG, " Svc: 0x%04X", BLE_OTA_SERVICE_UUID); esp_err_t err = nimble_port_init(); if (err != ESP_OK) { DEBUG_ERR(TAG, "nimble_port_init 失败: %s", esp_err_to_name(err)); return err; } DEBUG_INFO(TAG, "nimble_port_init 完成"); ble_svc_gap_init(); ble_svc_gatt_init(); rc = ble_svc_gap_device_name_set(BLE_DEVICE_NAME); if (rc != 0) { DEBUG_WARN(TAG, "设置设备名称失败: %d", rc); } rc = ble_att_set_preferred_mtu(BLE_MTU_SIZE); if (rc != 0) { DEBUG_WARN(TAG, "设置首选 MTU 失败: %d", rc); } else { DEBUG_INFO(TAG, "首选 ATT MTU 已设置: %u", (unsigned)BLE_MTU_SIZE); } // 5. 配置 Host 回调 // sync_cb: NimBLE 事件循环就绪时调用 (开始广播) // reset_cb: NimBLE 重置时调用 ble_hs_cfg.sync_cb = ble_ota_on_sync; ble_hs_cfg.reset_cb = ble_ota_on_reset; // 不做 bonding，不需要 store 回调 rc = ble_gatts_count_cfg(gatt_ota_svcs); if (rc != 0) { DEBUG_ERR(TAG, "GATT 服务计数失败: %d", rc); return ESP_FAIL; } rc = ble_gatts_add_svcs(gatt_ota_svcs); if (rc != 0) { DEBUG_ERR(TAG, "GATT 服务注册失败: %d", rc); return ESP_FAIL; } nimble_port_freertos_init(ble_ota_nimble_host_task); DEBUG_INFO(TAG, "BLE OTA 服务器初始化完成"); return ESP_OK; } /** * @brief 通过 BLE Notify 将 GD32 响应推送给上位机。 * @param data 待推送的数据指针。 * @param len 数据长度（字节）。 * @return ESP_OK 成功，其他失败。 */ esp_err_t ble_ota_notify_response(const uint8_t *data, size_t len) { if (!s_ble_connected) { return ESP_ERR_NOT_SUPPORTED; } if (s_data_out_val_handle == 0) { DEBUG_WARN(TAG, "DATA_OUT 值句柄未设置"); return ESP_ERR_INVALID_STATE; } if (len == 0) return ESP_OK; struct os_mbuf *om = ble_hs_mbuf_from_flat(data, len); if (om == NULL) { DEBUG_ERR(TAG, "分配 mbuf 失败 (%zu 字节)", len); return ESP_ERR_NO_MEM; } int rc = ble_gattc_notify_custom(s_conn_handle, s_data_out_val_handle, om); if (rc != 0) { DEBUG_WARN(TAG, "通知发送失败: rc=%d", rc); return ESP_FAIL; } DEBUG_DBG(TAG, "通知已发送: %zu 字节", len); return ESP_OK; } /** * @brief 检查当前是否有 BLE 客户端连接。 * @return true 已连接，false 未连接。 */ bool ble_ota_is_connected(void) { /** @brief BLE GATT 客户端连接状态。 */ return s_ble_connected; } /** * @brief 通知中继模块开始向 GD32 转发固件。 */ void ble_ota_signal_relay(void) { if (g_ota_dispatch_queue == NULL) { DEBUG_ERR(TAG, "OTA 调度队列未初始化"); return; } uint32_t msg = 1; BaseType_t ret = xQueueSend(g_ota_dispatch_queue, &msg, pdMS_TO_TICKS(200)); if (ret != pdTRUE) { DEBUG_ERR(TAG, "OTA 调度信号发送失败: 队列满"); return; } DEBUG_INFO(TAG, "OTA 调度信号已发送 → ota_relay_task"); } // ============================================================ // BLE OTA FreeRTOS 任务入口 // // 注意: 此任务的职责是初始化 BLE 服务器并保持存活。 // 实际的 BLE 事件循环在独立的 NimBLE Host 任务中运行。 // 为避免与 ota_relay_task 竞争，此任务不从 g_ota_dispatch_queue 消费。 // ============================================================ /** * @brief BLE OTA FreeRTOS 任务，初始化 NimBLE 并运行 GATT 服务。 * @param pvParameters FreeRTOS 任务参数，未使用。 */ void ble_ota_task(void *pvParameters) { (void)pvParameters; DEBUG_INFO(TAG, "=== BLE OTA 任务启动 ==="); esp_err_t err = ble_ota_server_start(); if (err != ESP_OK) { DEBUG_ERR(TAG, "BLE 服务器启动失败: %s → BLE OTA 不可用", esp_err_to_name(err)); } // 保持任务存活 — 所有 BLE 事件由 NimBLE Host 任务处理 uint32_t heartbeat = 0; while (1) { heartbeat++; // 每 60 秒打印一次心跳（确认任务存活） if (heartbeat % 6 == 0) { DEBUG_DBG(TAG, "心跳 #%lu | BLE %s | 连接: %s", (unsigned long)(heartbeat / 6), s_ble_ready ? "就绪" : "未就绪", s_ble_connected ? "已连接" : "未连接"); } vTaskDelay(pdMS_TO_TICKS(10000)); } }