小龙虾
2caf10b9de
- 启用CONFIG_BOOTLOADER_APP_ROLLBACK_ENABLE和CONFIG_APP_ROLLBACK_ENABLE配置选项 - 在main.cpp中添加esp_ota_mark_app_valid_cancel_rollback()调用，防止意外回滚 - 实现SHA-256固件完整性校验，包括计算、存储和验证功能 - 添加ota_mutex.h头文件用于ESP32 OTA全局互斥锁管理 feat(health_monitor): 实现线程安全的健康状态管理 - 将HealthMonitor类的健康状态改为私有成员并通过mutex保护 - 添加getState()和setState()方法提供线程安全的状态访问 - 修复多任务并发访问健康状态时的竞争条件问题 feat(ota_relay): 增强中继模块的线程安全性和可靠性 - 为OtaRelay类添加静态mutex保护状态变量访问 - 实现StateLockGuard RAII锁管理器确保异常安全 - 添加全局超时机制防止OTA过程无限等待 - 改进flash写入逻辑支持非4字节对齐数据处理 refactor(app_config): 更新版本信息和配置常量 - 更新BUILD_TIME至最新编译时间 - 更新GIT_HASH至最新提交 - 添加BLE_OTA_CTRL_VERIFY_SHA256命令常量定义
1353 lines
50 KiB
C++
1353 lines
50 KiB
C++
/*
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* ota_relay.cpp - OTA 中继核心状态机实现
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* T2.3, T2.4, T3.1 - T3.7
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*
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* 所有功能封装为 OtaRelay 类方法。
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*/
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#include <string.h>
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#include <stdlib.h>
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#include <inttypes.h>
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/queue.h"
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#include "esp_err.h"
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#include "esp_partition.h"
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#include "nvs_flash.h"
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#include "nvs.h"
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#include "aes/esp_aes.h"
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#define MBEDTLS_DECLARE_PRIVATE_IDENTIFIERS
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#include "mbedtls/private/sha256.h"
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#include "ota_relay.h"
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#include "spi_master.h"
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#include "protocol.h"
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#include "health_monitor.h"
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#include "monitor/debug_log.h"
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// ============================================================
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// 静态成员定义
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// ============================================================
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relay_state_t OtaRelay::relayState = RELAY_IDLE;
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uint32_t OtaRelay::relaySeq = 0;
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uint32_t OtaRelay::relayTotalPackets = 0;
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volatile bool OtaRelay::gd32AppAlive = false;
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gd32_version_t OtaRelay::gd32Version = {};
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QueueHandle_t OtaRelay::dispatchQueue = NULL;
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QueueHandle_t OtaRelay::resultQueue = NULL;
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SemaphoreHandle_t OtaRelay::s_stateMutex = NULL;
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OtaRelay& OtaRelay::instance()
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{
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static OtaRelay inst;
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return inst;
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}
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void OtaRelay::initMutex()
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{
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if (!s_stateMutex) {
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s_stateMutex = xSemaphoreCreateMutex();
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}
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}
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relay_state_t OtaRelay::getState()
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{
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StateLockGuard lock;
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return relayState;
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}
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uint32_t OtaRelay::getRelaySeq()
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{
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StateLockGuard lock;
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return relaySeq;
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}
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uint32_t OtaRelay::getRelayTotalPackets()
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{
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StateLockGuard lock;
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return relayTotalPackets;
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}
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bool OtaRelay::getGd32AppAlive()
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{
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StateLockGuard lock;
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return gd32AppAlive;
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}
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void OtaRelay::getGd32Version(gd32_version_t *out)
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{
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if (!out) return;
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StateLockGuard lock;
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*out = gd32Version;
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}
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void OtaRelay::setState(relay_state_t s)
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{
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StateLockGuard lock;
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relayState = s;
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}
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void OtaRelay::setRelaySeq(uint32_t seq)
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{
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StateLockGuard lock;
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relaySeq = seq;
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}
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void OtaRelay::setRelayTotalPackets(uint32_t total)
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{
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StateLockGuard lock;
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relayTotalPackets = total;
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}
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void OtaRelay::setGd32AppAlive(bool alive)
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{
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StateLockGuard lock;
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gd32AppAlive = alive;
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}
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void OtaRelay::setGd32Version(const gd32_version_t &ver)
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{
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StateLockGuard lock;
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gd32Version = ver;
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}
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// ============================================================
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// 内部工具函数
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// ============================================================
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static bool bytesAllValue(const uint8_t *buf, size_t len, uint8_t value)
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{
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if (!buf || len == 0) return false;
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for (size_t i = 0; i < len; ++i) {
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if (buf[i] != value) return false;
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}
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return true;
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}
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int OtaRelay::aes128EcbEncryptBlockLocal(const uint8_t *key, const uint8_t *in, uint8_t *out)
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{
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esp_aes_context ctx;
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esp_aes_init(&ctx);
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if (esp_aes_setkey(&ctx, key, 128) != 0) { esp_aes_free(&ctx); return -1; }
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int ret = esp_aes_crypt_ecb(&ctx, ESP_AES_ENCRYPT, in, out);
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esp_aes_free(&ctx);
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return ret;
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}
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void OtaRelay::logRespPayload(const char *stage, uint8_t resp_type, const uint8_t *payload, size_t len)
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{
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char hex[193] = {0};
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size_t n = (len > 32U) ? 32U : len;
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for (size_t i = 0; i < n; ++i)
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snprintf(&hex[i * 2], sizeof(hex) - i * 2, "%02X", payload[i]);
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DEBUG_DBG("OTA", "%s resp: type=0x%02X len=%u payload[%u]=%s%s",
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stage, resp_type, (unsigned)len, (unsigned)n,
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n > 0 ? hex : "<empty>", len > n ? "..." : "");
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}
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esp_err_t OtaRelay::waitUntilNotWait(const char *stage, uint8_t *resp_type,
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uint8_t *resp_payload, size_t resp_max,
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size_t *resp_len, uint32_t timeout_ms, uint32_t max_wait_rounds)
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{
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if (!resp_type) return ESP_ERR_INVALID_ARG;
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uint32_t round = 0;
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while (*resp_type == SPI_OTA_RSP_WAIT && round < max_wait_rounds) {
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++round;
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DEBUG_WARN("OTA", "%s WAIT, poll #%u...", stage, round);
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esp_err_t err = SpiMaster::instance().otaPollResponse(resp_type, resp_payload, resp_max, resp_len, 100);
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if (err == ESP_ERR_TIMEOUT) { *resp_type = SPI_OTA_RSP_WAIT; continue; }
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if (err != ESP_OK) return err;
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logRespPayload(stage, *resp_type, resp_payload, resp_len ? *resp_len : 0);
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}
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return ESP_OK;
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}
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bool OtaRelay::isStructuredAckWithSeq(const uint8_t *payload, size_t len, uint32_t expected_seq)
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{
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if (!payload || len < 6) return false;
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if (payload[0] != 0xBA || payload[1] != 0xC0) return false;
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uint32_t seq = (uint32_t)payload[2] | ((uint32_t)payload[3] << 8) |
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((uint32_t)payload[4] << 16) | ((uint32_t)payload[5] << 24);
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return seq == expected_seq;
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}
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bool OtaRelay::parseStructuredError(const uint8_t *payload, size_t len, uint32_t *seq_out, uint8_t *err_out)
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{
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if (!payload || len < 7) return false;
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if (payload[0] != 0xBA || payload[1] != 0xC0) return false;
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if (seq_out) *seq_out = (uint32_t)payload[2] | ((uint32_t)payload[3] << 8) |
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((uint32_t)payload[4] << 16) | ((uint32_t)payload[5] << 24);
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if (err_out) *err_out = payload[6];
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return true;
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}
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bool OtaRelay::isHandshakeEchoAck(const uint8_t *payload, size_t len)
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{ return payload && len >= 2U && payload[0] == 0x00U && payload[1] == 0xACU; }
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bool OtaRelay::isChallengePayloadAck(const uint8_t *payload, size_t len)
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{ return payload && len == GD32_CHALLENGE_RESPONSE_LEN; }
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bool OtaRelay::isConfirmPlainAck(const uint8_t *payload, size_t len)
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{ return payload && len == 2U && payload[0] == 0xBAU && payload[1] == 0xC0U; }
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bool OtaRelay::isSizeSeq0Ack(const uint8_t *payload, size_t len)
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{ return isStructuredAckWithSeq(payload, len, 0U); }
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bool OtaRelay::isFinishPlainAck(const uint8_t *payload, size_t len)
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{
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if (!payload) return false;
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if (len == 2U && payload[0] == 0x0AU && payload[1] == 0xACU) return true;
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/* structured ACK 0xBAC0 no longer accepted as FINISH success */
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return false;
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}
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bool OtaRelay::isStructuredAckWithPayload(const uint8_t *payload, size_t len)
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{ return payload && len >= 6U && payload[0] == 0xBAU && payload[1] == 0xC0U; }
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esp_err_t OtaRelay::pollUntilExpectedAckShape(const char *stage,
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uint8_t *resp_type, uint8_t *resp_payload,
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size_t resp_max, size_t *resp_len,
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uint32_t poll_timeout_ms, uint32_t wait_rounds,
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uint32_t maxExtraPolls,
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bool (*matcher)(const uint8_t *, size_t))
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{
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if (!stage || !resp_type || !resp_payload || !resp_len || !matcher)
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return ESP_ERR_INVALID_ARG;
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esp_err_t err = ESP_OK;
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if (*resp_type == SPI_OTA_RSP_WAIT) {
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err = instance().waitUntilNotWait(stage, resp_type, resp_payload, resp_max, resp_len, poll_timeout_ms, wait_rounds);
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if (err != ESP_OK) return err;
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}
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for (uint32_t extra = 0; extra < maxExtraPolls; ++extra) {
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if (*resp_type != SPI_OTA_RSP_ACK) return ESP_OK;
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if (matcher(resp_payload, *resp_len)) return ESP_OK;
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uint32_t err_seq = 0; uint8_t err_code = 0;
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if (parseStructuredError(resp_payload, *resp_len, &err_seq, &err_code)) return ESP_OK;
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DEBUG_WARN("OTA", "%s stale ACK, poll more: len=%u", stage, (unsigned)*resp_len);
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*resp_len = 0;
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err = SpiMaster::instance().otaPollResponse(resp_type, resp_payload, resp_max, resp_len, poll_timeout_ms);
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if (err != ESP_OK) return err;
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logRespPayload(stage, *resp_type, resp_payload, *resp_len);
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if (*resp_type == SPI_OTA_RSP_WAIT) {
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err = instance().waitUntilNotWait(stage, resp_type, resp_payload, resp_max, resp_len, poll_timeout_ms, wait_rounds);
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if (err != ESP_OK) return err;
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}
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}
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return ESP_OK;
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}
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bool OtaRelay::parseAndVerifyChallengePayload(const uint8_t *resp_payload, size_t resp_len,
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uint8_t *out_k_session, uint8_t *out_uid)
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{
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if (!resp_payload || !out_k_session || !out_uid) return false;
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if (resp_len != GD32_CHALLENGE_RESPONSE_LEN) {
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DEBUG_ERR("OTA", "CHALLENGE: invalid len=%u", (unsigned)resp_len); return false;
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}
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const uint8_t *uid = resp_payload;
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const uint8_t *nonce_frag = resp_payload + 12;
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const uint8_t *encrypted_ksession = resp_payload + 20;
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if (memcmp(nonce_frag, instance().m_nonceServer + 8, 8) != 0) {
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DEBUG_ERR("OTA", "CHALLENGE: nonce mismatch"); return false;
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}
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uint8_t K_session[16] = {0};
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if (aes128EcbEncryptBlockLocal(MASTER_KEY, instance().m_nonceServer, K_session) != 0) {
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DEBUG_ERR("OTA", "CHALLENGE: derive K_session failed"); return false;
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}
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uint8_t expected_encrypted[16] = {0};
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if (aes128EcbEncryptBlockLocal(MASTER_KEY, K_session, expected_encrypted) != 0) {
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DEBUG_ERR("OTA", "CHALLENGE: encrypt K_session failed"); return false;
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}
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if (memcmp(encrypted_ksession, expected_encrypted, 16) != 0) {
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DEBUG_ERR("OTA", "CHALLENGE: K_session mismatch"); return false;
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}
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memcpy(out_k_session, K_session, 16);
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memcpy(out_uid, uid, GD32_UID_LEN);
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if (bytesAllValue(out_uid, GD32_UID_LEN, 0x00U) || bytesAllValue(out_uid, GD32_UID_LEN, 0xFFU)) {
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DEBUG_ERR("OTA", "CHALLENGE: UID all 0 or FF"); return false;
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}
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return true;
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}
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bool OtaRelay::aes128EcbEncrypt48Bytes(const uint8_t *key, const uint8_t *in, uint8_t *out)
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{
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for (int i = 0; i < 3; ++i)
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if (aes128EcbEncryptBlockLocal(key, in + i * 16, out + i * 16) != 0) return false;
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return true;
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}
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void OtaRelay::calculateCrc32WithKey(const uint8_t *key, const uint8_t *data48, uint8_t *output)
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{
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uint32_t crc = 0xFFFFFFFFU;
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for (int i = 0; i < 16; ++i) { crc ^= key[i]; for (int j = 0; j < 8; ++j) crc = (crc >> 1) ^ (0xEDB88320U & (0U - (crc & 1U))); }
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for (size_t i = 0; i < 48U; ++i) { crc ^= data48[i]; for (int j = 0; j < 8; ++j) crc = (crc >> 1) ^ (0xEDB88320U & (0U - (crc & 1U))); }
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crc ^= 0xFFFFFFFFU;
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output[0] = (uint8_t)(crc & 0xFFU); output[1] = (uint8_t)((crc >> 8) & 0xFFU);
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output[2] = (uint8_t)((crc >> 16) & 0xFFU); output[3] = (uint8_t)((crc >> 24) & 0xFFU);
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}
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/**
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* @brief 从 Flash 加载元数据
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* @param meta 输出参数，加载后的元数据结构体。
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* @return ESP_OK 成功，其他失败。
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*/
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esp_err_t OtaRelay::metaLoad(ota_meta_t *meta)
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{
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if (!meta) return ESP_ERR_INVALID_ARG;
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memset(meta, 0, sizeof(ota_meta_t));
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nvs_handle_t handle;
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esp_err_t err = nvs_open(OTA_META_NVS_NAMESPACE, NVS_READONLY, &handle);
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if (err != ESP_OK) {
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// NVS 中没有元数据是正常状态（首次使用）
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return ESP_OK;
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}
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uint32_t val = 0;
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if (nvs_get_u32(handle, "total_size", &val) == ESP_OK) meta->total_size = val;
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if (nvs_get_u32(handle, "stored_size", &val) == ESP_OK) meta->stored_size = val;
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if (nvs_get_u32(handle, "last_seq", &val) == ESP_OK) meta->last_seq = val;
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if (nvs_get_u32(handle, "chunk_count", &val) == ESP_OK) meta->chunk_count = val;
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size_t sha_len = sizeof(meta->checksum);
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if (nvs_get_blob(handle, "checksum", meta->checksum, &sha_len) == ESP_OK && sha_len == sizeof(meta->checksum)) {
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// checksum 已从 NVS 恢复
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} else {
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memset(meta->checksum, 0, sizeof(meta->checksum));
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}
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nvs_close(handle);
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return ESP_OK;
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}
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/**
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* @brief 保存元数据到 Flash
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* @param meta 待保存的元数据结构体。
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* @return ESP_OK 成功，其他失败。
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*/
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esp_err_t OtaRelay::metaSave(const ota_meta_t *meta)
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{
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if (!meta) return ESP_ERR_INVALID_ARG;
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nvs_handle_t handle;
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esp_err_t err = nvs_open(OTA_META_NVS_NAMESPACE, NVS_READWRITE, &handle);
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if (err != ESP_OK) {
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DEBUG_ERR("OTA", "无法打开 NVS 写入: %s", esp_err_to_name(err));
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return err;
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}
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nvs_set_u32(handle, "total_size", meta->total_size);
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nvs_set_u32(handle, "stored_size", meta->stored_size);
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nvs_set_u32(handle, "last_seq", meta->last_seq);
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nvs_set_u32(handle, "chunk_count", meta->chunk_count);
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nvs_set_blob(handle, "checksum", meta->checksum, sizeof(meta->checksum));
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err = nvs_commit(handle);
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nvs_close(handle);
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if (err != ESP_OK) {
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DEBUG_ERR("OTA", "NVS commit 失败: %s", esp_err_to_name(err));
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}
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return err;
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}
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/**
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* @brief 传输过程中更新元数据
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* @param stored_size 已存储的固件大小（字节）。
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* @param last_seq 最后成功的分块序号。
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* @return ESP_OK 成功，其他失败。
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*/
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esp_err_t OtaRelay::metaUpdate(uint32_t stored_size, uint32_t last_seq)
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{
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ota_meta_t meta;
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esp_err_t err = OtaRelay::metaLoad(&meta);
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if (err != ESP_OK) return err;
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meta.stored_size = stored_size;
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meta.last_seq = last_seq;
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return OtaRelay::metaSave(&meta);
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}
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/**
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* @brief OTA 完成后或中止时清除元数据
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* @return ESP_OK 成功，其他失败。
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*/
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esp_err_t OtaRelay::metaClear()
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{
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DEBUG_INFO("OTA", "清除 OTA 元数据");
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ota_meta_t meta = {};
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return OtaRelay::metaSave(&meta);
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}
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/**
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* @brief 计算 gd32_ota 分区中已存储固件的 SHA-256
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* @param out_sha256 输出 32 字节 SHA-256 摘要。
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* @return ESP_OK 成功，其他失败。
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*/
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esp_err_t OtaRelay::computeFlashSha256(uint8_t out_sha256[32])
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{
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if (!out_sha256) return ESP_ERR_INVALID_ARG;
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ota_meta_t meta;
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esp_err_t err = metaLoad(&meta);
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if (err != ESP_OK || meta.total_size == 0) {
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DEBUG_ERR("OTA", "computeSha256: 元数据无效");
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return ESP_ERR_INVALID_STATE;
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}
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||
|
||
mbedtls_sha256_context ctx;
|
||
mbedtls_sha256_init(&ctx);
|
||
if (mbedtls_sha256_starts(&ctx, 0) != 0) {
|
||
mbedtls_sha256_free(&ctx);
|
||
return ESP_FAIL;
|
||
}
|
||
|
||
static constexpr size_t kChunkSize = 1024;
|
||
uint8_t *buf = (uint8_t *)malloc(kChunkSize);
|
||
if (!buf) {
|
||
mbedtls_sha256_free(&ctx);
|
||
return ESP_ERR_NO_MEM;
|
||
}
|
||
|
||
uint32_t remaining = meta.total_size;
|
||
uint32_t offset = 0;
|
||
while (remaining > 0) {
|
||
size_t to_read = (remaining > kChunkSize) ? kChunkSize : remaining;
|
||
err = flashReadChunk(offset, buf, to_read);
|
||
if (err != ESP_OK) {
|
||
DEBUG_ERR("OTA", "computeSha256: Flash 读取失败 offset=%" PRIu32, offset);
|
||
free(buf);
|
||
mbedtls_sha256_free(&ctx);
|
||
return err;
|
||
}
|
||
if (mbedtls_sha256_update(&ctx, buf, to_read) != 0) {
|
||
free(buf);
|
||
mbedtls_sha256_free(&ctx);
|
||
return ESP_FAIL;
|
||
}
|
||
offset += to_read;
|
||
remaining -= to_read;
|
||
}
|
||
|
||
free(buf);
|
||
int ret = mbedtls_sha256_finish(&ctx, out_sha256);
|
||
mbedtls_sha256_free(&ctx);
|
||
return (ret == 0) ? ESP_OK : ESP_FAIL;
|
||
}
|
||
|
||
/**
|
||
* @brief 固件接收完毕后，计算 SHA-256 并写入元数据
|
||
* @return ESP_OK 成功，其他失败。
|
||
*/
|
||
esp_err_t OtaRelay::metaFinalizeChecksum()
|
||
{
|
||
ota_meta_t meta;
|
||
esp_err_t err = metaLoad(&meta);
|
||
if (err != ESP_OK) return err;
|
||
|
||
if (meta.total_size == 0 || meta.stored_size < meta.total_size) {
|
||
DEBUG_ERR("OTA", "metaFinalize: 固件不完整 stored=%" PRIu32 " total=%" PRIu32,
|
||
meta.stored_size, meta.total_size);
|
||
return ESP_ERR_INVALID_STATE;
|
||
}
|
||
|
||
err = computeFlashSha256(meta.checksum);
|
||
if (err != ESP_OK) {
|
||
DEBUG_ERR("OTA", "metaFinalize: SHA-256 计算失败");
|
||
return err;
|
||
}
|
||
|
||
char hex[65] = {0};
|
||
for (int i = 0; i < 32; ++i)
|
||
snprintf(&hex[i * 2], sizeof(hex) - i * 2, "%02X", meta.checksum[i]);
|
||
DEBUG_INFO("OTA", "固件 SHA-256: %s", hex);
|
||
|
||
return metaSave(&meta);
|
||
}
|
||
|
||
/**
|
||
* @brief 中继转发前校验固件完整性
|
||
* @return ESP_OK 校验通过，ESP_ERR_INVALID_CRC 校验失败。
|
||
*/
|
||
esp_err_t OtaRelay::metaVerifyChecksum()
|
||
{
|
||
ota_meta_t meta;
|
||
esp_err_t err = metaLoad(&meta);
|
||
if (err != ESP_OK) return err;
|
||
|
||
// 全零 checksum 表示从未计算过（兼容旧固件）
|
||
if (bytesAllValue(meta.checksum, sizeof(meta.checksum), 0x00)) {
|
||
DEBUG_WARN("OTA", "metaVerify: checksum 未计算，跳过校验（旧数据兼容）");
|
||
return ESP_OK;
|
||
}
|
||
|
||
uint8_t computed[32] = {0};
|
||
err = computeFlashSha256(computed);
|
||
if (err != ESP_OK) {
|
||
DEBUG_ERR("OTA", "metaVerify: SHA-256 计算失败");
|
||
return err;
|
||
}
|
||
|
||
if (memcmp(computed, meta.checksum, 32) != 0) {
|
||
char hex_stored[65] = {0}, hex_computed[65] = {0};
|
||
for (int i = 0; i < 32; ++i) {
|
||
snprintf(&hex_stored[i * 2], sizeof(hex_stored) - i * 2, "%02X", meta.checksum[i]);
|
||
snprintf(&hex_computed[i * 2], sizeof(hex_computed) - i * 2, "%02X", computed[i]);
|
||
}
|
||
DEBUG_ERR("OTA", "固件完整性校验失败!");
|
||
DEBUG_ERR("OTA", " 存储 SHA-256: %s", hex_stored);
|
||
DEBUG_ERR("OTA", " 计算 SHA-256: %s", hex_computed);
|
||
return ESP_ERR_INVALID_CRC;
|
||
}
|
||
|
||
DEBUG_INFO("OTA", "固件完整性校验通过 (SHA-256 匹配)");
|
||
return ESP_OK;
|
||
}
|
||
|
||
/**
|
||
* @brief Flash 写入接口
|
||
* @param offset 分区内写入偏移。
|
||
* @param data 待写入的数据指针。
|
||
* @param len 数据长度（字节）。
|
||
* @return ESP_OK 成功，其他失败。
|
||
*/
|
||
esp_err_t OtaRelay::flashWriteChunk(uint32_t offset, const uint8_t *data, size_t len)
|
||
{
|
||
if (!instance().m_gd32Partition) {
|
||
instance().m_gd32Partition = esp_partition_find_first(
|
||
ESP_PARTITION_TYPE_DATA, ESP_PARTITION_SUBTYPE_DATA_SPIFFS, "gd32_ota");
|
||
if (!instance().m_gd32Partition) {
|
||
DEBUG_ERR("OTA", "找不到 gd32_ota 分区");
|
||
return ESP_ERR_NOT_FOUND;
|
||
}
|
||
}
|
||
|
||
// --- offset 必须4字节对齐 ---
|
||
if (offset % 4 != 0) {
|
||
DEBUG_ERR("OTA", "flashWriteChunk offset非4对齐: offset=%" PRIu32, offset);
|
||
return ESP_ERR_INVALID_ARG;
|
||
}
|
||
|
||
const esp_partition_t *part = instance().m_gd32Partition;
|
||
|
||
// --- len已对齐：直接写入 ---
|
||
if (len % 4 == 0) {
|
||
if (offset + len > part->size) {
|
||
DEBUG_ERR("OTA", "flashWriteChunk越界: offset=%" PRIu32 " len=%zu part_size=%" PRIu32,
|
||
offset, len, part->size);
|
||
return ESP_ERR_INVALID_SIZE;
|
||
}
|
||
return esp_partition_write(part, offset, data, len);
|
||
}
|
||
|
||
// --- len未对齐：read-modify-write ---
|
||
size_t aligned_len = (len + 3) & ~(size_t)3;
|
||
|
||
if (offset + aligned_len > part->size) {
|
||
DEBUG_ERR("OTA", "flashWriteChunk对齐后越界: offset=%" PRIu32 " len=%zu aligned=%zu part=%" PRIu32,
|
||
offset, len, aligned_len, part->size);
|
||
return ESP_ERR_INVALID_SIZE;
|
||
}
|
||
|
||
DEBUG_WARN("OTA", "flashWriteChunk len非4对齐: len=%zu aligned_len=%zu offset=%" PRIu32,
|
||
len, aligned_len, offset);
|
||
|
||
// 读回尾部padding字节（offset+len处，最多3字节）
|
||
size_t pad_len = aligned_len - len;
|
||
uint8_t pad[4] = {0};
|
||
esp_err_t err = esp_partition_read(part, offset + len, pad, pad_len);
|
||
if (err != ESP_OK) {
|
||
DEBUG_ERR("OTA", "flashWriteChunk读回padding失败: offset=%" PRIu32 " pad=%zu err=%s",
|
||
offset + len, pad_len, esp_err_to_name(err));
|
||
return err;
|
||
}
|
||
|
||
// 拼接：data + pad -> aligned_buf
|
||
uint8_t *aligned_buf = (uint8_t *)malloc(aligned_len);
|
||
if (!aligned_buf) {
|
||
DEBUG_ERR("OTA", "flashWriteChunk malloc失败: %zu字节", aligned_len);
|
||
return ESP_ERR_NO_MEM;
|
||
}
|
||
memcpy(aligned_buf, data, len);
|
||
memcpy(aligned_buf + len, pad, pad_len);
|
||
|
||
err = esp_partition_write(part, offset, aligned_buf, aligned_len);
|
||
free(aligned_buf);
|
||
return err;
|
||
}
|
||
|
||
/**
|
||
* @brief 从 OTA 缓存分区读取指定偏移和长度的数据块。
|
||
* @param offset 分区内读取偏移。
|
||
* @param data 读取缓冲区指针。
|
||
* @param len 读取长度（字节）。
|
||
* @return ESP_OK 成功，其他失败。
|
||
*/
|
||
esp_err_t OtaRelay::flashReadChunk(uint32_t offset, uint8_t *data, size_t len)
|
||
{
|
||
if (!instance().m_gd32Partition) {
|
||
instance().m_gd32Partition = esp_partition_find_first(
|
||
ESP_PARTITION_TYPE_DATA, ESP_PARTITION_SUBTYPE_DATA_SPIFFS, "gd32_ota");
|
||
if (!instance().m_gd32Partition) {
|
||
DEBUG_ERR("OTA", "找不到 gd32_ota 分区");
|
||
return ESP_ERR_NOT_FOUND;
|
||
}
|
||
}
|
||
|
||
return esp_partition_read(instance().m_gd32Partition, offset, data, len);
|
||
}
|
||
|
||
/**
|
||
* @brief 阶段1 - 发起与 GD32 的握手
|
||
* @return 操作结果码。
|
||
*/
|
||
esp_err_t OtaRelay::requestGd32AppEnterBootloader()
|
||
{
|
||
DEBUG_INFO("OTA", "尝试通知 GD32 APP 进入 Bootloader OTA 窗口");
|
||
esp_err_t err = SpiMaster::instance().appRequestBootloader();
|
||
if (err == ESP_OK) {
|
||
/* 收到确认：可能来自 APP（即将跳转 BOOT）或 BOOT 本身（已在 BOOT）。
|
||
* 如果来自 APP，GD32 需要复位并重新初始化 SPI 外设，需等 ~1-2s；
|
||
* 如果已在 BOOT，SPI 已经就绪，200ms 足够。
|
||
* 等待 1000ms 给 GD32 足够时间完成系统复位和 Bootloader 初始化。 */
|
||
DEBUG_INFO("OTA", "GD32 已确认进入 Bootloader，等待就绪");
|
||
vTaskDelay(pdMS_TO_TICKS(1000));
|
||
return ESP_OK;
|
||
}
|
||
DEBUG_WARN("OTA", "GD32 APP 未确认进入 Bootloader: %s", esp_err_to_name(err));
|
||
return err;
|
||
}
|
||
|
||
|
||
ota_result_t OtaRelay::probeBootHandshake()
|
||
{
|
||
/* 0xB0 timeout: probe if GD32 is already in BOOT.
|
||
* Send one lightweight HANDSHAKE_REQ, accept only echo ACK 0x00 0xAC
|
||
* as "already in BOOT" signal; otherwise fail immediately. */
|
||
DEBUG_INFO("OTA", "0xB0 timeout, probing if GD32 already in BOOT...");
|
||
uint8_t payload[] = {0x00, 0xAC};
|
||
uint8_t resp_type = 0U;
|
||
uint8_t resp_payload[64] = {0};
|
||
size_t resp_len = 0U;
|
||
|
||
esp_err_t err = SpiMaster::instance().otaTransfer(SPI_OTA_CMD_REQ, payload, sizeof(payload),
|
||
&resp_type, resp_payload, sizeof(resp_payload), &resp_len, 500);
|
||
if (err == ESP_OK && resp_type == SPI_OTA_RSP_ACK && isHandshakeEchoAck(resp_payload, resp_len)) {
|
||
DEBUG_INFO("OTA", "BOOT probe success: GD32 already in BOOT, continue OTA");
|
||
return OTA_RESULT_OK;
|
||
}
|
||
DEBUG_ERR("OTA", "BOOT probe failed: GD32 not in BOOT, abort (err=%d resp_type=0x%02X)", err, resp_type);
|
||
return OTA_RESULT_ERR_TIMEOUT;
|
||
}
|
||
|
||
ota_result_t OtaRelay::sendHandshakeReq()
|
||
{
|
||
DEBUG_INFO("OTA", "=== 阶段1: 握手开始 ===");
|
||
DEBUG_INFO("OTA", "发送 HANDSHAKE_REQ (0x00 0xAC)");
|
||
|
||
uint8_t payload[] = {0x00, 0xAC};
|
||
uint8_t last_resp_type = 0U;
|
||
size_t last_resp_len = 0U;
|
||
esp_err_t last_err = ESP_OK;
|
||
constexpr uint32_t kHandshakeAttempts = 10U;
|
||
constexpr uint32_t kHandshakeReqTimeoutMs = 200U;
|
||
constexpr uint32_t kHandshakePollTimeoutMs = 200U;
|
||
constexpr uint32_t kHandshakeRetryGapMs = 100U;
|
||
|
||
/** @brief 当前 OTA 中继状态机状态。 */
|
||
relayState = RELAY_HANDSHAKE_SENT;
|
||
DEBUG_INFO("OTA", "状态: RELAY_HANDSHAKE_SENT");
|
||
|
||
for (uint32_t attempt = 0U; attempt < kHandshakeAttempts; ++attempt) {
|
||
uint8_t resp_type = 0U;
|
||
uint8_t resp_payload[64] = {0};
|
||
size_t resp_len = 0U;
|
||
|
||
esp_err_t err = SpiMaster::instance().otaTransfer(SPI_OTA_CMD_REQ, payload, sizeof(payload),
|
||
&resp_type, resp_payload, sizeof(resp_payload), &resp_len,
|
||
kHandshakeReqTimeoutMs);
|
||
last_err = err;
|
||
last_resp_type = resp_type;
|
||
last_resp_len = resp_len;
|
||
|
||
if (err == ESP_OK) {
|
||
logRespPayload("HANDSHAKE_REQ", resp_type, resp_payload, resp_len);
|
||
err = pollUntilExpectedAckShape("HANDSHAKE_REQ", &resp_type, resp_payload,
|
||
sizeof(resp_payload), &resp_len,
|
||
kHandshakePollTimeoutMs, 2, 2, OtaRelay::isHandshakeEchoAck);
|
||
last_err = err;
|
||
last_resp_type = resp_type;
|
||
last_resp_len = resp_len;
|
||
|
||
if (err == ESP_OK && resp_type == SPI_OTA_RSP_ACK && isHandshakeEchoAck(resp_payload, resp_len)) {
|
||
DEBUG_INFO("OTA", "握手请求已确认 (attempt=%lu)", (unsigned long)(attempt + 1U));
|
||
return OTA_RESULT_OK;
|
||
}
|
||
}
|
||
|
||
DEBUG_WARN("OTA", "HANDSHAKE_REQ 未就绪，重试 %lu/%lu: err=%d resp_type=0x%02X resp_len=%u",
|
||
(unsigned long)(attempt + 1U),
|
||
(unsigned long)kHandshakeAttempts,
|
||
last_err,
|
||
last_resp_type,
|
||
(unsigned)last_resp_len);
|
||
vTaskDelay(pdMS_TO_TICKS(kHandshakeRetryGapMs));
|
||
}
|
||
|
||
DEBUG_ERR("OTA", "HANDSHAKE_REQ 失败, err=%d, resp_type=0x%02X, resp_len=%zu",
|
||
last_err, last_resp_type, last_resp_len);
|
||
relayState = RELAY_ERROR;
|
||
return OTA_RESULT_ERR_TIMEOUT;
|
||
}
|
||
|
||
/**
|
||
* @brief 发送随机数并与 GD32 相互认证
|
||
* @return 操作结果码。
|
||
*/
|
||
ota_result_t OtaRelay::sendNonceAndAuthenticate()
|
||
{
|
||
uint8_t resp_type = 0;
|
||
uint8_t resp_payload[64] = {0};
|
||
size_t resp_len = 0;
|
||
|
||
uint32_t timestamp = xTaskGetTickCount();
|
||
uint32_t mem_addr = (uint32_t)(uintptr_t)m_nonceServer;
|
||
uint32_t rand_seed = 0x12345678;
|
||
|
||
Protocol::scrambleGenerate(timestamp, mem_addr, rand_seed, m_nonceServer);
|
||
|
||
DEBUG_INFO("OTA", "--- 认证步骤 1: 发送 CHALLENGE ---");
|
||
DEBUG_INFO("OTA", "发送 nonce_server (16B), timestamp=0x%08X", timestamp);
|
||
relayState = RELAY_CHALLENGE_SENT;
|
||
DEBUG_INFO("OTA", "状态: RELAY_CHALLENGE_SENT");
|
||
|
||
esp_err_t err = SpiMaster::instance().otaTransfer(SPI_OTA_CMD_REQ, m_nonceServer, 16,
|
||
&resp_type, resp_payload, sizeof(resp_payload), &resp_len, 5000);
|
||
logRespPayload("CHALLENGE", resp_type, resp_payload, resp_len);
|
||
err = pollUntilExpectedAckShape("CHALLENGE", &resp_type, resp_payload,
|
||
sizeof(resp_payload), &resp_len,
|
||
1000, 12, 8, OtaRelay::isChallengePayloadAck);
|
||
if (err != ESP_OK || resp_type != SPI_OTA_RSP_ACK || !isChallengePayloadAck(resp_payload, resp_len)) {
|
||
DEBUG_ERR("OTA", "CHALLENGE 发送失败, err=%d, resp_type=0x%02X, resp_len=%zu", err, resp_type, resp_len);
|
||
relayState = RELAY_ERROR;
|
||
return OTA_RESULT_ERR_TIMEOUT;
|
||
}
|
||
|
||
relayState = RELAY_CHALLENGE_RESPOND;
|
||
DEBUG_INFO("OTA", "已收到 GD32 握手数据包");
|
||
DEBUG_INFO("OTA", "状态: RELAY_CHALLENGE_RESPOND");
|
||
|
||
if (!parseAndVerifyChallengePayload(resp_payload, resp_len, m_kSession, m_gd32UidRuntime)) {
|
||
DEBUG_ERR("OTA", "CHALLENGE 解包/校验失败");
|
||
relayState = RELAY_ERROR;
|
||
return OTA_RESULT_ERR_AUTH;
|
||
}
|
||
|
||
uint8_t plaintext[16];
|
||
for (int i = 0; i < 16; ++i) {
|
||
plaintext[i] = m_nonceServer[i] ^ 0x55U;
|
||
}
|
||
uint8_t encrypted_confirm[16] = {0};
|
||
if (aes128EcbEncryptBlockLocal(m_kSession, plaintext, encrypted_confirm) != 0) {
|
||
DEBUG_ERR("OTA", "加密确认块失败");
|
||
relayState = RELAY_ERROR;
|
||
return OTA_RESULT_ERR_AUTH;
|
||
}
|
||
|
||
DEBUG_INFO("OTA", "--- 认证步骤 2: 发送 SESSION_KEY/CONFIRM ---");
|
||
relayState = RELAY_SESSION_KEY_SENT;
|
||
DEBUG_INFO("OTA", "状态: RELAY_SESSION_KEY_SENT");
|
||
|
||
resp_len = 0;
|
||
err = SpiMaster::instance().otaTransfer(SPI_OTA_CMD_REQ, encrypted_confirm, 16,
|
||
&resp_type, resp_payload, sizeof(resp_payload), &resp_len, 3000);
|
||
logRespPayload("CONFIRM", resp_type, resp_payload, resp_len);
|
||
err = pollUntilExpectedAckShape("CONFIRM", &resp_type, resp_payload,
|
||
sizeof(resp_payload), &resp_len,
|
||
1000, 8, 8, OtaRelay::isConfirmPlainAck);
|
||
if (err != ESP_OK || resp_type != SPI_OTA_RSP_ACK || !isConfirmPlainAck(resp_payload, resp_len)) {
|
||
DEBUG_ERR("OTA", "SESSION_KEY/CONFIRM 失败, err=%d, resp_type=0x%02X, resp_len=%zu", err, resp_type, resp_len);
|
||
relayState = RELAY_ERROR;
|
||
return OTA_RESULT_ERR_TIMEOUT;
|
||
}
|
||
|
||
/* 诊断: 打印 confirm 响应完整内容，确认是 2B 还是意外读到了 36B challenge 响应 */
|
||
{
|
||
char hex[73] = {0};
|
||
size_t n = (resp_len > 36U) ? 36U : resp_len;
|
||
for (size_t i = 0; i < n; ++i) {
|
||
snprintf(&hex[i * 2], sizeof(hex) - i * 2, "%02X", resp_payload[i]);
|
||
}
|
||
DEBUG_INFO("OTA", "CONFIRM 验证通过, resp_len=%zu, payload=%s", resp_len, hex);
|
||
}
|
||
|
||
relayState = RELAY_AUTH_COMPLETE;
|
||
DEBUG_INFO("OTA", "状态: RELAY_AUTH_COMPLETE");
|
||
DEBUG_INFO("OTA", "=== 阶段1 认证完成: 安全通道已建立 ===");
|
||
|
||
Protocol::sessionKeyInit(&m_sessionCtx, m_kSession);
|
||
return OTA_RESULT_OK;
|
||
}
|
||
|
||
/**
|
||
* @brief 向 GD32 发送固件总大小
|
||
* @param size 固件总字节数。
|
||
* @return 操作结果码。
|
||
*/
|
||
ota_result_t OtaRelay::sendFirmwareSize(uint32_t size)
|
||
{
|
||
uint8_t resp_type = 0;
|
||
uint8_t resp_payload[32] = {0};
|
||
size_t resp_len = 0;
|
||
|
||
DEBUG_INFO("OTA", "=== 阶段2: 发送固件大小 ===");
|
||
DEBUG_INFO("OTA", "固件大小: %u 字节", size);
|
||
|
||
uint8_t size_payload[4];
|
||
size_payload[0] = (uint8_t)(size & 0xFF);
|
||
size_payload[1] = (uint8_t)((size >> 8) & 0xFF);
|
||
size_payload[2] = (uint8_t)((size >> 16) & 0xFF);
|
||
size_payload[3] = (uint8_t)((size >> 24) & 0xFF);
|
||
|
||
relayState = RELAY_SIZE_SENT;
|
||
DEBUG_INFO("OTA", "状态: RELAY_SIZE_SENT");
|
||
|
||
esp_err_t err = SpiMaster::instance().otaTransfer(SPI_OTA_CMD_DATA, size_payload, sizeof(size_payload),
|
||
&resp_type, resp_payload, sizeof(resp_payload), &resp_len, 3000);
|
||
logRespPayload("SEND_SIZE", resp_type, resp_payload, resp_len);
|
||
DEBUG_WARN("OTA", "SEND_SIZE poll config: poll_timeout_ms=2000 wait_rounds=300 maxExtraPolls=24");
|
||
err = pollUntilExpectedAckShape("SEND_SIZE", &resp_type, resp_payload,
|
||
sizeof(resp_payload), &resp_len,
|
||
2000, 300, 24, OtaRelay::isSizeSeq0Ack);
|
||
if (err != ESP_OK || resp_type != SPI_OTA_RSP_ACK || !isSizeSeq0Ack(resp_payload, resp_len)) {
|
||
DEBUG_ERR("OTA", "SEND_SIZE 失败, err=%d, resp_type=0x%02X, resp_len=%zu", err, resp_type, resp_len);
|
||
relayState = RELAY_ERROR;
|
||
return OTA_RESULT_ERR_TIMEOUT;
|
||
}
|
||
|
||
DEBUG_INFO("OTA", "大小已发送: %u 字节，等待 GD32 确认...", size);
|
||
relayState = RELAY_SIZE_ACK;
|
||
DEBUG_INFO("OTA", "状态: RELAY_SIZE_ACK");
|
||
|
||
return OTA_RESULT_OK;
|
||
}
|
||
|
||
/**
|
||
* @brief 从 Flash 向 GD32 转发存储的固件（48B/包）
|
||
* @return 操作结果码。
|
||
*/
|
||
ota_result_t OtaRelay::relayPacketsFromFlash(TickType_t deadline_tick)
|
||
{
|
||
DEBUG_INFO("OTA", "=== 阶段3: 从 Flash 转发固件 ===");
|
||
|
||
ota_meta_t meta;
|
||
if (OtaRelay::metaLoad(&meta) != ESP_OK) {
|
||
DEBUG_ERR("OTA", "元数据加载失败");
|
||
return OTA_RESULT_ERR_STORAGE;
|
||
}
|
||
|
||
uint32_t total_packets = (meta.total_size + GD32_OTA_PACKET_SIZE - 1U) / GD32_OTA_PACKET_SIZE;
|
||
uint32_t flash_offset = 0;
|
||
uint8_t tx_buf[64] = {0};
|
||
uint8_t resp_type = 0;
|
||
uint8_t resp_payload[32] = {0};
|
||
size_t resp_len = 0;
|
||
ota_result_t result = OTA_RESULT_OK;
|
||
|
||
DEBUG_INFO("OTA", "总包数: %u, 每包 %u 字节", total_packets, (unsigned)GD32_OTA_PACKET_SIZE);
|
||
DEBUG_INFO("OTA", "状态: RELAY_RELAY_ACTIVE");
|
||
relayState = RELAY_RELAY_ACTIVE;
|
||
relayTotalPackets = total_packets;
|
||
relaySeq = 0;
|
||
|
||
for (uint32_t seq = 0; seq < total_packets; seq++) {
|
||
uint32_t retry_count = 0;
|
||
if ((seq % OTA_PACKET_HEALTH_CHECK_INTERVAL) == 0 || seq == 0 || seq == total_packets - 1) {
|
||
health_status_t health = HealthMonitor::instance().checkBeforeOtaRelay();
|
||
if (health == HEALTH_MON_SHUTDOWN || health == HEALTH_MON_CRITICAL) {
|
||
DEBUG_ERR("OTA", "健康检查危险，中止 OTA");
|
||
return OTA_RESULT_ERR_HEALTH;
|
||
}
|
||
}
|
||
|
||
/* 全局超时检查：避免单包 WAIT 循环累计导致整体挂起 */
|
||
if (deadline_tick != 0 && xTaskGetTickCount() >= deadline_tick) {
|
||
DEBUG_ERR("OTA", "全局超时: 包 %u/%u 已超限，中止转发", seq, total_packets);
|
||
return OTA_RESULT_ERR_USER_ABORT;
|
||
}
|
||
|
||
uint8_t plain48[GD32_OTA_PACKET_SIZE];
|
||
memset(plain48, 0xFF, sizeof(plain48));
|
||
size_t chunk_size = GD32_OTA_PACKET_SIZE;
|
||
if (seq == total_packets - 1) {
|
||
chunk_size = meta.total_size - (seq * GD32_OTA_PACKET_SIZE);
|
||
}
|
||
|
||
esp_err_t err = OtaRelay::flashReadChunk(flash_offset, plain48, chunk_size);
|
||
if (err != ESP_OK) {
|
||
DEBUG_ERR("OTA", "Flash 读取失败, offset=%u, err=%d", flash_offset, err);
|
||
return OTA_RESULT_ERR_STORAGE;
|
||
}
|
||
|
||
tx_buf[0] = 0x00; tx_buf[1] = 0x00; tx_buf[2] = 0x00; tx_buf[3] = 0x00; /* session_num 预留 */
|
||
tx_buf[4] = (uint8_t)(seq & 0xFFU);
|
||
tx_buf[5] = (uint8_t)((seq >> 8) & 0xFFU);
|
||
tx_buf[6] = 0x00;
|
||
tx_buf[7] = 0x00;
|
||
|
||
if (!aes128EcbEncrypt48Bytes(m_kSession, plain48, &tx_buf[8])) {
|
||
DEBUG_ERR("OTA", "包 %u 加密失败", seq);
|
||
return OTA_RESULT_ERR_AUTH;
|
||
}
|
||
|
||
uint32_t if_end = (seq == total_packets - 1) ? 0xFFFFFFFFU : 0x00000000U;
|
||
tx_buf[56] = (uint8_t)(if_end & 0xFFU);
|
||
tx_buf[57] = (uint8_t)((if_end >> 8) & 0xFFU);
|
||
tx_buf[58] = (uint8_t)((if_end >> 16) & 0xFFU);
|
||
tx_buf[59] = (uint8_t)((if_end >> 24) & 0xFFU);
|
||
calculateCrc32WithKey(m_kSession, plain48, &tx_buf[60]);
|
||
|
||
DEBUG_DBG("OTA", "包 %u: chunk=%u if_end=0x%08X crc32=%02X%02X%02X%02X",
|
||
seq, (unsigned)chunk_size, (unsigned)if_end,
|
||
tx_buf[60], tx_buf[61], tx_buf[62], tx_buf[63]);
|
||
|
||
relayState = RELAY_PACKET_SENT;
|
||
|
||
resend_packet:
|
||
while (1) {
|
||
resp_len = 0;
|
||
err = SpiMaster::instance().otaTransfer(SPI_OTA_CMD_DATA, tx_buf, sizeof(tx_buf),
|
||
&resp_type, resp_payload, sizeof(resp_payload), &resp_len, 3000);
|
||
logRespPayload("DATA_PACKET", resp_type, resp_payload, resp_len);
|
||
if (err == ESP_OK) {
|
||
err = waitUntilNotWait("DATA_PACKET", &resp_type, resp_payload, sizeof(resp_payload), &resp_len, 1000, 10);
|
||
}
|
||
if (err != ESP_OK || resp_type != SPI_OTA_RSP_ACK) {
|
||
DEBUG_WARN("OTA", "数据包 %u 发送失败, err=%d, resp_type=0x%02X, resp_len=%zu", seq, err, resp_type, resp_len);
|
||
result = OTA_RESULT_ERR_TIMEOUT;
|
||
break;
|
||
}
|
||
|
||
uint32_t expected_ack = (seq == total_packets - 1) ? 0xF0F0F0F0U : (seq + 1U);
|
||
|
||
/* 跳过上一阶段残留的、seq 不匹配的结构化 ACK。
|
||
*
|
||
* 典型场景：SIZE 阶段的 ACK(seq=0) 仍挂在 DMA 上，
|
||
* 包 0 发出后第一次 poll 读到 seq=0 而非期望的 seq=1。
|
||
* 继续轮询直到拿到正确的 ACK 或超时。 */
|
||
if (!isStructuredAckWithSeq(resp_payload, resp_len, expected_ack)) {
|
||
uint32_t err_seq = 0;
|
||
uint8_t err_code = 0;
|
||
if (parseStructuredError(resp_payload, resp_len, &err_seq, &err_code)) {
|
||
if (err_seq == seq) {
|
||
DEBUG_WARN("OTA", "包 %u 收到结构化错误 err=0x%02X，准备重发", seq, err_code);
|
||
relayState = RELAY_PACKET_ACK_RETRY;
|
||
if (++retry_count >= 3U) {
|
||
DEBUG_ERR("OTA", "包 %u 重发次数超限", seq);
|
||
result = (err_code == 0x04U) ? OTA_RESULT_ERR_CRC : OTA_RESULT_ERR_GD32;
|
||
break;
|
||
}
|
||
continue; /* 重发本包 */
|
||
}
|
||
}
|
||
|
||
/* 非期望 ACK，也非错误帧 -> 可能是残留 ACK，循环 poll 直到拿到正确的。
|
||
* 超时/非ACK 退出时需要重发当前包（GD32 Flash 缓冲满时会发 WAIT 后排空，
|
||
* ESP32 必须重发才能让 GD32 重新处理）。 */
|
||
bool got_expected = false;
|
||
for (uint32_t retry = 0; retry < 10; ++retry) {
|
||
DEBUG_DBG("OTA", "包 %u 收到非目标ACK(seq不匹配)，继续轮询(%u/5)...", seq, retry + 1);
|
||
err = SpiMaster::instance().otaPollResponse(&resp_type, resp_payload, sizeof(resp_payload), &resp_len, 2000);
|
||
if (err == ESP_OK && resp_type == SPI_OTA_RSP_WAIT) {
|
||
err = waitUntilNotWait("DATA_PACKET", &resp_type, resp_payload, sizeof(resp_payload), &resp_len, 100, 5);
|
||
}
|
||
if (err != ESP_OK || resp_type != SPI_OTA_RSP_ACK) {
|
||
/* poll 超时或收到非 ACK（WAIT/ERROR）-> GD32 Flash 缓冲可能已满，
|
||
* 正在排空。重发当前包让 GD32 重新入队处理。 */
|
||
DEBUG_WARN("OTA", "包 %u poll 超时/非ACK，重发 (retry=%u/3)", seq, retry_count + 1);
|
||
relayState = RELAY_PACKET_ACK_RETRY;
|
||
if (++retry_count >= 3U) {
|
||
DEBUG_ERR("OTA", "包 %u 重发次数超限", seq);
|
||
result = OTA_RESULT_ERR_GD32;
|
||
break;
|
||
}
|
||
goto resend_packet;
|
||
}
|
||
if (isStructuredAckWithSeq(resp_payload, resp_len, expected_ack)) {
|
||
got_expected = true;
|
||
break;
|
||
}
|
||
if (parseStructuredError(resp_payload, resp_len, &err_seq, &err_code) && err_seq == seq) {
|
||
break; /* 下面统一处理 */
|
||
}
|
||
}
|
||
|
||
if (got_expected) {
|
||
/* 匹配成功 */
|
||
flash_offset += (uint32_t)chunk_size;
|
||
relayState = RELAY_PACKET_ACK_OK;
|
||
break;
|
||
}
|
||
|
||
/* 最终检查是否为错误帧 */
|
||
if (parseStructuredError(resp_payload, resp_len, &err_seq, &err_code) && err_seq == seq) {
|
||
DEBUG_WARN("OTA", "包 %u 收到结构化错误 err=0x%02X，准备重发", seq, err_code);
|
||
relayState = RELAY_PACKET_ACK_RETRY;
|
||
if (++retry_count >=10U) {
|
||
DEBUG_ERR("OTA", "包 %u 重发次数超限", seq);
|
||
result = (err_code == 0x04U) ? OTA_RESULT_ERR_CRC : OTA_RESULT_ERR_GD32;
|
||
break;
|
||
}
|
||
continue; /* 重发本包 */
|
||
}
|
||
|
||
/* 轮询耗尽仍未拿到期望 ACK -> 重发当前包 */
|
||
DEBUG_WARN("OTA", "包 %u 轮询耗尽未匹配，重发 (retry=%u/3)", seq, retry_count + 1);
|
||
relayState = RELAY_PACKET_ACK_RETRY;
|
||
if (++retry_count >= 10U) {
|
||
DEBUG_ERR("OTA", "包 %u 重发次数超限", seq);
|
||
result = OTA_RESULT_ERR_GD32;
|
||
break;
|
||
}
|
||
goto resend_packet;
|
||
}
|
||
|
||
/* 匹配成功 */
|
||
flash_offset += (uint32_t)chunk_size;
|
||
relayState = RELAY_PACKET_ACK_OK;
|
||
break;
|
||
}
|
||
|
||
if (result != OTA_RESULT_OK) {
|
||
break;
|
||
}
|
||
|
||
relaySeq = seq + 1;
|
||
if (seq % (total_packets / 10 + 1) == 0) {
|
||
uint32_t progress = (relaySeq * 100U) / total_packets;
|
||
DEBUG_INFO("OTA", "转发进度: %u/%u 包 (%u%%)", relaySeq, total_packets, progress);
|
||
}
|
||
}
|
||
relayState = RELAY_RECEIVE_DONE;
|
||
DEBUG_DBG("OTA", "状态: RELAY_RECEIVE_DONE");
|
||
return result;
|
||
}
|
||
|
||
/**
|
||
* @brief 结束 OTA - 发送 0x0A AC 并清理
|
||
* @return 操作结果码。
|
||
*/
|
||
ota_result_t OtaRelay::finishOta()
|
||
{
|
||
DEBUG_INFO("OTA", "=== 阶段4: 结束 OTA ===");
|
||
DEBUG_INFO("OTA", "发送 FINISH_OTA (0x0A 0xAC)，等待 GD32 确认即将跳转 APP");
|
||
|
||
uint8_t finish_payload[2] = {0x0A, 0xAC};
|
||
uint8_t resp_type = 0;
|
||
uint8_t resp_payload[32] = {0};
|
||
size_t resp_len = 0;
|
||
|
||
/* FINISH_OTA 重试机制：GD32 Flash 缓冲未排空时会回 WAIT，
|
||
* 需要重试直到收到正确的 ACK(0x0A 0xAC) 或超时。 */
|
||
for (uint32_t retry = 0; retry < 10; ++retry) {
|
||
resp_type = 0;
|
||
resp_len = 0;
|
||
memset(resp_payload, 0, sizeof(resp_payload));
|
||
|
||
relayState = RELAY_FINISH_SENT;
|
||
esp_err_t err = SpiMaster::instance().otaTransfer(SPI_OTA_CMD_DATA, finish_payload, sizeof(finish_payload),
|
||
&resp_type, resp_payload, sizeof(resp_payload), &resp_len, 3000);
|
||
logRespPayload("FINISH_OTA", resp_type, resp_payload, resp_len);
|
||
if (err != ESP_OK) {
|
||
DEBUG_WARN("OTA", "FINISH_OTA 传输失败, err=%d, retry=%u/10", err, retry + 1);
|
||
vTaskDelay(pdMS_TO_TICKS(100));
|
||
continue;
|
||
}
|
||
|
||
err = pollUntilExpectedAckShape("FINISH_OTA", &resp_type, resp_payload,
|
||
sizeof(resp_payload), &resp_len,
|
||
1000, 10, 8, OtaRelay::isFinishPlainAck);
|
||
if (err != ESP_OK) {
|
||
DEBUG_WARN("OTA", "FINISH_OTA poll 失败, err=%d, retry=%u/10", err, retry + 1);
|
||
vTaskDelay(pdMS_TO_TICKS(100));
|
||
continue;
|
||
}
|
||
|
||
if (resp_type == SPI_OTA_RSP_ACK && isFinishPlainAck(resp_payload, resp_len)) {
|
||
/* 成功收到 FINISH_OTA ACK */
|
||
break;
|
||
}
|
||
|
||
/* 检查是否为 WAIT 帧（GD32 Flash 缓冲未排空） */
|
||
if (resp_type == SPI_OTA_RSP_WAIT) {
|
||
DEBUG_INFO("OTA", "FINISH_OTA 收到 WAIT, GD32 正在排空 Flash 缓冲, retry=%u/10", retry + 1);
|
||
vTaskDelay(pdMS_TO_TICKS(200));
|
||
continue;
|
||
}
|
||
|
||
/* 检查是否为错误帧 */
|
||
uint32_t err_seq = 0;
|
||
uint8_t err_code = 0;
|
||
if (parseStructuredError(resp_payload, resp_len, &err_seq, &err_code)) {
|
||
DEBUG_ERR("OTA", "FINISH_OTA 收到错误帧 err=0x%02X, retry=%u/10", err_code, retry + 1);
|
||
vTaskDelay(pdMS_TO_TICKS(100));
|
||
continue;
|
||
}
|
||
|
||
DEBUG_WARN("OTA", "FINISH_OTA 响应异常, resp_type=0x%02X, resp_len=%zu, retry=%u/10",
|
||
resp_type, resp_len, retry + 1);
|
||
vTaskDelay(pdMS_TO_TICKS(100));
|
||
}
|
||
|
||
if (resp_type != SPI_OTA_RSP_ACK || !isFinishPlainAck(resp_payload, resp_len)) {
|
||
DEBUG_ERR("OTA", "FINISH_OTA 失败, err=0, resp_type=0x%02X, resp_len=%zu", resp_type, resp_len);
|
||
relayState = RELAY_ERROR;
|
||
return OTA_RESULT_ERR_GD32;
|
||
}
|
||
|
||
/* isFinishPlainAck already verified: only 0x0A 0xAC (len==2) passes.
|
||
* Structured error frames (0xBA 0xC0 ...) are rejected above. */
|
||
|
||
relayState = RELAY_DONE;
|
||
Protocol::sessionKeyClear(&m_sessionCtx);
|
||
memset(&m_sessionCtx, 0, sizeof(session_ctx_t));
|
||
memset(m_kSession, 0, sizeof(m_kSession));
|
||
memset(m_nonceServer, 0, sizeof(m_nonceServer));
|
||
memset(m_gd32UidRuntime, 0, sizeof(m_gd32UidRuntime));
|
||
|
||
DEBUG_INFO("OTA", "状态: RELAY_DONE");
|
||
DEBUG_INFO("OTA", "=== OTA 完成，等待 GD32 APP 启动 ===");
|
||
|
||
OtaRelay::metaClear();
|
||
|
||
/* ============================================================
|
||
* 阶段5: APP 存活验证
|
||
*
|
||
* GD32 BOOT 处理完 FINISH_OTA 后会跳转到 APP。
|
||
* APP 启动需要初始化外设和 SPI，大约需要 1-2 秒。
|
||
* 我们以 500ms 间隔反复 ping APP，最多等 15 秒。
|
||
* 收到 APP_ALIVE 回复才认为 OTA 真正成功。
|
||
* ============================================================ */
|
||
relayState = RELAY_APP_VERIFY;
|
||
gd32AppAlive = false;
|
||
|
||
for (uint32_t attempt = 0; attempt < 30; ++attempt) {
|
||
vTaskDelay(pdMS_TO_TICKS(500));
|
||
uint32_t uptime = 0;
|
||
gd32_version_t ping_ver = {};
|
||
esp_err_t ping_err = SpiMaster::instance().appPing(1000, &uptime, &ping_ver);
|
||
if (ping_err == ESP_OK) {
|
||
gd32AppAlive = true;
|
||
gd32Version = ping_ver;
|
||
DEBUG_INFO("OTA", "GD32 APP 存活确认: uptime=%lu sec, APP=v%d.%d.%d.%d, BOOT=v%d.%d.%d.%d",
|
||
(unsigned long)uptime,
|
||
ping_ver.app_major, ping_ver.app_minor, ping_ver.app_patch, ping_ver.app_build,
|
||
ping_ver.boot_major, ping_ver.boot_minor, ping_ver.boot_patch, ping_ver.boot_build);
|
||
DEBUG_INFO("OTA", "=== OTA 全流程完成 (APP 已启动) ===");
|
||
break;
|
||
}
|
||
DEBUG_INFO("OTA", "等待 GD32 APP 启动... (%u/30)", attempt + 1);
|
||
}
|
||
|
||
if (!gd32AppAlive) {
|
||
DEBUG_ERR("OTA", "GD32 APP alive confirm timeout, OTA failed");
|
||
reset();
|
||
return OTA_RESULT_ERR_GD32;
|
||
}
|
||
|
||
return OTA_RESULT_OK;
|
||
}
|
||
|
||
/**
|
||
* @brief 启动完整 OTA 流程的主入口
|
||
* @return 操作结果码。
|
||
*/
|
||
ota_result_t OtaRelay::startHandshake()
|
||
{
|
||
ota_result_t res;
|
||
|
||
esp_err_t boot_err = requestGd32AppEnterBootloader();
|
||
if (boot_err != ESP_OK) {
|
||
res = probeBootHandshake();
|
||
if (res != OTA_RESULT_OK) {
|
||
reset();
|
||
return res;
|
||
}
|
||
}
|
||
|
||
res = sendHandshakeReq();
|
||
if (res != OTA_RESULT_OK) { reset(); return res; }
|
||
|
||
res = sendNonceAndAuthenticate();
|
||
if (res != OTA_RESULT_OK) { reset(); return res; }
|
||
|
||
ota_meta_t meta;
|
||
OtaRelay::metaLoad(&meta);
|
||
|
||
// 固件完整性校验
|
||
esp_err_t verify_err = metaVerifyChecksum();
|
||
if (verify_err != ESP_OK) {
|
||
DEBUG_ERR("OTA", "固件完整性校验失败，中止转发");
|
||
reset();
|
||
return OTA_RESULT_ERR_CRC;
|
||
}
|
||
|
||
res = sendFirmwareSize(meta.total_size);
|
||
if (res != OTA_RESULT_OK) { reset(); return res; }
|
||
|
||
res = relayPacketsFromFlash(0);
|
||
if (res != OTA_RESULT_OK) { reset(); return res; }
|
||
|
||
res = finishOta();
|
||
|
||
return res;
|
||
}
|
||
|
||
/**
|
||
* @brief 从 Flash 向 GD32 转发固件
|
||
* @return 操作结果码。
|
||
*/
|
||
ota_result_t OtaRelay::forwardFirmware()
|
||
{
|
||
ota_meta_t meta;
|
||
if (OtaRelay::metaLoad(&meta) != ESP_OK) {
|
||
return OTA_RESULT_ERR_STORAGE;
|
||
}
|
||
|
||
DEBUG_INFO("OTA", "开始固件转发: %u 字节, %u 块",
|
||
meta.total_size, meta.chunk_count);
|
||
|
||
// 固件完整性校验
|
||
{
|
||
esp_err_t verify_err = metaVerifyChecksum();
|
||
if (verify_err != ESP_OK) {
|
||
DEBUG_ERR("OTA", "固件完整性校验失败，中止转发");
|
||
return OTA_RESULT_ERR_CRC;
|
||
}
|
||
}
|
||
|
||
/* 全局超时：动态计算，min = 5min, max = 10min, 按 total_size/1024*2ms 递增 */
|
||
constexpr uint32_t kMinGlobalTimeoutMs = 5U * 60U * 1000U;
|
||
constexpr uint32_t kMaxGlobalTimeoutMs = 10U * 60U * 1000U;
|
||
uint32_t dynamic_ms = kMinGlobalTimeoutMs + (meta.total_size / 1024U) * 2U;
|
||
uint32_t global_timeout_ms = (dynamic_ms > kMaxGlobalTimeoutMs) ? kMaxGlobalTimeoutMs : dynamic_ms;
|
||
TickType_t start_tick = xTaskGetTickCount();
|
||
TickType_t deadline_tick = start_tick + pdMS_TO_TICKS(global_timeout_ms);
|
||
|
||
DEBUG_INFO("OTA", "全局超时: %u ms (%u 秒), deadline tick=%u",
|
||
global_timeout_ms, global_timeout_ms / 1000U, (unsigned)deadline_tick);
|
||
|
||
requestGd32AppEnterBootloader();
|
||
|
||
/* 在每个阶段前检查全局超时，超时则 reset() 并返回 OTA_RESULT_ERR_USER_ABORT */
|
||
if (xTaskGetTickCount() >= deadline_tick) {
|
||
DEBUG_ERR("OTA", "全局超时: 在 requestBootloader 阶段已超限 (%u ms)，中止 OTA", global_timeout_ms);
|
||
reset();
|
||
return OTA_RESULT_ERR_USER_ABORT;
|
||
}
|
||
|
||
ota_result_t res = sendHandshakeReq();
|
||
if (res != OTA_RESULT_OK) { reset(); return res; }
|
||
|
||
if (xTaskGetTickCount() >= deadline_tick) {
|
||
DEBUG_ERR("OTA", "全局超时: 在 sendHandshakeReq 阶段已超限 (%u ms)，中止 OTA", global_timeout_ms);
|
||
reset();
|
||
return OTA_RESULT_ERR_USER_ABORT;
|
||
}
|
||
|
||
res = sendNonceAndAuthenticate();
|
||
if (res != OTA_RESULT_OK) { reset(); return res; }
|
||
|
||
if (xTaskGetTickCount() >= deadline_tick) {
|
||
DEBUG_ERR("OTA", "全局超时: 在 sendNonceAndAuthenticate 阶段已超限 (%u ms)，中止 OTA", global_timeout_ms);
|
||
reset();
|
||
return OTA_RESULT_ERR_USER_ABORT;
|
||
}
|
||
|
||
res = sendFirmwareSize(meta.total_size);
|
||
if (res != OTA_RESULT_OK) { reset(); return res; }
|
||
|
||
if (xTaskGetTickCount() >= deadline_tick) {
|
||
DEBUG_ERR("OTA", "全局超时: 在 sendFirmwareSize 阶段已超限 (%u ms)，中止 OTA", global_timeout_ms);
|
||
reset();
|
||
return OTA_RESULT_ERR_USER_ABORT;
|
||
}
|
||
|
||
res = relayPacketsFromFlash(deadline_tick);
|
||
if (res != OTA_RESULT_OK) { reset(); return res; }
|
||
|
||
if (xTaskGetTickCount() >= deadline_tick) {
|
||
DEBUG_ERR("OTA", "全局超时: 在 relayPacketsFromFlash 阶段已超限 (%u ms)，中止 OTA", global_timeout_ms);
|
||
reset();
|
||
return OTA_RESULT_ERR_USER_ABORT;
|
||
}
|
||
|
||
res = finishOta();
|
||
|
||
return res;
|
||
}
|
||
|
||
/**
|
||
* @brief 重置状态机
|
||
*/
|
||
void OtaRelay::reset()
|
||
{
|
||
StateLockGuard lock;
|
||
/** @brief 当前 OTA 中继状态机状态。 */
|
||
relayState = RELAY_IDLE;
|
||
relaySeq = 0;
|
||
relayTotalPackets = 0;
|
||
Protocol::sessionKeyClear(&m_sessionCtx);
|
||
memset(&m_sessionCtx, 0, sizeof(session_ctx_t));
|
||
memset(m_kSession, 0, sizeof(m_kSession));
|
||
memset(m_nonceServer, 0, sizeof(m_nonceServer));
|
||
memset(m_gd32UidRuntime, 0, sizeof(m_gd32UidRuntime));
|
||
}
|
||
|
||
/**
|
||
* @brief OTA 中继 FreeRTOS 任务
|
||
* @param pvParameters FreeRTOS 任务参数，未使用。
|
||
*/
|
||
void OtaRelay::taskEntry(void *pvParameters)
|
||
{
|
||
DEBUG_INFO("OTA", "OTA 中继任务启动");
|
||
|
||
initMutex();
|
||
|
||
/** @brief OTA 命令分发队列，从 WiFi/BLE 任务接收指令。 */
|
||
dispatchQueue = xQueueCreate(4, sizeof(uint32_t));
|
||
/** @brief OTA 结果回传队列，将执行结果返回给调用方。 */
|
||
resultQueue = xQueueCreate(4, sizeof(uint32_t));
|
||
|
||
if (!dispatchQueue || !resultQueue) {
|
||
DEBUG_ERR("OTA", "OTA 队列创建失败");
|
||
vTaskDelete(NULL);
|
||
return;
|
||
}
|
||
|
||
while (1) {
|
||
uint32_t msg = 0;
|
||
BaseType_t ret = xQueueReceive(dispatchQueue, &msg, portMAX_DELAY);
|
||
if (ret != pdTRUE) {
|
||
continue;
|
||
}
|
||
|
||
DEBUG_INFO("OTA", "收到 OTA 调度信号: %lu，开始转发...", (unsigned long)msg);
|
||
ota_result_t result = instance().forwardFirmware();
|
||
|
||
uint32_t result_msg = (uint32_t)result;
|
||
xQueueSend(resultQueue, &result_msg, pdMS_TO_TICKS(100));
|
||
|
||
if (result == OTA_RESULT_OK) {
|
||
DEBUG_INFO("OTA", "OTA 转发成功完成");
|
||
/* 保持 RELAY_DONE 状态 3 秒，让网页轮询有机会看到完成状态 */
|
||
vTaskDelay(pdMS_TO_TICKS(3000));
|
||
} else if (result == OTA_RESULT_ERR_USER_ABORT) {
|
||
DEBUG_ERR("OTA", "OTA 全局超时中止 (OTA_RESULT_ERR_USER_ABORT=%d)", result);
|
||
} else {
|
||
DEBUG_ERR("OTA", "OTA 转发失败，错误码: %d", result);
|
||
}
|
||
instance().reset();
|
||
}
|
||
}
|
||
|