小龙虾
c0ca4e2a9f
- 添加s_lastLoggedError数组跟踪各通道最后记录的错误计数 - 实现错误计数变化时才触发告警，避免重复打印 - 扩展错误日志信息，包含TEC、REC和总线状态详细信息 - 修复P0/P1页面携带相同统计数据时的重复打印问题 perf(ota): 移除冗余的OTA协调器状态检查方法 - 删除isGd32BusyState、isEsp32BusyState等未使用的状态判断方法 - 移除esp32FinalizeErrCategory错误分类函数 - 清理相关的头文件声明，减少代码冗余 refactor(relay): 移除未使用的中继状态获取方法 - 删除getRelaySeq、getRelayTotalPackets状态查询接口 - 移除getGd32Version版本获取方法 - 清理StateLockGuard中的isLocked方法
1382 lines
54 KiB
C++
1382 lines
54 KiB
C++
/*
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* ota_relay.cpp - OTA 中继事件驱动状态机实现
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*
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* 将原 17 状态"声明式赋值"重构为 7 状态事件驱动架构：
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* - 每个协议阶段封装为一个状态 handler
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* - processEvent() 根据当前状态分发事件
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* - 状态转换显式通过 setState() 完成
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* - forwardFirmware() 保留为便捷入口，内部驱动状态机循环
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*
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* 协议子步骤与加密/Flash 工具方法保持不变。
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*/
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#include <string.h>
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#include "monitor/can_feedback_task.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 "aes/esp_aes.h"
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#include "ota_relay.h"
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#include "storage/gd32_flash_store.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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// ★ H4 解耦：OtaRelay 不再直接 #include "ota_coordinator.h"，
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// 通过 IRelayListener 接口回调通知协调器，依赖方向变为单向。
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// ============================================================
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// 公共拒绝事件判断（文件内工具）
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// ============================================================
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// 统一各状态 handler 头部的 ABORT/TIMEOUT/HEALTH_CRIT 拒绝判断。
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// 返回 OTA_RESULT_OK 表示非拒绝事件；其他为对应错误码。
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// allowHealth: 是否将 RELAY_EVT_HEALTH_CRIT 视为拒绝（仅 TRANSFERRING 传 true）。
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static ota_result_t commonReject(relay_event_t e, bool allowHealth = false)
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{
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if (e == RELAY_EVT_ABORT) return OTA_RESULT_ERR_USER_ABORT;
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if (e == RELAY_EVT_TIMEOUT) return OTA_RESULT_ERR_TIMEOUT;
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if (allowHealth && e == RELAY_EVT_HEALTH_CRIT) return OTA_RESULT_ERR_HEALTH;
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return OTA_RESULT_OK;
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}
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// ============================================================
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// doRelayPackets 重试阈值（与历史代码字面值保持一致，仅命名化）
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// ============================================================
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// 原代码中 retry_count 阈值：行 1015/1075/1084 用 10U，行 1032/1050 用 3U。
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// 含义：NACK/轮询耗尽属于"通信异常"，给予较多重试机会（10次）；
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// 结构化错误属于"GD32 报告具体错误"，较少重试（3次）。
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static constexpr uint32_t kMaxResendOnNack = 10U; // ACK 失败/轮询耗尽重发上限
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static constexpr uint32_t kMaxResendOnStructError = 3U; // 结构化错误重发上限
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static constexpr uint32_t kLastPacketAckSeq = 0xF0F0F0F0U; // 末包 ACK 序号约定
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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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TaskHandle_t OtaRelay::taskHandle = NULL;
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IRelayListener *OtaRelay::s_relayListener = nullptr;
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// ── 中继事件监听器（解决 H4 双向耦合）──
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void OtaRelay::setRelayListener(IRelayListener *listener)
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{
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s_relayListener = listener;
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}
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IRelayListener* OtaRelay::getRelayListener()
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{
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return s_relayListener;
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}
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// ── 队列访问器（M3: 封装 public static 成员）──
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QueueHandle_t OtaRelay::getDispatchQueue()
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{
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return dispatchQueue;
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}
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QueueHandle_t OtaRelay::getResultQueue()
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{
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return resultQueue;
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}
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// ============================================================
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// 状态表：将每个 relay_state_t 映射到对应的 handler
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// ============================================================
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const OtaRelay::RelayStateDef OtaRelay::s_stateTable[] = {
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{ "IDLE", &OtaRelay::handleIdle },
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{ "HANDSHAKING", &OtaRelay::handleHandshaking },
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{ "SIZE_NEG", &OtaRelay::handleSizeNeg },
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{ "TRANSFERRING", &OtaRelay::handleTransferring },
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{ "FINISHING", &OtaRelay::handleFinishing },
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{ "DONE", &OtaRelay::handleDone },
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// RELAY_ERROR = 0xFF, 索引特殊处理
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};
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// ============================================================
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// 单例 & 线程安全
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// ============================================================
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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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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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RelaySnapshot OtaRelay::getSnapshot()
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{
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StateLockGuard lock;
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RelaySnapshot s;
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s.state = relayState;
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s.seq = relaySeq;
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s.total_packets = relayTotalPackets;
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s.gd32_app_alive = gd32AppAlive;
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s.version = gd32Version;
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return s;
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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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DEBUG_DBG("OTA", "状态转换: → %s",
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(s < RELAY_ERROR) ? s_stateTable[s].name : "ERROR");
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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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TaskHandle_t OtaRelay::getTaskHandle()
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{
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return taskHandle;
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}
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// ============================================================
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// 事件分发核心：processEvent()
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// ============================================================
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ota_result_t OtaRelay::processEvent(relay_event_t event, const uint8_t *payload, size_t len)
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{
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relay_state_t cur = getState();
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// ERROR 状态：仅接受 reset（通过 handleError 的 EVT_START → IDLE）
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if (cur == RELAY_ERROR) {
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return handleError(event, payload, len);
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}
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// DONE 状态：仅接受 EVT_START（重新开始）
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if (cur == RELAY_DONE) {
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return handleDone(event, payload, len);
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}
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// 查找状态表
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if (cur > RELAY_DONE) {
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DEBUG_ERR("OTA", "processEvent: 未知状态 %d", (int)cur);
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setState(RELAY_ERROR);
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return OTA_RESULT_ERR_GD32;
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}
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StateHandler handler = s_stateTable[cur].handler;
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if (!handler) {
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DEBUG_ERR("OTA", "processEvent: 状态 %s 无 handler", s_stateTable[cur].name);
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setState(RELAY_ERROR);
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return OTA_RESULT_ERR_GD32;
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}
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DEBUG_DBG("OTA", "processEvent: state=%s event=%d",
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s_stateTable[cur].name, (int)event);
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ota_result_t result = (this->*handler)(event, payload, len);
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return result;
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}
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// ============================================================
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// IDLE 状态 handler
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// ============================================================
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ota_result_t OtaRelay::handleIdle(relay_event_t event, const uint8_t *payload, size_t len)
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{
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(void)payload;
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(void)len;
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if (event == RELAY_EVT_START) {
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DEBUG_INFO("OTA", "=== 中继状态机启动: IDLE → HANDSHAKING ===");
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reset();
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setState(RELAY_HANDSHAKING);
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return OTA_RESULT_OK;
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}
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DEBUG_WARN("OTA", "IDLE 忽略事件: %d", (int)event);
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return OTA_RESULT_OK;
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}
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// ============================================================
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// HANDSHAKING 状态 handler（阶段1: 握手 + 挑战认证）
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// ============================================================
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ota_result_t OtaRelay::handleHandshaking(relay_event_t event, const uint8_t *payload, size_t len)
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{
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(void)payload;
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(void)len;
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ota_result_t rej = commonReject(event);
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if (rej != OTA_RESULT_OK) {
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DEBUG_ERR("OTA", "HANDSHAKING 拒绝事件: %d", (int)event);
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setState(RELAY_ERROR);
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return rej;
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}
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if (event != RELAY_EVT_START && event != RELAY_EVT_RESP_OK) {
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DEBUG_WARN("OTA", "HANDSHAKING 忽略事件: %d", (int)event);
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return OTA_RESULT_OK;
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}
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// 进入 HANDSHAKING 阶段：执行完整的握手 + 认证流程
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DEBUG_INFO("OTA", "=== 阶段1: 握手与认证开始 ===");
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// 步骤1: 请求 GD32 进入 Bootloader
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// 0xB0 对 APP：触发写标志+复位 → BOOT 启动
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// 0xB0 对 BOOT：返回 0xB5 + resetToIdle()（IDLE 状态下无害）
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esp_err_t err = requestGd32AppEnterBootloader();
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if (err != ESP_OK) {
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DEBUG_WARN("OTA", "GD32 进入 Bootloader 请求未确认，继续尝试握手");
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}
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// 步骤2: 发送握手请求
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ota_result_t res = doHandshakeReq();
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if (res != OTA_RESULT_OK) {
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setState(RELAY_ERROR);
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return res;
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}
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// 步骤3: 挑战认证
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res = doChallengeAndAuth();
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if (res != OTA_RESULT_OK) {
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setState(RELAY_ERROR);
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return res;
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}
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// 认证完成 → 进入大小协商
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setState(RELAY_SIZE_NEG);
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DEBUG_INFO("OTA", "=== 阶段1 认证完成: 安全通道已建立, → SIZE_NEG ===");
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return OTA_RESULT_OK;
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}
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// ============================================================
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// SIZE_NEG 状态 handler（阶段2: 固件大小协商）
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// ============================================================
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ota_result_t OtaRelay::handleSizeNeg(relay_event_t event, const uint8_t *payload, size_t len)
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{
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(void)payload;
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(void)len;
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ota_result_t rej = commonReject(event);
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if (rej != OTA_RESULT_OK) {
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DEBUG_ERR("OTA", "SIZE_NEG 拒绝事件: %d", (int)event);
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setState(RELAY_ERROR);
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return rej;
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}
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// 加载元数据获取固件大小
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ota_meta_t meta;
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if (Gd32FlashStore::instance().metaLoad(&meta) != ESP_OK || meta.total_size == 0) {
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DEBUG_ERR("OTA", "SIZE_NEG: 元数据无效");
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setState(RELAY_ERROR);
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return OTA_RESULT_ERR_STORAGE;
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}
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DEBUG_INFO("OTA", "=== 阶段2: 固件大小协商 (%" PRIu32 " 字节) ===", meta.total_size);
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ota_result_t res = doSendFirmwareSize(meta.total_size);
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if (res != OTA_RESULT_OK) {
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setState(RELAY_ERROR);
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return res;
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}
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// 初始化传输进度
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m_transferTotalPackets = (meta.total_size + GD32_OTA_PACKET_SIZE - 1U) / GD32_OTA_PACKET_SIZE;
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m_transferCurrentSeq = 0;
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m_transferFlashOffset = 0;
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m_transferRetryCount = 0;
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setRelayTotalPackets(m_transferTotalPackets);
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setRelaySeq(0);
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setState(RELAY_TRANSFERRING);
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DEBUG_INFO("OTA", "=== 阶段2 完成: 总包数=%" PRIu32 ", → TRANSFERRING ===", m_transferTotalPackets);
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return OTA_RESULT_OK;
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}
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// ============================================================
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// TRANSFERRING 状态 handler（阶段3: 数据包传输）
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// ============================================================
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ota_result_t OtaRelay::handleTransferring(relay_event_t event, const uint8_t *payload, size_t len)
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{
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(void)payload;
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(void)len;
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ota_result_t rej = commonReject(event, /*allowHealth=*/true);
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if (rej != OTA_RESULT_OK) {
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DEBUG_ERR("OTA", "TRANSFERRING 拒绝事件: %d", (int)event);
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setState(RELAY_ERROR);
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return rej;
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}
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DEBUG_INFO("OTA", "=== 阶段3: 数据包传输 (%" PRIu32 " 包) ===", m_transferTotalPackets);
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ota_result_t res = doRelayPackets(m_transferDeadline);
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if (res != OTA_RESULT_OK) {
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setState(RELAY_ERROR);
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return res;
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}
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setState(RELAY_FINISHING);
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DEBUG_INFO("OTA", "=== 阶段3 完成: → FINISHING ===");
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return OTA_RESULT_OK;
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}
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// ============================================================
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// FINISHING 状态 handler（阶段4-5: 结束 + APP 验证）
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// ============================================================
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ota_result_t OtaRelay::handleFinishing(relay_event_t event, const uint8_t *payload, size_t len)
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{
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(void)payload;
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(void)len;
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ota_result_t rej = commonReject(event);
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if (rej != OTA_RESULT_OK) {
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DEBUG_ERR("OTA", "FINISHING 拒绝事件: %d", (int)event);
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setState(RELAY_ERROR);
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return rej;
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}
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DEBUG_INFO("OTA", "=== 阶段4-5: 结束OTA + APP验证 ===");
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ota_result_t res = doFinishAndVerify();
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if (res != OTA_RESULT_OK) {
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setState(RELAY_ERROR);
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return res;
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}
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setState(RELAY_DONE);
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DEBUG_INFO("OTA", "=== OTA 全流程完成: → DONE ===");
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return OTA_RESULT_OK;
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}
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// ============================================================
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// DONE 状态 handler
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// ============================================================
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ota_result_t OtaRelay::handleDone(relay_event_t event, const uint8_t *payload, size_t len)
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{
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(void)payload;
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(void)len;
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if (event == RELAY_EVT_START) {
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// 允许从 DONE 重新开始
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DEBUG_INFO("OTA", "DONE → 重新开始");
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setState(RELAY_IDLE);
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return OTA_RESULT_OK;
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}
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DEBUG_DBG("OTA", "DONE 忽略事件: %d", (int)event);
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return OTA_RESULT_OK;
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}
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// ============================================================
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// ERROR 状态 handler
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// ============================================================
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ota_result_t OtaRelay::handleError(relay_event_t event, const uint8_t *payload, size_t len)
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{
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(void)payload;
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(void)len;
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if (event == RELAY_EVT_START || event == RELAY_EVT_ABORT) {
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DEBUG_INFO("OTA", "ERROR → 复位到 IDLE");
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reset();
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return OTA_RESULT_OK;
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}
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DEBUG_DBG("OTA", "ERROR 忽略事件: %d", (int)event);
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return OTA_RESULT_ERR_GD32;
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}
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// ============================================================
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// forwardFirmware() - 便捷入口，驱动状态机循环
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// ============================================================
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ota_result_t OtaRelay::forwardFirmware()
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{
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ota_meta_t meta;
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if (Gd32FlashStore::instance().metaLoad(&meta) != ESP_OK) {
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return OTA_RESULT_ERR_STORAGE;
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}
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DEBUG_INFO("OTA", "开始固件转发: %" PRIu32 " 字节", meta.total_size);
|
||
|
||
// 固件完整性校验
|
||
{
|
||
esp_err_t verify_err = Gd32FlashStore::instance().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;
|
||
}
|
||
}
|
||
|
||
// 全局超时计算
|
||
constexpr uint32_t kMinGlobalTimeoutMs = 20U * 1000U; // 20 s 最小超时
|
||
constexpr uint32_t kMaxGlobalTimeoutMs = 60U * 1000U; // 60 s 硬上限
|
||
uint32_t dynamic_ms = kMinGlobalTimeoutMs + (meta.total_size / 1024U) * 50U; // 50 ms / KB
|
||
uint32_t global_timeout_ms = (dynamic_ms > kMaxGlobalTimeoutMs) ? kMaxGlobalTimeoutMs : dynamic_ms;
|
||
TickType_t start_tick = xTaskGetTickCount();
|
||
m_transferDeadline = start_tick + pdMS_TO_TICKS(global_timeout_ms);
|
||
|
||
DEBUG_INFO("OTA", "全局超时: %" PRIu32 " ms, start_tick=%" PRIu32 ", deadline tick=%" PRIu32,
|
||
global_timeout_ms, (uint32_t)start_tick, (uint32_t)m_transferDeadline);
|
||
|
||
// ── 驱动状态机 ──
|
||
// 5 步顺序推进：IDLE → HANDSHAKING → SIZE_NEG → TRANSFERRING → FINISHING → DONE
|
||
// 每步同步执行对应 handler（内部完成协议交互并推进状态）。
|
||
// 任一步返回非 OK 即跳出并复位。
|
||
ota_result_t res = OTA_RESULT_OK;
|
||
while (true) {
|
||
relay_state_t cur = getState();
|
||
if (cur == RELAY_DONE || cur == RELAY_ERROR) break;
|
||
res = processEvent(RELAY_EVT_START, nullptr, 0);
|
||
if (res != OTA_RESULT_OK) {
|
||
break;
|
||
}
|
||
}
|
||
|
||
if (res != OTA_RESULT_OK) {
|
||
DEBUG_ERR("OTA", "中继失败: result=%d, state=%d", (int)res, (int)getState());
|
||
reset();
|
||
}
|
||
return res;
|
||
}
|
||
|
||
// ============================================================
|
||
// 状态机复位
|
||
// ============================================================
|
||
void OtaRelay::reset()
|
||
{
|
||
StateLockGuard lock;
|
||
relayState = RELAY_IDLE;
|
||
relaySeq = 0;
|
||
relayTotalPackets = 0;
|
||
m_transferTotalPackets = 0;
|
||
m_transferCurrentSeq = 0;
|
||
m_transferFlashOffset = 0;
|
||
m_transferRetryCount = 0;
|
||
m_transferDeadline = 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));
|
||
DEBUG_INFO("OTA", "状态机已复位 → IDLE");
|
||
}
|
||
|
||
// ============================================================
|
||
// 内部工具函数（不变）
|
||
// ============================================================
|
||
/**
|
||
* @brief 检查缓冲区中所有字节是否为指定值。
|
||
* @param buf 数据缓冲区。
|
||
* @param len 缓冲区长度。
|
||
* @param value 目标字节值。
|
||
* @return true 所有字节均为指定值，false 否则。
|
||
*/
|
||
static bool bytesAllValue(const uint8_t *buf, size_t len, uint8_t value)
|
||
{
|
||
if (!buf || len == 0) return false;
|
||
for (size_t i = 0; i < len; ++i) {
|
||
if (buf[i] != value) return false;
|
||
}
|
||
return true;
|
||
}
|
||
|
||
/**
|
||
* @brief 本地 AES-128-ECB 加密单块（16字节），使用硬件加速。
|
||
* @param key 16 字节密钥。
|
||
* @param in 16 字节明文输入。
|
||
* @param out 16 字节密文输出。
|
||
* @return 0 成功，-1 失败。
|
||
*/
|
||
int OtaRelay::aes128EcbEncryptBlockLocal(const uint8_t *key, const uint8_t *in, uint8_t *out)
|
||
{
|
||
esp_aes_context ctx;
|
||
esp_aes_init(&ctx);
|
||
if (esp_aes_setkey(&ctx, key, 128) != 0) { esp_aes_free(&ctx); return -1; }
|
||
int ret = esp_aes_crypt_ecb(&ctx, ESP_AES_ENCRYPT, in, out);
|
||
esp_aes_free(&ctx);
|
||
return ret;
|
||
}
|
||
|
||
/**
|
||
* @brief 记录 GD32 SPI 响应的十六进制负载（调试用）。
|
||
* @param stage 当前阶段名称。
|
||
* @param resp_type 响应类型字节。
|
||
* @param payload 响应负载数据。
|
||
* @param len 负载长度。
|
||
*/
|
||
void OtaRelay::logRespPayload(const char *stage, uint8_t resp_type, const uint8_t *payload, size_t len)
|
||
{
|
||
char hex[193] = {0};
|
||
size_t n = (len > 32U) ? 32U : len;
|
||
for (size_t i = 0; i < n; ++i)
|
||
snprintf(&hex[i * 2], sizeof(hex) - i * 2, "%02X", payload[i]);
|
||
DEBUG_DBG("OTA", "%s resp: type=0x%02X len=%u payload[%u]=%s%s",
|
||
stage, resp_type, (unsigned)len, (unsigned)n,
|
||
n > 0 ? hex : "<empty>", len > n ? "..." : "");
|
||
}
|
||
|
||
/**
|
||
* @brief 循环轮询 SPI 直到响应不再是 WAIT 类型，超过最大轮询次数后放弃。
|
||
* @param stage 当前阶段名称（日志用）。
|
||
* @param resp_type 输入/输出响应类型（初始为 SPI_OTA_RSP_WAIT）。
|
||
* @param resp_payload 输出响应负载缓冲区。
|
||
* @param resp_max 响应负载缓冲区最大长度。
|
||
* @param resp_len 输出实际响应长度。
|
||
* @param timeout_ms 单次 SPI 轮询超时（毫秒）。
|
||
* @param max_wait_rounds 最大 WAIT 轮询次数。
|
||
* @return ESP_OK 成功，ESP_ERR_TIMEOUT 超时。
|
||
*/
|
||
esp_err_t OtaRelay::waitUntilNotWait(const char *stage, uint8_t *resp_type,
|
||
uint8_t *resp_payload, size_t resp_max,
|
||
size_t *resp_len, uint32_t timeout_ms, uint32_t max_wait_rounds)
|
||
{
|
||
if (!resp_type) return ESP_ERR_INVALID_ARG;
|
||
uint32_t round = 0;
|
||
while (*resp_type == SPI_OTA_RSP_WAIT && round < max_wait_rounds) {
|
||
++round;
|
||
DEBUG_WARN("OTA", "%s WAIT, poll #%" PRIu32 "...", stage, round);
|
||
esp_err_t err = SpiMaster::instance().otaPollResponse(resp_type, resp_payload, resp_max, resp_len, 100);
|
||
if (err == ESP_ERR_TIMEOUT) { *resp_type = SPI_OTA_RSP_WAIT; continue; }
|
||
if (err != ESP_OK) return err;
|
||
logRespPayload(stage, *resp_type, resp_payload, resp_len ? *resp_len : 0);
|
||
}
|
||
return ESP_OK;
|
||
}
|
||
|
||
/**
|
||
* @brief 检查响应负载是否为带指定序号的结构化 ACK（0xBA 0xC0 + seq32）。
|
||
* @param payload 响应负载数据。
|
||
* @param len 负载长度。
|
||
* @param expected_seq 期望的序号。
|
||
* @return true 匹配，false 不匹配。
|
||
*/
|
||
bool OtaRelay::isStructuredAckWithSeq(const uint8_t *payload, size_t len, uint32_t expected_seq)
|
||
{
|
||
if (!payload || len < 6) return false;
|
||
if (payload[0] != 0xBA || payload[1] != 0xC0) return false;
|
||
uint32_t seq = (uint32_t)payload[2] | ((uint32_t)payload[3] << 8) |
|
||
((uint32_t)payload[4] << 16) | ((uint32_t)payload[5] << 24);
|
||
return seq == expected_seq;
|
||
}
|
||
|
||
/**
|
||
* @brief 解析结构化错误响应（0xBA 0xC0 + seq32 + err_code）。
|
||
* @param payload 响应负载数据。
|
||
* @param len 负载长度。
|
||
* @param seq_out 输出序号（可为 nullptr）。
|
||
* @param err_out 输出错误码（可为 nullptr）。
|
||
* @return true 成功解析为结构化错误，false 不是。
|
||
*/
|
||
bool OtaRelay::parseStructuredError(const uint8_t *payload, size_t len, uint32_t *seq_out, uint8_t *err_out)
|
||
{
|
||
if (!payload || len < 7) return false;
|
||
if (payload[0] != 0xBA || payload[1] != 0xC0) return false;
|
||
if (seq_out) *seq_out = (uint32_t)payload[2] | ((uint32_t)payload[3] << 8) |
|
||
((uint32_t)payload[4] << 16) | ((uint32_t)payload[5] << 24);
|
||
if (err_out) *err_out = payload[6];
|
||
return true;
|
||
}
|
||
|
||
/** @brief 检查响应是否为握手回显 ACK（0x00 0xAC）。 */
|
||
bool OtaRelay::isHandshakeEchoAck(const uint8_t *payload, size_t len)
|
||
{ return payload && len >= 2U && payload[0] == 0x00U && payload[1] == 0xACU; }
|
||
|
||
/** @brief 检查响应是否为挑战认证 ACK（36字节挑战响应）。 */
|
||
bool OtaRelay::isChallengePayloadAck(const uint8_t *payload, size_t len)
|
||
{ return payload && len == GD32_CHALLENGE_RESPONSE_LEN; }
|
||
|
||
/** @brief 检查响应是否为确认明文 ACK（0xBA 0xC0）。 */
|
||
bool OtaRelay::isConfirmPlainAck(const uint8_t *payload, size_t len)
|
||
{ return payload && len == 2U && payload[0] == 0xBAU && payload[1] == 0xC0U; }
|
||
|
||
/** @brief 检查响应是否为固件大小 seq=0 的结构化 ACK。 */
|
||
bool OtaRelay::isSizeSeq0Ack(const uint8_t *payload, size_t len)
|
||
{ return isStructuredAckWithSeq(payload, len, 0U); }
|
||
|
||
/** @brief 检查响应是否为结束指令 ACK（0x0A 0xAC）。 */
|
||
bool OtaRelay::isFinishPlainAck(const uint8_t *payload, size_t len)
|
||
{
|
||
if (!payload) return false;
|
||
if (len == 2U && payload[0] == 0x0AU && payload[1] == 0xACU) return true;
|
||
return false;
|
||
}
|
||
|
||
/**
|
||
* @brief 轮询 SPI 直到匹配指定的 ACK 形状，处理 WAIT 和过期 ACK。
|
||
* @param stage 当前阶段名称。
|
||
* @param resp_type 输入/输出响应类型。
|
||
* @param resp_payload 输入/输出响应负载。
|
||
* @param resp_max 响应负载缓冲区最大长度。
|
||
* @param resp_len 输入/输出实际响应长度。
|
||
* @param poll_timeout_ms 单次 SPI 轮询超时。
|
||
* @param wait_rounds 最大 WAIT 轮询次数。
|
||
* @param maxExtraPolls 最大额外轮询次数。
|
||
* @param matcher ACK 形状匹配函数。
|
||
* @return ESP_OK 成功，其他错误码表示失败。
|
||
*/
|
||
esp_err_t OtaRelay::pollUntilExpectedAckShape(const char *stage,
|
||
uint8_t *resp_type, uint8_t *resp_payload,
|
||
size_t resp_max, size_t *resp_len,
|
||
uint32_t poll_timeout_ms, uint32_t wait_rounds,
|
||
uint32_t maxExtraPolls,
|
||
bool (*matcher)(const uint8_t *, size_t))
|
||
{
|
||
if (!stage || !resp_type || !resp_payload || !resp_len || !matcher)
|
||
return ESP_ERR_INVALID_ARG;
|
||
esp_err_t err = ESP_OK;
|
||
if (*resp_type == SPI_OTA_RSP_WAIT) {
|
||
err = instance().waitUntilNotWait(stage, resp_type, resp_payload, resp_max, resp_len, poll_timeout_ms, wait_rounds);
|
||
if (err != ESP_OK) return err;
|
||
}
|
||
for (uint32_t extra = 0; extra < maxExtraPolls; ++extra) {
|
||
if (*resp_type != SPI_OTA_RSP_ACK) return ESP_OK;
|
||
if (matcher(resp_payload, *resp_len)) return ESP_OK;
|
||
uint32_t err_seq = 0; uint8_t err_code = 0;
|
||
if (parseStructuredError(resp_payload, *resp_len, &err_seq, &err_code)) return ESP_OK;
|
||
DEBUG_WARN("OTA", "%s stale ACK, poll more: len=%u", stage, (unsigned)*resp_len);
|
||
*resp_len = 0;
|
||
err = SpiMaster::instance().otaPollResponse(resp_type, resp_payload, resp_max, resp_len, poll_timeout_ms);
|
||
if (err != ESP_OK) return err;
|
||
logRespPayload(stage, *resp_type, resp_payload, *resp_len);
|
||
if (*resp_type == SPI_OTA_RSP_WAIT) {
|
||
err = instance().waitUntilNotWait(stage, resp_type, resp_payload, resp_max, resp_len, poll_timeout_ms, wait_rounds);
|
||
if (err != ESP_OK) return err;
|
||
}
|
||
}
|
||
return ESP_OK;
|
||
}
|
||
|
||
/**
|
||
* @brief 解析挑战响应负载，验证 nonce、派生会话密钥和 UID。
|
||
* @param resp_payload GD32 响应负载（36字节）。
|
||
* @param resp_len 响应负载长度。
|
||
* @param out_k_session 输出 16 字节会话密钥。
|
||
* @param out_uid 输出 12 字节 GD32 UID。
|
||
* @return true 验证通过，false 失败。
|
||
*/
|
||
bool OtaRelay::parseAndVerifyChallengePayload(const uint8_t *resp_payload, size_t resp_len,
|
||
uint8_t *out_k_session, uint8_t *out_uid)
|
||
{
|
||
if (!resp_payload || !out_k_session || !out_uid) return false;
|
||
if (resp_len != GD32_CHALLENGE_RESPONSE_LEN) {
|
||
DEBUG_ERR("OTA", "CHALLENGE: invalid len=%u", (unsigned)resp_len); return false;
|
||
}
|
||
const uint8_t *uid = resp_payload;
|
||
const uint8_t *nonce_frag = resp_payload + 12;
|
||
const uint8_t *encrypted_ksession = resp_payload + 20;
|
||
if (memcmp(nonce_frag, instance().m_nonceServer + 8, 8) != 0) {
|
||
DEBUG_ERR("OTA", "CHALLENGE: nonce mismatch"); return false;
|
||
}
|
||
uint8_t K_session[16] = {0};
|
||
if (aes128EcbEncryptBlockLocal(MASTER_KEY, instance().m_nonceServer, K_session) != 0) {
|
||
DEBUG_ERR("OTA", "CHALLENGE: derive K_session failed"); return false;
|
||
}
|
||
uint8_t expected_encrypted[16] = {0};
|
||
if (aes128EcbEncryptBlockLocal(MASTER_KEY, K_session, expected_encrypted) != 0) {
|
||
DEBUG_ERR("OTA", "CHALLENGE: encrypt K_session failed"); return false;
|
||
}
|
||
if (memcmp(encrypted_ksession, expected_encrypted, 16) != 0) {
|
||
DEBUG_ERR("OTA", "CHALLENGE: K_session mismatch"); return false;
|
||
}
|
||
memcpy(out_k_session, K_session, 16);
|
||
memcpy(out_uid, uid, GD32_UID_LEN);
|
||
if (bytesAllValue(out_uid, GD32_UID_LEN, 0x00U) || bytesAllValue(out_uid, GD32_UID_LEN, 0xFFU)) {
|
||
DEBUG_ERR("OTA", "CHALLENGE: UID all 0 or FF"); return false;
|
||
}
|
||
return true;
|
||
}
|
||
|
||
/**
|
||
* @brief AES-128-ECB 加密 48 字节（分 3 个 16 字节块）。
|
||
* @param key 16 字节密钥。
|
||
* @param in 48 字节明文输入。
|
||
* @param out 48 字节密文输出。
|
||
* @return true 全部加密成功，false 任一块失败。
|
||
*/
|
||
bool OtaRelay::aes128EcbEncrypt48Bytes(const uint8_t *key, const uint8_t *in, uint8_t *out)
|
||
{
|
||
for (int i = 0; i < 3; ++i)
|
||
if (aes128EcbEncryptBlockLocal(key, in + i * 16, out + i * 16) != 0) return false;
|
||
return true;
|
||
}
|
||
|
||
/**
|
||
* @brief 使用 CRC32（IEEE 多项式 0xEDB88320）对 key+data48 计算 4 字节校验值。
|
||
* @param key 16 字节密钥（混入 CRC）。
|
||
* @param data48 48 字节数据。
|
||
* @param output 输出 4 字节 CRC32 值（小端序）。
|
||
*/
|
||
void OtaRelay::calculateCrc32WithKey(const uint8_t *key, const uint8_t *data48, uint8_t *output)
|
||
{
|
||
uint32_t crc = 0xFFFFFFFFU;
|
||
for (int i = 0; i < 16; ++i) { crc ^= key[i]; for (int j = 0; j < 8; ++j) crc = (crc >> 1) ^ (0xEDB88320U & (0U - (crc & 1U))); }
|
||
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))); }
|
||
crc ^= 0xFFFFFFFFU;
|
||
output[0] = (uint8_t)(crc & 0xFFU); output[1] = (uint8_t)((crc >> 8) & 0xFFU);
|
||
output[2] = (uint8_t)((crc >> 16) & 0xFFU); output[3] = (uint8_t)((crc >> 24) & 0xFFU);
|
||
}
|
||
|
||
// ============================================================
|
||
// 协议子步骤实现
|
||
// ============================================================
|
||
/** @brief 协议子步骤：请求 GD32 APP 进入 Bootloader OTA 模式。 */
|
||
esp_err_t OtaRelay::requestGd32AppEnterBootloader()
|
||
{
|
||
DEBUG_INFO("OTA", "尝试通知 GD32 APP 进入 Bootloader OTA 窗口");
|
||
SpiMaster::instance().appRequestBootloader();
|
||
|
||
/* 方案A: 通过 PB6 LOW→HIGH 序列等待 Bootloader 就绪
|
||
* APP 模式: 复位前拉低 PB6 → BOOT 极早拉低 → init 完成释放 HIGH
|
||
* BOOT 模式: PB6 一直 HIGH，Phase1 超时后直接握手
|
||
* 超时退化为固定延时（容错旧固件） */
|
||
esp_err_t wait_err = SpiMaster::instance().waitForBootloaderReady(3000);
|
||
if (wait_err != ESP_OK) {
|
||
DEBUG_WARN("OTA", "硬件就绪信号超时，退化为固定延时");
|
||
vTaskDelay(pdMS_TO_TICKS(1500));
|
||
}
|
||
return ESP_OK;
|
||
}
|
||
|
||
/** @brief 协议子步骤：发送握手请求（0x00 0xAC）并等待 GD32 回显 ACK。
|
||
* @param attempts 最大尝试次数，默认 20。先用 3 次快速探测 GD32 是否已在 BOOT。 */
|
||
ota_result_t OtaRelay::doHandshakeReq(uint32_t attempts)
|
||
{
|
||
DEBUG_INFO("OTA", "--- 握手请求 (max=%" PRIu32 ") ---", attempts);
|
||
|
||
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 kHandshakeReqTimeoutMs = 200U;
|
||
constexpr uint32_t kHandshakePollTimeoutMs = 200U;
|
||
constexpr uint32_t kHandshakeRetryGapMs = 100U;
|
||
|
||
for (uint32_t attempt = 0U; attempt < attempts; ++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=%" PRIu32 ")", attempt + 1U);
|
||
return OTA_RESULT_OK;
|
||
}
|
||
}
|
||
|
||
DEBUG_WARN("OTA", "HANDSHAKE_REQ 未就绪，重试 %" PRIu32 "/%" PRIu32 ": err=%d resp_type=0x%02X resp_len=%u",
|
||
attempt + 1U, attempts, 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);
|
||
return OTA_RESULT_ERR_TIMEOUT;
|
||
}
|
||
|
||
/** @brief 协议子步骤：执行挑战认证（发送 nonce、验证响应、派生会话密钥、发送确认）。 */
|
||
ota_result_t OtaRelay::doChallengeAndAuth()
|
||
{
|
||
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::instance().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%08" PRIX32, timestamp);
|
||
|
||
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);
|
||
return OTA_RESULT_ERR_TIMEOUT;
|
||
}
|
||
|
||
DEBUG_INFO("OTA", "已收到 GD32 握手数据包");
|
||
|
||
if (!parseAndVerifyChallengePayload(resp_payload, resp_len, m_kSession, m_gd32UidRuntime)) {
|
||
DEBUG_ERR("OTA", "CHALLENGE 解包/校验失败");
|
||
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");
|
||
return OTA_RESULT_ERR_AUTH;
|
||
}
|
||
|
||
DEBUG_INFO("OTA", "--- 认证步骤 2: 发送 SESSION_KEY/CONFIRM ---");
|
||
|
||
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);
|
||
return OTA_RESULT_ERR_TIMEOUT;
|
||
}
|
||
|
||
{
|
||
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);
|
||
}
|
||
|
||
Protocol::sessionKeyInit(&m_sessionCtx, m_kSession);
|
||
return OTA_RESULT_OK;
|
||
}
|
||
|
||
/** @brief 协议子步骤：发送固件总大小给 GD32 并等待 seq=0 的确认。 */
|
||
ota_result_t OtaRelay::doSendFirmwareSize(uint32_t size)
|
||
{
|
||
uint8_t resp_type = 0;
|
||
uint8_t resp_payload[32] = {0};
|
||
size_t resp_len = 0;
|
||
|
||
DEBUG_INFO("OTA", "固件大小: %" PRIu32 " 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);
|
||
|
||
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);
|
||
return OTA_RESULT_ERR_TIMEOUT;
|
||
}
|
||
|
||
DEBUG_INFO("OTA", "大小已发送: %" PRIu32 " 字节，等待 GD32 确认...", size);
|
||
return OTA_RESULT_OK;
|
||
}
|
||
|
||
/**
|
||
* @brief 协议子步骤：逐包转发固件数据给 GD32。
|
||
* 流程：从 Flash 读取 → AES 加密 → SPI 发送 → 等待 ACK → 失败则重发。
|
||
* 每 OTA_PACKET_HEALTH_CHECK_INTERVAL 包执行一次健康检查。
|
||
*/
|
||
ota_result_t OtaRelay::prepareRelayPacket(uint32_t seq, const ota_meta_t &meta, uint8_t tx_buf[64], size_t *out_chunk_size)
|
||
{
|
||
uint8_t plain48[GD32_OTA_PACKET_SIZE];
|
||
memset(plain48, 0xFF, sizeof(plain48));
|
||
size_t chunk_size = GD32_OTA_PACKET_SIZE;
|
||
if (seq == m_transferTotalPackets - 1) {
|
||
chunk_size = meta.total_size - (seq * GD32_OTA_PACKET_SIZE);
|
||
}
|
||
|
||
esp_err_t err = Gd32FlashStore::instance().flashReadChunk(m_transferFlashOffset, plain48, chunk_size);
|
||
if (err != ESP_OK) {
|
||
DEBUG_ERR("OTA", "Flash 读取失败, offset=%" PRIu32 ", err=%d", m_transferFlashOffset, err);
|
||
return OTA_RESULT_ERR_STORAGE;
|
||
}
|
||
|
||
/* session_num = nonce_server 前 4 字节，GD32 端做校验防重放/乱序 */
|
||
memcpy(&tx_buf[0], m_nonceServer, 4);
|
||
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 %" PRIu32 " 加密失败", seq);
|
||
return OTA_RESULT_ERR_AUTH;
|
||
}
|
||
|
||
uint32_t if_end = (seq == m_transferTotalPackets - 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 %" PRIu32 ": chunk=%u if_end=0x%08" PRIX32 " crc32=%02X%02X%02X%02X",
|
||
seq, (unsigned)chunk_size, if_end,
|
||
tx_buf[60], tx_buf[61], tx_buf[62], tx_buf[63]);
|
||
|
||
m_transferCurrentSeq = seq;
|
||
if (out_chunk_size) *out_chunk_size = chunk_size;
|
||
return OTA_RESULT_OK;
|
||
}
|
||
|
||
bool OtaRelay::sendRelayPacketWithRetry(uint32_t seq, const uint8_t tx_buf[64], size_t chunk_size, ota_result_t *out_result)
|
||
{
|
||
uint8_t resp_type = 0;
|
||
uint8_t resp_payload[32] = {0};
|
||
size_t resp_len = 0;
|
||
uint32_t retry_count = 0;
|
||
ota_result_t result = OTA_RESULT_OK;
|
||
bool got_expected_credit_ok = false;
|
||
const uint32_t expected_ack = (seq == m_transferTotalPackets - 1) ? kLastPacketAckSeq : (seq + 1U);
|
||
|
||
// ★ 单包耗时统计，用于定位 OTA 速度瓶颈。
|
||
TickType_t pkt_start = xTaskGetTickCount();
|
||
|
||
// 注意：goto resend_packet 保持原有语义，仅作用范围缩小到本 helper。
|
||
// 完全去除 goto 需配合 GD32 全链路 OTA 回归验证后再进行。
|
||
resend_packet:
|
||
while (1) {
|
||
resp_len = 0;
|
||
esp_err_t err = SpiMaster::instance().otaTransfer(SPI_OTA_CMD_DATA, tx_buf, 64,
|
||
&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 %" PRIu32 " 发送失败, err=%d, resp_type=0x%02X, resp_len=%zu", seq, err, resp_type, resp_len);
|
||
if (++retry_count >= kMaxResendOnNack) {
|
||
DEBUG_ERR("OTA", "包 %" PRIu32 " 重发次数超限", seq);
|
||
result = OTA_RESULT_ERR_TIMEOUT;
|
||
break;
|
||
}
|
||
vTaskDelay(pdMS_TO_TICKS(1));
|
||
continue; // 重发本包
|
||
}
|
||
|
||
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 %" PRIu32 " 收到结构化错误 err=0x%02X，准备重发", seq, err_code);
|
||
if (++retry_count >= kMaxResendOnStructError) {
|
||
DEBUG_ERR("OTA", "包 %" PRIu32 " 重发次数超限", seq);
|
||
result = (err_code == 0x04U) ? OTA_RESULT_ERR_CRC : OTA_RESULT_ERR_GD32;
|
||
break;
|
||
}
|
||
continue;
|
||
}
|
||
}
|
||
|
||
/* CREDIT 感知：若 GD32 报 CREDIT=0，说明它在写 Flash 缓冲，
|
||
* 此时重发只会被丢弃。改为耐心 POLL 等待 CREDIT 恢复，最多等 500ms。 */
|
||
if (SpiMaster::instance().remoteCredit() == 0U) {
|
||
DEBUG_DBG("OTA", "包 %" PRIu32 " GD32 CREDIT=0(写Flash中)，POLL 等待...", seq);
|
||
for (uint32_t cw = 0; cw < 50U; ++cw) {
|
||
err = SpiMaster::instance().otaPollResponse(&resp_type, resp_payload,
|
||
sizeof(resp_payload), &resp_len, 100);
|
||
if (err == ESP_OK && resp_type == SPI_OTA_RSP_ACK &&
|
||
isStructuredAckWithSeq(resp_payload, resp_len, expected_ack)) {
|
||
got_expected_credit_ok = true;
|
||
break;
|
||
}
|
||
if (err == ESP_OK && SpiMaster::instance().remoteCredit() > 0U) {
|
||
break; /* CREDIT 恢复，可以继续轮询或重发 */
|
||
}
|
||
vTaskDelay(pdMS_TO_TICKS(1));
|
||
}
|
||
}
|
||
|
||
bool got_expected = false;
|
||
if (got_expected_credit_ok) {
|
||
m_transferFlashOffset += (uint32_t)chunk_size;
|
||
break;
|
||
}
|
||
for (uint32_t retry = 0; retry < 10; ++retry) {
|
||
DEBUG_DBG("OTA", "包 %" PRIu32 " 收到非目标ACK(seq不匹配)，继续轮询(%" PRIu32 "/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) {
|
||
DEBUG_WARN("OTA", "包 %" PRIu32 " poll 超时/非ACK，重发 (retry=%" PRIu32 "/3)", seq, retry_count + 1);
|
||
if (++retry_count >= kMaxResendOnStructError) {
|
||
DEBUG_ERR("OTA", "包 %" PRIu32 " 重发次数超限", seq);
|
||
result = OTA_RESULT_ERR_GD32;
|
||
break;
|
||
}
|
||
// ★ resend 前延迟
|
||
vTaskDelay(pdMS_TO_TICKS(1));
|
||
got_expected_credit_ok = false;
|
||
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;
|
||
}
|
||
}
|
||
|
||
if (got_expected) {
|
||
m_transferFlashOffset += (uint32_t)chunk_size;
|
||
break;
|
||
}
|
||
|
||
if (parseStructuredError(resp_payload, resp_len, &err_seq, &err_code) && err_seq == seq) {
|
||
DEBUG_WARN("OTA", "包 %" PRIu32 " 收到结构化错误 err=0x%02X，准备重发", seq, err_code);
|
||
if (++retry_count >= kMaxResendOnNack) {
|
||
DEBUG_ERR("OTA", "包 %" PRIu32 " 重发次数超限", seq);
|
||
result = (err_code == 0x04U) ? OTA_RESULT_ERR_CRC : OTA_RESULT_ERR_GD32;
|
||
break;
|
||
}
|
||
continue;
|
||
}
|
||
|
||
DEBUG_WARN("OTA", "包 %" PRIu32 " 轮询耗尽未匹配，重发 (retry=%" PRIu32 "/10)", seq, retry_count + 1);
|
||
if (++retry_count >= kMaxResendOnNack) {
|
||
DEBUG_ERR("OTA", "包 %" PRIu32 " 重发次数超限", seq);
|
||
result = OTA_RESULT_ERR_GD32;
|
||
break;
|
||
}
|
||
// ★ resend 前延迟：给 GD32 时间处理上一包并更新 SPI 响应缓冲区
|
||
vTaskDelay(pdMS_TO_TICKS(1));
|
||
goto resend_packet;
|
||
}
|
||
|
||
m_transferFlashOffset += (uint32_t)chunk_size;
|
||
break;
|
||
}
|
||
|
||
TickType_t pkt_elapsed = xTaskGetTickCount() - pkt_start;
|
||
DEBUG_DBG("OTA", "包 %" PRIu32 " 完成: elapsed=%" PRIu32 " ms, retries=%" PRIu32, seq,
|
||
(uint32_t)(pkt_elapsed * portTICK_PERIOD_MS), retry_count);
|
||
|
||
if (result != OTA_RESULT_OK) {
|
||
*out_result = result;
|
||
return true; // 中止外层循环
|
||
}
|
||
return false; // 继续下一包
|
||
}
|
||
|
||
ota_result_t OtaRelay::doRelayPackets(TickType_t deadline_tick)
|
||
{
|
||
DEBUG_INFO("OTA", "开始转发 %" PRIu32 " 包", m_transferTotalPackets);
|
||
|
||
ota_meta_t meta;
|
||
if (Gd32FlashStore::instance().metaLoad(&meta) != ESP_OK) {
|
||
DEBUG_ERR("OTA", "元数据加载失败");
|
||
return OTA_RESULT_ERR_STORAGE;
|
||
}
|
||
|
||
uint8_t tx_buf[64] = {0};
|
||
ota_result_t result = OTA_RESULT_OK;
|
||
|
||
for (uint32_t seq = 0; seq < m_transferTotalPackets; seq++) {
|
||
// 健康检查（每 OTA_PACKET_HEALTH_CHECK_INTERVAL 包 + 首末包）
|
||
if ((seq % OTA_PACKET_HEALTH_CHECK_INTERVAL) == 0 || seq == 0 || seq == m_transferTotalPackets - 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
|
||
if (deadline_tick != 0 && xTaskGetTickCount() >= deadline_tick) {
|
||
DEBUG_ERR("OTA", "全局超时: 包 %" PRIu32 "/%" PRIu32 " 已超限，中止转发", seq, m_transferTotalPackets);
|
||
return OTA_RESULT_ERR_USER_ABORT;
|
||
}
|
||
|
||
// 准备单包：读 Flash + 加密 + 组装
|
||
size_t chunk_size = 0;
|
||
result = prepareRelayPacket(seq, meta, tx_buf, &chunk_size);
|
||
if (result != OTA_RESULT_OK) {
|
||
return result;
|
||
}
|
||
|
||
// 发送单包并等待 ACK（内含重试循环）
|
||
if (sendRelayPacketWithRetry(seq, tx_buf, chunk_size, &result)) {
|
||
return result; // 中止
|
||
}
|
||
|
||
setRelaySeq(seq + 1);
|
||
// 每 5% 或前 5 包/最后 5 包打印进度，避免 9 秒+静默期无法判断是否卡死
|
||
uint32_t step = m_transferTotalPackets / 20 + 1; // ~5% 间隔
|
||
if (seq < 5 || seq >= m_transferTotalPackets - 5 || seq % step == 0) {
|
||
// 进度日志直接用本地 seq+1，避免再次加锁读 relaySeq
|
||
uint32_t done = seq + 1;
|
||
uint32_t progress = (done * 100U) / m_transferTotalPackets;
|
||
DEBUG_INFO("OTA", "转发进度: %" PRIu32 "/%" PRIu32 " 包 (%" PRIu32 "%%)", done, m_transferTotalPackets, progress);
|
||
}
|
||
|
||
// ★ 包间延迟：给 GD32 Bootloader 充足时间完成 flash 写入并准备下一包 ACK。
|
||
// 无此延迟时，ESP32 立即 poll 会读到上一包的 stale ACK，导致误判为丢包。
|
||
if (seq < m_transferTotalPackets - 1 && CONFIG_DCU_OTA_PACKET_INTERVAL_MS > 0) {
|
||
vTaskDelay(pdMS_TO_TICKS(CONFIG_DCU_OTA_PACKET_INTERVAL_MS));
|
||
}
|
||
}
|
||
return result;
|
||
}
|
||
|
||
// ============================================================
|
||
// ============================================================
|
||
// 统一 OtaRelay 内部两处 APP 探测逻辑（doWaitForAppAlive 轮询 + taskEntry 启动探测）。
|
||
// 成功：setGd32AppAlive(true) + setGd32Version + 打印版本号；失败：打印 warning。
|
||
// 注：OtaCoordinator::probeGd32AppOnce 逻辑相似，但因依赖方向不调用本函数。
|
||
bool OtaRelay::probeAndCacheAppAlive(uint32_t timeout_ms, uint32_t *out_uptime)
|
||
{
|
||
uint32_t uptime = 0;
|
||
gd32_version_t ver = {};
|
||
|
||
esp_err_t err = SpiMaster::instance().appPing(timeout_ms, &uptime, &ver);
|
||
if (err == ESP_OK) {
|
||
// 持锁一次性写入两个状态字段，保证 getSnapshot() 读取一致
|
||
StateLockGuard lock;
|
||
gd32AppAlive = true;
|
||
gd32Version = ver;
|
||
if (out_uptime) *out_uptime = uptime;
|
||
DEBUG_INFO("OTA", "GD32 APP 存活确认: uptime=%" PRIu32 " sec, APP=v%d.%d.%d.%d, BOOT=v%d.%d.%d.%d",
|
||
uptime,
|
||
ver.app_major, ver.app_minor, ver.app_patch, ver.app_build,
|
||
ver.boot_major, ver.boot_minor, ver.boot_patch, ver.boot_build);
|
||
return true;
|
||
}
|
||
if (out_uptime) *out_uptime = 0;
|
||
DEBUG_WARN("OTA", "GD32 APP 探测失败: %s", esp_err_to_name(err));
|
||
return false;
|
||
}
|
||
|
||
/** @brief 协议子步骤：发送 FINISH_OTA 指令并等待 GD32 ACK（10 次重试）。 */
|
||
ota_result_t OtaRelay::doSendFinishOta()
|
||
{
|
||
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;
|
||
|
||
for (uint32_t retry = 0; retry < 10; ++retry) {
|
||
resp_type = 0;
|
||
resp_len = 0;
|
||
memset(resp_payload, 0, sizeof(resp_payload));
|
||
|
||
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,
|
||
CONFIG_DCU_OTA_FINISH_TIMEOUT_MS);
|
||
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=%" PRIu32 "/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=%" PRIu32 "/10", err, retry + 1);
|
||
vTaskDelay(pdMS_TO_TICKS(100));
|
||
continue;
|
||
}
|
||
|
||
if (resp_type == SPI_OTA_RSP_ACK && isFinishPlainAck(resp_payload, resp_len)) {
|
||
break;
|
||
}
|
||
|
||
if (resp_type == SPI_OTA_RSP_WAIT) {
|
||
DEBUG_INFO("OTA", "FINISH_OTA 收到 WAIT, GD32 正在排空 Flash 缓冲, retry=%" PRIu32 "/10", retry + 1);
|
||
vTaskDelay(pdMS_TO_TICKS(200));
|
||
continue;
|
||
}
|
||
|
||
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=%" PRIu32 "/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=%" PRIu32 "/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);
|
||
return OTA_RESULT_ERR_GD32;
|
||
}
|
||
|
||
return OTA_RESULT_OK;
|
||
}
|
||
|
||
/** @brief 协议子步骤：轮询等待 GD32 APP 存活（30 次重试）。 */
|
||
ota_result_t OtaRelay::doWaitForAppAlive(uint32_t timeout_ms)
|
||
{
|
||
// ★ APP 存活验证
|
||
setGd32AppAlive(false);
|
||
|
||
for (uint32_t attempt = 0; attempt < 30; ++attempt) {
|
||
vTaskDelay(pdMS_TO_TICKS(500));
|
||
if (probeAndCacheAppAlive(timeout_ms)) {
|
||
DEBUG_INFO("OTA", "=== OTA 全流程完成 (APP 已启动) ===");
|
||
break;
|
||
}
|
||
DEBUG_INFO("OTA", "等待 GD32 APP 启动... (%" PRIu32 "/30)", attempt + 1);
|
||
}
|
||
|
||
if (!getGd32AppAlive()) {
|
||
DEBUG_ERR("OTA", "GD32 APP alive confirm timeout, OTA failed");
|
||
reset();
|
||
return OTA_RESULT_ERR_GD32;
|
||
}
|
||
|
||
return OTA_RESULT_OK;
|
||
}
|
||
|
||
/** @brief 协议子步骤：发送 FINISH_OTA + 等待 APP 存活（顺序两阶段 + 会话清理）。 */
|
||
ota_result_t OtaRelay::doFinishAndVerify()
|
||
{
|
||
// 阶段1: 发送 FINISH_OTA 并等待 ACK
|
||
ota_result_t res = doSendFinishOta();
|
||
if (res != OTA_RESULT_OK) {
|
||
return res;
|
||
}
|
||
|
||
// 会话密钥/上下文清理
|
||
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", "=== OTA 完成，等待 GD32 APP 启动 ===");
|
||
|
||
Gd32FlashStore::instance().metaClear();
|
||
|
||
// 阶段2: APP 存活轮询（单次 appPing 超时 1000ms，共 30 次）
|
||
return doWaitForAppAlive(1000);
|
||
}
|
||
|
||
// ============================================================
|
||
// FreeRTOS 任务入口
|
||
// ============================================================
|
||
void OtaRelay::taskEntry(void *pvParameters)
|
||
{
|
||
(void)pvParameters;
|
||
taskHandle = xTaskGetCurrentTaskHandle();
|
||
DEBUG_INFO("OTA", "OTA 中继任务启动");
|
||
|
||
initMutex();
|
||
|
||
dispatchQueue = xQueueCreate(4, sizeof(uint32_t));
|
||
resultQueue = xQueueCreate(4, sizeof(uint32_t));
|
||
|
||
if (!dispatchQueue || !resultQueue) {
|
||
DEBUG_ERR("OTA", "OTA 队列创建失败");
|
||
vTaskDelete(NULL);
|
||
return;
|
||
}
|
||
|
||
// ★ 启动时初始 GD32 探测：读取 GD32 APP 版本号与存活状态
|
||
// GD32 APP 启动需要一定时间，给其 3 秒准备窗口后发起探测
|
||
{
|
||
DEBUG_INFO("OTA", "启动初始 GD32 探测...");
|
||
vTaskDelay(pdMS_TO_TICKS(3000)); // 等待 GD32 APP 就绪
|
||
probeAndCacheAppAlive(2000);
|
||
}
|
||
|
||
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: %" PRIu32 "，开始转发...", msg);
|
||
// ★ H4: 通过 IRelayListener 接口回调通知协调器（不再直接依赖 OtaCoordinator）
|
||
IRelayListener *listener = getRelayListener();
|
||
pauseCanFeedbackTask(true);
|
||
if (listener) listener->onRelayStarted();
|
||
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");
|
||
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();
|
||
// ★ H4: 通过 IRelayListener 接口回调通知协调器中继结束
|
||
listener = getRelayListener();
|
||
if (listener) listener->onRelayComplete(result == OTA_RESULT_OK);
|
||
pauseCanFeedbackTask(false);
|
||
}
|
||
}
|