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new ota logic

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This commit is contained in:
Empire Phoenix
2026-03-15 19:57:19 +01:00
parent 07ab69075a
commit c61a586595
15 changed files with 313 additions and 400 deletions
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72
Software/MainBoard/rust/src/hal/esp.rs
View File

@@ -10,7 +10,7 @@ use crate::hal::little_fs2storage_adapter::LittleFs2Filesystem;
use crate::hal::shared_flash::MutexFlashStorage;
use alloc::string::ToString;
use alloc::sync::Arc;
use alloc::{format, string::String, vec, vec::Vec};
use alloc::{format, string::String, vec::Vec};
use core::net::{IpAddr, Ipv4Addr, SocketAddr};
use core::str::FromStr;
use core::sync::atomic::Ordering;
@@ -21,11 +21,6 @@ use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
use embassy_sync::mutex::{Mutex, MutexGuard};
use embassy_sync::once_lock::OnceLock;
use embassy_time::{Duration, Timer, WithTimeout};
use embedded_storage::nor_flash::{check_erase, NorFlash, ReadNorFlash};
use esp_bootloader_esp_idf::ota::OtaImageState::Valid;
use esp_bootloader_esp_idf::ota::{Ota, OtaImageState};
use esp_bootloader_esp_idf::partitions::{AppPartitionSubType, FlashRegion};
use esp_hal::Blocking;
use esp_hal::gpio::{Input, RtcPinWithResistors};
use esp_hal::rng::Rng;
use esp_hal::rtc_cntl::{
@@ -34,6 +29,8 @@ use esp_hal::rtc_cntl::{
};
use esp_hal::system::software_reset;
use esp_hal::uart::Uart;
use esp_hal::Blocking;
use esp_hal_ota::Ota;
use esp_println::println;
use esp_radio::wifi::{
AccessPointConfig, AccessPointInfo, AuthMethod, ClientConfig, ModeConfig, ScanConfig,
@@ -129,12 +126,7 @@ pub struct Esp<'a> {
// RTC-capable GPIO used as external wake source (store the raw peripheral)
pub wake_gpio1: esp_hal::peripherals::GPIO1<'static>,
pub uart0: Uart<'a, Blocking>,
pub ota: Ota<'static, MutexFlashStorage>,
pub ota_target: &'static mut FlashRegion<'static, MutexFlashStorage>,
pub current: AppPartitionSubType,
pub slot0_state: OtaImageState,
pub slot1_state: OtaImageState,
pub ota: &'static mut Ota<&'static mut MutexFlashStorage>,
}
// SAFETY: On this target we never move Esp across OS threads; the firmware runs single-core
@@ -155,7 +147,6 @@ macro_rules! mk_static {
}
impl Esp<'_> {
pub(crate) async fn read_serial_line(&mut self) -> FatResult<Option<alloc::string::String>> {
let mut buf = [0u8; 1];
let mut line = String::new();
@@ -171,7 +162,7 @@ impl Esp<'_> {
}
line.push(c);
}
Err(error ) => {
Err(error) => {
if line.is_empty() {
return Ok(None);
} else {
@@ -250,50 +241,6 @@ impl Esp<'_> {
Ok((buf, read))
}
pub(crate) async fn write_ota(&mut self, offset: u32, buf: &[u8]) -> Result<(), FatError> {
let _ = check_erase(self.ota_target, offset, offset + 4096);
self.ota_target.erase(offset, offset + 4096)?;
let mut temp = vec![0; buf.len()];
let read_back = temp.as_mut_slice();
//change to nor flash, align writes!
self.ota_target.write(offset, buf)?;
self.ota_target.read(offset, read_back)?;
if buf != read_back {
info!("Expected {buf:?} but got {read_back:?}");
bail!(
"Flash error, read back does not match write buffer at offset {:x}",
offset
)
}
Ok(())
}
pub(crate) async fn finalize_ota(&mut self) -> Result<(), FatError> {
let current = self.ota.current_app_partition()?;
if self.ota.current_ota_state()? != Valid {
info!("Validating current slot {current:?} as it was able to ota");
self.ota.set_current_ota_state(Valid)?;
}
let next = match current {
AppPartitionSubType::Ota0 => AppPartitionSubType::Ota1,
AppPartitionSubType::Ota1 => AppPartitionSubType::Ota0,
_ => {
bail!("Invalid current slot {current:?} for ota");
}
};
self.ota.set_current_app_partition(next)?;
info!("switched slot");
self.ota.set_current_ota_state(OtaImageState::New)?;
info!("switched state for new partition");
let state_new = self.ota.current_ota_state()?;
info!("state on new partition now {state_new:?}");
//determine nextslot crc
self.set_restart_to_conf(true);
Ok(())
}
pub(crate) fn mode_override_pressed(&mut self) -> bool {
self.boot_button.is_low()
}
@@ -594,14 +541,7 @@ impl Esp<'_> {
duration_in_ms: u64,
mut rtc: MutexGuard<CriticalSectionRawMutex, Rtc>,
) -> ! {
// Mark the current OTA image as valid if we reached here while in pending verify.
if let Ok(cur) = self.ota.current_ota_state() {
if cur == OtaImageState::PendingVerify {
self.ota
.set_current_ota_state(Valid)
.expect("Could not set image to valid");
}
}
//TODO HERE Mark the current OTA image as valid if we reached here while in pending verify.
if duration_in_ms == 0 {
software_reset();

182
Software/MainBoard/rust/src/hal/mod.rs
View File

@@ -1,5 +1,5 @@
use esp_hal::uart::Config as UartConfig;
use lib_bms_protocol::BmsReadable;
use esp_hal::uart::{Config as UartConfig};
pub(crate) mod battery;
// mod can_api; // replaced by external canapi crate
pub mod esp;
@@ -9,7 +9,6 @@ mod shared_flash;
mod v4_hal;
mod water;
use lib_bms_protocol::ProtocolVersion;
use crate::alloc::string::ToString;
use crate::hal::rtc::{DS3231Module, RTCModuleInteraction};
use esp_hal::peripherals::Peripherals;
@@ -36,6 +35,7 @@ use esp_hal::peripherals::GPIO6;
use esp_hal::peripherals::GPIO7;
use esp_hal::peripherals::GPIO8;
use esp_hal::peripherals::TWAI0;
use lib_bms_protocol::ProtocolVersion;
use crate::{
bail,
@@ -65,24 +65,20 @@ use eeprom24x::{Eeprom24x, SlaveAddr, Storage};
use embassy_embedded_hal::shared_bus::blocking::i2c::I2cDevice;
use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
use embassy_sync::blocking_mutex::CriticalSectionMutex;
use esp_bootloader_esp_idf::partitions::{
AppPartitionSubType, DataPartitionSubType, FlashRegion, PartitionEntry,
};
use esp_bootloader_esp_idf::partitions::{DataPartitionSubType, FlashRegion, PartitionEntry};
use esp_hal::clock::CpuClock;
use esp_hal::gpio::{Input, InputConfig, Pull};
use measurements::{Current, Voltage};
use crate::fat_error::{ContextExt, FatError, FatResult};
use crate::hal::battery::{WCHI2CSlave};
use crate::fat_error::{FatError, FatResult};
use crate::hal::battery::WCHI2CSlave;
use crate::hal::little_fs2storage_adapter::LittleFs2Filesystem;
use crate::hal::water::TankSensor;
use crate::log::LOG_ACCESS;
use embassy_sync::mutex::Mutex;
use embassy_sync::once_lock::OnceLock;
use embedded_storage::ReadStorage;
use esp_alloc as _;
use esp_backtrace as _;
use esp_bootloader_esp_idf::ota::{Ota, OtaImageState};
use esp_hal::delay::Delay;
use esp_hal::i2c::master::{BusTimeout, Config, I2c};
use esp_hal::interrupt::software::SoftwareInterruptControl;
@@ -93,8 +89,9 @@ use esp_hal::rtc_cntl::{Rtc, SocResetReason};
use esp_hal::system::reset_reason;
use esp_hal::time::Rate;
use esp_hal::timer::timg::TimerGroup;
use esp_hal::Blocking;
use esp_hal::uart::Uart;
use esp_hal::Blocking;
use esp_hal_ota::Ota;
use esp_radio::{init, Controller};
use esp_storage::FlashStorage;
use littlefs2::fs::{Allocation, Filesystem as lfs2Filesystem};
@@ -138,12 +135,6 @@ pub struct HAL<'a> {
pub board_hal: Box<dyn BoardInteraction<'a> + Send>,
}
pub struct DetectionRequest {
pub sensorsa: [Sensor; PLANT_COUNT],
pub sensorsb: [Sensor; PLANT_COUNT],
}
#[async_trait(?Send)]
pub trait BoardInteraction<'a> {
fn get_tank_sensor(&mut self) -> Result<&mut TankSensor<'a>, FatError>;
@@ -169,7 +160,7 @@ pub trait BoardInteraction<'a> {
async fn can_power(&mut self, state: bool) -> FatResult<()>;
// Return JSON string with autodetected sensors per plant. Default: not supported.
async fn detect_sensors(&mut self, request: Detection) -> FatResult<Detection> {
async fn detect_sensors(&mut self, _request: Detection) -> FatResult<Detection> {
bail!("Autodetection is only available on v4 HAL with CAN bus");
}
@@ -324,51 +315,15 @@ impl PlantHal {
let pt =
esp_bootloader_esp_idf::partitions::read_partition_table(flash_storage, tablebuffer)?;
let ota_data = mk_static!(
PartitionEntry,
pt.find_partition(esp_bootloader_esp_idf::partitions::PartitionType::Data(
DataPartitionSubType::Ota,
))?
.expect("No OTA data partition found")
);
let ota_data = mk_static!(
FlashRegion<MutexFlashStorage>,
ota_data.as_embedded_storage(flash_storage_2)
);
let state_0 = ota_state(AppPartitionSubType::Ota0, ota_data);
let state_1 = ota_state(AppPartitionSubType::Ota1, ota_data);
let mut ota = Ota::new(ota_data, 2)?;
let running = get_current_slot_and_fix_ota_data(&mut ota, state_0, state_1)?;
let target = next_partition(running)?;
info!("Currently running OTA slot: {running:?}");
info!("Slot0 state: {state_0:?}");
info!("Slot1 state: {state_1:?}");
//get current_state and next_state here!
let ota_target = match target {
AppPartitionSubType::Ota0 => pt
.find_partition(esp_bootloader_esp_idf::partitions::PartitionType::App(
AppPartitionSubType::Ota0,
))?
.context("Partition table invalid no ota0")?,
AppPartitionSubType::Ota1 => pt
.find_partition(esp_bootloader_esp_idf::partitions::PartitionType::App(
AppPartitionSubType::Ota1,
))?
.context("Partition table invalid no ota1")?,
_ => {
bail!("Invalid target partition");
}
};
let ota_target = mk_static!(PartitionEntry, ota_target);
let ota_target = mk_static!(
FlashRegion<MutexFlashStorage>,
ota_target.as_embedded_storage(flash_storage)
let ota = mk_static!(
Ota<&mut MutexFlashStorage>,
Ota::new(flash_storage_2).unwrap()
);
info!("Ota initialized");
let selected = ota.get_currently_booted_partition();
let ota_state = ota.get_ota_image_state();
info!("Currently running partition slot: {selected:?}");
info!("Slot state: {ota_state:?}");
let data_partition = pt
.find_partition(esp_bootloader_esp_idf::partitions::PartitionType::Data(
@@ -401,8 +356,8 @@ impl PlantHal {
lfs2Filesystem::mount(alloc, lfs2filesystem).expect("Could not mount lfs2 filesystem"),
));
let uart0 = Uart::new(peripherals.UART0, UartConfig::default())
.map_err(|_| FatError::String {
let uart0 =
Uart::new(peripherals.UART0, UartConfig::default()).map_err(|_| FatError::String {
error: "Uart creation failed".to_string(),
})?;
@@ -417,11 +372,7 @@ impl PlantHal {
boot_button,
wake_gpio1,
ota,
ota_target,
current: running,
slot0_state: state_0,
slot1_state: state_1,
uart0
uart0,
};
//init,reset rtc memory depending on cause
@@ -553,7 +504,7 @@ impl PlantHal {
//BoardVersion::V4 => {
v4_hal::create_v4(free_pins, esp, config, battery_interaction, rtc_module)
.await?;
//}
//}
//};
HAL { board_hal }
@@ -571,9 +522,14 @@ impl PlantHal {
)
.await;
HAL {
board_hal: v4_hal::create_v4(free_pins, esp, PlantControllerConfig::default(),
Box::new(NoBatteryMonitor {}), rtc_module)
.await?
board_hal: v4_hal::create_v4(
free_pins,
esp,
PlantControllerConfig::default(),
Box::new(NoBatteryMonitor {}),
rtc_module,
)
.await?,
}
}
};
@@ -582,87 +538,6 @@ impl PlantHal {
}
}
fn ota_state(
slot: AppPartitionSubType,
ota_data: &mut FlashRegion<MutexFlashStorage>,
) -> OtaImageState {
// Read and log OTA states for both slots before constructing Ota
// Each OTA select entry is 32 bytes: [seq:4][label:20][state:4][crc:4]
// Offsets within the OTA data partition: slot0 @ 0x0000, slot1 @ 0x1000
let mut slot_buf = [0u8; 32];
if slot == AppPartitionSubType::Ota0 {
let _ = ReadStorage::read(ota_data, 0x0000, &mut slot_buf);
} else {
let _ = ReadStorage::read(ota_data, 0x1000, &mut slot_buf);
}
let raw_state = u32::from_le_bytes(slot_buf[24..28].try_into().unwrap_or([0xff; 4]));
OtaImageState::try_from(raw_state).unwrap_or(OtaImageState::Undefined)
}
fn get_current_slot_and_fix_ota_data(
ota: &mut Ota<MutexFlashStorage>,
state0: OtaImageState,
state1: OtaImageState,
) -> Result<AppPartitionSubType, FatError> {
let state = ota.current_ota_state().unwrap_or_default();
let swap = match state {
OtaImageState::Invalid => true,
OtaImageState::Aborted => true,
OtaImageState::Undefined => {
info!("Undefined image in current slot, bootloader wrong?");
false
}
_ => false,
};
let current = ota.current_app_partition()?;
if swap {
let other = match current {
AppPartitionSubType::Ota0 => state1,
AppPartitionSubType::Ota1 => state0,
_ => OtaImageState::Invalid,
};
match other {
OtaImageState::Invalid => {
bail!(
"cannot recover slot, as both slots in invalid state {:?} {:?} {:?}",
current,
state0,
state1
);
}
OtaImageState::Aborted => {
bail!(
"cannot recover slot, as both slots in invalid state {:?} {:?} {:?}",
current,
state0,
state1
);
}
_ => {}
}
info!("Current slot has state {state:?} other state has {other:?} swapping");
let next = next_partition(current)?;
ota.set_current_app_partition(next)?;
//we actually booted other slot, than partition table assumes
return Ok(ota.current_app_partition()?);
};
Ok(current)
}
pub fn next_partition(current: AppPartitionSubType) -> FatResult<AppPartitionSubType> {
let next = match current {
AppPartitionSubType::Ota0 => AppPartitionSubType::Ota1,
AppPartitionSubType::Ota1 => AppPartitionSubType::Ota0,
_ => {
bail!("Current slot is not ota0 or ota1");
}
};
Ok(next)
}
pub async fn esp_time() -> DateTime<Utc> {
let guard = TIME_ACCESS.get().await.lock().await;
DateTime::from_timestamp_micros(guard.current_time_us() as i64).unwrap()
@@ -699,4 +574,3 @@ pub struct DetectionSensorResult {
sensor_a: bool,
sensor_b: bool,
}

45
Software/MainBoard/rust/src/hal/shared_flash.rs
View File

@@ -3,7 +3,7 @@ use core::cell::RefCell;
use core::ops::{Deref, DerefMut};
use embassy_sync::blocking_mutex::CriticalSectionMutex;
use embedded_storage::nor_flash::{ErrorType, NorFlash, ReadNorFlash};
use embedded_storage::ReadStorage;
use embedded_storage::{ReadStorage, Storage};
use esp_storage::{FlashStorage, FlashStorageError};
#[derive(Clone)]
@@ -11,6 +11,19 @@ pub struct MutexFlashStorage {
pub(crate) inner: Arc<CriticalSectionMutex<RefCell<FlashStorage<'static>>>>,
}
impl Storage for MutexFlashStorage {
fn write(&mut self, offset: u32, bytes: &[u8]) -> Result<(), Self::Error> {
self.inner
.lock(|f| NorFlash::write(f.borrow_mut().deref_mut(), offset, bytes))
}
}
impl Storage for &mut MutexFlashStorage {
fn write(&mut self, offset: u32, bytes: &[u8]) -> Result<(), Self::Error> {
Storage::write(&mut (**self), offset, bytes)
}
}
impl ReadStorage for MutexFlashStorage {
type Error = FlashStorageError;
@@ -25,9 +38,29 @@ impl ReadStorage for MutexFlashStorage {
}
}
impl embedded_storage::Storage for MutexFlashStorage {
fn write(&mut self, offset: u32, bytes: &[u8]) -> Result<(), Self::Error> {
NorFlash::write(self, offset, bytes)
impl ReadStorage for &mut MutexFlashStorage {
type Error = FlashStorageError;
fn read(&mut self, offset: u32, bytes: &mut [u8]) -> Result<(), FlashStorageError> {
ReadStorage::read(&mut (**self), offset, bytes)
}
fn capacity(&self) -> usize {
ReadStorage::capacity(&(**self))
}
}
impl ReadStorage for &MutexFlashStorage {
type Error = FlashStorageError;
fn read(&mut self, offset: u32, bytes: &mut [u8]) -> Result<(), FlashStorageError> {
self.inner
.lock(|f| ReadStorage::read(f.borrow_mut().deref_mut(), offset, bytes))
}
fn capacity(&self) -> usize {
self.inner
.lock(|f| ReadStorage::capacity(f.borrow().deref()))
}
}
@@ -35,6 +68,10 @@ impl ErrorType for MutexFlashStorage {
type Error = FlashStorageError;
}
impl ErrorType for &MutexFlashStorage {
type Error = FlashStorageError;
}
impl ReadNorFlash for MutexFlashStorage {
const READ_SIZE: usize = 1;

44
Software/MainBoard/rust/src/hal/v4_hal.rs
View File

@@ -11,7 +11,7 @@ use crate::hal::{
};
use crate::log::{LogMessage, LOG_ACCESS};
use alloc::boxed::Box;
use alloc::string::{ToString};
use alloc::string::ToString;
use async_trait::async_trait;
use canapi::id::{classify, plant_id, MessageKind, IDENTIFY_CMD_OFFSET};
use canapi::SensorSlot;
@@ -23,7 +23,6 @@ use esp_hal::gpio::{Flex, Input, InputConfig, Level, Output, OutputConfig, Pull}
use esp_hal::i2c::master::I2c;
use esp_hal::twai::{EspTwaiError, EspTwaiFrame, StandardId, Twai, TwaiConfiguration, TwaiMode};
use esp_hal::{twai, Async, Blocking};
use esp_println::println;
use ina219::address::{Address, Pin};
use ina219::calibration::UnCalibrated;
use ina219::configuration::{Configuration, OperatingMode, Resolution};
@@ -133,10 +132,9 @@ pub struct V4<'a> {
extra1: Output<'a>,
extra2: Output<'a>,
twai_config: Option<TwaiConfiguration<'static, Blocking>>
twai_config: Option<TwaiConfiguration<'static, Blocking>>,
}
pub(crate) async fn create_v4(
peripherals: FreePeripherals<'static>,
esp: Esp<'static>,
@@ -261,12 +259,11 @@ pub(crate) async fn create_v4(
extra1,
extra2,
can_power,
twai_config
twai_config,
};
Ok(Box::new(v))
}
#[async_trait(?Send)]
impl<'a> BoardInteraction<'a> for V4<'a> {
fn get_tank_sensor(&mut self) -> Result<&mut TankSensor<'a>, FatError> {
@@ -393,11 +390,18 @@ impl<'a> BoardInteraction<'a> for V4<'a> {
if !detect {
continue;
}
let target =
StandardId::new(plant_id(IDENTIFY_CMD_OFFSET, sensor.into(), (plant +1) as u16))
.context(">> Could not create address for sensor! (plant: {}) <<")?;
let target = StandardId::new(plant_id(
IDENTIFY_CMD_OFFSET,
sensor.into(),
(plant + 1) as u16,
))
.context(">> Could not create address for sensor! (plant: {}) <<")?;
let can_buffer = [0_u8; 0];
info!("Sending test message to plant {} sensor {sensor:?} with id {}", plant +1, target.as_raw());
info!(
"Sending test message to plant {} sensor {sensor:?} with id {}",
plant + 1,
target.as_raw()
);
if let Some(frame) = EspTwaiFrame::new(target, &can_buffer) {
// Try a few times; we intentionally ignore rx here and rely on stub logic
let resu = twai
@@ -405,12 +409,12 @@ impl<'a> BoardInteraction<'a> for V4<'a> {
.with_timeout(Duration::from_millis(3000))
.await;
match resu {
Ok(_) => {
}
Ok(_) => {}
Err(err) => {
info!(
"Error sending test message to plant {} sensor {sensor:?}: {err:?}", plant +1
);
"Error sending test message to plant {} sensor {sensor:?}: {err:?}",
plant + 1
);
}
}
} else {
@@ -424,20 +428,17 @@ impl<'a> BoardInteraction<'a> for V4<'a> {
.with_timeout(Duration::from_millis(3000))
.await;
let config = twai.stop().into_blocking();
self.twai_config.replace(config);
self.can_power.set_low();
let result = moistures.into();
info!("Autodetection result: {result:?}");
Ok(result)
}
async fn general_fault(&mut self, enable: bool) {
hold_disable(23);
self.general_fault.set_level(enable.into());
@@ -480,7 +481,7 @@ impl<'a> BoardInteraction<'a> for V4<'a> {
LOG_ACCESS
.lock()
.await
.log(LogMessage::TestSensor, a, b, &(plant+1).to_string(), "")
.log(LogMessage::TestSensor, a, b, &(plant + 1).to_string(), "")
.await;
}
Timer::after_millis(10).await;
@@ -509,7 +510,6 @@ impl<'a> BoardInteraction<'a> for V4<'a> {
}
}
async fn wait_for_can_measurements(
as_async: &mut Twai<'_, Async>,
moistures: &mut Moistures,
@@ -536,10 +536,12 @@ async fn wait_for_can_measurements(
let frequency = u32::from_be_bytes(bytes);
match sensor {
SensorSlot::A => {
moistures.sensor_a_hz[plant-1] = Some(frequency as f32);
moistures.sensor_a_hz[plant - 1] =
Some(frequency as f32);
}
SensorSlot::B => {
moistures.sensor_b_hz[plant-1] = Some(frequency as f32);
moistures.sensor_b_hz[plant - 1] =
Some(frequency as f32);
}
}
} else {