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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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182
Software/MainBoard/rust/src/hal/mod.rs
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@@ -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,
}