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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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1
Software/MainBoard/rust/.idea/vcs.xml generated
View File

@@ -2,5 +2,6 @@
<project version="4">
<component name="VcsDirectoryMappings">
<mapping directory="$PROJECT_DIR$/../../.." vcs="Git" />
<mapping directory="$PROJECT_DIR$/../../../website/themes/blowfish" vcs="Git" />
</component>
</project>

4
Software/MainBoard/rust/Cargo.toml
View File

@@ -51,6 +51,8 @@ esp-storage = { version = "0.8.1", features = ["esp32c6"] }
esp-radio = { version = "0.17.0", features = ["esp32c6", "log-04", "smoltcp", "wifi", "unstable"] }
esp-alloc = { version = "0.9.0", features = ["esp32c6", "internal-heap-stats"] }
esp-hal-ota = { version = "0.4.6", features = ["esp32c6"] }
# Async runtime (Embassy core)
embassy-executor = { version = "0.9.1", features = ["log", "nightly"] }
embassy-time = { version = "0.5.0", features = ["log"], default-features = false }
@@ -95,7 +97,7 @@ embedded-can = "0.4.1"
nb = "1.1.0"
# Concrete hardware drivers and sensors/IO expanders
lib-bms-protocol = {git = "https://gitea.wlandt.de/judge/ch32-bms.git" , default-features = false }
lib-bms-protocol = { git = "https://gitea.wlandt.de/judge/ch32-bms.git", default-features = false }
onewire = "0.4.0"
ds323x = "0.7.0"
eeprom24x = "0.7.2"

20
Software/MainBoard/rust/src/fat_error.rs
View File

@@ -11,6 +11,7 @@ use embedded_storage::nor_flash::NorFlashErrorKind;
use esp_hal::i2c::master::ConfigError;
use esp_hal::pcnt::unit::{InvalidHighLimit, InvalidLowLimit};
use esp_hal::twai::EspTwaiError;
use esp_hal_ota::OtaError;
use esp_radio::wifi::WifiError;
use ina219::errors::{BusVoltageReadError, ShuntVoltageReadError};
use lib_bms_protocol::BmsProtocolError;
@@ -73,6 +74,9 @@ pub enum FatError {
SNTPError {
error: sntpc::Error,
},
OtaError {
error: OtaError,
},
}
pub type FatResult<T> = Result<T, FatError>;
@@ -106,6 +110,7 @@ impl fmt::Display for FatError {
}
FatError::SNTPError { error } => write!(f, "SNTPError {error:?}"),
FatError::BMSError { error } => write!(f, "BMSError, {error}"),
FatError::OtaError { error } => write!(f, "OtaError {error:?}"),
}
}
}
@@ -323,13 +328,18 @@ impl From<sntpc::Error> for FatError {
}
}
impl From<BmsProtocolError> for FatError{
impl From<BmsProtocolError> for FatError {
fn from(value: BmsProtocolError) -> Self {
match value {
BmsProtocolError::I2cCommunicationError => {
FatError::String{error: "I2C communication error".to_string()}
}
BmsProtocolError::I2cCommunicationError => FatError::String {
error: "I2C communication error".to_string(),
},
}
}
}
impl From<OtaError> for FatError {
fn from(value: OtaError) -> Self {
FatError::OtaError { error: value }
}
}

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();

180
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
@@ -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;

40
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))
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
@@ -405,11 +409,11 @@ 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
);
}
}
@@ -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 {

101
Software/MainBoard/rust/src/main.rs
View File

@@ -29,8 +29,8 @@ use ::log::{error, info, warn};
use alloc::borrow::ToOwned;
use alloc::string::{String, ToString};
use alloc::sync::Arc;
use alloc::{format, vec};
use alloc::vec::Vec;
use alloc::{format, vec};
use chrono::{DateTime, Datelike, Timelike, Utc};
use chrono_tz::Tz::{self, UTC};
use core::sync::atomic::{AtomicBool, Ordering};
@@ -42,6 +42,7 @@ use embassy_sync::once_lock::OnceLock;
use embassy_time::{Duration, Timer, WithTimeout};
use esp_hal::rom::ets_delay_us;
use esp_hal::system::software_reset;
use esp_hal_ota::OtaImgState;
use esp_println::{logger, println};
use hal::battery::BatteryState;
use log::LogMessage;
@@ -501,16 +502,17 @@ async fn safe_main(spawner: Spawner) -> FatResult<()> {
info!("state of charg");
let is_day = board.board_hal.is_day();
let battery_state = board.board_hal.get_battery_monitor().get_state().await.unwrap_or(BatteryState::Unknown);
let battery_state = board
.board_hal
.get_battery_monitor()
.get_state()
.await
.unwrap_or(BatteryState::Unknown);
info!("Battery state is {battery_state:?}");
let state_of_charge = match &battery_state {
BatteryState::Unknown => {
0
}
BatteryState::Info(data) => {
data.state_of_charge
}
BatteryState::Unknown => 0,
BatteryState::Info(data) => data.state_of_charge,
};
let mut light_state = LightState {
@@ -529,22 +531,10 @@ async fn safe_main(spawner: Spawner) -> FatResult<()> {
board.board_hal.get_config().night_lamp.night_lamp_hour_end,
);
if state_of_charge
< board
.board_hal
.get_config()
.night_lamp
.low_soc_cutoff
{
if state_of_charge < board.board_hal.get_config().night_lamp.low_soc_cutoff {
board.board_hal.get_esp().set_low_voltage_in_cycle();
info!("Set low voltage in cycle");
} else if state_of_charge
> board
.board_hal
.get_config()
.night_lamp
.low_soc_restore
{
} else if state_of_charge > board.board_hal.get_config().night_lamp.low_soc_restore {
board.board_hal.get_esp().clear_low_voltage_in_cycle();
info!("Clear low voltage in cycle");
}
@@ -758,7 +748,7 @@ pub async fn do_secure_pump(
async fn update_charge_indicator(
board: &mut MutexGuard<'static, CriticalSectionRawMutex, HAL<'static>>,
) -> FatResult<()>{
) -> FatResult<()> {
//FIXME add config and code to allow power supply mode, in this case this is a nop
//we have mppt controller, ask it for charging current
let current = board.board_hal.get_mptt_current().await?;
@@ -769,7 +759,6 @@ async fn update_charge_indicator(
Ok(())
}
async fn publish_tank_state(
board: &mut MutexGuard<'_, CriticalSectionRawMutex, HAL<'static>>,
tank_state: &TankState,
@@ -949,11 +938,7 @@ async fn publish_mppt_state(
async fn publish_battery_state(
board: &mut MutexGuard<'_, CriticalSectionRawMutex, HAL<'static>>,
) -> () {
let state = board
.board_hal
.get_battery_monitor()
.get_state()
.await;
let state = board.board_hal.get_battery_monitor().get_state().await;
let value = match state {
Ok(state) => {
let json = serde_json::to_string(&state).unwrap().to_owned();
@@ -986,7 +971,7 @@ async fn wait_infinity(
loop {
{
let mut board = BOARD_ACCESS.get().await.lock().await;
match update_charge_indicator(&mut board).await{
match update_charge_indicator(&mut board).await {
Ok(_) => {}
Err(error) => {
if !suppress_further_mppt_error {
@@ -1069,18 +1054,23 @@ async fn wait_infinity(
}
}
async fn handle_serial_config(board: &mut MutexGuard<'_, CriticalSectionRawMutex, HAL<'_>>, serial_config_receive: &AtomicBool, reboot_now: &AtomicBool) -> FatResult<()> {
async fn handle_serial_config(
board: &mut MutexGuard<'_, CriticalSectionRawMutex, HAL<'_>>,
serial_config_receive: &AtomicBool,
reboot_now: &AtomicBool,
) -> FatResult<()> {
match board.board_hal.get_esp().read_serial_line().await {
Ok(serial_line) => {
match serial_line {
None => {
Ok(())
}
Ok(serial_line) => match serial_line {
None => Ok(()),
Some(line) => {
if serial_config_receive.load(Ordering::Relaxed) {
let ll = line.as_str();
let config: PlantControllerConfig = serde_json::from_str(ll)?;
board.board_hal.get_esp().save_config(Vec::from(ll.as_bytes())).await?;
board
.board_hal
.get_esp()
.save_config(Vec::from(ll.as_bytes()))
.await?;
board.board_hal.set_config(config);
serial_config_receive.store(false, Ordering::Relaxed);
info!("Config received, rebooting");
@@ -1094,10 +1084,8 @@ async fn handle_serial_config(board: &mut MutexGuard<'_, CriticalSectionRawMutex
}
Ok(())
}
}
}
}
},
Err(_) => {
error!("Error reading serial line");
Ok(())
@@ -1153,13 +1141,35 @@ async fn get_version(
let branch = env!("VERGEN_GIT_BRANCH").to_owned();
let hash = &env!("VERGEN_GIT_SHA")[0..8];
let board = board.board_hal.get_esp();
let esp = board.board_hal.get_esp();
let current_partition: String = match esp.ota.get_currently_booted_partition() {
Some(partition) => match partition {
0 => "OTA0".to_string(),
1 => "OTA1".to_string(),
_ => format!("Pentry: {:?}", partition),
},
None => "Missing otainfo".to_string(),
};
let state = esp.ota.get_ota_image_state();
let current_state: String = match state {
Ok(state) => match state {
OtaImgState::EspOtaImgNew => "New".to_string(),
OtaImgState::EspOtaImgPendingVerify => "PendingVerify".to_string(),
OtaImgState::EspOtaImgValid => "Valid".to_string(),
OtaImgState::EspOtaImgInvalid => "Invalid".to_string(),
OtaImgState::EspOtaImgAborted => "Aborted".to_string(),
OtaImgState::EspOtaImgUndefined => "Undefined".to_string(),
},
Err(err) => {
format!("Error: {:?}", err)
}
};
VersionInfo {
git_hash: branch + "@" + hash,
build_time: env!("VERGEN_BUILD_TIMESTAMP").to_owned(),
current: format!("{:?}", board.current),
slot0_state: format!("{:?}", board.slot0_state),
slot1_state: format!("{:?}", board.slot1_state),
current: format!("{:?}", current_partition),
state: format!("{:?}", current_state),
}
}
@@ -1168,6 +1178,5 @@ struct VersionInfo {
git_hash: String,
build_time: String,
current: String,
slot0_state: String,
slot1_state: String,
state: String,
}

16
Software/MainBoard/rust/src/plant_state.rs
View File

@@ -16,7 +16,6 @@ pub enum MoistureSensorError {
#[derive(Debug, PartialEq, Serialize)]
pub enum MoistureSensorState {
Disabled,
MoistureValue { raw_hz: f32, moisture_percent: f32 },
SensorError(MoistureSensorError),
}
@@ -117,12 +116,11 @@ impl PlantState {
plant_id: usize,
board: &mut HAL<'_>,
) -> Self {
let sensor_a = { //if board.board_hal.get_config().plants[plant_id].sensor_a {
let sensor_a = {
//if board.board_hal.get_config().plants[plant_id].sensor_a {
let raw = moistures.sensor_a_hz[plant_id];
match raw {
None => {
MoistureSensorState::SensorError(MoistureSensorError::NoMessage)
}
None => MoistureSensorState::SensorError(MoistureSensorError::NoMessage),
Some(raw) => {
match map_range_moisture(
raw,
@@ -141,17 +139,15 @@ impl PlantState {
}
}
}
}; // else {
// MoistureSensorState::Disabled
//};
let sensor_b = { //if board.board_hal.get_config().plants[plant_id].sensor_b {
let sensor_b = {
//if board.board_hal.get_config().plants[plant_id].sensor_b {
let raw = moistures.sensor_b_hz[plant_id];
match raw {
None => {
MoistureSensorState::SensorError(MoistureSensorError::NoMessage)
}
None => MoistureSensorState::SensorError(MoistureSensorError::NoMessage),
Some(raw) => {
match map_range_moisture(
raw,

10
Software/MainBoard/rust/src/webserver/get_json.rs
View File

@@ -5,7 +5,7 @@ use crate::plant_state::{MoistureSensorState, PlantState};
use crate::tank::determine_tank_state;
use crate::{get_version, BOARD_ACCESS};
use alloc::format;
use alloc::string::{String, ToString};
use alloc::string::String;
use alloc::vec::Vec;
use chrono_tz::Tz;
use core::str::FromStr;
@@ -43,7 +43,6 @@ where
plant_state.push(PlantState::read_hardware_state(moistures, i, &mut board).await);
}
let a = Vec::from_iter(plant_state.iter().map(|s| match &s.sensor_a {
MoistureSensorState::Disabled => "disabled".to_string(),
MoistureSensorState::MoistureValue {
raw_hz,
moisture_percent,
@@ -53,7 +52,6 @@ where
MoistureSensorState::SensorError(err) => format!("{err:?}"),
}));
let b = Vec::from_iter(plant_state.iter().map(|s| match &s.sensor_b {
MoistureSensorState::Disabled => "disabled".to_string(),
MoistureSensorState::MoistureValue {
raw_hz,
moisture_percent,
@@ -128,11 +126,7 @@ pub(crate) async fn get_battery_state<T, const N: usize>(
_request: &mut Connection<'_, T, N>,
) -> FatResult<Option<String>> {
let mut board = BOARD_ACCESS.get().await.lock().await;
let battery_state = board
.board_hal
.get_battery_monitor()
.get_state()
.await?;
let battery_state = board.board_hal.get_battery_monitor().get_state().await?;
Ok(Some(serde_json::to_string(&battery_state)?))
}

45
Software/MainBoard/rust/src/webserver/ota.rs
View File

@@ -4,7 +4,8 @@ use crate::BOARD_ACCESS;
use edge_http::io::server::Connection;
use edge_http::Method;
use edge_nal::io::{Read, Write};
use log::info;
use esp_hal_ota::OtaError;
use log::{error, info};
pub(crate) async fn ota_operations<T, const N: usize>(
conn: &mut Connection<'_, T, { N }>,
@@ -28,27 +29,45 @@ where
Some(200)
}
Method::Post => {
let mut offset = 0_usize;
let size = read_up_to_bytes_from_request(conn, Some(4)).await?;
let flash_size = u32::from_le_bytes(size[..4].try_into().unwrap());
info!("flash size: {flash_size}");
let crc32 = read_up_to_bytes_from_request(conn, Some(4)).await?;
let target_crc = u32::from_le_bytes(crc32[..4].try_into().unwrap());
info!("crc32: {target_crc}");
BOARD_ACCESS
.get()
.await
.lock()
.await
.board_hal
.get_esp()
.ota
.ota_begin(flash_size, target_crc)?;
let mut chunk = 0;
loop {
let buf = read_up_to_bytes_from_request(conn, Some(4096)).await?;
if buf.is_empty() {
info!("file request for ota finished");
let mut board = BOARD_ACCESS.get().await.lock().await;
board.board_hal.get_esp().finalize_ota().await?;
break;
error!("Upload finished, but no enough data received.");
return Err(OtaError::WrongCRC)?;
} else {
let mut board = BOARD_ACCESS.get().await.lock().await;
board.board_hal.progress(chunk as u32).await;
// Erase next block if we are at a 4K boundary (including the first block at offset 0)
info!("erasing and writing block 0x{offset:x}");
board
.board_hal
.get_esp()
.write_ota(offset as u32, &buf)
.await?;
let finsihed = board.board_hal.get_esp().ota.ota_write_chunk(&buf)?;
if finsihed {
board.board_hal.get_esp().ota.ota_flush(true, true)?;
board.board_hal.get_esp().set_restart_to_conf(true);
break;
}
info!(
"Progress: {}%",
(board.board_hal.get_esp().ota.get_ota_progress() * 100.0) as u8
);
}
offset += buf.len();
chunk += 1;
}
BOARD_ACCESS

7
Software/MainBoard/rust/src/webserver/post_json.rs
View File

@@ -1,6 +1,6 @@
use crate::config::PlantControllerConfig;
use crate::fat_error::FatResult;
use crate::hal::{esp_set_time, Detection, DetectionRequest};
use crate::hal::{esp_set_time, Detection};
use crate::webserver::read_up_to_bytes_from_request;
use crate::{do_secure_pump, BOARD_ACCESS};
use alloc::string::{String, ToString};
@@ -142,9 +142,6 @@ where
board.board_hal.can_power(can_power_request.state).await?;
let enable = can_power_request.state;
info!(
"set can power to {enable}"
);
info!("set can power to {enable}");
Ok(None)
}

3
Software/MainBoard/rust/src_webpack/src/api.ts
View File

@@ -163,8 +163,7 @@ export interface VersionInfo {
git_hash: string,
build_time: string,
current: string,
slot0_state: string,
slot1_state: string,
state: string
}
export interface BatteryState {

49
Software/MainBoard/rust/src_webpack/src/main.ts
View File

@@ -191,6 +191,19 @@ export class Controller {
}
uploadNewFirmware(file: File) {
const reader = new FileReader();
reader.onload = () => {
const arrayBuffer = reader.result as ArrayBuffer;
const data = new Uint8Array(arrayBuffer);
const crc = this.crc32(data);
const size = data.length;
const payload = new Uint8Array(size + 8);
const view = new DataView(payload.buffer);
view.setUint32(0, size, true);
view.setUint32(4, crc, true);
payload.set(data, 8);
let current = 0;
let max = 100;
controller.progressview.addProgress("ota_upload", (current / max) * 100, "Uploading firmeware (" + current + "/" + max + ")")
@@ -220,7 +233,28 @@ export class Controller {
toast.error("OTA upload was aborted.");
}, false);
ajax.open("POST", PUBLIC_URL + "/ota");
ajax.send(file);
ajax.send(payload);
};
reader.onerror = () => {
toast.error("Error reading firmware file.");
};
reader.readAsArrayBuffer(file);
}
private crc32(data: Uint8Array): number {
let crc = 0xFFFFFFFF;
for (let i = 0; i < data.length; i++) {
let byte = data[i];
crc ^= byte;
for (let j = 0; j < 8; j++) {
if (crc & 1) {
crc = (crc >>> 1) ^ 0xEDB88320;
} else {
crc = crc >>> 1;
}
}
}
return (crc ^ 0xFFFFFFFF) >>> 0;
}
async version(): Promise<void> {
@@ -266,9 +300,11 @@ export class Controller {
})
.then(response => response.text())
.then(text => statusCallback(text))
.then( _ => {
.then(_ => {
controller.progressview.removeProgress("set_config");
setTimeout(() => { controller.downloadConfig() }, 250)
setTimeout(() => {
controller.downloadConfig()
}, 250)
})
}
@@ -290,7 +326,6 @@ export class Controller {
method: "POST",
body: pretty
}).then(
_ => controller.progressview.removeProgress("write_rtc")
)
}
@@ -378,9 +413,9 @@ export class Controller {
var pretty = JSON.stringify(detection, undefined, 1);
fetch(PUBLIC_URL + "/detect_sensors", { method: "POST", body: pretty })
fetch(PUBLIC_URL + "/detect_sensors", {method: "POST", body: pretty})
.then(response => response.json())
.then (json => json as Detection)
.then(json => json as Detection)
.then(json => {
clearTimeout(timerId);
controller.progressview.removeProgress("detect_sensors");
@@ -531,7 +566,7 @@ export class Controller {
private setCanPower(checked: boolean) {
var body: CanPower = {
state : checked
state: checked
}
var pretty = JSON.stringify(body, undefined, 1);

10
Software/MainBoard/rust/src_webpack/src/ota.ts
View File

@@ -6,8 +6,8 @@ export class OTAView {
readonly firmware_buildtime: HTMLDivElement;
readonly firmware_githash: HTMLDivElement;
readonly firmware_partition: HTMLDivElement;
readonly firmware_state0: HTMLDivElement;
readonly firmware_state1: HTMLDivElement;
readonly firmware_state: HTMLDivElement;
constructor(controller: Controller) {
(document.getElementById("firmwareview") as HTMLElement).innerHTML = require("./ota.html")
@@ -18,8 +18,7 @@ export class OTAView {
this.firmware_githash = document.getElementById("firmware_githash") as HTMLDivElement;
this.firmware_partition = document.getElementById("firmware_partition") as HTMLDivElement;
this.firmware_state0 = document.getElementById("firmware_state0") as HTMLDivElement;
this.firmware_state1 = document.getElementById("firmware_state1") as HTMLDivElement;
this.firmware_state = document.getElementById("firmware_state") as HTMLDivElement;
const file = document.getElementById("firmware_file") as HTMLInputElement;
@@ -42,7 +41,6 @@ export class OTAView {
this.firmware_buildtime.innerText = versionInfo.build_time;
this.firmware_githash.innerText = versionInfo.git_hash;
this.firmware_partition.innerText = versionInfo.current;
this.firmware_state0.innerText = versionInfo.slot0_state;
this.firmware_state1.innerText = versionInfo.slot1_state;
this.firmware_state.innerText = versionInfo.state;
}
}