#include "ota_boot.h" #include "main.h" #include "boot_share.h" #include "../HardWare/W25Q64/w25q64.h" #include "../HardWare/LOG/log.h" #include #include extern UART_HandleTypeDef huart3; /* main.c 中定义，跳转 APP 前需要关闭 */ extern DMA_HandleTypeDef hdma_usart3_rx; extern IWDG_HandleTypeDef hiwdg; /* main.c 中定义的看门狗句柄 */ #define IWDG_FEED() HAL_IWDG_Refresh(&hiwdg) /* 外部看门狗 TPL5010：DONE 引脚接 PC13(LED2)，电平翻转即喂狗，超时约 7 分钟。 * BootLoader 的擦除/拷贝全程远小于 7 分钟，这里做保险性喂狗 */ #define EXT_WDOG_FEED() HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13) /*======================================================================*/ /*=========================Flash 驱动程序(start)=========================*/ /*======================================================================*/ static void FLASH_Unlock_Reg(void) { if ((FLASH->CR & FLASH_CR_LOCK) == 0) return; FLASH->KEYR = 0x45670123; FLASH->KEYR = 0xCDEF89AB; } static void FLASH_Lock_Reg(void) { FLASH->CR |= FLASH_CR_LOCK; } /* 等待内部 Flash 空闲，带超时；返回 1=就绪，0=超时 */ static int FLASH_WaitBusy(uint32_t timeout_ms) { uint32_t start = HAL_GetTick(); while (FLASH->SR & FLASH_SR_BSY) { if ((HAL_GetTick() - start) > timeout_ms) return 0; } return 1; } static void FLASH_ClearFlags(void) { FLASH->SR = (FLASH_SR_EOP | FLASH_SR_PGERR | FLASH_SR_WRPRTERR); } static int Erase_page(unsigned int pageaddr, unsigned int num) { log_info("> 擦除 %u 页，起始地址 0x%X...", num, pageaddr); for (unsigned int i = 0; i < num; i++) { unsigned int pg_addr = pageaddr + i * PageSize; IWDG_FEED(); EXT_WDOG_FEED(); FLASH_Unlock_Reg(); FLASH_ClearFlags(); if (!FLASH_WaitBusy(500)) { log_error("> 擦除失败 @0x%X：忙等待超时", pg_addr); FLASH_Lock_Reg(); return 0; } FLASH->CR |= FLASH_CR_PER; FLASH->AR = pg_addr; FLASH->CR |= FLASH_CR_STRT; if (!FLASH_WaitBusy(500)) { log_error("> 擦除失败 @0x%X：忙等待超时", pg_addr); FLASH->CR &= ~FLASH_CR_PER; FLASH_Lock_Reg(); return 0; } uint32_t sr = FLASH->SR; FLASH->CR &= ~FLASH_CR_PER; if (sr & FLASH_SR_WRPRTERR) { log_error("> 擦除失败 @0x%X：SR=0x%X", pg_addr, (unsigned int)sr); FLASH_ClearFlags(); FLASH_Lock_Reg(); return 0; } FLASH_Lock_Reg(); } log_info("> 擦除完成（%u 页）", num); return 1; } static int FLASH_WriteHalfWord(unsigned int addr, uint16_t data) { FLASH_Unlock_Reg(); FLASH_ClearFlags(); if (!FLASH_WaitBusy(100)) { FLASH_Lock_Reg(); return 0; } FLASH->CR |= FLASH_CR_PG; *(__IO uint16_t *)addr = data; if (!FLASH_WaitBusy(100)) { FLASH->CR &= ~FLASH_CR_PG; FLASH_Lock_Reg(); return 0; } uint32_t sr = FLASH->SR; FLASH->CR &= ~FLASH_CR_PG; FLASH_ClearFlags(); if (sr & FLASH_SR_WRPRTERR) { FLASH_Lock_Reg(); return 0; } FLASH_Lock_Reg(); return 1; } static int WriteFlash(unsigned int addr, unsigned int * buff, int word_size) { for (int i = 0; i < word_size; i++) { unsigned int val = buff[i]; uint16_t low = (uint16_t)(val & 0xFFFF); uint16_t high = (uint16_t)(val >> 16); if (!FLASH_WriteHalfWord(addr + 4 * i, low)) { log_error("> 写入失败 @0x%X (low=0x%04X)", addr + 4 * i, low); return 0; } if (!FLASH_WriteHalfWord(addr + 4 * i + 2, high)) { log_error("> 写入失败 @0x%X (high=0x%04X)", addr + 4 * i + 2, high); return 0; } } return 1; } static void ReadFlash(unsigned int addr, unsigned int * buff, uint16_t word_size) { for(int i =0; i < word_size; i++) { buff[i] = *(__IO unsigned int*)(addr + 4 * i); } } /*====================================================================*/ /*=========================Flash 驱动程序(end)=========================*/ /*====================================================================*/ /* MODBUS CRC16 */ static uint16_t crc16_modbus_update(uint16_t crc, uint8_t data) { crc ^= data; for (int i = 0; i < 8; i++) { if (crc & 1) crc = (crc >> 1) ^ 0xA001; else crc >>= 1; } return crc; } static uint16_t crc16_modbus(const uint8_t *data, uint32_t len) { uint16_t crc = 0xFFFF; for (uint32_t i = 0; i < len; i++) crc = crc16_modbus_update(crc, data[i]); return crc; } /*======================================================================*/ /* 外部 Flash 与内部 Flash 之间拷贝 */ /*======================================================================*/ #define COPY_CHUNK_WORDS 256 /* 1024 bytes */ #define COPY_CHUNK_BYTES (COPY_CHUNK_WORDS * 4) static int Copy_External_To_App1(uint32_t ext_addr, uint32_t byte_size) { static uint32_t words[COPY_CHUNK_WORDS]; static uint8_t tmp[COPY_CHUNK_BYTES]; uint32_t offset = 0; log_info("[BL] 拷贝外部 Flash 0x%06X -> APP1 0x%08X，大小=%u", (unsigned)ext_addr, Application_1_Addr, (unsigned)byte_size); while (offset < byte_size) { uint32_t chunk = (byte_size - offset > COPY_CHUNK_BYTES) ? COPY_CHUNK_BYTES : (byte_size - offset); IWDG_FEED(); EXT_WDOG_FEED(); W25Q64_Read(ext_addr + offset, tmp, chunk); for (uint32_t i = 0; i < chunk / 4; i++) { words[i] = ((uint32_t)tmp[i * 4]) | ((uint32_t)tmp[i * 4 + 1] << 8) | ((uint32_t)tmp[i * 4 + 2] << 16) | ((uint32_t)tmp[i * 4 + 3] << 24); } if (!WriteFlash(Application_1_Addr + offset, words, chunk / 4)) { log_error("[FAIL] 写入 APP1 失败 @0x%X", Application_1_Addr + offset); return 0; } for (uint32_t i = 0; i < chunk / 4; i++) { uint32_t r = *(__IO uint32_t *)(Application_1_Addr + offset + i * 4); if (r != words[i]) { log_error("[FAIL] 校验 APP1 失败 @0x%X：wrote=0x%08X read=0x%08X", Application_1_Addr + offset + i * 4, (unsigned)words[i], (unsigned)r); return 0; } } offset += chunk; if ((offset & 0x3FFF) == 0) { log_info("> 进度: %u/%u KB (%u%%)", offset / 1024, byte_size / 1024, offset * 100 / byte_size); } } log_info("[ OK ] 拷贝完成"); return 1; } static int Copy_App1_To_External(uint32_t ext_addr, uint32_t byte_size) { static uint32_t words[COPY_CHUNK_WORDS]; static uint8_t tmp[COPY_CHUNK_BYTES]; uint32_t offset = 0; log_info("[BL] 备份 APP1 -> 外部 Flash 0x%06X，大小=%u", (unsigned)ext_addr, (unsigned)byte_size); while (offset < byte_size) { uint32_t chunk = (byte_size - offset > COPY_CHUNK_BYTES) ? COPY_CHUNK_BYTES : (byte_size - offset); IWDG_FEED(); EXT_WDOG_FEED(); ReadFlash(Application_1_Addr + offset, words, chunk / 4); for (uint32_t i = 0; i < chunk / 4; i++) { tmp[i * 4] = (uint8_t)(words[i]); tmp[i * 4 + 1] = (uint8_t)(words[i] >> 8); tmp[i * 4 + 2] = (uint8_t)(words[i] >> 16); tmp[i * 4 + 3] = (uint8_t)(words[i] >> 24); } W25Q64_WriteBuffer(ext_addr + offset, tmp, chunk); if (!W25Q64_Verify(ext_addr + offset, tmp, chunk)) { log_error("[FAIL] W25Q64 备份校验失败 @0x%06X", (unsigned)(ext_addr + offset)); return 0; } offset += chunk; } return 1; } /* 校验固件完整性：检查栈顶地址和复位向量是否合法 */ static int Verify_Firmware(unsigned int addr, unsigned int size) { /* 检查栈顶地址是否在合法RAM范围 (0x20000000) */ unsigned int sp = *(__IO unsigned int *)addr; if ((sp & 0x2FFE0000) != 0x20000000) { log_error("> 校验失败：栈顶地址非法 SP=0x%X", sp); return 0; } /* 检查复位向量是否在APP1固件范围内（固件链接地址是APP1） */ unsigned int reset_vector = *(__IO unsigned int *)(addr + 4); if (reset_vector < Application_1_Addr || reset_vector > (Application_1_Addr + size)) { log_error("> 校验失败：复位向量非法=0x%X", reset_vector); return 0; } log_info("> 固件校验通过"); return 1; } /* 设置主堆栈的栈值 */ __asm void MSR_MSP (unsigned int ulAddr) { MSR MSP, r0 //set Main Stack value BX r14 } /* 程序跳转函数: 检查栈顶合法性后跳转到目标 APP */ typedef void (*Jump_Fun)(void); void IAP_ExecuteApp (unsigned int App_Addr) { Jump_Fun JumpToApp; if ( ( ( * ( __IO unsigned int * ) App_Addr ) & 0x2FFE0000 ) == 0x20000000 ) { unsigned int sp = *(__IO unsigned int *)App_Addr; unsigned int pc = *(__IO unsigned int *)(App_Addr + 4); log_info("[BL] 正在跳转到 APP1 @0x%08X...", App_Addr); /* 跳转前关闭 BootLoader 使用的中断和外设，避免干扰 APP。 * 注意不能用 __disable_irq()：跳转不是复位，PRIMASK 会带进 APP。 */ HAL_UART_DMAStop(&huart3); __HAL_UART_DISABLE_IT(&huart3, UART_IT_IDLE); HAL_NVIC_DisableIRQ(USART3_IRQn); HAL_NVIC_DisableIRQ(DMA1_Channel3_IRQn); NVIC_ClearPendingIRQ(USART3_IRQn); NVIC_ClearPendingIRQ(DMA1_Channel3_IRQn); SysTick->CTRL = 0; /* 停止 SysTick */ SCB->ICSR = SCB_ICSR_PENDSTCLR_Msk; /* 清 SysTick 挂起位 */ JumpToApp = (Jump_Fun)pc; MSR_MSP(sp); JumpToApp(); } else { log_error("[BL] 错误：APP @0x%08X 栈顶地址非法！", App_Addr); } } /*==== 主电源检测（PA0/ADC1_CH0，寄存器直读，BL 无 ADC HAL 模块）==== * 外部 12V 断开时仅靠法拉电容维持，电压快速跌落； * 阈值与 APP 电量公式一致：<10%（约 11.0V，ADC≈1171）视为主电源未上电 */ #define BL_MAIN_POWER_ADC_MIN 1171u static uint16_t BL_ReadPowerAdc(void) { __HAL_RCC_GPIOA_CLK_ENABLE(); __HAL_RCC_ADC1_CLK_ENABLE(); GPIOA->CRL &= ~0xFu; /* PA0 模拟输入 */ ADC1->SMPR2 |= 7u; /* 通道0 采样 239.5 周期 */ ADC1->SQR3 = 0; ADC1->CR2 |= ADC_CR2_ADON; /* ADC 上电 */ for (volatile uint32_t i = 0; i < 8000; i++); /* 稳定时间 */ ADC1->CR2 |= ADC_CR2_RSTCAL; while (ADC1->CR2 & ADC_CR2_RSTCAL); ADC1->CR2 |= ADC_CR2_CAL; while (ADC1->CR2 & ADC_CR2_CAL); ADC1->CR2 |= ADC_CR2_EXTTRIG | ADC_CR2_EXTSEL; /* SWSTART 软件触发 */ ADC1->CR2 |= ADC_CR2_SWSTART; for (volatile uint32_t i = 0; i < 100000; i++) { if (ADC1->SR & ADC_SR_EOC) break; } return (uint16_t)ADC1->DR; } /* 主电源未上电时不跳 APP：循环检测直到 12V 恢复； * 法拉电容耗尽则整机断电，12V 恢复后冷启动自然通过本检查 */ static void BL_WaitMainPower(void) { uint16_t adc = BL_ReadPowerAdc(); if (adc >= BL_MAIN_POWER_ADC_MIN) return; log_warn("[BL] 主电源未上电 (ADC=%u)，等待 12V 恢复...", (unsigned)adc); while (1) { IWDG_FEED(); HAL_Delay(500); adc = BL_ReadPowerAdc(); if (adc >= BL_MAIN_POWER_ADC_MIN) { log_info("[BL] 主电源已恢复 (ADC=%u)", (unsigned)adc); return; } } } void Start_BootLoader(void) { log_info(""); log_info("* * * * * * * * * * * * * * * * * *"); log_info("* BootLoader *"); log_info("* Flash: %dKB *", *(volatile uint16_t *)0x1FFFF7E0); log_info("* * * * * By Helei * * * * * *"); EXT_WDOG_FEED(); /* 进 BootLoader 先喂一次外部看门狗 */ /* 读取并清除复位原因：用于区分"固件卡死(看门狗复位)"和"现场断电/按键/正常流程"。 同时把 CSR 标志写入 BOOT_SHARE 共享 RAM 传给 APP（复位原因打印与重启记录由 APP 完成） */ uint32_t reset_flags = RCC->CSR; RCC->CSR |= RCC_CSR_RMVF; if (boot_share_valid()) { BOOT_SHARE->csr_flags = reset_flags; /* 保留 uptime/pending_reason（热复位信息） */ } else { BOOT_SHARE->uptime_sec = 0; BOOT_SHARE->pending_reason = 0; BOOT_SHARE->csr_flags = reset_flags; BOOT_SHARE->magic = BOOT_SHARE_MAGIC; } boot_share_store(); log_info("[BL] 上次复位原因:%s%s%s%s%s", (reset_flags & RCC_CSR_PORRSTF) ? " 上电" : "", (reset_flags & RCC_CSR_PINRSTF) ? " 按键" : "", (reset_flags & RCC_CSR_SFTRSTF) ? " 软件" : "", (reset_flags & RCC_CSR_IWDGRSTF) ? " IWDG看门狗" : "", (reset_flags & RCC_CSR_WWDGRSTF) ? " WWDG看门狗" : ""); /* 主电源未上电（仅法拉电容维持）时不跳 APP，防止外设没上电程序乱跑 */ BL_WaitMainPower(); W25Q64_OtaInfo info; int info_ok = (W25Q64_OTA_ReadInfo(&info) == 0); /* 固件大小合法性检查：信息区 checksum 较弱，防止损坏的 size 导致越界写内部 Flash */ if (info_ok && info.new_valid && (info.update_state == W25Q64_STATE_DOWNLOADED || info.update_state == W25Q64_STATE_COPYING) && (info.new_size == 0 || info.new_size > Application_Size || (info.new_size & 0x3) != 0)) { log_warn("[BL] 新固件大小非法 new_size=%u，丢弃新固件", (unsigned)info.new_size); W25Q64_OTA_ClearNew(); info.new_valid = 0; /* 阻止进入下面的更新分支 */ } /* 1. 新固件已下载到外部 Flash：备份当前 APP1，然后写入 APP1。 * COPYING 也按下载完成处理：拷贝/擦除中途掉电或看门狗复位后， * 外部新固件仍在，重新执行更新流程，否则会卡死在"无有效 APP"状态 */ if (info_ok && info.new_valid && (info.update_state == W25Q64_STATE_DOWNLOADED || info.update_state == W25Q64_STATE_COPYING)) { log_info("[BL] 外部 Flash 中有新固件：ver=%u size=%u crc=0x%04X", (unsigned)info.new_version, (unsigned)info.new_size, (unsigned)info.new_crc16); W25Q64_OTA_SetState(W25Q64_STATE_COPYING); /* 备份策略：当前 APP1 有效时，必须先做出有效备份才允许更新， * 否则新固件不健康时无版本可回退（变砖）；备份失败则放弃本次更新， * 外部新固件保留，下次重启重试（APP1 本身已损坏时无物可备，直接更新自救） */ int app1_valid = Verify_Firmware(Application_1_Addr, Application_Size); if (!info.backup_valid && app1_valid) { /* 备份前必须先擦除备份槽：W25Q64 只能把位从 1 写 0，不擦除直接写会得到错误数据 */ log_info("[BL] 擦除备份槽..."); W25Q64_EraseRegion(W25Q64_SLOT_BACKUP_ADDR, Application_Size); uint16_t backup_crc = crc16_modbus((const uint8_t *)Application_1_Addr, Application_Size); if (Copy_App1_To_External(W25Q64_SLOT_BACKUP_ADDR, Application_Size) && W25Q64_OTA_SetBackupInfo(Application_Size, backup_crc) == 0) { info.backup_valid = 1; /* 同步本地副本，下面的更新分支要用 */ log_info("[BL] 备份完成，crc=0x%04X", (unsigned)backup_crc); } else { log_error("[BL] 备份失败，放弃更新（保留旧 APP1，下次启动重试）"); W25Q64_OTA_SetState(W25Q64_STATE_DOWNLOADED); } } else if (!app1_valid) { log_warn("[BL] APP1 无效，无可备份内容；更新是唯一自救手段"); } if (info.backup_valid || !app1_valid) { log_info("[BL] 正在更新 APP1..."); if (Erase_page(Application_1_Addr, Application_Size / PageSize)) { if (Copy_External_To_App1(W25Q64_SLOT_NEW_ADDR, info.new_size)) { uint16_t app_crc = crc16_modbus((const uint8_t *)Application_1_Addr, info.new_size); if (app_crc == info.new_crc16 && Verify_Firmware(Application_1_Addr, info.new_size)) { log_info("[BL] APP1 更新成功，crc=0x%04X，跳转运行", (unsigned)app_crc); W25Q64_OTA_SetState(W25Q64_STATE_INSTALLED); W25Q64_OTA_ClearConfirmed(); IAP_ExecuteApp(Application_1_Addr); return; } log_error("[BL] APP1 CRC 或头部校验不匹配！app_crc=0x%04X", (unsigned)app_crc); } } log_warn("[BL] APP1 更新失败，保留外部新固件以便重试"); W25Q64_OTA_SetState(W25Q64_STATE_DOWNLOADED); } } /* 2. 已安装但未确认：启动次数超过阈值则回退 */ if (info_ok && info.update_state == W25Q64_STATE_INSTALLED) { if (info.app_confirmed) { log_info("[BL] 更新已确认，清理 OTA 标志"); W25Q64_OTA_ClearNew(); } else { /* 只有看门狗复位才消耗试错次数（说明新固件真的卡死）； 上电/按键/软件复位不计，避免现场断电或正常流程误回退。 APP 健康超时主动复位前会自行调用 W25Q64_OTA_IncTrial() 计一次。 */ if (reset_flags & (RCC_CSR_IWDGRSTF | RCC_CSR_WWDGRSTF)) { W25Q64_OTA_IncTrial(); info.boot_trial_count++; log_warn("[BL] APP 卡死（看门狗复位），试错次数=%u", (unsigned)info.boot_trial_count); } else { log_info("[BL] 试运行启动，复位标志=0x%08X（不计数）", (unsigned)reset_flags); } if (info.boot_trial_count >= W25Q64_MAX_TRIALS) { log_warn("[BL] 达到最大试错次数，回退到备份固件"); /* 备份大小合法性检查，防止越界写内部 Flash */ if (info.backup_valid && info.backup_size > 0 && info.backup_size <= Application_Size && (info.backup_size & 0x3) == 0 && Erase_page(Application_1_Addr, Application_Size / PageSize)) { if (Copy_External_To_App1(W25Q64_SLOT_BACKUP_ADDR, info.backup_size)) { uint16_t app_crc = crc16_modbus((const uint8_t *)Application_1_Addr, info.backup_size); if (app_crc == info.backup_crc16 && Verify_Firmware(Application_1_Addr, Application_Size)) { W25Q64_OTA_SetState(W25Q64_STATE_ROLLBACK); IAP_ExecuteApp(Application_1_Addr); return; } } } log_error("[BL] 回退失败！"); } } } /* 3. 回退状态：跳转当前 APP1（先校验，防止 APP 被擦除后跳入空片） */ if (info_ok && info.update_state == W25Q64_STATE_ROLLBACK) { if (Verify_Firmware(Application_1_Addr, Application_Size)) { IAP_ExecuteApp(Application_1_Addr); return; } log_warn("[BL] 回退状态但 APP1 无效，清除 OTA 标志"); W25Q64_OTA_ClearNew(); } /* 4. 没有 OTA 任务：直接启动 APP1 */ if (Verify_Firmware(Application_1_Addr, Application_Size)) { IAP_ExecuteApp(Application_1_Addr); } else { /* 未找到有效 APP（例如只刷了 BL）：延时 3s 后主动复位重试， * 之后通过 JLink/OTA 刷入 APP 即可恢复 */ log_error("[BL] 未找到有效的 APP1！3s 后复位重试"); HAL_Delay(3000); NVIC_SystemReset(); } }