567 lines
17 KiB
C
567 lines
17 KiB
C
#include "ota_boot.h"
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#include "main.h"
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#include "boot_share.h"
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#include "../HardWare/W25Q64/w25q64.h"
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#include "../HardWare/LOG/log.h"
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#include <stdint.h>
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#include <string.h>
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extern UART_HandleTypeDef huart3; /* main.c 中定义，跳转 APP 前需要关闭 */
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extern DMA_HandleTypeDef hdma_usart3_rx;
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extern IWDG_HandleTypeDef hiwdg; /* main.c 中定义的看门狗句柄 */
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#define IWDG_FEED() HAL_IWDG_Refresh(&hiwdg)
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/* 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。
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* BootLoader 的擦除/拷贝全程远小于 7 分钟，这里做保险性喂狗 */
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#define EXT_WDOG_FEED() HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13)
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/*======================================================================*/
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/*=========================Flash 驱动程序(start)=========================*/
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/*======================================================================*/
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static void FLASH_Unlock_Reg(void)
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{
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if ((FLASH->CR & FLASH_CR_LOCK) == 0) return;
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FLASH->KEYR = 0x45670123;
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FLASH->KEYR = 0xCDEF89AB;
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}
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static void FLASH_Lock_Reg(void)
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{
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FLASH->CR |= FLASH_CR_LOCK;
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}
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/* 等待内部 Flash 空闲，带超时；返回 1=就绪，0=超时 */
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static int FLASH_WaitBusy(uint32_t timeout_ms)
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{
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uint32_t start = HAL_GetTick();
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while (FLASH->SR & FLASH_SR_BSY)
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{
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if ((HAL_GetTick() - start) > timeout_ms) return 0;
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}
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return 1;
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}
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static void FLASH_ClearFlags(void)
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{
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FLASH->SR = (FLASH_SR_EOP | FLASH_SR_PGERR | FLASH_SR_WRPRTERR);
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}
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static int Erase_page(unsigned int pageaddr, unsigned int num)
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{
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log_info("> 擦除 %u 页，起始地址 0x%X...", num, pageaddr);
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for (unsigned int i = 0; i < num; i++)
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{
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unsigned int pg_addr = pageaddr + i * PageSize;
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IWDG_FEED();
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EXT_WDOG_FEED();
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FLASH_Unlock_Reg();
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FLASH_ClearFlags();
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if (!FLASH_WaitBusy(500))
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{
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log_error("> 擦除失败 @0x%X：忙等待超时", pg_addr);
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FLASH_Lock_Reg();
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return 0;
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}
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FLASH->CR |= FLASH_CR_PER;
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FLASH->AR = pg_addr;
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FLASH->CR |= FLASH_CR_STRT;
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if (!FLASH_WaitBusy(500))
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{
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log_error("> 擦除失败 @0x%X：忙等待超时", pg_addr);
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FLASH->CR &= ~FLASH_CR_PER;
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FLASH_Lock_Reg();
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return 0;
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}
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uint32_t sr = FLASH->SR;
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FLASH->CR &= ~FLASH_CR_PER;
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if (sr & FLASH_SR_WRPRTERR)
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{
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log_error("> 擦除失败 @0x%X：SR=0x%X", pg_addr, (unsigned int)sr);
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FLASH_ClearFlags();
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FLASH_Lock_Reg();
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return 0;
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}
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FLASH_Lock_Reg();
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}
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log_info("> 擦除完成（%u 页）", num);
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return 1;
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}
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static int FLASH_WriteHalfWord(unsigned int addr, uint16_t data)
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{
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FLASH_Unlock_Reg();
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FLASH_ClearFlags();
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if (!FLASH_WaitBusy(100))
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{
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FLASH_Lock_Reg();
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return 0;
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}
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FLASH->CR |= FLASH_CR_PG;
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*(__IO uint16_t *)addr = data;
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if (!FLASH_WaitBusy(100))
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{
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FLASH->CR &= ~FLASH_CR_PG;
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FLASH_Lock_Reg();
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return 0;
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}
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uint32_t sr = FLASH->SR;
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FLASH->CR &= ~FLASH_CR_PG;
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FLASH_ClearFlags();
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if (sr & FLASH_SR_WRPRTERR)
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{
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FLASH_Lock_Reg();
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return 0;
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}
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FLASH_Lock_Reg();
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return 1;
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}
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static int WriteFlash(unsigned int addr, unsigned int * buff, int word_size)
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{
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for (int i = 0; i < word_size; i++)
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{
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unsigned int val = buff[i];
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uint16_t low = (uint16_t)(val & 0xFFFF);
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uint16_t high = (uint16_t)(val >> 16);
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if (!FLASH_WriteHalfWord(addr + 4 * i, low))
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{
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log_error("> 写入失败 @0x%X (low=0x%04X)", addr + 4 * i, low);
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return 0;
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}
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if (!FLASH_WriteHalfWord(addr + 4 * i + 2, high))
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{
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log_error("> 写入失败 @0x%X (high=0x%04X)", addr + 4 * i + 2, high);
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return 0;
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}
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}
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return 1;
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}
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static void ReadFlash(unsigned int addr, unsigned int * buff, uint16_t word_size)
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{
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for(int i =0; i < word_size; i++)
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{
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buff[i] = *(__IO unsigned int*)(addr + 4 * i);
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}
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}
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/*====================================================================*/
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/*=========================Flash 驱动程序(end)=========================*/
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/*====================================================================*/
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/* MODBUS CRC16 */
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static uint16_t crc16_modbus_update(uint16_t crc, uint8_t data)
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{
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crc ^= data;
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for (int i = 0; i < 8; i++) {
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if (crc & 1) crc = (crc >> 1) ^ 0xA001;
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else crc >>= 1;
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}
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return crc;
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}
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static uint16_t crc16_modbus(const uint8_t *data, uint32_t len)
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{
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uint16_t crc = 0xFFFF;
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for (uint32_t i = 0; i < len; i++) crc = crc16_modbus_update(crc, data[i]);
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return crc;
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}
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/*======================================================================*/
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/* 外部 Flash 与内部 Flash 之间拷贝 */
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/*======================================================================*/
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#define COPY_CHUNK_WORDS 256 /* 1024 bytes */
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#define COPY_CHUNK_BYTES (COPY_CHUNK_WORDS * 4)
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static int Copy_External_To_App1(uint32_t ext_addr, uint32_t byte_size)
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{
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static uint32_t words[COPY_CHUNK_WORDS];
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static uint8_t tmp[COPY_CHUNK_BYTES];
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uint32_t offset = 0;
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log_info("[BL] 拷贝外部 Flash 0x%06X -> APP1 0x%08X，大小=%u",
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(unsigned)ext_addr, Application_1_Addr, (unsigned)byte_size);
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while (offset < byte_size)
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{
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uint32_t chunk = (byte_size - offset > COPY_CHUNK_BYTES) ? COPY_CHUNK_BYTES : (byte_size - offset);
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IWDG_FEED();
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EXT_WDOG_FEED();
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W25Q64_Read(ext_addr + offset, tmp, chunk);
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for (uint32_t i = 0; i < chunk / 4; i++) {
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words[i] = ((uint32_t)tmp[i * 4]) |
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((uint32_t)tmp[i * 4 + 1] << 8) |
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((uint32_t)tmp[i * 4 + 2] << 16) |
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((uint32_t)tmp[i * 4 + 3] << 24);
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}
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if (!WriteFlash(Application_1_Addr + offset, words, chunk / 4))
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{
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log_error("[FAIL] 写入 APP1 失败 @0x%X", Application_1_Addr + offset);
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return 0;
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}
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for (uint32_t i = 0; i < chunk / 4; i++) {
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uint32_t r = *(__IO uint32_t *)(Application_1_Addr + offset + i * 4);
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if (r != words[i]) {
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log_error("[FAIL] 校验 APP1 失败 @0x%X：wrote=0x%08X read=0x%08X",
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Application_1_Addr + offset + i * 4, (unsigned)words[i], (unsigned)r);
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return 0;
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}
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}
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offset += chunk;
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if ((offset & 0x3FFF) == 0) {
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log_info("> 进度: %u/%u KB (%u%%)", offset / 1024, byte_size / 1024, offset * 100 / byte_size);
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}
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}
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log_info("[ OK ] 拷贝完成");
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return 1;
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}
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static int Copy_App1_To_External(uint32_t ext_addr, uint32_t byte_size)
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{
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static uint32_t words[COPY_CHUNK_WORDS];
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static uint8_t tmp[COPY_CHUNK_BYTES];
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uint32_t offset = 0;
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log_info("[BL] 备份 APP1 -> 外部 Flash 0x%06X，大小=%u", (unsigned)ext_addr, (unsigned)byte_size);
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while (offset < byte_size)
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{
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uint32_t chunk = (byte_size - offset > COPY_CHUNK_BYTES) ? COPY_CHUNK_BYTES : (byte_size - offset);
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IWDG_FEED();
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EXT_WDOG_FEED();
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ReadFlash(Application_1_Addr + offset, words, chunk / 4);
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for (uint32_t i = 0; i < chunk / 4; i++) {
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tmp[i * 4] = (uint8_t)(words[i]);
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tmp[i * 4 + 1] = (uint8_t)(words[i] >> 8);
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tmp[i * 4 + 2] = (uint8_t)(words[i] >> 16);
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tmp[i * 4 + 3] = (uint8_t)(words[i] >> 24);
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}
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W25Q64_WriteBuffer(ext_addr + offset, tmp, chunk);
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if (!W25Q64_Verify(ext_addr + offset, tmp, chunk)) {
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log_error("[FAIL] W25Q64 备份校验失败 @0x%06X", (unsigned)(ext_addr + offset));
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return 0;
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}
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offset += chunk;
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}
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return 1;
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}
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/* 校验固件完整性：检查栈顶地址和复位向量是否合法 */
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static int Verify_Firmware(unsigned int addr, unsigned int size)
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{
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/* 检查栈顶地址是否在合法RAM范围 (0x20000000) */
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unsigned int sp = *(__IO unsigned int *)addr;
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if ((sp & 0x2FFE0000) != 0x20000000)
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{
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log_error("> 校验失败：栈顶地址非法 SP=0x%X", sp);
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return 0;
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}
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/* 检查复位向量是否在APP1固件范围内（固件链接地址是APP1） */
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unsigned int reset_vector = *(__IO unsigned int *)(addr + 4);
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if (reset_vector < Application_1_Addr || reset_vector > (Application_1_Addr + size))
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{
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log_error("> 校验失败：复位向量非法=0x%X", reset_vector);
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return 0;
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}
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log_info("> 固件校验通过");
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return 1;
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}
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/* 设置主堆栈的栈值 */
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__asm void MSR_MSP (unsigned int ulAddr)
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{
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MSR MSP, r0 //set Main Stack value
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BX r14
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}
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/* 程序跳转函数: 检查栈顶合法性后跳转到目标 APP */
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typedef void (*Jump_Fun)(void);
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void IAP_ExecuteApp (unsigned int App_Addr)
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{
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Jump_Fun JumpToApp;
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if ( ( ( * ( __IO unsigned int * ) App_Addr ) & 0x2FFE0000 ) == 0x20000000 )
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{
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unsigned int sp = *(__IO unsigned int *)App_Addr;
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unsigned int pc = *(__IO unsigned int *)(App_Addr + 4);
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log_info("[BL] 正在跳转到 APP1 @0x%08X...", App_Addr);
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/* 跳转前关闭 BootLoader 使用的中断和外设，避免干扰 APP。
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* 注意不能用 __disable_irq()：跳转不是复位，PRIMASK 会带进 APP。 */
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HAL_UART_DMAStop(&huart3);
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__HAL_UART_DISABLE_IT(&huart3, UART_IT_IDLE);
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HAL_NVIC_DisableIRQ(USART3_IRQn);
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HAL_NVIC_DisableIRQ(DMA1_Channel3_IRQn);
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NVIC_ClearPendingIRQ(USART3_IRQn);
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NVIC_ClearPendingIRQ(DMA1_Channel3_IRQn);
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SysTick->CTRL = 0; /* 停止 SysTick */
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SCB->ICSR = SCB_ICSR_PENDSTCLR_Msk; /* 清 SysTick 挂起位 */
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JumpToApp = (Jump_Fun)pc;
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MSR_MSP(sp);
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JumpToApp();
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}
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else
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{
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log_error("[BL] 错误：APP @0x%08X 栈顶地址非法！", App_Addr);
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}
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}
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/*==== 主电源检测（PA0/ADC1_CH0，寄存器直读，BL 无 ADC HAL 模块）====
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* 外部 12V 断开时仅靠法拉电容维持，电压快速跌落；
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* 阈值与 APP 电量公式一致：<10%（约 11.0V，ADC≈1171）视为主电源未上电 */
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#define BL_MAIN_POWER_ADC_MIN 1171u
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static uint16_t BL_ReadPowerAdc(void)
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{
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__HAL_RCC_GPIOA_CLK_ENABLE();
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__HAL_RCC_ADC1_CLK_ENABLE();
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GPIOA->CRL &= ~0xFu; /* PA0 模拟输入 */
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ADC1->SMPR2 |= 7u; /* 通道0 采样 239.5 周期 */
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ADC1->SQR3 = 0;
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ADC1->CR2 |= ADC_CR2_ADON; /* ADC 上电 */
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for (volatile uint32_t i = 0; i < 8000; i++); /* 稳定时间 */
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ADC1->CR2 |= ADC_CR2_RSTCAL;
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while (ADC1->CR2 & ADC_CR2_RSTCAL);
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ADC1->CR2 |= ADC_CR2_CAL;
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while (ADC1->CR2 & ADC_CR2_CAL);
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ADC1->CR2 |= ADC_CR2_EXTTRIG | ADC_CR2_EXTSEL; /* SWSTART 软件触发 */
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ADC1->CR2 |= ADC_CR2_SWSTART;
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for (volatile uint32_t i = 0; i < 100000; i++) {
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if (ADC1->SR & ADC_SR_EOC) break;
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}
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return (uint16_t)ADC1->DR;
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}
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/* 主电源未上电时不跳 APP：循环检测直到 12V 恢复；
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* 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 */
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static void BL_WaitMainPower(void)
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{
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uint16_t adc = BL_ReadPowerAdc();
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if (adc >= BL_MAIN_POWER_ADC_MIN) return;
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log_warn("[BL] 主电源未上电 (ADC=%u)，等待 12V 恢复...", (unsigned)adc);
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while (1) {
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IWDG_FEED();
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HAL_Delay(500);
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adc = BL_ReadPowerAdc();
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if (adc >= BL_MAIN_POWER_ADC_MIN) {
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log_info("[BL] 主电源已恢复 (ADC=%u)", (unsigned)adc);
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return;
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}
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}
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}
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void Start_BootLoader(void)
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{
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log_info("");
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log_info("* * * * * * * * * * * * * * * * * *");
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log_info("* BootLoader *");
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log_info("* Flash: %dKB *", *(volatile uint16_t *)0x1FFFF7E0);
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log_info("* * * * * By Helei * * * * * *");
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EXT_WDOG_FEED(); /* 进 BootLoader 先喂一次外部看门狗 */
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/* 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"。
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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） */
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uint32_t reset_flags = RCC->CSR;
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RCC->CSR |= RCC_CSR_RMVF;
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if (boot_share_valid()) {
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BOOT_SHARE->csr_flags = reset_flags; /* 保留 uptime/pending_reason（热复位信息） */
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} else {
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BOOT_SHARE->uptime_sec = 0;
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BOOT_SHARE->pending_reason = 0;
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BOOT_SHARE->csr_flags = reset_flags;
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BOOT_SHARE->magic = BOOT_SHARE_MAGIC;
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}
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boot_share_store();
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log_info("[BL] 上次复位原因:%s%s%s%s%s",
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(reset_flags & RCC_CSR_PORRSTF) ? " 上电" : "",
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(reset_flags & RCC_CSR_PINRSTF) ? " 按键" : "",
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(reset_flags & RCC_CSR_SFTRSTF) ? " 软件" : "",
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(reset_flags & RCC_CSR_IWDGRSTF) ? " IWDG看门狗" : "",
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(reset_flags & RCC_CSR_WWDGRSTF) ? " WWDG看门狗" : "");
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/* 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 */
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BL_WaitMainPower();
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W25Q64_OtaInfo info;
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int info_ok = (W25Q64_OTA_ReadInfo(&info) == 0);
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/* 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 */
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if (info_ok && info.new_valid
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&& (info.update_state == W25Q64_STATE_DOWNLOADED || info.update_state == W25Q64_STATE_COPYING)
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&& (info.new_size == 0 || info.new_size > Application_Size || (info.new_size & 0x3) != 0))
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{
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log_warn("[BL] 新固件大小非法 new_size=%u，丢弃新固件", (unsigned)info.new_size);
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W25Q64_OTA_ClearNew();
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info.new_valid = 0; /* 阻止进入下面的更新分支 */
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}
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/* 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();
|
||
}
|
||
}
|