esp32_shock/components/twai_ota/twai_ota.c

#include <string.h>
#include <inttypes.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "esp_ota_ops.h"
#include "esp_app_format.h"
#include "esp_flash_partitions.h"
#include "esp_partition.h"
#include "driver/gpio.h"
#include "esp_log.h"

#include "twai_ota.h"

static const char *TAG = "ota";

static void print_sha256 (const uint8_t *image_hash, const char *label)
{
    char hash_print[HASH_LEN * 2 + 1];
    hash_print[HASH_LEN * 2] = 0;
    for (int i = 0; i < HASH_LEN; ++i) {
        sprintf(&hash_print[i * 2], "%02x", image_hash[i]);
    }
    ESP_LOGI(TAG, "%s: %s", label, hash_print);
}

static bool diagnostic(void)
{
    gpio_config_t io_conf;
    io_conf.intr_type    = GPIO_INTR_DISABLE;
    io_conf.mode         = GPIO_MODE_INPUT;
    io_conf.pin_bit_mask = (1ULL << CONFIG_EXAMPLE_GPIO_DIAGNOSTIC);
    io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE;
    io_conf.pull_up_en   = GPIO_PULLUP_ENABLE;
    gpio_config(&io_conf);

    ESP_LOGI(TAG, "Diagnostics (5 sec)...");
    vTaskDelay(5000 / portTICK_PERIOD_MS);

    bool diagnostic_is_ok = gpio_get_level(CONFIG_EXAMPLE_GPIO_DIAGNOSTIC);

    gpio_reset_pin(CONFIG_EXAMPLE_GPIO_DIAGNOSTIC);
    return diagnostic_is_ok;
}

// 在app程序开始需调用，用于检验镜像以及是否回滚
void ota_init(void)
{
    ESP_LOGI(TAG, "ota_init");
    uint8_t sha_256[HASH_LEN] = { 0 };
    esp_partition_t partition;
    const esp_partition_t *configured = esp_ota_get_boot_partition();
    const esp_partition_t *running = esp_ota_get_running_partition();

    // get sha256 digest for the partition table
    partition.address   = ESP_PARTITION_TABLE_OFFSET;
    partition.size      = ESP_PARTITION_TABLE_MAX_LEN;
    partition.type      = ESP_PARTITION_TYPE_DATA;
    esp_partition_get_sha256(&partition, sha_256);
    print_sha256(sha_256, "SHA-256 for the partition table: ");

    // get sha256 digest for bootloader
    partition.address   = ESP_BOOTLOADER_OFFSET;
    partition.size      = ESP_PARTITION_TABLE_OFFSET;
    partition.type      = ESP_PARTITION_TYPE_APP;
    esp_partition_get_sha256(&partition, sha_256);
    print_sha256(sha_256, "SHA-256 for bootloader: ");

    // get sha256 digest for running partition
    esp_partition_get_sha256(esp_ota_get_running_partition(), sha_256);
    print_sha256(sha_256, "SHA-256 for current firmware: ");

    esp_ota_img_states_t ota_state;
    if (esp_ota_get_state_partition(running, &ota_state) == ESP_OK) {
        if (ota_state == ESP_OTA_IMG_PENDING_VERIFY) {  // ota写入之后的第一次重启，如果enable回滚，状态为等待验证
            bool diagnostic_is_ok = diagnostic();
            if (diagnostic_is_ok) {
                ESP_LOGI(TAG, "Diagnostics completed successfully! Continuing execution ...");
                esp_ota_mark_app_valid_cancel_rollback();
            } else {
                ESP_LOGE(TAG, "Diagnostics failed! Start rollback to the previous version ...");
                esp_ota_mark_app_invalid_rollback_and_reboot();
            }
        }
    }

    // 获取当前运行分区的信息
    if (configured != running) {
        ESP_LOGW(TAG, "Configured OTA boot partition at offset 0x%08"PRIx32", but running from offset 0x%08"PRIx32,
                 configured->address, running->address);
        ESP_LOGW(TAG, "(This can happen if either the OTA boot data or preferred boot image become corrupted somehow.)");
    }
    ESP_LOGI(TAG, "Running partition type %d subtype %d (offset 0x%08"PRIx32")",
             running->type, running->subtype, running->address);
}

ota_ctrl_t ota_ctrl;
static void ota_ctrl_clean(void)
{
    ota_ctrl.buf_len = 0;
    ota_ctrl.binary_file_length = 0;
}

ota_err_t ota_enter_command(void)
{
    memset(&ota_ctrl, 0, sizeof(ota_ctrl_t));
    ota_ctrl.img_header_size = sizeof(esp_image_header_t) + sizeof(esp_image_segment_header_t) + sizeof(esp_app_desc_t);
    ota_ctrl.img_header_app_desc_offset = sizeof(esp_image_header_t) + sizeof(esp_image_segment_header_t);
    
    ota_ctrl.update_partition = esp_ota_get_next_update_partition(NULL);
    if (ota_ctrl.update_partition == NULL)
    {
        ESP_LOGE(TAG, "Error: no partition found for OTA");
        return OTA_GET_PARTITION_ERROR;
    }
    ESP_LOGI(TAG, "Writing to partition subtype %d at offset 0x%"PRIx32,
             ota_ctrl.update_partition->subtype, ota_ctrl.update_partition->address);
    return OTA_OK;
}


ota_err_t ota_image_header_check_and_start(void)
{
    esp_err_t err;

    // 校验版本，版本和当前运行版本或者上一个无效的运行版本相同的话，不进行OTA
    esp_app_desc_t new_app_info;
    memcpy(&new_app_info, &ota_ctrl.buf[ota_ctrl.img_header_app_desc_offset], sizeof(esp_app_desc_t));
    ESP_LOGI(TAG, "New firmware version: %s", new_app_info.version);

    const esp_partition_t *running = esp_ota_get_running_partition();
    esp_app_desc_t running_app_info;
    if (esp_ota_get_partition_description(running, &running_app_info) == ESP_OK) {
        ESP_LOGI(TAG, "Running firmware version: %s", running_app_info.version);
    }

    const esp_partition_t* last_invalid_app = esp_ota_get_last_invalid_partition();
    esp_app_desc_t invalid_app_info;
    if (esp_ota_get_partition_description(last_invalid_app, &invalid_app_info) == ESP_OK) {
        ESP_LOGI(TAG, "Last invalid firmware version: %s", invalid_app_info.version);
    }

    if (last_invalid_app != NULL) {
        if (memcmp(invalid_app_info.version, new_app_info.version, sizeof(new_app_info.version)) == 0) {
            ESP_LOGW(TAG, "New version is the same as invalid version.");
            ESP_LOGW(TAG, "Previously, there was an attempt to launch the firmware with %s version, but it failed.", invalid_app_info.version);
            return OTA_HEADER_CHECK_ERROR;
        }
    }

    if (memcmp(new_app_info.version, running_app_info.version, sizeof(new_app_info.version)) == 0) {
        ESP_LOGW(TAG, "Current running version is the same as a new. We will not continue the update.");
        return OTA_HEADER_CHECK_ERROR;
    }

    // 校验成功，开启ota
    ota_ctrl.image_header_was_checked = true;   
    err = esp_ota_begin(ota_ctrl.update_partition, OTA_WITH_SEQUENTIAL_WRITES, &ota_ctrl.update_handle);
    if (err != ESP_OK) {
        ESP_LOGE(TAG, "esp_ota_begin failed (%s)", esp_err_to_name(err));
        return OTA_BEGIN_FUN_ERROR;
    }
    ESP_LOGI(TAG, "esp_ota_begin succeeded");

    return OTA_OK;
}

static ota_err_t __ota_download_data_in(void)
{
    ota_err_t ret = 0;
    esp_err_t err;
    // 未校验则先校验
    if (ota_ctrl.image_header_was_checked == false) 
    {
        ret = ota_image_header_check_and_start();
        if (ret != OTA_OK)
        {
            ESP_LOGE(TAG, "Error: image header check failed");
            ota_ctrl_clean();
            return ret;  
        }
    }
    // 写入分区
    err = esp_ota_write(ota_ctrl.update_handle, (const void *)ota_ctrl.buf, ota_ctrl.buf_len);
    if (err != ESP_OK) {
        ESP_LOGE(TAG, "Error: esp_ota_write failed (%s)!", esp_err_to_name(err));
        esp_ota_abort(ota_ctrl.update_handle);
        ota_ctrl_clean();
        return OTA_WRITE_FUN_ERROR;
    }
    ota_ctrl.buf_len = 0;
    ota_ctrl.binary_file_length += ota_ctrl.buf_len;
    ESP_LOGD(TAG, "Written image length %lld", ota_ctrl.binary_file_length);
    return OTA_OK;
}


// 内部有OTA_BUFFSIZE大小缓冲区，缓冲区满或者结束才会触发ota写入
ota_err_t ota_download_data_in(uint8_t *data, int len)
{
    int err = 0;
    ota_err_t ret = 0;
    int remain_len = 0;
    uint8_t *remain_data = NULL;
  
    if (len > OTA_BUFFSIZE)
    {
        ESP_LOGE(TAG, "Error: len too big, max is %d", OTA_BUFFSIZE);
        ota_ctrl_clean();
        return OTA_PARAM_ERROR;  // 参数问题
    }

    if (ota_ctrl.buf_len + len >= OTA_BUFFSIZE)
    {
        remain_data = data + OTA_BUFFSIZE - ota_ctrl.buf_len;
        remain_len = ota_ctrl.buf_len + len - OTA_BUFFSIZE;

        memcpy(ota_ctrl.buf + ota_ctrl.buf_len, data, OTA_BUFFSIZE - ota_ctrl.buf_len);
        ota_ctrl.buf_len = OTA_BUFFSIZE;
        ret = __ota_download_data_in();
        if (ret != OTA_OK) return ret;

        ota_ctrl.buf_len = remain_len;
        memcpy(ota_ctrl.buf, remain_data, ota_ctrl.buf_len);
    }
    return OTA_OK;
}

ota_err_t ota_download_finish_command(void)
{
    int err = 0;
    ota_err_t ret = 0;

    // 写入剩下的数据
    ret = __ota_download_data_in();
    if (ret != OTA_OK) return ret;
    ESP_LOGI(TAG, "Total Write binary data length: %lld", ota_ctrl.binary_file_length);

    // 下载成功，进行收尾工作
    err = esp_ota_end(ota_ctrl.update_handle);
    if (err != ESP_OK) {
        if (err == ESP_ERR_OTA_VALIDATE_FAILED) {
            ESP_LOGE(TAG, "Image validation failed, image is corrupted");
        } else {
            ESP_LOGE(TAG, "esp_ota_end failed (%s)!", esp_err_to_name(err));
        }
        ota_ctrl_clean();
        return OTA_END_FUN_ERROR;
    }

    // 设置为启动分区
    err = esp_ota_set_boot_partition(ota_ctrl.update_partition);
    if (err != ESP_OK) {
        ESP_LOGE(TAG, "esp_ota_set_boot_partition failed (%s)!", esp_err_to_name(err));
        ota_ctrl_clean();
        return OTA_SET_BOOT_PARTITION_ERROR;
    }

    // 重启生效
    ESP_LOGI(TAG, "Prepare to restart system!");
    esp_restart();

    return OTA_OK;  // 重启则运行不到这里
}


char *ota_read_versions(void)
{
    int err = 0;
    ota_err_t ret = 0;

    esp_app_desc_t *running_app_desc_p = esp_app_get_description();
    char *running_version = running_app_desc_p->version;
    ESP_LOGI(TAG, "Running binary version %s", running_version);

    return running_version;
}