feat(ota): 引入OTA协调器和事件驱动状态机重构
- 添加OtaCoordinator单例模式，提供9状态系统级OTA协调功能 - 重构OtaRelay为事件驱动状态机，从4阶段扩展为6阶段状态机 - 实现系统级状态管理：OTA_SYS_IDLE/GD32_STORING/GD32_RELAYING等9个状态 - 传输层通过OtaCoordinator统一入口管理ESP32/GD32 OTA操作序列化 fix(protocol): 优化协议层安全配置和参数管理 - Scramble常量改为运行时随机生成，提升安全性 - GD32芯片UID从握手包动态获取，移除编译期常量 - 添加运行时SCRAMBLE_CONST参数说明 refactor(esp32_ota): 优化ESP32 OTA分区擦除策略 - BLE OTA采用实际固件大小而非分区全尺寸进行擦除 - 避免全分区擦除导致的Task Watchdog超时问题 - 擦除大小对齐到64KB块边界确保尾部数据干净 feat(transport): 增强SPI传输层功能和可靠性 - 添加Flash元数据记录(total_size/stored_size/last_seq/checksum) - 支持中继恢复判断和完整性校验 - 添加ACK错误码支持(0x04=CRC错误) feat(ble): 实现BLE传输层乱序重排和预检功能 - 添加32槽reorder buffer处理窗口内乱序包 - 新增0xF9命令支持仅SHA校验不入库的预检模式 - 完善BLE OTA收尾流程和状态跟踪 docs(readme): 更新架构文档和API说明 - 详细描述OtaCoordinator系统级状态流转 - 更新OTA流程状态机图表和说明 - 补充新的控制命令和配置参数说明
This commit is contained in:
小龙虾
+131
-41
@@ -42,6 +42,7 @@
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#include "ble_ota.h"
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#include "wifi_ota.h"
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#include "esp32_ota_core.h"
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#include "ota_coordinator.h"
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#include "ota_relay.h"
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#include "health_monitor.h"
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#include "monitor/debug_log.h"
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@@ -59,6 +60,16 @@
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#define BLE_OTA_FINISH_ERR_GD32_SIZE 0x84 // GD32 固件超出分区大小
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#define BLE_OTA_FINISH_ERR_SHA_MISMATCH 0x85 // ESP32 OTA SHA-256 不匹配
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// ── 数据队列：将 OTA 数据处理从 NimBLE host task 卸载到工作线程 ──
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// 避免 flash 操作（esp_ota_begin / esp_ota_write）阻塞 BLE 协议栈导致连接断开。
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#define BLE_OTA_DATA_QUEUE_LEN 16
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struct BleOtaDataBatch {
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uint8_t *data;
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size_t len;
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};
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static QueueHandle_t s_otaDataQueue = nullptr;
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// ============================================================
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// 前向声明
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// ============================================================
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@@ -66,6 +77,7 @@ static void ble_ota_start_advertising(void);
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static void sendWindowAck(uint8_t cmd, uint16_t seq, uint32_t completed_bytes);
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static void sendFinishEvent(uint8_t stage, uint32_t value);
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static void esp32_reorder_free();
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static void ble_ota_data_worker_task(void *pvParameters);
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// ============================================================
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/**
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@@ -100,8 +112,8 @@ static void ble_esp32_restart_task(void *pvParameters)
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DEBUG_INFO(TAG, "[RESTART] 推送 FINISH_REBOOT_NOW 后 500ms 重启");
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sendFinishEvent(BLE_OTA_FINISH_REBOOT_NOW, 0);
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vTaskDelay(pdMS_TO_TICKS(500));
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OtaCoordinator::instance().notifyEsp32Rebooting();
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esp_restart();
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// 不会返回
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}
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/**
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@@ -135,6 +147,7 @@ static void ble_esp32_finish_and_reboot_task(void *pvParameters)
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}
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DEBUG_INFO(TAG, "ESP32 OTA 收尾: 共 %u 字节", (unsigned)core.getReceived());
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OtaCoordinator::instance().notifyEsp32ReceiveComplete();
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// 关键：reboot=false，让 finalize 真正返回、拿到 device_sha_hex，
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// 再依次推送 SHA 通知 + FINISH_DONE + FINISH_REBOOT_NOW，
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@@ -147,6 +160,7 @@ static void ble_esp32_finish_and_reboot_task(void *pvParameters)
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device_sha_hex);
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if (err == ESP_OK) {
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OtaCoordinator::instance().notifyEsp32FinalizeComplete();
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// 1) 把设备端 SHA 通过 SHA256 通知推给前端
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if (device_sha_hex[0] != '\0') {
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uint8_t sha_pkt[33] = {0};
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@@ -168,6 +182,7 @@ static void ble_esp32_finish_and_reboot_task(void *pvParameters)
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// 4) 通知全部发出后延迟 500ms 重启
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DEBUG_INFO(TAG, "[FINISH] 通知已发送，500ms 后重启...");
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vTaskDelay(pdMS_TO_TICKS(500));
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OtaCoordinator::instance().notifyEsp32Rebooting();
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esp_restart();
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// 不会返回
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} else if (err == ESP_ERR_INVALID_VERSION) {
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@@ -524,12 +539,13 @@ static esp_err_t esp32_write_ordered(uint16_t seq, uint8_t cmd,
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*/
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static esp_err_t ble_esp32_ota_begin(size_t total_size)
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{
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esp_err_t err = Esp32OtaCore::instance().begin(total_size);
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// ★ 通过全局协调器发起 ESP32 OTA
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esp_err_t err = OtaCoordinator::instance().beginEsp32Ota(total_size);
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if (err == ESP_ERR_INVALID_STATE) {
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// ★ OTA 锁被占用，走完整的状态机退出 + 清理锁，然后重试一次
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DEBUG_WARN(TAG, "ESP32 OTA 锁被占用，强制清理状态机后重试");
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// 协调器拒绝 → 尝试强制清理后重试
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DEBUG_WARN(TAG, "ESP32 OTA 被协调器拒绝，强制清理状态机后重试");
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Esp32OtaCore::instance().forceCleanup();
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err = Esp32OtaCore::instance().begin(total_size);
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err = OtaCoordinator::instance().beginEsp32Ota(total_size);
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}
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if (err != ESP_OK) {
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return err;
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@@ -645,15 +661,15 @@ static int ble_ota_ctrl_access(uint16_t conn_handle, uint16_t attr_handle,
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DEBUG_INFO(TAG, "CTRL 写入: cmd=0x%02X len=%d", buf[0], len);
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if (buf[0] == BLE_OTA_CTRL_TRIGGER_GD32) {
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// 检查固件是否存储完毕 → 触发 GD32 OTA 中继
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// 检查固件是否存储完毕 → 通过协调器触发 GD32 OTA 中继
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ota_meta_t meta;
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esp_err_t err = OtaRelay::metaLoad(&meta);
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if (err == ESP_OK &&
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meta.total_size > 0 &&
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meta.stored_size >= meta.total_size) {
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DEBUG_INFO(TAG, "GD32 固件就绪 (%" PRIu32 " / %" PRIu32 " 字节)，触发中继",
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DEBUG_INFO(TAG, "GD32 固件就绪 (%" PRIu32 " / %" PRIu32 " 字节)，通过协调器触发中继",
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meta.stored_size, meta.total_size);
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BleOta::instance().signalRelay();
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OtaCoordinator::instance().triggerGd32Relay();
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} else {
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DEBUG_WARN(TAG, "GD32 固件未就绪 (stored=%" PRIu32 ", total=%" PRIu32 ")",
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meta.stored_size, meta.total_size);
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@@ -770,9 +786,36 @@ static int ble_ota_data_in_access(uint16_t conn_handle, uint16_t attr_handle,
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return BLE_ATT_ERR_INVALID_ATTR_VALUE_LEN;
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}
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// 将数据拷贝到堆上并送入工作队列，避免在 NimBLE host task 中执行
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// 耗时的 flash 操作（esp_ota_begin / esp_ota_write）导致 BLE 连接断开。
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if (s_otaDataQueue) {
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uint8_t *heap_buf = (uint8_t *)malloc((size_t)recv_len);
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if (heap_buf) {
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memcpy(heap_buf, buf, (size_t)recv_len);
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BleOtaDataBatch item = { heap_buf, (size_t)recv_len };
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if (xQueueSend(s_otaDataQueue, &item, 0) != pdTRUE) {
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DEBUG_WARN(TAG, "DATA_IN 工作队列满，丢弃 %d 字节（等待客户端重传）", recv_len);
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free(heap_buf);
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}
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} else {
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DEBUG_ERR(TAG, "DATA_IN 堆内存不足 (%d 字节)，丢弃", recv_len);
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}
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}
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return 0;
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}
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/**
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* @brief 处理一批 OTA 数据包（在工作线程上下文中调用）。
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* 包含 ESP32 和 GD32 的数据接收逻辑。
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* @param buf 数据缓冲区（包含一个或多个合并的包）。
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* @param recv_len 数据长度。
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*/
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static void ble_ota_process_data_batch(const uint8_t *buf, size_t recv_len)
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{
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// 循环处理 mbuf 中的所有完整数据包
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size_t offset = 0;
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while (offset + 7 <= (size_t)recv_len) {
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while (offset + 7 <= recv_len) {
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// 解析包头
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uint8_t cmd = buf[offset + 0];
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uint16_t seq = (uint16_t)(buf[offset + 1] | (buf[offset + 2] << 8));
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@@ -790,7 +833,7 @@ static int ble_ota_data_in_access(uint16_t conn_handle, uint16_t attr_handle,
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: (uint32_t)BLE_OTA_CHUNK_PAYLOAD;
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size_t data_len = (size_t)expected_payload;
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size_t remaining_after_header = (size_t)recv_len - data_offset;
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size_t remaining_after_header = recv_len - data_offset;
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// 如果缓冲区中实际可用数据不足，截断 data_len
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if (remaining_after_header < expected_payload) {
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@@ -813,16 +856,15 @@ static int ble_ota_data_in_access(uint16_t conn_handle, uint16_t attr_handle,
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if (seq == 0) {
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if (total_size == 0) {
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DEBUG_ERR(TAG, "ESP32 固件大小非法: %" PRIu32, total_size);
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return BLE_ATT_ERR_UNLIKELY;
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return;
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}
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// 分区选择/大小校验/互斥由 Esp32OtaCore::begin 内部完成
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esp_err_t err = ble_esp32_ota_begin(total_size);
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if (err != ESP_OK) {
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if (err == ESP_ERR_INVALID_STATE) {
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sendFinishEvent(BLE_OTA_FINISH_ERR_MUTEX, 0);
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return BLE_ATT_ERR_OTA_BUSY;
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}
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return BLE_ATT_ERR_UNLIKELY;
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return;
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}
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}
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@@ -830,7 +872,7 @@ static int ble_ota_data_in_access(uint16_t conn_handle, uint16_t attr_handle,
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if (!Esp32OtaCore::instance().isActive()) {
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DEBUG_WARN(TAG, "ESP32 OTA 会话无效，丢弃 seq=%u", seq);
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offset += packet_len;
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if (offset + 7 > (size_t)recv_len) break;
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if (offset + 7 > recv_len) break;
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continue;
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}
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@@ -841,7 +883,7 @@ static int ble_ota_data_in_access(uint16_t conn_handle, uint16_t attr_handle,
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(unsigned)curReceived, total_size, seq);
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sendWindowAck(cmd, seq, curReceived);
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offset += packet_len;
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if (offset + 7 > (size_t)recv_len) break;
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if (offset + 7 > recv_len) break;
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continue;
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}
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@@ -851,24 +893,18 @@ static int ble_ota_data_in_access(uint16_t conn_handle, uint16_t attr_handle,
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DEBUG_ERR(TAG, "ESP32 OTA 写入失败: seq=%u err=%s",
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seq, esp_err_to_name(err));
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ble_esp32_ota_abort(); // core 内部完成 abort + mutex release + 状态复位
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return BLE_ATT_ERR_UNLIKELY;
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return;
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}
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DEBUG_DBG(TAG, "ESP32 OTA 写入成功: seq=%u received=%u",
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seq, (unsigned int)Esp32OtaCore::instance().getReceived());
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// 完成判定：以实际按序写入字节数为准。
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// reorder buffer 模式下，尾包可能是乱序到达被缓存的包，
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// 此刻 getReceived() 尚未达到 total_size，不能据此判定完成。
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// isLastPacket 仅记录"这是最后一包的形态"，不单独作为完成条件。
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bool isLastPacket = (expected_payload < BLE_OTA_CHUNK_PAYLOAD);
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bool transferComplete = (total_size > 0 &&
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Esp32OtaCore::instance().getReceived() >= total_size);
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// ACK 触发条件：
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// - 窗口末尾包 (seq+1 是窗口整数倍)
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// - 数据全部按序写完（含 reorder flush 后达到 total_size）
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// - 尾包形态（兜底：即使 getReceived 不足也回一个 ACK，让客户端续传）
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// ACK 触发条件
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if ((((uint32_t)seq + 1U) % BLE_OTA_ACK_WINDOW) == 0U ||
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transferComplete ||
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isLastPacket) {
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@@ -879,17 +915,13 @@ static int ble_ota_data_in_access(uint16_t conn_handle, uint16_t attr_handle,
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sendWindowAck(cmd, seq, (uint32_t)Esp32OtaCore::instance().getReceived());
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}
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// ★ 仅当数据真正全部按序写完时才标记传输完成。
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// 尾包乱序缓存但缺口未填满时，不算完成（等待客户端续传缺口包）。
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if (transferComplete) {
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DEBUG_INFO(TAG, "★ ESP32 固件接收完毕: %u / %" PRIu32 " 字节 (共 %u 块)",
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(unsigned int)Esp32OtaCore::instance().getReceived(), total_size, seq + 1);
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OtaCoordinator::instance().notifyEsp32ReceiveComplete();
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BleOta::instance().m_esp32LastCmd = cmd;
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BleOta::instance().m_esp32LastSeq = seq;
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// ★ ESP32 OTA 传输完成：恢复 WiFi 射频
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ble_ota_restore_wifi_ps();
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// 注：与 WiFi 流程对齐，传输完成后由前端发送 0xF8 + SHA-256 触发 finalize，
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// 设备端不再自动创建收尾任务。
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}
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}
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// --- GD32 OTA：首个分块时创建存储元数据 ---
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@@ -900,7 +932,12 @@ static int ble_ota_data_in_access(uint16_t conn_handle, uint16_t attr_handle,
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DEBUG_ERR(TAG, "GD32 固件大小非法: raw=%" PRIu32 " rounded48=%" PRIu32 " max=%zu",
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total_size, rounded_size, OTA_MAX_FIRMWARE_SIZE);
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sendFinishEvent(BLE_OTA_FINISH_ERR_GD32_SIZE, total_size);
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return BLE_ATT_ERR_UNLIKELY;
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return;
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}
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if (OtaCoordinator::instance().beginGd32Storage(total_size) != ESP_OK) {
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DEBUG_ERR(TAG, "GD32 OTA 协调器拒绝存储（系统忙）");
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return;
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}
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ota_meta_t meta = {};
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@@ -911,49 +948,48 @@ static int ble_ota_data_in_access(uint16_t conn_handle, uint16_t attr_handle,
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esp_err_t err = OtaRelay::metaSave(&meta);
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if (err != ESP_OK) {
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DEBUG_ERR(TAG, "元数据保存失败");
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return BLE_ATT_ERR_UNLIKELY;
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OtaCoordinator::instance().abortCurrent();
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return;
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}
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DEBUG_INFO(TAG, "GD32 固件存储开始: total=%" PRIu32 ", payload=%zu",
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meta.total_size, data_len);
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// ★ GD32 BLE OTA 开始：降低 WiFi 射频占用
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ble_ota_boost_wifi_ps();
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}
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ota_meta_t meta = {};
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if (OtaRelay::metaLoad(&meta) != ESP_OK || meta.total_size == 0) {
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DEBUG_ERR(TAG, "GD32 元数据无效，拒绝写入: seq=%u", seq);
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return BLE_ATT_ERR_UNLIKELY;
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return;
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}
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if (seq > 0 && meta.last_seq != (uint32_t)(seq - 1)) {
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DEBUG_ERR(TAG, "GD32 分包序号不连续: seq=%u last_seq=%" PRIu32,
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seq, meta.last_seq);
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return BLE_ATT_ERR_UNLIKELY;
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return;
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}
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// --- GD32 写入 Flash ---
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uint32_t flash_offset = meta.stored_size;
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// ★ 防重复写入保护：如果已存储字节 >= 声明大小，跳过重试引起的重复包
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if (flash_offset >= meta.total_size) {
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DEBUG_WARN(TAG, "GD32 OTA 已收满 (%" PRIu32 " >= %" PRIu32 ")，跳过重复 seq=%u",
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flash_offset, meta.total_size, seq);
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sendWindowAck(cmd, seq, flash_offset);
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offset += packet_len;
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if (offset + 7 > (size_t)recv_len) break;
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if (offset + 7 > recv_len) break;
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continue;
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}
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if (flash_offset + (uint32_t)data_len > meta.total_size) {
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DEBUG_ERR(TAG, "GD32 写入越界: offset=%" PRIu32 " len=%zu total=%" PRIu32,
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flash_offset, data_len, meta.total_size);
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return BLE_ATT_ERR_UNLIKELY;
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return;
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}
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esp_err_t err = OtaRelay::flashWriteChunk(flash_offset, &buf[data_offset], data_len);
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if (err != ESP_OK) {
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DEBUG_ERR(TAG, "Flash 写入失败: seq=%u offset=%" PRIu32 " err=%s",
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seq, flash_offset, esp_err_to_name(err));
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return BLE_ATT_ERR_UNLIKELY;
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return;
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}
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uint32_t stored_size = flash_offset + (uint32_t)data_len;
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@@ -977,9 +1013,8 @@ static int ble_ota_data_in_access(uint16_t conn_handle, uint16_t attr_handle,
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meta.stored_size >= meta.total_size) {
|
||||
DEBUG_INFO(TAG, "★ GD32 固件接收完毕: %" PRIu32 " / %" PRIu32 " 字节 (共 %u 块)",
|
||||
meta.stored_size, meta.total_size, seq + 1);
|
||||
// ★ GD32 BLE OTA 传输完成：恢复 WiFi 射频
|
||||
OtaCoordinator::instance().completeGd32Storage();
|
||||
ble_ota_restore_wifi_ps();
|
||||
// 计算并存储 SHA-256 校验和
|
||||
esp_err_t sha_err = OtaRelay::metaFinalizeChecksum();
|
||||
if (sha_err != ESP_OK) {
|
||||
DEBUG_ERR(TAG, "GD32 固件 SHA-256 计算失败: %s", esp_err_to_name(sha_err));
|
||||
@@ -993,10 +1028,38 @@ static int ble_ota_data_in_access(uint16_t conn_handle, uint16_t attr_handle,
|
||||
offset += packet_len;
|
||||
|
||||
// 检查剩余数据是否足够组成一个完整的包头
|
||||
if (offset + 7 > (size_t)recv_len) break;
|
||||
if (offset + 7 > recv_len) break;
|
||||
}
|
||||
}
|
||||
|
||||
return 0;
|
||||
/**
|
||||
* @brief OTA 数据工作线程：从队列接收数据并调用处理函数。
|
||||
* 独立于 NimBLE host task，避免 flash 操作阻塞 BLE 协议栈。
|
||||
*/
|
||||
static void ble_ota_data_worker_task(void *pvParameters)
|
||||
{
|
||||
(void)pvParameters;
|
||||
DEBUG_INFO(TAG, "OTA 数据工作线程已启动");
|
||||
|
||||
while (1) {
|
||||
BleOtaDataBatch item;
|
||||
if (xQueueReceive(s_otaDataQueue, &item, portMAX_DELAY) == pdTRUE) {
|
||||
if (!item.data || item.len == 0) {
|
||||
free(item.data);
|
||||
continue;
|
||||
}
|
||||
|
||||
// 若 BLE 已断开，丢弃队列中的残留数据
|
||||
if (!BleOta::instance().isConnected()) {
|
||||
DEBUG_DBG(TAG, "BLE 已断开，丢弃 %zu 字节队列数据", item.len);
|
||||
free(item.data);
|
||||
continue;
|
||||
}
|
||||
|
||||
ble_ota_process_data_batch(item.data, item.len);
|
||||
free(item.data);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
@@ -1166,6 +1229,15 @@ static int ble_ota_gap_event(struct ble_gap_event *event, void *arg)
|
||||
case BLE_GAP_EVENT_DISCONNECT:
|
||||
DEBUG_INFO(TAG, "BLE 客户端已断开: reason=%d",
|
||||
event->disconnect.reason);
|
||||
|
||||
// ★ 断开时清空数据队列，丢弃属于旧会话的残留包
|
||||
if (s_otaDataQueue) {
|
||||
BleOtaDataBatch stale;
|
||||
while (xQueueReceive(s_otaDataQueue, &stale, 0) == pdTRUE) {
|
||||
free(stale.data);
|
||||
}
|
||||
}
|
||||
|
||||
BleOta::instance().m_bleConnected = false;
|
||||
BleOta::instance().m_connHandle = BLE_HS_CONN_HANDLE_NONE;
|
||||
// ★ BLE 断开时恢复 WiFi 射频，并中止未完成的 ESP32 OTA
|
||||
@@ -1479,6 +1551,24 @@ void BleOta::taskEntry(void *pvParameters)
|
||||
(void)pvParameters;
|
||||
DEBUG_INFO(TAG, "=== BLE OTA 任务启动 ===");
|
||||
|
||||
// 创建 OTA 数据队列和工作线程（在 NimBLE 初始化之前完成）
|
||||
s_otaDataQueue = xQueueCreate(BLE_OTA_DATA_QUEUE_LEN, sizeof(BleOtaDataBatch));
|
||||
if (s_otaDataQueue) {
|
||||
BaseType_t wk_ok = xTaskCreate(ble_ota_data_worker_task,
|
||||
"ble_ota_worker",
|
||||
8192, // 6KB→8KB，flash 操作需要足够栈空间
|
||||
NULL,
|
||||
10, // 中等优先级，避免被 NimBLE host task 过度抢占
|
||||
NULL);
|
||||
if (wk_ok != pdPASS) {
|
||||
DEBUG_ERR(TAG, "OTA 数据工作线程创建失败，BLE OTA 数据传输不可用");
|
||||
vQueueDelete(s_otaDataQueue);
|
||||
s_otaDataQueue = nullptr;
|
||||
}
|
||||
} else {
|
||||
DEBUG_ERR(TAG, "OTA 数据队列创建失败，BLE OTA 数据传输不可用");
|
||||
}
|
||||
|
||||
esp_err_t err = BleOta::instance().serverStart();
|
||||
if (err != ESP_OK) {
|
||||
DEBUG_ERR(TAG, "BLE 服务器启动失败: %s → BLE OTA 不可用",
|
||||
|
||||
Reference in New Issue
Block a user