小龙虾
51c89b3065
移除固定的包间延迟配置 `OTA_PACKET_DELAY_MS`，采用基于SPI Link v2 CREDIT背压的动态节奏控制，在SpiMaster中通过remoteCredit==0时wait/拒发 实现流量控制，提高OTA传输稳定性。 refactor(stack): 统一任务栈大小配置并添加CPU统计功能 - 在app_config.h中集中定义所有任务栈大小常量，基于实测水位优化分配 - 新增monitor/cpu_stats.cpp组件，提供1Hz FreeRTOS CPU占用采样 - 更新main.cpp中的任务创建使用新的栈大小常量 - 调整health_monitor和ota_relay等任务的栈分配 perf(ota): 改进ESP32和GD32 OTA分区预擦策略 - ESP32 OTA从边写边擦改为整分区预擦模式，避免写入时的扇区擦除阻塞 - GD32 OTA在prepare阶段进行整分区预擦，提升后续写入吞吐量 - 优化OTA协调器状态管理，修复FINALIZING状态残留问题 fix(log): 改进UDP日志发送的堆内存管理 - 当堆内存不足时记录UDP发送跳过的告警信息到ring buffer - 降低UDP发送跳过的内存阈值从10KB到6KB - 降低日志排水最小内存阈值从8KB到4KB docs(readme): 更新OTA配置参数文档说明 移除已废弃的OTA_PACKET_DELAY_MS参数，更新包间节奏控制说明为 基于CREDIT背压机制的描述。
511 lines
17 KiB
C++
511 lines
17 KiB
C++
/*
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* gd32_flash_store.cpp - GD32 OTA 固件 Flash 存储抽象层实现
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*
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* 从 OtaRelay 剥离的 Flash 分区读写、NVS 元数据持久化和 SHA-256 校验。
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*/
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#include <string.h>
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#include <stdlib.h>
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#include <inttypes.h>
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#include "esp_partition.h"
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#include "esp_task_wdt.h"
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#include "nvs_flash.h"
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#include "nvs.h"
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#define MBEDTLS_DECLARE_PRIVATE_IDENTIFIERS
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#include "mbedtls/private/sha256.h"
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#include "gd32_flash_store.h"
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#include "monitor/debug_log.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/semphr.h"
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// ============================================================
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// 单例
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// ============================================================
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Gd32FlashStore& Gd32FlashStore::instance()
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{
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static Gd32FlashStore inst;
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return inst;
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}
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// 构造时创建 NVS 互斥锁。
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// 单例静态局部变量在首次 instance() 调用时构造，此时 FreeRTOS 已就绪。
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Gd32FlashStore::Gd32FlashStore()
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{
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m_nvsMutex = xSemaphoreCreateMutex();
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if (!m_nvsMutex) {
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DEBUG_ERR("OTA", "Gd32FlashStore NVS mutex 创建失败");
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}
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}
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// ============================================================
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// NVS 互斥锁辅助
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// ============================================================
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bool Gd32FlashStore::lockNvs(uint32_t timeout_ms)
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{
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// 参考 OtaCoordinator::lock：返回 take 结果，由调用方传回 unlockNvs 决定是否 give。
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if (!m_nvsMutex) return false;
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return xSemaphoreTake(m_nvsMutex, pdMS_TO_TICKS(timeout_ms)) == pdTRUE;
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}
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void Gd32FlashStore::unlockNvs(bool handle)
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{
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// 仅在对应 lockNvs 成功 take 时才 give，避免误释放。
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if (handle && m_nvsMutex) {
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xSemaphoreGive(m_nvsMutex);
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}
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}
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// ============================================================
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// 分区懒初始化
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// ============================================================
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const esp_partition_t* Gd32FlashStore::getPartition()
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{
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if (!m_partition) {
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m_partition = esp_partition_find_first(
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ESP_PARTITION_TYPE_DATA, ESP_PARTITION_SUBTYPE_DATA_SPIFFS, "gd32_ota");
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if (!m_partition) {
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DEBUG_ERR("OTA", "找不到 gd32_ota 分区");
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}
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}
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return m_partition;
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}
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// ============================================================
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// Flash 分区读写
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// ============================================================
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void Gd32FlashStore::beginWriteSession()
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{
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m_erasedUpTo = 0;
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}
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/** @brief 确保 [offset, offset+len) 覆盖的扇区已擦除（从 m_erasedUpTo 顺序推进）。 */
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esp_err_t Gd32FlashStore::ensureErasedForWrite(uint32_t offset, size_t len)
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{
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if (len == 0) return ESP_OK;
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const esp_partition_t *part = getPartition();
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if (!part) return ESP_ERR_NOT_FOUND;
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const uint32_t end = offset + (uint32_t)len;
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// 目标区间已在水位内：无需再擦（顺序 OTA 不回写旧扇区）
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if (end <= m_erasedUpTo) return ESP_OK;
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// 水位始终扇区对齐；只从 m_erasedUpTo 向高地址推进，禁止重擦已写扇区。
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// 若写入跳空，一并擦掉空隙，保持 [0, m_erasedUpTo) 连续已擦。
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uint32_t erase_to = (end + (kFlashSectorSize - 1U)) & ~(kFlashSectorSize - 1U);
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if (erase_to > part->size) {
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erase_to = part->size;
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}
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uint32_t erase_from = m_erasedUpTo;
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if (erase_from >= erase_to) return ESP_OK;
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for (uint32_t addr = erase_from; addr < erase_to; ) {
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uint32_t chunk = kFlashSectorSize;
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if (addr + chunk > erase_to) {
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chunk = erase_to - addr;
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}
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esp_err_t err = esp_partition_erase_range(part, addr, chunk);
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if (err != ESP_OK) {
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DEBUG_ERR("OTA", "ensureErased: erase @%" PRIu32 " len=%" PRIu32 " failed: %s",
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addr, chunk, esp_err_to_name(err));
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return err;
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}
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addr += chunk;
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m_erasedUpTo = addr;
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(void)esp_task_wdt_reset();
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}
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return ESP_OK;
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}
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/** @brief 向 gd32_ota 分区写入数据块，自动处理非 4 字节对齐的读写。 */
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esp_err_t Gd32FlashStore::flashWriteChunk(uint32_t offset, const uint8_t *data, size_t len)
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{
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const esp_partition_t *part = getPartition();
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if (!part) return ESP_ERR_NOT_FOUND;
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// 计算 head/tail padding，使写入地址和长度都对齐到 4 字节
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size_t head_pad = offset % 4;
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uint32_t aligned_offset = offset - head_pad;
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size_t total = head_pad + len;
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size_t aligned_len = (total + 3) & ~(size_t)3;
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if (aligned_offset + aligned_len > part->size) {
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DEBUG_ERR("OTA", "flashWriteChunk越界: offset=%" PRIu32 " len=%zu aligned_off=%" PRIu32 " aligned_len=%zu part=%" PRIu32,
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offset, len, aligned_offset, aligned_len, part->size);
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return ESP_ERR_INVALID_SIZE;
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}
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// 正常路径：prepare 已整分区预擦；此处仅兜底（水位未覆盖时才擦）
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esp_err_t erase_err = ensureErasedForWrite(aligned_offset, aligned_len);
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if (erase_err != ESP_OK) {
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return erase_err;
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}
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// 快速路径：offset 和 len 都对齐
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if (head_pad == 0 && len % 4 == 0) {
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return esp_partition_write(part, offset, data, len);
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}
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if (head_pad > 0 || len % 4 != 0) {
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DEBUG_WARN("OTA", "flashWriteChunk 非对齐: offset=%" PRIu32 " len=%zu head=%zu aligned_len=%zu",
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offset, len, head_pad, aligned_len);
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}
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uint8_t *aligned_buf = (uint8_t *)malloc(aligned_len);
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if (!aligned_buf) {
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DEBUG_ERR("OTA", "flashWriteChunk malloc失败: %zu字节", aligned_len);
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return ESP_ERR_NO_MEM;
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}
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// 读回 head padding
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if (head_pad > 0) {
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esp_err_t err = esp_partition_read(part, aligned_offset, aligned_buf, head_pad);
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if (err != ESP_OK) {
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DEBUG_ERR("OTA", "flashWriteChunk读回head失败: offset=%" PRIu32 " head=%zu err=%s",
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aligned_offset, head_pad, esp_err_to_name(err));
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free(aligned_buf);
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return err;
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}
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}
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// 拷贝实际数据
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memcpy(aligned_buf + head_pad, data, len);
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// 读回 tail padding
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size_t tail_pad = aligned_len - total;
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if (tail_pad > 0) {
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esp_err_t err = esp_partition_read(part, aligned_offset + total, aligned_buf + total, tail_pad);
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if (err != ESP_OK) {
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DEBUG_ERR("OTA", "flashWriteChunk读回tail失败: offset=%" PRIu32 " tail=%zu err=%s",
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aligned_offset + total, tail_pad, esp_err_to_name(err));
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free(aligned_buf);
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return err;
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}
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}
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esp_err_t err = esp_partition_write(part, aligned_offset, aligned_buf, aligned_len);
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free(aligned_buf);
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return err;
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}
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/** @brief 从 gd32_ota 分区读取数据块。 */
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esp_err_t Gd32FlashStore::flashReadChunk(uint32_t offset, uint8_t *data, size_t len)
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{
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const esp_partition_t *part = getPartition();
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if (!part) return ESP_ERR_NOT_FOUND;
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return esp_partition_read(part, offset, data, len);
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}
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/** @brief 擦除 gd32_ota 分区指定范围。 */
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esp_err_t Gd32FlashStore::erasePartition(uint32_t size)
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{
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const esp_partition_t *part = getPartition();
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if (!part) return ESP_ERR_NOT_FOUND;
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if (size > part->size) {
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DEBUG_ERR("OTA", "erasePartition: size=%" PRIu32 " > partition=%" PRIu32, size, part->size);
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return ESP_ERR_INVALID_SIZE;
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}
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// 按扇区擦除并喂狗，避免大块 erase 长时间占住调用任务
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uint32_t done = 0;
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while (done < size) {
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uint32_t chunk = kFlashSectorSize;
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if (done + chunk > size) {
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chunk = size - done;
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}
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esp_err_t err = esp_partition_erase_range(part, done, chunk);
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if (err != ESP_OK) {
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return err;
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}
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done += chunk;
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if (done > m_erasedUpTo) {
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m_erasedUpTo = done;
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}
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(void)esp_task_wdt_reset();
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}
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return ESP_OK;
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}
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// ============================================================
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// NVS 元数据持久化
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// ============================================================
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/** @brief 已持锁版本：从 NVS 加载 OTA 元数据，命名空间不存在时返回全零结构。 */
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esp_err_t Gd32FlashStore::metaLoadLocked(ota_meta_t *meta)
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{
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if (!meta) return ESP_ERR_INVALID_ARG;
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memset(meta, 0, sizeof(ota_meta_t));
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nvs_handle_t handle;
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esp_err_t err = nvs_open(OTA_META_NVS_NAMESPACE, NVS_READONLY, &handle);
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if (err != ESP_OK) {
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// 区分 nvs_open 失败原因，不再一律当 OK。
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// ESP_ERR_NVS_NOT_FOUND = 命名空间不存在（首次使用/被擦除），视为空元数据，保持兼容。
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// 其他错误（NVS 未初始化/分区丢失/损坏等）返回真实错误码，
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// 避免掩盖底层故障导致调用方误判为"空元数据"继续执行。
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if (err == ESP_ERR_NVS_NOT_FOUND) {
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return ESP_OK;
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}
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DEBUG_WARN("OTA", "metaLoad nvs_open 失败（非 NOT_FOUND）: %s", esp_err_to_name(err));
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return err;
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}
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uint32_t val = 0;
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if (nvs_get_u32(handle, "total_size", &val) == ESP_OK) meta->total_size = val;
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if (nvs_get_u32(handle, "stored_size", &val) == ESP_OK) meta->stored_size = val;
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if (nvs_get_u32(handle, "last_seq", &val) == ESP_OK) meta->last_seq = val;
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size_t sha_len = sizeof(meta->checksum);
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if (nvs_get_blob(handle, "checksum", meta->checksum, &sha_len) == ESP_OK && sha_len == sizeof(meta->checksum)) {
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} else {
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memset(meta->checksum, 0, sizeof(meta->checksum));
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}
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nvs_close(handle);
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return ESP_OK;
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}
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/** @brief 从 NVS 加载 OTA 元数据（加锁包装）。 */
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esp_err_t Gd32FlashStore::metaLoad(ota_meta_t *meta)
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{
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if (!meta) return ESP_ERR_INVALID_ARG;
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bool locked = lockNvs(kNvsLockTimeoutMs);
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if (!locked) {
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// 加锁失败不能跳过锁直接访问 NVS，清零输出并返回超时
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memset(meta, 0, sizeof(ota_meta_t));
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DEBUG_WARN("OTA", "metaLoad 加锁超时");
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return ESP_ERR_TIMEOUT;
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}
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esp_err_t err = metaLoadLocked(meta);
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unlockNvs(true);
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return err;
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}
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/** @brief 已持锁版本：将 OTA 元数据写入 NVS。 */
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esp_err_t Gd32FlashStore::metaSaveLocked(const ota_meta_t *meta)
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{
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if (!meta) return ESP_ERR_INVALID_ARG;
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nvs_handle_t handle;
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esp_err_t err = nvs_open(OTA_META_NVS_NAMESPACE, NVS_READWRITE, &handle);
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if (err != ESP_OK) {
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DEBUG_ERR("OTA", "无法打开 NVS 写入: %s", esp_err_to_name(err));
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return err;
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}
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nvs_set_u32(handle, "total_size", meta->total_size);
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nvs_set_u32(handle, "stored_size", meta->stored_size);
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nvs_set_u32(handle, "last_seq", meta->last_seq);
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nvs_set_blob(handle, "checksum", meta->checksum, sizeof(meta->checksum));
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err = nvs_commit(handle);
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nvs_close(handle);
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if (err != ESP_OK) {
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DEBUG_ERR("OTA", "NVS commit 失败: %s", esp_err_to_name(err));
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}
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return err;
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}
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/** @brief 将 OTA 元数据写入 NVS（加锁包装）。 */
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esp_err_t Gd32FlashStore::metaSave(const ota_meta_t *meta)
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{
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if (!meta) return ESP_ERR_INVALID_ARG;
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bool locked = lockNvs(kNvsLockTimeoutMs);
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if (!locked) {
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DEBUG_WARN("OTA", "metaSave 加锁超时");
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return ESP_ERR_TIMEOUT;
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}
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esp_err_t err = metaSaveLocked(meta);
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unlockNvs(true);
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return err;
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}
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/**
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* @brief 传输过程中更新元数据的 stored_size 和 last_seq 字段。
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* 整个读-改-写过程持锁，避免并发 metaUpdate 丢失更新。
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* 内部调用已持锁的 metaLoadLocked/metaSaveLocked，不再经公开方法重复加锁。
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*/
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esp_err_t Gd32FlashStore::metaUpdate(uint32_t stored_size, uint32_t last_seq)
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{
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bool locked = lockNvs(kNvsLockTimeoutMs);
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if (!locked) {
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DEBUG_WARN("OTA", "metaUpdate 加锁超时");
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return ESP_ERR_TIMEOUT;
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}
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ota_meta_t meta;
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esp_err_t err = metaLoadLocked(&meta);
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if (err == ESP_OK) {
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meta.stored_size = stored_size;
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meta.last_seq = last_seq;
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err = metaSaveLocked(&meta);
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}
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unlockNvs(true);
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return err;
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}
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/** @brief OTA 完成或中止时清除元数据（全零写入）。 */
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esp_err_t Gd32FlashStore::metaClear()
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{
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DEBUG_DBG("OTA", "清除 OTA 元数据");
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bool locked = lockNvs(kNvsLockTimeoutMs);
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if (!locked) {
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DEBUG_WARN("OTA", "metaClear 加锁超时");
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return ESP_ERR_TIMEOUT;
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}
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ota_meta_t meta = {};
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esp_err_t err = metaSaveLocked(&meta);
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unlockNvs(true);
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return err;
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}
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// ============================================================
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// SHA-256 校验
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// ============================================================
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/** @brief 从 gd32_ota 分区读取固件并计算 SHA-256，输出 32 字节哈希。 */
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esp_err_t Gd32FlashStore::computeFlashSha256(uint8_t out_sha256[32])
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{
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if (!out_sha256) return ESP_ERR_INVALID_ARG;
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ota_meta_t meta;
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esp_err_t err = metaLoad(&meta);
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if (err != ESP_OK || meta.total_size == 0) {
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DEBUG_ERR("OTA", "computeSha256: 元数据无效");
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return ESP_ERR_INVALID_STATE;
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}
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/* static context：OTA 串行；勿放 httpd 栈（上传 100% 后 SHA 易栈溢出） */
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static mbedtls_sha256_context s_sha_ctx;
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mbedtls_sha256_init(&s_sha_ctx);
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if (mbedtls_sha256_starts(&s_sha_ctx, 0) != 0) {
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mbedtls_sha256_free(&s_sha_ctx);
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return ESP_FAIL;
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}
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static constexpr size_t kChunkSize = 1024;
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uint8_t *buf = (uint8_t *)malloc(kChunkSize);
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if (!buf) {
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mbedtls_sha256_free(&s_sha_ctx);
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return ESP_ERR_NO_MEM;
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}
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uint32_t remaining = meta.total_size;
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uint32_t offset = 0;
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uint32_t wdt_chunk = 0;
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while (remaining > 0) {
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size_t to_read = (remaining > kChunkSize) ? kChunkSize : remaining;
|
||
err = flashReadChunk(offset, buf, to_read);
|
||
if (err != ESP_OK) {
|
||
DEBUG_ERR("OTA", "computeSha256: Flash 读取失败 offset=%" PRIu32, offset);
|
||
free(buf);
|
||
mbedtls_sha256_free(&s_sha_ctx);
|
||
return err;
|
||
}
|
||
if (mbedtls_sha256_update(&s_sha_ctx, buf, to_read) != 0) {
|
||
free(buf);
|
||
mbedtls_sha256_free(&s_sha_ctx);
|
||
return ESP_FAIL;
|
||
}
|
||
offset += to_read;
|
||
remaining -= to_read;
|
||
if ((++wdt_chunk & 0x0FU) == 0U) {
|
||
(void)esp_task_wdt_reset();
|
||
taskYIELD();
|
||
}
|
||
}
|
||
|
||
free(buf);
|
||
int ret = mbedtls_sha256_finish(&s_sha_ctx, out_sha256);
|
||
mbedtls_sha256_free(&s_sha_ctx);
|
||
return (ret == 0) ? ESP_OK : ESP_FAIL;
|
||
}
|
||
|
||
/** @brief 固件接收完毕后计算 SHA-256 并写入 meta.checksum。 */
|
||
esp_err_t Gd32FlashStore::metaFinalizeChecksum()
|
||
{
|
||
ota_meta_t meta;
|
||
esp_err_t err = metaLoad(&meta);
|
||
if (err != ESP_OK) return err;
|
||
|
||
if (meta.total_size == 0 || meta.stored_size < meta.total_size) {
|
||
DEBUG_ERR("OTA", "metaFinalize: 固件不完整 stored=%" PRIu32 " total=%" PRIu32,
|
||
meta.stored_size, meta.total_size);
|
||
return ESP_ERR_INVALID_STATE;
|
||
}
|
||
|
||
err = computeFlashSha256(meta.checksum);
|
||
if (err != ESP_OK) {
|
||
DEBUG_ERR("OTA", "metaFinalize: SHA-256 计算失败");
|
||
return err;
|
||
}
|
||
|
||
char hex[65] = {0};
|
||
for (int i = 0; i < 32; ++i)
|
||
snprintf(&hex[i * 2], sizeof(hex) - i * 2, "%02X", meta.checksum[i]);
|
||
DEBUG_INFO("OTA", "固件 SHA-256: %s", hex);
|
||
|
||
return metaSave(&meta);
|
||
}
|
||
|
||
/** @brief 校验固件完整性：重新计算 Flash SHA-256 并与 meta.checksum 比对。 */
|
||
esp_err_t Gd32FlashStore::metaVerifyChecksum()
|
||
{
|
||
ota_meta_t meta;
|
||
esp_err_t err = metaLoad(&meta);
|
||
if (err != ESP_OK) return err;
|
||
|
||
// 检查 checksum 是否全零（未计算过）
|
||
// 注意：返回 INVALID_STATE 而非 ESP_OK，由调用方决定是否容忍。
|
||
// 若直接返回 OK 跳过校验，meta 被意外清零时会掩盖固件损坏。
|
||
static const uint8_t kZeroSha[32] = {0};
|
||
if (memcmp(meta.checksum, kZeroSha, sizeof(meta.checksum)) == 0) {
|
||
DEBUG_WARN("OTA", "metaVerify: checksum 未计算，返回 INVALID_STATE（调用方决定容忍或失败）");
|
||
return ESP_ERR_INVALID_STATE;
|
||
}
|
||
|
||
uint8_t computed[32] = {0};
|
||
err = computeFlashSha256(computed);
|
||
if (err != ESP_OK) {
|
||
DEBUG_ERR("OTA", "metaVerify: SHA-256 计算失败");
|
||
return err;
|
||
}
|
||
|
||
if (memcmp(computed, meta.checksum, 32) != 0) {
|
||
char hex_stored[65] = {0}, hex_computed[65] = {0};
|
||
for (int i = 0; i < 32; ++i) {
|
||
snprintf(&hex_stored[i * 2], sizeof(hex_stored) - i * 2, "%02X", meta.checksum[i]);
|
||
snprintf(&hex_computed[i * 2], sizeof(hex_computed) - i * 2, "%02X", computed[i]);
|
||
}
|
||
DEBUG_ERR("OTA", "固件完整性校验失败!");
|
||
DEBUG_ERR("OTA", " 存储 SHA-256: %s", hex_stored);
|
||
DEBUG_ERR("OTA", " 计算 SHA-256: %s", hex_computed);
|
||
return ESP_ERR_INVALID_CRC;
|
||
}
|
||
|
||
DEBUG_INFO("OTA", "固件完整性校验通过 (SHA-256 匹配)");
|
||
return ESP_OK;
|
||
}
|
||
|
||
esp_err_t Gd32FlashStore::verifyFrontendSha(const uint8_t frontend_sha32[32],
|
||
uint8_t out_device_sha[32])
|
||
{
|
||
if (!frontend_sha32) return ESP_ERR_INVALID_ARG;
|
||
|
||
// 1) 计算设备端 SHA 并写入 meta.checksum
|
||
esp_err_t err = metaFinalizeChecksum();
|
||
if (err != ESP_OK) return err;
|
||
|
||
// 2) 读回 meta 拿到 checksum
|
||
ota_meta_t meta;
|
||
err = metaLoad(&meta);
|
||
if (err != ESP_OK) return err;
|
||
if (out_device_sha) memcpy(out_device_sha, meta.checksum, 32);
|
||
|
||
// 3) 比对前端 SHA 与设备端 SHA
|
||
if (memcmp(meta.checksum, frontend_sha32, 32) != 0) {
|
||
return ESP_ERR_INVALID_CRC;
|
||
}
|
||
return ESP_OK;
|
||
}
|