feat(bootloader): 实现APP延迟启动模式支持OTA请求检测
当APP可用但未激活时，系统现在会进入延迟启动模式，在指定时间内 监听CAN总线上的OTA请求。如果在此期间收到OTA请求，则进入OTA模式； 否则超时后自动跳转到APP。 新增配置参数APP_DELAY_BOOT_TIME用于设置延迟启动时间，默认为10秒。 在延迟期间，系统持续进行CAN通信检查和OTA心跳消息发送，确保能够 及时响应OTA更新请求。 此功能增强了系统的OTA更新灵活性，允许在启动过程中动态决定 是否进行固件更新而不是强制进入OTA模式。
This commit is contained in:
+35
-4
@@ -34,14 +34,45 @@ void BootloaderSystem::run() {
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// 正常模式：跳转到APP
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ota.jumpToApplication();
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} else if (app_check == OTA_AVAL and
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app_enable == OTA_NOT_AVAL) { // 手动禁用APP，进入OTA模式
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app_enable == OTA_NOT_AVAL) { // APP可用但未激活，延迟进入APP
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#if DEBUG_OTA
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printf("OTA Mode1\r\n");
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printf("Delay Boot Mode: APP available but not enabled, jumping in %d ms...\r\n", APP_DELAY_BOOT_TIME);
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#endif
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// OTA模式
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while (1) {
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// 延迟启动模式：倒计时期间监听CAN，收到OTA请求则进入OTA模式
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u32 delay_count = 0;
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bool ota_requested = false;
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while (delay_count < APP_DELAY_BOOT_TIME) {
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// 检查CAN通信并处理接收到的消息
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CAN0_transmiter.communication_check();
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// 调用ota.process()发送心跳消息（IDAEL状态下会发送CANFD_OTA_WAIT_ID）
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ota.process();
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// 检查是否收到OTA请求
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if (ota.isActive()) {
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ota_requested = true;
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break;
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}
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delay_count+=10;
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}
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if (ota_requested) {
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#if DEBUG_OTA
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printf("OTA request received during delay, entering OTA mode...\r\n");
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#endif
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// 收到OTA请求，进入OTA模式
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while (1) {
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CAN0_transmiter.communication_check();
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ota.process();
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}
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} else {
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#if DEBUG_OTA
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printf("Delay timeout, jumping to APP...\r\n");
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#endif
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// 超时未收到OTA请求，跳转APP
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ota.jumpToApplication();
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}
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} else { // APP无效，确认backup
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volatile u32 *flash_ptr = (volatile u32 *)n_APP_BACKUP_AVAL_ADDR;
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@@ -61,6 +61,7 @@ constexpr uint8_t K_master[16] = {0x01, 0x23, 0x45, 0x67, 0x89, 0xAB,
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0x76, 0x54, 0x32, 0x10}; // 预置主密钥
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// 其他
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constexpr u32 OTA_TIMEOUT = 10000;
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constexpr u32 APP_DELAY_BOOT_TIME = 10000; // APP延迟启动时间（毫秒），可配置
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constexpr u8 SIZE_U32 = sizeof(uint32_t);
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constexpr u8 SIZE_FLOAT = sizeof(float);
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#endif
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Binary file not shown.
@@ -6,9 +6,9 @@ Memory Map of the image
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Image Entry point : 0x08000165
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Load Region LR_ROM0 (Base: 0x08000000, Size: 0x00005148, Max: 0x08006000, ABSOLUTE)
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Load Region LR_ROM0 (Base: 0x08000000, Size: 0x00005180, Max: 0x08006000, ABSOLUTE)
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Execution Region ER_ROM0 (Base: 0x08000000, Size: 0x00005050, Max: 0x08006000, ABSOLUTE)
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Execution Region ER_ROM0 (Base: 0x08000000, Size: 0x00005088, Max: 0x08006000, ABSOLUTE)
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Base Addr Size Type Attr Idx E Section Name Object
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@@ -68,121 +68,121 @@ Memory Map of the image
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|
||||
0x080040e0 0x0000002c Code RO 86 .text.fputc initial.o
|
||||
0x0800410c 0x00000098 Code RO 216 .text.gd_eval_com_init gd32c10x_eval.o
|
||||
0x080041a4 0x00000004 Code RO 571 .text.gpio_bit_reset gd32c10x_gpio.o
|
||||
0x080041a8 0x00000048 Code RO 587 .text.gpio_exti_source_select gd32c10x_gpio.o
|
||||
0x080041f0 0x000002c0 Code RO 567 .text.gpio_init gd32c10x_gpio.o
|
||||
0x080044b0 0x00000080 Code RO 585 .text.gpio_pin_remap_config gd32c10x_gpio.o
|
||||
0x08004530 0x00000022 Code RO 8 .text.main main.o
|
||||
0x08004552 0x00000002 PAD
|
||||
0x08004554 0x00000060 Code RO 614 .text.nvic_irq_enable gd32c10x_misc.o
|
||||
0x080045b4 0x0000001c Code RO 618 .text.nvic_vector_table_set gd32c10x_misc.o
|
||||
0x080045d0 0x000000c6 Code RO 647 .text.pmu_to_deepsleepmode gd32c10x_pmu.o
|
||||
0x08004696 0x00000002 PAD
|
||||
0x08004698 0x00000012 Code RO 736 .text.rcu_all_reset_flag_clear gd32c10x_rcu.o
|
||||
0x080046aa 0x00000002 PAD
|
||||
0x080046ac 0x0000010c Code RO 764 .text.rcu_clock_freq_get gd32c10x_rcu.o
|
||||
0x080047b8 0x00000010 Code RO 762 .text.rcu_deepsleep_voltage_set gd32c10x_rcu.o
|
||||
0x080047c8 0x00000020 Code RO 684 .text.rcu_periph_clock_disable gd32c10x_rcu.o
|
||||
0x080047e8 0x0000001e Code RO 682 .text.rcu_periph_clock_enable gd32c10x_rcu.o
|
||||
0x08004806 0x00000002 PAD
|
||||
0x08004808 0x00000020 Code RO 692 .text.rcu_periph_reset_disable gd32c10x_rcu.o
|
||||
0x08004828 0x0000001e Code RO 690 .text.rcu_periph_reset_enable gd32c10x_rcu.o
|
||||
0x08004846 0x00000002 PAD
|
||||
0x08004848 0x00000014 Code RO 698 .text.rcu_system_clock_source_config gd32c10x_rcu.o
|
||||
0x0800485c 0x00000002 Code RO 91 .text.scanAppFlashContent initial.o
|
||||
0x0800485e 0x00000002 PAD
|
||||
0x08004860 0x00000020 Code RO 70 .text.system_soft_reset systick.o
|
||||
0x08004880 0x00000048 Code RO 62 .text.systick_config systick.o
|
||||
0x080048c8 0x00000006 Code RO 1333 .text.unlikely.abort_message libcppabi_wx.l(abort_message.cpp.o)
|
||||
0x080048ce 0x00000002 PAD
|
||||
0x080048d0 0x0000006a Code RO 780 .text.usart_baudrate_set gd32c10x_usart.o
|
||||
0x0800493a 0x00000002 PAD
|
||||
0x0800493c 0x00000008 Code RO 806 .text.usart_data_transmit gd32c10x_usart.o
|
||||
0x08004944 0x0000007a Code RO 778 .text.usart_deinit gd32c10x_usart.o
|
||||
0x080049be 0x00000002 PAD
|
||||
0x080049c0 0x0000000a Code RO 788 .text.usart_enable gd32c10x_usart.o
|
||||
0x080049ca 0x00000002 PAD
|
||||
0x080049cc 0x00000010 Code RO 868 .text.usart_flag_get gd32c10x_usart.o
|
||||
0x080049dc 0x00000014 Code RO 794 .text.usart_receive_config gd32c10x_usart.o
|
||||
0x080049f0 0x00000014 Code RO 792 .text.usart_transmit_config gd32c10x_usart.o
|
||||
0x08004a04 0x0000000e Code RO 1925 i.__scatterload_copy mc_w.l(handlers.o)
|
||||
0x08004a12 0x00000002 Code RO 1926 i.__scatterload_null mc_w.l(handlers.o)
|
||||
0x08004a14 0x0000000e Code RO 1927 i.__scatterload_zeroinit mc_w.l(handlers.o)
|
||||
0x08004a22 0x00000002 PAD
|
||||
0x08004a24 0x00000024 Code RO 1059 i.puts mc_w.l(puts.o)
|
||||
0x08004a48 0x00000100 Data RO 50 .rodata._ZL4sbox aes128.o
|
||||
0x08004b48 0x00000010 Data RO 143 .rodata._ZL8K_master OTA.o
|
||||
0x08004b58 0x00000400 Data RO 145 .rodata._ZZ24calculate_crc32_with_keyPKhS0_PhE9crc_table OTA.o
|
||||
0x08004f58 0x00000008 Data RO 766 .rodata.cst8 gd32c10x_rcu.o
|
||||
0x08004f60 0x00000007 Data RO 295 .rodata.g_can_fdlength_table gd32c10x_can.o
|
||||
0x08004f67 0x00000100 Data RO 49 .rodata.inv_sbox aes128.o
|
||||
0x08005067 0x00000001 PAD
|
||||
0x08005068 0x00000020 Data RO 1924 Region$$Table anon$$obj.o
|
||||
|
||||
|
||||
Execution Region RW_NOINIT (Base: 0x20000000, Size: 0x00000000, Max: 0x00007200, ABSOLUTE, UNINIT)
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
+34
-34
@@ -9,39 +9,39 @@
|
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146 191 7946065470812292 G:/Robot_v2/BOOT/tmp/Robot_V2.Release+GD32C103CB/src/Robot_V2.Release+GD32C103CB-stamp/Robot_V2.Release+GD32C103CB-patch b54a62060b325746
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||||
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||||
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||||
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||||
627 811 7988446010086688 Robot_V2.Release+GD32C103CB/src/Robot_V2.Release+GD32C103CB-stamp/Robot_V2.Release+GD32C103CB-database 206b709820348205
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11 627 7988446003916529 G:/Robot_v2/BOOT/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf 3e66127c6826d2e9
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||||
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||||
11 627 7988446003916529 G:/Robot_v2/BOOT/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf.map 3e66127c6826d2e9
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||||
11 627 7988446003916529 G:/Robot_v2/BOOT/out/Robot_V2/GD32C103CB/Release/compile_commands.json 3e66127c6826d2e9
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||||
11 627 7988446003916529 G:/Robot_v2/BOOT/tmp/Robot_V2.Release+GD32C103CB/src/Robot_V2.Release+GD32C103CB-stamp/Robot_V2.Release+GD32C103CB-build 3e66127c6826d2e9
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||||
859 939 7988446012985264 G:/Robot_v2/BOOT/tmp/Robot_V2.Release+GD32C103CB/src/Robot_V2.Release+GD32C103CB-stamp/Robot_V2.Release+GD32C103CB-test 57275ea8426097a0
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||||
939 1053 7988446014120216 Robot_V2.Release+GD32C103CB/src/Robot_V2.Release+GD32C103CB-stamp/Robot_V2.Release+GD32C103CB-done 39cd38b08f3cacb9
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
8352 8400 7946065552879568 G:/Robot_v2/BOOT/tmp/Robot_V2.Release+GD32C103CB/src/Robot_V2.Release+GD32C103CB-stamp/Robot_V2.Release+GD32C103CB-executes 9db191f9941f966f
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
778 881 7988447937944999 G:/Robot_v2/BOOT/tmp/Robot_V2.Release+GD32C103CB/src/Robot_V2.Release+GD32C103CB-stamp/Robot_V2.Release+GD32C103CB-test 57275ea8426097a0
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
379 464 7988489695995007 G:/Robot_v2/BOOT/tmp/Robot_V2.Release+GD32C103CB/src/Robot_V2.Release+GD32C103CB-stamp/Robot_V2.Release+GD32C103CB-test 57275ea8426097a0
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||||
Binary file not shown.
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||||
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