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Esp32 Bootloader updates from comments (#719)
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* Esp32 Bootloader updates from comments.

* Removed nesting and ESP_ERROR_CHECK_WITHOUT_ABORT.

Removal of ESP_ERROR_CHECK_WITHOUT_ABORT is possible since the error cases will print the error code / name already.
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@atanisoft
atanisoft authored Aug 4, 2023
1 parent 49b306f commit fb0762d
Showing 1 changed file with 60 additions and 36 deletions.
96 changes: 60 additions & 36 deletions src/freertos_drivers/esp32/Esp32BootloaderHal.hxx
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Original file line number Diff line number Diff line change
Expand Up @@ -56,15 +56,15 @@

// Enable streaming support for the bootloader
#define BOOTLOADER_STREAM
// Set the buffer size to half the sector size to minimize the flash writes.

#ifndef WRITE_BUFFER_SIZE
// Set the buffer size to half of the sector size to minimize the flash writes
#define WRITE_BUFFER_SIZE (CONFIG_WL_SECTOR_SIZE / 2)
#endif // WRITE_BUFFER_SIZE

#include <driver/twai.h>

#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(4,4,0)
#include <esp_app_format.h>
#include <esp_chip_info.h>
#endif // IDF v4.4+

#include <esp_ota_ops.h>
#if defined(CONFIG_IDF_TARGET_ESP32)
#include <esp32/rom/rtc.h>
Expand All @@ -77,7 +77,10 @@
#else
#error Unknown/Unsupported ESP32 variant.
#endif
#include <stdint.h>

#include "openlcb/Bootloader.hxx"
#include "openlcb/Defs.hxx"
#include "utils/constants.hxx"
#include "utils/Hub.hxx"

Expand Down Expand Up @@ -119,9 +122,11 @@ struct Esp32BootloaderState
/// Bootloader configuration data.
static Esp32BootloaderState esp_bl_state;

/// Maximum time to wait for a TWAI frame to be received or transmitted before
/// giving up.
static constexpr BaseType_t MAX_TWAI_WAIT = pdMS_TO_TICKS(250);
/// Maximum time to wait for a TWAI frame to be received before giving up.
static constexpr BaseType_t MAX_TWAI_WAIT_RX = pdMS_TO_TICKS(250);

/// Maximum time to wait for a TWAI frame to be transmitted before giving up.
static constexpr BaseType_t MAX_TWAI_WAIT_TX = pdMS_TO_TICKS(0);

/// Flag used to indicate that we have been requested to enter the bootloader
/// instead of normal node operations. Note that this value will not be
Expand All @@ -131,7 +136,7 @@ static uint32_t RTC_NOINIT_ATTR bootloader_request;

/// Value to be assigned to @ref bootloader_request when the bootloader should
/// run instead of normal node operations.
static constexpr uint32_t RTC_BOOL_TRUE = 1;
static constexpr uint32_t RTC_BOOL_TRUE = 0x92e01a42;

/// Default value to assign to @ref bootloader_request when the ESP32-C3 starts
/// the first time or when the bootloader should not be run.
Expand Down Expand Up @@ -221,7 +226,7 @@ bool try_send_can_frame(const struct can_frame &frame)
tx_msg.extd = frame.can_eff;
tx_msg.rtr = frame.can_rtr;
memcpy(tx_msg.data, frame.data, frame.can_dlc);
if (twai_transmit(&tx_msg, MAX_TWAI_WAIT) == ESP_OK)
if (twai_transmit(&tx_msg, MAX_TWAI_WAIT_TX) == ESP_OK)
{
LOG(BOOTLOADER_TWAI_LOG_LEVEL, "[Bootloader] CAN_TX");
return true;
Expand All @@ -242,8 +247,9 @@ bool try_send_can_frame(const struct can_frame &frame)
void get_flash_boundaries(const void **flash_min, const void **flash_max,
const struct app_header **app_header)
{
LOG(BOOTLOADER_LOG_LEVEL, "[Bootloader] get_flash_boundaries(%d,%d)", 0,
esp_bl_state.app_header.app_size);
LOG(BOOTLOADER_LOG_LEVEL,
"[Bootloader] get_flash_boundaries(%d, %" PRIu32 ")",
0, esp_bl_state.app_header.app_size);
*((uint32_t *)flash_min) = 0;
*((uint32_t *)flash_max) = esp_bl_state.app_header.app_size;
*app_header = &esp_bl_state.app_header;
Expand All @@ -261,7 +267,8 @@ void get_flash_page_info(
value &= ~(CONFIG_WL_SECTOR_SIZE - 1);
*page_start = (const void *)value;
*page_length_bytes = CONFIG_WL_SECTOR_SIZE;
LOG(BOOTLOADER_LOG_LEVEL, "[Bootloader] get_flash_page_info(%d, %d)",
LOG(BOOTLOADER_LOG_LEVEL,
"[Bootloader] get_flash_page_info(%" PRIu32 ", %" PRIu32")",
value, *page_length_bytes);
}

Expand All @@ -274,7 +281,8 @@ void get_flash_page_info(
void erase_flash_page(const void *address)
{
// NO OP as this is handled automatically as part of esp_ota_write.
LOG(BOOTLOADER_LOG_LEVEL, "[Bootloader] Erase: %d", (uint32_t)address);
LOG(BOOTLOADER_LOG_LEVEL, "[Bootloader] Erase: %" PRIu32,
(uint32_t)address);
}

/// Callback from the bootloader to write to flash.
Expand All @@ -292,7 +300,8 @@ void erase_flash_page(const void *address)
void write_flash(const void *address, const void *data, uint32_t size_bytes)
{
uint32_t addr = (uint32_t)address;
LOG(BOOTLOADER_LOG_LEVEL, "[Bootloader] Write: %d, %d", addr, size_bytes);
LOG(VERBOSE, "[Bootloader] Write: %" PRIu32 ", %" PRIu32, addr,
size_bytes);

// The first part of the received binary should have the image header,
// segment header and app description. These are used as a first pass
Expand Down Expand Up @@ -366,6 +375,21 @@ void write_flash(const void *address, const void *data, uint32_t size_bytes)
// reset the RTC persistent variable to not enter bootloader on
// next restart.
bootloader_request = RTC_BOOL_FALSE;

// cleanup the OTA handle since we are aborting.
if (esp_bl_state.ota_handle != 0)
{
// abort the OTA operation, we do not validate the return code
// other than logging the error (if any) as this method only
// cleans up the ota_handle reference within the OTA system and
// does not impact future usage.
ESP_ERROR_CHECK_WITHOUT_ABORT(
esp_ota_abort(esp_bl_state.ota_handle));
}

// invalidate ota_handle in case the esp32 does not reboot before
// the next time address zero comes up again.
esp_bl_state.ota_handle = 0;
esp_restart();
}
}
Expand All @@ -380,32 +404,31 @@ void write_flash(const void *address, const void *data, uint32_t size_bytes)
/// Callback from the bootloader to indicate that the full firmware file has
/// been received.
///
/// @return zero if the firmware has been received and updated to be used for
/// the next startup, otherwise non-zero and an error will be printed to the
/// console.
/// @return `ERROR_CODE_OK` (0x0000) if the firmware has been received and
/// updated to be used for the next startup, otherwise `ERROR_FIRMWARE_CSUM`
/// (0x2088) indicating there was a failure that may be recoverable by
/// retrying.
uint16_t flash_complete(void)
{
LOG(INFO, "[Bootloader] Finalizing firmware update");
esp_err_t res =
ESP_ERROR_CHECK_WITHOUT_ABORT(esp_ota_end(esp_bl_state.ota_handle));
if (res == ESP_OK)
esp_err_t res = esp_ota_end(esp_bl_state.ota_handle);
if (res != ESP_OK)
{
LOG(INFO,
"[Bootloader] Firmware appears valid, updating the next boot "
"partition to %s.", esp_bl_state.target->label);
res =
ESP_ERROR_CHECK_WITHOUT_ABORT(
esp_ota_set_boot_partition(esp_bl_state.target));
if (res != ESP_OK)
{
LOG_ERROR("[Bootloader] Failed to update the boot partition!");
}
LOG_ERROR("[Bootloader] Firmware update failed: %s (%04x), aborting!",
esp_err_to_name(res), res);
return openlcb::Defs::ERROR_FIRMWARE_CSUM;
}
else if (res == ESP_ERR_OTA_VALIDATE_FAILED)
LOG(INFO,
"[Bootloader] Firmware appears valid, updating the next boot "
"partition to %s.", esp_bl_state.target->label);
res = esp_ota_set_boot_partition(esp_bl_state.target);
if (res != ESP_OK)
{
LOG_ERROR("[Bootloader] Firmware image failed validation, aborting!");
LOG_ERROR("[Bootloader] Failed to update the boot partition %s (%04x)!",
esp_err_to_name(res), res);
return openlcb::Defs::ERROR_FIRMWARE_CSUM;
}
return res != ESP_OK;
return openlcb::Defs::ERROR_CODE_OK;
}

/// Callback from the bootloader to calculate the checksum of a data block.
Expand All @@ -418,7 +441,7 @@ uint16_t flash_complete(void)
/// value to zero.
void checksum_data(const void* data, uint32_t size, uint32_t* checksum)
{
LOG(BOOTLOADER_LOG_LEVEL, "[Bootloader] checksum_data(%d)", size);
LOG(BOOTLOADER_LOG_LEVEL, "[Bootloader] checksum_data(%" PRIu32 ")", size);
// Force the checksum to be zero since it is not currently used on the
// ESP32. The startup of the node may validate the built-in SHA256 and
// fallback to previous application binary if the SHA256 validation fails.
Expand Down Expand Up @@ -509,7 +532,8 @@ void esp32_bootloader_run(uint64_t id, gpio_num_t rx, gpio_num_t tx,
esp_bl_state.chip_id = ESP_CHIP_ID_ESP32C3;
break;
default:
LOG(FATAL, "[Bootloader] Unknown/Unsupported Chip ID: %x", chip_info.model);
LOG(FATAL, "[Bootloader] Unknown/Unsupported Chip ID: %x",
chip_info.model);
}

// Initialize the app header details based on the currently running
Expand Down

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