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pico/bootloader/bootloader.c
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#include <stdio.h>
#include <string.h>
#include "pico/stdlib.h"
#include "pico/cyw43_arch.h"
#include "pico/sha256.h"
#include "hardware/flash.h"
#include "hardware/sync.h"
#include "hardware/structs/scb.h"
#include "lwip/pbuf.h"
#include "lwip/tcp.h"
// ---- OTA-Wire-Protokoll (siehe server/server.py) ----
#define OTA_MAGIC 0xC0FFEE01u
#define OTA_STATUS_NONE 0x00u
#define OTA_STATUS_UPDATE 0x01u
#define SERVER_IP "192.168.161.25"
#define SERVER_PORT 9000
// ---- Flash-Layout ----
#define APP_BASE 0x10080000u
#define APP_FLASH_OFFSET (APP_BASE - XIP_BASE) // = 0x80000, fuer flash_range_*
#define APP_SLOT_SIZE (3584u * 1024u) // 3.5 MB, muss zum Server passen
#define SHA256_BYTES 32
#ifndef PICO_ID
#error "Bitte PICO_ID per -DPICO_ID=<n> setzen"
#endif
// ---------- Hilfen ----------
static void print_hash(const char *label, const uint8_t *hash) {
printf("%s ", label);
for (int i = 0; i < SHA256_BYTES; i++) {
printf("%02x", hash[i]);
}
printf("\n");
}
static bool app_present(uint32_t base) {
uint32_t sp = *(volatile uint32_t *)base;
return sp > 0x20000000u && sp <= 0x20082000u;
}
__attribute__((noreturn))
static void jump_to_app(uint32_t base) {
uint32_t sp = *(volatile uint32_t *)base;
uint32_t reset = *(volatile uint32_t *)(base + 4u);
cyw43_arch_deinit();
__asm volatile ("cpsid i" ::: "memory");
scb_hw->vtor = base;
__asm volatile ("dsb 0xf" ::: "memory");
__asm volatile ("isb 0xf" ::: "memory");
__asm volatile (
"msr msp, %0\n\t"
"bx %1\n"
:: "r" (sp), "r" (reset)
: "memory"
);
__builtin_unreachable();
}
__attribute__((noreturn))
static void halt_with_led(void) {
cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, true);
while (true) {
tight_loop_contents();
}
}
// ---------- Flash-Operationen mit IRQ-Maskierung ----------
static void flash_erase_sector(uint32_t flash_offset) {
uint32_t irq = save_and_disable_interrupts();
flash_range_erase(flash_offset, FLASH_SECTOR_SIZE);
restore_interrupts(irq);
}
static void flash_program_page(uint32_t flash_offset, const uint8_t *data) {
uint32_t irq = save_and_disable_interrupts();
flash_range_program(flash_offset, data, FLASH_PAGE_SIZE);
restore_interrupts(irq);
}
// ---------- App-Slot hashen ----------
static bool hash_app_slot(uint8_t out[SHA256_BYTES]) {
pico_sha256_state_t st;
if (pico_sha256_start_blocking(&st, SHA256_BIG_ENDIAN, true) != PICO_OK) {
printf("pico_sha256_start fehlgeschlagen\n");
return false;
}
pico_sha256_update_blocking(&st, (const uint8_t *)APP_BASE, APP_SLOT_SIZE);
sha256_result_t result;
pico_sha256_finish(&st, &result);
memcpy(out, result.bytes, SHA256_BYTES);
return true;
}
// ---------- OTA-Client ----------
typedef enum {
OTA_PHASE_REQUEST, // Request raus, warte auf Status-Byte
OTA_PHASE_HEADER, // Status=Update gelesen, sammle size + new_hash (36 Byte)
OTA_PHASE_PAYLOAD, // sammle payload (size Byte) — und schreibe ins Flash
OTA_PHASE_DONE,
OTA_PHASE_ERROR,
} ota_phase_t;
typedef struct {
struct tcp_pcb *pcb;
ip_addr_t remote;
ota_phase_t phase;
uint8_t request[40];
// Update-Header
uint32_t expected_size;
uint8_t new_hash[SHA256_BYTES];
uint32_t header_have;
uint8_t header_buf[4 + SHA256_BYTES];
// Payload + Flash
uint32_t payload_have;
uint8_t page_buf[FLASH_PAGE_SIZE];
uint32_t page_filled;
volatile bool done;
bool update_pending;
} ota_t;
static void ota_finish(ota_t *o) {
if (o->pcb) {
tcp_arg(o->pcb, NULL);
tcp_recv(o->pcb, NULL);
tcp_err(o->pcb, NULL);
tcp_close(o->pcb);
o->pcb = NULL;
}
o->done = true;
}
// Schreibt eine voll gefuellte page_buf an den Slot. Erase passiert genau dann,
// wenn das die erste Page eines neuen Sektors ist.
static void flush_page_to_flash(ota_t *o, uint32_t offset_in_slot) {
uint32_t flash_off = APP_FLASH_OFFSET + offset_in_slot;
if ((offset_in_slot % FLASH_SECTOR_SIZE) == 0) {
flash_erase_sector(flash_off);
}
flash_program_page(flash_off, o->page_buf);
}
static void ota_handle_bytes(ota_t *o, const uint8_t *data, uint16_t len) {
uint16_t i = 0;
while (i < len && o->phase != OTA_PHASE_DONE && o->phase != OTA_PHASE_ERROR) {
if (o->phase == OTA_PHASE_REQUEST) {
uint8_t status = data[i++];
printf("<- status=0x%02x\n", status);
if (status == OTA_STATUS_NONE) {
o->phase = OTA_PHASE_DONE;
break;
}
if (status != OTA_STATUS_UPDATE) {
printf("unerwartetes Statusbyte\n");
o->phase = OTA_PHASE_ERROR;
break;
}
o->update_pending = true;
o->phase = OTA_PHASE_HEADER;
o->header_have = 0;
} else if (o->phase == OTA_PHASE_HEADER) {
uint16_t take = (uint16_t)(sizeof(o->header_buf) - o->header_have);
if (take > (uint16_t)(len - i)) take = (uint16_t)(len - i);
memcpy(&o->header_buf[o->header_have], &data[i], take);
o->header_have += take;
i += take;
if (o->header_have == sizeof(o->header_buf)) {
memcpy(&o->expected_size, &o->header_buf[0], 4);
memcpy(o->new_hash, &o->header_buf[4], SHA256_BYTES);
printf("Update-Header: size=%u\n", (unsigned)o->expected_size);
print_hash("new_hash:", o->new_hash);
if (o->expected_size == 0 || o->expected_size > APP_SLOT_SIZE) {
printf("Size ausserhalb gueltigem Bereich\n");
o->phase = OTA_PHASE_ERROR;
break;
}
o->phase = OTA_PHASE_PAYLOAD;
o->payload_have = 0;
o->page_filled = 0;
}
} else if (o->phase == OTA_PHASE_PAYLOAD) {
uint32_t rest_total = o->expected_size - o->payload_have;
uint32_t rest_chunk = (uint32_t)(len - i);
uint32_t free_in_page = FLASH_PAGE_SIZE - o->page_filled;
uint32_t take = rest_chunk;
if (take > rest_total) take = rest_total;
if (take > free_in_page) take = free_in_page;
memcpy(&o->page_buf[o->page_filled], &data[i], take);
o->page_filled += take;
o->payload_have += take;
i += (uint16_t)take;
bool page_done = (o->page_filled == FLASH_PAGE_SIZE);
bool last_byte = (o->payload_have == o->expected_size);
if (page_done || last_byte) {
uint32_t offset_in_slot = o->payload_have - o->page_filled;
if (last_byte && o->page_filled < FLASH_PAGE_SIZE) {
// Letzte Page: mit 0xFF auffuellen, damit der Slot-Hash passt
memset(&o->page_buf[o->page_filled], 0xFF,
FLASH_PAGE_SIZE - o->page_filled);
}
flush_page_to_flash(o, offset_in_slot);
// Fortschritt alle 64 KB als Lebenszeichen
if (((o->payload_have & 0xFFFF) == 0) || last_byte) {
printf(" geschrieben: %u/%u Byte\n",
(unsigned)o->payload_have, (unsigned)o->expected_size);
}
o->page_filled = 0;
if (last_byte) {
o->phase = OTA_PHASE_DONE;
break;
}
}
}
}
}
static err_t on_recv(void *arg, struct tcp_pcb *pcb, struct pbuf *p, err_t err) {
ota_t *o = (ota_t *)arg;
if (!p) {
if (o->phase == OTA_PHASE_PAYLOAD && o->payload_have < o->expected_size) {
printf("Verbindung zu frueh geschlossen (%u/%u)\n",
(unsigned)o->payload_have, (unsigned)o->expected_size);
o->phase = OTA_PHASE_ERROR;
} else if (o->phase != OTA_PHASE_DONE) {
o->phase = OTA_PHASE_DONE;
}
ota_finish(o);
return ERR_OK;
}
struct pbuf *q = p;
while (q) {
ota_handle_bytes(o, (const uint8_t *)q->payload, q->len);
q = q->next;
}
tcp_recved(pcb, p->tot_len);
pbuf_free(p);
if (o->phase == OTA_PHASE_DONE || o->phase == OTA_PHASE_ERROR) {
ota_finish(o);
}
return ERR_OK;
}
static void on_err(void *arg, err_t err) {
ota_t *o = (ota_t *)arg;
printf("TCP-Fehler: %d\n", err);
o->pcb = NULL;
o->phase = OTA_PHASE_ERROR;
o->done = true;
}
static err_t on_connected(void *arg, struct tcp_pcb *pcb, err_t err) {
ota_t *o = (ota_t *)arg;
if (err != ERR_OK) {
printf("connect-callback err=%d\n", err);
o->phase = OTA_PHASE_ERROR;
ota_finish(o);
return err;
}
err_t w = tcp_write(pcb, o->request, sizeof(o->request), TCP_WRITE_FLAG_COPY);
if (w != ERR_OK) {
printf("tcp_write err=%d\n", w);
o->phase = OTA_PHASE_ERROR;
ota_finish(o);
return w;
}
tcp_output(pcb);
return ERR_OK;
}
// Statisch, damit das halbe KB nicht jedesmal auf dem Stack steht.
static ota_t g_ota;
static void run_ota_request(const uint8_t current_hash[SHA256_BYTES],
bool *update_was_received,
uint32_t *received_size,
uint8_t out_new_hash[SHA256_BYTES],
bool *failed) {
*update_was_received = false;
*received_size = 0;
*failed = false;
ota_t *o = &g_ota;
memset(o, 0, sizeof(*o));
if (!ip4addr_aton(SERVER_IP, &o->remote)) {
printf("ungueltige Server-IP\n");
*failed = true;
return;
}
uint32_t magic = OTA_MAGIC;
uint32_t pid = (uint32_t)PICO_ID;
memcpy(&o->request[0], &magic, 4);
memcpy(&o->request[4], &pid, 4);
memcpy(&o->request[8], current_hash, SHA256_BYTES);
o->pcb = tcp_new_ip_type(IP_GET_TYPE(&o->remote));
if (!o->pcb) {
printf("tcp_new fehlgeschlagen\n");
*failed = true;
return;
}
tcp_arg(o->pcb, o);
tcp_recv(o->pcb, on_recv);
tcp_err(o->pcb, on_err);
o->phase = OTA_PHASE_REQUEST;
printf("Verbinde TCP %s:%d\n", SERVER_IP, SERVER_PORT);
cyw43_arch_lwip_begin();
err_t err = tcp_connect(o->pcb, &o->remote, SERVER_PORT, on_connected);
cyw43_arch_lwip_end();
if (err != ERR_OK) {
printf("tcp_connect err=%d\n", err);
ota_finish(o);
*failed = true;
return;
}
// 60 s Gesamttimeout. Reicht fuer 260 KB Download inkl. ein paar Erase-Pausen.
const uint32_t TIMEOUT_MS = 60000;
uint32_t waited = 0;
while (!o->done && waited < TIMEOUT_MS) {
sleep_ms(50);
waited += 50;
}
if (!o->done) {
printf("OTA-Timeout, breche ab\n");
ota_finish(o);
*failed = true;
return;
}
if (o->phase == OTA_PHASE_ERROR) {
*failed = true;
return;
}
*update_was_received = o->update_pending;
if (o->update_pending) {
*received_size = o->expected_size;
memcpy(out_new_hash, o->new_hash, SHA256_BYTES);
}
}
// ---------- Nach-Download: Tail-Erase + Hash-Verify ----------
// Erased alle Sektoren ab `start_offset` (im Slot, relativ) bis Slot-Ende.
static void erase_tail(uint32_t start_offset) {
// Auf Sektor-Grenze hoch runden.
uint32_t aligned = (start_offset + FLASH_SECTOR_SIZE - 1) & ~(FLASH_SECTOR_SIZE - 1);
uint32_t total_sectors = APP_SLOT_SIZE / FLASH_SECTOR_SIZE;
uint32_t first_sector = aligned / FLASH_SECTOR_SIZE;
printf("Tail-Erase: Sektoren %u..%u (= %u KB)\n",
(unsigned)first_sector, (unsigned)(total_sectors - 1),
(unsigned)((total_sectors - first_sector) * FLASH_SECTOR_SIZE / 1024));
for (uint32_t s = first_sector; s < total_sectors; s++) {
flash_erase_sector(APP_FLASH_OFFSET + s * FLASH_SECTOR_SIZE);
// Optisches Feedback: LED toggeln alle 32 Sektoren (~ alle 1.4 s).
if ((s & 0x1F) == 0) {
cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, (s & 0x20) != 0);
}
}
cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, false);
printf("Tail-Erase fertig\n");
}
// ---------- main ----------
int main(void) {
stdio_init_all();
sleep_ms(2500);
printf("\n=== Bootloader Etappe C (pico_id=%d) ===\n", (int)PICO_ID);
if (cyw43_arch_init()) {
printf("cyw43_arch_init fehlgeschlagen\n");
halt_with_led();
}
cyw43_arch_enable_sta_mode();
uint8_t current_hash[SHA256_BYTES];
printf("Hashe App-Slot (%u Byte)...\n", (unsigned)APP_SLOT_SIZE);
absolute_time_t t0 = get_absolute_time();
if (!hash_app_slot(current_hash)) {
halt_with_led();
}
int64_t took = absolute_time_diff_us(t0, get_absolute_time()) / 1000;
printf("SHA256 fertig in %lld ms\n", took);
print_hash("current:", current_hash);
printf("Verbinde mit WLAN \"%s\"...\n", WIFI_SSID);
if (cyw43_arch_wifi_connect_timeout_ms(
WIFI_SSID, WIFI_PASSWORD, CYW43_AUTH_WPA2_AES_PSK, 15000) != 0) {
printf("WLAN-Verbindung fehlgeschlagen — boote alte App\n");
goto boot;
}
printf("WLAN OK\n");
bool update_received = false;
bool fail = false;
uint32_t received_size = 0;
uint8_t expected_new_hash[SHA256_BYTES];
run_ota_request(current_hash, &update_received, &received_size,
expected_new_hash, &fail);
if (fail) {
printf("OTA-Request fehlgeschlagen — boote alte App\n");
goto boot;
}
if (!update_received) {
printf("Server: kein Update\n");
goto boot;
}
// Update wurde komplett ins Flash geschrieben. Jetzt Tail erasen
// und den ganzen Slot neu hashen.
erase_tail(received_size);
uint8_t post_hash[SHA256_BYTES];
printf("Verifiziere durch erneutes Hashen des Slots...\n");
t0 = get_absolute_time();
if (!hash_app_slot(post_hash)) {
printf("Post-Hash fehlgeschlagen — bleibe stehen\n");
halt_with_led();
}
took = absolute_time_diff_us(t0, get_absolute_time()) / 1000;
printf("Post-Hash fertig in %lld ms\n", took);
print_hash("got: ", post_hash);
print_hash("expected:", expected_new_hash);
if (memcmp(post_hash, expected_new_hash, SHA256_BYTES) != 0) {
printf("HASH-MISMATCH nach Flash-Write — bleibe stehen, springe nicht.\n");
halt_with_led();
}
printf("Update verifiziert. \\o/\n");
boot:
if (!app_present(APP_BASE)) {
printf("Kein gueltiges App-Image bei 0x%08x — bleibe stehen\n",
(unsigned)APP_BASE);
halt_with_led();
}
printf("Springe in die App...\n");
sleep_ms(100);
jump_to_app(APP_BASE);
}
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