openBLT-系统结构及框架

前言

openBLT 是开源的小型嵌入式系统bootloader，目前支持ST、NXP、T、InfineonI等多个厂商的ARM、HSC12等内核MCU，非常小巧精致，整体代码整洁规范，下面就从整体上梳理下openBLT。

1 框架

先整体把握一下openBLT的框架，所谓一图胜千言，从上面的图基本就能大概看懂整体系统框架以及实现的机制了。接下来逐个击破。

1.1设备层

设备层是最接近硬件设备的部分，涵盖了在固件升级过程中会使用到的各个硬件接口，如：

• 通信接口：CAN、ETH、USART、USB、IIC、MMC等
• 外设模块：TIM、FLASH等

openBLT在设备层针对不同的MCU做了不同的硬件实现，每个硬件接口都做了统一了约定。

• CAN底层接口

/************************************************************************************//**
* \file         Source/can.h
* \brief        Bootloader CAN communication interface header file.
* \ingroup      Core
* \internal
*-----------------------------------------------------------------------------------*/
#ifndef CAN_H
#define CAN_H

#if (BOOT_COM_CAN_ENABLE > 0)
/****************************************************************************************
* Function prototypes
****************************************************************************************/
void     CanInit(void);
void     CanTransmitPacket(blt_int8u *data, blt_int8u len);
blt_bool CanReceivePacket(blt_int8u *data, blt_int8u *len);
#endif /* BOOT_COM_CAN_ENABLE > 0 */

#endif /* CAN_H */

• UART底层接口

/************************************************************************************//**
* \file         Source/uart.h
* \brief        Bootloader UART communication interface header file.
* \ingroup      Core
* \internal
*------------------------------------------------------------------------------------*/
#ifndef UART_H
#define UART_H

#if (BOOT_COM_UART_ENABLE > 0)
/****************************************************************************************
* Function prototypes
****************************************************************************************/
void     UartInit(void);
void     UartTransmitPacket(blt_int8u *data, blt_int8u len);
blt_bool UartReceivePacket(blt_int8u *data, blt_int8u *len);
#endif /* BOOT_COM_UART_ENABLE > 0 */


#endif /* UART_H */
/*********************************** end of uart.h *************************************/

类似的都对设备的硬件接口进行统一了封装，这样做的好处有二：

• 方便了接下来中间件实现更高一级的功能实现；
• 实现了中间件与不同硬件MCU的隔离，方便不同平台的移植。

所以这一层的文件下就会有各种各样的板级文件夹，里面实现了不同MCU底层驱动的封装：

.
├── ARM7_LPC2000
│   ├── can.c
│   ├── cpu.c
│   ├── flash.c
│   ├── flash.h
│   ├── GCC
│   │   └── cpu_comp.c
│   ├── nvm.c
│   ├── target.dox
│   ├── timer.c
│   ├── types.h
│   └── uart.c
├── ARMCM0_STM32F0
│   ├── can.c
│   ├── cpu.c
│   ├── flash.c
│   ├── flash.h
│   ├── GCC
│   │   └── cpu_comp.c
│   ├── IAR
│   │   └── cpu_comp.c
│   ├── Keil
│   │   └── cpu_comp.c
│   ├── nvm.c
│   ├── target.dox
│   ├── timer.c
│   ├── types.h
│   └── uart.c
├── ARMCM0_XMC1
│   ├── can.c
│   ├── cpu.c
│   ├── flash.c
│   ├── flash.h
│   ├── GCC
│   │   └── cpu_comp.c
│   ├── IAR
│   │   └── cpu_comp.c
│   ├── nvm.c
│   ├── target.dox
│   ├── timer.c
│   ├── types.h
│   └── uart.c
├── ARMCM3_EFM32
│   ├── cpu.c
│   ├── flash.c
│   ├── flash.h
│   ├── GCC
│   │   └── cpu_comp.c
│   ├── IAR
│   │   └── cpu_comp.c
│   ├── nvm.c
│   ├── target.dox
│   ├── timer.c
│   ├── types.h
│   └── uart.c
├── ARMCM3_LM3S
│   ├── can.c
│   ├── cpu.c
│   ├── flash.c
│   ├── flash.h
│   ├── GCC
│   │   └── cpu_comp.c
│   ├── IAR
│   │   └── cpu_comp.c
│   ├── nvm.c
│   ├── target.dox
│   ├── timer.c
│   ├── types.h
│   └── uart.c
├── ARMCM3_STM32F1
│   ├── can.c
│   ├── cpu.c
│   ├── flash.c
│   ├── flash.h
│   ├── GCC
│   │   └── cpu_comp.c
│   ├── IAR
│   │   └── cpu_comp.c
│   ├── Keil
│   │   └── cpu_comp.c
│   ├── nvm.c
│   ├── target.dox
│   ├── timer.c
│   ├── types.h
│   ├── uart.c
│   └── usb.c
├── ARMCM3_STM32F2
│   ├── can.c
│   ├── cpu.c
│   ├── flash.c
│   ├── flash.h
│   ├── GCC
│   │   └── cpu_comp.c
│   ├── IAR
│   │   └── cpu_comp.c
│   ├── nvm.c
│   ├── target.dox
│   ├── timer.c
│   ├── types.h
│   └── uart.c
├── ARMCM4_STM32F3
│   ├── can.c
│   ├── cpu.c
│   ├── flash.c
│   ├── flash.h
│   ├── GCC
│   │   └── cpu_comp.c
│   ├── IAR
│   │   └── cpu_comp.c
│   ├── nvm.c
│   ├── target.dox
│   ├── timer.c
│   ├── types.h
│   ├── uart.c
│   └── usb.c
├── ARMCM4_STM32F4
│   ├── can.c
│   ├── cpu.c
│   ├── flash.c
│   ├── flash.h
│   ├── GCC
│   │   └── cpu_comp.c
│   ├── IAR
│   │   └── cpu_comp.c
│   ├── nvm.c
│   ├── target.dox
│   ├── timer.c
│   ├── types.h
│   ├── uart.c
│   └── usb.c
├── ARMCM4_STM32L4
│   ├── can.c
│   ├── cpu.c
│   ├── flash.c
│   ├── flash.h
│   ├── GCC
│   │   └── cpu_comp.c
│   ├── IAR
│   │   └── cpu_comp.c
│   ├── nvm.c
│   ├── target.dox
│   ├── timer.c
│   ├── types.h
│   └── uart.c
├── ARMCM4_TM4C
│   ├── cpu.c
│   ├── flash.c
│   ├── flash.h
│   ├── IAR
│   │   └── cpu_comp.c
│   ├── nvm.c
│   ├── target.dox
│   ├── timer.c
│   ├── types.h
│   ├── uart.c
│   └── usb.c
├── ARMCM4_XMC4
│   ├── can.c
│   ├── cpu.c
│   ├── flash.c
│   ├── flash.h
│   ├── GCC
│   │   └── cpu_comp.c
│   ├── IAR
│   │   └── cpu_comp.c
│   ├── nvm.c
│   ├── target.dox
│   ├── timer.c
│   ├── types.h
│   └── uart.c
├── ARMCM7_STM32F7
│   ├── can.c
│   ├── cpu.c
│   ├── flash.c
│   ├── flash.h
│   ├── GCC
│   │   └── cpu_comp.c
│   ├── IAR
│   │   └── cpu_comp.c
│   ├── nvm.c
│   ├── target.dox
│   ├── timer.c
│   ├── types.h
│   └── uart.c
├── HCS12
│   ├── can.c
│   ├── CodeWarrior
│   │   └── cpu_comp.c
│   ├── cpu.c
│   ├── flash.c
│   ├── flash_ecc.c
│   ├── flash.h
│   ├── nvm.c
│   ├── target.dox
│   ├── timer.c
│   ├── types.h
│   └── uart.c

├── TRICORE_TC1798
│   ├── cpu.c
│   ├── flash.c
│   ├── flash.h
│   ├── GCC
│   │   ├── cpu_comp.c
│   │   └── cpu_comp.h
│   ├── nvm.c
│   ├── target.dox
│   ├── timer.c
│   ├── types.h
│   └── uart.c

1.2中间件

有了设备层的加持，中间件就可以实现更多高级的东西啦，在最开始的框图里面，我们在第二层里面能看到很多的中间件：

• COM，负责整个通信数据的收发
  • 硬件层面，CAN、UART、ETH、USB等等；
  • 应用协议，XCP；
• COP，看门狗；
• DOOR，后门，负责固件跳转、与主机端连接等工作；
• FILE，负责实现固件从文件系统（FatFS）中进行更新的逻辑；
• Assert，断言检测，出现异常后，保持正常喂看门狗，防止异常程序跑飞；

可以说中间件在设备层的支持下，基本实现了固件数据的获取（CAN、UART、USB、ETH、MMC等）以及固件更新（NVM）；

1.2.1 COM

COM主要功能逻辑是通过硬件接口获取数数据、按照既定的协议进行数据的解包和封包，完成整个系统的数据交换；

/************************************************************************************//**
* \file         Source/com.h
* \brief        Bootloader communication interface header file.
* \ingroup      Core
* \internal
*----------------------------------------------------------------------------------------*/
#ifndef COM_H
#define COM_H

#if (BOOT_COM_ENABLE > 0)
/****************************************************************************************
* Include files
****************************************************************************************/
#include "xcp.h"                                      /* xcp communication layer       */


/****************************************************************************************
* Macro definitions
****************************************************************************************/
/** \brief Defines the maximum number of bytes for transport layer reception
 *         depending on the activates interface(s).
 */
#define BOOT_COM_RX_MAX_DATA            (1)
/* update in case CAN interface uses more */
#if (BOOT_COM_CAN_RX_MAX_DATA > BOOT_COM_RX_MAX_DATA)
#undef BOOT_COM_RX_MAX_DATA
#define BOOT_COM_RX_MAX_DATA            (BOOT_COM_CAN_RX_MAX_DATA)
#endif
/* update in case UART interface uses more */
#if (BOOT_COM_UART_RX_MAX_DATA > BOOT_COM_RX_MAX_DATA)
#undef BOOT_COM_RX_MAX_DATA
#define BOOT_COM_RX_MAX_DATA            (BOOT_COM_UART_RX_MAX_DATA)
#endif
/* update in case USB interface uses more */
#if (BOOT_COM_USB_RX_MAX_DATA > BOOT_COM_RX_MAX_DATA)
#undef BOOT_COM_RX_MAX_DATA
#define BOOT_COM_RX_MAX_DATA            (BOOT_COM_USB_RX_MAX_DATA)
#endif
/* update in case NET interface uses more */
#if (BOOT_COM_NET_RX_MAX_DATA > BOOT_COM_RX_MAX_DATA)
#undef BOOT_COM_RX_MAX_DATA
#define BOOT_COM_RX_MAX_DATA            (BOOT_COM_NET_RX_MAX_DATA)
#endif

/** \brief Defines the maximum number of bytes for transport layer transmission
 *         depending on the activates interface(s).
 */
#define BOOT_COM_TX_MAX_DATA            (1)
/* update in case CAN interface uses more */
#if (BOOT_COM_CAN_TX_MAX_DATA > BOOT_COM_TX_MAX_DATA)
#undef BOOT_COM_TX_MAX_DATA
#define BOOT_COM_TX_MAX_DATA            (BOOT_COM_CAN_TX_MAX_DATA)
#endif
/* update in case UART interface uses more */
#if (BOOT_COM_UART_TX_MAX_DATA > BOOT_COM_TX_MAX_DATA)
#undef BOOT_COM_TX_MAX_DATA
#define BOOT_COM_TX_MAX_DATA            (BOOT_COM_UART_TX_MAX_DATA)
#endif
/* update in case USB interface uses more */
#if (BOOT_COM_USB_TX_MAX_DATA > BOOT_COM_TX_MAX_DATA)
#undef BOOT_COM_TX_MAX_DATA
#define BOOT_COM_TX_MAX_DATA            (BOOT_COM_USB_TX_MAX_DATA)
#endif
/* update in case NET interface uses more */
#if (BOOT_COM_NET_TX_MAX_DATA > BOOT_COM_TX_MAX_DATA)
#undef BOOT_COM_TX_MAX_DATA
#define BOOT_COM_TX_MAX_DATA            (BOOT_COM_NET_TX_MAX_DATA)
#endif


/****************************************************************************************
* Plausibility
****************************************************************************************/
#if (BOOT_COM_TX_MAX_DATA < 1)
#undef BOOT_COM_TX_MAX_DATA
#define BOOT_COM_TX_MAX_DATA   (8)
#endif

#if (BOOT_COM_TX_MAX_DATA > 256)
#error  "COM.H, BOOT_COM_TX_MAX_DATA cannot be larger than 256."
#endif

#if (BOOT_COM_RX_MAX_DATA < 1)
#undef BOOT_COM_RX_MAX_DATA
#define BOOT_COM_RX_MAX_DATA   (8)
#endif

#if (BOOT_COM_RX_MAX_DATA > 65536)
#error  "COM.H, BOOT_COM_RX_MAX_DATA cannot be larger than 65536."
#endif


/****************************************************************************************
* Type definitions
****************************************************************************************/
/** \brief Enumeration for the different communication interfaces. */
typedef enum
{
  COM_IF_UART,                                   /**< UART interface                   */
  COM_IF_CAN,                                    /**< CAN interface                    */
  COM_IF_USB,                                    /**< USB interface                    */
  COM_IF_NET,                                    /**< NET interface                    */
  COM_IF_OTHER                                   /**< Other interface                  */
} tComInterfaceId;


/****************************************************************************************
* Function prototypes
****************************************************************************************/
void       ComInit(void);
#if (BOOT_COM_DEFERRED_INIT_ENABLE == 1)
void       ComDeferredInit(void);
#endif
void       ComTask(void);
void       ComFree(void);
blt_int16u ComGetActiveInterfaceMaxRxLen(void);
blt_int16u ComGetActiveInterfaceMaxTxLen(void);
void       ComTransmitPacket(blt_int8u *data, blt_int16u len);
blt_bool   ComIsConnected(void);

#endif /* BOOT_COM_ENABLE > 0 */

#endif /* COM_H */
/*********************************** end of com.h **************************************/

/**********************************************************************************//
** \brief Updates the communication module by checking if new data was received
** and submitting the request to process newly received data.
** \return none
**
****************************************************************************************/
void ComTask(void);
主要是完成硬件接口的数据获取（调用设备层通信接口），然后调用XCP接口进行解析

/**********************************************************************************//
** \brief Releases the communication module.
** \return none
**
****************************************************************************************/
void ComFree(void);
调用硬件接口关闭底层通信

/**********************************************************************************//
** \brief Transmits the packet using the xcp transport layer.
** \param data Pointer to the byte buffer with packet data.
** \param len Number of data bytes that need to be transmitted.
** \return none
**
****************************************************************************************/
void ComTransmitPacket(blt_int8u *data, blt_int16u len)
调用XCP接口进行数据封包

1.2.2 BACKDOOR

Backdoor整体逻辑比较简单，主要判断是否满足程序跳转逻辑。

• 是否超时
• 是否与主机建立连接

/************************************************************************************//**
* \file         Source/backdoor.h
* \brief        Bootloader backdoor entry header file.
* \ingroup      Core
* \internal
*----------------------------------------------------------------------------------------*/
#ifndef BACKDOOR_H
#define BACKDOOR_H

/****************************************************************************************
* Function prototypes
****************************************************************************************/
void       BackDoorInit(void);
void       BackDoorCheck(void);
#if (BOOT_BACKDOOR_HOOKS_ENABLE == 0)
void       BackDoorSetExtension(blt_int32u extension_ms);
blt_int32u BackDoorGetExtension(void);
void       BackDoorRestartTimer(void);
#endif

#endif /* BACKDOOR_H */
/*********************************** end of backdoor.h *********************************/

1.2.3 FILE

file实现固件从文件系统中更新，依赖MMC、USB等设备接口的支持。

/************************************************************************************//**
* \file         Source/file.h
* \brief        Bootloader file system interface header file.
* \ingroup      Core
* \internal
*----------------------------------------------------------------------------------------*/
#ifndef FILE_H
#define FILE_H

#if (BOOT_FILE_SYS_ENABLE > 0)
/****************************************************************************************
* Include files
****************************************************************************************/
#include "ff.h"                                  /* FATFS file system library          */


/****************************************************************************************
* Defines
****************************************************************************************/
/** \brief Error code for not being able to open the firmware file. */
#define FILE_ERROR_CANNOT_OPEN_FIRMWARE_FILE       (1)
/** \brief Error code for not being able to read from the firmware file. */
#define FILE_ERROR_CANNOT_READ_FROM_FILE           (2)
/** \brief Error code because in incorrect checksum was found in the firmware file. */
#define FILE_ERROR_INVALID_CHECKSUM_IN_FILE        (3)
/** \brief Error code because the file pointers read pointer could not be rewinded. */
#define FILE_ERROR_REWINDING_FILE_READ_POINTER     (4)
/** \brief Error code because an error occurred during the memory erase operation. */
#define FILE_ERROR_CANNOT_ERASE_MEMORY             (5)
/** \brief Error code because an error occurred during the memory write operation. */
#define FILE_ERROR_CANNOT_PROGRAM_MEMORY           (6)
/** \brief Error code because the program's checksum could not be written to memory. */
#define FILE_ERROR_CANNOT_WRITE_CHECKSUM           (7)

/** \brief Maximum number of characters that can be on a line in the firmware file. */
#define MAX_CHARS_PER_LINE                  (256)
/** \brief Maximum number of data bytes that can be on a line in the firmware file
 *         (S-record).
 */
#define MAX_DATA_BYTES_PER_LINE             (MAX_CHARS_PER_LINE/2)
/** \brief Return code in case an invalid checksum was detected on an S-record line. */
#define ERROR_SREC_INVALID_CHECKSUM         (-1)


/****************************************************************************************
* Type definitions
****************************************************************************************/
/** \brief Enumeration for the different S-record line types. */
typedef enum
{
  LINE_TYPE_S1,                                  /**< 16-bit address line              */
  LINE_TYPE_S2,                                  /**< 24-bit address line              */
  LINE_TYPE_S3,                                  /**< 32-bit address line              */
  LINE_TYPE_UNSUPPORTED                          /**< unsupported line                 */
} tSrecLineType;

/** \brief Structure type for grouping the parsing results of an S-record line. */
typedef struct
{
  blt_char  line[MAX_CHARS_PER_LINE];            /**< string buffer for the line chars */
  blt_int8u data[MAX_DATA_BYTES_PER_LINE];       /**< array for S1, S2 or S3 data bytes*/
  blt_addr  address;                             /**< address on S1, S2 or S3 line     */
} tSrecLineParseObject;


/****************************************************************************************
* Function prototypes
****************************************************************************************/
void          FileInit(void);
void          FileTask(void);
blt_bool      FileIsIdle(void);
blt_bool      FileHandleFirmwareUpdateRequest(void);
/* functions for reading data from a Motorola S-record file. */
tSrecLineType FileSrecGetLineType(const blt_char *line);
blt_bool      FileSrecVerifyChecksum(const blt_char *line);
blt_int16s    FileSrecParseLine(const blt_char *line, blt_addr *address, blt_int8u *data);

#endif /* BOOT_FILE_SYS_ENABLE > 0 */


#endif /* FILE_H */
/*********************************** end of file.h *************************************/

1.3应用层

应用层主要是通过调用各个中间件来实现整个完整openBLT的应用逻辑。

/************************************************************************************//**
* \file         Source/boot.h
* \brief        Bootloader core module header file.
* \ingroup      Core
* \internal
*------------------------------------------------------------------------------------*/
#ifndef BOOT_H
#define BOOT_H

/****************************************************************************************
* Defines
****************************************************************************************/
/** \brief Main version number of the bootloader core. */
#define BOOT_VERSION_CORE_MAIN     (1u)
/** \brief Minor version number of the bootloader core. */
#define BOOT_VERSION_CORE_MINOR    (8u)
/** \brief Patch number of the bootloader core. */
#define BOOT_VERSION_CORE_PATCH    (0u)


/****************************************************************************************
* Include files
****************************************************************************************/
/* Note that it is possible to override the standard blt_conf.h configuration header
 * file with a project specific one that is defined in the IDE/makefile. For example,
 * the following define could be configured: PROJ_BLT_CONF_H="my_boot_config.h". This can
 * be handy if you use the bootloader in several projects with a different configuration,
 * and enables you to have just one bootloader source base.
 */
#include "types.h"                                    /* variable types                */
#include "assert.h"                                   /* assertion checks              */
#ifdef PROJ_BLT_CONF_H
#include PROJ_BLT_CONF_H                              /* custom configuration          */
#else
#include "blt_conf.h"                                 /* bootloader configuration      */
#endif /* PROJ_BLT_CONF_H */
#include "plausibility.h"                             /* plausibility checks           */
#include "cpu.h"                                      /* cpu driver module             */
#include "cop.h"                                      /* watchdog driver module        */
#include "nvm.h"                                      /* memory driver module          */
#include "timer.h"                                    /* timer driver module           */
#include "backdoor.h"                                 /* backdoor entry module         */
#include "file.h"                                     /* file system module            */
#include "com.h"                                      /* communication interface       */
#include "led.h"                                      /* communication interface       */
#if (ADDON_GATEWAY_MOD_ENABLE > 0)
#include "gateway.h"                                  /* gateway add-on module         */
#endif


/****************************************************************************************
* Function prototypes
****************************************************************************************/
void BootInit(void);
void BootTask(void);


#endif /* BOOT_H */
/*********************************** end of boot.h *************************************/

整个代码运行的功能逻辑入口就在void BootTask(void);

/************************************************************************************//**
** \brief     Task function of the bootloader core that drives the program.
** \return    none
**
****************************************************************************************/
void BootTask(void)
{
  /* service the watchdog */
  CopService();
  /* update the millisecond timer */
  TimerUpdate();
  /* update the led */
  LedBlinkTask();
#if (BOOT_FILE_SYS_ENABLE > 0)
  /* call worker task for updating firmware from locally attached file storage */
  FileTask();
#endif /* BOOT_FILE_SYS_ENABLE > 0 */
#if (BOOT_COM_ENABLE > 0)
  /* process possibly pending communication data */
  ComTask();
#endif
#if (ADDON_GATEWAY_MOD_ENABLE > 0)
  /* run the gateway */
  GatewayTask();
#endif
  /* control the backdoor */
  BackDoorCheck();
} /*** end of BootTask ***/

总体来说openBLT的代码层级非常清晰，也很简洁，是一个非常不错的bootloader。