feat: ota loader for user sketch

boards.txt

@@ -71,6 +71,10 @@ giga.debug.server.openocd.scripts.2=target/stm32h7x_dual_bank.cfg
 giga.debug.cortex-debug.custom.request=attach
 giga.debug.svd_file={runtime.platform.path}/svd/STM32H747_CM7.svd
 
+giga.build.ota.sketch_offset=0xA0000
+giga.recipe.hooks.objcopy.postobjcopy.3.pattern="{compiler.path}{compiler.elf2hex.cmd}" -I binary -O elf32-littlearm -B arm --add-section .sketch={build.path}/{build.project_name}.{upload.extension} --change-section-address .sketch={build.ota.sketch_offset} "{runtime.platform.path}/firmwares/zephyr-{build.variant}.bin" "{build.path}/{build.project_name}.ota.elf"
+giga.recipe.hooks.objcopy.postobjcopy.4.pattern="{compiler.path}{compiler.elf2hex.cmd}" -O binary --gap-fill 0xFF "{build.path}/{build.project_name}.ota.elf" "{build.path}/{build.project_name}.ota"
+
 ##########################################################################################
 
 nano33ble.name=Arduino Nano 33 BLE
@@ -311,6 +315,10 @@ portentah7.bootloader.interface=0
 portentah7.bootloader.file=zephyr-{build.variant}.bin
 portentah7.bootloader.address=0x08040000
 
+portentah7.build.ota.sketch_offset=0xA0000
+portentah7.recipe.hooks.objcopy.postobjcopy.3.pattern="{compiler.path}{compiler.elf2hex.cmd}" -I binary -O elf32-littlearm -B arm --add-section .sketch={build.path}/{build.project_name}.{upload.extension} --change-section-address .sketch={build.ota.sketch_offset} "{runtime.platform.path}/firmwares/zephyr-{build.variant}.bin" "{build.path}/{build.project_name}.ota.elf"
+portentah7.recipe.hooks.objcopy.postobjcopy.4.pattern="{compiler.path}{compiler.elf2hex.cmd}" -O binary --gap-fill 0xFF "{build.path}/{build.project_name}.ota.elf" "{build.path}/{build.project_name}.ota"
+
 portentah7.debug.tool=gdb
 portentah7.debug.server.openocd.scripts.0=interface/{programmer.protocol}.cfg
 portentah7.debug.server.openocd.scripts.1={programmer.transport_script}
@@ -493,6 +501,7 @@ portentac33.bootloader.interface=0
 portentac33.bootloader.address=0x10000
 portentac33.bootloader.dfuse=-Q
 
+
 ##########################################################################################
 
 opta.name=Arduino Opta
@@ -561,6 +570,10 @@ opta.debug.server.openocd.scripts.2=target/stm32h7x_dual_bank.cfg
 opta.debug.cortex-debug.custom.request=attach
 opta.debug.svd_file={runtime.platform.path}/svd/STM32H747_CM7.svd
 
+opta.build.ota.sketch_offset=0xA0000
+opta.recipe.hooks.objcopy.postobjcopy.3.pattern="{compiler.path}{compiler.elf2hex.cmd}" -I binary -O elf32-littlearm -B arm --add-section .sketch={build.path}/{build.project_name}.{upload.extension} --change-section-address .sketch={build.ota.sketch_offset} "{runtime.platform.path}/firmwares/zephyr-{build.variant}.bin" "{build.path}/{build.project_name}.ota.elf"
+opta.recipe.hooks.objcopy.postobjcopy.4.pattern="{compiler.path}{compiler.elf2hex.cmd}" -O binary --gap-fill 0xFF "{build.path}/{build.project_name}.ota.elf" "{build.path}/{build.project_name}.ota"
+
 ##########################################################################################
 
 nano_matter.name=Arduino Nano Matter

cores/arduino/Arduino.h

@@ -134,8 +134,9 @@ int digitalPinToInterrupt(pin_size_t pin);
 #define portOutputRegister(x)  (x)
 #define portInputRegister(x)   (x)
 
-void analogReadResolution(int bits);
+#if defined(CONFIG_PWM) || defined(CONFIG_DAC)
 void analogWriteResolution(int bits);
+#endif
 
 #include <variant.h>
 

cores/arduino/zephyrCommon.cpp

@@ -316,6 +316,7 @@ int analogWriteResolution() {
 #ifdef CONFIG_PWM
 
 void analogWrite(pin_size_t pinNumber, int value) {
+	const int maxInput = BIT(_analog_write_resolution) - 1U;
 	size_t idx = pwm_pin_index(pinNumber);
 
 	if (idx >= ARRAY_SIZE(arduino_pwm)) {
@@ -327,19 +328,15 @@ void analogWrite(pin_size_t pinNumber, int value) {
 	}
 
 	_reinit_peripheral_if_needed(pinNumber, arduino_pwm[idx].dev);
-	value = map(value, 0, 1 << _analog_write_resolution, 0, arduino_pwm[idx].period);
+	value = CLAMP(value, 0, maxInput);
 
-	if (((uint32_t)value) > arduino_pwm[idx].period) {
-		value = arduino_pwm[idx].period;
-	} else if (value < 0) {
-		value = 0;
-	}
+	const uint32_t pulse = map(value, 0, maxInput, 0, arduino_pwm[idx].period);
 
 	/*
 	 * A duty ratio determines by the period value defined in dts
 	 * and the value arguments. So usually the period value sets as 255.
 	 */
-	(void)pwm_set_pulse_dt(&arduino_pwm[idx], value);
+	(void)pwm_set_pulse_dt(&arduino_pwm[idx], pulse);
 }
 
 #endif

extra/debug.conf

@@ -5,12 +5,12 @@
 CONFIG_DEBUG=y
 
 # Enable assertions
-CONFIG_ASSERT=y
-#CONFIG_ASSERT_VERBOSE=y
+# CONFIG_ASSERT=y
+# CONFIG_ASSERT_VERBOSE=y
 
-# Enable stack overflow detection
-CONFIG_STACK_SENTINEL=y
-CONFIG_STACK_CANARIES=y
+# Enable stack overflow detection (STACK_SENTINEL needs !MPU_STACK_GUARD)
+#CONFIG_STACK_SENTINEL=y
+#CONFIG_STACK_CANARIES=y
 
 # Enable thread monitoring and debugging
 CONFIG_THREAD_MONITOR=y
@@ -25,7 +25,10 @@ CONFIG_SHELL=y
 #CONFIG_NET_SHELL=y
 #CONFIG_NET_L2_WIFI_SHELL=y
 CONFIG_SHELL_STACK_SIZE=8192
+CONFIG_LOG_BACKEND_UART_AUTOSTART=y
+CONFIG_USB_DEVICE_INITIALIZE_AT_BOOT=n
 
 # Enable runtime statistics
 CONFIG_SYS_HEAP_RUNTIME_STATS=y
 CONFIG_THREAD_RUNTIME_STATS=y
+

loader/llext_exports.c

@@ -8,6 +8,7 @@
 #include <strings.h>
 #include <zephyr/llext/symbol.h>
 #include <zephyr/usb/usb_device.h>
+#include <zephyr/sys/reboot.h>
 #include <ctype.h>
 #include <stdio.h>
 #include <stdlib.h>
@@ -268,6 +269,7 @@ EXPORT_SYMBOL(k_work_schedule);
 
 EXPORT_SYMBOL(time);
 EXPORT_SYMBOL(sys_clock_settime);
+EXPORT_SYMBOL(sys_reboot);
 EXPORT_SYMBOL(mktime);
 
 EXPORT_SYMBOL(printf);

loader/main.c

@@ -24,9 +24,13 @@ LOG_MODULE_REGISTER(sketch);
 #include <zephyr/usb/usb_device.h>
 
 #include <zephyr/devicetree/fixed-partitions.h>
+#include <zephyr/fs/fs.h>
 
 #define HEADER_LEN 16
 
+#define OTA_SENTINEL_PATH "/ota:/OTA_UPDATE_PENDING"
+#define OTA_UPDATE_PATH   "/ota:/UPDATE.BIN"
+
 struct sketch_header_v1 {
 	uint8_t ver;    // @ 0x07
 	uint32_t len;   // @ 0x08
@@ -110,6 +114,103 @@ __attribute__((retain)) const uintptr_t sketch_max_size = DT_REG_SIZE(DT_NODELAB
 #endif
 __attribute__((retain)) const uintptr_t loader_max_size = LOADER_MAX_SIZE;
 
+#if defined(CONFIG_FILE_SYSTEM)
+static int try_ota_update(const struct flash_area *fa) {
+	struct fs_dirent entry;
+	int rc;
+
+	/* Check for pending OTA update */
+	if (fs_stat(OTA_SENTINEL_PATH, &entry) != 0) {
+		printk("OTA: no update pending\n");
+		return 0;
+	}
+
+	printk("OTA: update pending, validating...\n");
+
+	/* Open UPDATE.BIN */
+	struct fs_file_t file;
+	fs_file_t_init(&file);
+	rc = fs_open(&file, OTA_UPDATE_PATH, FS_O_READ);
+	if (rc < 0) {
+		printk("OTA: failed to open %s, rc %d\n", OTA_UPDATE_PATH, rc);
+		fs_unlink(OTA_SENTINEL_PATH);
+		return -1;
+	}
+
+	/* Get file size */
+	fs_seek(&file, 0, FS_SEEK_END);
+	off_t file_size = fs_tell(&file);
+	fs_seek(&file, 0, FS_SEEK_SET);
+
+	if (file_size < HEADER_LEN) {
+		printk("OTA: file too small (%ld bytes)\n", (long)file_size);
+		fs_close(&file);
+		fs_unlink(OTA_SENTINEL_PATH);
+		return -1;
+	}
+
+	/* Read and validate sketch header */
+	char header[HEADER_LEN];
+	rc = fs_read(&file, header, HEADER_LEN);
+	if (rc != HEADER_LEN) {
+		printk("OTA: failed to read header\n");
+		fs_close(&file);
+		fs_unlink(OTA_SENTINEL_PATH);
+		return -1;
+	}
+
+	struct sketch_header_v1 *hdr = (struct sketch_header_v1 *)(header + 7);
+	if (hdr->ver != 0x1 || hdr->magic != 0x2341) {
+		printk("OTA: invalid sketch header (ver=0x%x magic=0x%x)\n", hdr->ver, hdr->magic);
+		fs_close(&file);
+		fs_unlink(OTA_SENTINEL_PATH);
+		return -1;
+	}
+
+	size_t sketch_len = hdr->len;
+	printk("OTA: sketch length = %u bytes\n", (unsigned)sketch_len);
+
+	/* Erase flash partition */
+	printk("OTA: erasing flash partition (%u bytes)...\n", (unsigned)fa->fa_size);
+	rc = flash_area_erase(fa, 0, fa->fa_size);
+	if (rc) {
+		printk("OTA: flash erase failed, rc %d\n", rc);
+		fs_close(&file);
+		fs_unlink(OTA_SENTINEL_PATH);
+		return -1;
+	}
+
+	/* Write sketch data from file to flash in chunks */
+	fs_seek(&file, 0, FS_SEEK_SET);
+	uint8_t chunk[4096];
+	off_t offset = 0;
+	size_t remaining = sketch_len;
+	ssize_t n;
+	while (remaining > 0 &&
+		   (n = fs_read(&file, chunk, remaining < sizeof(chunk) ? remaining : sizeof(chunk))) > 0) {
+		rc = flash_area_write(fa, offset, chunk, n);
+		if (rc) {
+			printk("OTA: flash write failed at offset %ld, rc %d\n", (long)offset, rc);
+			fs_close(&file);
+			fs_unlink(OTA_SENTINEL_PATH);
+			return -1;
+		}
+		offset += n;
+		remaining -= n;
+	}
+	fs_close(&file);
+
+	printk("OTA: wrote %ld bytes to flash\n", (long)offset);
+
+	/* Delete sentinel and update file */
+	fs_unlink(OTA_SENTINEL_PATH);
+	fs_unlink(OTA_UPDATE_PATH);
+
+	printk("OTA: update complete\n");
+	return 0;
+}
+#endif /* CONFIG_FILE_SYSTEM */
+
 static int loader(const struct shell *sh) {
 	const struct flash_area *fa;
 	int rc;
@@ -139,6 +240,40 @@ static int loader(const struct shell *sh) {
 		// This is not a valid sketch, but try to start a shell anyway
 	}
 
+#if TARGET_HAS_USB_CDC
+	int debug = (!sketch_valid) || (sketch_hdr->flags & SKETCH_FLAG_DEBUG);
+#if CONFIG_SHELL
+	if (strcmp(k_thread_name_get(k_current_get()), "main") == 0) {
+		// disables default shell on UART
+		shell_uninit(shell_backend_uart_get_ptr(), NULL);
+		// enables USB and starts the shell
+		usb_enable(NULL);
+		int dtr;
+		do {
+			// wait for the serial port to open
+			uart_line_ctrl_get(usb_dev, UART_LINE_CTRL_DTR, &dtr);
+			k_sleep(K_MSEC(100));
+		} while (!dtr);
+		enable_shell_usb();
+	}
+#elif CONFIG_LOG
+#if !CONFIG_USB_DEVICE_INITIALIZE_AT_BOOT
+	if (debug) {
+		usb_enable(NULL);
+	}
+#endif
+	for (int i = 0; i < log_backend_count_get(); i++) {
+		const struct log_backend *backend;
+		backend = log_backend_get(i);
+		log_backend_init(backend);
+		log_backend_enable(backend, backend->cb->ctx, CONFIG_LOG_DEFAULT_LEVEL);
+		if (!debug) {
+			break;
+		}
+	}
+#endif
+#endif
+
 #if defined(CONFIG_BOARD_ARDUINO_UNO_Q)
 	void matrixBegin(void);
 	void matrixEnd(void);
@@ -216,43 +351,15 @@ static int loader(const struct shell *sh) {
 	}
 #endif
 
-	size_t sketch_buf_len = sketch_hdr->len;
-
-#if TARGET_HAS_USB_CDC
-	int debug = (!sketch_valid) || (sketch_hdr->flags & SKETCH_FLAG_DEBUG);
-#if CONFIG_SHELL
-	if (debug && strcmp(k_thread_name_get(k_current_get()), "main") == 0) {
-		// disables default shell on UART
-		shell_uninit(shell_backend_uart_get_ptr(), NULL);
-		// enables USB and starts the shell
-		usb_enable(NULL);
-		int dtr;
-		do {
-			// wait for the serial port to open
-			uart_line_ctrl_get(usb_dev, UART_LINE_CTRL_DTR, &dtr);
-			k_sleep(K_MSEC(100));
-		} while (!dtr);
-		enable_shell_usb();
-		return 0;
-	}
-#elif CONFIG_LOG
-#if !CONFIG_USB_DEVICE_INITIALIZE_AT_BOOT
-	if (debug) {
-		usb_enable(NULL);
-	}
-#endif
-	for (int i = 0; i < log_backend_count_get(); i++) {
-		const struct log_backend *backend;
-		backend = log_backend_get(i);
-		log_backend_init(backend);
-		log_backend_enable(backend, backend->cb->ctx, CONFIG_LOG_DEFAULT_LEVEL);
-		if (!debug) {
-			break;
-		}
-	}
-#endif
+#if defined(CONFIG_FILE_SYSTEM)
+	try_ota_update(fa);
+	/* Re-read header in case OTA replaced the sketch */
+	flash_area_read(fa, 0, header, sizeof(header));
+	sketch_hdr = (struct sketch_header_v1 *)(header + 7);
 #endif
 
+	size_t sketch_buf_len = sketch_hdr->len;
+
 	if (sketch_hdr->flags & SKETCH_FLAG_LINKED) {
 #ifdef CONFIG_BOARD_ARDUINO_PORTENTA_C33
 #if CONFIG_MPU

loader/prj.conf

@@ -44,3 +44,4 @@ CONFIG_CBPRINTF_FP_SUPPORT=y
 CONFIG_MAIN_THREAD_PRIORITY=14
 
 CONFIG_EVENTS=y
+CONFIG_REBOOT=y

variants/arduino_opta_stm32h747xx_m7/arduino_opta_stm32h747xx_m7.conf

@@ -86,6 +86,28 @@ CONFIG_NET_TCP=y
 CONFIG_NET_SOCKETS=y
 CONFIG_POSIX_API=y
 
+CONFIG_FILE_SYSTEM=y
+CONFIG_FILE_SYSTEM_MKFS=y
+CONFIG_DISK_ACCESS=y
+CONFIG_DISK_DRIVER_FLASH=y
+
+CONFIG_FILE_SYSTEM_LITTLEFS=y
+CONFIG_FS_LITTLEFS_PROG_SIZE=4096
+CONFIG_FS_LITTLEFS_CACHE_SIZE=4096
+
+CONFIG_FAT_FILESYSTEM_ELM=y
+CONFIG_FS_FATFS_EXFAT=n
+CONFIG_FS_FATFS_MKFS=y
+CONFIG_FS_FATFS_LFN=y
+CONFIG_FS_FATFS_LFN_MODE_HEAP=y
+CONFIG_FS_FATFS_CODEPAGE=437
+CONFIG_FS_FATFS_MIN_SS=4096
+CONFIG_FS_FATFS_MAX_SS=4096
+CONFIG_FS_FATFS_MAX_LFN=255
+CONFIG_FS_FATFS_FSTAB_AUTOMOUNT=y
+CONFIG_FS_FATFS_CUSTOM_MOUNT_POINT_COUNT=2
+CONFIG_FS_FATFS_CUSTOM_MOUNT_POINTS="wlan,ota"
+
 CONFIG_ENTROPY_GENERATOR=y
 CONFIG_TEST_RANDOM_GENERATOR=y