From 5fd8ef1055efce53cedecef04750ae8adaac8562 Mon Sep 17 00:00:00 2001
From: David Sidrane <david_s5@nscdg.com>
Date: Tue, 18 Jul 2017 16:59:07 -1000
Subject: [PATCH] px4fmu-v2:Insure the discharge of the pins PWM pins on rest.

  On resets invoked from system (not boot) insure we establish a low
  output state (discharge the pins) on PWM pins before they become
  inputs.
---
 src/drivers/boards/px4fmu-v2/board_config.h |  2 +
 src/drivers/boards/px4fmu-v2/px4fmu2_init.c | 56 +++++++++++++++++----
 2 files changed, 49 insertions(+), 9 deletions(-)

diff --git a/src/drivers/boards/px4fmu-v2/board_config.h b/src/drivers/boards/px4fmu-v2/board_config.h
index 839b76c2b0..18fa37d899 100644
--- a/src/drivers/boards/px4fmu-v2/board_config.h
+++ b/src/drivers/boards/px4fmu-v2/board_config.h
@@ -295,6 +295,8 @@
 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120
 
+#define BOARD_HAS_ON_RESET 1
+
 __BEGIN_DECLS
 
 /****************************************************************************************************
diff --git a/src/drivers/boards/px4fmu-v2/px4fmu2_init.c b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c
index d21c254ddc..30ac5085b7 100644
--- a/src/drivers/boards/px4fmu-v2/px4fmu2_init.c
+++ b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c
@@ -152,6 +152,48 @@ __EXPORT void board_peripheral_reset(int ms)
 	stm32_gpiowrite(GPIO_VDD_5V_PERIPH_EN, 0);
 }
 
+/************************************************************************************
+  * Name: board_on_reset
+ *
+ * Description:
+ * Optionally provided function called on entry to board_system_reset
+ * It should perform any house keeping prior to the rest.
+ *
+ * status - 1 if resetting to boot loader
+ *          0 if just resetting
+ *
+ ************************************************************************************/
+
+__EXPORT void board_on_reset(int status)
+{
+	UNUSED(status);
+	/* configure the GPIO pins to outputs and keep them low */
+
+	stm32_configgpio(GPIO_GPIO0_OUTPUT);
+	stm32_configgpio(GPIO_GPIO1_OUTPUT);
+	stm32_configgpio(GPIO_GPIO2_OUTPUT);
+	stm32_configgpio(GPIO_GPIO3_OUTPUT);
+	stm32_configgpio(GPIO_GPIO4_OUTPUT);
+	stm32_configgpio(GPIO_GPIO5_OUTPUT);
+
+	/* On resets invoked from system (not boot) insure we establish a low
+	 * output state (discharge the pins) on PWM pins before they become inputs.
+	 *
+	 * We also delay the onset of the that 3.1 Ms pulse as boot. This has
+	 * triggered some ESC to spin. By adding this delay here the reset
+	 * is pushed out > 400 ms. So the ESC PWM input can not mistake
+	 * the 3.1 Ms pulse as a valid PWM command.
+	 *
+	 * fixme:Establish in upstream NuttX an CONFIG_IO_INIT_STATE to
+	 * the initialize the IO lines in the clock config.
+	 *
+	 */
+
+	if (status >= 0) {
+		up_mdelay(400);
+	}
+}
+
 /************************************************************************************
   * Name: determin_hw_version
  *
@@ -282,6 +324,11 @@ __EXPORT int board_get_hw_revision()
 __EXPORT void
 stm32_boardinitialize(void)
 {
+	board_on_reset(-1);
+
+	/* configure LEDs */
+	board_autoled_initialize();
+
 	/* configure ADC pins */
 
 	stm32_configgpio(GPIO_ADC1_IN2);	/* BATT_VOLTAGE_SENS */
@@ -300,19 +347,10 @@ stm32_boardinitialize(void)
 	stm32_configgpio(GPIO_VDD_5V_HIPOWER_OC);
 	stm32_configgpio(GPIO_VDD_5V_PERIPH_OC);
 
-	/* configure the GPIO pins to outputs and keep them low */
-	stm32_configgpio(GPIO_GPIO0_OUTPUT);
-	stm32_configgpio(GPIO_GPIO1_OUTPUT);
-	stm32_configgpio(GPIO_GPIO2_OUTPUT);
-	stm32_configgpio(GPIO_GPIO3_OUTPUT);
-	stm32_configgpio(GPIO_GPIO4_OUTPUT);
-	stm32_configgpio(GPIO_GPIO5_OUTPUT);
 
 	/* configure SPI interfaces */
 	stm32_spiinitialize();
 
-	/* configure LEDs */
-	board_autoled_initialize();
 }
 
 /****************************************************************************