mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-24 05:13:34 +08:00
commander: reboot/shutdown usability fixes
- always check with state machine before reboot/shutdown - respect BOARD_HAS_POWER_CONTROL (shutdown from command, low battery, power button) - px4_shutdown_request add optional delay and always execute from HPWORK - px4_shutdown_request split out px4_reboot_request
This commit is contained in:
Daniel Agar
@@ -297,17 +297,7 @@
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* Public Data
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************************************************************************************/
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/* board reset control */
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typedef enum board_reset_e {
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board_reset_normal = 0, /* Perform a normal reset */
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board_reset_extended = 1, /* Perform an extend reset as defined by board */
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board_reset_power_off = 2, /* Reset to the boot loader, signaling a power off */
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board_reset_enter_bootloader = 3 /* Perform a reset to the boot loader */
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} board_reset_e;
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/* board power button state notification */
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typedef enum board_power_button_state_notification_e {
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PWR_BUTTON_IDEL, /* Button went up without meeting shutdown button down time */
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PWR_BUTTON_DOWN, /* Button went Down */
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@@ -321,7 +311,6 @@ typedef enum board_power_button_state_notification_e {
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} board_power_button_state_notification_e;
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/* board call back signature */
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typedef int (*power_button_state_notification_t)(board_power_button_state_notification_e request);
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/* PX4_SOC_ARCH_ID is monotonic ordinal number assigned by PX4 to a chip
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@@ -416,10 +405,6 @@ typedef uint8_t mfguid_t[PX4_CPU_MFGUID_BYTE_LENGTH];
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*/
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typedef uint8_t px4_guid_t[PX4_GUID_BYTE_LENGTH];
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/************************************************************************************
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* Private Functions
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************************************************************************************/
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/************************************************************************************
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* Public Functions
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************************************************************************************/
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@@ -526,7 +511,7 @@ int board_read_VBUS_state(void);
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* Name: board_on_reset
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*
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* Description:
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* Optionally provided function called on entry to board_system_reset
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* Optionally provided function called on entry to board_reset
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* It should perform any house keeping prior to the rest.
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* For example setting PWM outputs to the off state to avoid
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* triggering a motor spin.
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@@ -547,58 +532,55 @@ int board_read_VBUS_state(void);
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*
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************************************************************************************/
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#if defined(BOARD_HAS_NO_RESET) || !defined(BOARD_HAS_ON_RESET)
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# define board_on_reset(status)
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#else
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#if defined(BOARD_HAS_ON_RESET)
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__EXPORT void board_on_reset(int status);
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#endif // BOARD_HAS_ON_RESET
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/****************************************************************************
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* Name: board_power_off
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*
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* Description:
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* Power off the board. This function may or may not be supported by a
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* particular board architecture.
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*
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* Input Parameters:
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* status - Status information provided with the reset event. This
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* meaning of this status information is board-specific. If not used by
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* a board, the value zero may be provided in calls to board_power_off.
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*
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* Returned Value:
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* If this function returns, then it was not possible to power-off the
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* board due to some constraints. The return value int this case is a
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* board-specific reason for the failure to shutdown.
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*
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****************************************************************************/
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#ifdef CONFIG_BOARDCTL_POWEROFF
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int board_power_off(int status);
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#endif
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/************************************************************************************
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/****************************************************************************
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* Name: board_reset
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*
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* Description:
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* All boards my optionally provide this API to reset the board
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* Reset board. Support for this function is required by board-level
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* logic if CONFIG_BOARDCTL_RESET is selected.
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*
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* Input Parameters:
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* status - 1 Resetting to boot loader
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* 0 Just resetting CPU
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* status - Status information provided with the reset event. This
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* meaning of this status information is board-specific. If not
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* used by a board, the value zero may be provided in calls to
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* board_reset().
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*
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* Returned Value:
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* If function is supported by board it will not return.
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* If not supported it is a noop.
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* If this function returns, then it was not possible to power-off the
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* board due to some constraints. The return value int this case is a
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* board-specific reason for the failure to shutdown.
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*
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************************************************************************************/
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#if defined(BOARD_HAS_NO_RESET)
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# define board_system_reset(status)
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#else
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__EXPORT void board_system_reset(int status) noreturn_function;
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#endif
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****************************************************************************/
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/************************************************************************************
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* Name: board_set_bootload_mode
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*
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* Description:
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* All boards my optionally provide this API to enter configure the entry to
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* boot loader mode on the next system reset.
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*
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* Input Parameters:
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* mode - is an board_reset_e that controls the type of reset.
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* board_reset_normal Perform a normal reset
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* board_reset_extended Perform an extend reset as defined by board
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* board_reset_power_off Reset to the boot loader, signaling a power off
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* board_reset_enter_bootloader Perform a reset to the boot loader
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*
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*
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* Returned Value:
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* Zero (OK) is returned on success; a negated EINVAL value is returned if an
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* invalid mode is requested.
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*
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************************************************************************************/
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#if defined(BOARD_HAS_NO_BOOTLOADER)
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# define board_set_bootload_mode(mode)
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#else
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__EXPORT int board_set_bootload_mode(board_reset_e mode);
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#ifdef CONFIG_BOARDCTL_RESET
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int board_reset(int status);
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#endif
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/************************************************************************************
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@@ -980,23 +962,6 @@ __EXPORT int board_mcu_version(char *rev, const char **revstr, const char **erra
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int board_register_power_state_notification_cb(power_button_state_notification_t cb);
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/************************************************************************************
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* Name: board_shutdown
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*
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* Description:
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* boards may provide a function to power off the board.
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*
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* Input Parameters:
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* None.
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* Returned Value:
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* - If supported the function will not return.
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* OK, or -EINVAL if unsupported.
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*/
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int board_shutdown(void);
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#else
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static inline int board_register_power_state_notification_cb(power_button_state_notification_t cb) { return 0; }
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static inline int board_shutdown(void) { return -EINVAL; }
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#endif
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/************************************************************************************
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@@ -38,7 +38,10 @@
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#pragma once
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#include <px4_platform_common/px4_config.h>
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#include <stdbool.h>
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#include <inttypes.h>
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__BEGIN_DECLS
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@@ -69,17 +72,34 @@ __EXPORT int px4_unregister_shutdown_hook(shutdown_hook_t hook);
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/**
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* Request the system to shut down or reboot.
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* Request the system to reboot.
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* Note the following:
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* - The system might not support to shutdown (or reboot). In that case -EINVAL will
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* - The system might not support reboot. In that case -EINVAL will
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* be returned.
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* - The system might not shutdown immediately, so expect this method to return even
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* on success.
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* @param reboot perform a reboot instead of a shutdown
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* @param to_bootloader reboot into bootloader mode (only used if reboot is true)
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* @param delay_us optional delay in microseconds
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* @return 0 on success, <0 on error
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*/
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__EXPORT int px4_shutdown_request(bool reboot, bool to_bootloader);
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#if defined(CONFIG_BOARDCTL_RESET)
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__EXPORT int px4_reboot_request(bool to_bootloader = false, uint32_t delay_us = 0);
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#endif // CONFIG_BOARDCTL_RESET
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/**
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* Request the system to shut down or reboot.
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* Note the following:
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* - The system might not support shutdown. In that case -EINVAL will
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* be returned.
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* - The system might not shutdown immediately, so expect this method to return even
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* on success.
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* @param delay_us optional delay in microseconds
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* @return 0 on success, <0 on error
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*/
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#if defined(CONFIG_BOARDCTL_POWEROFF) || defined(__PX4_POSIX)
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__EXPORT int px4_shutdown_request(uint32_t delay_us = 0);
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#endif // CONFIG_BOARDCTL_POWEROFF
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/**
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@@ -89,10 +109,12 @@ __EXPORT int px4_shutdown_request(bool reboot, bool to_bootloader);
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*/
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__EXPORT int px4_shutdown_lock(void);
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/**
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* Release the shutdown lock.
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* @return 0 on success, <0 on error
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*/
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__EXPORT int px4_shutdown_unlock(void);
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__END_DECLS
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@@ -149,10 +149,6 @@ typedef int (*px4_main_t)(int argc, char *argv[]);
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__BEGIN_DECLS
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/** Reboots the board (without waiting for clean shutdown). Modules should use px4_shutdown_request() in most cases.
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*/
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__EXPORT void px4_systemreset(bool to_bootloader) noreturn_function;
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/** Starts a task and performs any specific accounting, scheduler setup, etc. */
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__EXPORT px4_task_t px4_task_spawn_cmd(const char *name,
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int scheduler,
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