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reboot: Add reboot to ISP option

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This commit is contained in:
Peter van der Perk
2024-01-04 11:17:16 -05:00
committed by Daniel Agar
parent 8ba18a78af
commit 84093a07a2
13 changed files with 56 additions and 19 deletions
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platforms/common/include/px4_platform_common/shutdown.h
+7 -1
View File
@@ -70,6 +70,12 @@ __EXPORT int px4_register_shutdown_hook(shutdown_hook_t hook);
*/
__EXPORT int px4_unregister_shutdown_hook(shutdown_hook_t hook);
/** Types of reboot requests for PX4 */
typedef enum {
REBOOT_REQUEST = 0, ///< Normal reboot
REBOOT_TO_BOOTLOADER = 1, ///< Reboot to PX4 bootloader
REBOOT_TO_ISP = 2, ///< Reboot to ISP bootloader
} reboot_request_t;
/**
* Request the system to reboot.
@@ -83,7 +89,7 @@ __EXPORT int px4_unregister_shutdown_hook(shutdown_hook_t hook);
* @return 0 on success, <0 on error
*/
#if defined(CONFIG_BOARDCTL_RESET)
__EXPORT int px4_reboot_request(bool to_bootloader = false, uint32_t delay_us = 0);
__EXPORT int px4_reboot_request(reboot_request_t request = REBOOT_REQUEST, uint32_t delay_us = 0);
#endif // CONFIG_BOARDCTL_RESET
platforms/common/shutdown.cpp
+17 -3
View File
@@ -108,6 +108,7 @@ static uint16_t shutdown_counter = 0; ///< count how many times the shutdown wor
#define SHUTDOWN_ARG_IN_PROGRESS (1<<0)
#define SHUTDOWN_ARG_REBOOT (1<<1)
#define SHUTDOWN_ARG_TO_BOOTLOADER (1<<2)
#define SHUTDOWN_ARG_TO_ISP (1<<3)
static uint8_t shutdown_args = 0;
static constexpr int max_shutdown_hooks = 1;
@@ -175,7 +176,17 @@ static void shutdown_worker(void *arg)
if (shutdown_args & SHUTDOWN_ARG_REBOOT) {
#if defined(CONFIG_BOARDCTL_RESET)
PX4_INFO_RAW("Reboot NOW.");
boardctl(BOARDIOC_RESET, (shutdown_args & SHUTDOWN_ARG_TO_BOOTLOADER) ? 1 : 0);
if (shutdown_args & SHUTDOWN_ARG_TO_BOOTLOADER) {
boardctl(BOARDIOC_RESET, (uintptr_t)REBOOT_TO_BOOTLOADER);
} else if (shutdown_args & SHUTDOWN_ARG_TO_ISP) {
boardctl(BOARDIOC_RESET, (uintptr_t)REBOOT_TO_ISP);
} else {
boardctl(BOARDIOC_RESET, (uintptr_t)REBOOT_REQUEST);
}
#else
PX4_PANIC("board reset not available");
#endif
@@ -206,7 +217,7 @@ static void shutdown_worker(void *arg)
}
#if defined(CONFIG_BOARDCTL_RESET)
int px4_reboot_request(bool to_bootloader, uint32_t delay_us)
int px4_reboot_request(reboot_request_t request, uint32_t delay_us)
{
pthread_mutex_lock(&shutdown_mutex);
@@ -217,8 +228,11 @@ int px4_reboot_request(bool to_bootloader, uint32_t delay_us)
shutdown_args |= SHUTDOWN_ARG_REBOOT;
if (to_bootloader) {
if (request == REBOOT_TO_BOOTLOADER) {
shutdown_args |= SHUTDOWN_ARG_TO_BOOTLOADER;
} else if (request == REBOOT_TO_ISP) {
shutdown_args |= SHUTDOWN_ARG_TO_ISP;
}
shutdown_time_us = hrt_absolute_time();