From 845a7efd580de5c7bb3ffb074f2a4026b8c7e7ac Mon Sep 17 00:00:00 2001 From: Eric Katzfey Date: Sun, 22 Feb 2026 11:37:31 -0700 Subject: [PATCH] voxl2: add system reboot support --- boards/modalai/voxl2-slpi/src/board_config.h | 4 +- boards/modalai/voxl2/default.px4board | 1 + boards/modalai/voxl2/src/CMakeLists.txt | 3 +- boards/modalai/voxl2/src/board_config.h | 4 +- boards/modalai/voxl2/src/boardctl.c | 46 +++++++++++++++++++ platforms/common/shutdown.cpp | 3 +- platforms/posix/include/sys/boardctl.h | 44 ++++++++++++++++++ platforms/qurt/include/sys/boardctl.h | 44 ++++++++++++++++++ platforms/qurt/src/px4/px4_qurt_impl.cpp | 10 +++- .../muorb/apps/uORBAppsProtobufChannel.cpp | 6 +++ .../muorb/slpi/uORBProtobufChannel.cpp | 9 ++++ .../muorb/slpi/uORBProtobufChannel.hpp | 2 + 12 files changed, 169 insertions(+), 7 deletions(-) create mode 100644 boards/modalai/voxl2/src/boardctl.c create mode 100644 platforms/posix/include/sys/boardctl.h create mode 100644 platforms/qurt/include/sys/boardctl.h diff --git a/boards/modalai/voxl2-slpi/src/board_config.h b/boards/modalai/voxl2-slpi/src/board_config.h index 2729397967..ef7fb37428 100644 --- a/boards/modalai/voxl2-slpi/src/board_config.h +++ b/boards/modalai/voxl2-slpi/src/board_config.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2022 ModalAI, Inc. All rights reserved. + * Copyright (c) 2022-2026 ModalAI, Inc. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -39,7 +39,7 @@ #pragma once -#define BOARD_HAS_NO_RESET +#define CONFIG_BOARDCTL_RESET #define BOARD_HAS_NO_BOOTLOADER /* * I2C buses diff --git a/boards/modalai/voxl2/default.px4board b/boards/modalai/voxl2/default.px4board index 63023ff4b9..9bae25cd47 100644 --- a/boards/modalai/voxl2/default.px4board +++ b/boards/modalai/voxl2/default.px4board @@ -25,5 +25,6 @@ CONFIG_SYSTEMCMDS_PERF=y CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y CONFIG_SYSTEMCMDS_UORB=y CONFIG_SYSTEMCMDS_VER=y +CONFIG_SYSTEMCMDS_REBOOT=y CONFIG_ORB_COMMUNICATOR=y CONFIG_PARAM_PRIMARY=y diff --git a/boards/modalai/voxl2/src/CMakeLists.txt b/boards/modalai/voxl2/src/CMakeLists.txt index f783825128..85b1cd7dd1 100644 --- a/boards/modalai/voxl2/src/CMakeLists.txt +++ b/boards/modalai/voxl2/src/CMakeLists.txt @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2022 ModalAI, Inc. All rights reserved. +# Copyright (c) 2022-2026 ModalAI, Inc. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -40,6 +40,7 @@ set(DISABLE_PARAMS_MODULE_SCOPING TRUE PARENT_SCOPE) add_library(drivers_board board_config.h init.c + boardctl.c ) # Add custom drivers diff --git a/boards/modalai/voxl2/src/board_config.h b/boards/modalai/voxl2/src/board_config.h index 9bc7247e9d..68ee5389f1 100644 --- a/boards/modalai/voxl2/src/board_config.h +++ b/boards/modalai/voxl2/src/board_config.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2022 ModalAI, Inc. All rights reserved. + * Copyright (c) 2022-2026 ModalAI, Inc. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -39,7 +39,7 @@ #pragma once -#define BOARD_HAS_NO_RESET +#define CONFIG_BOARDCTL_RESET #define BOARD_HAS_NO_BOOTLOADER // Define this as empty since there are no I2C buses diff --git a/boards/modalai/voxl2/src/boardctl.c b/boards/modalai/voxl2/src/boardctl.c new file mode 100644 index 0000000000..2af66716fc --- /dev/null +++ b/boards/modalai/voxl2/src/boardctl.c @@ -0,0 +1,46 @@ +/**************************************************************************** + * + * Copyright (c) 2025-2026 ModalAI, Inc. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include +#include + +#include "fc_sensor.h" + +int boardctl(unsigned int cmd, uintptr_t arg) +{ + fc_sensor_kill_slpi(); + sleep(2); + exit(-1); + return 0; +} diff --git a/platforms/common/shutdown.cpp b/platforms/common/shutdown.cpp index d1be7ff5a1..3d110aba98 100644 --- a/platforms/common/shutdown.cpp +++ b/platforms/common/shutdown.cpp @@ -57,9 +57,10 @@ #ifdef __PX4_NUTTX #include -#include #endif +#include + using namespace time_literals; static pthread_mutex_t shutdown_mutex = diff --git a/platforms/posix/include/sys/boardctl.h b/platforms/posix/include/sys/boardctl.h new file mode 100644 index 0000000000..2024c08f65 --- /dev/null +++ b/platforms/posix/include/sys/boardctl.h @@ -0,0 +1,44 @@ +/**************************************************************************** + * + * Copyright (C) 2025-2026 ModalAI, Inc. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include + +#if defined(CONFIG_BOARDCTL_RESET) + +#define BOARDIOC_RESET (1<<0) + +extern "C" __EXPORT int boardctl(unsigned int cmd, uintptr_t arg); + +#endif diff --git a/platforms/qurt/include/sys/boardctl.h b/platforms/qurt/include/sys/boardctl.h new file mode 100644 index 0000000000..2024c08f65 --- /dev/null +++ b/platforms/qurt/include/sys/boardctl.h @@ -0,0 +1,44 @@ +/**************************************************************************** + * + * Copyright (C) 2025-2026 ModalAI, Inc. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include + +#if defined(CONFIG_BOARDCTL_RESET) + +#define BOARDIOC_RESET (1<<0) + +extern "C" __EXPORT int boardctl(unsigned int cmd, uintptr_t arg); + +#endif diff --git a/platforms/qurt/src/px4/px4_qurt_impl.cpp b/platforms/qurt/src/px4/px4_qurt_impl.cpp index 545b098f20..34f3c8620c 100644 --- a/platforms/qurt/src/px4/px4_qurt_impl.cpp +++ b/platforms/qurt/src/px4/px4_qurt_impl.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2022 ModalAI, Inc. All rights reserved. + * Copyright (C) 2022-2026 ModalAI, Inc. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -32,10 +32,18 @@ ****************************************************************************/ #include +extern "C" void px4muorb_request_reset(void); + __BEGIN_DECLS long PX4_TICKS_PER_SEC = 1000L; void fsync(int fd) { return; } uint32_t crc32part(const uint8_t *src, size_t len, uint32_t crc32val) { return 1; } +int boardctl(unsigned int cmd, uintptr_t arg) +{ + px4muorb_request_reset(); + return 0; +} + __END_DECLS diff --git a/src/modules/muorb/apps/uORBAppsProtobufChannel.cpp b/src/modules/muorb/apps/uORBAppsProtobufChannel.cpp index 53df2863a4..b2862b717b 100644 --- a/src/modules/muorb/apps/uORBAppsProtobufChannel.cpp +++ b/src/modules/muorb/apps/uORBAppsProtobufChannel.cpp @@ -130,6 +130,12 @@ void uORB::AppsProtobufChannel::SubscribeCallback(const char *topic) // This will happen when a newer PX4 version is talking to a // SLPI image that doesn't support the CPULOAD request. If the // SLPI image does support it then we wouldn't get this. + } else if (strcmp(topic, "RESET") == 0) { + PX4_ERR("Got RESET subscription, Rebooting..."); + fc_sensor_kill_slpi(); + sleep(2); + exit(-1); + } else if (_RxHandler) { pthread_mutex_lock(&_rx_mutex); _SlpiSubscriberCache[topic]++; diff --git a/src/modules/muorb/slpi/uORBProtobufChannel.cpp b/src/modules/muorb/slpi/uORBProtobufChannel.cpp index 50fd55b437..d5d438825d 100644 --- a/src/modules/muorb/slpi/uORBProtobufChannel.cpp +++ b/src/modules/muorb/slpi/uORBProtobufChannel.cpp @@ -628,6 +628,15 @@ int px4muorb_send_topic_data(const char *topic_name, const uint8_t *data, } +void px4muorb_request_reset(void) +{ + uORB::ProtobufChannel *channel = uORB::ProtobufChannel::GetInstance(); + + if (channel) { + (void) channel->add_subscription("RESET", 0); + } +} + float px4muorb_get_cpu_load(void) { diff --git a/src/modules/muorb/slpi/uORBProtobufChannel.hpp b/src/modules/muorb/slpi/uORBProtobufChannel.hpp index 186c913ea3..8efbd5795b 100644 --- a/src/modules/muorb/slpi/uORBProtobufChannel.hpp +++ b/src/modules/muorb/slpi/uORBProtobufChannel.hpp @@ -243,6 +243,8 @@ extern "C" { int px4muorb_send_topic_data(const char *name, const uint8_t *data, int data_len_in_bytes) __EXPORT; float px4muorb_get_cpu_load(void) __EXPORT; + + void px4muorb_request_reset(void) __EXPORT; } #endif // _uORBProtobufChannel_hpp_