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platforms/common/shutdown.cpp: Enable boardctl functions for shutdown and poweroff

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Shutdown and poweroff must go through boardctl in NuttX protected build

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This commit is contained in:
Jukka Laitinen 2020-10-07 13:35:23 +03:00 committed by Daniel Agar
parent 7185bb3243
commit d0d7f29422
1 changed files with 7 additions and 2 deletions
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9
platforms/common/shutdown.cpp
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@ -56,6 +56,7 @@
#ifdef __PX4_NUTTX
#include <nuttx/board.h>
#include <sys/boardctl.h>
#endif
using namespace time_literals;
@ -99,7 +100,7 @@ int px4_shutdown_unlock()
return ret;
}
#if defined(CONFIG_SCHED_WORKQUEUE)
#if defined(CONFIG_SCHED_WORKQUEUE) || (!defined(CONFIG_BUILD_FLAT) && defined(CONFIG_LIB_USRWORK))
static struct work_s shutdown_work = {};
static uint16_t shutdown_counter = 0; ///< count how many times the shutdown worker was executed
@ -174,7 +175,7 @@ static void shutdown_worker(void *arg)
if (shutdown_args & SHUTDOWN_ARG_REBOOT) {
#if defined(CONFIG_BOARDCTL_RESET)
PX4_INFO_RAW("Reboot NOW.");
board_reset((shutdown_args & SHUTDOWN_ARG_TO_BOOTLOADER) ? 1 : 0);
boardctl(BOARDIOC_RESET, (shutdown_args & SHUTDOWN_ARG_TO_BOOTLOADER) ? 1 : 0);
#else
PX4_PANIC("board reset not available");
#endif
@ -182,7 +183,11 @@ static void shutdown_worker(void *arg)
} else {
#if defined(BOARD_HAS_POWER_CONTROL)
PX4_INFO_RAW("Powering off NOW.");
#if defined(CONFIG_BOARDCTL_POWEROFF)
boardctl(BOARDIOC_POWEROFF, 0);
#else
board_power_off(0);
#endif
#elif defined(__PX4_POSIX)
// simply exit on posix if real shutdown (poweroff) not available
PX4_INFO_RAW("Exiting NOW.");