From e86d9adb93189a3811a5ee38a2e4fadb7456423f Mon Sep 17 00:00:00 2001
From: David Sidrane <david_s5@nscdg.com>
Date: Tue, 2 May 2017 11:06:32 -1000
Subject: [PATCH] px4fmu-v4:Implement board_on_reset API

   Added board_on_reset, to force timer GPIO to output low on reset
   This will stop the motors.
---
 src/drivers/boards/px4fmu-v4/board_config.h |  1 +
 src/drivers/boards/px4fmu-v4/px4fmu_init.c  | 33 ++++++++++++++++-----
 2 files changed, 27 insertions(+), 7 deletions(-)

diff --git a/src/drivers/boards/px4fmu-v4/board_config.h b/src/drivers/boards/px4fmu-v4/board_config.h
index 88385a907a..43c2f2fac7 100644
--- a/src/drivers/boards/px4fmu-v4/board_config.h
+++ b/src/drivers/boards/px4fmu-v4/board_config.h
@@ -345,6 +345,7 @@
 /* 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-v4/px4fmu_init.c b/src/drivers/boards/px4fmu-v4/px4fmu_init.c
index 009af9c34a..55208b33e7 100644
--- a/src/drivers/boards/px4fmu-v4/px4fmu_init.c
+++ b/src/drivers/boards/px4fmu-v4/px4fmu_init.c
@@ -152,6 +152,29 @@ __EXPORT void board_peripheral_reset(int ms)
 
 }
 
+/************************************************************************************
+ * 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);
+}
+
 /************************************************************************************
  * Name: stm32_boardinitialize
  *
@@ -165,13 +188,9 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void
 stm32_boardinitialize(void)
 {
-	/* 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);
+	/* Reset all PWM to Low outputs */
+
+	board_on_reset(-1);
 
 	/* configure LEDs */
 	board_autoled_initialize();