Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-22 14:24:21 +08:00
Code Issues Actions 8 Packages Projects Releases Wiki Activity

reboot: Add reboot to ISP option

Browse Source
This commit is contained in:
Peter van der Perk
2024-01-02 16:06:14 +01:00
committed by Daniel Agar
parent 8ba18a78af
commit 84093a07a2
13 changed files with 56 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files
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();
platforms/nuttx/src/px4/common/cdc_acm_check.cpp
+2 -2
View File
@@ -187,7 +187,7 @@ static void mavlink_usb_check(void *arg)
if (param1 == 1) {
// 1: Reboot autopilot
px4_reboot_request(false, 0);
px4_reboot_request(REBOOT_REQUEST, 0);
} else if (param1 == 2) {
// 2: Shutdown autopilot
@@ -197,7 +197,7 @@ static void mavlink_usb_check(void *arg)
} else if (param1 == 3) {
// 3: Reboot autopilot and keep it in the bootloader until upgraded.
px4_reboot_request(true, 0);
px4_reboot_request(REBOOT_TO_BOOTLOADER, 0);
}
}
}
platforms/nuttx/src/px4/nxp/imxrt/board_reset/board_reset.cpp
+2 -1
View File
@@ -38,6 +38,7 @@
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/shutdown.h>
#include <errno.h>
#include <nuttx/board.h>
#include <arm_internal.h>
@@ -61,7 +62,7 @@ static int board_reset_enter_bootloader()
int board_reset(int status)
{
if (status == 1) {
if (status == REBOOT_TO_BOOTLOADER) {
board_reset_enter_bootloader();
}
platforms/nuttx/src/px4/nxp/kinetis/board_reset/board_reset.cpp
+2 -1
View File
@@ -38,6 +38,7 @@
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/shutdown.h>
#include <errno.h>
#include <nuttx/board.h>
@@ -72,7 +73,7 @@ static int board_reset_enter_bootloader()
int board_reset(int status)
{
if (status == 1) {
if (status == REBOOT_TO_BOOTLOADER) {
board_reset_enter_bootloader();
}
platforms/nuttx/src/px4/nxp/s32k1xx/board_reset/board_reset.cpp
+2 -1
View File
@@ -39,6 +39,7 @@
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/shutdown.h>
#include <systemlib/px4_macros.h>
#include <errno.h>
#include <nuttx/board.h>
@@ -96,7 +97,7 @@ int board_configure_reset(reset_mode_e mode, uint32_t arg)
int board_reset(int status)
{
if (status == 1) {
if (status == REBOOT_TO_BOOTLOADER) {
board_reset_enter_bootloader();
}
platforms/nuttx/src/px4/nxp/s32k3xx/board_reset/board_reset.cpp
+1
View File
@@ -39,6 +39,7 @@
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/shutdown.h>
#include <errno.h>
#include <nuttx/board.h>
#include <hardware/s32k3xx_mc_me.h>
platforms/nuttx/src/px4/rpi/rpi_common/board_reset/board_reset.cpp
+2 -1
View File
@@ -38,6 +38,7 @@
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/shutdown.h>
#include <systemlib/px4_macros.h>
#include <errno.h>
@@ -119,7 +120,7 @@
int board_reset(int status)
{
if (status == 1) {
if (status == REBOOT_TO_BOOTLOADER) {
// board_configure_reset(BOARD_RESET_MODE_BOOT_TO_BL, 0);
}
platforms/nuttx/src/px4/stm/stm32_common/board_reset/board_reset.cpp
+2 -1
View File
@@ -38,6 +38,7 @@
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/shutdown.h>
#include <systemlib/px4_macros.h>
#include <errno.h>
#include <stm32_pwr.h>
@@ -117,7 +118,7 @@ int board_configure_reset(reset_mode_e mode, uint32_t arg)
int board_reset(int status)
{
if (status == 1) {
if (status == REBOOT_TO_BOOTLOADER) {
board_configure_reset(BOARD_RESET_MODE_BOOT_TO_BL, 0);
}
src/modules/commander/Commander.cpp
+2 -2
View File
@@ -1201,7 +1201,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
#if defined(CONFIG_BOARDCTL_RESET)
} else if ((param1 == 1) && !isArmed() && (px4_reboot_request(false, 400_ms) == 0)) {
} else if ((param1 == 1) && !isArmed() && (px4_reboot_request(REBOOT_REQUEST, 400_ms) == 0)) {
// 1: Reboot autopilot
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
@@ -1221,7 +1221,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
#if defined(CONFIG_BOARDCTL_RESET)
} else if ((param1 == 3) && !isArmed() && (px4_reboot_request(true, 400_ms) == 0)) {
} else if ((param1 == 3) && !isArmed() && (px4_reboot_request(REBOOT_TO_BOOTLOADER, 400_ms) == 0)) {
// 3: Reboot autopilot and keep it in the bootloader until upgraded.
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
src/modules/commander/worker_thread.cpp
+1 -1
View File
@@ -177,7 +177,7 @@ void WorkerThread::threadEntry()
param_reset_specific(reset_cal, sizeof(reset_cal) / sizeof(reset_cal[0]));
_ret_value = param_save_default(true);
#if defined(CONFIG_BOARDCTL_RESET)
px4_reboot_request(false, 400_ms);
px4_reboot_request(REBOOT_REQUEST, 400_ms);
#endif // CONFIG_BOARDCTL_RESET
break;
}
src/systemcmds/netman/netman.cpp
+1 -1
View File
@@ -375,7 +375,7 @@ write_reboot:
sleep(1);
px4_reboot_request(false);
px4_reboot_request(REBOOT_REQUEST);
while (1) { px4_usleep(1); } // this command should not return on success
src/systemcmds/reboot/reboot.cpp
+15 -4
View File
@@ -44,6 +44,7 @@
#include <px4_platform_common/module.h>
#include <px4_platform_common/shutdown.h>
#include <string.h>
#include <board_config.h>
static void print_usage()
{
@@ -51,6 +52,9 @@ static void print_usage()
PRINT_MODULE_USAGE_NAME_SIMPLE("reboot", "command");
PRINT_MODULE_USAGE_PARAM_FLAG('b', "Reboot into bootloader", true);
#ifdef BOARD_HAS_ISP_BOOTLOADER
PRINT_MODULE_USAGE_PARAM_FLAG('i', "Reboot into ISP (1st stage bootloader)", true);
#endif
PRINT_MODULE_USAGE_ARG("lock|unlock", "Take/release the shutdown lock (for testing)", true);
}
@@ -58,17 +62,24 @@ static void print_usage()
extern "C" __EXPORT int reboot_main(int argc, char *argv[])
{
int ch;
bool to_bootloader = false;
reboot_request_t request = REBOOT_REQUEST;
int myoptind = 1;
const char *myoptarg = nullptr;
while ((ch = px4_getopt(argc, argv, "b", &myoptind, &myoptarg)) != -1) {
while ((ch = px4_getopt(argc, argv, "bi", &myoptind, &myoptarg)) != -1) {
switch (ch) {
case 'b':
to_bootloader = true;
request = REBOOT_TO_BOOTLOADER;
break;
#ifdef BOARD_HAS_ISP_BOOTLOADER
case 'i':
request = REBOOT_TO_ISP;
break;
#endif
default:
print_usage();
return 1;
@@ -98,7 +109,7 @@ extern "C" __EXPORT int reboot_main(int argc, char *argv[])
return ret;
}
int ret = px4_reboot_request(to_bootloader);
int ret = px4_reboot_request(request);
if (ret < 0) {
PX4_ERR("reboot failed (%i)", ret);