diff options
-rw-r--r-- | src/modules/commander/state_machine_helper.c | 2 | ||||
-rw-r--r-- | src/modules/systemlib/systemlib.c | 12 | ||||
-rw-r--r-- | src/modules/systemlib/systemlib.h | 2 | ||||
-rw-r--r-- | src/systemcmds/reboot/reboot.c | 19 |
4 files changed, 31 insertions, 4 deletions
diff --git a/src/modules/commander/state_machine_helper.c b/src/modules/commander/state_machine_helper.c index c26478785..9b6527c33 100644 --- a/src/modules/commander/state_machine_helper.c +++ b/src/modules/commander/state_machine_helper.c @@ -141,7 +141,7 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con current_status->flag_system_armed = false; mavlink_log_critical(mavlink_fd, "REBOOTING SYSTEM"); usleep(500000); - systemreset(); + systemreset(false); /* SPECIAL CASE: NEVER RETURNS FROM THIS FUNCTION CALL */ } else { diff --git a/src/modules/systemlib/systemlib.c b/src/modules/systemlib/systemlib.c index 96276b56a..57a751e1c 100644 --- a/src/modules/systemlib/systemlib.c +++ b/src/modules/systemlib/systemlib.c @@ -50,9 +50,19 @@ #include <sys/stat.h> #include <sys/types.h> +#include <stm32_pwr.h> + #include "systemlib.h" -__EXPORT extern void systemreset(void) { +void +systemreset(bool to_bootloader) +{ + if (to_bootloader) { + stm32_pwr_enablebkp(); + + /* XXX wow, this is evil - write a magic number into backup register zero */ + *(uint32_t *)0x40002850 = 0xb007b007; + } up_systemreset(); } diff --git a/src/modules/systemlib/systemlib.h b/src/modules/systemlib/systemlib.h index 77fdfe08a..3728f2067 100644 --- a/src/modules/systemlib/systemlib.h +++ b/src/modules/systemlib/systemlib.h @@ -45,7 +45,7 @@ __BEGIN_DECLS /** Reboots the board */ -__EXPORT void systemreset(void) noreturn_function; +__EXPORT void systemreset(bool to_bootloader) noreturn_function; /** Sends SIGUSR1 to all processes */ __EXPORT void killall(void); diff --git a/src/systemcmds/reboot/reboot.c b/src/systemcmds/reboot/reboot.c index 0fd1e2724..91a2c2eb8 100644 --- a/src/systemcmds/reboot/reboot.c +++ b/src/systemcmds/reboot/reboot.c @@ -40,14 +40,31 @@ #include <nuttx/config.h> #include <unistd.h> #include <stdio.h> +#include <getopt.h> #include <systemlib/systemlib.h> +#include <systemlib/err.h> __EXPORT int reboot_main(int argc, char *argv[]); int reboot_main(int argc, char *argv[]) { - systemreset(); + int ch; + bool to_bootloader = false; + + while ((ch = getopt(argc, argv, "b")) != -1) { + switch (ch) { + case 'b': + to_bootloader = true; + break; + default: + errx(1, "usage: reboot [-b]\n" + " -b reboot into the bootloader"); + + } + } + + systemreset(to_bootloader); } |