From 59fe2c9d4e5b579035be5666f303d7553e1e8961 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 15 Jan 2024 09:09:43 +1100
Subject: [PATCH] AP_Periph: added reboot for scripting

---
 Tools/AP_Periph/AP_Periph.cpp | 8 ++++++++
 Tools/AP_Periph/AP_Periph.h   | 5 ++++-
 2 files changed, 12 insertions(+), 1 deletion(-)

diff --git a/Tools/AP_Periph/AP_Periph.cpp b/Tools/AP_Periph/AP_Periph.cpp
index 41bf37b92c..8a08df7aed 100644
--- a/Tools/AP_Periph/AP_Periph.cpp
+++ b/Tools/AP_Periph/AP_Periph.cpp
@@ -594,6 +594,14 @@ void AP_Periph_FW::prepare_reboot()
         hal.scheduler->delay(40);
 }
 
+/*
+  reboot, optionally holding in bootloader. For scripting
+ */
+void AP_Periph_FW::reboot(bool hold_in_bootloader)
+{
+    hal.scheduler->reboot(hold_in_bootloader);
+}
+
 AP_Periph_FW *AP_Periph_FW::_singleton;
 
 AP_Periph_FW& AP::periph()
diff --git a/Tools/AP_Periph/AP_Periph.h b/Tools/AP_Periph/AP_Periph.h
index d0e0c279be..991ddf2b23 100644
--- a/Tools/AP_Periph/AP_Periph.h
+++ b/Tools/AP_Periph/AP_Periph.h
@@ -468,7 +468,10 @@ public:
                               uint16_t data_type_id,
                               CanardTransferType transfer_type,
                               uint8_t source_node_id);
-    
+
+    // reboot the peripheral, optionally holding in bootloader
+    void reboot(bool hold_in_bootloader);
+
 #if AP_UART_MONITOR_ENABLED
     void handle_tunnel_Targetted(CanardInstance* canard_instance, CanardRxTransfer* transfer);
     void send_serial_monitor_data();