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Copter: added reboot in CLI and over MAVLink

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useful for getting out of CLI
This commit is contained in:
Andrew Tridgell 2012-11-24 18:20:03 +11:00
parent e5e6131085
commit 62edd146a3
2 changed files with 40 additions and 3 deletions
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9
ArduCopter/GCS_Mavlink.pde
View File

@ -1114,6 +1114,15 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
result = MAV_RESULT_UNSUPPORTED; result = MAV_RESULT_UNSUPPORTED;
} }
break; break;
case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
if (packet.param1 == 1) {
reboot_apm();
result = MAV_RESULT_ACCEPTED;
}
break;
default: default:
result = MAV_RESULT_UNSUPPORTED; result = MAV_RESULT_UNSUPPORTED;
break; break;

34
ArduCopter/system.pde
View File

@ -11,6 +11,7 @@
static int8_t process_logs(uint8_t argc, const Menu::arg *argv); // in Log.pde static int8_t process_logs(uint8_t argc, const Menu::arg *argv); // in Log.pde
static int8_t setup_mode(uint8_t argc, const Menu::arg *argv); // in setup.pde static int8_t setup_mode(uint8_t argc, const Menu::arg *argv); // in setup.pde
static int8_t test_mode(uint8_t argc, const Menu::arg *argv); // in test.cpp static int8_t test_mode(uint8_t argc, const Menu::arg *argv); // in test.cpp
static int8_t reboot_board(uint8_t argc, const Menu::arg *argv);
// This is the help function // This is the help function
// PSTR is an AVR macro to read strings from flash memory // PSTR is an AVR macro to read strings from flash memory
@ -21,9 +22,7 @@ static int8_t main_menu_help(uint8_t argc, const Menu::arg *argv)
" logs\n" " logs\n"
" setup\n" " setup\n"
" test\n" " test\n"
" planner\n" " reboot\n"
"\n"
"Move the slide switch and reset to FLY.\n"
"\n")); "\n"));
return(0); return(0);
} }
@ -35,12 +34,19 @@ const struct Menu::command main_menu_commands[] PROGMEM = {
{"logs", process_logs}, {"logs", process_logs},
{"setup", setup_mode}, {"setup", setup_mode},
{"test", test_mode}, {"test", test_mode},
{"reboot", reboot_board},
{"help", main_menu_help}, {"help", main_menu_help},
}; };
// Create the top-level menu object. // Create the top-level menu object.
MENU(main_menu, THISFIRMWARE, main_menu_commands); MENU(main_menu, THISFIRMWARE, main_menu_commands);
static int8_t reboot_board(uint8_t argc, const Menu::arg *argv)
{
reboot_apm();
return 0;
}
// the user wants the CLI. It never exits // the user wants the CLI. It never exits
static void run_cli(FastSerial *port) static void run_cli(FastSerial *port)
{ {
@ -681,6 +687,28 @@ uint16_t board_voltage(void)
} }
#endif #endif
/*
force a software reset of the APM
*/
static void reboot_apm(void)
{
cliSerial->printf_P(PSTR("REBOOTING\n"));
delay(100); // let serial flush
// see http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1250663814/
// for the method
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
// this relies on the bootloader resetting the watchdog, which
// APM1 doesn't do
cli();
wdt_enable(WDTO_15MS);
#else
// this works on APM1
void (*fn)(void) = NULL;
fn();
#endif
while (1);
}
// //
// print_flight_mode - prints flight mode to serial port. // print_flight_mode - prints flight mode to serial port.
// //