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AP_HAL_AVR: now that we can detect the APM revision, use wdt reboot on apm2

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Pat Hickey 2012-12-13 14:23:14 -08:00 committed by Andrew Tridgell
parent ade7099d75
commit f060df9747
1 changed files with 11 additions and 3 deletions
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14
libraries/AP_HAL_AVR/Scheduler.cpp
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@ -4,6 +4,7 @@
#if (CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2)
#include <avr/io.h>
#include <avr/wdt.h>
#include <avr/interrupt.h>
#include "HAL_AVR.h"
@ -212,17 +213,24 @@ void AVRScheduler::end_atomic() {
void AVRScheduler::reboot() {
hal.uartA->println_P(PSTR("GOING DOWN FOR A REBOOT\r\n"));
hal.scheduler->delay(100);
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
/* The APM2 bootloader will reset the watchdog shortly after
* starting, so we can use the watchdog to force a reboot
*/
cli();
wdt_enable(WDTO_15MS);
for(;;);
#else
cli();
/* Making a null pointer call will cause all AVRs to reboot
* but they may not come back alive properly - we need to setup
* the IO the way the bootloader would.
* pch will go back and fix this.
*/
void (*fn)(void) = NULL;
fn();
for(;;);
#endif
}
#endif