board_config: remove px4_board_pwr, use px4_shutdown_request instead

px4_board_pwr has become obsolete with the addition of board_shutdown

src/drivers/boards/common/board_common.h

@@ -208,7 +208,7 @@ typedef enum board_power_button_state_notification_e {
 	PWR_BUTTON_REQUEST_SHUT_DOWN,          /* Button went up after meeting shutdown button down time */
 
 	PWR_BUTTON_RESPONSE_SHUT_DOWN_PENDING, /* Response from call back board code does nothing the
-                                            * expectation is that board_do_shutdown will be called.
+                                            * expectation is that board_shutdown will be called.
                                             */
 	PWR_BUTTON_RESPONSE_SHUT_DOWN_NOW,     /* Response from call back board code does shutdown now. */
 } board_power_button_state_notification_e;
@@ -453,25 +453,16 @@ __EXPORT int board_mcu_version(char *rev, const char **revstr, const char **erra
 int board_register_power_state_notification_cb(power_button_state_notification_t cb);
 
 /************************************************************************************
- * Name: board_do_shutdown
+ * Name: board_shutdown
  *
  * Description:
  *   boards may provide a function to power off the board.
  *
- * return  - none
+ * return  - OK, or -errno
  */
-void board_shutdown(void);
+int board_shutdown(void);
 
-/************************************************************************************
- * Name: px4_board_pwr
- *
- * Description:
- *   boards may provide a function control the power.
- *
- * return  - none
- */
 #else
-#define board_register_power_state_notification_cb(cb) (0)
-#define board_shutdown() { do {} while(0); }
-#define px4_board_pwr(switch_on) { do {} while(0); }
+static inline int board_register_power_state_notification_cb(power_button_state_notification_t cb) { return 0; }
+static inline int board_shutdown(void) { return -EINVAL; }
 #endif

src/drivers/boards/tap-v1/board_config.h

@@ -342,16 +342,6 @@ void board_pwr_init(int stage);
 
 bool board_pwr_button_down(void);
 
-/****************************************************************************
- * Name: board_pwr
- *
- * Description:
- *   Called to turn on or off the TAP
- *
- ****************************************************************************/
-
-__EXPORT bool px4_board_pwr(bool on_not_off);
-
 #include "../common/board_common.h"
 
 #endif /* __ASSEMBLY__ */

src/drivers/boards/tap-v1/tap_pwr.c

@@ -176,24 +176,3 @@ bool board_pwr_button_down(void)
 {
 	return 0 == stm32_gpioread(KEY_AD_GPIO);
 }
-
-/****************************************************************************
- * Name: board_pwr
- *
- * Description:
- *   Called to turn on or off the TAP
- *
- ****************************************************************************/
-
-__EXPORT bool px4_board_pwr(bool on_not_off)
-{
-	if (on_not_off) {
-		stm32_configgpio(POWER_ON_GPIO);
-
-	} else {
-
-		stm32_configgpio(POWER_OFF_GPIO);
-	}
-
-	return true;
-}

src/drivers/device/vdev_posix.cpp

@@ -442,11 +442,6 @@ extern "C" {
 		return sim_delay;
 	}
 
-	bool px4_board_pwr(bool on)
-	{
-		return false;
-	}
-
 	const char *px4_get_device_names(unsigned int *handle)
 	{
 		return VDev::devList(handle);

src/modules/commander/commander.cpp

@@ -69,6 +69,7 @@
 #include <px4_defines.h>
 #include <px4_config.h>
 #include <px4_posix.h>
+#include <px4_shutdown.h>
 #include <px4_tasks.h>
 #include <px4_time.h>
 #include <systemlib/circuit_breaker.h>
@@ -2002,7 +2003,7 @@ int commander_thread_main(int argc, char *argv[])
 					 */
 					mavlink_log_critical(&mavlink_log_pub, "USB disconnected, rebooting.")
 					usleep(400000);
-					px4_systemreset(false);
+					px4_shutdown_request(true, false);
 				}
 
 				/* finally judge the USB connected state based on software detection */
@@ -2285,7 +2286,12 @@ int commander_thread_main(int argc, char *argv[])
 					if (!armed.armed) {
 						mavlink_log_critical(&mavlink_log_pub, "DANGEROUSLY LOW BATTERY, SHUT SYSTEM DOWN");
 						usleep(200000);
-						px4_board_pwr(false);
+						int ret_val = px4_shutdown_request(false, false);
+						if (ret_val) {
+							mavlink_log_critical(&mavlink_log_pub, "SYSTEM DOES NOT SUPPORT SHUTDOWN");
+						} else {
+							while(1) { usleep(1); }
+						}
 
 					} else {
 						if (low_bat_action == 2 || low_bat_action == 3) {
@@ -4049,13 +4055,13 @@ void *commander_low_prio_loop(void *arg)
 						answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED, command_ack_pub, command_ack);
 						usleep(100000);
 						/* reboot */
-						px4_systemreset(false);
+						px4_shutdown_request(true, false);
 
 					} else if (((int)(cmd.param1)) == 3) {
 						answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED, command_ack_pub, command_ack);
 						usleep(100000);
 						/* reboot to bootloader */
-						px4_systemreset(true);
+						px4_shutdown_request(true, true);
 
 					} else {
 						answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_DENIED, command_ack_pub, command_ack);

src/platforms/px4_posix.h

@@ -116,7 +116,6 @@ __EXPORT void		px4_enable_sim_lockstep(void);
 __EXPORT void		px4_sim_start_delay(void);
 __EXPORT void		px4_sim_stop_delay(void);
 __EXPORT bool		px4_sim_delay_enabled(void);
-__EXPORT bool		px4_board_pwr(bool on);
 
 __END_DECLS
 #else