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Merge branch 'main' of github.com:PX4/PX4-Autopilot into wip_new_uart_api

This commit is contained in:
Eric Katzfey 2024-01-04 11:03:46 -08:00
parent 5b0013ebec 959cb41e3a
commit b2ee342fd6
35 changed files with 191 additions and 687 deletions
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1
.ackrc
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@ -1 +0,0 @@
--ignore-dir=Documentation

33
.github_changelog_generator
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@ -1,33 +0,0 @@
# How to install:
# gem install github_changelog_generator
# How to run:
# github_changelog_generator -u PX4 -p Firmware
# Description:
# The following params are sensible defaults for the PX4 project,
# if you want to do a changelog before a release you need to update since-tag and future-releases,
# Params:
# github_changelog_generator --help for all options
# max-issues
# max threshold for github api queries
# make sure you set your CHANGELOG_GITHUB_TOKEN before
# running
max-issues=1500
# exclude-tags-regex
# excludes release candidates
exclude-tags-regex=rc[0-9]{1,}|beta[0-9]{1,}
# since-tag
# version of last stable release
# you need to change this depending on what you need
# if you want a changelog between versions this is the lowest version
since-tag=1.6.5
# future-release
# version you are about to release
# if you want a changelog between a version and all unreleased changes grouped as a release
# eg: v1.6.5 to v1.7.0
future-release=v1.7.0

35
.travis.yml
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@ -1,35 +0,0 @@
language: cpp
git:
depth: 100
submodules: false
matrix:
fast_finish: true
include:
- os: linux
dist: xenial
# In order to stay under the coverity rate limit, we only run this weekly
# and not on push which is configured in travis-ci settings.
if: branch = main
before_install:
- echo -n | openssl s_client -connect scan.coverity.com:443 | sed -ne '/-BEGIN CERTIFICATE-/,/-END CERTIFICATE-/p' | sudo tee -a /etc/ssl/certs/ca-
install:
- export PATH=$HOME/.local/bin:$PATH
- pip install --user --upgrade pip
- pip install --user -r Tools/setup/requirements.txt
script:
- make
addons:
coverity_scan:
project:
name: "PX4/Firmware"
description: "Build submitted via Travis CI"
notification_email: ci@px4.io
build_command_prepend: "make distclean"
build_command: "make px4_sitl_default"
branch_pattern: coverity_scan

172
.ycm_extra_conf.py
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@ -1,172 +0,0 @@
# This file is NOT licensed under the GPLv3, which is the license for the rest
# of YouCompleteMe.
#
# Here's the license text for this file:
#
# This is free and unencumbered software released into the public domain.
#
# Anyone is free to copy, modify, publish, use, compile, sell, or
# distribute this software, either in source code form or as a compiled
# binary, for any purpose, commercial or non-commercial, and by any
# means.
#
# In jurisdictions that recognize copyright laws, the author or authors
# of this software dedicate any and all copyright interest in the
# software to the public domain. We make this dedication for the benefit
# of the public at large and to the detriment of our heirs and
# successors. We intend this dedication to be an overt act of
# relinquishment in perpetuity of all present and future rights to this
# software under copyright law.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
# IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
# OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
# ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
# OTHER DEALINGS IN THE SOFTWARE.
#
# For more information, please refer to <http://unlicense.org/>
import os
import ycm_core
# These are the compilation flags that will be used in case there's no
# compilation database set (by default, one is not set).
# CHANGE THIS LIST OF FLAGS. YES, THIS IS THE DROID YOU HAVE BEEN LOOKING FOR.
flags = [
'-Wall',
'-Wextra',
'-Werror',
#'-Wc++98-compat',
'-Wno-long-long',
'-Wno-variadic-macros',
'-fexceptions',
'-DNDEBUG',
# You 100% do NOT need -DUSE_CLANG_COMPLETER in your flags; only the YCM
# source code needs it.
#'-DUSE_CLANG_COMPLETER',
# THIS IS IMPORTANT! Without a "-std=<something>" flag, clang won't know which
# language to use when compiling headers. So it will guess. Badly. So C++
# headers will be compiled as C headers. You don't want that so ALWAYS specify
# a "-std=<something>".
# For a C project, you would set this to something like 'c99' instead of
# 'c++14'.
'-std=c++14',
# ...and the same thing goes for the magic -x option which specifies the
# language that the files to be compiled are written in. This is mostly
# relevant for c++ headers.
# For a C project, you would set this to 'c' instead of 'c++'.
'-x',
'c++',
'-undef', # get rid of standard definitions to allow us to include arm math header
'-I', os.path.join(os.path.expanduser("~"),'gcc-arm-none-eabi-4_7-2013q3/arm-none-eabi/include'),
'-I', 'Build/px4_io-v2_default.build/nuttx-export/include/',
'-I', './NuttX/nuttx/arch/arm/include',
'-include', './src/include/visibility.h',
'-I', './src',
'-I', './src/modules',
'-I', './src/include',
'-I', './src/lib',
'-I', './NuttX',
]
# Set this to the absolute path to the folder (NOT the file!) containing the
# compile_commands.json file to use that instead of 'flags'. See here for
# more details: http://clang.llvm.org/docs/JSONCompilationDatabase.html
#
# Most projects will NOT need to set this to anything; you can just change the
# 'flags' list of compilation flags. Notice that YCM itself uses that approach.
compilation_database_folder = ''
if os.path.exists( compilation_database_folder ):
database = ycm_core.CompilationDatabase( compilation_database_folder )
else:
database = None
SOURCE_EXTENSIONS = [ '.cpp', '.cxx', '.cc', '.c', '.m', '.mm' ]
def DirectoryOfThisScript():
return os.path.dirname( os.path.abspath( __file__ ) )
def MakeRelativePathsInFlagsAbsolute( flags, working_directory ):
if not working_directory:
return list( flags )
new_flags = []
make_next_absolute = False
path_flags = [ '-isystem', '-I', '-iquote', '--sysroot=' ]
for flag in flags:
new_flag = flag
if make_next_absolute:
make_next_absolute = False
if not flag.startswith( '/' ):
new_flag = os.path.join( working_directory, flag )
for path_flag in path_flags:
if flag == path_flag:
make_next_absolute = True
break
if flag.startswith( path_flag ):
path = flag[ len( path_flag ): ]
new_flag = path_flag + os.path.join( working_directory, path )
break
if new_flag:
new_flags.append( new_flag )
return new_flags
def IsHeaderFile( filename ):
extension = os.path.splitext( filename )[ 1 ]
return extension in [ '.h', '.hxx', '.hpp', '.hh' ]
def GetCompilationInfoForFile( filename ):
# The compilation_commands.json file generated by CMake does not have entries
# for header files. So we do our best by asking the db for flags for a
# corresponding source file, if any. If one exists, the flags for that file
# should be good enough.
if IsHeaderFile( filename ):
basename = os.path.splitext( filename )[ 0 ]
for extension in SOURCE_EXTENSIONS:
replacement_file = basename + extension
if os.path.exists( replacement_file ):
compilation_info = database.GetCompilationInfoForFile(
replacement_file )
if compilation_info.compiler_flags_:
return compilation_info
return None
return database.GetCompilationInfoForFile( filename )
def FlagsForFile( filename, **kwargs ):
if database:
# Bear in mind that compilation_info.compiler_flags_ does NOT return a
# python list, but a "list-like" StringVec object
compilation_info = GetCompilationInfoForFile( filename )
if not compilation_info:
return None
final_flags = MakeRelativePathsInFlagsAbsolute(
compilation_info.compiler_flags_,
compilation_info.compiler_working_dir_ )
# NOTE: This is just for YouCompleteMe; it's highly likely that your project
# does NOT need to remove the stdlib flag. DO NOT USE THIS IN YOUR
# ycm_extra_conf IF YOU'RE NOT 100% SURE YOU NEED IT.
#try:
# final_flags.remove( '-stdlib=libc++' )
#except ValueError:
# pass
else:
relative_to = DirectoryOfThisScript()
final_flags = MakeRelativePathsInFlagsAbsolute( flags, relative_to )
return {
'flags': final_flags,
'do_cache': True
}

83
Firmware.sublime-project
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@ -1,83 +0,0 @@
{
"folders":
[
{
"path": ".",
"file_exclude_patterns":
[
"*.o",
"*.a",
"*.d",
".built",
".context",
".depend",
".config",
".version",
"Make.dep",
".configured",
"*.sublime-project",
"*.sublime-workspace",
".project",
".cproject",
"cscope.out"
],
"folder_exclude_patterns":
[
".settings",
"nuttx/arch/arm/src/board",
"nuttx/arch/arm/src/chip",
"build_*"
]
}
],
"settings":
{
"tab_size": 8,
"translate_tabs_to_spaces": false,
"highlight_line": true,
"AStyleFormatter":
{
"options_c":
{
"use_only_additional_options": true,
"additional_options_file": "${project_path}/Tools/astyle/astylerc"
},
"options_c++":
{
"use_only_additional_options": true,
"additional_options_file": "${project_path}/Tools/astyle/astylerc"
}
}
},
"build_systems":
[
{
"name": "PX4: make all",
"working_dir": "${project_path}",
"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
"cmd": ["make"],
"shell": true
},
{
"name": "PX4: make and upload",
"working_dir": "${project_path}",
"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
"cmd": ["make upload px4_fmu-v2_default -j8"],
"shell": true
},
{
"name": "PX4: make posix",
"working_dir": "${project_path}",
"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
"cmd": ["make posix"],
"shell": true
},
{
"name": "MindPX_V2: make and upload",
"working_dir": "${project_path}",
"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
"cmd": ["make upload mindpx-v2_default -j8"],
"shell": true
}
]
}

0
_last_entry
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47
appveyor.yml
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@ -1,47 +0,0 @@
# Build version
version: "{build}"
# do not shallow clone because we want to infer the version from the last tag
branches:
only:
- master
- beta
- stable
# Build worker image (build VM template)
image: Visual Studio 2017
environment:
matrix:
- PX4_CONFIG: tests # this builds posix in px4_sitl_test folder and runs tests
- PX4_CONFIG: px4_fmu-v5_default
install:
# if the toolchain wasn't restored from build cache download and install it
- ps: >-
if (-not (Test-Path C:\PX4)) {
Invoke-WebRequest https://s3-us-west-2.amazonaws.com/px4-tools/PX4+Windows+Cygwin+Toolchain/PX4+Windows+Cygwin+Toolchain+0.9.msi -OutFile C:\Toolchain.msi
Start-Process -Wait msiexec -ArgumentList '/I C:\Toolchain.msi /quiet /qn /norestart /log C:\install.log'
}
# Note: using Start-Process -Wait is important
# because otherwise the install begins but non-blocking and the result cannot be used just after
build_script:
# FIXME Temporary we need to create the home folder because it's not contained in installer 0.5 and CI fails if it doesn't exist
- if not exist "C:\PX4\home" mkdir C:\PX4\home
# setup the environmental variables to work within the installed cygwin toolchain
- call C:\PX4\toolchain\scripts\setup-environment.bat x
# safe the repopath for switching to it in cygwin bash
- for /f %%i in ('cygpath -u %%CD%%') do set repopath=%%i
# build the make target
- call bash --login -c "cd $repopath && make $PX4_CONFIG"
# Note: using bash --login is important
# because otherwise certain things (like python; import numpy) do not work
cache:
# cache the entire toolchain installation folder to avoid
# downloading it from AWS S3 and installing the MSI each time
# it's ~1.8GB > 1GB free limit for build caches
- C:\PX4 -> appveyor.yml

2
boards/px4/fmu-v6xrt/init/rc.board_defaults
View File

@ -16,8 +16,6 @@ param set-default SENS_EN_INA238 0
param set-default SENS_EN_INA228 0
param set-default SENS_EN_INA226 1
param set-default SYS_USE_IO 1
safety_button start
if param greater -s UAVCAN_ENABLE 0

4
boards/px4/fmu-v6xrt/src/CMakeLists.txt
View File

@ -36,7 +36,6 @@ if("${PX4_BOARD_LABEL}" STREQUAL "bootloader")
bootloader_main.c
init.c
usb.c
imxrt_romapi.c
imxrt_flexspi_nor_boot.c
imxrt_flexspi_nor_flash.c
imxrt_clockconfig.c
@ -48,6 +47,7 @@ if("${PX4_BOARD_LABEL}" STREQUAL "bootloader")
nuttx_drivers # sdio
px4_layer #gpio
arch_io_pins # iotimer
arch_board_romapi
bootloader
)
target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
@ -72,7 +72,6 @@ else()
spi.cpp
timer_config.cpp
usb.c
imxrt_romapi.c
imxrt_flexspi_fram.c
imxrt_flexspi_nor_boot.c
imxrt_flexspi_nor_flash.c
@ -83,6 +82,7 @@ else()
target_link_libraries(drivers_board
PRIVATE
arch_board_hw_info
arch_board_romapi
arch_spi
drivers__led # drv_led_start
nuttx_arch # sdio

2
boards/px4/fmu-v6xrt/src/imxrt_flexspi_nor_flash.c
View File

@ -22,7 +22,7 @@
* Included Files
****************************************************************************/
#include "imxrt_flexspi_nor_flash.h"
#include <px4_arch/imxrt_flexspi_nor_flash.h>
/****************************************************************************
* Public Data

5
boards/px4/fmu-v6xrt/src/init.c
View File

@ -66,8 +66,7 @@
#include "arm_internal.h"
#include "imxrt_flexspi_nor_boot.h"
#include "imxrt_flexspi_nor_flash.h"
#include "imxrt_romapi.h"
#include <px4_arch/imxrt_flexspi_nor_flash.h>
#include "imxrt_iomuxc.h"
#include "imxrt_flexcan.h"
#include "imxrt_enet.h"
@ -79,10 +78,12 @@
#include <arch/board/board.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_board_led.h>
#include <systemlib/px4_macros.h>
#include <px4_arch/io_timer.h>
#include <px4_arch/imxrt_romapi.h>
#include <px4_platform_common/init.h>
#include <px4_platform/gpio.h>
#include <px4_platform/board_determine_hw_info.h>

205
eclipse.cproject
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@ -1,205 +0,0 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
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<externalSettings/>
<extensions>
<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
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</storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
<configuration artifactName="PX4-Firmware" buildProperties="" description="" id="cdt.managedbuild.toolchain.gnu.cross.base.432866957" name="Default" parent="org.eclipse.cdt.build.core.emptycfg">
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<builder id="cdt.managedbuild.target.gnu.builder.base.977864740" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" superClass="cdt.managedbuild.target.gnu.builder.base">
<outputEntries>
<entry excluding="build*" flags="VALUE_WORKSPACE_PATH" kind="outputPath" name=""/>
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</builder>
<tool id="cdt.managedbuild.tool.gnu.archiver.base.1653222719" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.base"/>
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<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/uORB}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib/ecl}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/modules/systemlib}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib/geo}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/platforms}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/include}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/uORB/topics}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${git_work_tree}/build/px4_sitl_default/&quot;"/>
<listOptionValue builtIn="false" value="&quot;${git_work_tree}/build/px4_sitl_default/src/modules/systemlib/param&quot;"/>
</option>
<option id="gnu.cpp.compiler.option.preprocessor.def.1050909243" name="Defined symbols (-D)" superClass="gnu.cpp.compiler.option.preprocessor.def" valueType="definedSymbols">
<listOptionValue builtIn="false" value="__PX4_POSIX=1"/>
<listOptionValue builtIn="false" value="__PX4_LINUX=1"/>
<listOptionValue builtIn="false" value="__cplusplus=1"/>
<listOptionValue builtIn="false" value="__EXPORT"/>
</option>
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<tool id="cdt.managedbuild.tool.gnu.c.compiler.base.1055476396" name="GCC C Compiler" superClass="cdt.managedbuild.tool.gnu.c.compiler.base">
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<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib/ecl}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/modules/systemlib}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib/geo}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/platforms}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/include}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/uORB/topics}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${git_work_tree}/build/px4_sitl_default/&quot;"/>
<listOptionValue builtIn="false" value="&quot;${git_work_tree}/build/px4_sitl_default/src/modules/systemlib/param&quot;"/>
</option>
<option id="gnu.c.compiler.option.preprocessor.def.symbols.734675451" name="Defined symbols (-D)" superClass="gnu.c.compiler.option.preprocessor.def.symbols" valueType="definedSymbols">
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<listOptionValue builtIn="false" value="__PX4_LINUX=1"/>
<listOptionValue builtIn="false" value="__cplusplus=1"/>
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<project id="PX4Firmware.null.2007659608" name="PX4Firmware"/>
</storageModule>
<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
<storageModule moduleId="refreshScope" versionNumber="2">
<configuration configurationName="Default">
<resource resourceType="PROJECT" workspacePath="/PX4-Firmware"/>
</configuration>
</storageModule>
<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings"/>
<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets">
<buildTargets>
<target name="px4_fmu-v2_default" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildTarget>px4_fmu-v2_default</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="px4_fmu-v4_default" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>px4_fmu-v4_default</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildTarget>all</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="px4_sitl_default" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>px4_sitl_default</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>check</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="distclean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildTarget>distclean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="tests" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="submodulesclean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildTarget>submodulesclean</buildTarget>
<stopOnError>false</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="quick_check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>quick_check</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
</buildTargets>
</storageModule>
<storageModule moduleId="scannerConfiguration">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.cross.base.432866957;cdt.managedbuild.toolchain.gnu.cross.base.432866957.1182904611;cdt.managedbuild.tool.gnu.cross.cpp.compiler.1747549746;cdt.managedbuild.tool.gnu.cpp.compiler.input.576083683">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
</scannerConfigBuildInfo>
<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.cross.base.432866957;cdt.managedbuild.toolchain.gnu.cross.base.432866957.1182904611;cdt.managedbuild.tool.gnu.cpp.compiler.base.331692139;cdt.managedbuild.tool.gnu.cpp.compiler.input.322788461">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
</scannerConfigBuildInfo>
<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.cross.base.432866957;cdt.managedbuild.toolchain.gnu.cross.base.432866957.1182904611;cdt.managedbuild.tool.gnu.c.compiler.base.1055476396;cdt.managedbuild.tool.gnu.c.compiler.input.1650107366">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
</scannerConfigBuildInfo>
<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.cross.base.432866957;cdt.managedbuild.toolchain.gnu.cross.base.432866957.1182904611;cdt.managedbuild.tool.gnu.cross.c.compiler.595284732;cdt.managedbuild.tool.gnu.c.compiler.input.2047539569">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
</scannerConfigBuildInfo>
</storageModule>
</cproject>

69
eclipse.project
View File

@ -1,69 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<projectDescription>
<name>PX4-Firmware</name>
<comment></comment>
<projects>
</projects>
<buildSpec>
<buildCommand>
<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
<triggers>clean,full,incremental,</triggers>
<arguments>
</arguments>
</buildCommand>
<buildCommand>
<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
<triggers>full,incremental,</triggers>
<arguments>
</arguments>
</buildCommand>
</buildSpec>
<natures>
<nature>org.eclipse.cdt.core.cnature</nature>
<nature>org.eclipse.cdt.core.ccnature</nature>
<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
</natures>
<linkedResources>
<link>
<name>topics_sources</name>
<type>2</type>
<locationURI>uORB_SRC</locationURI>
</link>
<link>
<name>uORB</name>
<type>2</type>
<locationURI>uORB_LOC</locationURI>
</link>
</linkedResources>
<filteredResources>
<filter>
<id>1457837186676</id>
<name></name>
<type>26</type>
<matcher>
<id>org.eclipse.ui.ide.multiFilter</id>
<arguments>1.0-name-matches-false-false-.git</arguments>
</matcher>
</filter>
<filter>
<id>1457837186687</id>
<name></name>
<type>10</type>
<matcher>
<id>org.eclipse.ui.ide.multiFilter</id>
<arguments>1.0-name-matches-true-false-build*</arguments>
</matcher>
</filter>
</filteredResources>
<variableList>
<variable>
<name>uORB_LOC</name>
<value>$%7BPROJECT_LOC%7D/build/px4_sitl_default/uORB</value>
</variable>
<variable>
<name>uORB_SRC</name>
<value>$%7BPROJECT_LOC%7D/build/px4_sitl_default/msg/topics_sources</value>
</variable>
</variableList>
</projectDescription>

8
platforms/common/include/px4_platform_common/shutdown.h
View File

@ -70,6 +70,12 @@ __EXPORT int px4_register_shutdown_hook(shutdown_hook_t hook);
*/
__EXPORT int px4_unregister_shutdown_hook(shutdown_hook_t hook);
/** Types of reboot requests for PX4 */
typedef enum {
REBOOT_REQUEST = 0, ///< Normal reboot
REBOOT_TO_BOOTLOADER = 1, ///< Reboot to PX4 bootloader
REBOOT_TO_ISP = 2, ///< Reboot to ISP bootloader
} reboot_request_t;
/**
* Request the system to reboot.
@ -83,7 +89,7 @@ __EXPORT int px4_unregister_shutdown_hook(shutdown_hook_t hook);
* @return 0 on success, <0 on error
*/
#if defined(CONFIG_BOARDCTL_RESET)
__EXPORT int px4_reboot_request(bool to_bootloader = false, uint32_t delay_us = 0);
__EXPORT int px4_reboot_request(reboot_request_t request = REBOOT_REQUEST, uint32_t delay_us = 0);
#endif // CONFIG_BOARDCTL_RESET

20
platforms/common/shutdown.cpp
View File

@ -108,6 +108,7 @@ static uint16_t shutdown_counter = 0; ///< count how many times the shutdown wor
#define SHUTDOWN_ARG_IN_PROGRESS (1<<0)
#define SHUTDOWN_ARG_REBOOT (1<<1)
#define SHUTDOWN_ARG_TO_BOOTLOADER (1<<2)
#define SHUTDOWN_ARG_TO_ISP (1<<3)
static uint8_t shutdown_args = 0;
static constexpr int max_shutdown_hooks = 1;
@ -175,7 +176,17 @@ static void shutdown_worker(void *arg)
if (shutdown_args & SHUTDOWN_ARG_REBOOT) {
#if defined(CONFIG_BOARDCTL_RESET)
PX4_INFO_RAW("Reboot NOW.");
boardctl(BOARDIOC_RESET, (shutdown_args & SHUTDOWN_ARG_TO_BOOTLOADER) ? 1 : 0);
if (shutdown_args & SHUTDOWN_ARG_TO_BOOTLOADER) {
boardctl(BOARDIOC_RESET, (uintptr_t)REBOOT_TO_BOOTLOADER);
} else if (shutdown_args & SHUTDOWN_ARG_TO_ISP) {
boardctl(BOARDIOC_RESET, (uintptr_t)REBOOT_TO_ISP);
} else {
boardctl(BOARDIOC_RESET, (uintptr_t)REBOOT_REQUEST);
}
#else
PX4_PANIC("board reset not available");
#endif
@ -206,7 +217,7 @@ static void shutdown_worker(void *arg)
}
#if defined(CONFIG_BOARDCTL_RESET)
int px4_reboot_request(bool to_bootloader, uint32_t delay_us)
int px4_reboot_request(reboot_request_t request, uint32_t delay_us)
{
pthread_mutex_lock(&shutdown_mutex);
@ -217,8 +228,11 @@ int px4_reboot_request(bool to_bootloader, uint32_t delay_us)
shutdown_args |= SHUTDOWN_ARG_REBOOT;
if (to_bootloader) {
if (request == REBOOT_TO_BOOTLOADER) {
shutdown_args |= SHUTDOWN_ARG_TO_BOOTLOADER;
} else if (request == REBOOT_TO_ISP) {
shutdown_args |= SHUTDOWN_ARG_TO_ISP;
}
shutdown_time_us = hrt_absolute_time();

4
platforms/nuttx/src/bootloader/nxp/imxrt_common/main.c
View File

@ -7,8 +7,8 @@
#include <px4_defines.h>
#include "hw_config.h"
#include "imxrt_flexspi_nor_flash.h"
#include "imxrt_romapi.h"
#include <px4_arch/imxrt_flexspi_nor_flash.h>
#include <px4_arch/imxrt_romapi.h>
#include <hardware/rt117x/imxrt117x_ocotp.h>
#include <hardware/rt117x/imxrt117x_anadig.h>
#include <hardware/rt117x/imxrt117x_snvs.h>

4
platforms/nuttx/src/px4/common/cdc_acm_check.cpp
View File

@ -187,7 +187,7 @@ static void mavlink_usb_check(void *arg)
if (param1 == 1) {
// 1: Reboot autopilot
px4_reboot_request(false, 0);
px4_reboot_request(REBOOT_REQUEST, 0);
} else if (param1 == 2) {
// 2: Shutdown autopilot
@ -197,7 +197,7 @@ static void mavlink_usb_check(void *arg)
} else if (param1 == 3) {
// 3: Reboot autopilot and keep it in the bootloader until upgraded.
px4_reboot_request(true, 0);
px4_reboot_request(REBOOT_TO_BOOTLOADER, 0);
}
}
}

3
platforms/nuttx/src/px4/nxp/imxrt/board_reset/board_reset.cpp
View File

@ -38,6 +38,7 @@
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/shutdown.h>
#include <errno.h>
#include <nuttx/board.h>
#include <arm_internal.h>
@ -61,7 +62,7 @@ static int board_reset_enter_bootloader()
int board_reset(int status)
{
if (status == 1) {
if (status == REBOOT_TO_BOOTLOADER) {
board_reset_enter_bootloader();
}

8
boards/px4/fmu-v6xrt/src/imxrt_flexspi_nor_flash.h → platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/imxrt_flexspi_nor_flash.h
View File

@ -1,5 +1,5 @@
/****************************************************************************
* boards/px4/fmu-v6xrt/src/imxrt_flexspi_nor_flash.h
* platforms/nuttx/src/px4/nxp/imrt/include/px4_arch/imxrt_flexspi_nor_flash.h
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
@ -18,8 +18,8 @@
*
****************************************************************************/
#ifndef __BOARDS_PX4_FMU_V6XRT_SRC_IMXRT_FLEXSPI_NOR_FLASH_H
#define __BOARDS_PX4_FMU_V6XRT_SRC_IMXRT_FLEXSPI_NOR_FLASH_H
#ifndef __PX4_ARCH_IMXRT_FLEXSPI_NOR_FLASH_H
#define __PX4_ARCH_IMXRT_FLEXSPI_NOR_FLASH_H
/****************************************************************************
* Included Files
@ -349,4 +349,4 @@ extern const struct flexspi_nor_config_s g_flash_config;
extern const struct flexspi_nor_config_s g_flash_fast_config;
#endif /* __BOARDS_PX4_FMU_V6XRT_SRC_IMXRT_FLEXSPI_NOR_FLASH_H */
#endif /* __PX4_ARCH_IMXRT_FLEXSPI_NOR_FLASH_H */

14
boards/px4/fmu-v6xrt/src/imxrt_romapi.h → platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/imxrt_romapi.h
View File

@ -1,14 +1,14 @@
/****************************************************************************
* boards/px4/fmu-v6xrt/src/imxrt_romapi.c
* platforms/nuttx/src/px4/nxp/imrt/include/px4_arch/imxrt_romapi.h
*
* Copyright 2017-2020 NXP
* Copyright 2017-2024 NXP
* All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
*
****************************************************************************/
#ifndef __BOARDS_PX4_FMU_V6XRT_SRC_IMXRT_ROMAPI_H
#define __BOARDS_PX4_FMU_V6XRT_SRC_IMXRT_ROMAPI_H
#ifndef __PX4_ARCH_IMXRT_ROMAPI_H
#define __PX4_ARCH_IMXRT_ROMAPI_H
/****************************************************************************
*
@ -370,4 +370,8 @@ void ROM_FLEXSPI_NorFlash_ClearCache(uint32_t instance);
/*@}*/
#endif /* __BOARDS_PX4_FMU_V6XRT_SRC_IMXRT_ROMAPI_H */
#ifdef __cplusplus
}
#endif
#endif /* __PX4_ARCH_IMXRT_ROMAPI_H */

36
platforms/nuttx/src/px4/nxp/imxrt/romapi/CMakeLists.txt Normal file
View File

@ -0,0 +1,36 @@
############################################################################
#
# Copyright (c) 2019 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_library(arch_board_romapi
imxrt_romapi.c
)

8
boards/px4/fmu-v6xrt/src/imxrt_romapi.c → platforms/nuttx/src/px4/nxp/imxrt/romapi/imxrt_romapi.c
View File

@ -1,7 +1,7 @@
/****************************************************************************
* boards/px4/fmu-v6xrt/src/imxrt_romapi.c
* platforms/nuttx/src/px4/nxp/imrt/romapi/imxrt_romapi.c
*
* Copyright 2017-2020 NXP
* Copyright 2017-2024 NXP
* All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
@ -22,8 +22,8 @@
#include "arm_internal.h"
#include "imxrt_flexspi_nor_flash.h"
#include "imxrt_romapi.h"
#include <px4_arch/imxrt_flexspi_nor_flash.h>
#include <px4_arch/imxrt_romapi.h>
#include <hardware/rt117x/imxrt117x_anadig.h>

3
platforms/nuttx/src/px4/nxp/kinetis/board_reset/board_reset.cpp
View File

@ -38,6 +38,7 @@
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/shutdown.h>
#include <errno.h>
#include <nuttx/board.h>
@ -72,7 +73,7 @@ static int board_reset_enter_bootloader()
int board_reset(int status)
{
if (status == 1) {
if (status == REBOOT_TO_BOOTLOADER) {
board_reset_enter_bootloader();
}

2
platforms/nuttx/src/px4/nxp/rt117x/CMakeLists.txt
View File

@ -36,7 +36,7 @@ add_subdirectory(adc)
add_subdirectory(../imxrt/board_critmon board_critmon)
add_subdirectory(../imxrt/board_hw_info board_hw_info)
add_subdirectory(../imxrt/board_reset board_reset)
#add_subdirectory(../imxrt/dshot dshot)
add_subdirectory(../imxrt/romapi romapi)
add_subdirectory(../imxrt/hrt hrt)
add_subdirectory(../imxrt/led_pwm led_pwm)
add_subdirectory(../imxrt/io_pins io_pins)

36
platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/imxrt_flexspi_nor_flash.h Normal file
View File

@ -0,0 +1,36 @@
/****************************************************************************
*
* Copyright (c) 2024 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include "../../../imxrt/include/px4_arch/imxrt_flexspi_nor_flash.h"

36
platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/imxrt_romapi.h Normal file
View File

@ -0,0 +1,36 @@
/****************************************************************************
*
* Copyright (c) 2024 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include "../../../imxrt/include/px4_arch/imxrt_romapi.h"

3
platforms/nuttx/src/px4/nxp/s32k1xx/board_reset/board_reset.cpp
View File

@ -39,6 +39,7 @@
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/shutdown.h>
#include <systemlib/px4_macros.h>
#include <errno.h>
#include <nuttx/board.h>
@ -96,7 +97,7 @@ int board_configure_reset(reset_mode_e mode, uint32_t arg)
int board_reset(int status)
{
if (status == 1) {
if (status == REBOOT_TO_BOOTLOADER) {
board_reset_enter_bootloader();
}

1
platforms/nuttx/src/px4/nxp/s32k3xx/board_reset/board_reset.cpp
View File

@ -39,6 +39,7 @@
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/shutdown.h>
#include <errno.h>
#include <nuttx/board.h>
#include <hardware/s32k3xx_mc_me.h>

3
platforms/nuttx/src/px4/rpi/rpi_common/board_reset/board_reset.cpp
View File

@ -38,6 +38,7 @@
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/shutdown.h>
#include <systemlib/px4_macros.h>
#include <errno.h>
@ -119,7 +120,7 @@
int board_reset(int status)
{
if (status == 1) {
if (status == REBOOT_TO_BOOTLOADER) {
// board_configure_reset(BOARD_RESET_MODE_BOOT_TO_BL, 0);
}

3
platforms/nuttx/src/px4/stm/stm32_common/board_reset/board_reset.cpp
View File

@ -38,6 +38,7 @@
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/shutdown.h>
#include <systemlib/px4_macros.h>
#include <errno.h>
#include <stm32_pwr.h>
@ -117,7 +118,7 @@ int board_configure_reset(reset_mode_e mode, uint32_t arg)
int board_reset(int status)
{
if (status == 1) {
if (status == REBOOT_TO_BOOTLOADER) {
board_configure_reset(BOARD_RESET_MODE_BOOT_TO_BL, 0);
}

4
src/modules/commander/Commander.cpp
View File

@ -1201,7 +1201,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
#if defined(CONFIG_BOARDCTL_RESET)
} else if ((param1 == 1) && !isArmed() && (px4_reboot_request(false, 400_ms) == 0)) {
} else if ((param1 == 1) && !isArmed() && (px4_reboot_request(REBOOT_REQUEST, 400_ms) == 0)) {
// 1: Reboot autopilot
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
@ -1221,7 +1221,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
#if defined(CONFIG_BOARDCTL_RESET)
} else if ((param1 == 3) && !isArmed() && (px4_reboot_request(true, 400_ms) == 0)) {
} else if ((param1 == 3) && !isArmed() && (px4_reboot_request(REBOOT_TO_BOOTLOADER, 400_ms) == 0)) {
// 3: Reboot autopilot and keep it in the bootloader until upgraded.
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);

2
src/modules/commander/worker_thread.cpp
View File

@ -177,7 +177,7 @@ void WorkerThread::threadEntry()
param_reset_specific(reset_cal, sizeof(reset_cal) / sizeof(reset_cal[0]));
_ret_value = param_save_default(true);
#if defined(CONFIG_BOARDCTL_RESET)
px4_reboot_request(false, 400_ms);
px4_reboot_request(REBOOT_REQUEST, 400_ms);
#endif // CONFIG_BOARDCTL_RESET
break;
}

1
src/modules/mavlink/mavlink_main.cpp
View File

@ -1669,6 +1669,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("SCALED_IMU2", 25.0f);
configure_stream_local("SCALED_IMU3", 25.0f);
configure_stream_local("SCALED_PRESSURE", 1.0f);
configure_stream_local("SCALED_PRESSURE2", 1.0f);
configure_stream_local("SERVO_OUTPUT_RAW_0", 20.0f);
configure_stream_local("SERVO_OUTPUT_RAW_1", 20.0f);
configure_stream_local("SYS_STATUS", 1.0f);

2
src/systemcmds/netman/netman.cpp
View File

@ -375,7 +375,7 @@ write_reboot:
sleep(1);
px4_reboot_request(false);
px4_reboot_request(REBOOT_REQUEST);
while (1) { px4_usleep(1); } // this command should not return on success

19
src/systemcmds/reboot/reboot.cpp
View File

@ -44,6 +44,7 @@
#include <px4_platform_common/module.h>
#include <px4_platform_common/shutdown.h>
#include <string.h>
#include <board_config.h>
static void print_usage()
{
@ -51,6 +52,9 @@ static void print_usage()
PRINT_MODULE_USAGE_NAME_SIMPLE("reboot", "command");
PRINT_MODULE_USAGE_PARAM_FLAG('b', "Reboot into bootloader", true);
#ifdef BOARD_HAS_ISP_BOOTLOADER
PRINT_MODULE_USAGE_PARAM_FLAG('i', "Reboot into ISP (1st stage bootloader)", true);
#endif
PRINT_MODULE_USAGE_ARG("lock|unlock", "Take/release the shutdown lock (for testing)", true);
}
@ -58,17 +62,24 @@ static void print_usage()
extern "C" __EXPORT int reboot_main(int argc, char *argv[])
{
int ch;
bool to_bootloader = false;
reboot_request_t request = REBOOT_REQUEST;
int myoptind = 1;
const char *myoptarg = nullptr;
while ((ch = px4_getopt(argc, argv, "b", &myoptind, &myoptarg)) != -1) {
while ((ch = px4_getopt(argc, argv, "bi", &myoptind, &myoptarg)) != -1) {
switch (ch) {
case 'b':
to_bootloader = true;
request = REBOOT_TO_BOOTLOADER;
break;
#ifdef BOARD_HAS_ISP_BOOTLOADER
case 'i':
request = REBOOT_TO_ISP;
break;
#endif
default:
print_usage();
return 1;
@ -98,7 +109,7 @@ extern "C" __EXPORT int reboot_main(int argc, char *argv[])
return ret;
}
int ret = px4_reboot_request(to_bootloader);
int ret = px4_reboot_request(request);
if (ret < 0) {
PX4_ERR("reboot failed (%i)", ret);