Add sysreset command to reset entire mcu.

Use rtfm scheduler api to run reset command in the future so that the sysreset command has time to be sent to the next board in the chain.
JitterCompany · Dec 2, 2019 · 282be3c · 282be3c
1 parent 5ed9f2d
commit 282be3c
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Showing 2 changed files with 20 additions and 23 deletions.
diff --git a/app/comports.py b/app/comports.py
@@ -59,15 +59,17 @@ def refresh(self):
 
 
     def sendCmd(self, cmd: str):
-        line = cmd + '\n'
-        self.serial.write(line.encode('utf-8'))
+        if self.serial:
+            line = cmd + '\n'
+            self.serial.write(line.encode('utf-8'))
 
     def change_port(self, port: serial.Serial):
 
         if port and self.serial and port != self.serial.port:
             # reader thread needs to be shut down
             self._stop_reader()
         self.serial = serial.Serial(port.device, BAUDRATE, timeout=10)
+        self.sendCmd('reset')
         print('open port: ', self.serial, self.serial.port)
         status.set_status('open port: {}'.format(self.serial.port))
         self._start_reader()

diff --git a/firmware-rtfm/src/main.rs b/firmware-rtfm/src/main.rs
@@ -10,6 +10,8 @@ use embedded_hal::digital::v2::OutputPin;
 
 use arrayvec::ArrayString;
 
+use rtfm::cyccnt::{U32Ext as _};
+
 use stm32f1xx_hal::{
     prelude::*,
     pac::{self, EXTI},
@@ -83,7 +85,7 @@ const BAUDRATE: u32 = 57600;
 const ENCODER_PREFIX: &str = "KEY ";
 const ENCODER_SUFFIX: &str = "END\n";
 
-#[rtfm::app(device = stm32f1xx_hal::pac, peripherals = true)]
+#[rtfm::app(device = stm32f1xx_hal::pac, peripherals = true, monotonic = rtfm::cyccnt::CYCCNT)]
 const APP: () = {
 
     struct Resources {
@@ -119,7 +121,10 @@ const APP: () = {
         let (p, c) = Q.split();
 
         // Cortex-M peripherals
-        let _core: cortex_m::Peripherals = cx.core;
+        let mut core: rtfm::Peripherals = cx.core;
+        // Initialize (enable) the monotonic timer (CYCCNT)
+        core.DCB.enable_trace();
+        core.DWT.enable_cycle_counter();
 
         // Device specific peripherals
         let _device = cx.device;
@@ -355,6 +360,11 @@ const APP: () = {
 
     }
 
+    #[task]
+    fn system_reset(_cx: system_reset::Context) {
+        cortex_m::peripheral::SCB::sys_reset();
+    }
+
     #[task(resources=[encoder1, encoder2, encoder3, encoder4, encoder5, p], spawn=[send])]
     fn encoder_positions(cx: encoder_positions::Context) {
         let encoder_positions::Resources {
@@ -380,25 +390,7 @@ const APP: () = {
         cx.spawn.send().ok();
     }
 
-
-    // #[task(resources=[p], spawn=[send])]
-    // fn unknown_command(cx: unknown_command::Context, cmd: str) {
-    //     let unknown_command::Resources {
-    //         mut p,
-    //     } = cx.resources;
-
-
-    //     // let mut string: ArrayString::<[u8; 40]> = ArrayString::new();
-    //     p.lock(|p| {
-    //         write_string_to_queue(p, "unknown cmd \"");
-    //         write_string_to_queue(p, cmd);
-    //         write_string_to_queue(p, "\"\n");
-    //     });
-
-    //     cx.spawn.send().ok();
-    // }
-
-    #[task(binds=USART2, priority = 1, resources=[rx2, tx3, cmd_buffer, p], spawn=[reset_encoders, encoder_positions, send])]
+    #[task(binds=USART2, priority = 1, resources=[rx2, tx3, cmd_buffer, p], spawn=[reset_encoders, encoder_positions, send], schedule=[system_reset])]
     fn serial_cmd(cx: serial_cmd::Context) {
 
         let serial_cmd::Resources {
@@ -425,6 +417,9 @@ const APP: () = {
                         cx.spawn.reset_encoders().ok();
                     } else if cmd_buffer.starts_with("pos") {
                         cx.spawn.encoder_positions().ok();
+                    } else if cmd_buffer.starts_with("sysreset") {
+                        let now = cx.start;
+                        cx.schedule.system_reset(now + 8_000_000.cycles()).ok();
                     } else {
                         // cx.spawn.unknown_command().ok();
                         p.lock(|p| {