From 98791bc6740bcbcbb355befd7c57ff22b9583bb5 Mon Sep 17 00:00:00 2001
From: px4dev <px4@purgatory.org>
Date: Sat, 27 Oct 2012 22:42:43 -0700
Subject: [PATCH] Remove reboot() API, replace with a prototype for
 up_systemreset() which is portable.

---
 apps/commander/state_machine_helper.c        |  2 +-
 apps/drivers/boards/px4fmu/px4fmu_internal.h |  8 ++++-
 apps/drivers/px4fmu/fmu.cpp                  |  2 +-
 apps/systemcmds/reboot/reboot.c              |  5 ++-
 apps/systemlib/systemlib.c                   | 35 --------------------
 apps/systemlib/systemlib.h                   |  2 +-
 6 files changed, 12 insertions(+), 42 deletions(-)

diff --git a/apps/commander/state_machine_helper.c b/apps/commander/state_machine_helper.c
index 794fb679cf..a64d99cd49 100644
--- a/apps/commander/state_machine_helper.c
+++ b/apps/commander/state_machine_helper.c
@@ -138,7 +138,7 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
 			current_status->flag_system_armed = false;
 			mavlink_log_critical(mavlink_fd, "[commander] REBOOTING SYSTEM");
 			usleep(500000);
-			reboot();
+			up_systemreset();
 			/* SPECIAL CASE: NEVER RETURNS FROM THIS FUNCTION CALL */
 		} else {
 			invalid_state = true;
diff --git a/apps/drivers/boards/px4fmu/px4fmu_internal.h b/apps/drivers/boards/px4fmu/px4fmu_internal.h
index 1ae9e4c291..6550fdf3da 100644
--- a/apps/drivers/boards/px4fmu/px4fmu_internal.h
+++ b/apps/drivers/boards/px4fmu/px4fmu_internal.h
@@ -47,7 +47,11 @@
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
-#include "stm32_internal.h"
+__BEGIN_DECLS
+
+/* these headers are not C++ safe */
+#include <stm32_internal.h>
+
  
 /****************************************************************************************************
  * Definitions
@@ -153,3 +157,5 @@
 extern void stm32_spiinitialize(void);
 
 #endif /* __ASSEMBLY__ */
+
+__END_DECLS
diff --git a/apps/drivers/px4fmu/fmu.cpp b/apps/drivers/px4fmu/fmu.cpp
index fe3e51c08c..fff713bb5e 100644
--- a/apps/drivers/px4fmu/fmu.cpp
+++ b/apps/drivers/px4fmu/fmu.cpp
@@ -59,13 +59,13 @@
 #include <drivers/drv_gpio.h>
 #include <drivers/boards/px4fmu/px4fmu_internal.h>
 
+#include <systemlib/systemlib.h>
 #include <systemlib/mixer/mixer.h>
 #include <drivers/drv_mixer.h>
 
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_outputs.h>
 
-#include <systemlib/systemlib.h>
 #include <systemlib/err.h>
 
 class PX4FMU : public device::CDev
diff --git a/apps/systemcmds/reboot/reboot.c b/apps/systemcmds/reboot/reboot.c
index e8886139d4..47d3cd9486 100644
--- a/apps/systemcmds/reboot/reboot.c
+++ b/apps/systemcmds/reboot/reboot.c
@@ -41,14 +41,13 @@
 #include <unistd.h>
 #include <stdio.h>
 
-#include "systemlib/systemlib.h"
+#include <systemlib/systemlib.h>
 
 __EXPORT int reboot_main(int argc, char *argv[]);
 
 int reboot_main(int argc, char *argv[])
 {
-	reboot();
-	return 0;
+	up_systemreset();
 }
 
 
diff --git a/apps/systemlib/systemlib.c b/apps/systemlib/systemlib.c
index 50ac62464a..750e783f55 100644
--- a/apps/systemlib/systemlib.c
+++ b/apps/systemlib/systemlib.c
@@ -73,41 +73,6 @@ const struct __multiport_info multiport_info = {
 
 static void kill_task(FAR _TCB *tcb, FAR void *arg);
 
-/****************************************************************************
- * user_start
- ****************************************************************************/
-
-int reboot(void)
-{
-	sched_lock();
-	// print text
-	printf("\r\nRebooting system - ending tasks and performing hard reset\r\n\r\n");
-	fflush(stdout);
-	//usleep(5000);
-
-	/* Sending kill signal to other tasks */
-	//killall();
-
-	/* Waiting maximum time for all to exit */
-	//usleep(5000);
-	//sched_lock();
-
-	/* Resetting CPU */
-	// FIXME Need check for ARM architecture here
-#ifndef NVIC_AIRCR
-#define NVIC_AIRCR (*((uint32_t*)0xE000ED0C))
-#endif
-
-	/* Set the SYSRESETREQ bit to force a reset */
-	NVIC_AIRCR = 0x05fa0004;
-
-	/* Spinning until the board is really reset */
-	while (true);
-
-	/* Should never reach here */
-	return 0;
-}
-
 void killall()
 {
 //	printf("Sending SIGUSR1 to all processes now\n");
diff --git a/apps/systemlib/systemlib.h b/apps/systemlib/systemlib.h
index 997f40dedb..f31c5cd1f9 100644
--- a/apps/systemlib/systemlib.h
+++ b/apps/systemlib/systemlib.h
@@ -45,7 +45,7 @@
 __BEGIN_DECLS
 
 /** Reboots the board */
-__EXPORT int reboot(void);
+extern void up_systemreset(void) noreturn_function;
 
 /** Sends SIGUSR1 to all processes */
 __EXPORT void killall(void);