3 files changed, 86 insertions, 35 deletions

diff --git a/software/mpu/main.c b/software/mpu/main.c
index 461c071..a737d9b 100644
--- a/software/mpu/main.c
+++ b/software/mpu/main.c
@@ -36,6 +36,17 @@
 #include "heartbeat.h"
 #include "usb-cdc-shell.h"
 
+static void reboot(void)
+{
+  NVIC_SystemReset();
+}
+
+static void reset2bootloader(void)
+{
+  NVIC_SystemReset();
+      /* TODO: not just reset but go to bootloader */
+}
+
 /*
  * Application entry point.
  */
@@ -52,8 +63,31 @@ int main(void)
   chSysInit();
 
   heartbeatInit();
-  usbCDCShellInit();
-  while (TRUE) {
-    usbCDCShellRun();
+  int8_t ret = usbCDCShellRun();
+
+  /* the debug shell returned - we have to halt, reboot or goto bootloader */
+
+  /*  Safely stop critical threads */
+     /* nothing here. */
+
+  /*  Invoke the xxxStop() method on all the active device drivers */
+  chSysDisable();
+
+  /* Stop the system timer whose service routine invokes chSysTimerHandlerI(). */
+  SysTick->CTRL &= ~(SysTick_CTRL_ENABLE_Msk);
+
+  /* Disable any other interrupt source that may invoke OS APIs */
+     /* nothing here. */
+
+  /* Perform any application related de-initialization. */
+     /* nothing here. */
+
+  chSysEnable();
+  /* the OS is stopped now */
+
+  switch(ret) {
+    case MPU_BOOTLOADER: reset2bootloader(); break;
+    case MPU_REBOOT: reboot(); break;
   }
+  for(;;); /* halting system, aka loop endlessly */
 }
diff --git a/software/mpu/usb-cdc-shell.c b/software/mpu/usb-cdc-shell.c
index d58833d..c36ca19 100644
--- a/software/mpu/usb-cdc-shell.c
+++ b/software/mpu/usb-cdc-shell.c
@@ -171,6 +171,8 @@ static const SerialUSBConfig serusbcfg = {
 /* Command line related.                                                     */
 /*===========================================================================*/
 
+static int8_t shell_return_code;
+
 #define SHELL_WA_SIZE   THD_WA_SIZE(2048)
 #define TEST_WA_SIZE    THD_WA_SIZE(256)
 
@@ -229,43 +231,49 @@ static void cmd_test(BaseSequentialStream *chp, int argc, char *argv[])
   chThdWait(tp);
 }
 
-static void cmd_write(BaseSequentialStream *chp, int argc, char *argv[])
+static void cmd_halt(BaseSequentialStream *chp, int argc, char *argv[])
 {
-  static uint8_t buf[] =
-      "0123456789abcdef0123456789abcdef0123456789abcdef0123456789abcdef"
-      "0123456789abcdef0123456789abcdef0123456789abcdef0123456789abcdef"
-      "0123456789abcdef0123456789abcdef0123456789abcdef0123456789abcdef"
-      "0123456789abcdef0123456789abcdef0123456789abcdef0123456789abcdef"
-      "0123456789abcdef0123456789abcdef0123456789abcdef0123456789abcdef"
-      "0123456789abcdef0123456789abcdef0123456789abcdef0123456789abcdef"
-      "0123456789abcdef0123456789abcdef0123456789abcdef0123456789abcdef"
-      "0123456789abcdef0123456789abcdef0123456789abcdef0123456789abcdef"
-      "0123456789abcdef0123456789abcdef0123456789abcdef0123456789abcdef"
-      "0123456789abcdef0123456789abcdef0123456789abcdef0123456789abcdef"
-      "0123456789abcdef0123456789abcdef0123456789abcdef0123456789abcdef"
-      "0123456789abcdef0123456789abcdef0123456789abcdef0123456789abcdef"
-      "0123456789abcdef0123456789abcdef0123456789abcdef0123456789abcdef"
-      "0123456789abcdef0123456789abcdef0123456789abcdef0123456789abcdef"
-      "0123456789abcdef0123456789abcdef0123456789abcdef0123456789abcdef"
-      "0123456789abcdef0123456789abcdef0123456789abcdef0123456789abcdef";
+  (void)argv;
+  if (argc > 0) {
+    chprintf(chp, "Usage: halt\r\n");
+    return;
+  }
+  shell_return_code = MPU_HALT;
+  chprintf(chp, "halting system.\r\n");
+      /* TODO: tell shell to terminate - but how??? */
+}
 
+static void cmd_reboot(BaseSequentialStream *chp, int argc, char *argv[])
+{
   (void)argv;
   if (argc > 0) {
-    chprintf(chp, "Usage: write\r\n");
+    chprintf(chp, "Usage: reboot\r\n");
     return;
   }
+  shell_return_code = MPU_REBOOT;
+  chprintf(chp, "rebooting system ...\r\n");
+      /* TODO: tell shell to terminate - but how??? */
+}
 
-  while (chnGetTimeout((BaseChannel *)chp, TIME_IMMEDIATE) == Q_TIMEOUT) {
-    chSequentialStreamWrite(&SDU1, buf, sizeof buf - 1);
+static void cmd_bootloader(BaseSequentialStream *chp, int argc, char *argv[])
+{
+  (void)argv;
+  if (argc > 0) {
+    chprintf(chp, "Usage: bootloader\r\n");
+    return;
   }
-  chprintf(chp, "\r\n\nstopped\r\n");
+  shell_return_code = MPU_BOOTLOADER;
+  chprintf(chp, "rebooting to bootloader ...\r\n");
+      /* TODO: tell shell to terminate - but how??? */
 }
 
 static const ShellCommand commands[] = {
   {"mem", cmd_mem},
   {"threads", cmd_threads},
   {"test", cmd_test},
-  {"write", cmd_write},
+  {"halt", cmd_halt},
+  {"reboot", cmd_reboot},
+  {"bootloader", cmd_bootloader},
   {NULL, NULL}
 };
 
@@ -278,33 +286,38 @@ static const ShellConfig shell_cfg1 = {
 /* Public Interface.                                                         */
 /*===========================================================================*/
 
-void usbCDCShellInit(void)
+int8_t usbCDCShellRun(void)
 {
   sduObjectInit(&SDU1);
   sduStart(&SDU1, &serusbcfg);
 
   palSetPad(GPIOA, GPIOA_USB_DISC);
   usbDisconnectBus(serusbcfg.usbp);
-  chThdSleepMilliseconds(1500);
+
+  chThdSleepMilliseconds(100);
+
   usbStart(serusbcfg.usbp, &usbcfg);
   usbConnectBus(serusbcfg.usbp);
   palClearPad(GPIOA, GPIOA_USB_DISC);
 
   shellInit();
-}
-
 
-void usbCDCShellRun(void)
-{
+  shell_return_code = MPU_CONTINUE;
   Thread *shelltp = NULL;
-
   while (TRUE) {
     if (!shelltp && (SDU1.config->usbp->state == USB_ACTIVE))
       shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
     else if (chThdTerminated(shelltp)) {
       chThdRelease(shelltp);    /* Recovers memory of the previous shell.   */
       shelltp = NULL;           /* Triggers spawning of a new shell.        */
+      if (shell_return_code != MPU_CONTINUE) break;
     }
     chThdSleepMilliseconds(1000);
   }
+
+  usbStop(serusbcfg.usbp);
+  sduStop(&SDU1);
+  palSetPad(GPIOA, GPIOA_USB_DISC);
+
+  return shell_return_code;
 }
diff --git a/software/mpu/usb-cdc-shell.h b/software/mpu/usb-cdc-shell.h
index f44df9d..412fd30 100644
--- a/software/mpu/usb-cdc-shell.h
+++ b/software/mpu/usb-cdc-shell.h
@@ -33,7 +33,11 @@
 #ifndef MURSAT_usb_cdc_shell_h_INCLUDED
 #define MURSAT_usb_cdc_shell_h_INCLUDED
 
-void usbCDCShellInit(void);
-void usbCDCShellRun(void);
+#define MPU_HALT         0
+#define MPU_CONTINUE     1
+#define MPU_REBOOT       2
+#define MPU_BOOTLOADER   3
+
+int8_t usbCDCShellRun(void);
 
 #endif