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Provide common API for triggering a synchronous or asynchronous reset on various Cyphal enabled platforms. (#6)
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‎README.md‎

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@@ -43,3 +43,10 @@ if (auto const opt_err = cyphal::support::save(kv_storage, *node_registry); opt_
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Serial.println(static_cast<int>(opt_err.value()));
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}
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```
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* API for performing **synchronous and asynchronous resets**.
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```C++
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/* Synchronous reset: */
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cyphal::support::platform::reset_sync(std::chrono::milliseconds(5000));
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/* Asynchronous reset: */
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cyphal::support::platform::reset_async(std::chrono::milliseconds(5000));
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```

‎examples/AsyncReset/AsyncReset.ino‎

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/**
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* This software is distributed under the terms of the MIT License.
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* Copyright (c) 2023 LXRobotics.
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* Author: Alexander Entinger <[email protected]>
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* Contributors: https://github.com/107-systems/107-Arduino-Cyphal-Support/graphs/contributors.
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*/
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/**************************************************************************************
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* INCLUDE
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**************************************************************************************/
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#include <107-Arduino-Cyphal-Support.h>
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/**************************************************************************************
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* GLOBAL VARIABLES
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**************************************************************************************/
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static unsigned long start = 0;
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/**************************************************************************************
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* SETUP/LOOP
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**************************************************************************************/
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void setup()
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{
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Serial.begin(115200);
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while (!Serial) { }
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Serial.println("Trigger async reset in 5 seconds ...");
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cyphal::support::platform::reset_async(std::chrono::milliseconds(5000));
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start = millis();
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}
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void loop()
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{
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char msg[32] = {0};
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snprintf(msg, sizeof(msg), "[ %ld ]", (millis() - start));
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Serial.println(msg);
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delay(100);
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}

‎examples/SyncReset/SyncReset.ino‎

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/**
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* This software is distributed under the terms of the MIT License.
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* Copyright (c) 2023 LXRobotics.
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* Author: Alexander Entinger <[email protected]>
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* Contributors: https://github.com/107-systems/107-Arduino-Cyphal-Support/graphs/contributors.
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*/
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/**************************************************************************************
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* INCLUDE
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**************************************************************************************/
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#include <107-Arduino-Cyphal-Support.h>
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/**************************************************************************************
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* SETUP/LOOP
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**************************************************************************************/
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void setup()
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{
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Serial.begin(115200);
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while (!Serial) { }
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Serial.println("Trigger sync reset in 5 seconds ...");
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cyphal::support::platform::reset_sync(std::chrono::milliseconds(5000));
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}
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void loop()
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{
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}

‎keywords.txt‎

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2020
instance KEYWORD2
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value KEYWORD2
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get KEYWORD2
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put KEYWORD2
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drop KEYWORD2
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reset KEYWORD2
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reset_sync KEYWORD2
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reset_async KEYWORD2
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is_async_reset_pending KEYWORD2
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#######################################
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# Constants (LITERAL1)
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#######################################
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InvalidParam LITERAL1

‎src/107-Arduino-Cyphal-Support.h‎

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* INCLUDE
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**************************************************************************************/
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#include "reset/reset.h"
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#include "storage/storage.h"
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#include "uniqueid/uniqueid.h"

‎src/reset/reset-rp2040.cpp‎

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/**
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* This software is distributed under the terms of the MIT License.
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* Copyright (c) 2023 LXRobotics.
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* Author: Alexander Entinger <[email protected]>
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* Contributors: https://github.com/107-systems/107-Arduino-Cyphal-Support/graphs/contributors.
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*/
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/**************************************************************************************
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* INCLUDE
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**************************************************************************************/
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#include "reset.h"
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#if defined(ARDUINO_ARCH_RP2040) && !defined(ARDUINO_ARCH_MBED)
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#include "hardware/watchdog.h"
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/* Provide prototype for Arduino's delay function. */
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extern "C" void delay(unsigned long);
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/**************************************************************************************
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* NAMESPACE
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**************************************************************************************/
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namespace cyphal::support::platform
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{
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/**************************************************************************************
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* GLOBAL CONSTANTS
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**************************************************************************************/
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static uint32_t const RP2040_MAX_DELAY_ms = 0x7FFFFF;
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/**************************************************************************************
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* GLOBAL VARIABLES
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**************************************************************************************/
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static bool is_async_reset_pending_flag = false;
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/**************************************************************************************
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* FUNCTION DEFINITION
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**************************************************************************************/
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std::optional<Error> reset()
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{
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watchdog_enable(/* delay_ms */ 0, /* pause_on_debug */ true);
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return std::nullopt;
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}
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std::optional<Error> reset_sync(std::chrono::milliseconds const ms)
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{
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if (ms.count() > RP2040_MAX_DELAY_ms)
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return Error::InvalidParam;
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watchdog_enable(/* delay_ms */ ms.count(), /* pause_on_debug */ true);
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for(;;) { delay(100); } /* Wait for the watchdog to bite. */
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return std::nullopt;
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}
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std::optional<Error> reset_async(std::chrono::milliseconds const ms)
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{
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if (ms.count() > RP2040_MAX_DELAY_ms)
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return Error::InvalidParam;
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watchdog_enable(/* delay_ms */ ms.count(), /* pause_on_debug */ true);
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is_async_reset_pending_flag = true;
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return std::nullopt;
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}
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bool is_async_reset_pending()
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{
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return is_async_reset_pending_flag;
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}
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/**************************************************************************************
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* NAMESPACE
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**************************************************************************************/
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} /* cyphal::support::platform */
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#endif /* defined(ARDUINO_ARCH_RP2040) && !defined(ARDUINO_ARCH_MBED) */

‎src/reset/reset.h‎

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/**
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* This software is distributed under the terms of the MIT License.
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* Copyright (c) 2023 LXRobotics.
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* Author: Alexander Entinger <[email protected]>
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* Contributors: https://github.com/107-systems/107-Arduino-Cyphal-Support/graphs/contributors.
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*/
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#pragma once
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/**************************************************************************************
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* INCLUDE
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**************************************************************************************/
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#include <chrono>
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#include <optional>
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/**************************************************************************************
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* NAMESPACE
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**************************************************************************************/
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namespace cyphal::support::platform
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{
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/**************************************************************************************
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* TYPEDEF
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**************************************************************************************/
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enum class Error
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{
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InvalidParam,
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};
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/**************************************************************************************
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* FUNCTION DECLARATION
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**************************************************************************************/
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/* Immediately after calling this method a reset is performed. */
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std::optional<Error> reset()
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#if !defined(ARDUINO_ARCH_RP2040)
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__attribute__ ((error("Currently the reset API only supports ARDUINO_ARCH_RP2040.")))
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#endif
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;
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/* This method performs a reset in 'ms' milliseconds after its invocation,
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* blocking while waiting for the time to expire.
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*/
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std::optional<Error> reset_sync(std::chrono::milliseconds const ms)
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#if !defined(ARDUINO_ARCH_RP2040)
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__attribute__ ((error("Currently the reset API only supports ARDUINO_ARCH_RP2040.")))
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#endif
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;
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/* This method performs a reset in 'ms' milliseconds after its invocation,
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* but returns immediately after its invocation.
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*/
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std::optional<Error> reset_async(std::chrono::milliseconds const ms)
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#if !defined(ARDUINO_ARCH_RP2040)
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__attribute__ ((error("Currently the reset API only supports ARDUINO_ARCH_RP2040.")))
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#endif
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;
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/* Returns true if currently an async reset is pending. Since this
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* functionality is implemented via watchdog it is necessary to stop
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* regular watchdog feeding i.e. in the main loop.
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*/
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bool is_async_reset_pending()
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#if !defined(ARDUINO_ARCH_RP2040)
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__attribute__ ((error("Currently the reset API only supports ARDUINO_ARCH_RP2040.")))
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#endif
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;
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/**************************************************************************************
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* NAMESPACE
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**************************************************************************************/
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} /* cyphal::support::platform */

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