Boot reason via watchdog scratch register, reboot/picoboot CLI commands, enum msgpack support

cmd/picomap/main.go

@@ -113,7 +113,7 @@ func closeTargets(targets []target) {
 
 func main() {
 	if len(os.Args) < 2 {
-		slog.Error("usage: picomap <info|load|log|test> [args...]")
+		fmt.Fprintf(os.Stderr, "usage: picomap <command> [args...]\n\ncommands:\n  info\n  load\n  log\n  reboot\n  picoboot\n  test\n")
 		os.Exit(1)
 	}
 	cmd := os.Args[1]
@@ -127,10 +127,14 @@ func main() {
 		err = cmdLoad(args)
 	case "log":
 		err = cmdLog(args)
+	case "reboot":
+		err = cmdReboot(args)
+	case "picoboot":
+		err = cmdPICOBOOT(args)
 	case "test":
 		err = cmdTestGroup(args)
 	default:
-		slog.Error("usage: picomap <info|load|log|test> [args...]")
+		fmt.Fprintf(os.Stderr, "usage: picomap <command> [args...]\n\ncommands:\n  info\n  load\n  log\n  reboot\n  picoboot\n  test\n")
 		os.Exit(1)
 	}
 	if err != nil {
@@ -145,7 +149,8 @@ func printInfo(via string, info *client.ResponseInfo) {
 		"board_id", hex.EncodeToString(info.BoardID[:]),
 		"mac", net.HardwareAddr(info.MAC[:]).String(),
 		"ip", net.IP(info.IP[:]).String(),
-		"firmware", info.FirmwareName)
+		"firmware", info.FirmwareName,
+		"boot", info.Boot.String())
 }
 
 func cmdInfo(args []string) error {
@@ -199,6 +204,48 @@ func cmdLog(args []string) error {
 	return nil
 }
 
+func cmdReboot(args []string) error {
+	fs := flag.NewFlagSet("reboot", flag.ExitOnError)
+	tf := addTargetFlags(fs)
+	fs.Parse(args)
+
+	targets, err := tf.connect(500 * time.Millisecond)
+	if err != nil {
+		return err
+	}
+	defer closeTargets(targets)
+
+	for _, t := range targets {
+		if err := t.client.Reboot(); err != nil {
+			slog.Error("reboot error", "via", t.name, "err", err)
+			continue
+		}
+		slog.Info("rebooted", "via", t.name)
+	}
+	return nil
+}
+
+func cmdPICOBOOT(args []string) error {
+	fs := flag.NewFlagSet("picoboot", flag.ExitOnError)
+	tf := addTargetFlags(fs)
+	fs.Parse(args)
+
+	targets, err := tf.connect(500 * time.Millisecond)
+	if err != nil {
+		return err
+	}
+	defer closeTargets(targets)
+
+	for _, t := range targets {
+		if err := t.client.PICOBOOT(); err != nil {
+			slog.Error("picoboot error", "via", t.name, "err", err)
+			continue
+		}
+		slog.Info("picoboot", "via", t.name)
+	}
+	return nil
+}
+
 func boardSerial(id [8]byte) string {
 	return fmt.Sprintf("%02X%02X%02X%02X%02X%02X%02X%02X",
 		id[0], id[1], id[2], id[3], id[4], id[5], id[6], id[7])

firmware/firmware.cpp

@@ -13,6 +13,7 @@ static constexpr handler_entry handlers[] = {
 };
 
 int main() {
+    handlers_init();
     dispatch_init();
     dispatch_run(handlers);
 }

firmware/include/handlers.h

@@ -6,6 +6,7 @@
 
 extern std::string_view firmware_name;
 
+void handlers_init();
 std::optional<ResponsePICOBOOT> handle_picoboot(const responder& resp, const RequestPICOBOOT&);
 std::optional<ResponseInfo> handle_info(const responder& resp, const RequestInfo&);
 std::optional<ResponseLog> handle_log(const responder& resp, const RequestLog&);

firmware/include/msgpack.h

@@ -373,6 +373,10 @@ public:
     requires std::is_integral_v<T> && (!std::is_same_v<T, bool>)
   pack_result pack(T n) { return pack_integer(n); }
 
+  template <typename T>
+    requires std::is_enum_v<T>
+  pack_result pack(T v) { return pack_integer(static_cast<std::underlying_type_t<T>>(v)); }
+
   pack_result pack(bool v)        { return pack_bool(v); }
   pack_result pack(float v)       { return pack_float(v); }
   pack_result pack(double v)      { return pack_double(v); }
@@ -727,6 +731,16 @@ public:
   }
 };
 
+template <typename T>
+  requires std::is_enum_v<T>
+result<parser> unpack(const parser &p, T &out) {
+  std::underlying_type_t<T> v;
+  auto r = unpack(p, v);
+  if (!r) return r;
+  out = static_cast<T>(v);
+  return r;
+}
+
 template <typename T>
   requires std::is_integral_v<T> && (!std::is_same_v<T, bool>)
 result<parser> unpack(const parser &p, T &out) {

firmware/include/wire.h

@@ -44,14 +44,20 @@ struct RequestInfo {
     auto as_tuple() { return std::tie(); }
 };
 
+enum class boot_reason : uint8_t {
+    cold_boot = 0,
+    request_reboot = 1,
+};
+
 struct ResponseInfo {
     static constexpr int8_t ext_id = 5;
     std::array<uint8_t, 8> board_id;
     std::array<uint8_t, 6> mac;
     std::array<uint8_t, 4> ip;
     std::string firmware_name;
-    auto as_tuple() const { return std::tie(board_id, mac, ip, firmware_name); }
-    auto as_tuple() { return std::tie(board_id, mac, ip, firmware_name); }
+    boot_reason boot;
+    auto as_tuple() const { return std::tie(board_id, mac, ip, firmware_name, boot); }
+    auto as_tuple() { return std::tie(board_id, mac, ip, firmware_name, boot); }
 };
 
 struct RequestLog {

firmware/lib/handlers.cpp

@@ -9,6 +9,17 @@
 
 static constexpr uint32_t XIP_BASE_ADDR = 0x10000000;
 static constexpr uint32_t FLASH_SIZE = 2 * 1024 * 1024;
+static constexpr uint32_t REBOOT_MAGIC = 0x504D5242;
+
+static boot_reason detected_boot_reason;
+
+void handlers_init() {
+    if (watchdog_hw->scratch[0] == REBOOT_MAGIC)
+        detected_boot_reason = boot_reason::request_reboot;
+    else
+        detected_boot_reason = boot_reason::cold_boot;
+    watchdog_hw->scratch[0] = 0;
+}
 
 std::optional<ResponsePICOBOOT> handle_picoboot(const responder&, const RequestPICOBOOT&) {
     dispatch_schedule_ms(100, []{ reset_usb_boot(0, 1); });
@@ -24,6 +35,7 @@ std::optional<ResponseInfo> handle_info(const responder&, const RequestInfo&) {
     resp.mac = ns.mac;
     resp.ip = ns.ip;
     resp.firmware_name = firmware_name;
+    resp.boot = detected_boot_reason;
     return resp;
 }
 
@@ -67,7 +79,10 @@ std::optional<ResponseFlashWrite> handle_flash_write(const responder&, const Req
 }
 
 std::optional<ResponseReboot> handle_reboot(const responder&, const RequestReboot&) {
-    dispatch_schedule_ms(100, []{ watchdog_reboot(0, 0, 0); });
+    dispatch_schedule_ms(100, []{
+        watchdog_hw->scratch[0] = REBOOT_MAGIC;
+        watchdog_reboot(0, 0, 0);
+    });
     return ResponseReboot{};
 }
 

firmware/test.cpp

@@ -25,6 +25,7 @@ static constexpr handler_entry handlers[] = {
 };
 
 int main() {
+    handlers_init();
     dispatch_init();
 
     gpio_init(LED_PIN);

lib/client/types.go

@@ -6,11 +6,30 @@ type RequestPICOBOOT struct{}
 type ResponsePICOBOOT struct{}
 
 type RequestInfo struct{}
+type BootReason uint8
+
+const (
+	BootCold    BootReason = 0
+	BootReboot  BootReason = 1
+)
+
+func (b BootReason) String() string {
+	switch b {
+	case BootCold:
+		return "cold"
+	case BootReboot:
+		return "reboot"
+	default:
+		return "unknown"
+	}
+}
+
 type ResponseInfo struct {
 	BoardID      [8]byte
 	MAC          [6]byte
 	IP           [4]byte
 	FirmwareName string
+	Boot         BootReason
 }
 
 type RequestLog struct{}