pru: Support config_reset command to manually reset mcu

Add support for resetting the MCU via a software only mechanism.  This
is useful on the PRU.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

src/basecmd.c

@@ -215,6 +215,25 @@ command_finalize_config(uint32_t *args)
 }
 DECL_COMMAND(command_finalize_config, "finalize_config crc=%u");
 
+// Attempt a full manual reset of the config
+void
+config_reset(uint32_t *args)
+{
+    if (! sched_is_shutdown())
+        shutdown("config_reset only available when shutdown");
+    irq_disable();
+    config_crc = 0;
+    oid_count = 0;
+    oids = NULL;
+    move_free_list = NULL;
+    move_list = NULL;
+    move_count = move_item_size = 0;
+    alloc_init();
+    sched_timer_reset();
+    sched_clear_shutdown();
+    irq_enable();
+}
+
 
 /****************************************************************
  * Timing and load stats

src/basecmd.h

@@ -10,6 +10,7 @@ void *oid_lookup(uint8_t oid, void *type);
 void *oid_alloc(uint8_t oid, void *type, uint16_t size);
 void *oid_next(uint8_t *i, void *type);
 void stats_update(uint32_t start, uint32_t cur);
+void config_reset(uint32_t *args);
 
 #define foreach_oid(pos,data,oidtype)                   \
     for (pos=-1; (data=oid_next(&pos, oidtype)); )

src/pru/main.c

@@ -212,6 +212,9 @@ struct my_resource_table {
  * Startup
  ****************************************************************/
 
+// Support config_reset
+DECL_COMMAND_FLAGS(config_reset, HF_IN_SHUTDOWN, "config_reset");
+
 // Main entry point
 int
 main(void)

src/sched.c

@@ -165,8 +165,8 @@ sched_timer_dispatch(void)
     return next_waketime;
 }
 
-// Remove all user timers on a shutdown
-static void
+// Remove all user timers
+void
 sched_timer_reset(void)
 {
     timer_list = &deleted_timer;

src/sched.h

@@ -29,6 +29,7 @@ struct task_wake {
 void sched_add_timer(struct timer*);
 void sched_del_timer(struct timer *del);
 unsigned int sched_timer_dispatch(void);
+void sched_timer_reset(void);
 void sched_wake_tasks(void);
 uint8_t sched_tasks_busy(void);
 void sched_wake_task(struct task_wake *w);