feat(diamond): add security MCU reboot request

Allow the Jetson or CLI to request a security MCU reboot by having the
main MCU drive EXP_MCU_RST_RQST_3V3 GPIO high for 100ms.

- Add exp-mcu-rst-rqst-gpios to diamond_main DTS (gpio_exp1 pin 11)
- Add handle_reboot_security_mcu handler in runner.c
- Add `orb reboot_sec` CLI command (Diamond only)

Signed-off-by: Cyril Fougeray <cyril.fougeray@toolsforhumanity.com>
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

Author: fouge

boards/tfh/diamond_main/diamond_main.dts

@@ -121,6 +121,9 @@
 
         // for gpio based tachometer (coarse estimation)
         fan-main-tach-gpios = <&gpiod 7 GPIO_ACTIVE_HIGH>;
+
+        // request security MCU reboot
+        exp-mcu-rst-rqst-gpios = <&gpio_exp1 11 GPIO_ACTIVE_HIGH>;
     };
 
     buttons {

main_board/src/cli/cli.c

@@ -457,6 +457,20 @@ execute_date(const struct shell *sh, size_t argc, char **argv)
 }
 
 #ifdef CONFIG_BOARD_DIAMOND_MAIN
+static int
+execute_reboot_sec_mcu(const struct shell *sh, size_t argc, char **argv)
+{
+    UNUSED_PARAMETER(argc);
+    UNUSED_PARAMETER(argv);
+
+    orb_mcu_main_JetsonToMcu message = {
+        .which_payload = orb_mcu_main_JetsonToMcu_reboot_security_mcu_tag,
+    };
+
+    shell_print(sh, "Requesting security MCU reboot");
+    return runner_handle_new_cli(&message);
+}
+
 static int
 execute_white_leds(const struct shell *sh, size_t argc, char **argv)
 {
@@ -861,6 +875,7 @@ SHELL_STATIC_SUBCMD_SET_CREATE(
 #ifdef CONFIG_BOARD_DIAMOND_MAIN
     SHELL_CMD(white_leds, NULL, "Control white LEDs", execute_white_leds),
     SHELL_CMD(polarizer, NULL, "Control polarizer wheel", execute_polarizer),
+    SHELL_CMD(reboot_sec, NULL, "Reboot security MCU", execute_reboot_sec_mcu),
 #endif
     SHELL_CMD(boot_config, NULL, "Get/set boot behavior (button|always_on)",
               execute_boot_config),

main_board/src/runner/runner.c

@@ -32,11 +32,15 @@
 #include <stdlib.h>
 #include <uart_messaging.h>
 #include <ui/rgb_leds/front_leds/front_leds.h>
+#include <zephyr/drivers/gpio.h>
 #include <zephyr/kernel.h>
 
 #if defined(CONFIG_BOARD_DIAMOND_MAIN)
 #include "ui/rgb_leds/cone_leds/cone_leds.h"
 #include "ui/white_leds/white_leds.h"
+
+static const struct gpio_dt_spec exp_mcu_rst_rqst_gpio_spec =
+    GPIO_DT_SPEC_GET(DT_PATH(zephyr_user), exp_mcu_rst_rqst_gpios);
 #endif
 
 #if defined(CONFIG_MEMFAULT_METRICS_CONNECTIVITY_CONNECTED_TIME)
@@ -1196,6 +1200,55 @@ handle_power_cycle(job_t *job)
 }
 
 #ifdef CONFIG_BOARD_DIAMOND_MAIN
+static void
+handle_reboot_security_mcu(job_t *job)
+{
+    orb_mcu_main_JetsonToMcu *msg = &job->message.jetson_cmd;
+    MAKE_ASSERTS(orb_mcu_main_JetsonToMcu_reboot_security_mcu_tag);
+
+    int ret;
+
+    orb_mcu_Hardware hw_revision = version_get();
+    if (hw_revision.version <
+        orb_mcu_Hardware_OrbVersion_HW_VERSION_DIAMOND_V4_5) {
+        job_ack(orb_mcu_Ack_ErrorCode_VERSION, job);
+        return;
+    }
+
+    if (!gpio_is_ready_dt(&exp_mcu_rst_rqst_gpio_spec)) {
+        LOG_ERR("GPIO for security MCU reset request not ready");
+        job_ack(orb_mcu_Ack_ErrorCode_FAIL, job);
+        return;
+    }
+
+    ret = gpio_pin_configure_dt(&exp_mcu_rst_rqst_gpio_spec,
+                                GPIO_OUTPUT_INACTIVE);
+    if (ret != 0) {
+        LOG_ERR("Failed to configure GPIO: %d", ret);
+        job_ack(orb_mcu_Ack_ErrorCode_FAIL, job);
+        return;
+    }
+
+    ret = gpio_pin_set_dt(&exp_mcu_rst_rqst_gpio_spec, 1);
+    if (ret != 0) {
+        LOG_ERR("Failed to set GPIO high: %d", ret);
+        job_ack(orb_mcu_Ack_ErrorCode_FAIL, job);
+        return;
+    }
+
+    k_msleep(100);
+
+    ret = gpio_pin_set_dt(&exp_mcu_rst_rqst_gpio_spec, 0);
+    if (ret != 0) {
+        LOG_ERR("Failed to set GPIO low: %d", ret);
+        job_ack(orb_mcu_Ack_ErrorCode_FAIL, job);
+        return;
+    }
+
+    LOG_INF("Security MCU reboot requested");
+    job_ack(orb_mcu_Ack_ErrorCode_SUCCESS, job);
+}
+
 static void
 handle_polarizer(job_t *job)
 {
@@ -1834,6 +1887,8 @@ static const hm_callback handle_message_callbacks[] = {
     [orb_mcu_main_JetsonToMcu_polarizer_tag] = handle_polarizer,
     [orb_mcu_main_JetsonToMcu_polarizer_wheel_settings_tag] =
         handle_polarizer_wheel_settings,
+    [orb_mcu_main_JetsonToMcu_reboot_security_mcu_tag] =
+        handle_reboot_security_mcu,
 #elif defined(CONFIG_BOARD_PEARL_MAIN)
     [orb_mcu_main_JetsonToMcu_cone_leds_sequence_tag] = handle_not_supported,
     [orb_mcu_main_JetsonToMcu_cone_leds_pattern_tag] = handle_not_supported,
@@ -1843,7 +1898,7 @@ static const hm_callback handle_message_callbacks[] = {
 #endif
 };
 
-BUILD_ASSERT((ARRAY_SIZE(handle_message_callbacks) <= 57),
+BUILD_ASSERT((ARRAY_SIZE(handle_message_callbacks) <= 58),
              "It seems like the `handle_message_callbacks` array is too large");
 
 _Noreturn static void

west.yml

@@ -23,7 +23,7 @@ manifest:
       remote: memfault
       revision: 1.31.0
     - name: orb-messages
-      revision: af472fadb57ce55ac63f8f94bd2a0608e62405c7
+      revision: 3cb63e197d02cecf993314c2f15bead7db898e17
       path: modules/orb-messages/public
     - name: priv-orb-messages
       revision: 0da6bab271385e952813bfcbef9ce9bf38b0f27a