Proper data manager restart handling

Introduce SYS_RESTART_TYPE parameter having one of 3 values: boot
restart, inflight restart, or unknown restart, and defaulting to unknown
restart.

px4io.cpp sets this parameter according to the type of restart detected.

dataman.c retrieves this parameter and clears data entries according to
their persistence level. Does nothing if unknown restart.

1 files changed, 17 insertions, 0 deletions

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index e318e206a..ba13d0ff7 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -91,6 +91,8 @@
 
 #include "uploader.h"
 
+#include "modules/dataman/dataman.h"
+
 extern device::Device *PX4IO_i2c_interface() weak_function;
 extern device::Device *PX4IO_serial_interface() weak_function;
 
@@ -568,9 +570,15 @@ int
 PX4IO::init()
 {
 	int ret;
+	param_t sys_restart_param;
+	int sys_restart_val = DM_INIT_REASON_VOLATILE;
 
 	ASSERT(_task == -1);
 
+	sys_restart_param = param_find("SYS_RESTART_TYPE");
+	/* Indicate restart type is unknown */
+	param_set(sys_restart_param, &sys_restart_val);
+
 	/* do regular cdev init */
 	ret = CDev::init();
 
@@ -720,6 +728,11 @@ PX4IO::init()
 			/* keep waiting for state change for 2 s */
 		} while (!safety.armed);
 
+		/* Indicate restart type is in-flight */
+		sys_restart_val = DM_INIT_REASON_IN_FLIGHT;
+		param_set(sys_restart_param, &sys_restart_val);
+
+
 		/* regular boot, no in-air restart, init IO */
 
 	} else {
@@ -745,6 +758,10 @@ PX4IO::init()
 			}
 		}
 
+		/* Indicate restart type is power on */
+		sys_restart_val = DM_INIT_REASON_POWER_ON;
+		param_set(sys_restart_param, &sys_restart_val);
+
 	}
 
 	/* try to claim the generic PWM output device node as well - it's OK if we fail at this */