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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-30 08:08:14 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-30 08:08:14 +0200 |
commit | 81525f6d8ad0c988cb666c0d8015e52ebdccaeb4 (patch) | |
tree | 89b53acac3ce7d4018cc366a7d3a6723341bac65 /src/modules/dataman | |
parent | 848c1c2552996281685d2691c1b394f25a4391b3 (diff) | |
parent | e7ebcd6c572fe3550fd626530eb69b818e31be4a (diff) | |
download | px4-firmware-81525f6d8ad0c988cb666c0d8015e52ebdccaeb4.tar.gz px4-firmware-81525f6d8ad0c988cb666c0d8015e52ebdccaeb4.tar.bz2 px4-firmware-81525f6d8ad0c988cb666c0d8015e52ebdccaeb4.zip |
Merge branch 'master' of github.com:PX4/Firmware into ekf_params
Diffstat (limited to 'src/modules/dataman')
-rw-r--r-- | src/modules/dataman/dataman.c | 33 | ||||
-rw-r--r-- | src/modules/dataman/dataman.h | 5 |
2 files changed, 28 insertions, 10 deletions
diff --git a/src/modules/dataman/dataman.c b/src/modules/dataman/dataman.c index c132b0040..7505ba358 100644 --- a/src/modules/dataman/dataman.c +++ b/src/modules/dataman/dataman.c @@ -416,26 +416,26 @@ static int _restart(dm_reset_reason reason) { unsigned char buffer[2]; - int offset, result = 0; + int offset = 0, result = 0; /* We need to scan the entire file and invalidate and data that should not persist after the last reset */ /* Loop through all of the data segments and delete those that are not persistent */ - offset = 0; - while (1) { size_t len; /* Get data segment at current offset */ if (lseek(g_task_fd, offset, SEEK_SET) != offset) { - result = -1; + /* must be at eof */ break; } len = read(g_task_fd, buffer, sizeof(buffer)); - if (len == 0) + if (len != sizeof(buffer)) { + /* must be at eof */ break; + } /* check if segment contains data */ if (buffer[0]) { @@ -443,12 +443,12 @@ _restart(dm_reset_reason reason) /* Whether data gets deleted depends on reset type and data segment's persistence setting */ if (reason == DM_INIT_REASON_POWER_ON) { - if (buffer[1] != DM_PERSIST_POWER_ON_RESET) { + if (buffer[1] > DM_PERSIST_POWER_ON_RESET) { clear_entry = 1; } } else { - if ((buffer[1] != DM_PERSIST_POWER_ON_RESET) && (buffer[1] != DM_PERSIST_IN_FLIGHT_RESET)) { + if (buffer[1] > DM_PERSIST_IN_FLIGHT_RESET) { clear_entry = 1; } } @@ -628,6 +628,23 @@ task_main(int argc, char *argv[]) fsync(g_task_fd); + /* see if we need to erase any items based on restart type */ + int sys_restart_val; + if (param_get(param_find("SYS_RESTART_TYPE"), &sys_restart_val) == OK) { + if (sys_restart_val == DM_INIT_REASON_POWER_ON) { + warnx("Power on restart"); + _restart(DM_INIT_REASON_POWER_ON); + } + else if (sys_restart_val == DM_INIT_REASON_IN_FLIGHT) { + warnx("In flight restart"); + _restart(DM_INIT_REASON_IN_FLIGHT); + } + else + warnx("Unknown restart"); + } + else + warnx("Unknown restart"); + /* We use two file descriptors, one for the caller context and one for the worker thread */ /* They are actually the same but we need to some way to reject caller request while the */ /* worker thread is shutting down but still processing requests */ @@ -724,7 +741,7 @@ start(void) return -1; } - /* wait for the thread to actuall initialize */ + /* wait for the thread to actually initialize */ sem_wait(&g_init_sema); sem_destroy(&g_init_sema); diff --git a/src/modules/dataman/dataman.h b/src/modules/dataman/dataman.h index 33c9fcd15..4382baeb5 100644 --- a/src/modules/dataman/dataman.h +++ b/src/modules/dataman/dataman.h @@ -75,7 +75,8 @@ extern "C" { /* The reason for the last reset */ typedef enum { DM_INIT_REASON_POWER_ON = 0, /* Data survives resets */ - DM_INIT_REASON_IN_FLIGHT /* Data survives in-flight resets only */ + DM_INIT_REASON_IN_FLIGHT, /* Data survives in-flight resets only */ + DM_INIT_REASON_VOLATILE /* Data does not survive reset */ } dm_reset_reason; /* Maximum size in bytes of a single item instance */ @@ -100,7 +101,7 @@ extern "C" { size_t buflen /* Length in bytes of data to retrieve */ ); - /* Retrieve from the data manager store */ + /* Erase all items of this type */ __EXPORT int dm_clear( dm_item_t item /* The item type to clear */ |