diff options
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 17 | ||||
| -rw-r--r-- | src/modules/dataman/dataman.c | 33 | ||||
| -rw-r--r-- | src/modules/dataman/dataman.h | 5 | ||||
| -rw-r--r-- | src/modules/systemlib/system_params.c | 27 |
4 files changed, 64 insertions, 18 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 */ 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 */ diff --git a/src/modules/systemlib/system_params.c b/src/modules/systemlib/system_params.c index ec2bc3a9a..702e435ac 100644 --- a/src/modules/systemlib/system_params.c +++ b/src/modules/systemlib/system_params.c @@ -62,12 +62,23 @@ PARAM_DEFINE_INT32(SYS_AUTOSTART, 0); PARAM_DEFINE_INT32(SYS_AUTOCONFIG, 0); /** - * Set usage of IO board - * - * Can be used to use a standard startup script but with a FMU only set-up. Set to 0 to force the FMU only set-up. - * - * @min 0 - * @max 1 - * @group System - */ +* Set usage of IO board +* +* Can be used to use a standard startup script but with a FMU only set-up. Set to 0 to force the FMU only set-up. +* +* @min 0 +* @max 1 +* @group System +*/ PARAM_DEFINE_INT32(SYS_USE_IO, 1); + +/** +* Set restart type +* +* Set by px4io to indicate type of restart +* +* @min 0 +* @max 2 +* @group System +*/ +PARAM_DEFINE_INT32(SYS_RESTART_TYPE, 2); |