Merge branch 'beta' of github.com:PX4/Firmware

src/modules/dataman/dataman.c

@@ -1,8 +1,10 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: 	Lorenz Meier
- *              Jean Cyr
+ *   Author: 	Jean Cyr
+ *              Lorenz Meier
+ *              Julian Oes
+ *              Thomas Gubler
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -40,16 +42,8 @@
 #include <nuttx/config.h>
 #include <stdio.h>
 #include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
 #include <fcntl.h>
-#include <errno.h>
-#include <math.h>
-#include <poll.h>
-#include <time.h>
-#include <sys/ioctl.h>
 #include <systemlib/systemlib.h>
-#include <systemlib/err.h>
 #include <queue.h>
 
 #include "dataman.h"
@@ -175,8 +169,10 @@ create_work_item(void)
 
 	/* Try to reuse item from free item queue */
 	lock_queue(&g_free_q);
+
 	if ((item = (work_q_item_t *)sq_remfirst(&(g_free_q.q))))
 		g_free_q.size--;
+
 	unlock_queue(&g_free_q);
 
 	/* If we there weren't any free items then obtain memory for a new one */
@@ -289,11 +285,11 @@ _write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const v
 	offset = calculate_offset(item, index);
 
 	/* If item type or index out of range, return error */
-	if (offset < 0) 
+	if (offset < 0)
 		return -1;
 
 	/* Make sure caller has not given us more data than we can handle */
-	if (count > DM_MAX_DATA_SIZE) 
+	if (count > DM_MAX_DATA_SIZE)
 		return -1;
 
 	/* Write out the data, prefixed with length and persistence level */
@@ -339,6 +335,7 @@ _read(dm_item_t item, unsigned char index, void *buf, size_t count)
 
 	/* Read the prefix and data */
 	len = -1;
+
 	if (lseek(g_task_fd, offset, SEEK_SET) == offset)
 		len = read(g_task_fd, buffer, count + DM_SECTOR_HDR_SIZE);
 
@@ -492,7 +489,7 @@ dm_write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const
 		return -1;
 
 	/* get a work item and queue up a write request */
-	if ((work = create_work_item()) == NULL) 
+	if ((work = create_work_item()) == NULL)
 		return -1;
 
 	work->func = dm_write_func;
@@ -599,17 +596,20 @@ task_main(int argc, char *argv[])
 
 	/* Open or create the data manager file */
 	g_task_fd = open(k_data_manager_device_path, O_RDWR | O_CREAT | O_BINARY);
+
 	if (g_task_fd < 0) {
 		warnx("Could not open data manager file %s", k_data_manager_device_path);
 		sem_post(&g_init_sema); /* Don't want to hang startup */
 		return -1;
 	}
+
 	if (lseek(g_task_fd, max_offset, SEEK_SET) != max_offset) {
 		close(g_task_fd);
 		warnx("Could not seek data manager file %s", k_data_manager_device_path);
 		sem_post(&g_init_sema); /* Don't want to hang startup */
 		return -1;
 	}
+
 	fsync(g_task_fd);
 
 	/* We use two file descriptors, one for the caller context and one for the worker thread */
@@ -767,10 +767,10 @@ dataman_main(int argc, char *argv[])
 		stop();
 	else if (!strcmp(argv[1], "status"))
 		status();
-    else if (!strcmp(argv[1], "poweronrestart"))
-        dm_restart(DM_INIT_REASON_POWER_ON);
-    else if (!strcmp(argv[1], "inflightrestart"))
-        dm_restart(DM_INIT_REASON_IN_FLIGHT);
+	else if (!strcmp(argv[1], "poweronrestart"))
+		dm_restart(DM_INIT_REASON_POWER_ON);
+	else if (!strcmp(argv[1], "inflightrestart"))
+		dm_restart(DM_INIT_REASON_IN_FLIGHT);
 	else
 		usage();
 

src/modules/dataman/module.mk

@@ -38,5 +38,3 @@
 MODULE_COMMAND	= dataman
 
 SRCS		= dataman.c
-
-INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink