zrzk
/
px4_autopilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Merge branch 'master' of github.com:PX4/Firmware into stack_sweep

sbg
Lorenz Meier 11 years ago
parent
8dc0a21a7e 19dc0b9509
commit
93388803b7
2 changed files with 22 additions and 21 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 23
      src/modules/dataman/dataman.c
  2. 20
      src/modules/dataman/dataman.h

23
src/modules/dataman/dataman.c
Unescape View File

@ -1,10 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (c) 2013 PX4 Development Team. All rights reserved. * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
* Author: Jean Cyr
* Lorenz Meier
* Julian Oes
* Thomas Gubler
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@ -37,6 +33,11 @@
/** /**
* @file dataman.c * @file dataman.c
* DATAMANAGER driver. * DATAMANAGER driver.
*
* @author Jean Cyr
* @author Lorenz Meier
* @author Julian Oes
* @author Thomas Gubler
*/ */
#include <nuttx/config.h> #include <nuttx/config.h>
@ -62,7 +63,7 @@ __EXPORT ssize_t dm_write(dm_item_t item, unsigned char index, dm_persitence_t
__EXPORT int dm_clear(dm_item_t item); __EXPORT int dm_clear(dm_item_t item);
__EXPORT int dm_restart(dm_reset_reason restart_type); __EXPORT int dm_restart(dm_reset_reason restart_type);
/* Types of function calls supported by the worker task */ /** Types of function calls supported by the worker task */
typedef enum { typedef enum {
dm_write_func = 0, dm_write_func = 0,
dm_read_func, dm_read_func,
@ -71,7 +72,7 @@ typedef enum {
dm_number_of_funcs dm_number_of_funcs
} dm_function_t; } dm_function_t;
/* Work task work item */ /** Work task work item */
typedef struct { typedef struct {
sq_entry_t link; /**< list linkage */ sq_entry_t link; /**< list linkage */
sem_t wait_sem; sem_t wait_sem;
@ -411,7 +412,7 @@ _clear(dm_item_t item)
return result; return result;
} }
/* Tell the data manager about the type of the last reset */ /** Tell the data manager about the type of the last reset */
static int static int
_restart(dm_reset_reason reason) _restart(dm_reset_reason reason)
{ {
@ -480,7 +481,7 @@ _restart(dm_reset_reason reason)
return result; return result;
} }
/* write to the data manager file */ /** Write to the data manager file */
__EXPORT ssize_t __EXPORT ssize_t
dm_write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const void *buf, size_t count) dm_write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const void *buf, size_t count)
{ {
@ -505,7 +506,7 @@ dm_write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const
return (ssize_t)enqueue_work_item_and_wait_for_result(work); return (ssize_t)enqueue_work_item_and_wait_for_result(work);
} }
/* Retrieve from the data manager file */ /** Retrieve from the data manager file */
__EXPORT ssize_t __EXPORT ssize_t
dm_read(dm_item_t item, unsigned char index, void *buf, size_t count) dm_read(dm_item_t item, unsigned char index, void *buf, size_t count)
{ {
@ -736,7 +737,7 @@ start(void)
sem_init(&g_init_sema, 1, 0); sem_init(&g_init_sema, 1, 0);
/* start the worker thread */ /* start the worker thread */
if ((task = task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 2048, task_main, NULL)) <= 0) { if ((task = task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 2000, task_main, NULL)) <= 0) {
warn("task start failed"); warn("task start failed");
return -1; return -1;
} }

20
src/modules/dataman/dataman.h
Unescape View File

@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (c) 2013 PX4 Development Team. All rights reserved. * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@ -46,7 +46,7 @@
extern "C" { extern "C" {
#endif #endif
/* Types of items that the data manager can store */ /** Types of items that the data manager can store */
typedef enum { typedef enum {
DM_KEY_SAFE_POINTS = 0, /* Safe points coordinates, safe point 0 is home point */ DM_KEY_SAFE_POINTS = 0, /* Safe points coordinates, safe point 0 is home point */
DM_KEY_FENCE_POINTS, /* Fence vertex coordinates */ DM_KEY_FENCE_POINTS, /* Fence vertex coordinates */
@ -56,7 +56,7 @@ extern "C" {
DM_KEY_NUM_KEYS /* Total number of item types defined */ DM_KEY_NUM_KEYS /* Total number of item types defined */
} dm_item_t; } dm_item_t;
/* The maximum number of instances for each item type */ /** The maximum number of instances for each item type */
enum { enum {
DM_KEY_SAFE_POINTS_MAX = 8, DM_KEY_SAFE_POINTS_MAX = 8,
DM_KEY_FENCE_POINTS_MAX = GEOFENCE_MAX_VERTICES, DM_KEY_FENCE_POINTS_MAX = GEOFENCE_MAX_VERTICES,
@ -65,24 +65,24 @@ extern "C" {
DM_KEY_WAYPOINTS_ONBOARD_MAX = NUM_MISSIONS_SUPPORTED DM_KEY_WAYPOINTS_ONBOARD_MAX = NUM_MISSIONS_SUPPORTED
}; };
/* Data persistence levels */ /** Data persistence levels */
typedef enum { typedef enum {
DM_PERSIST_POWER_ON_RESET = 0, /* Data survives all resets */ DM_PERSIST_POWER_ON_RESET = 0, /* Data survives all resets */
DM_PERSIST_IN_FLIGHT_RESET, /* Data survives in-flight resets only */ DM_PERSIST_IN_FLIGHT_RESET, /* Data survives in-flight resets only */
DM_PERSIST_VOLATILE /* Data does not survive resets */ DM_PERSIST_VOLATILE /* Data does not survive resets */
} dm_persitence_t; } dm_persitence_t;
/* The reason for the last reset */ /** The reason for the last reset */
typedef enum { typedef enum {
DM_INIT_REASON_POWER_ON = 0, /* Data survives resets */ 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_INIT_REASON_VOLATILE /* Data does not survive reset */
} dm_reset_reason; } dm_reset_reason;
/* Maximum size in bytes of a single item instance */ /** Maximum size in bytes of a single item instance */
#define DM_MAX_DATA_SIZE 124 #define DM_MAX_DATA_SIZE 124
/* Retrieve from the data manager store */ /** Retrieve from the data manager store */
__EXPORT ssize_t __EXPORT ssize_t
dm_read( dm_read(
dm_item_t item, /* The item type to retrieve */ dm_item_t item, /* The item type to retrieve */
@ -91,7 +91,7 @@ extern "C" {
size_t buflen /* Length in bytes of data to retrieve */ size_t buflen /* Length in bytes of data to retrieve */
); );
/* write to the data manager store */ /** write to the data manager store */
__EXPORT ssize_t __EXPORT ssize_t
dm_write( dm_write(
dm_item_t item, /* The item type to store */ dm_item_t item, /* The item type to store */
@ -101,13 +101,13 @@ extern "C" {
size_t buflen /* Length in bytes of data to retrieve */ size_t buflen /* Length in bytes of data to retrieve */
); );
/* Erase all items of this type */ /** Erase all items of this type */
__EXPORT int __EXPORT int
dm_clear( dm_clear(
dm_item_t item /* The item type to clear */ dm_item_t item /* The item type to clear */
); );
/* Tell the data manager about the type of the last reset */ /** Tell the data manager about the type of the last reset */
__EXPORT int __EXPORT int
dm_restart( dm_restart(
dm_reset_reason restart_type /* The last reset type */ dm_reset_reason restart_type /* The last reset type */

Write Preview
Loading…
Cancel
Save