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

This commit is contained in:
Lorenz Meier 2014-05-15 07:17:38 +02:00
parent 8dc0a21a7e 19dc0b9509
commit 93388803b7
2 changed files with 22 additions and 21 deletions
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23
src/modules/dataman/dataman.c
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
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 */