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Merge pull request #874 from jean-m-cyr/master

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Proper data manager restart handling
This commit is contained in:
Lorenz Meier
2014-04-29 07:53:30 +02:00
parent fcdb7fed3a ab257ebcce
commit 2ee02e5e4b
4 changed files with 64 additions and 18 deletions
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src/drivers/px4io/px4io.cpp
+17
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@@ -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 */