mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 06:03:34 +08:00
Jean Cyr
ab257ebcce
Introduce SYS_RESTART_TYPE parameter having one of 3 values: boot restart, inflight restart, or unknown restart, and defaulting to unknown restart. px4io.cpp sets this parameter according to the type of restart detected. dataman.c retrieves this parameter and clears data entries according to their persistence level. Does nothing if unknown restart.
121 lines
4.3 KiB
C
121 lines
4.3 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2013 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file dataman.h
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*
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* DATAMANAGER driver.
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*/
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#ifndef _DATAMANAGER_H
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#define _DATAMANAGER_H
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#include <uORB/topics/mission.h>
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#include <uORB/topics/fence.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Types of items that the data manager can store */
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typedef enum {
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DM_KEY_SAFE_POINTS = 0, /* Safe points coordinates, safe point 0 is home point */
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DM_KEY_FENCE_POINTS, /* Fence vertex coordinates */
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DM_KEY_WAYPOINTS_OFFBOARD_0, /* Mission way point coordinates sent over mavlink */
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DM_KEY_WAYPOINTS_OFFBOARD_1, /* (alernate between 0 and 1) */
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DM_KEY_WAYPOINTS_ONBOARD, /* Mission way point coordinates generated onboard */
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DM_KEY_NUM_KEYS /* Total number of item types defined */
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} dm_item_t;
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/* The maximum number of instances for each item type */
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enum {
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DM_KEY_SAFE_POINTS_MAX = 8,
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DM_KEY_FENCE_POINTS_MAX = GEOFENCE_MAX_VERTICES,
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DM_KEY_WAYPOINTS_OFFBOARD_0_MAX = NUM_MISSIONS_SUPPORTED,
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DM_KEY_WAYPOINTS_OFFBOARD_1_MAX = NUM_MISSIONS_SUPPORTED,
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DM_KEY_WAYPOINTS_ONBOARD_MAX = NUM_MISSIONS_SUPPORTED
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};
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/* Data persistence levels */
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typedef enum {
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DM_PERSIST_POWER_ON_RESET = 0, /* Data survives all resets */
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DM_PERSIST_IN_FLIGHT_RESET, /* Data survives in-flight resets only */
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DM_PERSIST_VOLATILE /* Data does not survive resets */
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} dm_persitence_t;
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/* The reason for the last reset */
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typedef enum {
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DM_INIT_REASON_POWER_ON = 0, /* Data survives resets */
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DM_INIT_REASON_IN_FLIGHT, /* Data survives in-flight resets only */
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DM_INIT_REASON_VOLATILE /* Data does not survive reset */
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} dm_reset_reason;
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/* Maximum size in bytes of a single item instance */
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#define DM_MAX_DATA_SIZE 124
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/* Retrieve from the data manager store */
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__EXPORT ssize_t
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dm_read(
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dm_item_t item, /* The item type to retrieve */
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unsigned char index, /* The index of the item */
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void *buffer, /* Pointer to caller data buffer */
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size_t buflen /* Length in bytes of data to retrieve */
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);
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/* write to the data manager store */
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__EXPORT ssize_t
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dm_write(
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dm_item_t item, /* The item type to store */
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unsigned char index, /* The index of the item */
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dm_persitence_t persistence, /* The persistence level of this item */
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const void *buffer, /* Pointer to caller data buffer */
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size_t buflen /* Length in bytes of data to retrieve */
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);
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/* Erase all items of this type */
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__EXPORT int
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dm_clear(
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dm_item_t item /* The item type to clear */
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);
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/* Tell the data manager about the type of the last reset */
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__EXPORT int
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dm_restart(
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dm_reset_reason restart_type /* The last reset type */
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);
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#ifdef __cplusplus
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}
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#endif
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#endif
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