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AP_Scheduler: added current_task static 

will be used to debug stuck tasks on PX4
This commit is contained in:
Andrew Tridgell 2014-07-03 09:09:11 +10:00
parent bdd9fe77c7
commit 67f5ba0b94
2 changed files with 7 additions and 0 deletions
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4
libraries/AP_Scheduler/AP_Scheduler.cpp
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@ -26,6 +26,8 @@
extern const AP_HAL::HAL& hal;
int8_t AP_Scheduler::current_task = -1;
const AP_Param::GroupInfo AP_Scheduler::var_info[] PROGMEM = {
// @Param: DEBUG
// @DisplayName: Scheduler debug level
@ -83,7 +85,9 @@ void AP_Scheduler::run(uint16_t time_available)
// run it
_task_time_started = now;
task_fn_t func = (task_fn_t)pgm_read_pointer(&_tasks[i].function);
current_task = i;
func();
current_task = -1;
// record the tick counter when we ran. This drives
// when we next run the event

3
libraries/AP_Scheduler/AP_Scheduler.h
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@ -70,6 +70,9 @@ public:
static const struct AP_Param::GroupInfo var_info[];
// current running task, or -1 if none. Used to debug stuck tasks
static int8_t current_task;
private:
// used to enable scheduler debugging
AP_Int8 _debug;