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AP_HAL: added thread name to persistent data 

this addes the first 4 bytes of the thread name to persistent data. It
also re-arranges the data so that it is more efficiently packed,
allowing us to fit the new field
This commit is contained in:
Andrew Tridgell 2020-04-28 16:31:57 +10:00
parent ca16701823
commit a25ea5addc
1 changed files with 17 additions and 16 deletions
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33
libraries/AP_HAL/Util.h
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@ -42,7 +42,7 @@ public:
// commands
virtual bool run_debug_shell(AP_HAL::BetterStream *stream) = 0;
enum safety_state {
enum safety_state : uint8_t {
SAFETY_NONE, SAFETY_DISARMED, SAFETY_ARMED
};
@ -55,24 +55,25 @@ public:
struct PersistentData {
float roll_rad, pitch_rad, yaw_rad; // attitude
int32_t home_lat, home_lon, home_alt_cm; // home position
bool armed; // true if vehicle was armed
enum safety_state safety_state;
uint32_t internal_errors;
uint32_t internal_error_count;
uint16_t waypoint_num;
int8_t scheduler_task;
uint16_t last_mavlink_msgid;
uint16_t last_mavlink_cmd;
uint16_t semaphore_line;
uint32_t spi_count;
uint32_t i2c_count;
uint32_t i2c_isr_count;
uint16_t fault_line;
uint8_t fault_type;
uint8_t fault_thd_prio;
uint32_t fault_addr;
uint32_t fault_icsr;
uint32_t fault_lr;
uint32_t internal_errors;
uint32_t internal_error_count;
uint32_t spi_count;
uint32_t i2c_count;
uint32_t i2c_isr_count;
uint16_t waypoint_num;
uint16_t last_mavlink_msgid;
uint16_t last_mavlink_cmd;
uint16_t semaphore_line;
uint16_t fault_line;
uint8_t fault_type;
uint8_t fault_thd_prio;
char thread_name4[4];
int8_t scheduler_task;
bool armed; // true if vehicle was armed
enum safety_state safety_state;
};
struct PersistentData persistent_data;
// last_persistent_data is only filled in if we've suffered a watchdog reset