From f02a7b560b606663af456c5f3ab7ee5e297a694d Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Wed, 3 Nov 2021 22:18:00 +0530
Subject: [PATCH] AP_HAL_ChibiOS: update last_crash_dump api

---
 libraries/AP_HAL_ChibiOS/Util.cpp | 19 ++++++++++++++-----
 libraries/AP_HAL_ChibiOS/Util.h   |  3 ++-
 2 files changed, 16 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/Util.cpp b/libraries/AP_HAL_ChibiOS/Util.cpp
index ed996b5a78..8c4475d55d 100644
--- a/libraries/AP_HAL_ChibiOS/Util.cpp
+++ b/libraries/AP_HAL_ChibiOS/Util.cpp
@@ -700,7 +700,7 @@ void Util::log_stack_info(void)
 }
 
 #if defined(HAL_CRASH_DUMP_FLASHPAGE) && !defined(HAL_BOOTLOADER_BUILD)
-void Util::last_crash_dump(ExpandingString &str) const
+size_t Util::last_crash_dump_size() const
 {
 #if HAL_GCS_ENABLED
     // get dump size
@@ -708,17 +708,26 @@ void Util::last_crash_dump(ExpandingString &str) const
     char* dump_start = (char*)stm32_flash_getpageaddr(HAL_CRASH_DUMP_FLASHPAGE);
     if (!(dump_start[0] == 0x63 && dump_start[1] == 0x43)) {
         // there's no valid Crash Dump
-        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "No Crash Detected!");
-        return;
+        return 0;
     }
     if (size == 0xFFFFFFFF) {
         GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Crash Dump incomplete, dumping what we got!");
         size = stm32_flash_getpagesize(HAL_CRASH_DUMP_FLASHPAGE);
     }
-    str.append(dump_start, size);
+    return size;
 #endif
+    return 0;
 }
-#endif
+
+void* Util::last_crash_dump_ptr() const
+{
+    if (last_crash_dump_size() == 0) {
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "No Crash Detected!");
+        return nullptr;
+    }
+    return (void*)stm32_flash_getpageaddr(HAL_CRASH_DUMP_FLASHPAGE);
+}
+#endif // HAL_CRASH_DUMP_FLASHPAGE
 
 // set armed state
 void Util::set_soft_armed(const bool b)
diff --git a/libraries/AP_HAL_ChibiOS/Util.h b/libraries/AP_HAL_ChibiOS/Util.h
index d1328ebe3a..f0b95df931 100644
--- a/libraries/AP_HAL_ChibiOS/Util.h
+++ b/libraries/AP_HAL_ChibiOS/Util.h
@@ -141,7 +141,8 @@ private:
 
 #if defined(HAL_CRASH_DUMP_FLASHPAGE) && !defined(HAL_BOOTLOADER_BUILD)
     // get last crash dump
-    void last_crash_dump(ExpandingString &str) const override;
+    size_t last_crash_dump_size() const override;
+    void* last_crash_dump_ptr() const override;
 #endif
 
 };