Mirrors_Framework/ODrive
1
0
Fork 0
mirror of https://github.com/odriverobotics/ODrive.git synced 2026-08-19 11:07:16 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

fix stack overflow

Browse Source
This commit is contained in:
Samuel Sadok
2018-03-09 20:23:03 -08:00
parent 6131519b25
commit 1f732bb0fb
6 changed files with 35 additions and 34 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Firmware/Board/v3.3/Inc/FreeRTOSConfig.h
+2
View File
@@ -108,6 +108,7 @@
#define configUSE_MUTEXES 1
#define configQUEUE_REGISTRY_SIZE 8
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
#define configCHECK_FOR_STACK_OVERFLOW 1
/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 0
@@ -123,6 +124,7 @@ to exclude the API function. */
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#define INCLUDE_xTaskGetSchedulerState 1
#define INCLUDE_uxTaskGetStackHighWaterMark 1
/* Cortex-M specific definitions. */
#ifdef __NVIC_PRIO_BITS
Firmware/MotorControl/communication.cpp
+13 -15
View File
@@ -129,19 +129,6 @@ StreamToPacketConverter UART4_stream_sink(uart4_channel);
#endif
class test_class {
public:
uint32_t property1;
float property2;
float set_both(uint32_t arg1, float arg2) {
printf("set_both called with %u and %.3f\n", (unsigned int)arg1, arg2);
property1 = arg1;
property2 = arg2;
return arg1 + arg2;
}
};
/* Private function prototypes -----------------------------------------------*/
/* Function implementations --------------------------------------------------*/
@@ -149,7 +136,7 @@ void init_communication(void) {
printf("hi!\r\n");
// Start command handling thread
osThreadDef(task_cmd_parse, communication_task, osPriorityNormal, 0, 4*512);
osThreadDef(task_cmd_parse, communication_task, osPriorityNormal, 0, 5000 /* in 32-bit words */); // TODO: fix stack issues
thread_cmd_parse = osThreadCreate(osThread(task_cmd_parse), NULL);
// Start USB interrupt handler thread
@@ -157,6 +144,9 @@ void init_communication(void) {
thread_usb_pump = osThreadCreate(osThread(task_usb_pump), NULL);
}
uint32_t comm_stack_info = 0; // for debugging only
// Helper class because the protocol library doesn't yet
// support non-member functions
// TODO: make this go away
@@ -167,9 +157,13 @@ public:
void NVIC_SystemReset_helper() { NVIC_SystemReset(); }
} static_functions;
static auto make_obj_tree() {
// When adding new functions/variables to the protocol, be careful not to
// blow the communication stack. You can check comm_stack_info to see
// how much headroom you have.
static inline auto make_obj_tree() {
return make_protocol_member_list(
make_protocol_ro_property("vbus_voltage", &vbus_voltage),
make_protocol_ro_property("comm_stack_info", &comm_stack_info),
make_protocol_ro_property("UUID_0", (const uint32_t*)(ID_UNIQUE_ADDRESS + 0*4)),
make_protocol_ro_property("UUID_1", (const uint32_t*)(ID_UNIQUE_ADDRESS + 1*4)),
make_protocol_ro_property("UUID_2", (const uint32_t*)(ID_UNIQUE_ADDRESS + 2*4)),
@@ -200,9 +194,13 @@ size_t n_endpoints_ = 0;
void communication_task(void * ctx) {
(void) ctx; // unused parameter
// TODO: this is supposed to use the move constructor, but currently
// the compiler uses the copy-constructor instead. Thus the make_obj_tree
// ends up with a stupid stack size of around 8000 bytes. Fix this.
auto tree_ptr = new (tree_buffer) tree_type(make_obj_tree());
auto endpoint_provider = EndpointProvider_from_MemberList<tree_type>(*tree_ptr);
set_application_endpoints(&endpoint_provider);
comm_stack_info = uxTaskGetStackHighWaterMark(nullptr);
#if !defined(UART_PROTOCOL_NONE)
//DMA open loop continous circular buffer
Firmware/MotorControl/encoder.hpp
+10 -9
View File
@@ -54,6 +54,15 @@ public:
// Communication protocol definitions
auto make_protocol_definitions() {
return make_protocol_member_list(
make_protocol_property("error", &error_),
make_protocol_ro_property("is_calibrated", &is_calibrated_),
make_protocol_ro_property("index_found", const_cast<bool*>(&index_found_)),
make_protocol_property("state", &state_),
make_protocol_property("phase", &phase_),
make_protocol_property("pll_pos", &pll_pos_),
make_protocol_property("pll_vel", &pll_vel_),
make_protocol_property("pll_kp", &pll_kp_),
make_protocol_property("pll_ki", &pll_ki_),
make_protocol_object("config",
make_protocol_property("use_index", &config_.use_index),
make_protocol_property("hand_calibrated", &config_.hand_calibrated),
@@ -61,15 +70,7 @@ public:
make_protocol_property("cpr", &config_.cpr),
make_protocol_property("offset", &config_.offset),
make_protocol_property("calib_range", &config_.calib_range)
),
make_protocol_property("error", &error_),
make_protocol_ro_property("index_found", const_cast<bool*>(&index_found_)),
make_protocol_property("state", &state_),
make_protocol_property("phase", &phase_),
make_protocol_property("pll_pos", &pll_pos_),
make_protocol_property("pll_vel", &pll_vel_),
make_protocol_property("pll_kp", &pll_kp_),
make_protocol_property("pll_ki", &pll_ki_)
)
);
}
};
Firmware/MotorControl/main.cpp
+1
View File
@@ -42,6 +42,7 @@ void erase_configuration(void) {
extern "C" {
int odrive_main(void);
void vApplicationStackOverflowHook(void) { for(;;); }
}
int odrive_main(void) {
Firmware/MotorControl/motor.hpp
+2 -1
View File
@@ -36,7 +36,7 @@ typedef struct {
// example: vel_gain is [V/(count/s)] instead of [A/(count/s)]
// example: current_lim and calibration_current will instead determine the maximum voltage applied to the motor.
typedef struct {
bool hand_calibrated = true; // can be set to true to indicate that all values here are valid
bool hand_calibrated = false; // can be set to true to indicate that all values here are valid
int32_t pole_pairs = 7; // This value is correct for N5065 motors and Turnigy SK3 series.
float calibration_current = 10.0f; // [A]
float resistance_calib_max_voltage = 1.0f; // [V] - You may need to increase this if this voltage isn't sufficient to drive calibration_current through the motor.
@@ -142,6 +142,7 @@ public:
auto make_protocol_definitions() {
return make_protocol_member_list(
make_protocol_property("error", &error_),
make_protocol_ro_property("is_calibrated", &is_calibrated_),
make_protocol_ro_property("current_meas_phB", &current_meas_.phB),
make_protocol_ro_property("current_meas_phC", &current_meas_.phC),
make_protocol_property("DC_calib_phB", &DC_calib_.phB),
Firmware/MotorControl/protocol.hpp
+7 -9
View File
@@ -496,7 +496,7 @@ ProtocolObject<TMembers...> make_protocol_object(const char * name, TMembers&&..
}
template<typename TProperty>
class ProtocolProperty : Endpoint {
class ProtocolProperty : public Endpoint {
public:
static constexpr const char * json_modifier = get_default_json_modifier<TProperty>();
static constexpr size_t endpoint_count = 1;
@@ -505,26 +505,24 @@ public:
: name_(name), property_(property)
{}
// ProtocolProperty(const ProtocolProperty&) = delete;
/* TODO: find out why the move constructor is not used when it could be
ProtocolProperty(const ProtocolProperty&) = delete;
// @brief Move constructor
ProtocolProperty(ProtocolProperty&& other) :
Endpoint(std::move(other)),
name_(std::move(other.name_)),
property_(other.property_)
{}
//constexpr ProtocolProperty& operator=(const ProtocolProperty& other) = delete;
/*constexpr ProtocolProperty& operator=(const ProtocolProperty& other) {
constexpr ProtocolProperty& operator=(const ProtocolProperty& other) = delete;
constexpr ProtocolProperty& operator=(const ProtocolProperty& other) {
//Endpoint(std::move(other)),
//name_(std::move(other.name_)),
//property_(other.property_)
name_ = other.name_;
property_ = other.property_;
return *this;
}*/
/*ProtocolProperty& operator=(ProtocolProperty&& other)
}
ProtocolProperty& operator=(ProtocolProperty&& other)
: name_(other.name_), property_(other.property_)
{}
ProtocolProperty& operator=(const ProtocolProperty& other)