From 2c9f43c9ff46af72539564e448df1b65b123c939 Mon Sep 17 00:00:00 2001
From: Unknown <pfguenette@gmail.com>
Date: Wed, 4 Dec 2019 00:09:57 -0500
Subject: [PATCH] Add safety disarm in the stack overflow hook and increase
 stack sizes

---
 Firmware/Board/v3/Src/freertos.c          | 4 ++--
 Firmware/MotorControl/axis.hpp            | 2 +-
 Firmware/MotorControl/main.cpp            | 4 ++++
 Firmware/communication/communication.cpp  | 2 +-
 Firmware/communication/interface_uart.cpp | 2 +-
 Firmware/communication/interface_usb.cpp  | 2 +-
 6 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/Firmware/Board/v3/Src/freertos.c b/Firmware/Board/v3/Src/freertos.c
index 42ff9751..b2d49e55 100644
--- a/Firmware/Board/v3/Src/freertos.c
+++ b/Firmware/Board/v3/Src/freertos.c
@@ -89,14 +89,14 @@ osSemaphoreId sem_usb_tx;
 osSemaphoreId sem_can;
 
 osThreadId usb_irq_thread;
-const uint32_t stack_size_usb_irq_thread = 1024; // Bytes
+const uint32_t stack_size_usb_irq_thread = 2048; // Bytes
 
 // Place FreeRTOS heap in core coupled memory for better performance
 __attribute__((section(".ccmram")))
 uint8_t ucHeap[configTOTAL_HEAP_SIZE];
 /* USER CODE END Variables */
 osThreadId defaultTaskHandle;
-const uint32_t stack_size_default_task = 1024; // Bytes
+const uint32_t stack_size_default_task = 2048; // Bytes
 
 /* Private function prototypes -----------------------------------------------*/
 /* USER CODE BEGIN FunctionPrototypes */
diff --git a/Firmware/MotorControl/axis.hpp b/Firmware/MotorControl/axis.hpp
index f9199d8b..a84e76af 100644
--- a/Firmware/MotorControl/axis.hpp
+++ b/Firmware/MotorControl/axis.hpp
@@ -244,7 +244,7 @@ class Axis {
     Endstop& max_endstop_;
 
     osThreadId thread_id_;
-    const uint32_t stack_size_ = 1024; // Bytes
+    const uint32_t stack_size_ = 2048; // Bytes
     volatile bool thread_id_valid_ = false;
 
     // variables exposed on protocol
diff --git a/Firmware/MotorControl/main.cpp b/Firmware/MotorControl/main.cpp
index 43c3e476..8650b006 100644
--- a/Firmware/MotorControl/main.cpp
+++ b/Firmware/MotorControl/main.cpp
@@ -182,6 +182,10 @@ extern "C" int construct_objects(){
 extern "C" {
 int odrive_main(void);
 void vApplicationStackOverflowHook(xTaskHandle *pxTask, signed portCHAR *pcTaskName) {
+    for(auto& axis : axes){
+        safety_critical_disarm_motor_pwm(axis->motor_);
+    }
+        safety_critical_disarm_brake_resistor();
     for (;;); // TODO: safe action
 }
 void vApplicationIdleHook(void) {
diff --git a/Firmware/communication/communication.cpp b/Firmware/communication/communication.cpp
index 8a22508e..ac4714db 100644
--- a/Firmware/communication/communication.cpp
+++ b/Firmware/communication/communication.cpp
@@ -64,7 +64,7 @@ const uint8_t fw_version_revision = FW_VERSION_REVISION;
 const uint8_t fw_version_unreleased = FW_VERSION_UNRELEASED; // 0 for official releases, 1 otherwise
 
 osThreadId comm_thread;
-const uint32_t stack_size_comm_thread = 2048; // Bytes
+const uint32_t stack_size_comm_thread = 4096; // Bytes
 volatile bool endpoint_list_valid = false;
 
 static uint32_t test_property = 0;
diff --git a/Firmware/communication/interface_uart.cpp b/Firmware/communication/interface_uart.cpp
index dc8a4ce6..f1bb5e0d 100644
--- a/Firmware/communication/interface_uart.cpp
+++ b/Firmware/communication/interface_uart.cpp
@@ -22,7 +22,7 @@ static uint32_t dma_last_rcv_idx;
 // static thread_local uint32_t deadline_ms = 0;
 
 osThreadId uart_thread;
-const uint32_t stack_size_uart_thread = 2048;  // Bytes
+const uint32_t stack_size_uart_thread = 4096;  // Bytes
 
 
 class UART4Sender : public StreamSink {
diff --git a/Firmware/communication/interface_usb.cpp b/Firmware/communication/interface_usb.cpp
index 7f49c0b5..c52fe5ca 100644
--- a/Firmware/communication/interface_usb.cpp
+++ b/Firmware/communication/interface_usb.cpp
@@ -14,7 +14,7 @@
 #include <odrive_main.h>
 
 osThreadId usb_thread;
-const uint32_t stack_size_usb_thread = 2048; // Bytes
+const uint32_t stack_size_usb_thread = 4096; // Bytes
 USBStats_t usb_stats_ = {0};
 
 class USBSender : public PacketSink {