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Add stack_size vars, reduce stack usage

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2019-10-26 14:28:06 -04:00
parent 1550170201
commit f127df72f1
15 changed files with 49 additions and 9 deletions
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Firmware/Board/v3/Inc/freertos_vars.h
+2
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@@ -11,5 +11,7 @@ extern osSemaphoreId sem_can;
extern osThreadId defaultTaskHandle;
extern osThreadId usb_irq_thread;
extern const uint32_t stack_size_usb_irq_thread;
extern const uint32_t stack_size_default_task;
#endif /* __FREERTOS_H */
Firmware/Board/v3/Src/freertos.c
+4 -2
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@@ -89,12 +89,14 @@ osSemaphoreId sem_usb_tx;
osSemaphoreId sem_can;
osThreadId usb_irq_thread;
const uint32_t stack_size_usb_irq_thread = 1024; // 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
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
@@ -150,7 +152,7 @@ void usb_deferred_interrupt_thread(void * ctx) {
void init_deferred_interrupts(void) {
// Start USB interrupt handler thread
osThreadDef(task_usb_pump, usb_deferred_interrupt_thread, osPriorityAboveNormal, 0, 512);
osThreadDef(task_usb_pump, usb_deferred_interrupt_thread, osPriorityAboveNormal, 0, stack_size_usb_irq_thread / sizeof(StackType_t));
usb_irq_thread = osThreadCreate(osThread(task_usb_pump), NULL);
}
@@ -206,7 +208,7 @@ void MX_FREERTOS_Init(void) {
/* Create the thread(s) */
/* definition and creation of defaultTask */
osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, 256);
osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, stack_size_default_task / sizeof(StackType_t));
defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);
/* USER CODE BEGIN RTOS_THREADS */
Firmware/MotorControl/axis.cpp
+2 -2
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@@ -86,8 +86,8 @@ static void run_state_machine_loop_wrapper(void* ctx) {
// @brief Starts run_state_machine_loop in a new thread
void Axis::start_thread() {
osThreadDef(thread_def, run_state_machine_loop_wrapper, hw_config_.thread_priority, 0, 4 * 512);
thread_id_ = osThreadCreate(osThread(thread_def), this);
osThreadDef(thread_def, run_state_machine_loop_wrapper, hw_config_.thread_priority, 0, stack_size_ / sizeof(StackType_t));
thread_id_ = osThreadCreate(osThread(thread_def), this);
thread_id_valid_ = true;
}
Firmware/MotorControl/axis.hpp
+1
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@@ -234,6 +234,7 @@ public:
Endstop& max_endstop_;
osThreadId thread_id_;
const uint32_t stack_size_ = 1024; // Bytes
volatile bool thread_id_valid_ = false;
// variables exposed on protocol
Firmware/MotorControl/low_level.cpp
+1 -1
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@@ -757,7 +757,7 @@ static void analog_polling_thread(void *)
}
void start_analog_thread() {
osThreadDef(thread_def, analog_polling_thread, osPriorityLow, 0, 128);
osThreadDef(thread_def, analog_polling_thread, osPriorityLow, 0, 512 / sizeof(StackType_t));
osThreadCreate(osThread(thread_def), NULL);
}
Firmware/MotorControl/main.cpp
+11
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@@ -193,6 +193,17 @@ void vApplicationIdleHook(void) {
system_stats_.min_stack_space_uart = uxTaskGetStackHighWaterMark(uart_thread) * sizeof(StackType_t);
system_stats_.min_stack_space_usb_irq = uxTaskGetStackHighWaterMark(usb_irq_thread) * sizeof(StackType_t);
system_stats_.min_stack_space_startup = uxTaskGetStackHighWaterMark(defaultTaskHandle) * sizeof(StackType_t);
system_stats_.min_stack_space_can = uxTaskGetStackHighWaterMark(odCAN->thread_id_) * sizeof(StackType_t);
// Actual usage, in bytes, so we don't have to math
system_stats_.stack_usage_axis0 = axes[0]->stack_size_ - system_stats_.min_stack_space_axis0;
system_stats_.stack_usage_axis1 = axes[1]->stack_size_ - system_stats_.min_stack_space_axis1;
system_stats_.stack_usage_comms = stack_size_comm_thread - system_stats_.min_stack_space_comms;
system_stats_.stack_usage_usb = stack_size_usb_thread - system_stats_.min_stack_space_usb;
system_stats_.stack_usage_uart = stack_size_uart_thread - system_stats_.min_stack_space_uart;
system_stats_.stack_usage_usb_irq = stack_size_usb_irq_thread - system_stats_.min_stack_space_usb_irq;
system_stats_.stack_usage_startup = stack_size_default_task - system_stats_.min_stack_space_startup;
system_stats_.stack_usage_can = odCAN->stack_size_ - system_stats_.min_stack_space_can;
}
}
}
Firmware/MotorControl/odrive_main.h
+9
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@@ -55,6 +55,15 @@ typedef struct {
uint32_t min_stack_space_usb_irq;
uint32_t min_stack_space_startup;
uint32_t min_stack_space_can;
uint32_t stack_usage_axis0;
uint32_t stack_usage_axis1;
uint32_t stack_usage_comms;
uint32_t stack_usage_usb;
uint32_t stack_usage_uart;
uint32_t stack_usage_usb_irq;
uint32_t stack_usage_startup;
uint32_t stack_usage_can;
} SystemStats_t;
extern SystemStats_t system_stats_;
Firmware/communication/communication.cpp
+10 -1
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@@ -64,6 +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
volatile bool endpoint_list_valid = false;
static uint32_t test_property = 0;
@@ -84,7 +85,7 @@ void init_communication(void) {
printf("hi!\r\n");
// Start command handling thread
osThreadDef(task_cmd_parse, communication_task, osPriorityNormal, 0, 8000 /* in 32-bit words */); // TODO: fix stack issues
osThreadDef(task_cmd_parse, communication_task, osPriorityNormal, 0, stack_size_comm_thread / sizeof(StackType_t));
comm_thread = osThreadCreate(osThread(task_cmd_parse), NULL);
while (!endpoint_list_valid)
@@ -135,6 +136,14 @@ static inline auto make_obj_tree() {
make_protocol_ro_property("min_stack_space_can", &system_stats_.min_stack_space_can),
make_protocol_ro_property("min_stack_space_usb_irq", &system_stats_.min_stack_space_usb_irq),
make_protocol_ro_property("min_stack_space_startup", &system_stats_.min_stack_space_startup),
make_protocol_ro_property("stack_usage_axis0", &system_stats_.stack_usage_axis0),
make_protocol_ro_property("stack_usage_axis1", &system_stats_.stack_usage_axis1),
make_protocol_ro_property("stack_usage_comms", &system_stats_.stack_usage_comms),
make_protocol_ro_property("stack_usage_usb", &system_stats_.stack_usage_usb),
make_protocol_ro_property("stack_usage_uart", &system_stats_.stack_usage_uart),
make_protocol_ro_property("stack_usage_usb_irq", &system_stats_.stack_usage_usb_irq),
make_protocol_ro_property("stack_usage_startup", &system_stats_.stack_usage_startup),
make_protocol_ro_property("stack_usage_can", &system_stats_.stack_usage_can),
make_protocol_object("usb",
make_protocol_ro_property("rx_cnt", &usb_stats_.rx_cnt),
make_protocol_ro_property("tx_cnt", &usb_stats_.tx_cnt),
Firmware/communication/communication.h
+1
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@@ -15,6 +15,7 @@ extern "C" {
#include <cmsis_os.h>
extern osThreadId comm_thread;
extern const uint32_t stack_size_comm_thread;
extern const uint8_t hw_version_major;
extern const uint8_t hw_version_minor;
Firmware/communication/interface_can.cpp
+1 -1
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@@ -78,7 +78,7 @@ bool ODriveCAN::start_can_server() {
if (status == HAL_OK)
status = HAL_CAN_ActivateNotification(handle_, CAN_IT_RX_FIFO0_MSG_PENDING);
osThreadDef(can_server_thread_def, can_server_thread_wrapper, osPriorityNormal, 0, 512);
osThreadDef(can_server_thread_def, can_server_thread_wrapper, osPriorityNormal, 0, stack_size_ / sizeof(StackType_t));
thread_id_ = osThreadCreate(osThread(can_server_thread_def), this);
thread_id_valid_ = true;
Firmware/communication/interface_can.hpp
+1
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@@ -54,6 +54,7 @@ class ODriveCAN {
// Thread Relevant Data
osThreadId thread_id_;
const uint32_t stack_size_ = 1024; // Bytes
Error_t error_ = ERROR_NONE;
volatile bool thread_id_valid_ = false;
Firmware/communication/interface_uart.cpp
+2 -1
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@@ -22,6 +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
class UART4Sender : public StreamSink {
@@ -98,7 +99,7 @@ void start_uart_server() {
dma_last_rcv_idx = UART_RX_BUFFER_SIZE - huart4.hdmarx->Instance->NDTR;
// Start UART communication thread
osThreadDef(uart_server_thread_def, uart_server_thread, osPriorityNormal, 0, 1024 /* the ascii protocol needs considerable stack space */);
osThreadDef(uart_server_thread_def, uart_server_thread, osPriorityNormal, 0, stack_size_uart_thread / sizeof(StackType_t) /* the ascii protocol needs considerable stack space */);
uart_thread = osThreadCreate(osThread(uart_server_thread_def), NULL);
}
Firmware/communication/interface_uart.h
+1
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@@ -11,6 +11,7 @@ extern "C" {
#include <cmsis_os.h>
extern osThreadId uart_thread;
extern const uint32_t stack_size_uart_thread;
void start_uart_server(void);
Firmware/communication/interface_usb.cpp
+2 -1
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@@ -14,6 +14,7 @@
#include <odrive_main.h>
osThreadId usb_thread;
const uint32_t stack_size_usb_thread = 2048; // Bytes
USBStats_t usb_stats_ = {0};
class USBSender : public PacketSink {
@@ -177,6 +178,6 @@ void usb_rx_process_packet(uint8_t *buf, uint32_t len, uint8_t endpoint_pair) {
void start_usb_server() {
// Start USB communication thread
osThreadDef(usb_server_thread_def, usb_server_thread, osPriorityNormal, 0, 1024);
osThreadDef(usb_server_thread_def, usb_server_thread, osPriorityNormal, 0, stack_size_usb_thread / sizeof(StackType_t));
usb_thread = osThreadCreate(osThread(usb_server_thread_def), NULL);
}
Firmware/communication/interface_usb.h
+1
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@@ -12,6 +12,7 @@ extern "C" {
#include <stdint.h>
extern osThreadId usb_thread;
extern const uint32_t stack_size_usb_thread;
typedef struct {
uint32_t rx_cnt;