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HAL_ChibiOS: improved stack checking and stack display

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display both ISR stack and thread stacks. Show total stack sizes as
well as amount of stack remaining
This commit is contained in:
Andrew Tridgell 2020-11-30 09:10:21 +11:00
parent 84eac7642b
commit ba69cd72c9
4 changed files with 47 additions and 29 deletions
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27
libraries/AP_HAL_ChibiOS/Scheduler.cpp
View File

@ -500,7 +500,7 @@ void Scheduler::_io_thread(void* arg)
#if CH_DBG_ENABLE_STACK_CHECK == TRUE #if CH_DBG_ENABLE_STACK_CHECK == TRUE
if (now - last_stack_check_ms > 1000) { if (now - last_stack_check_ms > 1000) {
last_stack_check_ms = now; last_stack_check_ms = now;
check_stack_free(); sched->check_stack_free();
} }
#endif #endif
} }
@ -711,20 +711,29 @@ void Scheduler::watchdog_pat(void)
*/ */
void Scheduler::check_stack_free(void) void Scheduler::check_stack_free(void)
{ {
// we raise an internal error stack_overflow when the available
// stack on any thread or the ISR stack drops below this
// threshold. This means we get an overflow error when we haven't
// yet completely run out of stack. This gives us a good
// pre-warning when we are getting too close
#if defined(STM32F1)
const uint32_t min_stack = 32; const uint32_t min_stack = 32;
bool ok = false; #else
const uint32_t min_stack = 64;
#endif
if (stack_free(__main_stack_base__) < min_stack) { if (stack_free(&__main_stack_base__) < min_stack) {
AP::internalerror().error(error_number, 0xFFFF); // use "line number" of 0xFFFF for ISR stack low
AP::internalerror().error(AP_InternalError::error_t::stack_overflow, 0xFFFF);
} }
thread_t *tp = chRegFirstThread(); for (thread_t *tp = chRegFirstThread(); tp; tp = chRegNextThread(tp)) {
do {
if (stack_free(tp->wabase) < min_stack) { if (stack_free(tp->wabase) < min_stack) {
AP::internalerror().error(error_number, tp->prio); // use task priority for line number. This allows us to
// identify the task fairly reliably
AP::internalerror().error(AP_InternalError::error_t::stack_overflow, tp->prio);
} }
tp = chRegNextThread(tp); }
} while (tp != NULL);
} }
#endif // CH_DBG_ENABLE_STACK_CHECK == TRUE #endif // CH_DBG_ENABLE_STACK_CHECK == TRUE

41
libraries/AP_HAL_ChibiOS/Util.cpp
View File

@ -300,12 +300,12 @@ bool Util::was_watchdog_reset() const
*/ */
size_t Util::thread_info(char *buf, size_t bufsize) size_t Util::thread_info(char *buf, size_t bufsize)
{ {
thread_t *tp;
size_t total = 0; size_t total = 0;
// a header to allow for machine parsers to determine format // a header to allow for machine parsers to determine format
int n = snprintf(buf, bufsize, "ThreadsV2\nISR PRI=255 sp=%p STACK_FREE=%u/%u\n", const uint32_t isr_stack_size = uint32_t((const uint8_t *)&__main_stack_end__ - (const uint8_t *)&__main_stack_base__);
__main_stack_base__, stack_free(__main_stack_base__), __main_stack_size__); int n = snprintf(buf, bufsize, "ThreadsV2\nISR PRI=255 sp=%p STACK=%u/%u\n",
&__main_stack_base__, stack_free(&__main_stack_base__), isr_stack_size);
if (n <= 0) { if (n <= 0) {
return 0; return 0;
} }
@ -313,21 +313,28 @@ size_t Util::thread_info(char *buf, size_t bufsize)
bufsize -= n; bufsize -= n;
total += n; total += n;
tp = chRegFirstThread(); for (thread_t *tp = chRegFirstThread(); tp; tp = chRegNextThread(tp)) {
uint32_t total_stack;
do { if (tp->wabase == (void*)&__main_thread_stack_base__) {
const uint32_t total_stack = uint32_t(tp) - uint32_t(tp->wabase); // main thread has its stack separated from the thread context
n = snprintf(buf, bufsize, "%-13.13s PRI=%3u sp=%p STACK_LEFT=%u/%u\n", total_stack = uint32_t((const uint8_t *)&__main_thread_stack_end__ - (const uint8_t *)&__main_thread_stack_base__);
tp->name, unsigned(tp->prio), tp->wabase, } else {
stack_free(tp->wabase), total_stack); // all other threads have their thread context pointer
if (n <= 0) { // above the stack top
break; total_stack = uint32_t(tp) - uint32_t(tp->wabase);
} }
buf += n; if (bufsize > 0) {
bufsize -= n; n = snprintf(buf, bufsize, "%-13.13s PRI=%3u sp=%p STACK=%u/%u\n",
total += n; tp->name, unsigned(tp->prio), tp->wabase,
tp = chRegNextThread(tp); stack_free(tp->wabase), total_stack);
} while (tp != NULL); if (n > bufsize) {
n = bufsize;
}
buf += n;
bufsize -= n;
total += n;
}
}
return total; return total;
} }

2
libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.c
View File

@ -462,6 +462,6 @@ uint32_t stack_free(void *stack_base)
while (*p == canary_word) { while (*p == canary_word) {
p++; p++;
} }
return uint32_t(p) - uint32_t(stack_base); return ((uint32_t)p) - (uint32_t)stack_base;
} }
#endif #endif

6
libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.h
View File

@ -117,8 +117,10 @@ void stack_overflow(thread_t *tp);
uint32_t stack_free(void *stack_base); uint32_t stack_free(void *stack_base);
// allow stack view code to show free ISR stack // allow stack view code to show free ISR stack
extern void *__main_stack_base__; extern uint32_t __main_stack_base__;
extern uint32_t __main_stack_size__; extern uint32_t __main_stack_end__;
extern uint32_t __main_thread_stack_base__;
extern uint32_t __main_thread_stack_end__;
#ifdef __cplusplus #ifdef __cplusplus
} }