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Merge pull request #1719 from martinbudden/bf_ccm_stack 

Enabled CCM RAM for stack. Added stack watermarking
This commit is contained in:
Martin Budden 2016-12-01 19:06:54 +01:00 committed by GitHub
parent 4ec9efada8 2b3cc549e9
commit be5b709af6
10 changed files with 204 additions and 5 deletions
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1
Makefile
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@ -506,6 +506,7 @@ COMMON_SRC = \
drivers/serial.c \
drivers/serial_uart.c \
drivers/sound_beeper.c \
drivers/stack_check.c \
drivers/system.c \
drivers/timer.c \
fc/config.c \

1
src/main/build/debug.h
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@ -61,5 +61,6 @@ typedef enum {
DEBUG_ANGLERATE,
DEBUG_ESC_TELEMETRY,
DEBUG_SCHEDULER,
DEBUG_STACK,
DEBUG_COUNT
} debugType_e;

99
src/main/drivers/stack_check.c Normal file
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@ -0,0 +1,99 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include "platform.h"
#include "build/debug.h"
#include "common/utils.h"
#include "drivers/stack_check.h"
#define STACK_FILL_CHAR 0xa5
extern char _estack; // end of stack, declared in .LD file
extern char _Min_Stack_Size; // declared in .LD file
/*
* The ARM processor uses a full descending stack. This means the stack pointer holds the address
* of the last stacked item in memory. When the processor pushes a new item onto the stack,
* it decrements the stack pointer and then writes the item to the new memory location.
*
*
* RAM layout is generally as below, although some targets vary
*
* F1 Boards
* RAM is origin 0x20000000 length 20K that is:
* 0x20000000 to 0x20005000
*
* F3 Boards
* RAM is origin 0x20000000 length 40K that is:
* 0x20000000 to 0x2000a000
*
* F4 Boards
* RAM is origin 0x20000000 length 128K that is:
* 0x20000000 to 0x20020000
*
*/
#ifdef STACK_CHECK
static uint32_t usedStackSize;
void taskStackCheck(timeUs_t currentTimeUs)
{
UNUSED(currentTimeUs);
char * const stackHighMem = &_estack;
const uint32_t stackSize = (uint32_t)&_Min_Stack_Size;
char * const stackLowMem = stackHighMem - stackSize;
const char * const stackCurrent = (char *)&stackLowMem;
char *p;
for (p = stackLowMem; p < stackCurrent; ++p) {
if (*p != STACK_FILL_CHAR) {
break;
}
}
usedStackSize = (uint32_t)stackHighMem - (uint32_t)p;
DEBUG_SET(DEBUG_STACK, 0, (uint32_t)stackHighMem & 0xffff);
DEBUG_SET(DEBUG_STACK, 1, (uint32_t)stackLowMem & 0xffff);
DEBUG_SET(DEBUG_STACK, 2, (uint32_t)stackCurrent & 0xffff);
DEBUG_SET(DEBUG_STACK, 3, (uint32_t)p & 0xffff);
}
uint32_t stackUsedSize(void)
{
return usedStackSize;
}
#endif
uint32_t stackTotalSize(void)
{
return (uint32_t)&_Min_Stack_Size;
}
uint32_t stackHighMem(void)
{
return (uint32_t)&_estack;
}

25
src/main/drivers/stack_check.h Executable file
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@ -0,0 +1,25 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "common/time.h"
void taskStackCheck(timeUs_t currentTimeUs);
uint32_t stackUsedSize(void);
uint32_t stackTotalSize(void);
uint32_t stackHighMem(void);

13
src/main/fc/fc_tasks.c
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@ -31,6 +31,7 @@
#include "drivers/accgyro.h"
#include "drivers/compass.h"
#include "drivers/serial.h"
#include "drivers/stack_check.h"
#include "fc/config.h"
#include "fc/fc_msp.h"
@ -286,6 +287,9 @@ void fcTasksInit(void)
setTaskEnabled(TASK_CMS, feature(FEATURE_OSD) || feature(FEATURE_DASHBOARD));
#endif
#endif
#ifdef STACK_CHECK
setTaskEnabled(TASK_STACK_CHECK, true);
#endif
}
cfTask_t cfTasks[TASK_COUNT] = {
@ -463,4 +467,13 @@ cfTask_t cfTasks[TASK_COUNT] = {
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
#ifdef STACK_CHECK
[TASK_STACK_CHECK] = {
.taskName = "STACKCHECK",
.taskFunc = taskStackCheck,
.desiredPeriod = TASK_PERIOD_HZ(10), // 10 Hz
.staticPriority = TASK_PRIORITY_IDLE,
},
#endif
};

6
src/main/io/serial_cli.c
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@ -58,6 +58,7 @@ uint8_t cliMode = 0;
#include "drivers/sdcard.h"
#include "drivers/buf_writer.h"
#include "drivers/serial_escserial.h"
#include "drivers/stack_check.h"
#include "drivers/vcd.h"
#include "fc/config.h"
@ -3600,6 +3601,11 @@ static void cliStatus(char *cmdline)
uint16_t i2cErrorCounter = 0;
#endif
#ifdef STACK_CHECK
cliPrintf("Stack used: %d, ", stackUsedSize());
#endif
cliPrintf("Stack size: %d, Stack address: 0x%x\r\n", stackTotalSize(), stackHighMem());
cliPrintf("Cycle Time: %d, I2C Errors: %d, config size: %d\r\n", cycleTime, i2cErrorCounter, sizeof(master_t));
#ifdef USE_SDCARD

3
src/main/scheduler/scheduler.h
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@ -85,6 +85,9 @@ typedef enum {
#ifdef TRANSPONDER
TASK_TRANSPONDER,
#endif
#ifdef STACK_CHECK
TASK_STACK_CHECK,
#endif
#ifdef OSD
TASK_OSD,
#endif

24
src/main/startup/startup_stm32f40xx.s
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@ -70,7 +70,16 @@ defined in linker script */
.section .text.Reset_Handler
.weak Reset_Handler
.type Reset_Handler, %function
Reset_Handler:
Reset_Handler:
// Enable CCM
// RCC->AHB1ENR |= RCC_AHB1ENR_CCMDATARAMEN;
ldr r0, =0x40023800 // RCC_BASE
ldr r1, [r0, #0x30] // AHB1ENR
orr r1, r1, 0x00100000 // RCC_AHB1ENR_CCMDATARAMEN
str r1, [r0, #0x30]
dsb
// Check for bootloader reboot
ldr r0, =0x2001FFFC // mj666
ldr r1, =0xDEADBEEF // mj666
ldr r2, [r0, #0] // mj666
@ -106,6 +115,19 @@ LoopFillZerobss:
cmp r2, r3
bcc FillZerobss
/* Mark the heap and stack */
ldr r2, =_heap_stack_begin
b LoopMarkHeapStack
MarkHeapStack:
movs r3, 0xa5a5a5a5
str r3, [r2], #4
LoopMarkHeapStack:
ldr r3, = _heap_stack_end
cmp r2, r3
bcc MarkHeapStack
/*FPU settings*/
ldr r0, =0xE000ED88 /* Enable CP10,CP11 */
ldr r1,[r0]

24
src/main/startup/startup_stm32f411xe.s
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@ -70,7 +70,16 @@ defined in linker script */
.section .text.Reset_Handler
.weak Reset_Handler
.type Reset_Handler, %function
Reset_Handler:
Reset_Handler:
// Enable CCM
// RCC->AHB1ENR |= RCC_AHB1ENR_CCMDATARAMEN;
ldr r0, =0x40023800 // RCC_BASE
ldr r1, [r0, #0x30] // AHB1ENR
orr r1, r1, 0x00100000 // RCC_AHB1ENR_CCMDATARAMEN
str r1, [r0, #0x30]
dsb
// Check for bootloader reboot
ldr r0, =0x2001FFFC // mj666
ldr r1, =0xDEADBEEF // mj666
ldr r2, [r0, #0] // mj666
@ -106,6 +115,19 @@ LoopFillZerobss:
cmp r2, r3
bcc FillZerobss
/* Mark the heap and stack */
ldr r2, =_heap_stack_begin
b LoopMarkHeapStack
MarkHeapStack:
movs r3, 0xa5a5a5a5
str r3, [r2], #4
LoopMarkHeapStack:
ldr r3, = _heap_stack_end
cmp r2, r3
bcc MarkHeapStack
/*FPU settings*/
ldr r0, =0xE000ED88 /* Enable CP10,CP11 */
ldr r1,[r0]

13
src/main/target/link/stm32_flash.ld
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@ -12,11 +12,15 @@
ENTRY(Reset_Handler)
/* Highest address of the user mode stack */
_estack = ORIGIN(RAM) + LENGTH(RAM); /* end of RAM */
_estack = ORIGIN(STACKRAM) + LENGTH(STACKRAM); /* end of RAM */
/* Base address where the config is stored. */
__config_start = ORIGIN(FLASH_CONFIG);
__config_end = ORIGIN(FLASH_CONFIG) + LENGTH(FLASH_CONFIG);
/* Generate a link error if heap and stack don't fit into RAM */
_Min_Heap_Size = 0; /* required amount of heap */
_Min_Stack_Size = 0x400; /* required amount of stack */
_Min_Stack_Size = 0x800; /* required amount of stack */
/* Define output sections */
SECTIONS
@ -110,6 +114,9 @@ SECTIONS
} >RAM
/* User_heap_stack section, used to check that there is enough RAM left */
_heap_stack_end = ORIGIN(STACKRAM)+LENGTH(STACKRAM) - 8; /* 8 bytes to allow for alignment */
_heap_stack_begin = _heap_stack_end - _Min_Stack_Size - _Min_Heap_Size;
. = _heap_stack_begin;
._user_heap_stack :
{
. = ALIGN(4);
@ -118,7 +125,7 @@ SECTIONS
. = . + _Min_Heap_Size;
. = . + _Min_Stack_Size;
. = ALIGN(4);
} >RAM
} >STACKRAM = 0xa5
/* MEMORY_bank1 section, code must be located here explicitly */
/* Example: extern int foo(void) __attribute__ ((section (".mb1text"))); */