Re-shrink stacks (#1060)

* small stacks

* giant servo stack

* reclaim ram

firmware/config/stm32f4ems/chconf.h

@@ -45,7 +45,7 @@
 
 // See global_shared.h notes about stack requirements
 // see also http://www.chibios.org/dokuwiki/doku.php?id=chibios:kb:stacks
-#define PORT_INT_REQUIRED_STACK 	400
+#define PORT_INT_REQUIRED_STACK 	128
 
 #define CHPRINTF_USE_FLOAT          	TRUE
 

firmware/config/stm32f7ems/chconf.h

@@ -45,7 +45,7 @@
 
 // See global_shared.h notes about stack requirements
 // see also http://www.chibios.org/dokuwiki/doku.php?id=chibios:kb:stacks
-#define PORT_INT_REQUIRED_STACK 	400
+#define PORT_INT_REQUIRED_STACK 	128
 
 #define CHPRINTF_USE_FLOAT          	TRUE
 

firmware/controllers/engine_controller.cpp

@@ -798,7 +798,7 @@ void initEngineContoller(Logging *sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX)
 // help to notice when RAM usage goes up - if a code change adds to RAM usage these variables would fail
 // linking process which is the way to raise the alarm
 #ifndef RAM_UNUSED_SIZE
-#define RAM_UNUSED_SIZE 10000
+#define RAM_UNUSED_SIZE 14000
 #endif
 #ifndef CCM_UNUSED_SIZE
 #define CCM_UNUSED_SIZE 4600

firmware/hw_layer/servo.cpp

@@ -20,7 +20,10 @@
 
 EXTERN_ENGINE;
 
-THD_WORKING_AREA(servoThreadStack, UTILITY_THREAD_STACK_SIZE);
+// This thread calls scheduleForLater which eventually could trip the main trigger callback
+// if self stimulation (heh) is enabled, which uses a TON of stack space.
+// So this stack has to be pretty big, unfortunately.
+THD_WORKING_AREA(servoThreadStack, UTILITY_THREAD_STACK_SIZE * 3);
 
 static OutputPin pins[SERVO_COUNT];