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freeRTOS task stack diagnostics using freeRTOS function #2976

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merged 3 commits into from
Jan 15, 2023
Merged

freeRTOS task stack diagnostics using freeRTOS function #2976

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3dbac90
migrated stack diagnostics (available, free) to using built in FreeRT…
mha1 Jan 2, 2023
124ff10
corrected my merge error
mha1 Jan 2, 2023
2857f56
missed a blank
mha1 Jan 3, 2023
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11 changes: 6 additions & 5 deletions radio/src/FreeRTOSConfig.h
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Original file line number Diff line number Diff line change
Expand Up @@ -75,11 +75,12 @@ extern uint32_t SystemCoreClock;

/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#define INCLUDE_xTimerPendFunctionCall 1
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#define INCLUDE_xTimerPendFunctionCall 1
#define INCLUDE_uxTaskGetStackHighWaterMark 1

#if defined(THREADSAFE_MALLOC)
#define INCLUDE_xTaskGetSchedulerState 1
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4 changes: 2 additions & 2 deletions radio/src/cli.cpp
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Expand Up @@ -47,7 +47,7 @@
#define CLI_PRINT_BUFFER_SIZE 128

RTOS_TASK_HANDLE cliTaskId;
RTOS_DEFINE_STACK(cliStack, CLI_STACK_SIZE);
RTOS_DEFINE_STACK(cliTaskId, cliStack, CLI_STACK_SIZE);

static uint8_t cliRxBufferStorage[CLI_RX_BUFFER_SIZE];
static StaticStreamBuffer_t cliRxBufferStatic;
Expand Down Expand Up @@ -843,7 +843,7 @@ int cliTrace(const char ** argv)

int cliStackInfo(const char ** argv)
{
cliSerialPrint("[MAIN] %d available / %d bytes", stackAvailable()*4, stackSize()*4);
cliSerialPrint("[MAIN] %d available / %d bytes", mainStackAvailable()*4, stackSize()*4);
cliSerialPrint("[MENUS] %d available / %d bytes", menusStack.available()*4, menusStack.size());
cliSerialPrint("[MIXER] %d available / %d bytes", mixerStack.available()*4, mixerStack.size());
cliSerialPrint("[AUDIO] %d available / %d bytes", audioStack.available()*4, audioStack.size());
Expand Down
2 changes: 1 addition & 1 deletion radio/src/gui/212x64/view_statistics.cpp
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Expand Up @@ -192,7 +192,7 @@ void menuStatisticsDebug(event_t event)
lcdDrawText(lcdLastRightPos+2, y+1, "[A]", SMLSIZE);
lcdDrawNumber(lcdLastRightPos, y, audioStack.available(), LEFT);
lcdDrawText(lcdLastRightPos+2, y+1, "[I]", SMLSIZE);
lcdDrawNumber(lcdLastRightPos, y, stackAvailable(), LEFT);
lcdDrawNumber(lcdLastRightPos, y, mainStackAvailable(), LEFT);
y += FH;

#if defined(DEBUG_LATENCY)
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4 changes: 0 additions & 4 deletions radio/src/opentx.cpp
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Expand Up @@ -1867,10 +1867,6 @@ int main()

boardInit();

#if !defined(SIMU)
stackPaint();
#endif

#if defined(PCBHORUS)
if (!IS_FIRMWARE_COMPATIBLE_WITH_BOARD()) {
runFatalErrorScreen(STR_WRONG_PCBREV);
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30 changes: 12 additions & 18 deletions radio/src/rtos.h
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Expand Up @@ -76,10 +76,10 @@ extern "C++" {
}

template<int SIZE>
class FakeTaskStack
class TaskStack
{
public:
FakeTaskStack()
TaskStack()
{
}

Expand All @@ -97,7 +97,7 @@ extern "C++" {
return SIZE / 2;
}
};
#define RTOS_DEFINE_STACK(name, size) FakeTaskStack<size> name
#define RTOS_DEFINE_STACK(taskHandle, name, size) TaskStack<size> name

#define TASK_FUNCTION(task) void* task(void *)

Expand All @@ -110,7 +110,7 @@ extern "C++" {
}

template<int SIZE>
inline void RTOS_CREATE_TASK(pthread_t &taskId, void * (*task)(void *), const char * name, FakeTaskStack<SIZE> &, unsigned size = 0, unsigned priority = 0)
inline void RTOS_CREATE_TASK(pthread_t &taskId, void * (*task)(void *), const char * name, TaskStack<SIZE> &, unsigned size = 0, unsigned priority = 0)
{
UNUSED(size);
UNUSED(priority);
Expand All @@ -119,7 +119,7 @@ inline void RTOS_CREATE_TASK(pthread_t &taskId, void * (*task)(void *), const ch

#define TASK_RETURN() return nullptr

constexpr uint32_t stackAvailable()
constexpr uint32_t mainStackAvailable()
{
return 500;
}
Expand Down Expand Up @@ -218,7 +218,6 @@ inline void RTOS_CREATE_TASK(pthread_t &taskId, void * (*task)(void *), const ch

#define RTOS_UNLOCK_MUTEX(handle) _RTOS_UNLOCK_MUTEX(&handle)

//TODO: replace with FreeRTOS functions
static inline uint32_t getStackAvailable(void * address, uint32_t size)
{
uint32_t * array = (uint32_t *)address;
Expand All @@ -236,7 +235,7 @@ inline void RTOS_CREATE_TASK(pthread_t &taskId, void * (*task)(void *), const ch
return ((unsigned char *)&_estack - (unsigned char *)&_main_stack_start) / 4;
}

static inline uint32_t stackAvailable()
static inline uint32_t mainStackAvailable()
{
return getStackAvailable(&_main_stack_start, stackSize());
}
Expand Down Expand Up @@ -272,15 +271,8 @@ inline void RTOS_CREATE_TASK(pthread_t &taskId, void * (*task)(void *), const ch
class TaskStack
{
public:
TaskStack()
{
}

void paint()
{
for (uint32_t i=0; i<SIZE; i++) {
stack[i] = 0x55555555;
}
TaskStack(RTOS_TASK_HANDLE *h) {
this->h = h;
}

uint32_t size()
Expand All @@ -290,10 +282,12 @@ inline void RTOS_CREATE_TASK(pthread_t &taskId, void * (*task)(void *), const ch

uint32_t available()
{
return getStackAvailable(stack, SIZE);
return uxTaskGetStackHighWaterMark(h->rtos_handle);
}

StackType_t stack[SIZE];
protected:
RTOS_TASK_HANDLE *h;
};
#endif // __cplusplus

Expand All @@ -308,7 +302,7 @@ inline void RTOS_CREATE_TASK(pthread_t &taskId, void * (*task)(void *), const ch
}

// stack must be aligned to 8 bytes otherwise printf for %f does not work!
#define RTOS_DEFINE_STACK(name, size) TaskStack<size> __ALIGNED(8) name __CCMRAM
#define RTOS_DEFINE_STACK(taskHandle, name, size) TaskStack<size> __ALIGNED(8) name __CCMRAM (&taskHandle)

#define TASK_FUNCTION(task) void task(void *)
#define TASK_RETURN() vTaskDelete(nullptr)
Expand Down
16 changes: 3 additions & 13 deletions radio/src/tasks.cpp
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Expand Up @@ -24,27 +24,17 @@
#include "timers_driver.h"

RTOS_TASK_HANDLE menusTaskId;
RTOS_DEFINE_STACK(menusStack, MENUS_STACK_SIZE);
RTOS_DEFINE_STACK(menusTaskId, menusStack, MENUS_STACK_SIZE);

RTOS_TASK_HANDLE mixerTaskId;
RTOS_DEFINE_STACK(mixerStack, MIXER_STACK_SIZE);
RTOS_DEFINE_STACK(mixerTaskId, mixerStack, MIXER_STACK_SIZE);

RTOS_TASK_HANDLE audioTaskId;
RTOS_DEFINE_STACK(audioStack, AUDIO_STACK_SIZE);
RTOS_DEFINE_STACK(audioTaskId, audioStack, AUDIO_STACK_SIZE);

RTOS_MUTEX_HANDLE audioMutex;
RTOS_MUTEX_HANDLE mixerMutex;

void stackPaint()
{
menusStack.paint();
mixerStack.paint();
audioStack.paint();
#if defined(CLI) && !defined(SIMU)
cliStack.paint();
#endif
}

volatile uint16_t timeForcePowerOffPressed = 0;

bool isForcePowerOffRequested()
Expand Down
13 changes: 7 additions & 6 deletions radio/src/tasks.h
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Expand Up @@ -46,22 +46,23 @@
#define CLI_TASK_PRIO (1)
#endif

extern RTOS_TASK_HANDLE menusTaskId;
extern RTOS_DEFINE_STACK(menusStack, MENUS_STACK_SIZE);

extern RTOS_MUTEX_HANDLE mixerMutex;

extern RTOS_TASK_HANDLE menusTaskId;
extern TaskStack<MENUS_STACK_SIZE> menusStack;

extern RTOS_TASK_HANDLE mixerTaskId;
extern RTOS_DEFINE_STACK(mixerStack, MIXER_STACK_SIZE);
extern TaskStack<MIXER_STACK_SIZE> mixerStack;

extern RTOS_TASK_HANDLE audioTaskId;
extern RTOS_DEFINE_STACK(audioStack, AUDIO_STACK_SIZE);
extern TaskStack<AUDIO_STACK_SIZE> audioStack;

#if defined(CLI)
extern RTOS_TASK_HANDLE cliTaskId;
extern RTOS_DEFINE_STACK(cliStack, CLI_STACK_SIZE);
extern TaskStack<CLI_STACK_SIZE> cliStack;
#endif

void stackPaint();
void tasksStart();

extern volatile uint16_t timeForcePowerOffPressed;
Expand Down