src/main/drivers/stack_check.c - master - Sangak/inav

src/main/drivers/stack_check.c
92 строки2 KB
Scavanger
SITL
24 янв 2023, 15:47
24 янв 2023, 15:4761790c1
/*
 * stack_check.c
 *
 *  Created on: 23 Aug 2016
 *      Author: martinbudden
 */

#include <stdbool.h>
#include <stdint.h>
#include <string.h>

#include "platform.h"

#include "build/build_config.h"
#include "build/debug.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)
{
    (void)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;

#ifdef DEBUG_STACK
    debug[0] = (uint32_t)stackHighMem & 0xffff;
    debug[1] = (uint32_t)stackLowMem & 0xffff;
    debug[2] = (uint32_t)stackCurrent & 0xffff;
    debug[3] = (uint32_t)p & 0xffff;
#endif
}

uint32_t stackUsedSize(void)
{
    return usedStackSize;
}
#endif

#if !defined(SITL_BUILD)

uint32_t stackTotalSize(void)
{
    return (uint32_t)&_Min_Stack_Size;
}

uint32_t stackHighMem(void)
{
    return (uint32_t)&_estack;
}

#endif