fix analog thread stack overflow

odriverobotics · Sep 3, 2021 · 2e0926e · 2e0926e
1 parent e535ed6
commit 2e0926e
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Showing 6 changed files with 16 additions and 3 deletions.
diff --git a/Firmware/MotorControl/low_level.cpp b/Firmware/MotorControl/low_level.cpp
@@ -25,6 +25,7 @@
 /* Global constant data ------------------------------------------------------*/
 constexpr float adc_full_scale = static_cast<float>(1UL << 12UL);
 constexpr float adc_ref_voltage = 3.3f;
+const uint32_t stack_size_analog_thread = 1024;  // Bytes
 /* Global variables ----------------------------------------------------------*/
 
 // This value is updated by the DC-bus reading ADC.
@@ -34,6 +35,7 @@ float ibus_ = 0.0f; // exposed for monitoring only
 bool brake_resistor_armed = false;
 bool brake_resistor_saturated = false;
 float brake_resistor_current = 0.0f;
+osThreadId analog_thread = 0;
 /* Private constant data -----------------------------------------------------*/
 /* CPU critical section helpers ----------------------------------------------*/
 
@@ -404,6 +406,6 @@ static void analog_polling_thread(void *)
 }
 
 void start_analog_thread() {
-    osThreadDef(thread_def, analog_polling_thread, osPriorityLow, 0, 512 / sizeof(StackType_t));
-    osThreadCreate(osThread(thread_def), NULL);
+    osThreadDef(analog_thread_def, analog_polling_thread, osPriorityLow, 0, stack_size_analog_thread / sizeof(StackType_t));
+    analog_thread = osThreadCreate(osThread(analog_thread_def), NULL);
 }
diff --git a/Firmware/MotorControl/low_level.h b/Firmware/MotorControl/low_level.h
@@ -23,6 +23,8 @@ extern bool brake_resistor_armed;
 extern bool brake_resistor_saturated;
 extern float brake_resistor_current;
 extern uint16_t adc_measurements_[ADC_CHANNEL_COUNT];
+extern osThreadId analog_thread;
+extern const uint32_t stack_size_analog_thread;
 /* Exported macro ------------------------------------------------------------*/
 /* Exported functions --------------------------------------------------------*/
 

diff --git a/Firmware/MotorControl/main.cpp b/Firmware/MotorControl/main.cpp
@@ -270,18 +270,21 @@ void vApplicationIdleHook(void) {
         odrv.system_stats_.max_stack_usage_uart = stack_size_uart_thread - uxTaskGetStackHighWaterMark(uart_thread) * sizeof(StackType_t);
         odrv.system_stats_.max_stack_usage_startup = stack_size_default_task - uxTaskGetStackHighWaterMark(defaultTaskHandle) * sizeof(StackType_t);
         odrv.system_stats_.max_stack_usage_can = odrv.can_.stack_size_ - uxTaskGetStackHighWaterMark(odrv.can_.thread_id_) * sizeof(StackType_t);
+        odrv.system_stats_.max_stack_usage_analog =  stack_size_analog_thread - uxTaskGetStackHighWaterMark(analog_thread) * sizeof(StackType_t);
 
         odrv.system_stats_.stack_size_axis = axes[0].stack_size_;
         odrv.system_stats_.stack_size_usb = stack_size_usb_thread;
         odrv.system_stats_.stack_size_uart = stack_size_uart_thread;
         odrv.system_stats_.stack_size_startup = stack_size_default_task;
         odrv.system_stats_.stack_size_can = odrv.can_.stack_size_;
+        odrv.system_stats_.stack_size_analog = stack_size_analog_thread;
 
         odrv.system_stats_.prio_axis = osThreadGetPriority(axes[0].thread_id_);
         odrv.system_stats_.prio_usb = osThreadGetPriority(usb_thread);
         odrv.system_stats_.prio_uart = osThreadGetPriority(uart_thread);
         odrv.system_stats_.prio_startup = osThreadGetPriority(defaultTaskHandle);
         odrv.system_stats_.prio_can = osThreadGetPriority(odrv.can_.thread_id_);
+        odrv.system_stats_.prio_analog = osThreadGetPriority(analog_thread);
 
         status_led_controller.update();
     }

diff --git a/Firmware/MotorControl/odrive_main.h b/Firmware/MotorControl/odrive_main.h
@@ -33,18 +33,21 @@ typedef struct {
     uint32_t max_stack_usage_uart;
     uint32_t max_stack_usage_startup;
     uint32_t max_stack_usage_can;
+    uint32_t max_stack_usage_analog;
 
     uint32_t stack_size_axis;
     uint32_t stack_size_usb;
     uint32_t stack_size_uart;
     uint32_t stack_size_startup;
     uint32_t stack_size_can;
+    uint32_t stack_size_analog;
 
     int32_t prio_axis;
     int32_t prio_usb;
     int32_t prio_uart;
     int32_t prio_startup;
     int32_t prio_can;
+    int32_t prio_analog;
 
     USBStats_t& usb = usb_stats_;
     I2CStats_t& i2c = i2c_stats_;

diff --git a/Firmware/odrive-interface.yaml b/Firmware/odrive-interface.yaml
@@ -143,16 +143,19 @@ interfaces:
           max_stack_usage_uart: readonly uint32
           max_stack_usage_can: readonly uint32
           max_stack_usage_startup: readonly uint32
+          max_stack_usage_analog: readonly uint32
           stack_size_axis: readonly uint32
           stack_size_usb: readonly uint32
           stack_size_uart: readonly uint32
           stack_size_startup: readonly uint32
           stack_size_can: readonly uint32
+          stack_size_analog: readonly uint32
           prio_axis: readonly int32
           prio_usb: readonly int32
           prio_uart: readonly int32
           prio_startup: readonly int32
           prio_can: readonly int32
+          prio_analog: readonly int32
           usb:
             c_is_class: False
             attributes:

diff --git a/tools/setup.py b/tools/setup.py
@@ -38,7 +38,7 @@
 is_release = True
 
 # Set to true to make an official post-release, rather than dev of new version
-is_post_release = True
+is_post_release = False
 post_rel_num = 0
 
 # To test higher numbered releases, bump to the next rev