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Code Issues Releases Activity

OP-942 one possible but not well working implementation of stack end check

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This commit is contained in:
Corvus Corax 2014-02-04 17:53:51 +01:00
parent 4ab4e48a98
commit cc04b780c5
1 changed files with 59 additions and 25 deletions
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84
flight/pios/common/pios_callbackscheduler.c
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@ -35,7 +35,7 @@
// Private constants
#define STACK_SIZE 384
#define STACK_GRANULARITY 16
#define STACK_GRANULARITY 4
#define MAX_SLEEP 1000
// Private types
@ -62,6 +62,7 @@ struct DelayedCallbackInfoStruct {
bool volatile waiting;
uint32_t volatile scheduletime;
uint32_t stackSize;
int32_t stackWatermark;
int32_t stackFree;
uint32_t runCount;
struct DelayedCallbackTaskStruct *task;
@ -348,6 +349,7 @@ DelayedCallbackInfo *PIOS_CALLBACKSCHEDULER_Create(
// info->stackSize = stacksize - STACK_SIZE;
info->stackFree = stacksize - STACK_SIZE;
info->stackSize = info->stackFree;
info->stackWatermark = 0;
// add to scheduling queue
LL_APPEND(task->callbackQueue[priority], info);
@ -362,28 +364,41 @@ DelayedCallbackInfo *PIOS_CALLBACKSCHEDULER_Create(
/**
* Stack magic, check presence of unique value
*/
__attribute__((optimize("O0"))) static int32_t checkStack(DelayedCallbackInfo *current)
static int8_t markStack(DelayedCallbackInfo *current)
{
#if 0
register uint32_t t;
register int32_t result;
volatile unsigned char marker[current->stackSize];
result = -1;
for (t = 0; t < current->stackSize; t += STACK_GRANULARITY) {
if (marker[t] != t + '#') {
if (result == -1) {
result = t;
}
}
marker[t] = t + '#';
}
return result;
#endif
// this is not working yet, until a fix is found just return old value
return current->stackFree;
volatile unsigned char *marker;
marker = (unsigned char*)(((size_t)&marker) - (size_t)current->stackSize);
// end of stack watermark
*(marker) = '#';
// shifted watermarks
marker += 16 + (size_t)current->stackWatermark;
*(marker-15) = '#';
*(marker-14) = '#';
*(marker-13) = '#';
*(marker-12) = '#';
*(marker-3) = '#';
*(marker-2) = '#';
*(marker-1) = '#';
*(marker) = '#';
return 0;
}
static int8_t checkStack(DelayedCallbackInfo *current)
{
volatile unsigned char *marker;
marker = (unsigned char*)(((size_t)&marker) - (size_t)current->stackSize);
// end of stack watermark
if (*marker != '#') return -1;
// shifted watermarks
marker += 16 + (size_t)current->stackWatermark;
if (*(marker-15) != '#') return -2;
if (*(marker-14) != '#') return -2;
if (*(marker-13) != '#') return -2;
if (*(marker-12) != '#') return -2;
if (*(marker-3) != '#') return -2;
if (*(marker-2) != '#') return 3;
if (*(marker-1) != '#') return 2;
if (*(marker) != '#') return 1;
return 0;
}
#endif /* ifdef DIAG_TASKS */
@ -442,20 +457,39 @@ static int32_t runNextCallback(struct DelayedCallbackTaskStruct *task, DelayedCa
#ifdef DIAG_TASKS
/* callback gets invoked here - check stack sizes */
diff = checkStack(current);
diff = markStack(current);
#endif
current->cb(); // call the callback
#ifdef DIAG_TASKS
diff = checkStack(current);
current->stackFree = diff; // < current->stackFree ? diff : current->stackFree;
switch (diff) {
case -2:
current->stackWatermark = -1;
break;
case -1:
current->stackFree = -1;
current->stackWatermark = -1;
break;
case 0:
current->stackWatermark++;
if (current->stackWatermark>current->stackFree) {
current->stackWatermark = current->stackFree;
}
break;
default:
current->stackWatermark -= diff;
current->stackFree = current->stackWatermark;
break;
}
current->runCount++;
if (current->callbackID >= 0 && current->callbackID < CALLBACKINFO_RUNNING_NUMELEM) {
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); // access to uavobject
((uint8_t *)&callbackInfo.Running)[current->callbackID] = true;
((uint32_t *)&callbackInfo.RunningTime)[current->callbackID] = current->runCount;
((int16_t *)&callbackInfo.StackRemaining)[current->callbackID] = (int16_t)current->stackFree;
((int16_t *)&callbackInfo.StackRemaining)[current->callbackID] = (int16_t)current->stackWatermark;
CallbackInfoSet(&callbackInfo);
xSemaphoreGiveRecursive(mutex);
}