Add actual stack watermarking to startup code; add stack status to CLI status

src/main/drivers/stack_check.c

@@ -19,6 +19,7 @@
 
 extern char _estack; // end of stack, declared in .LD file
 extern char _Min_Stack_Size; // declared in .LD file
+static uint32_t _Used_Stack_Size;
 
 /*
  * The ARM processor uses a full descending stack. This means the stack pointer holds the address
@@ -54,11 +55,25 @@ void taskStackCheck(void)
 			break;
 		}
 	}
+
+    _Used_Stack_Size = (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; // watermark
+	debug[3] = (uint32_t)p & 0xffff;
 #endif
 }
+
+uint32_t getTotalStackSize(void)
+{
+    return (uint32_t)&_Min_Stack_Size;
+}
+
+uint32_t getUsedStackSize(void)
+{
+    return _Used_Stack_Size;
+}
+
 #endif

src/main/drivers/stack_check.h

@@ -0,0 +1,23 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#ifdef STACK_CHECK
+uint32_t getTotalStackSize(void);
+uint32_t getUsedStackSize(void);
+#endif

src/main/io/serial_cli.c

@@ -52,6 +52,7 @@
 #include "drivers/timer.h"
 #include "drivers/pwm_rx.h"
 #include "drivers/sdcard.h"
+#include "drivers/stack_check.h"
 
 #include "drivers/buf_writer.h"
 
@@ -2817,6 +2818,10 @@ static void cliStatus(char *cmdline)
     const uint16_t i2cErrorCounter = 0;
 #endif
 
+#ifdef STACK_CHECK
+    cliPrintf("Used stack: %d, Total stack: %d\r\n", getUsedStackSize(), getTotalStackSize());
+#endif
+
     cliPrintf("Cycle Time: %d, I2C Errors: %d, config size: %d\r\n", cycleTime, i2cErrorCounter, sizeof(master_t));
 }
 

src/main/startup/startup_stm32f10x_hd_gcc.S

@@ -98,6 +98,19 @@ LoopFillZerobss:
 	cmp	r2, r3
 	bcc	FillZerobss
 
+/* Mark the heap and stack */
+    ldr	r2, =_heap_stack_begin
+    b	LoopMarkHeapStack
+
+MarkHeapStack:
+	movs	r3, 0xa5a5a5a5
+	str	r3, [r2], #4
+
+LoopMarkHeapStack:
+	ldr	r3, = _heap_stack_end
+	cmp	r2, r3
+	bcc	MarkHeapStack
+   
 /* Call the clock system intitialization function.*/
     bl  SystemInit
 /* Call the application's entry point.*/

src/main/startup/startup_stm32f10x_md_gcc.S

@@ -97,6 +97,19 @@ LoopFillZerobss:
 	cmp	r2, r3
 	bcc	FillZerobss
 
+/* Mark the heap and stack */
+    ldr	r2, =_heap_stack_begin
+    b	LoopMarkHeapStack
+
+MarkHeapStack:
+	movs	r3, 0xa5a5a5a5
+	str	r3, [r2], #4
+
+LoopMarkHeapStack:
+	ldr	r3, = _heap_stack_end
+	cmp	r2, r3
+	bcc	MarkHeapStack
+
 /* Call the clock system intitialization function.*/
     bl  SystemInit
 /* Call the application's entry point.*/

src/main/startup/startup_stm32f30x_md_gcc.S

@@ -105,6 +105,19 @@ LoopFillZerobss:
   cmp  r2, r3
   bcc  FillZerobss
 
+/* Mark the heap and stack */
+    ldr	r2, =_heap_stack_begin
+    b	LoopMarkHeapStack
+
+MarkHeapStack:
+	movs	r3, 0xa5a5a5a5
+	str	r3, [r2], #4
+
+LoopMarkHeapStack:
+	ldr	r3, = _heap_stack_end
+	cmp	r2, r3
+	bcc	MarkHeapStack
+
 /* Call the clock system intitialization function.*/
   bl  SystemInit
 /* Call the application's entry point.*/

src/main/startup/startup_stm32f3_debug_hardfault_handler.S

@@ -108,6 +108,19 @@ LoopFillZerobss:
   cmp  r2, r3
   bcc  FillZerobss
 
+/* Mark the heap and stack */
+    ldr	r2, =_heap_stack_begin
+    b	LoopMarkHeapStack
+
+MarkHeapStack:
+	movs	r3, 0xa5a5a5a5
+	str	r3, [r2], #4
+
+LoopMarkHeapStack:
+	ldr	r3, = _heap_stack_end
+	cmp	r2, r3
+	bcc	MarkHeapStack
+
 /* Call the clock system intitialization function.*/
   bl  SystemInit
 /* Call the application's entry point.*/

src/main/startup/startup_stm32f40xx.s

@@ -107,6 +107,19 @@ LoopFillZerobss:
   cmp  r2, r3
   bcc  FillZerobss
 
+/* Mark the heap and stack */
+    ldr	r2, =_heap_stack_begin
+    b	LoopMarkHeapStack
+
+MarkHeapStack:
+	movs	r3, 0xa5a5a5a5
+	str	r3, [r2], #4
+
+LoopMarkHeapStack:
+	ldr	r3, = _heap_stack_end
+	cmp	r2, r3
+	bcc	MarkHeapStack
+
 /*FPU settings*/
  ldr     r0, =0xE000ED88           /* Enable CP10,CP11 */
  ldr     r1,[r0]

src/main/startup/startup_stm32f411xe.s

@@ -107,6 +107,19 @@ LoopFillZerobss:
   cmp  r2, r3
   bcc  FillZerobss
 
+/* Mark the heap and stack */
+    ldr	r2, =_heap_stack_begin
+    b	LoopMarkHeapStack
+
+MarkHeapStack:
+	movs	r3, 0xa5a5a5a5
+	str	r3, [r2], #4
+
+LoopMarkHeapStack:
+	ldr	r3, = _heap_stack_end
+	cmp	r2, r3
+	bcc	MarkHeapStack
+
 /*FPU settings*/
  ldr     r0, =0xE000ED88           /* Enable CP10,CP11 */
  ldr     r1,[r0]