fix: Allocate more stack memory to tasks. (#181)

* fix: Allocate more stack memory to tasks.

While testing TMS, I came across a strange bug where Update() would hang when the OS was used. Replacing the OS with manual timer & function call avoided the problem. The cause was the large `RawCanMsg[100]` array in `CanBase::ReadQueue()` which exceeded the memory limits of FreeRTOS. This was a very strange error as the memory limit was only slightly exceeded, so calling ReadQueue (even with all internal code commented out) exceeded the memory, but then removing `virtual` from `ReadQueue` removed enough memory to call the function.

* bring up tms to new bindings structure

firmware/projects/EV5/TMS/bindings.h

@@ -0,0 +1,24 @@
+#pragma once
+
+#include "shared/periph/adc.h"
+#include "shared/periph/can.h"
+#include "shared/periph/gpio.h"
+#include "shared/periph/pwm.h"
+
+namespace bindings {
+extern shared::periph::ADCInput& temp_sensor_adc_1;
+extern shared::periph::ADCInput& temp_sensor_adc_2;
+extern shared::periph::ADCInput& temp_sensor_adc_3;
+extern shared::periph::ADCInput& temp_sensor_adc_4;
+extern shared::periph::ADCInput& temp_sensor_adc_5;
+extern shared::periph::ADCInput& temp_sensor_adc_6;
+
+extern shared::periph::PWMOutput& fan_controller_pwm;
+
+extern shared::periph::DigitalOutput& debug_led_green;
+extern shared::periph::DigitalOutput& debug_led_red;
+
+extern shared::periph::CanBase& veh_can_base;
+
+extern void Initialize();
+}  // namespace bindings

firmware/projects/EV5/TMS/main.cc

@@ -5,6 +5,7 @@
 #include <string>
 
 #include "app.h"
+#include "bindings.h"
 #include "shared/comms/can/can_bus.h"
 #include "shared/os/tick.h"
 #include "shared/periph/adc.h"
@@ -16,25 +17,6 @@
 #include "veh_can_messages.h"
 #include "veh_msg_registry.h"
 
-namespace bindings {
-extern shared::periph::ADCInput& temp_sensor_adc_1;
-extern shared::periph::ADCInput& temp_sensor_adc_2;
-extern shared::periph::ADCInput& temp_sensor_adc_3;
-extern shared::periph::ADCInput& temp_sensor_adc_4;
-extern shared::periph::ADCInput& temp_sensor_adc_5;
-extern shared::periph::ADCInput& temp_sensor_adc_6;
-
-extern shared::periph::PWMOutput& fan_controller_pwm;
-
-extern shared::periph::DigitalOutput& debug_do_blue;
-extern shared::periph::DigitalOutput& debug_do_red;
-
-extern shared::periph::CanBase& veh_can_base;
-
-extern void Initialize();
-extern void Log(std::string);
-}  // namespace bindings
-
 namespace os {
 extern void Tick(uint32_t ticks);
 extern void InitializeKernel();
@@ -84,11 +66,9 @@ const float temp_lut_data[][2] = {
 };
 
 const float fan_lut_data[][2] = {
-    // clang-format off
-	{-1,    0},
-	{ 0,   30},
-	{50,  100}
-    // clang-format on
+    {-1, 0},
+    {0, 30},
+    {50, 100},
 };
 
 constexpr int temp_lut_length =
@@ -115,8 +95,8 @@ shared::can::CanBus veh_can_bus{
 ***************************************************************/
 FanContoller fan_controller{bindings::fan_controller_pwm, fan_temp_lut, 2.0f};
 
-DebugIndicator debug_blue{bindings::debug_do_blue};
-DebugIndicator debug_red{bindings::debug_do_red};
+DebugIndicator debug_green{bindings::debug_led_green};
+DebugIndicator debug_red{bindings::debug_led_red};
 
 TempSensor temp_sensors[] = {
     TempSensor{bindings::temp_sensor_adc_1, temp_adc_lut},
@@ -141,6 +121,9 @@ void Update() {
     static uint8_t low_thermistor_idx;
     static uint8_t high_thermistor_idx;
 
+    debug_green.Toggle();
+    debug_red.Toggle();
+
     veh_can_bus.Update();
     ts_manager.Update();
     ts_manager.GetTemperatures(temperature_buffer);
@@ -168,7 +151,6 @@ void UpdateTask(void* argument) {
     while (true) {
         uint32_t start_time_ms = os::GetTickCount();
         Update();
-        debug_blue.Toggle();  // toggling indicates the loop is running
         os::TickUntil(start_time_ms + kTaskPeriodMs);
     }
 }

firmware/projects/EV5/TMS/platforms/stm32f767/CMakeLists.txt

@@ -3,7 +3,8 @@
 
 add_subdirectory(cubemx)
 
-target_sources(bindings PUBLIC bindings.cc os.cc)
+target_sources(bindings PUBLIC bindings.cc)
+target_include_directories(bindings PUBLIC ${DIR_PROJECT})
 target_link_libraries(bindings PUBLIC driver mcal-stm32f767)
 
 add_library(os)

firmware/projects/EV5/TMS/platforms/stm32f767/bindings.cc

@@ -13,6 +13,7 @@
 #include "tim.h"
 
 // fw imports
+#include "bindings.h"
 #include "mcal/stm32f767/periph/adc.h"
 #include "mcal/stm32f767/periph/gpio.h"
 #include "mcal/stm32f767/periph/pwm.h"
@@ -39,26 +40,28 @@ ADCInput temp_sensor_adc_5{&hadc1, SENS_5_UC_IN_CHANNEL};
 ADCInput temp_sensor_adc_6{&hadc1, SENS_6_UC_IN_CHANNEL};
 
 PWMOutput fan_controller_pwm{&htim4, TIM_CHANNEL_1};
-DigitalOutput debug_do_blue{NUCLEO_BLUE_LED_GPIO_Port, NUCLEO_BLUE_LED_Pin};
-DigitalOutput debug_do_red{NUCLEO_RED_LED_GPIO_Port, NUCLEO_RED_LED_Pin};
+DigitalOutput debug_led_green{DEBUG_LED1_GPIO_Port, DEBUG_LED1_Pin};
+DigitalOutput debug_led_red{DEBUG_LED2_GPIO_Port, DEBUG_LED2_Pin};
+DigitalOutput debug_led_nucleo{NUCLEO_RED_LED_GPIO_Port, NUCLEO_RED_LED_Pin};
 
 CanBase veh_can_base{&hcan2};
 
 }  // namespace mcal
 
 namespace bindings {
-const shared::periph::ADCInput& temp_sensor_adc_1 = mcal::temp_sensor_adc_1;
-const shared::periph::ADCInput& temp_sensor_adc_2 = mcal::temp_sensor_adc_2;
-const shared::periph::ADCInput& temp_sensor_adc_3 = mcal::temp_sensor_adc_3;
-const shared::periph::ADCInput& temp_sensor_adc_4 = mcal::temp_sensor_adc_4;
-const shared::periph::ADCInput& temp_sensor_adc_5 = mcal::temp_sensor_adc_5;
-const shared::periph::ADCInput& temp_sensor_adc_6 = mcal::temp_sensor_adc_6;
+shared::periph::ADCInput& temp_sensor_adc_1 = mcal::temp_sensor_adc_1;
+shared::periph::ADCInput& temp_sensor_adc_2 = mcal::temp_sensor_adc_2;
+shared::periph::ADCInput& temp_sensor_adc_3 = mcal::temp_sensor_adc_3;
+shared::periph::ADCInput& temp_sensor_adc_4 = mcal::temp_sensor_adc_4;
+shared::periph::ADCInput& temp_sensor_adc_5 = mcal::temp_sensor_adc_5;
+shared::periph::ADCInput& temp_sensor_adc_6 = mcal::temp_sensor_adc_6;
 
-const shared::periph::PWMOutput& fan_controller_pwm = mcal::fan_controller_pwm;
-const shared::periph::DigitalOutput& debug_do_blue = mcal::debug_do_blue;
-const shared::periph::DigitalOutput& debug_do_red = mcal::debug_do_red;
+shared::periph::PWMOutput& fan_controller_pwm = mcal::fan_controller_pwm;
+shared::periph::DigitalOutput& debug_led_green = mcal::debug_led_green;
+shared::periph::DigitalOutput& debug_led_red = mcal::debug_led_red;
+//  shared::periph::DigitalOutput& debug_led_red = mcal::debug_led_nucleo;
 
-const shared::periph::CanBase& veh_can_base = mcal::veh_can_base;
+shared::periph::CanBase& veh_can_base = mcal::veh_can_base;
 
 void Initialize() {
     SystemClock_Config();
@@ -69,8 +72,4 @@ void Initialize() {
     MX_CAN2_Init();
 }
 
-void Log(std::string s) {
-    return;
-}
-
 }  // namespace bindings

firmware/projects/EV5/TMS/platforms/stm32f767/cubemx/board_config.ioc

@@ -17,8 +17,9 @@ CAN2.CalculateTimeQuantum=125.0
 CAN2.IPParameters=CalculateTimeQuantum,CalculateBaudRate,Prescaler,CalculateTimeBit,BS1,BS2,ABOM
 CAN2.Prescaler=6
 FREERTOS.FootprintOK=true
-FREERTOS.IPParameters=Tasks01,FootprintOK
-FREERTOS.Tasks01=Update,24,128,UpdateTask,As weak,NULL,Static,UpdateBuffer,UpdateControlBlock
+FREERTOS.IPParameters=Tasks01,FootprintOK,configTOTAL_HEAP_SIZE
+FREERTOS.Tasks01=Update,24,4096,UpdateTask,As weak,NULL,Static,UpdateBuffer,UpdateControlBlock
+FREERTOS.configTOTAL_HEAP_SIZE=102400
 File.Version=6
 GPIO.groupedBy=Group By Peripherals
 KeepUserPlacement=false
@@ -35,21 +36,23 @@ Mcu.IP7=TIM4
 Mcu.IPNb=8
 Mcu.Name=STM32F767ZITx
 Mcu.Package=LQFP144
-Mcu.Pin0=PC0
-Mcu.Pin1=PC1
-Mcu.Pin10=PB7
-Mcu.Pin11=VP_FREERTOS_VS_CMSIS_V2
-Mcu.Pin12=VP_SYS_VS_tim3
-Mcu.Pin13=VP_TIM4_VS_ClockSourceINT
-Mcu.Pin2=PC2
-Mcu.Pin3=PC3
-Mcu.Pin4=PC4
-Mcu.Pin5=PC5
-Mcu.Pin6=PB13
-Mcu.Pin7=PB14
-Mcu.Pin8=PB5
-Mcu.Pin9=PB6
-Mcu.PinsNb=14
+Mcu.Pin0=PE2
+Mcu.Pin1=PC0
+Mcu.Pin10=PB5
+Mcu.Pin11=PB6
+Mcu.Pin12=PB7
+Mcu.Pin13=VP_FREERTOS_VS_CMSIS_V2
+Mcu.Pin14=VP_SYS_VS_tim3
+Mcu.Pin15=VP_TIM4_VS_ClockSourceINT
+Mcu.Pin2=PC1
+Mcu.Pin3=PC2
+Mcu.Pin4=PC3
+Mcu.Pin5=PA3
+Mcu.Pin6=PC4
+Mcu.Pin7=PC5
+Mcu.Pin8=PB13
+Mcu.Pin9=PB14
+Mcu.PinsNb=16
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=SENS_2_UC_IN_CHANNEL,ADC_CHANNEL_11;SENS_6_UC_IN_CHANNEL,ADC_CHANNEL_15;SENS_3_UC_IN_CHANNEL,ADC_CHANNEL_12;SENS_1_UC_IN_CHANNEL,ADC_CHANNEL_10;SENS_4_UC_IN_CHANNEL,ADC_CHANNEL_13;SENS_5_UC_IN_CHANNEL,ADC_CHANNEL_14
 Mcu.UserName=STM32F767ZITx
@@ -73,6 +76,10 @@ NVIC.TIM3_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
 NVIC.TimeBase=TIM3_IRQn
 NVIC.TimeBaseIP=TIM3
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:false\:false
+PA3.GPIOParameters=GPIO_Label
+PA3.GPIO_Label=DEBUG_LED2
+PA3.Locked=true
+PA3.Signal=GPIO_Output
 PB13.Locked=true
 PB13.Mode=CAN_Activate
 PB13.Signal=CAN2_TX
@@ -115,6 +122,10 @@ PC5.GPIOParameters=GPIO_Label
 PC5.GPIO_Label=SENS_6_UC_IN
 PC5.Locked=true
 PC5.Signal=ADCx_IN15
+PE2.GPIOParameters=GPIO_Label
+PE2.GPIO_Label=DEBUG_LED1
+PE2.Locked=true
+PE2.Signal=GPIO_Output
 PinOutPanel.RotationAngle=0
 ProjectManager.AskForMigrate=true
 ProjectManager.BackupPrevious=false