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freertos stack check #590

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freertos stack check #590

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a796cdb
freertos stack check
ManushPatell Aug 4, 2026
4782875
fix build error
ManushPatell Aug 4, 2026
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17 changes: 17 additions & 0 deletions projects/front_controller/src/main.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -51,6 +51,14 @@ using State = TxFcStatus::State_t;
static State state = State::START_DASHBOARD;
static uint32_t elapsed = 0;

static UBaseType_t UpdateMinHighWaterMark(UBaseType_t* min_hwm) {
UBaseType_t current = uxTaskGetStackHighWaterMark(NULL);
if (current < *min_hwm) {
*min_hwm = current;
}
return *min_hwm;
}

static void Update_100Hz(void) {
using enum State;
using DashState = RxDashStatus::State_t;
Expand Down Expand Up @@ -271,7 +279,10 @@ void task_1hz(void* argument) {

TickType_t wake_time = xTaskGetTickCount();

static UBaseType_t min_hwm = STACK_SIZE_WORDS;

while (true) {
fsm::UpdateMinHighWaterMark(&min_hwm);
veh_can_bus.Send(TxFcGitHash{
.commit = macfe::generated::GIT_HASH,
.dirty = macfe::generated::GIT_DIRTY,
Expand All @@ -287,7 +298,10 @@ void task_10hz(void* argument) {

TickType_t wake_time = xTaskGetTickCount();

static UBaseType_t min_hwm = STACK_SIZE_WORDS;

while (true) {
fsm::UpdateMinHighWaterMark(&min_hwm);
ToggleDebugLed();
UpdateErrorLeds();
dbc_hash::Update_10Hz(veh_can_bus);
Expand Down Expand Up @@ -340,7 +354,10 @@ void task_100hz(void* argument) {

TickType_t wake_time = xTaskGetTickCount();

static UBaseType_t min_hwm = STACK_SIZE_WORDS;

while (true) {
fsm::UpdateMinHighWaterMark(&min_hwm);
sensors::driver::Update_100Hz();
sensors::dynamics::Update_100Hz();
driver_interface::Update_100Hz();
Expand Down
3 changes: 3 additions & 0 deletions projects/front_controller/src/platforms/stm32-ev6/Inc/FreeRTOSConfig.h
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Original file line number Diff line number Diff line change
Expand Up @@ -98,6 +98,8 @@ to exclude the API function. */
#define INCLUDE_vTaskDelay 1
#define INCLUDE_xTaskGetSchedulerState 1

#define INCLUDE_uxTaskGetStackHighWaterMark 1

/* Cortex-M specific definitions. */
#ifdef __NVIC_PRIO_BITS
/* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
Expand Down Expand Up @@ -149,6 +151,7 @@ standard names. */
/* USER CODE BEGIN Defines */
/* Section where parameter definitions can be added (for instance, to override
* default ones in FreeRTOS.h) */
#define configCHECK_FOR_STACK_OVERFLOW 2
/* USER CODE END Defines */

#endif /* FREERTOS_CONFIG_H */
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