Potential thread stack overflow in pmTask

[k6dpvrmm8z-glitch]

Issue details

While some detailed build configuration, There are potential stack overflow in thread function named pmTask

crazyflie-firmware/src/config/config.h

Line 55 in 83aa19e

#define FREERTOS_MIN_STACK_SIZE 150 // M4-FPU register setup is bigger so stack needs to be bigger

crazyflie-firmware/src/config/FreeRTOSConfig.h

Line 79 in 83aa19e

#define configMINIMAL_STACK_SIZE ( ( unsigned short ) FREERTOS_MIN_STACK_SIZE )

crazyflie-firmware//src/config/config.h

Line 175 in 83aa19e

#define PM_TASK_STACKSIZE configMINIMAL_STACK_SIZE

crazyflie-firmware/src/hal/src/pm_stm32f4.c

Line 124 in 83aa19e

STATIC_MEM_TASK_ALLOC(pmTask, PM_TASK_STACKSIZE);

crazyflie-firmware/src/hal/src/pm_stm32f4.c

Line 132 in 83aa19e

STATIC_MEM_TASK_CREATE(pmTask, pmTask, PM_TASK_NAME, NULL, PM_TASK_PRI);

In this line, pmTask Allows 600(150 * 4) stack size.

However, after checking the stack using our internally developed tool, it might have 612 Bytes in with some detailed configurations.

Steps to produce

1. In Makefile, add this line:

USE_OPT += -fstack-usage

This will help you automatically calculating stack size of each function.

2. Build normally, using this configurations:

(make cf2_defconfig ->) make

Now we can get stack usage file (*.su) for each source file, So we can manually check stack size of each function.

In case of pmTask :

There are large call stack with this flow:

pmTask (pmTask) => 104 bytes
ledseqRunBlocking (ledseqRunBlocking) => 24 bytes
runLedseq (runLedseq) => 56 bytes
updateActive (updateActive) => 16 bytes
ledSet (ledSet) => 16 bytes
ledSetForce.part.0 (ledSetForce.part.0) => 88 bytes
syslinkSendPacket (syslinkSendPacket) => 24 bytes
uartslkSendDataDmaBlocking (uartslkSendDataDmaBlocking) => 24 bytes
xQueueGenericSend (xQueueGenericSend) => 40 bytes
xTaskResumeAll (xTaskResumeAll) => 32 bytes
xTaskIncrementTick (xTaskIncrementTick) => 48 bytes
assertFail (assertFail) => 8 bytes
eprintf (eprintf) => 12 bytes
evprintf (evprintf) => 48 bytes
itoa10 (itoa10) => 32 bytes
itoa10Unsigned (itoa10Unsigned) => 40 bytes

SUM => 612 bytes

So, there are potentially occur stack overflow in pmTask Thread function.

Environment

Version
Commit a5c3837