Revert commit b80e8be652dfa52e97daa65aa3e550cf31cb2409

arch/arm/src/armv7-m/Kconfig

@@ -106,6 +106,18 @@ config ARMV7M_OABI_TOOLCHAIN
 		Most of the older buildroot toolchains are OABI and are named
 		arm-nuttx-elf- vs. arm-nuttx-eabi-
 
+config ARMV7M_STACKCHECK
+	bool "Check for stack overflow on each function call"
+	default n
+	depends on ARCH_CHIP_STM32
+	---help---
+		This check uses R10 to check for a stack overflow within each function
+		call. This has performances and code size impacts, but it will be able to
+		catch hard to find stack overflows.
+
+		Currently only available only for the STM32 architecture.  The changes
+		are not complex and patches for other architectures will be accepted.
+
 config ARMV7M_ITMSYSLOG
 	bool "ITM SYSLOG support"
 	default n

arch/arm/src/armv7-m/up_initialstate.c

@@ -93,6 +93,12 @@ void up_initial_state(struct tcb_s *tcb)
 
   xcp->regs[REG_SP]      = (uint32_t)tcb->adj_stack_ptr;
 
+#ifdef CONFIG_ARMV7M_STACKCHECK
+  /* Set the stack limit value */
+
+  xcp->regs[REG_R10]     = (uint32_t)tcb->stack_alloc_ptr + 64;
+#endif
+
   /* Save the task entry point (stripping off the thumb bit) */
 
   xcp->regs[REG_PC]      = (uint32_t)tcb->start & ~1;

arch/arm/src/armv7-m/up_stackcheck.c

@@ -0,0 +1,112 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#ifdef CONFIG_ARMV7M_STACKCHECK
+
+/* Support per function call stack checking.
+ * This code uses R10 to check for a stack overflow within function calls.
+ * This has a performance impact, but will be able to catch hard to find
+ * stack overflows.
+ */
+
+#include <stdint.h>
+
+#include "up_arch.h"
+#include "nvic.h"
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+void    __cyg_profile_func_enter(void *func, void *caller) __attribute__((naked, no_instrument_function));
+void    __cyg_profile_func_exit(void *func, void *caller)  __attribute__((naked, no_instrument_function));
+void    __stack_overflow_trap(void) __attribute__((naked, no_instrument_function));
+
+/****************************************************************************
+ * Name: __stack_overflow_trap
+ ****************************************************************************/
+
+void __stack_overflow_trap(void)
+{
+  /* if we get here, the stack has overflowed */
+
+  uint32_t regval;
+
+  /* force hard fault */
+  regval  = getreg32(NVIC_INTCTRL);
+  regval |= NVIC_INTCTRL_NMIPENDSET;
+  putreg32(regval, NVIC_INTCTRL);
+
+  /* XXX no need to trap it here, the fault handler gets to it */
+}
+
+/****************************************************************************
+ * Name: __cyg_profile_func_enter
+ ****************************************************************************/
+
+void __cyg_profile_func_enter(void *func, void *caller)
+{
+    asm volatile (
+            "   mrs r2, ipsr        \n" /* Check whether we are in interrupt mode */
+            "   cmp r2, #0          \n" /* since we don't switch r10 on interrupt entry, we */
+            "   bne 2f              \n" /* can't detect overflow of the interrupt stack. */
+            "                       \n"
+            "   sub r2, sp, #68     \n" /* compute stack pointer as though we just stacked a full frame */
+            "   mrs r1, control     \n" /* Test CONTROL.FPCA to see whether we also need room for the FP */
+            "   tst r1, #4          \n" /* context. */
+            "   beq 1f              \n"
+            "   sub r2, r2, #136    \n" /* subtract FP context frame size */
+            "1:                     \n"
+            "   cmp r2, r10         \n" /* compare stack with limit */
+            "   bgt 2f              \n" /* stack is above limit and thus OK */
+            "   b __stack_overflow_trap\n"
+            "2:                     \n"
+            "   bx lr               \n"
+    );
+}
+
+/****************************************************************************
+ * Name: __cyg_profile_func_exit
+ ****************************************************************************/
+
+void __cyg_profile_func_exit(void *func, void *caller)
+{
+    asm volatile("bx lr");
+}
+#endif

arch/arm/src/sam34/sam_start.c

@@ -70,6 +70,12 @@ static void go_os_start(void *pv, unsigned int nbytes)
   __attribute__ ((naked,no_instrument_function,noreturn));
 #endif
 
+#ifdef CONFIG_ARMV7M_STACKCHECK
+/* We need to get r10 set before we can allow instrumentation calls */
+
+void __start(void) __attribute__ ((no_instrument_function));
+#endif
+
 /****************************************************************************
  * Private Functions
  ****************************************************************************/
@@ -235,6 +241,12 @@ void __start(void)
   const uint32_t *src;
   uint32_t *dest;
 
+#ifdef CONFIG_ARMV7M_STACKCHECK
+  /* Set the stack limit before we attempt to call any functions */
+
+  __asm__ volatile ("sub r10, sp, %0" : : "r" (CONFIG_IDLETHREAD_STACKSIZE - 64) : );
+#endif
+
   /* Clear .bss.  We'll do this inline (vs. calling memset) just to be
    * certain that there are no issues with the state of global variables.
    */

arch/arm/src/samv7/sam_start.c

@@ -111,6 +111,12 @@ static void go_os_start(void *pv, unsigned int nbytes)
  * Private Functions
  ****************************************************************************/
 
+#ifdef CONFIG_ARMV7M_STACKCHECK
+/* we need to get r10 set before we can allow instrumentation calls */
+
+void __start(void) __attribute__ ((no_instrument_function));
+#endif
+
 /****************************************************************************
  * Name: sam_fpuconfig
  *
@@ -307,6 +313,12 @@ void __start(void)
   const uint32_t *src;
   uint32_t *dest;
 
+#ifdef CONFIG_ARMV7M_STACKCHECK
+  /* Set the stack limit before we attempt to call any functions */
+
+  __asm__ volatile ("sub r10, sp, %0" : : "r" (CONFIG_IDLETHREAD_STACKSIZE - 64) : );
+#endif
+
   /* Clear .bss.  We'll do this inline (vs. calling memset) just to be
    * certain that there are no issues with the state of global variables.
    */

arch/arm/src/stm32/Make.defs

@@ -54,6 +54,10 @@ CMN_CSRCS += up_schedulesigaction.c up_sigdeliver.c up_stackframe.c
 CMN_CSRCS += up_systemreset.c up_unblocktask.c up_usestack.c up_doirq.c
 CMN_CSRCS += up_hardfault.c up_svcall.c up_vfork.c
 
+ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
+CMN_CSRCS += up_stackcheck.c
+endif
+
 ifeq ($(CONFIG_ARMV7M_CMNVECTOR),y)
 ifeq ($(CONFIG_ARMV7M_LAZYFPU),y)
 CMN_ASRCS += up_lazyexception.S

arch/arm/src/stm32/stm32_start.c

@@ -92,6 +92,12 @@ static void go_os_start(void *pv, unsigned int nbytes)
  * Public Functions
  ****************************************************************************/
 
+#ifdef CONFIG_ARMV7M_STACKCHECK
+/* we need to get r10 set before we can allow instrumentation calls */
+
+void __start(void) __attribute__ ((no_instrument_function));
+#endif
+
 /****************************************************************************
  * Name: stm32_fpuconfig
  *
@@ -239,6 +245,12 @@ void __start(void)
   const uint32_t *src;
   uint32_t *dest;
 
+#ifdef CONFIG_ARMV7M_STACKCHECK
+  /* Set the stack limit before we attempt to call any functions */
+
+  __asm__ volatile ("sub r10, sp, %0" : : "r" (CONFIG_IDLETHREAD_STACKSIZE - 64) : );
+#endif
+
   /* Configure the UART so that we can get debug output as soon as possible */
 
   stm32_clockconfig();