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-/*
-    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
-
-    This file is part of ChibiOS/RT.
-
-    ChibiOS/RT 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.
-
-    ChibiOS/RT 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 this program.  If not, see <http://www.gnu.org/licenses/>.
-*/
-
-/**
- * @page article_stacks Stacks and stack sizes
- * In an RTOS like ChibiOS/RT there are several dedicated stacks, each stack
- * has a dedicated RAM space that must have a correctly sized assigned area.
- * <h2>The stacks</h2>
- * There are several stacks in the systems, some are always present, some
- * others are present only in some architectures:
- * - <b>Main stack</b>, this stack is used by the @p main() function and the
- *   thread that execute it. It is not a normal thread stack because it is
- *   initialized in the startup code and its size is defined in a port
- *   dependent way. Details are in the various ports documentation.
- * - <b>Interrupt Stack</b>, some architectures have a dedicated interrupt
- *   stack. This is an important feature in a multithreaded environment,
- *   without a dedicated interrupt stack each thread has to reserve
- *   enough space, for interrupts servicing, within its own stack. This space,
- *   multiplied by the total threads number, can amount to a significant RAM
- *   overhead.
- * - <b>Thread Stack</b>, each thread has a dedicated stack for its own
- *   execution and context switch.
- * - <b>Other Stacks</b>, some architectures (ARM) can have other stacks but
- *   the OS does not directly use any of them. 
- * .
- * <h2>Risks</h2>
- * The most critical thing when writing an embedded multithreaded application
- * is to determine the correct stack size for main, threads and, when present,
- * interrupts.<br>
- * Assigning too much space to a stack is a waste of RAM, assigning too little
- * space leads to crashes or, worst scenario, hard to track instability.
- *
- * <h2>Assigning the correct size</h2>
- * You may try to examine the asm listings in order to calculate the exact
- * stack requirements but this requires much time, experience and patience.<br>
- * An alternative way is to use an interactive method. Follow this procedure
- * for each thread in the system:
- * - Enable the following debug options in the kernel:
- *   - @p CH_DBG_ENABLE_STACK_CHECK, this enables a stack check before any
- *        context switch. This option halts the system in @p chSysHalt() just
- *        before a stack overflow happens. The halt condition is caused by
- *        a stack overflow when the global variable @p panic_msg is set to
- *        @p NULL, normally it would point to a panic message.
- *   - @p CH_DBG_FILL_THREADS, this option fills the threads working area
- *     with an easily recognizable pattern (0x55).
- * - Assign a large and safe size to the thread stack, as example 256 bytes
- *   on 32 MCUs, 128 bytes on 8/16 bit MCUs. This is almost always too much
- *   for simple threads.
- * - Run the application, if the application crashes or halts then increase
- *   the stack size and repeat (you know how to use the debugger right?).
- * - Let the application run and make sure to trigger the thread in a way to
- *   make it follow most or all its code paths. If the application crashes or
- *   halts then increase the stack size and repeat.
- * - Stop the application using the debugger and examine the thread working
- *   area (you know what a map file is, right?). You can see that the thread
- *   stack overwrote the fill pattern (0x55) from the top of the working area
- *   downward. You can estimate the excess stack by counting the untouched
- *   locations.
- * - Trim down the stack size and repeat until the application still runs
- *   correctly and you have a decent margin in the stack.
- * - Repeat for all the thread classes in the system.
- * - Turn off the debug options.
- * - Done.
- * .
- * <h2>Final Notes</h2>
- * Some useful info:
- * - Stack overflows are the most common problems source during development,
- *   when in trouble with crashes or anomalous behaviors always first verify
- *   stack sizes.
- * - The required stack size can, and very often does change when changing
- *   compiler vendor, compiler version, compiler options, code type (ARM
- *   or THUMB as example).
- * - Code compiled in THUMB mode uses more stack space compared to the
- *   same code compiled in ARM mode. In GCC this is related to lack of tail
- *   calls optimizations in THUMB mode, this is probably true also in other
- *   compilers.
- * - Speed optimized code often requires less stack space compared to space
- *   optimized code. Be careful when changing optimizations.
- * - The interrupts space overhead on the thread stacks (@p INT_REQUIRED_STACK
- *   defined in @p chcore.h) is included in the total working area size
- *   by the system macros @p THD_WA_SIZE() and @p WORKING_AREA().<br>
- *   The correct way to reserve space into the thread stacks for interrupts
- *   processing is to override the @p INT_REQUIRED_STACK default value.
- *   Architectures with a dedicated interrupt stack do not require changes
- *   to this value. Resizing of the global interrupt stack may be required
- *   instead.
- * - Often is a good idea to have some extra space in stacks unless you
- *   are really starved on RAM. Anyway, it is best to optimize stack space
- *   at the very end of your development cycle.
- * .
- */