/*
    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 a 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>
 * Assign too much space to a stack wastes RAM, assign 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 optimize stack space at the very
 *   end of your development cycle.
 * .
 */