Optimize stack space allocation to fix Pixhawk 2.4.8 boot failure.

src/driver/vision_flow/mtf_01.c

@@ -214,7 +214,7 @@ rt_err_t drv_mtf_01_init(const char* uart_dev_name)
 
     RT_ASSERT(dev != NULL);
 
-    thread = rt_thread_create("mtf-01", thread_entry, RT_NULL, 2 * 1024, 7, 1);
+    thread = rt_thread_create("mtf-01", thread_entry, RT_NULL, 1536, 7, 1);
 
     RT_ASSERT(thread != NULL);
 

src/module/mavproxy/mavproxy_monitor.c

@@ -29,7 +29,7 @@ struct mavlink_msg_handler_func {
 static LIST_HEAD(__mavlink_msg_chan0_handler_head);
 static LIST_HEAD(__mavlink_msg_chan1_handler_head);
 
-static char thread_mavlink_rx_stack[8192];
+static char thread_mavlink_rx_stack[4096];
 static struct rt_thread thread_mavlink_rx_handle;
 static struct rt_event mav_rx_event;
 

src/module/workqueue/workqueue_manager.c

@@ -37,10 +37,10 @@ WorkQueue_t workqueue_find(const char* name)
 
 fmt_err_t workqueue_manager_init(void)
 {
-    wq_list[0] = workqueue_create("wq:lp_work", 20, 4096, 19);
+    wq_list[0] = workqueue_create("wq:lp_work", 20, 2048, 19);
     RT_ASSERT(wq_list[0] != NULL);
 
-    wq_list[1] = workqueue_create("wq:hp_work", 20, 4096, 6);
+    wq_list[1] = workqueue_create("wq:hp_work", 20, 2048, 6);
     RT_ASSERT(wq_list[1] != NULL);
 
     return FMT_EOK;

src/task/comm/task_comm.c

@@ -842,7 +842,7 @@ TASK_EXPORT __fmt_task2_desc = {
     .entry = task_mavobc_entry,
     .priority = MAVOBC_THREAD_PRIORITY,
     .auto_start = true,
-    .stack_size = 4096,
+    .stack_size = 2048,
     .param = NULL,
     .dependency = (char*[]) { "mavgcs", NULL }
 };

src/task/fmtio/task_fmtio.c

@@ -1,3 +1,4 @@
+
 /******************************************************************************
  * Copyright 2020 The Firmament Authors. All Rights Reserved.
  *
@@ -36,7 +37,7 @@ TASK_EXPORT __fmt_task_desc = {
     .entry = task_fmtio_entry,
     .priority = FMTIO_THREAD_PRIORITY,
     .auto_start = true,
-    .stack_size = 2048,
+    .stack_size = 1536,
     .param = NULL,
     .dependency = NULL
 };

src/task/logger/task_logger.c

@@ -184,7 +184,7 @@ TASK_EXPORT __fmt_task_desc = {
     .entry = task_logger_entry,
     .priority = LOGGER_THREAD_PRIORITY,
     .auto_start = true,
-    .stack_size = 2048,
+    .stack_size = 1536,
     .param = NULL,
     .dependency = (char*[]) { "vehicle", NULL }
 };

src/task/status/task_status.c

@@ -299,7 +299,7 @@ TASK_EXPORT __fmt_task_desc = {
     .entry      = task_status_entry,
     .priority   = STATUS_THREAD_PRIORITY,
     .auto_start = true,
-    .stack_size = 4096,
+    .stack_size = 3072,
     .param      = NULL,
     .dependency = NULL
 };

src/task/vehicle/multicopter/task_vehicle.c

@@ -125,7 +125,7 @@ TASK_EXPORT __fmt_task_desc = {
     .entry = task_vehicle_entry,
     .priority = VEHICLE_THREAD_PRIORITY,
     .auto_start = true,
-    .stack_size = 5 * 1024,
+    .stack_size = 2560,
     .param = NULL,
     .dependency = NULL
 };