diff --git a/radio/src/cli.cpp b/radio/src/cli.cpp
index 9a39e4466..544d00724 100644
--- a/radio/src/cli.cpp
+++ b/radio/src/cli.cpp
@@ -37,12 +37,11 @@
 #include "opentx.h"
 #include <ctype.h>
 
-#define CLI_STACK_SIZE                 500
 #define CLI_COMMAND_MAX_ARGS           8
 #define CLI_COMMAND_MAX_LEN            256
 
 OS_TID cliTaskId;
-OS_STK cliStack[CLI_STACK_SIZE];
+TaskStack<CLI_STACK_SIZE> cliStack;
 Fifo<256> cliRxFifo;
 uint8_t cliTracesEnabled = false;
 
@@ -151,6 +150,44 @@ int cliTrace(const char ** argv)
   return 0;
 }
 
+int cliStackInfo(const char ** argv)
+{
+  int tid = 0;
+  if (toInt(argv, 1, &tid) > 0) {
+    int available = 0;
+    int total = 0;
+    switch(tid) {
+      case MENU_TASK_INDEX:
+        total = menusStack.getSize();
+        available = menusStack.available();
+        break;
+      case MIXER_TASK_INDEX:
+        total = mixerStack.getSize();
+        available = mixerStack.available();
+        break;
+      case AUDIO_TASK_INDEX:
+        total = audioStack.getSize();
+        available = audioStack.available();
+        break;
+      case CLI_TASK_INDEX:
+        total = cliStack.getSize();
+        available = cliStack.available();
+        break;
+      case MAIN_TASK_INDEX:
+        total = mainStackAvailable();
+        available = mainStackSize();
+        break;
+      default:
+        break;
+    }
+    serialPrint("%d available (%d total)", available, total);
+  }
+  else {
+    serialPrint("%s: Invalid argument \"%s\"", argv[0], argv[1]);
+  }
+  return 0;
+}
+
 int cliVolume(const char ** argv)
 {
   int level = 0;
@@ -214,6 +251,7 @@ const CliCommand cliCommands[] = {
   { "ls", cliLs, "<directory>" },
   { "play", cliPlay, "<filename>" },
   { "print", cliDisplay, "<address> [<size>] | <what>" },
+  { "stackinfo", cliStackInfo, "<tid>" },
   { "trace", cliTrace, "on | off" },
   { "volume", cliVolume, "<level>" },
   { "help", cliHelp, "[<command>]" },
@@ -279,7 +317,7 @@ void cliTask(void * pdata)
     uint8_t c;
 
     while (!cliRxFifo.pop(c)) {
-      CoTickDelay(5); // 10ms
+      CoTickDelay(10); // 20ms
     }
 
     if (c == 12) {
@@ -311,5 +349,5 @@ void cliTask(void * pdata)
 
 void cliStart()
 {
-  cliTaskId = CoCreateTaskEx(cliTask, NULL, 10, &cliStack[CLI_STACK_SIZE-1], CLI_STACK_SIZE, 1, false);
+  cliTaskId = CoCreateTaskEx(cliTask, NULL, 10, &cliStack.stack[CLI_STACK_SIZE-1], CLI_STACK_SIZE, 1, false);
 }
diff --git a/radio/src/cli.h b/radio/src/cli.h
index d57f205bf..83836eeef 100644
--- a/radio/src/cli.h
+++ b/radio/src/cli.h
@@ -44,6 +44,9 @@ extern uint8_t cliTracesEnabled;
 #ifdef __cplusplus
 #include "fifo.h"
 extern Fifo<256> cliRxFifo;
+#include "tasks_arm.h"
+#define CLI_STACK_SIZE                 1000
+extern TaskStack<CLI_STACK_SIZE> cliStack;
 #endif
 
 void cliStart();
diff --git a/radio/src/debug.h b/radio/src/debug.h
index 422d8b483..da513ad70 100644
--- a/radio/src/debug.h
+++ b/radio/src/debug.h
@@ -40,7 +40,9 @@
 #include <inttypes.h>
 #include "rtc.h"
 #include "dump.h"
+#if defined(CLI)
 #include "cli.h"
+#endif
 
 #if defined(__cplusplus)
 extern "C" {
diff --git a/radio/src/gui/9X/view_statistics.cpp b/radio/src/gui/9X/view_statistics.cpp
index ff33cbb78..f70176609 100755
--- a/radio/src/gui/9X/view_statistics.cpp
+++ b/radio/src/gui/9X/view_statistics.cpp
@@ -196,11 +196,11 @@ void menuStatisticsDebug(uint8_t event)
 
 #if defined(CPUARM)
   lcd_putsLeft(MENU_DEBUG_Y_RTOS, STR_FREESTACKMINB);
-  lcd_outdezAtt(MENU_DEBUG_COL1_OFS, MENU_DEBUG_Y_RTOS+2, stack_free(0), UNSIGN|LEFT|TINSIZE);
+  lcd_outdezAtt(MENU_DEBUG_COL1_OFS, MENU_DEBUG_Y_RTOS+2, menusStack.available(), UNSIGN|LEFT|TINSIZE);
   lcd_puts(lcdLastPos, MENU_DEBUG_Y_RTOS, "/");
-  lcd_outdezAtt(lcdLastPos, MENU_DEBUG_Y_RTOS+2, stack_free(1), UNSIGN|LEFT|TINSIZE);
+  lcd_outdezAtt(lcdLastPos, MENU_DEBUG_Y_RTOS+2, mixerStack.available(), UNSIGN|LEFT|TINSIZE);
   lcd_puts(lcdLastPos, MENU_DEBUG_Y_RTOS, "/");
-  lcd_outdezAtt(lcdLastPos, MENU_DEBUG_Y_RTOS+2, stack_free(2), UNSIGN|LEFT|TINSIZE);
+  lcd_outdezAtt(lcdLastPos, MENU_DEBUG_Y_RTOS+2, audioStack.available(), UNSIGN|LEFT|TINSIZE);
 #endif
 
 #if !defined(CPUARM)
@@ -213,7 +213,7 @@ void menuStatisticsDebug(uint8_t event)
   lcd_putsLeft(4*FH, STR_TMIXMAXMS);
   lcd_outdezAtt(MENU_DEBUG_COL1_OFS, 4*FH, DURATION_MS_PREC2(maxMixerDuration), PREC2);
   lcd_putsLeft(5*FH, STR_FREESTACKMINB);
-  lcd_outdezAtt(14*FW, 5*FH, stack_free(), UNSIGN) ;
+  lcd_outdezAtt(14*FW, 5*FH, stackAvailable(), UNSIGN) ;
 #endif
 
   lcd_puts(4*FW, 7*FH+1, STR_MENUTORESET);
diff --git a/radio/src/gui/Taranis/view_statistics.cpp b/radio/src/gui/Taranis/view_statistics.cpp
index 6368f9e58..0a6f83e33 100755
--- a/radio/src/gui/Taranis/view_statistics.cpp
+++ b/radio/src/gui/Taranis/view_statistics.cpp
@@ -163,7 +163,7 @@ void menuStatisticsDebug(uint8_t event)
   }
 
   lcd_putsLeft(MENU_DEBUG_Y_FREE_RAM, "Free Mem");
-  lcd_outdezAtt(MENU_DEBUG_COL1_OFS, MENU_DEBUG_Y_FREE_RAM, getAvailableMemory(), LEFT);
+  lcd_outdezAtt(MENU_DEBUG_COL1_OFS, MENU_DEBUG_Y_FREE_RAM, availableMemory(), LEFT);
   lcd_puts(lcdLastPos, MENU_DEBUG_Y_FREE_RAM, "b");
 
 #if defined(LUA)
@@ -189,13 +189,13 @@ void menuStatisticsDebug(uint8_t event)
 
   lcd_putsLeft(MENU_DEBUG_Y_RTOS, STR_FREESTACKMINB);
   lcd_putsAtt(MENU_DEBUG_COL1_OFS, MENU_DEBUG_Y_RTOS+1, "[M]", SMLSIZE);
-  lcd_outdezAtt(lcdLastPos, MENU_DEBUG_Y_RTOS, stack_free(0), UNSIGN|LEFT);
+  lcd_outdezAtt(lcdLastPos, MENU_DEBUG_Y_RTOS, menusStack.available(), UNSIGN|LEFT);
   lcd_putsAtt(lcdLastPos+2, MENU_DEBUG_Y_RTOS+1, "[X]", SMLSIZE);
-  lcd_outdezAtt(lcdLastPos, MENU_DEBUG_Y_RTOS, stack_free(1), UNSIGN|LEFT);
+  lcd_outdezAtt(lcdLastPos, MENU_DEBUG_Y_RTOS, mixerStack.available(), UNSIGN|LEFT);
   lcd_putsAtt(lcdLastPos+2, MENU_DEBUG_Y_RTOS+1, "[A]", SMLSIZE);
-  lcd_outdezAtt(lcdLastPos, MENU_DEBUG_Y_RTOS, stack_free(2), UNSIGN|LEFT);
+  lcd_outdezAtt(lcdLastPos, MENU_DEBUG_Y_RTOS, audioStack.available(), UNSIGN|LEFT);
   lcd_putsAtt(lcdLastPos+2, MENU_DEBUG_Y_RTOS+1, "[I]", SMLSIZE);
-  lcd_outdezAtt(lcdLastPos, MENU_DEBUG_Y_RTOS, stack_free(255), UNSIGN|LEFT);
+  lcd_outdezAtt(lcdLastPos, MENU_DEBUG_Y_RTOS, mainStackAvailable(), UNSIGN|LEFT);
 
   lcd_puts(3*FW, 7*FH+1, STR_MENUTORESET);
   lcd_status_line();
diff --git a/radio/src/opentx.cpp b/radio/src/opentx.cpp
index b9c971a22..d9733bc76 100644
--- a/radio/src/opentx.cpp
+++ b/radio/src/opentx.cpp
@@ -2348,7 +2348,7 @@ void moveTrimsToOffsets() // copy state of 3 primary to subtrim
 #if !defined(CPUARM) && !defined(SIMU)
 extern unsigned char __bss_end ;
 #define STACKPTR     _SFR_IO16(0x3D)
-void stack_paint()
+void stackPaint()
 {
   // Init Stack while interrupts are disabled
   unsigned char *p ;
@@ -2362,7 +2362,7 @@ void stack_paint()
   }
 }
 
-uint16_t stack_free()
+uint16_t stackAvailable()
 {
   unsigned char *p ;
 
@@ -2492,7 +2492,7 @@ int main(void)
   lcdInit();
 #endif
 
-  stack_paint();
+  stackPaint();
 
 #if defined(GUI)
   g_menuStack[0] = menuMainView;
diff --git a/radio/src/opentx.h b/radio/src/opentx.h
index 4a434962c..8dd967c4b 100644
--- a/radio/src/opentx.h
+++ b/radio/src/opentx.h
@@ -717,14 +717,14 @@ extern uint8_t flightModeTransitionLast;
 #endif
 
 #if defined(SIMU)
-  inline int getAvailableMemory() { return 1000; }
+  inline int availableMemory() { return 1000; }
 #elif defined(CPUARM) && !defined(SIMU)
   extern unsigned char *heap;
   extern int _end;
   extern int _estack;
   extern int _main_stack_start;
   extern int _heap_end;
-  #define getAvailableMemory() ((unsigned int)((unsigned char *)&_heap_end - heap))
+  #define availableMemory() ((unsigned int)((unsigned char *)&_heap_end - heap))
 #endif
 
 void evalFlightModeMixes(uint8_t mode, uint8_t tick10ms);
@@ -942,11 +942,8 @@ extern uint16_t lastMixerDuration;
   uint16_t getTmr16KHz();
 #endif
 
-#if defined(CPUARM)
-  uint32_t stack_free(uint32_t tid);
-  void stack_paint();
-#else
-  uint16_t stack_free();
+#if !defined(CPUARM)
+  uint16_t stackAvailable();
 #endif
 
 #if defined(SPLASH)
@@ -1050,12 +1047,7 @@ template<class t> void SWAP(t & a, t & b) { t tmp = b; b = a; a = tmp; }
 uint16_t isqrt32(uint32_t n);
 
 #if defined(CPUARM) && !defined(BOOT)
-#if !defined(SIMU)
-extern "C" {
-#include <CoOS.h>
-}
-#endif
-
+#include "tasks_arm.h"
 extern OS_MutexID mixerMutex;
 inline void pauseMixerCalculations()
 {
diff --git a/radio/src/targets/simu/simpgmspace.cpp b/radio/src/targets/simu/simpgmspace.cpp
index 965b0922b..4ed004709 100644
--- a/radio/src/targets/simu/simpgmspace.cpp
+++ b/radio/src/targets/simu/simpgmspace.cpp
@@ -330,7 +330,7 @@ void *main_thread(void *)
 #endif
 
 #if defined(CPUARM)
-    stack_paint();
+    stackPaint();
 #endif
     
     s_current_protocol[0] = 255;
@@ -658,7 +658,7 @@ void eepromWriteBlock(uint8_t * pointer_ram, uint32_t pointer_eeprom, uint32_t s
 #endif
 
 #if !defined(CPUARM)
-uint16_t stack_free()
+uint16_t stackAvailable()
 {
   return 500;
 }
diff --git a/radio/src/tasks_arm.cpp b/radio/src/tasks_arm.cpp
index 5e0c1285d..803eb9aad 100644
--- a/radio/src/tasks_arm.cpp
+++ b/radio/src/tasks_arm.cpp
@@ -36,10 +36,10 @@
 
 #include "opentx.h"
 
-#define MENUS_STACK_SIZE    2000
-#define MIXER_STACK_SIZE    500
-#define AUDIO_STACK_SIZE    500
-#define BT_STACK_SIZE       500
+#define MENUS_STACK_SIZE       2000
+#define MIXER_STACK_SIZE       500
+#define AUDIO_STACK_SIZE       500
+#define BLUETOOTH_STACK_SIZE   500
 
 #if defined(_MSC_VER)
   #define _ALIGNED(x) __declspec(align(x))
@@ -48,73 +48,85 @@
 #endif
 
 OS_TID menusTaskId;
-// stack must be aligned to 8 bytes otherwise printf for %f does not work!
-OS_STK _ALIGNED(8) menusStack[MENUS_STACK_SIZE];
+// menus stack must be aligned to 8 bytes otherwise printf for %f does not work!
+TaskStack<MENUS_STACK_SIZE> _ALIGNED(8) menusStack;
 
 OS_TID mixerTaskId;
-OS_STK mixerStack[MIXER_STACK_SIZE];
+TaskStack<MENUS_STACK_SIZE> mixerStack;
 
 OS_TID audioTaskId;
-OS_STK audioStack[AUDIO_STACK_SIZE];
+TaskStack<AUDIO_STACK_SIZE> audioStack;
 
 #if defined(BLUETOOTH)
 OS_TID btTaskId;
-OS_STK btStack[BT_STACK_SIZE];
+TaskStack<BLUETOOTH_STACK_SIZE> bluetoothStack;
 #endif
 
 OS_MutexID audioMutex;
 OS_MutexID mixerMutex;
 
-void stack_paint()
+enum TaskIndex {
+  MENU_TASK_INDEX,
+  MIXER_TASK_INDEX,
+  AUDIO_TASK_INDEX,
+  CLI_TASK_INDEX,
+  BLUETOOTH_TASK_INDEX,
+  TASK_INDEX_COUNT,
+  MAIN_TASK_INDEX = 255
+};
+
+template<int size>
+void TaskStack<size>::paint()
 {
-  for (uint32_t i=0; i<MENUS_STACK_SIZE; i++)
-    menusStack[i] = 0x55555555;
-  for (uint32_t i=0; i<MIXER_STACK_SIZE; i++)
-    mixerStack[i] = 0x55555555;
-  for (uint32_t i=0; i<AUDIO_STACK_SIZE; i++)
-    audioStack[i] = 0x55555555;
+  for (uint32_t i=0; i<size; i++) {
+    stack[i] = 0x55555555;
+  }
 }
 
-uint32_t stack_free(uint32_t tid)
+template<int size>
+uint32_t TaskStack<size>::getSize()
 {
-  OS_STK *stack;
-  uint32_t size;
+  return size;
+}
 
-  switch(tid) {
-    case 0:
-      stack = menusStack;
-      size = MENUS_STACK_SIZE;
-      break;
-    case 1:
-      stack = mixerStack;
-      size = MIXER_STACK_SIZE;
-      break;
-    case 2:
-      stack = audioStack;
-      size = AUDIO_STACK_SIZE;
-      break;
-#if defined(PCBTARANIS)
-    case 255:
-  #if defined(SIMU)
-      return 1024;
-  #else
-      // main stack
-      stack = (OS_STK *)&_main_stack_start;
-      size = ((unsigned char *)&_estack - (unsigned char *)&_main_stack_start) / 4;
-  #endif
-      break;
-#endif
-    default:
-      return 0;
+uint32_t getStackAvailable(void * address, uint32_t size)
+{
+  uint32_t * array = (uint32_t *)address;
+  uint32_t i = 0;
+  while (i < size && array[i] == 0x55555555) {
+    i++;
   }
-
-  uint32_t i=0;
-  for (; i<size; i++)
-    if (stack[i] != 0x55555555)
-      break;
   return i*4;
 }
 
+template<int size>
+uint32_t TaskStack<size>::available()
+{
+  return getStackAvailable(stack, size);
+}
+
+void stackPaint()
+{
+  menusStack.paint();
+  mixerStack.paint();
+  audioStack.paint();
+#if defined(CLI)
+  cliStack.paint();
+#endif
+}
+
+#if defined(CPUSTM32)
+uint32_t mainStackSize()
+{
+  return ((unsigned char *)&_estack - (unsigned char *)&_main_stack_start) / 4;
+}
+
+uint32_t mainStackAvailable()
+{
+  return getStackAvailable(&_main_stack_start, mainStackSize());
+}
+#endif
+
 #if !defined(SIMU)
 
 void mixerTask(void * pdata)
@@ -176,7 +188,7 @@ void menusTask(void * pdata)
     }
   }
 
-#if defined(REV9E)
+#if defined(PCBTARANIS) && defined(REV9E)
   topLcdOff();
 #endif
 
@@ -204,12 +216,12 @@ void tasksStart()
 #endif
 
 #if defined(BLUETOOTH)
-  btTaskId = CoCreateTask(btTask, NULL, 15, &btStack[BT_STACK_SIZE-1], BT_STACK_SIZE);
+  btTaskId = CoCreateTask(btTask, NULL, 15, &bluetoothStack[BLUETOOTH_STACK_SIZE-1], BLUETOOTH_STACK_SIZE);
 #endif
 
-  mixerTaskId = CoCreateTask(mixerTask, NULL, 5, &mixerStack[MIXER_STACK_SIZE-1], MIXER_STACK_SIZE);
-  menusTaskId = CoCreateTask(menusTask, NULL, 10, &menusStack[MENUS_STACK_SIZE-1], MENUS_STACK_SIZE);
-  audioTaskId = CoCreateTask(audioTask, NULL, 7, &audioStack[AUDIO_STACK_SIZE-1], AUDIO_STACK_SIZE);
+  mixerTaskId = CoCreateTask(mixerTask, NULL, 5, &mixerStack.stack[MIXER_STACK_SIZE-1], MIXER_STACK_SIZE);
+  menusTaskId = CoCreateTask(menusTask, NULL, 10, &menusStack.stack[MENUS_STACK_SIZE-1], MENUS_STACK_SIZE);
+  audioTaskId = CoCreateTask(audioTask, NULL, 7, &audioStack.stack[AUDIO_STACK_SIZE-1], AUDIO_STACK_SIZE);
 
 #if !defined(SIMU)
   audioMutex = CoCreateMutex();
diff --git a/radio/src/tasks_arm.h b/radio/src/tasks_arm.h
new file mode 100644
index 000000000..9bb404b41
--- /dev/null
+++ b/radio/src/tasks_arm.h
@@ -0,0 +1,61 @@
+/*
+ * Authors (alphabetical order)
+ * - Andre Bernet <bernet.andre@gmail.com>
+ * - Andreas Weitl
+ * - Bertrand Songis <bsongis@gmail.com>
+ * - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
+ * - Cameron Weeks <th9xer@gmail.com>
+ * - Erez Raviv
+ * - Gabriel Birkus
+ * - Jean-Pierre Parisy
+ * - Karl Szmutny
+ * - Michael Blandford
+ * - Michal Hlavinka
+ * - Pat Mackenzie
+ * - Philip Moss
+ * - Rob Thomson
+ * - Romolo Manfredini <romolo.manfredini@gmail.com>
+ * - Thomas Husterer
+ *
+ * opentx is based on code named
+ * gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
+ * er9x by Erez Raviv: http://code.google.com/p/er9x/,
+ * and the original (and ongoing) project by
+ * Thomas Husterer, th9x: http://code.google.com/p/th9x/
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * This program 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.
+ *
+ */
+
+#ifndef _TASKS_ARM_H_
+#define _TASKS_ARM_H_
+
+#if !defined(SIMU)
+extern "C" {
+#include <CoOS.h>
+}
+#endif
+
+template<int size>
+class TaskStack
+{
+  public:
+    TaskStack() { }
+    void paint();
+    uint32_t getSize();
+    uint32_t available();
+    OS_STK stack[size];
+};
+
+void stackPaint();
+uint32_t mainStackSize();
+uint32_t mainStackAvailable();
+
+#endif // _TASKS_ARM_H_