Merge branch 'master' into master

ArduPilot · Dec 13, 2024 · 0351464 · 0351464
2 parents e95243c + 72f56ee
commit 0351464
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Showing 4 changed files with 152 additions and 7 deletions.
diff --git a/libraries/AP_HAL_ChibiOS/system.cpp b/libraries/AP_HAL_ChibiOS/system.cpp
@@ -330,16 +330,14 @@ void panic(const char *errormsg, ...)
     INTERNAL_ERROR(AP_InternalError::error_t::panic);
     va_list ap;
 
-    va_start(ap, errormsg);
-    vprintf(errormsg, ap);
-    va_end(ap);
-
-    hal.scheduler->delay_microseconds(10000);
+    uint16_t delay_ms = 10000;
     while (1) {
         va_start(ap, errormsg);
         vprintf(errormsg, ap);
         va_end(ap);
-        hal.scheduler->delay(500);
+        printf("\n");
+        hal.scheduler->delay(delay_ms);
+        delay_ms = 500;
     }
 #else
     // we don't support variable args in bootlaoder

diff --git a/libraries/AP_HAL_ESP32/SdCard.cpp b/libraries/AP_HAL_ESP32/SdCard.cpp
@@ -207,7 +207,7 @@ void mount_sdcard_spi()
     ESP_LOGI(TAG, "Initializing SD card as SDSPI");
     esp_vfs_fat_sdmmc_mount_config_t mount_config = {
         .format_if_mount_failed = false,
-        .max_files = 10,
+        .max_files = 5,
         .allocation_unit_size = 16 * 1024
     };
 

diff --git a/libraries/AP_HAL_ESP32/targets/esp32/esp-idf/CMakeLists.txt b/libraries/AP_HAL_ESP32/targets/esp32/esp-idf/CMakeLists.txt
@@ -123,3 +123,76 @@ idf_build_executable(${elf_file})
 
 set(CMAKE_EXPORT_COMPILE_COMMANDS 1)
 
+# Additional targets for measuring RAM use: size, size-components, size-files
+#   - Adapted from ${IDF_PATH}/tools/cmake/project.cmake
+#
+# Reference:
+#   - https://docs.espressif.com/projects/esp-idf/en/v5.0/esp32s3/api-guides/performance/size.html#minimizing-binary-size
+#
+# Usage:
+#   cd ./build/esp32s3xxx/esp-idf_build
+#   ninja -v -v size
+#
+set(mapfile "${CMAKE_BINARY_DIR}/${CMAKE_PROJECT_NAME}.map")
+# Add cross-reference table to the map file
+target_link_options(${elf_file} PRIVATE "-Wl,--cref")
+# Add this symbol as a hint for esp_idf_size to guess the target name
+target_link_options(${elf_file} PRIVATE "-Wl,--defsym=IDF_TARGET_${idf_target}=0")
+# Enable map file output
+target_link_options(${elf_file} PRIVATE "-Wl,--Map=${mapfile}")
+# Check if linker supports --no-warn-rwx-segments
+execute_process(COMMAND ${CMAKE_LINKER} "--no-warn-rwx-segments" "--version"
+    RESULT_VARIABLE result
+    OUTPUT_QUIET
+    ERROR_QUIET)
+if(${result} EQUAL 0)
+    # Do not print RWX segment warnings
+    target_link_options(${elf_file} PRIVATE "-Wl,--no-warn-rwx-segments")
+endif()
+if(CONFIG_ESP_ORPHAN_SECTION_WARNING)
+    # Print warnings if orphan sections are found
+    target_link_options(${elf_file} PRIVATE "-Wl,--orphan-handling=warn")
+endif()
+
+idf_build_get_property(idf_path IDF_PATH)
+idf_build_get_property(python PYTHON)
+
+set(idf_size ${python} -m esp_idf_size)
+
+# Add size targets, depend on map file, run esp_idf_size
+# OUTPUT_JSON is passed for compatibility reasons, SIZE_OUTPUT_FORMAT
+# environment variable is recommended and has higher priority
+add_custom_target(size
+    COMMAND ${CMAKE_COMMAND}
+    -D "IDF_SIZE_TOOL=${idf_size}"
+    -D "MAP_FILE=${mapfile}"
+    -D "OUTPUT_JSON=${OUTPUT_JSON}"
+    -P "${idf_path}/tools/cmake/run_size_tool.cmake"
+    DEPENDS ${mapfile}
+    USES_TERMINAL
+    VERBATIM
+)
+
+add_custom_target(size-files
+    COMMAND ${CMAKE_COMMAND}
+    -D "IDF_SIZE_TOOL=${idf_size}"
+    -D "IDF_SIZE_MODE=--files"
+    -D "MAP_FILE=${mapfile}"
+    -D "OUTPUT_JSON=${OUTPUT_JSON}"
+    -P "${idf_path}/tools/cmake/run_size_tool.cmake"
+    DEPENDS ${mapfile}
+    USES_TERMINAL
+    VERBATIM
+)
+
+add_custom_target(size-components
+    COMMAND ${CMAKE_COMMAND}
+    -D "IDF_SIZE_TOOL=${idf_size}"
+    -D "IDF_SIZE_MODE=--archives"
+    -D "MAP_FILE=${mapfile}"
+    -D "OUTPUT_JSON=${OUTPUT_JSON}"
+    -P "${idf_path}/tools/cmake/run_size_tool.cmake"
+    DEPENDS ${mapfile}
+    USES_TERMINAL
+    VERBATIM
+)
diff --git a/libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/CMakeLists.txt b/libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/CMakeLists.txt
@@ -122,3 +122,77 @@ target_link_libraries(${elf_file}
 idf_build_executable(${elf_file})
 
 set(CMAKE_EXPORT_COMPILE_COMMANDS 1)
+
+# Additional targets for measuring RAM use: size, size-components, size-files
+#   - Adapted from ${IDF_PATH}/tools/cmake/project.cmake
+#
+# Reference:
+#   - https://docs.espressif.com/projects/esp-idf/en/v5.0/esp32s3/api-guides/performance/size.html#minimizing-binary-size
+#
+# Usage:
+#   cd ./build/esp32s3xxx/esp-idf_build
+#   ninja -v -v size
+#
+set(mapfile "${CMAKE_BINARY_DIR}/${CMAKE_PROJECT_NAME}.map")
+# Add cross-reference table to the map file
+target_link_options(${elf_file} PRIVATE "-Wl,--cref")
+# Add this symbol as a hint for esp_idf_size to guess the target name
+target_link_options(${elf_file} PRIVATE "-Wl,--defsym=IDF_TARGET_${idf_target}=0")
+# Enable map file output
+target_link_options(${elf_file} PRIVATE "-Wl,--Map=${mapfile}")
+# Check if linker supports --no-warn-rwx-segments
+execute_process(COMMAND ${CMAKE_LINKER} "--no-warn-rwx-segments" "--version"
+    RESULT_VARIABLE result
+    OUTPUT_QUIET
+    ERROR_QUIET)
+if(${result} EQUAL 0)
+    # Do not print RWX segment warnings
+    target_link_options(${elf_file} PRIVATE "-Wl,--no-warn-rwx-segments")
+endif()
+if(CONFIG_ESP_ORPHAN_SECTION_WARNING)
+    # Print warnings if orphan sections are found
+    target_link_options(${elf_file} PRIVATE "-Wl,--orphan-handling=warn")
+endif()
+
+idf_build_get_property(idf_path IDF_PATH)
+idf_build_get_property(python PYTHON)
+
+set(idf_size ${python} -m esp_idf_size)
+
+# Add size targets, depend on map file, run esp_idf_size
+# OUTPUT_JSON is passed for compatibility reasons, SIZE_OUTPUT_FORMAT
+# environment variable is recommended and has higher priority
+add_custom_target(size
+    COMMAND ${CMAKE_COMMAND}
+    -D "IDF_SIZE_TOOL=${idf_size}"
+    -D "MAP_FILE=${mapfile}"
+    -D "OUTPUT_JSON=${OUTPUT_JSON}"
+    -P "${idf_path}/tools/cmake/run_size_tool.cmake"
+    DEPENDS ${mapfile}
+    USES_TERMINAL
+    VERBATIM
+)
+
+add_custom_target(size-files
+    COMMAND ${CMAKE_COMMAND}
+    -D "IDF_SIZE_TOOL=${idf_size}"
+    -D "IDF_SIZE_MODE=--files"
+    -D "MAP_FILE=${mapfile}"
+    -D "OUTPUT_JSON=${OUTPUT_JSON}"
+    -P "${idf_path}/tools/cmake/run_size_tool.cmake"
+    DEPENDS ${mapfile}
+    USES_TERMINAL
+    VERBATIM
+)
+
+add_custom_target(size-components
+    COMMAND ${CMAKE_COMMAND}
+    -D "IDF_SIZE_TOOL=${idf_size}"
+    -D "IDF_SIZE_MODE=--archives"
+    -D "MAP_FILE=${mapfile}"
+    -D "OUTPUT_JSON=${OUTPUT_JSON}"
+    -P "${idf_path}/tools/cmake/run_size_tool.cmake"
+    DEPENDS ${mapfile}
+    USES_TERMINAL
+    VERBATIM
+)