mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-10-06 09:02:52 +08:00
Jacob Dahl
2ec03ff1c3
The commit hash compiled into px4_firmware_version_binary() changes its code size, so a PR with no code change reported -8 B on v6x and got a comment. Changes that only touch agent instructions also no longer build the targets. Assisted-by: Claude:claude-opus-5-5 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
91 lines
2.9 KiB
Python
91 lines
2.9 KiB
Python
#!/usr/bin/env python3
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"""Compare flash image and static RAM usage in bare-metal firmware ELFs."""
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import argparse
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import json
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import os
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from pathlib import Path
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import subprocess
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# The commit hash compiled into px4_firmware_version_binary() changes its code
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# size, so identical sources on two commits can differ by up to 16 B.
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MIN_REPORTED_DELTA = 30
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def memory_usage(elf: Path) -> dict[str, int]:
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# Sections rather than program headers: ld may map the ELF header into the
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# first LOAD segment, below the flash origin, depending on its page size.
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headers = subprocess.check_output(
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["arm-none-eabi-objdump", "--section-headers", "--wide", str(elf)],
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text=True,
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env={**os.environ, "LC_ALL": "C"},
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)
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image_start = None
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image_end = 0
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ram = 0
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for line in headers.splitlines():
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fields = line.split(maxsplit=7)
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if len(fields) < 8 or not fields[0].isdigit():
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continue
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size, vma, lma = (int(value, 16) for value in fields[2:5])
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flags = {flag.strip() for flag in fields[7].split(",")}
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if "ALLOC" not in flags or not size:
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continue
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in_image = {"LOAD", "CONTENTS"} <= flags
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if in_image:
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image_start = lma if image_start is None else min(image_start, lma)
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image_end = max(image_end, lma + size)
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# Only code and constants execute in place. Initialized data and RAM
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# functions are copied out of the image; NOLOAD sections reserve RAM.
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if not (in_image and vma == lma):
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ram += size
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if image_start is None:
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raise ValueError(f"{elf}: no flash load image found")
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# Include alignment gaps in the programmed image, as objcopy -O binary does.
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return {"flash": image_end - image_start, "ram": ram}
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def indicator(delta: int) -> str:
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if delta > 1000:
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return "🔴 "
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if delta > 100:
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return "🟡 "
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if delta < -100:
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return "🟢 "
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return ""
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def format_change(before: int, after: int) -> str:
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delta = after - before
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percentage = f"{delta / before:+.2%}" if before else "n/a"
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return f"{indicator(delta)}{delta:+,} B ({percentage})"
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def summarize(before: dict[str, int], after: dict[str, int]) -> dict:
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return {
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"flash": format_change(before["flash"], after["flash"]),
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"ram": format_change(before["ram"], after["ram"]),
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"changed": any(abs(after[key] - before[key]) >= MIN_REPORTED_DELTA
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for key in ("flash", "ram")),
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}
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def main():
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parser = argparse.ArgumentParser(description=__doc__)
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parser.add_argument("--before", type=Path, required=True)
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parser.add_argument("--after", type=Path, required=True)
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args = parser.parse_args()
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before = memory_usage(args.before)
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after = memory_usage(args.after)
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print(json.dumps(summarize(before, after)))
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if __name__ == "__main__":
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main()
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