mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-19 23:28:32 -04:00
84f399ec3c
It both reduces flash size and move symbols to read-only sections.
The scheduler_tasks table is one known not to be in read-only section before due
to the FastDelegate implementation. Before and after this patch:
APMrover2 $ size APMrover2.elf{.old,}
text data bss dec hex filename
611406 4832 40920 657158 a0706 APMrover2.elf.old
609686 4824 38936 653446 9f886 APMrover2.elf
APMrover2 $ nm -C APMrover2.elf{.old,} |grep tasks
0000000000696f80 B Rover::scheduler_tasks
000000000047c440 R Rover::scheduler_tasks
As can be seen above, now the scheduler_tasks symbol is in a read-only data
section and in all of them we decreased the total size.
For APM2 we have a similar situation, but the table was already in text section
because it was using plain C pointers:
APMrover2 $ size APMrover2.elf{.old,}
text data bss dec hex filename
189518 1038 3494 194050 2f602 APMrover2.elf.old
189216 1038 3480 193734 2f4c6 APMrover2.elf
APMrover2 $ nm -C APMrover2.elf{.old,} |grep tasks
00001f92 T Rover::scheduler_tasks
00001f8a T Rover::scheduler_tasks
|
||
|---|---|---|
| .. | ||
| examples | ||
| utility | ||
| AnalogIn.h | ||
| AP_HAL_Boards.h | ||
| AP_HAL_Macros.h | ||
| AP_HAL_Namespace.h | ||
| AP_HAL.h | ||
| GPIO.h | ||
| HAL.h | ||
| I2CDriver.h | ||
| RCInput.h | ||
| RCOutput.h | ||
| Scheduler.h | ||
| Semaphores.h | ||
| SPIDriver.h | ||
| Storage.h | ||
| UARTDriver.cpp | ||
| UARTDriver.h | ||
| Util.cpp | ||
| Util.h | ||