forked from Archive/PX4-Autopilot
worst case analysis of stack usage (#7883)
* Makefile target "check_stack"
This commit is contained in:
Julien Lecoeur
Daniel Agar
parent
24ed06156e
commit
ceeae7587e
15
Makefile
15
Makefile
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@ -363,6 +363,21 @@ cppcheck: posix_sitl_default
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@cppcheck -i$(SRC_DIR)/src/examples --std=c++11 --std=c99 --std=posix --project=build_posix_sitl_default/compile_commands.json --xml-version=2 2> cppcheck-result.xml
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@cppcheck -i$(SRC_DIR)/src/examples --std=c++11 --std=c99 --std=posix --project=build_posix_sitl_default/compile_commands.json --xml-version=2 2> cppcheck-result.xml
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@cppcheck-htmlreport --source-encoding=ascii --file=cppcheck-result.xml --report-dir=cppcheck --source-dir=$(SRC_DIR)/src/
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@cppcheck-htmlreport --source-encoding=ascii --file=cppcheck-result.xml --report-dir=cppcheck --source-dir=$(SRC_DIR)/src/
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check_stack: px4fmu-v3_default
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@echo "Checking worst case stack usage with avstack.pl ..."
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@echo " "
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@cd build_px4fmu-v3_default/ && mkdir -p stack_usage && $(SRC_DIR)/Tools/stack_usage/avstack.pl `find . -name *.obj` > stack_usage/avstack_output.txt 2> stack_usage/avstack_errors.txt
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@head -n 10 build_px4fmu-v3_default/stack_usage/avstack_output.txt | c++filt
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@echo " "
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@echo "Checking worst case stack usage with checkstack.pl ..."
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@echo " "
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@echo "Top 10:"
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@cd build_px4fmu-v3_default/ && mkdir -p stack_usage && arm-none-eabi-objdump -d src/firmware/nuttx/firmware_nuttx | $(SRC_DIR)/Tools/stack_usage/checkstack.pl arm 0 > stack_usage/checkstack_output.txt 2> stack_usage/checkstack_errors.txt
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@head -n 10 build_px4fmu-v3_default/stack_usage/checkstack_output.txt | c++filt
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@echo " "
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@echo "Symbols with 'main', 'thread' or 'task':"
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@cat build_px4fmu-v3_default/stack_usage/checkstack_output.txt | c++filt | grep -E 'thread|main|task'
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# Cleanup
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# Cleanup
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# --------------------------------------------------------------------
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# --------------------------------------------------------------------
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.PHONY: clean submodulesclean distclean
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.PHONY: clean submodulesclean distclean
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@ -0,0 +1,251 @@
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#!/usr/bin/perl -w
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# avstack.pl: AVR stack checker
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# Copyright (C) 2013 Daniel Beer <dlbeer@gmail.com>
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#
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# Permission to use, copy, modify, and/or distribute this software for
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# any purpose with or without fee is hereby granted, provided that the
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# above copyright notice and this permission notice appear in all
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# copies.
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#
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# THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL
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# WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED
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# WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE
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# AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL
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# DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR
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# PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER
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# TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR
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# PERFORMANCE OF THIS SOFTWARE.
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#
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# Usage
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# -----
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#
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# This script requires that you compile your code with -fstack-usage.
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# This results in GCC generating a .su file for each .o file. Once you
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# have these, do:
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#
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# ./avstack.pl <object files>
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#
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# This will disassemble .o files to construct a call graph, and read
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# frame size information from .su. The call graph is traced to find, for
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# each function:
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#
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# - Call height: the maximum call height of any callee, plus 1
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# (defined to be 1 for any function which has no callees).
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#
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# - Inherited frame: the maximum *inherited* frame of any callee, plus
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# the GCC-calculated frame size of the function in question.
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#
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# Using these two pieces of information, we calculate a cost (estimated
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# peak stack usage) for calling the function. Functions are then listed
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# on stdout in decreasing order of cost.
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#
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# Functions which are recursive are marked with an 'R' to the left of
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# them. Their cost is calculated for a single level of recursion.
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#
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# The peak stack usage of your entire program can usually be estimated
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# as the stack cost of "main", plus the maximum stack cost of any
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# interrupt handler which might execute.
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use strict;
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# Configuration: set these as appropriate for your architecture/project.
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my $objdump = "arm-none-eabi-objdump";
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my $call_cost = 4;
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# First, we need to read all object and corresponding .su files. We're
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# gathering a mapping of functions to callees and functions to frame
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# sizes. We're just parsing at this stage -- callee name resolution
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# comes later.
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my %frame_size; # "func@file" -> size
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my %call_graph; # "func@file" -> {callees}
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my %addresses; # "addr@file" -> "func@file"
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my %global_name; # "func" -> "func@file"
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my %ambiguous; # "func" -> 1
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foreach (@ARGV) {
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# Disassemble this object file to obtain a callees. Sources in the
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# call graph are named "func@file". Targets in the call graph are
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# named either "offset@file" or "funcname". We also keep a list of
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# the addresses and names of each function we encounter.
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my $objfile = $_;
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my $source;
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open(DISASSEMBLY, "$objdump -dr $objfile|") ||
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die "Can't disassemble $objfile";
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while (<DISASSEMBLY>) {
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chomp;
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if (/^([0-9a-fA-F]+) <(.*)>:/) {
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my $a = $1;
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my $name = $2;
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$source = "$name\@$objfile";
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$call_graph{$source} = {};
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$ambiguous{$name} = 1 if defined($global_name{$name});
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$global_name{$name} = "$name\@$objfile";
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$a =~ s/^0*//;
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$addresses{"$a\@$objfile"} = "$name\@$objfile";
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}
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if (/: R_[A-Za-z0-9_]+_CALL[ \t]+(.*)/) {
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my $t = $1;
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if ($t eq ".text") {
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$t = "\@$objfile";
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} elsif ($t =~ /^\.text\+0x(.*)$/) {
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$t = "$1\@$objfile";
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}
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$call_graph{$source}->{$t} = 1;
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}
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}
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close(DISASSEMBLY);
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# Extract frame sizes from the corresponding .su file.
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if ($objfile =~ /^(.*).obj$/) {
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my $sufile = "$1.su";
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open(SUFILE, "<$sufile") || die "Can't open $sufile";
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while (<SUFILE>) {
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$frame_size{"$1\@$objfile"} = $2 + $call_cost
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if /^.*:([^\t ]+)[ \t]+([0-9]+)/;
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}
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close(SUFILE);
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}
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}
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# In this step, we enumerate each list of callees in the call graph and
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# try to resolve the symbols. We omit ones we can't resolve, but keep a
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# set of them anyway.
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my %unresolved;
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foreach (keys %call_graph) {
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my $from = $_;
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my $callees = $call_graph{$from};
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my %resolved;
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foreach (keys %$callees) {
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my $t = $_;
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if (defined($addresses{$t})) {
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$resolved{$addresses{$t}} = 1;
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} elsif (defined($global_name{$t})) {
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$resolved{$global_name{$t}} = 1;
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warn "Ambiguous resolution: $t" if defined ($ambiguous{$t});
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} elsif (defined($call_graph{$t})) {
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$resolved{$t} = 1;
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} else {
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$unresolved{$t} = 1;
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}
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}
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$call_graph{$from} = \%resolved;
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}
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# Create fake edges and nodes to account for dynamic behaviour.
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$call_graph{"INTERRUPT"} = {};
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foreach (keys %call_graph) {
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$call_graph{"INTERRUPT"}->{$_} = 1 if /^__vector_/;
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}
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# Trace the call graph and calculate, for each function:
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#
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# - inherited frames: maximum inherited frame of callees, plus own
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# frame size.
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# - height: maximum height of callees, plus one.
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# - recursion: is the function called recursively (including indirect
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# recursion)?
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my %has_caller;
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my %visited;
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my %total_cost;
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my %call_depth;
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sub trace {
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my $f = shift;
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if ($visited{$f}) {
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$visited{$f} = "R" if $visited{$f} eq "?";
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return;
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}
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$visited{$f} = "?";
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my $max_depth = 0;
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my $max_frame = 0;
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my $targets = $call_graph{$f} || die "Unknown function: $f";
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if (defined($targets)) {
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foreach (keys %$targets) {
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my $t = $_;
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$has_caller{$t} = 1;
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trace($t);
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my $is = $total_cost{$t};
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my $d = $call_depth{$t};
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$max_frame = $is if $is > $max_frame;
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$max_depth = $d if $d > $max_depth;
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}
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}
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$call_depth{$f} = $max_depth + 1;
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$total_cost{$f} = $max_frame + ($frame_size{$f} || 0);
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$visited{$f} = " " if $visited{$f} eq "?";
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}
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foreach (keys %call_graph) { trace $_; }
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# Now, print results in a nice table.
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printf " %-30s %8s %8s %8s\n",
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"Func", "Cost", "Frame", "Height";
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print "------------------------------------";
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print "------------------------------------\n";
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my $max_iv = 0;
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my $main = 0;
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foreach (sort { $total_cost{$b} <=> $total_cost{$a} } keys %visited) {
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my $name = $_;
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if (/^(.*)@(.*)$/) {
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$name = $1 unless $ambiguous{$name};
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}
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my $tag = $visited{$_};
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my $cost = $total_cost{$_};
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$name = $_ if $ambiguous{$name};
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$tag = ">" unless $has_caller{$_};
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if (/^__vector_/) {
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$max_iv = $cost if $cost > $max_iv;
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} elsif (/^main@/) {
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$main = $cost;
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}
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if ($ambiguous{$name}) { $name = $_; }
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printf "%s %-30s %8d %8d %8d\n", $tag, $name, $cost,
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$frame_size{$_} || 0, $call_depth{$_};
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}
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print "\n";
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print "Peak execution estimate (main + worst-case IV):\n";
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printf " main = %d, worst IV = %d, total = %d\n",
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$total_cost{$global_name{"main"}},
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$total_cost{"INTERRUPT"},
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$total_cost{$global_name{"main"}} + $total_cost{"INTERRUPT"};
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print "\n";
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print "The following functions were not resolved:\n";
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foreach (keys %unresolved) { print " $_\n"; }
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@ -0,0 +1,154 @@
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#!/usr/bin/perl
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# Stolen from Linux kernel :)
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# borrowed from busybox and modified by:
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# Maciek Borzecki <maciek.borzecki@gmail.com>
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# Check the stack usage of functions
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#
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# Copyright Joern Engel <joern@wh.fh-wedel.de>
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# Inspired by Linus Torvalds
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# Original idea maybe from Keith Owens
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# s390 port and big speedup by Arnd Bergmann <arnd@bergmann-dalldorf.de>
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# Mips port by Juan Quintela <quintela@mandrakesoft.com>
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# IA64 port via Andreas Dilger
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# Arm port by Holger Schurig
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# sh64 port by Paul Mundt
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# Random bits by Matt Mackall <mpm@selenic.com>
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# M68k port by Geert Uytterhoeven and Andreas Schwab
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#
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# Usage:
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# objdump -d vmlinux | checkstack.pl [arch] [threshold]
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#
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# TODO : Port to all architectures (one regex per arch)
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# modifications to version from busybox:
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# 1. fix regex for ARM sp, Rd may not be included
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# 2. add threshold parameter
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# check for arch
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#
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# $re is used for two matches:
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# $& (whole re) matches the complete objdump line with the stack growth
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# $1 (first bracket) matches the size of the stack growth
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#
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# use anything else and feel the pain ;)
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my (@stack, $re, $x, $xs, $thresh);
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{
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my $arch = shift;
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if ($arch eq "") {
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$arch = `uname -m`;
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}
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$thresh = shift;
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if ($thresh eq "") {
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$thresh = 100;
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}
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$x = "[0-9a-f]"; # hex character
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$xs = "[0-9a-f ]"; # hex character or space
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if ($arch eq 'arm') {
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#c0008ffc: e24dd064 sub sp, sp, #100 ; 0x64
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# or without Rd
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#800362e: b082 sub sp, #8
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$re = qr/.*sub.*(?:sp, )?sp, #([0-9]+)/o;
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} elsif ($arch eq 'blackfin') {
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# 52: 00 e8 03 00 LINK 0xc;
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$re = qr/.*LINK (0x$x{1,5});$/o;
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} elsif ($arch =~ /^i[3456]86$/) {
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#c0105234: 81 ec ac 05 00 00 sub $0x5ac,%esp
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$re = qr/^.*[as][du][db] \$(0x$x{1,8}),\%esp$/o;
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} elsif ($arch eq 'x86_64') {
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# 2f60: 48 81 ec e8 05 00 00 sub $0x5e8,%rsp
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$re = qr/^.*[as][du][db] \$(0x$x{1,8}),\%rsp$/o;
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} elsif ($arch eq 'ia64') {
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#e0000000044011fc: 01 0f fc 8c adds r12=-384,r12
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$re = qr/.*adds.*r12=-(([0-9]{2}|[3-9])[0-9]{2}),r12/o;
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} elsif ($arch eq 'm68k') {
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# 2b6c: 4e56 fb70 linkw %fp,#-1168
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# 1df770: defc ffe4 addaw #-28,%sp
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$re = qr/.*(?:linkw %fp,|addaw )#-([0-9]{1,4})(?:,%sp)?$/o;
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} elsif ($arch eq 'mips64') {
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#8800402c: 67bdfff0 daddiu sp,sp,-16
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$re = qr/.*daddiu.*sp,sp,-(([0-9]{2}|[3-9])[0-9]{2})/o;
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} elsif ($arch eq 'mips') {
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#88003254: 27bdffe0 addiu sp,sp,-32
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||||||
|
$re = qr/.*addiu.*sp,sp,-(([0-9]{2}|[3-9])[0-9]{2})/o;
|
||||||
|
} elsif ($arch eq 'ppc') {
|
||||||
|
#c00029f4: 94 21 ff 30 stwu r1,-208(r1)
|
||||||
|
$re = qr/.*stwu.*r1,-($x{1,8})\(r1\)/o;
|
||||||
|
} elsif ($arch eq 'ppc64') {
|
||||||
|
#XXX
|
||||||
|
$re = qr/.*stdu.*r1,-($x{1,8})\(r1\)/o;
|
||||||
|
} elsif ($arch eq 'powerpc') {
|
||||||
|
$re = qr/.*st[dw]u.*r1,-($x{1,8})\(r1\)/o;
|
||||||
|
} elsif ($arch =~ /^s390x?$/) {
|
||||||
|
# 11160: a7 fb ff 60 aghi %r15,-160
|
||||||
|
$re = qr/.*ag?hi.*\%r15,-(([0-9]{2}|[3-9])[0-9]{2})/o;
|
||||||
|
} elsif ($arch =~ /^sh64$/) {
|
||||||
|
#XXX: we only check for the immediate case presently,
|
||||||
|
# though we will want to check for the movi/sub
|
||||||
|
# pair for larger users. -- PFM.
|
||||||
|
#a00048e0: d4fc40f0 addi.l r15,-240,r15
|
||||||
|
$re = qr/.*addi\.l.*r15,-(([0-9]{2}|[3-9])[0-9]{2}),r15/o;
|
||||||
|
} else {
|
||||||
|
print("wrong or unknown architecture\n");
|
||||||
|
exit
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
sub bysize($) {
|
||||||
|
my ($asize, $bsize);
|
||||||
|
($asize = $a) =~ s/.*: *(.*)$/$1/;
|
||||||
|
($bsize = $b) =~ s/.*: *(.*)$/$1/;
|
||||||
|
$bsize <=> $asize
|
||||||
|
}
|
||||||
|
|
||||||
|
#
|
||||||
|
# main()
|
||||||
|
#
|
||||||
|
my $funcre = qr/^$x* <(.*)>:$/;
|
||||||
|
my $func;
|
||||||
|
my $file, $lastslash;
|
||||||
|
|
||||||
|
while (my $line = <STDIN>) {
|
||||||
|
if ($line =~ m/$funcre/) {
|
||||||
|
$func = $1;
|
||||||
|
}
|
||||||
|
elsif ($line =~ m/(.*):\s*file format/) {
|
||||||
|
$file = $1;
|
||||||
|
$file =~ s/\.ko//;
|
||||||
|
$lastslash = rindex($file, "/");
|
||||||
|
if ($lastslash != -1) {
|
||||||
|
$file = substr($file, $lastslash + 1);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
elsif ($line =~ m/$re/) {
|
||||||
|
my $size = $1;
|
||||||
|
$size = hex($size) if ($size =~ /^0x/);
|
||||||
|
|
||||||
|
if ($size > 0xf0000000) {
|
||||||
|
$size = - $size;
|
||||||
|
$size += 0x80000000;
|
||||||
|
$size += 0x80000000;
|
||||||
|
}
|
||||||
|
next if ($size > 0x10000000);
|
||||||
|
|
||||||
|
next if $line !~ m/^($xs*)/;
|
||||||
|
my $addr = $1;
|
||||||
|
$addr =~ s/ /0/g;
|
||||||
|
$addr = "0x$addr";
|
||||||
|
|
||||||
|
# bbox: was: my $intro = "$addr $func [$file]:";
|
||||||
|
my $intro = "$func [$file]:";
|
||||||
|
my $padlen = 56 - length($intro);
|
||||||
|
while ($padlen > 0) {
|
||||||
|
$intro .= ' ';
|
||||||
|
$padlen -= 8;
|
||||||
|
}
|
||||||
|
next if ($size < $thresh);
|
||||||
|
push @stack, "$intro$size\n";
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
print sort bysize @stack;
|
||||||
|
|
@ -573,10 +573,12 @@ function(px4_os_add_flags)
|
||||||
set(added_c_flags
|
set(added_c_flags
|
||||||
-nodefaultlibs
|
-nodefaultlibs
|
||||||
-nostdlib
|
-nostdlib
|
||||||
|
-fstack-usage
|
||||||
)
|
)
|
||||||
set(added_cxx_flags
|
set(added_cxx_flags
|
||||||
-nodefaultlibs
|
-nodefaultlibs
|
||||||
-nostdlib
|
-nostdlib
|
||||||
|
-fstack-usage
|
||||||
)
|
)
|
||||||
|
|
||||||
set(added_optimization_flags)
|
set(added_optimization_flags)
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue