jlaitine opened a new pull request, #19061:
URL: https://github.com/apache/nuttx/pull/19061
## Summary
Here is one proposal, how we could save a bit of flash on small systems.
First commit (not too significant one) doesn't change functionality, just
cleans up a tiny amount of flash (64 bytes on 32-bit arm) by removing a
duplicate string and an extra function call. The duplicate string was not
cleaned up by linker because the string was only *almost* the same, the other
one had one extra space.
The second one adds two new CONFIG flags giving more granularity to
configure what to dump at crash:
CONFIG_SCHED_DUMP_STACK : Output stack dump at crash, consumes ~1kB flash (
If disabled, it still dumps the current stack, irq stack and kernel stack base
and size )
CONFIG_SCHED_DUMP_TASKS : Output tasks dump at crash, consumes ~0.5kB flash
By removing these two, 1.6kB can be saved in flash size.
Both flags are defined !CONFIG_DEFAULT_SMALL, so with normal configurations
the functionality is unchanged.
## Impact
Impacts boards definining CONFIG_BUILD_SMALL, reducing flash consumption and
output of kernel panic dump by default. On these systems, restoring the
original panic dump would require adding CONFIG_SCHED_DUMP_STACK=y,
CONFIG_SCHED_DUMP_TASKS=y to the defconfig.
## Testing
Tested on stm32-f765II (pixhawk4 board)
With both the new flags disabled, the crash dump looks like this:
```
Hard Fault escalation:
PANIC!!! Hard Fault!:
IRQ: 3 regs: 0x2007dac8
BASEPRI: 00000080 PRIMASK: 00000000 IPSR: 00000003 CONTROL: 00000000
CFSR: 00008200 HFSR: 40000000 DFSR: 00000000 BFAR: 0000016c AFSR:
00000000
Hard Fault Reason:
Current Version: NuttX 12.12.0 97e9848b92 Jun 8 2026 13:41:23 arm
Assertion failed panic: at file: :0 task: px4_entry process: px4_entry
0x8100039
R0: 00000000 R1: 00000000 R2: 00000080 R3: 00000000
R4: 00000000 R5: 00000000 R6: 00000220 FP: 00000000
R8: 00000220 SB: 00000260 SL: 00000020 R11: 00000000
IP: 00000000 SP: 2007dba0 LR: 0801c345 PC: 0801c348
xPSR: 61000000 BASEPRI: 00000080 CONTROL: 00000000
EXC_RETURN: ffffffed
IRQ Stack: base: 0x200212c0 size: 768
User Stack: base: 0x2007d110 size: 3152
```
With CONFIG_SCHED_DUMP_TASKS=y, CONFIG_SCHED_DUMP_STACK=n:
```
Hard Fault escalation:
PANIC!!! Hard Fault!:
IRQ: 3 regs: 0x2007dac8
BASEPRI: 00000080 PRIMASK: 00000000 IPSR: 00000003 CONTROL: 00000000
CFSR: 00008200 HFSR: 40000000 DFSR: 00000000 BFAR: 0000016c AFSR:
00000000
Hard Fault Reason:
Current Version: NuttX 12.12.0 648d0d828a Jun 8 2026 14:57:34 arm
Assertion failed panic: at file: :0 task: px4_entry process: px4_entry
0x8100039
R0: 00000000 R1: 00000000 R2: 00000080 R3: 00000000
R4: 00000000 R5: 00000000 R6: 00000220 FP: 00000000
R8: 00000220 SB: 00000260 SL: 00000020 R11: 00000000
IP: 00000000 SP: 2007dba0 LR: 0801c595 PC: 0801c598
xPSR: 61000000 BASEPRI: 00000080 CONTROL: 00000000
EXC_RETURN: ffffffed
IRQ Stack: base: 0x200212c0 size: 768
User Stack: base: 0x2007d110 size: 3152
PID GROUP PRI POLICY TYPE NPX STATE EVENT SIGMASK
STACKBASE STACKSIZE USED FILLED COMMAND
---- --- --- -------- ------- --- ------- ---------- ----------------
0x200212c0 768 600 78.1% irq
0 0 0 FIFO Kthread - Ready 0000000000000000
0x2002b3cc 734 472 64.3% Idle_Task
1 0 249 FIFO Kthread - Waiting Semaphore 0000000000000000
0x20041988 1216 336 27.6% hpwork 0x20020b88 0x20020bd8
2 0 50 FIFO Kthread - Waiting Semaphore 0000000000000000
0x20041f80 1568 336 21.4% lpwork 0x20020b18 0x20020b68
3 3 100 FIFO Task - Waiting Semaphore 0000000000000000
0x2007c498 2016 336 16.6% uwork
4 4 100 FIFO Task - Running 0000000000000000
0x2007d110 3152 776 24.6% px4_entry
5 0 255 FIFO Kthread - Waiting Semaphore 0000000000000000
0x200430b0 1240 344 27.7% wq:manager
6 0 205 FIFO Kthread - Waiting Semaphore 0000000000000000
0x200436b8 3440 448 13.0% wq:lp_default 80f6350
```
Ad the current functionality, both flags = y:
```
Hard Fault escalation:
PANIC!!! Hard Fault!:
IRQ: 3 regs: 0x2007dac8
BASEPRI: 00000080 PRIMASK: 00000000 IPSR: 00000003 CONTROL: 00000000
CFSR: 00008200 HFSR: 40000000 DFSR: 00000000 BFAR: 0000016c AFSR:
00000000
Hard Fault Reason:
Current Version: NuttX 12.12.0 648d0d828a Jun 8 2026 15:04:19 arm
Assertion failed panic: at file: :0 task: px4_entry process: px4_entry
0x8100039
R0: 00000000 R1: 00000000 R2: 00000080 R3: 00000000
R4: 00000000 R5: 00000000 R6: 00000220 FP: 00000000
R8: 00000220 SB: 00000260 SL: 00000020 R11: 00000000
IP: 00000000 SP: 2007dba0 LR: 0801c715 PC: 0801c718
xPSR: 61000000 BASEPRI: 00000080 CONTROL: 00000000
EXC_RETURN: ffffffed
User Stack:
base: 0x2007d110
size: 00003152
sp: 0x2007dba0
0x2007db80: 00000000 00000000 00000000 00000000 00000000 00000000 00000000
0800eef9
0x2007dba0: 00000260 00000000 00000220 0801c74d 00000088 2007e2b0 00000220
080b3497
0x2007dbc0: 00000088 2007e2b0 2007dc40 2007e2b4 00000220 00000000 00000000
080b341f
0x2007dbe0: 00000088 080b2499 2002641c 00000000 080f7dcc 00000000 080b2389
080f7dcc
0x2007dc00: 00000000 080b251d 00000003 2007dc40 00000001 080b2e1b 00000000
00000000
0x2007dc20: 00000000 2007e2b0 00000000 00000003 080fe28c 08008000 080fe218
080a75f3
0x2007dc40: 000009b4 00000000 696e6906 6c616974 64657a69 524f7520 6f6c2042
6e696767
0x2007dc60: 00000067 00000000 00000000 00000000 00000000 00000000 00000000
00000000
0x2007dc80: 00000000 00000000 00000000 00000000 00000000 00000000 00000000
00000000
0x2007dca0: 00000000 00000000 00000000 00000000 00000000 00000000 00000000
00000000
0x2007dcc0: 00000000 00000000 00000003 080aa097 00000000 00000001 40021800
00000000
0x2007dce0: 2007d0f8 2007d0f8 00000000 080a91b1 00000000 00000000 00000000
00000000
0x2007dd00: 00000000 00000000 2007d0f8 0800aaa9 00000001 08009e33 00000001
2007d0f8
0x2007dd20: 2007d0f8 08100049 00000018 00000000 00000001 08100039 00000001
08104719
0x2007dd40: 2007d0f8 0801928b 08100039 0801928b 00000000 00000000 00000000
00000000
0x2007dd60: 00000000 00000000 00000000 00000000 00000000 00000000 00000000
00000000
PID GROUP PRI POLICY TYPE NPX STATE EVENT SIGMASK
STACKBASE STACKSIZE USED FILLED COMMAND
---- --- --- -------- ------- --- ------- ---------- ----------------
0x200212c0 768 656 85.4%! irq
0 0 0 FIFO Kthread - Ready 0000000000000000
0x2002b3cc 734 472 64.3% Idle_Task
1 0 249 FIFO Kthread - Waiting Semaphore 0000000000000000
0x20041988 1216 336 27.6% hpwork 0x20020b88 0x20020bd8
2 0 50 FIFO Kthread - Waiting Semaphore 0000000000000000
0x20041f80 1568 336 21.4% lpwork 0x20020b18 0x20020b68
3 3 100 FIFO Task - Waiting Semaphore 0000000000000000
0x2007c498 2016 336 16.6% uwork
4 4 100 FIFO Task - Running 0000000000000000
0x2007d110 3152 776 24.6% px4_entry
5 0 255 FIFO Kthread - Waiting Semaphore 0000000000000000
0x200430b0 1240 344 27.7% wq:manager
6 0 205 FIFO Kthread - Waiting Semaphore 0000000000000000
0x200436b8 3440 448 13.0% wq:lp_default 80f6528
```
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