cortexm: optimize code size for the HardFault_Handler #3681

aykevl · 2023-04-26T21:51:54Z

This function is called when a hard fault occurs. Hard faults happen when something really bad happens - like writing to unwritable memory or an unaligned memory access on Cortex-M0. It is not generally possible to recover from these.

This commit optimizes the code size overhead of hard fault handling:

It removes the stack overflow checking code. This may seem like a bad thing, but the only thing this could check were stack overflows outside goroutines. In practice, this could only really happen on a stack overflow in the scheduler (unlikely), or in interrupt code (possible, but interrupts are small so still unlikely). Most stack overflows happen in regular goroutines, and weren't caught in the HardFault.
It makes the panic message similar to a regular panic. This has two advantages:
- It reduces code size, because the string can be reused between the HardFault handler and the runtime panic function.
- Using the same pattern automatically makes -monitor print the source address for the hard fault. Not a big benefit as we could trivially add any other pattern but a nice benefit nonetheless.

Result:

$ tinygo flash -target=microbit -size=short -programmer=openocd -monitor examples/serial
   code    data     bss |   flash     ram
   3036       8    2256 |    3044    2264
[...snip]
Connected to /dev/ttyACM0. Press Ctrl-C to exit.
panic: runtime error at 0x00000344: HardFault with sp=0x200007d0
[tinygo: panic at /home/ayke/src/tinygo/tinygo/src/internal/task/task_stack_cortexm.go:48:4]

Previously it would just print the hardfault addresses without source location.

(This is with #3680 not yet fixed and some local changes to configure the UART so I can actually see the panic).

For atsamd21/nrf51 chips this results in a binary size reduction of around 100 bytes. For other Cortex-M chips it's around 24 bytes but I hope to change this in the future because a lot of the fault decoding in runtime_cortexm_hardfault_debug.go should IMHO be done by the TinyGo monitor instead (I estimate that this would save around 800 bytes on these chips).

deadprogram · 2023-04-26T22:48:01Z

Looks like "real" CI failure here https://app.circleci.com/pipelines/github/tinygo-org/tinygo/9517/workflows/3c85e9d4-e599-4624-828c-400a0ae7ea16/jobs/40570?invite=true#step-118-15

aykevl · 2023-04-27T00:42:26Z

Oh I forgot, this needs a special case for LLVM 14. That, or we need to drop support for LLVM 14.

I think I'd wait with this until we drop support for LLVM 14.

deadprogram · 2024-12-07T09:33:41Z

Hi @aykevl we dropped support for LLVM 14 a while ago. Is this PR still valid?

This function is called when a hard fault occurs. Hard faults happen when something really bad happens - like writing to unwritable memory or an unaligned memory access on Cortex-M0. It is not generally possible to recover from these. This commit optimizes the code size overhead of hard fault handling: * It removes the stack overflow checking code. This may seem like a bad thing, but the only thing this could check were stack overflows outside goroutines. In practice, this could only really happen on a stack overflow in the scheduler (unlikely), or in interrupt code (possible, but interrupts are small so still unlikely). Most stack overflows happen in regular goroutines, and weren't caught in the HardFault. * It makes the panic message similar to a regular panic. This has two advantages: * It reduces code size, because the string can be reused between the HardFault handler and the runtime panic function. * Using the same pattern automatically makes `-monitor` print the source address for the hard fault. Not a big benefit as we could trivially add any other pattern but a nice benefit nonetheless. Result: $ tinygo flash -target=microbit -size=short -programmer=openocd -monitor examples/serial code data bss | flash ram 3036 8 2256 | 3044 2264 [...snip] Connected to /dev/ttyACM0. Press Ctrl-C to exit. panic: runtime error at 0x00000344: HardFault with sp=0x200007d0 [tinygo: panic at /home/ayke/src/tinygo/tinygo/src/internal/task/task_stack_cortexm.go:48:4] (This is with #3680 not yet fixed and some local changes to configure the UART so I can actually see the panic). For atsamd21/nrf51 chips this results in a binary size reduction of around 100 bytes. For other Cortex-M chips it's around 24 bytes but I hope to change this in the future because a lot of the fault decoding in runtime_cortexm_hardfault_debug.go should IMHO be done by the TinyGo monitor instead (I estimate that this would save around 800 bytes on these chips).

aykevl · 2025-10-03T08:47:07Z

This still seems like a good idea to me. It reduces code size a little, and removes an unnecessary assembly function (now replaced with llvm.sponentry.p0()).

Rebased etc to run CI and make it ready for merge.

github-actions · 2025-10-03T09:05:54Z

Size difference with the dev branch:

Binary size difference

not the same command!
    tinygo build -size short -o ./build/test.hex -target=feather-rp2040 ./examples/adafruit4650
    go: downloading tinygo.org/x/tinyfont v0.3.0
not the same command!
    tinygo build -size short -o ./build/test.hex -target=pico ./examples/tmc5160/main.go
    go: downloading github.com/orsinium-labs/tinymath v1.1.0
not the same command!
    tinygo build -size short -o ./build/test.hex -target=nano-rp2040 -stack-size 8kb ./examples/net/websocket/dial/
    go: downloading golang.org/x/net v0.33.0
not the same command!
    tinygo build -size short -o ./build/test.hex -target=nano-rp2040 -stack-size 8kb ./examples/net/mqttclient/natiu/
    go: downloading github.com/soypat/natiu-mqtt v0.5.1
not the same command!
    tinygo build -size short -o ./build/test.hex -target=wioterminal -stack-size 8kb ./examples/net/mqttclient/paho/
    go: downloading github.com/eclipse/paho.mqtt.golang v1.2.0
 flash                          ram
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  12472   12444    -28  -0.22%    4544    4544      0   0.00% tinygo build -size short -o ./build/test.uf2 -target=nicenano ./examples/sharpmem/main.go
  71564   71540    -24  -0.03%    3656    3656      0   0.00% tinygo build -size short -o ./build/test.hex -target=pinetime     ./examples/bma42x/main.go
  14784   14760    -24  -0.16%    6580    6580      0   0.00% tinygo build -size short -o ./build/test.hex -target=nano-33-ble ./examples/hts221/main.go
  27332   27308    -24  -0.09%    5812    5812      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit-v2 ./examples/microbitmatrix/main.go
   8224    8200    -24  -0.29%    6788    6788      0   0.00% tinygo build -size short -o ./build/test.hex -target=pybadge ./examples/shifter/main.go
  63096   63072    -24  -0.04%    5948    5948      0   0.00% tinygo build -size short -o ./build/test.hex -target=feather-nrf52840 ./examples/is31fl3731/main.go
  13252   13228    -24  -0.18%    4936    4936      0   0.00% tinygo build -size short -o ./build/test.hex -target=nucleo-wl55jc ./examples/sx126x/lora_rxtx/
 122176  122152    -24  -0.02%    8068    8068      0   0.00% tinygo build -size short -o ./build/test.hex -target=nucleo-wl55jc ./examples/lora/lorawan/atcmd/
  60640   60616    -24  -0.04%    5968    5968      0   0.00% tinygo build -size short -o ./build/test.hex -target=feather-nrf52840 ./examples/max6675/main.go
 116732  116708    -24  -0.02%   13296   13296      0   0.00% tinygo build -size short -o ./build/test.hex -target=wioterminal -stack-size 8kb ./examples/net/webclient/
 338128  338104    -24  -0.01%   21740   21740      0   0.00% tinygo build -size short -o ./build/test.hex -target=wioterminal -stack-size 8kb ./examples/net/mqttclient/paho/
  18480   18472     -8  -0.04%    6236    6236      0   0.00% tinygo build -size short -o ./build/test.hex -target=feather-rp2040 ./examples/adafruit4650
  14076   14068     -8  -0.06%    5416    5416      0   0.00% tinygo build -size short -o ./build/test.hex -target=pico ./examples/pca9685/main.go
  12460   12452     -8  -0.06%    5392    5392      0   0.00% tinygo build -size short -o ./build/test.hex -target=feather-rp2040 ./examples/seesaw/soil-sensor
  13720   13712     -8  -0.06%    5400    5400      0   0.00% tinygo build -size short -o ./build/test.hex -target=qtpy-rp2040 ./examples/seesaw/rotary-encoder
  15780   15772     -8  -0.05%    5464    5464      0   0.00% tinygo build -size short -o ./build/test.hex -target=pico     ./examples/sgp30
  13128   13120     -8  -0.06%    5344    5344      0   0.00% tinygo build -size short -o ./build/test.hex -target=xiao-rp2040 ./examples/ssd1306/
  13172   13164     -8  -0.06%    5344    5344      0   0.00% tinygo build -size short -o ./build/test.hex -target=thumby ./examples/ssd1306/
  12624   12616     -8  -0.06%    5404    5404      0   0.00% tinygo build -size short -o ./build/test.hex -target=pico ./examples/touch/capacitive
  27956   27948     -8  -0.03%   18476   18476      0   0.00% tinygo build -size short -o ./build/test.hex -target=pico ./examples/waveshare-epd/epd2in66b/main.go
  37720   37712     -8  -0.02%    6048    6048      0   0.00% tinygo build -size short -o ./build/test.hex -target=feather-rp2040 ./examples/pcf8523/
  14100   14092     -8  -0.06%    5368    5368      0   0.00% tinygo build -size short -o ./build/test.hex -target=pico ./examples/qmi8658c/main.go
  12632   12624     -8  -0.06%    5352    5352      0   0.00% tinygo build -size short -o ./build/test.hex -target=feather-rp2040 ./examples/pcf8591/
  10800   10792     -8  -0.07%    5340    5340      0   0.00% tinygo build -size short -o ./build/test.uf2 -target=pico ./examples/xpt2046/main.go
  33352   33344     -8  -0.02%    6796    6796      0   0.00% tinygo build -size short -o ./build/test.uf2 -target=pico ./examples/ssd1289/main.go
  13020   13012     -8  -0.06%    6308    6308      0   0.00% tinygo build -size short -o ./build/test.hex -target=pico ./examples/irremote/main.go
  13832   13824     -8  -0.06%    5384    5384      0   0.00% tinygo build -size short -o ./build/test.hex -target=badger2040 ./examples/uc8151/main.go
  12312   12304     -8  -0.06%    5412    5412      0   0.00% tinygo build -size short -o ./build/test.uf2 -target=pico ./examples/scd4x/main.go
  17860   17852     -8  -0.04%    7012    7012      0   0.00% tinygo build -size short -o ./build/test.uf2 -target=pico ./examples/as560x/main.go
  11680   11672     -8  -0.07%    5360    5360      0   0.00% tinygo build -size short -o ./build/test.uf2 -target=pico ./examples/mpu6886/main.go
  69072   69064     -8  -0.01%    6892    6892      0   0.00% tinygo build -size short -o ./build/test.hex -target=pico ./examples/ndir/main_ndir.go
  11128   11120     -8  -0.07%    5352    5352      0   0.00% tinygo build -size short -o ./build/test.uf2 -target=pico ./examples/mpu9150/main.go
  13408   13400     -8  -0.06%    5388    5388      0   0.00% tinygo build -size short -o ./build/test.hex -target=macropad-rp2040 ./examples/sh1106/macropad_spi
  10156   10148     -8  -0.08%    5824    5824      0   0.00% tinygo build -size short -o ./build/test.hex -target=macropad-rp2040 ./examples/encoders/quadrature-interrupt
  68576   68568     -8  -0.01%    6860    6860      0   0.00% tinygo build -size short -o ./build/test.uf2 -target=pico ./examples/mcp9808/main.go
  44192   44184     -8  -0.02%    7144    7144      0   0.00% tinygo build -size short -o ./build/test.uf2 -target=pico ./examples/tmc2209/main.go
  15092   15084     -8  -0.05%    5348    5348      0   0.00% tinygo build -size short -o ./build/test.hex -target=pico ./examples/tmc5160/main.go
  14748   14740     -8  -0.05%    5408    5408      0   0.00% tinygo build -size short -o ./build/test.hex -target=pico ./examples/ens160/main.go
  88224   88216     -8  -0.01%    7260    7260      0   0.00% tinygo build -size short -o ./build/test.hex -target=challenger-rp2040 ./examples/net/ntpclient/
 308248  308240     -8  -0.00%   15924   15924      0   0.00% tinygo build -size short -o ./build/test.hex -target=nano-rp2040 -stack-size 8kb ./examples/net/websocket/dial/
 155780  155772     -8  -0.01%    8812    8812      0   0.00% tinygo build -size short -o ./build/test.hex -target=nano-rp2040 -stack-size 8kb ./examples/net/mqttclient/natiu/
 174588  174580     -8  -0.00%   13840   13840      0   0.00% tinygo build -size short -o ./build/test.hex -target=elecrow-rp2040 -stack-size 8kb ./examples/net/tlsclient/
   2841    2841      0   0.00%     558     558      0   0.00% tinygo build -size short -o ./build/test.hex -target=arduino ./examples/servo
   5622    5622      0   0.00%    9538    9538      0   0.00% '-xesppie' is not a recognized feature for this target (ignoring feature)
   1581    1581      0   0.00%     598     598      0   0.00% tinygo build -size short -o ./build/test.hex -target=arduino   ./examples/ws2812
   1056    1056      0   0.00%     180     180      0   0.00% tinygo build -size short -o ./build/test.hex -target=digispark ./examples/ws2812
   6796    6796      0   0.00%    2272    2272      0   0.00% '-xesppie' is not a recognized feature for this target (ignoring feature)
6254988 6246064  -8924  -0.00%  963434  963434      0   0.00%

aykevl · 2025-10-03T09:24:10Z

Oooh code size changes (see above comment) are looking good! No regressions, and most programs get at least a little bit smaller.

deadprogram · 2025-10-03T11:20:13Z

I've been waiting a while for this @aykevl thanks for getting it finished! Now merging.

aykevl marked this pull request as draft April 27, 2023 00:43

aykevl force-pushed the cortexm-optimize-HardFault branch from df3afed to a572b54 Compare October 3, 2025 08:46

aykevl marked this pull request as ready for review October 3, 2025 08:46

deadprogram merged commit 0a87846 into dev Oct 3, 2025
25 checks passed

deadprogram deleted the cortexm-optimize-HardFault branch October 3, 2025 11:20

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cortexm: optimize code size for the HardFault_Handler #3681

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aykevl commented Apr 26, 2023 •

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aykevl commented Apr 26, 2023 •

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