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msp430-size tool is an important tool to examine the RAM and ROM usage of contiki firmware. It comes with msp430-gcc compiler, as part of msp430 binutils.
$ msp430-size udp-client.sky
text data bss dec hex filename
48622 246 6874 55742 d9be udp-client.sky
$ msp430-size hello-world.z1
text data bss dec hex filename
45364 564 10845 67956 11856 hello-world.z1
ROM usage = text
RAM usage = data + bss
If you want more detailed info about individual functions and variables, use msp430-objdump -x.