Profiling Main - uw-advanced-robotics/taproot GitHub Wiki

These tests were carried out using robot=TARGET_SOLDIER, on the new soldier with all motors connected, running default commands.

Profiling vanilla develop per 7/5/2020

Code run every two milliseconds

Drivers::mpu6500.read();
Drivers::errorController.update();
Drivers::commandScheduler.run();
Drivers::djiMotorTxHandler.processCanSendData();

  • Debug build

    • 309 microseconds to execute with no hardware connected.
      • Drivers::mpu6500.read(): 228 microseconds.
      • Drivers::errorController.update(): 10 microseconds.
      • Drivers::commandScheduler.run(): 62 microseconds (two SystemErrors are being added to the scheduler each iteration, which take a significant time).
      • Drivers::djiMotorTxHandler.processCanSendData(): 9 microseconds.

  • Release build

    • 234 microseconds to execute with no hardware connected.
      • Drivers::mpu6500.read(): 178 microseconds.
      • Drivers::errorController.update(): 4 microseconds.
      • Drivers::commandScheduler.run(): 47 microseconds (two SystemErrors are being added to the scheduler each iteration, which take a significant time).
      • Drivers::djiMotorTxHandler.processCanSendData(): 5 microseconds.

IO update

Drivers::canRxHandler.pollCanData();
Drivers::xavierSerial.updateSerial();
Drivers::refSerial.updateSerial();
Drivers::remote.read();

  • Debug build: takes 8 microseconds to execute with no hardware connected.

  • Release build: takes 5 microseconds to execute with no hardware connected.

Profiling the updated drivers architecture per 7/5/2020

Code run every two milliseconds

getDrivers().mpu6500.read();
getDrivers().errorController.update();
getDrivers().commandScheduler.run();
getDrivers().djiMotorTxHandler.processCanSendData();

  • Debug build

    • 307 microseconds to execute with no hardware connected.
      • getDrivers().mpu6500.read(): 227 microseconds.
      • getDrivers().errorController.update(): 10 microseconds.
      • getDrivers().commandScheduler.run(): 62 microseconds.
      • getDrivers().djiMotorTxHandler.processCanSendData(): 9 microseconds.

  • Release build

    • 232 microseconds to execute with no hardware connected.
      • getDrivers().mpu6500.read(): 177 microseconds
      • getDrivers().errorController.update(): 3 microseconds.
      • getDrivers().commandScheduler.run(): 47 microseconds (two SystemErrors are being added to the scheduler each iteration, which take a significant time).
      • getDrivers().djiMotorTxHandler.processCanSendData(): 5 microseconds

IO update

getDrivers().canRxHandler.pollCanData();
getDrivers().xavierSerial.updateSerial();
getDrivers().refSerial.updateSerial();
getDrivers().remote.read();

  • Debug build: takes 7 microseconds to execute with no hardware connected.

  • Release build: takes 5 microseconds to execute with no hardware connected.