mirror of https://github.com/ArduPilot/ardupilot
15 lines
805 B
Markdown
15 lines
805 B
Markdown
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# How to profile ardupilot binary on ESP32 and use result to place critical functions to the IRAM
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## Prepare source
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1. Configure project with `--enable-profile` option: `./waf configure --board=esp32diy --enable-profile`
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2. Rebuild binaries
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## Run program with profiling enabled
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1. Flash and run binary
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2. Try to use mode silimiar to real flight. I.E. compass/gps connected, armed state, and so no
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3. It will write profile stat to the `/APM/APM/PROF000.TXT` files on the sdcard every one minute
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## Use profile info to optimize program
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1. Copy `PROF*.TXT` file from sd card
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2. Copy file `arducopter.map` from build directory
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2. Use them to produce `functions.list` by the script `LinkerScriptGenerator.kt` (modify paths and limits inside)
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3. Place file `functions.list` to the `target/copter/main` folder
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