mirror of https://github.com/ArduPilot/ardupilot
40 lines
1.3 KiB
Markdown
40 lines
1.3 KiB
Markdown
# 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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# how to build LinkerScriptGenerator.kt
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$ sudo snap install --classic kotlin
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# build
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kotlinc LinkerScriptGenerator.kt -d generator.jar
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# collect up profiling file into this folder... as per above.
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# files that the kotlin tool expects to find in this folder:
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"ardusub.map",
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"PROF000.TXT",
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# file/s it will create in this folder:
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"functions.list"
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cp ../../../build/esp32buzz/idf-plane/arduplane.map ardusub.map
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touch PROF000.TXT
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#run:
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java -jar generator.jar
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