mirror of https://github.com/ArduPilot/ardupilot
100 lines
8.9 KiB
Plaintext
100 lines
8.9 KiB
Plaintext
--------
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Старый расклад времени:
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25.7 опрос датчиков, из них 7.7% ожидание
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остается 74.3%, из них 65% ожидание
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собственно на расчет с частотой 400 раз в секунду уходит около 10% всего времени
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Новый расклад времени:
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task 0 (0x0000000080ACE09) time: 12.18% mean 77.3uS max 131uS full 0uS wait sem. 122uS main task
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task 1 (0x0000000080AD735) time: 78.50% mean 4.2uS max 33uS full 0uS wait sem. 0uS idle
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task 2 (0x80AE3E920004CD0) time: 0.28% mean 13.9uS max 38uS full 38uS wait sem. 0uS analog IO
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task 3 (0x8049C0120007E50) time: 1.90% mean 44.8uS max 116uS full 617uS wait sem. 8uS baro
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task 4 (0x0000000080ADACD) time: 1.88% mean 9.5uS max 35uS full 1003uS wait sem. 0uS IO tasks
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task 5 (0x804CB7F2000CF08) time: 1.74% mean 51.3uS max 117uS full 763uS wait sem. 189uS compass
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task 6 (0x80546152000CFA0) time: 3.40% mean 33.5uS max 45uS full 155uS wait sem. 10uS MPU
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task 7 (0x0000000080AE225) time: 0.01% mean 85.6uS max 112uS full 1928uS wait sem. 0uS stats
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занято 21.5% , из них 7.5% опрос датчиков и 12.2 это основной процесс
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Шедулер:
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by timer 12.05% sw 5.88% таймерный планировщик составляет 12% от всех вызовов, при этом контекст переключается в 6% случаев, итог - 0.72%
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in yield 79.97% sw 97.13% добровольное завершение кванта с вызовом планировщика это 80%, вероятность переключения 97%, итог - 77.6%
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in tails 7.98% sw 71.75% переключение по таймеру до истечения кванта - 8%, вероятность 72%, итог - 5.8%
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вывод: кооперативная многозадачность на 77% :)
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new I2C driver stats:
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sched time: by timer 10.53% sw 12.38% in yield 82.38% sw 99.62% in tails 7.09% sw 65.64%
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task 0 (0x0000000080ACA3D) time: 12.23% mean 78.4uS max 121uS full 0uS wait sem. 28uS
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task 1 (0x0000000080AD369) time: 81.32% mean 4.3uS max 33uS full 0uS wait sem. 0uS
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task 2 (0x80AE02120004C9C) time: 0.28% mean 13.9uS max 37uS full 40uS wait sem. 0uS
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task 3 (0x8049CE920007E38) time: 0.38% mean 12.0uS max 40uS full 900uS wait sem. 557uS
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task 4 (0x0000000080AD705) time: 1.94% mean 9.7uS max 35uS full 444uS wait sem. 0uS
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task 5 (0x804CD492000CF20) time: 0.34% mean 14.0uS max 43uS full 856uS wait sem. 378uS
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task 6 (0x80547D92000CFA0) time: 3.38% mean 33.2uS max 49uS full 168uS wait sem. 8uS
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task 7 (0x0000000080ADE5D) time: 0.01% mean 84.5uS max 107uS full 7044uS wait sem. 0uS
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OSD task uses 0.5% of CPU
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writing logs to SD card:
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sched time: by timer 0.84% sw 0.83% in yield 98.53% sw 3.76% in tails 0.63% sw 95.18%
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task 0 (0x0000000080B86E5) time: 12.63% mean 72.8uS max 124uS full 0uS wait sem. 10uS free stack 0x484
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task 1 (0x0000000080B94E9) time: 15.40% mean 4.5uS max 42uS full 0uS wait sem. 0uS free stack 0x8C
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task 2 (0x80B9C5D100056B4) time: 0.68% mean 13.6uS max 50uS full 92uS wait sem. 0uS free stack 0x15C
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task 3 (0x00000000801C935) time: 0.25% mean 8.2uS max 115uS full 15739uS wait sem. 0uS free stack 0x1AC OSD
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task 4 (0x805122320008468) time: 0.23% mean 17.1uS max 56uS full 1457uS wait sem. 1387uS free stack 0x224
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task 5 (0x0000000080B9889) time: 67.24% mean 5.8uS max 111uS full 582173uS wait sem. 0uS free stack 0xD6C IO_task
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task 6 (0x80B270520007D68) time: 0.01% mean 6.2uS max 31uS full 88uS wait sem. 0uS free stack 0x17C AP_WayBack
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task 7 (0x805BA1520010798) time: 3.26% mean 29.8uS max 79uS full 151uS wait sem. 19uS free stack 0x184
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task 8 (0x0000000080B8D81) time: 0.01% mean 88.3uS max 114uS full 11783uS wait sem. 0uS free stack 0x1A4
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writing logs to FAT formatted dataflash
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sched time: by timer 2.18% sw 2.73% in yield 95.16% sw 14.67% in tails 2.66% sw 80.19%
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task 0 (0x0000000080B3DA1) time: 17.23% mean 17.0uS max 132uS full 0uS wait sem. 24uS free stack 0x4A4
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task 1 (0x0000000080B4B85) time: 43.56% mean 4.4uS max 35uS full 0uS wait sem. 0uS free stack 0x8C
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task 2 (0x80B530510004CF8) time: 0.68% mean 13.7uS max 40uS full 178uS wait sem. 0uS free stack 0x154
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task 3 (0x804B4D9200077C0) time: 0.39% mean 9.7uS max 39uS full 835uS wait sem. 493uS free stack 0x2D4
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task 4 (0x0000000080B4F25) time: 34.56% mean 11.4uS max 120uS full 231127uS wait sem. 0uS free stack 0xD6C IO_task
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task 5 (0x804E4D92000C8B0) time: 0.36% mean 10.3uS max 39uS full 827uS wait sem. 324uS free stack 0x224
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task 6 (0x80ADCA1200070F8) time: 0.01% mean 6.2uS max 20uS full 13uS wait sem. 0uS free stack 0x1AC
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task 7 (0x80569BD2000C960) time: 3.19% mean 28.4uS max 54uS full 219uS wait sem. 10uS free stack 0x184
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task 8 (0x0000000080B441D) time: 0.01% mean 85.2uS max 103uS full 7631uS wait sem. 0uS free stack 0x1A4
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Both EKF2 and EKF3 active
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sched time: by timer 6.45% sw 1.70% in yield 88.75% sw 44.04% in tails 4.80% sw 77.29%
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task 0 (0x0000000080B3DA1) time: 20.71% mean 19.2uS max 117uS full 0uS wait sem. 11uS free stack 0x126C
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task 1 (0x0000000080B4B85) time: 72.74% mean 4.4uS max 36uS full 0uS wait sem. 0uS free stack 0x8C
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task 2 (0x80B530510004CF8) time: 0.67% mean 13.4uS max 39uS full 174uS wait sem. 0uS free stack 0x154
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task 3 (0x804B4D9200077D0) time: 0.39% mean 9.6uS max 39uS full 855uS wait sem. 522uS free stack 0x2D4
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task 4 (0x0000000080B4F25) time: 1.79% mean 9.3uS max 37uS full 816uS wait sem. 0uS free stack 0xD6C
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task 5 (0x804E4D92000C8C0) time: 0.38% mean 9.6uS max 39uS full 835uS wait sem. 346uS free stack 0x224
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task 6 (0x80ADCA1200070F8) time: 0.01% mean 6.2uS max 22uS full 44uS wait sem. 0uS free stack 0x17C
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task 7 (0x80569BD2000C968) time: 3.30% mean 27.8uS max 64uS full 170uS wait sem. 24uS free stack 0x184
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task 8 (0x0000000080B441D) time: 0.01% mean 82.3uS max 105uS full 5557uS wait sem. 0uS free stack 0x1A4
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// 1kHz, EKF3
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sched time: by timer 9.65% sw 3.83% in yield 84.38% sw 80.24% in tails 5.96% sw 96.52%
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task 0 (0x0000000080B7495) time: 23.56% mean 74.7uS max 135uS full 0uS wait sem. 21uS free stack 0xAD4
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task 1 (0x0000000080B82DD) time: 69.17% mean 5.5uS max 57uS full 0uS wait sem. 0uS free stack 0x94
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task 2 (0x0000000080B4CF9) time: 0.01% mean 93.1uS max 109uS full 1999uS wait sem. 0uS free stack 0x11C
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task 3 (0x80B8A65100057A8) time: 0.61% mean 8.2uS max 51uS full 146uS wait sem. 0uS free stack 0x7C
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task 4 (0x804EAC520007DD8) time: 0.50% mean 11.1uS max 56uS full 610uS wait sem. 0uS free stack 0x2D4
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task 5 (0x0000000080B86F9) time: 1.40% mean 9.8uS max 57uS full 1274uS wait sem. 0uS free stack 0x57C
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task 6 (0x8051B912000CA60) time: 0.56% mean 11.3uS max 52uS full 785uS wait sem. 159uS free stack 0x204
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task 7 (0x805A3552000CAF8) time: 3.95% mean 24.2uS max 86uS full 195uS wait sem. 19uS free stack 0x184
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task 8 (0x0000000080B79E9) time: 0.01% mean 17.5uS max 115uS full 12108uS wait sem. 0uS free stack 0x1AC
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// 2kHz, EKF3
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sched time: by timer 10.97% sw 2.66% in yield 86.48% sw 92.35% in tails 2.55% sw 96.55%
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task 0 (0x0000000080B7495) time: 32.01% mean 37.5uS max 157uS full 0uS wait sem. 7uS free stack 0x9E4
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task 1 (0x0000000080B82DD) time: 60.99% mean 5.5uS max 53uS full 0uS wait sem. 0uS free stack 0x94
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task 2 (0x0000000080B4CF9) time: 0.02% mean 89.8uS max 117uS full 8635uS wait sem. 0uS free stack 0x11C
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task 3 (0x80B8A65100057A8) time: 0.59% mean 8.1uS max 48uS full 272uS wait sem. 0uS free stack 0x7C
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task 4 (0x804EAC520007DD8) time: 0.43% mean 11.4uS max 55uS full 702320uS wait sem. 701984uS free stack 0x2D4
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task 5 (0x0000000080B86F9) time: 1.78% mean 9.8uS max 104uS full 31833uS wait sem. 0uS free stack 0x57C
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task 6 (0x8051B912000CA60) time: 0.49% mean 11.6uS max 50uS full 1038uS wait sem. 386uS free stack 0x204
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task 7 (0x805A3552000CAF8) time: 3.45% mean 29.7uS max 79uS full 415uS wait sem. 0uS free stack 0x194
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task 8 (0x0000000080B79E9) time: 0.01% mean 16.6uS max 116uS full 633uS wait sem. 0uS free stack 0x1AC
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