ardupilot/libraries/AP_HAL_ESP32/profile/README.md

How to profile ardupilot binary on ESP32 and use result to place critical functions to the IRAM

Prepare source

1. Configure project with --enable-profile option: ./waf configure --board=esp32diy --enable-profile
2. Rebuild binaries

Run program with profiling enabled

1. Flash and run binary
2. Try to use mode silimiar to real flight. I.E. compass/gps connected, armed state, and so no
3. It will write profile stat to the /APM/APM/PROF000.TXT files on the sdcard every one minute

Use profile info to optimize program

1. Copy PROF*.TXT file from sd card
2. Copy file arducopter.map from build directory
3. Use them to produce functions.list by the script LinkerScriptGenerator.kt (modify paths and limits inside)
4. Place file functions.list to the target/copter/main folder

how to build LinkerScriptGenerator.kt

$ sudo snap install --classic kotlin

build

kotlinc LinkerScriptGenerator.kt -d generator.jar

collect up profiling file into this folder... as per above.

files that the kotlin tool expects to find in this folder:

    "ardusub.map",
    "PROF000.TXT",

file/s it will create in this folder:

    "functions.list"

cp ../../../build/esp32buzz/idf-plane/arduplane.map ardusub.map touch PROF000.TXT

#run: java -jar generator.jar