Investigate ChibiOS scheduler - Githubissues

OSURoboticsClub / aerial_control

Aerial vehicle firmware

MIT License

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Investigate ChibiOS scheduler #55

Open kylc opened 8 years ago

kylc commented 8 years ago

We may be missing out on a lot of performance in the ChibiOS scheduler because we don't really understand it. Some things to investigate:

Tuning CH_CFG_TIME_QUANTUM. We may be able to go to zero because we don't run threads at equal priority. More info here: http://www.chibios.org/dokuwiki/doku.php?id=chibios:kb:round_robin
Tune CH_FREQUENCY. Right now it is set much higher than the default, but still potentially low. It was reduced to accommodate the much slower F3.

Before doing this, we should try to monitor our CPU usage.