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bmegli / cave-crawler-mcu

cave-crawler microcontroller firmware code (Teensy 3.5)
GNU General Public License v3.0
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timing experiments #4

Open bmegli opened 5 years ago

bmegli commented 5 years ago

Main loop time measurments at 926f9afefe20c986a2fd861a05975b7478251475

IMU (USFS) only

Max 26 us

RPLidar only

Max 62 us with ongoing USB (non-blocking) communication

IMU + RPLidar

Max 51 us, Max 64 with ongoing USB (non-blocking) communication

RPLidar CRC takes around 5 us

IMU + encoders + RPLidar

As above (no difference)

bmegli commented 5 years ago

CRC is simple XOR, it may be easily calculated while receiving data, instead of after packet completion.

At this point not worth it.

bmegli commented 5 years ago

The main time consumer seems to be RPLidar