the firmware includes a simple real-time latency profiler.
within the time-critical loop, you'll find rtcount("<label>") calls.
Each of these call marks the end of labeled block.
rtcount() captures the time that has passed since the last call.
For time measurements it uses cycle counters.
The profiler stores statistics of the elapsed (min, max, mean), which can be displayed
with rtcount_print(); (or if you send reset-lag on the console).
The most important statistic is the max and the results are sorted by the max value.
When evaluating the real-time performance of a code block, we focus on the maximum time spent by the CPU to execute that blocks. This is different from speed performance profiling, were the average or total execution is of interest.
The average gives us information about the empirical distribution of the measured execution times.
To precisely profile an expression, enclose it between two rtcount calls:
rtcount("someFunc.pre");
someFuncToMeasure();
rtcount("someFunc");