Lidar OGMAP Datasheet

GRAPH: Detailed Statistics

Node Execution Table

Total Nodes	Total executions
3	11794

Per Node Breakdown

NODE	avg (usecs)	min/max (usecs)	Total Executions
MotionDistortionCorrection ( A72-2)	2232	1832 / 5451	11794
GroundPlaneClassification ( A72-1)	11351	7462 / 20869	11794
LidarOgmap ( A72-0)	2499	1832 / 8056	11794

Summary of CPU load

CPU	TOTAL LOAD
mpu1_0	16. 0 % ( HWI = 0.36 %, SWI = 0.18 % )
mcu2_0	4.16 % ( HWI = 1. 2 %, SWI = 0.25 % )
mcu2_1	0. 9 % ( HWI = 0. 6 %, SWI = 0. 2 % )
c6x_1	0. 5 % ( HWI = 0. 2 %, SWI = 0. 1 % )
c6x_2	0. 5 % ( HWI = 0. 2 %, SWI = 0. 1 % )
c7x_1	0. 8 % ( HWI = 0. 4 %, SWI = 0. 3 % )

HWA performance statistics

HWA	LOAD
DOF	5.67 % ( 120 MP/s )
SDE	1. 2 % ( 101 MP/s )

DDR performance statistics

DDR BW	AVG	PEAK
READ BW	1344 MB/s	2214 MB/s
WRITE BW	971 MB/s	1625 MB/s
TOTAL BW	2315 MB/s	3839 MB/s

Detailed CPU performance/memory statistics

CPU: mcu2_0

Task Table

TASK	TASK LOAD
IPC_RX	0. 5 %
REMOTE_SRV	0. 0 %
TIVX_CPU	0. 0 %
TIVX_NF	0. 0 %
TIVX_LDC1	0. 0 %
TIVX_MSC1	0. 0 %
TIVX_MSC2	0. 0 %
TIVX_VISS1	0. 0 %
TIVX_CAPT1	0. 0 %
TIVX_CAPT2	0. 0 %
TIVX_DISP1	0.36 %
TIVX_DISP2	0. 0 %
TIVX_CSITX	0. 0 %
TIVX_CAPT3	0. 0 %
TIVX_CAPT4	0. 0 %
TIVX_CAPT5	0. 0 %

CPU Heap Table

HEAP	Size	Free	Unused
DDR_SHARED_MEM	8388608 B	8380160 B	99 %
L3_MEM	131072 B	131072 B	100 %
DDR_NON_CACHE_M	65536 B	65536 B	100 %

CPU: mcu2_1

Task Table

TASK	TASK LOAD
IPC_RX	0. 0 %
REMOTE_SRV	0. 0 %
TIVX_SDE	0. 0 %
TIVX_DOF	0. 0 %
TIVX_VDEC1	0. 0 %
TIVX_VDEC2	0. 0 %
TIVX_VENC1	0. 0 %
TIVX_VENC2	0. 0 %
IPC_TEST_RX	0. 0 %
IPC_TEST_TX	0. 0 %
IPC_TEST_TX	0. 0 %
IPC_TEST_TX	0. 0 %
IPC_TEST_TX	0. 0 %
IPC_TEST_TX	0. 0 %

CPU Heap Table

HEAP	Size	Free	Unused
DDR_SHARED_MEM	16777216 B	16774912 B	99 %
L3_MEM	131072 B	131072 B	100 %
DDR_NON_CACHE_M	67043328 B	47144960 B	6 %

CPU: c6x_1

Task Table

TASK	TASK LOAD
IPC_RX	0. 0 %
REMOTE_SRV	0. 0 %
TIVX_CPU	0. 0 %
IPC_TEST_RX	0. 0 %
IPC_TEST_TX	0. 0 %
IPC_TEST_TX	0. 0 %
IPC_TEST_TX	0. 0 %
IPC_TEST_TX	0. 0 %
IPC_TEST_TX	0. 0 %

CPU Heap Table

HEAP	Size	Free	Unused
DDR_SHARED_MEM	16777216 B	16774912 B	99 %
L2_MEM	229376 B	229376 B	100 %
DDR_SCRATCH_MEM	50331648 B	50331648 B	14 %

CPU: c6x_2

Task Table

TASK	TASK LOAD
IPC_RX	0. 0 %
REMOTE_SRV	0. 0 %
TIVX_CPU	0. 0 %
IPC_TEST_RX	0. 0 %
IPC_TEST_TX	0. 0 %
IPC_TEST_TX	0. 0 %
IPC_TEST_TX	0. 0 %
IPC_TEST_TX	0. 0 %
IPC_TEST_TX	0. 0 %

CPU Heap Table

HEAP	Size	Free	Unused
DDR_SHARED_MEM	16777216 B	16774912 B	99 %
L2_MEM	229376 B	229376 B	100 %
DDR_SCRATCH_MEM	50331648 B	50331648 B	14 %

CPU: c7x_1

Task Table

TASK	TASK LOAD
IPC_RX	0. 0 %
REMOTE_SRV	0. 0 %
TIVX_CPU	0. 0 %
IPC_TEST_RX	0. 0 %
IPC_TEST_TX	0. 0 %
IPC_TEST_TX	0. 0 %
IPC_TEST_TX	0. 0 %
IPC_TEST_TX	0. 0 %
IPC_TEST_TX	0. 0 %

CPU Heap Table

HEAP	Size	Free	Unused
DDR_SHARED_MEM	268435456 B	268435456 B	4 %
L3_MEM	8159232 B	8159232 B	100 %
L2_MEM	458752 B	0 B	0 %
L1_MEM	16384 B	16384 B	100 %
DDR_SCRATCH_MEM	234881024 B	234881024 B	8 %

Performance point statistics

LIDAR OGMAP Performance

PERF	avg (usecs)	min/max (usecs)	number of executions
LIDAR OGMAP	105619	94426 / 120689	11772

LIDAR OGMAP FPS

PERF	Frames per sec (FPS)
LIDAR OGMAP	9.46