Issues with RK3588

[haixuanTao]

Tracking issue for the RK3588.

• RK3588 sometimes get stuck. We have gotten stuck with Lidar + RViz.
• RK3588 sometimes get really hot. The card got really hot with Lidar + RViz.
• RK3588 with Lidar + GNSS + Control can use up to 87% of the CPU(s).

[haixuanTao]

Latency (microseconds)

Msg Size (Bytes)	Python 3.8.10 RK3588	Rust RK3588	Python 3.8.2 RK3588 with Copy	Python 3.10.10 ROG17(baseline)	Rust ROG17(baseline)
8	3,637	1,278	3,213	910	426
64	3,627	1,180	3,205	670	501
512	3,535	1,206	3,229	1,191	596
2,048	3,761	1,617	3,450	1,742	555
4,096	4,203	2,107	3,647	1,603	445
16,384	4,225	1,773	3,576	1,683	708
40,960	4,159	2,255	3,641	1,578	732
409,600	1,615	900	2,282	1,717	776
4,096,000	3,514	3,776	17,150	1,908	928
40,960,000	13,104	11,242	78,981	3,889	3,168

In general, the dora IO of RK3588 is ~3 times slower than a new ASUS ROG 17 with AMD CPU.

There seems to be a speedup at 409KB, although, I'm not sure why. Might be linked to the RK3588 dual CPU cluster, the size of the hardware cache (128KB and 512KB cache) or the 1MB shared memory.

I have attached the card specification:

RK3588 Brief Datasheet.pdf

[zhengqi135]

test data20230628 @haixuanTao
X by wire date.zip