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docs: Add additional "no delay" benchmarks to Benchmarks.md 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-09-08 10:37:25 -04:00
parent 3a2d71038f
commit a78329d0b2
1 changed files with 67 additions and 47 deletions
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docs/Benchmarks.md
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@ -80,6 +80,12 @@ example, with three active steppers:
ECHO Test result is: {"%.0fK" % (3. * freq / ticks / 1000.)} ECHO Test result is: {"%.0fK" % (3. * freq / ticks / 1000.)}
``` ```
Benchmarks may be run with the micro-controller code compiled using a
"step pulse duration" of zero (the tables below report this as "no
delay"). This configuration is believed to be valid in real-world
usage when one is solely using Trinamic stepper drivers. The results
of these benchmarks are not reported in the Features.md document.
### AVR step rate benchmark ### ### AVR step rate benchmark ###
The following configuration sequence is used on AVR chips: The following configuration sequence is used on AVR chips:
@ -114,14 +120,16 @@ config_stepper oid=2 step_pin=PA21 dir_pin=PC30 min_stop_interval=0 invert_step=
finalize_config crc=0 finalize_config crc=0
``` ```
The test was last run on commit `74c21654` with gcc version The test was last run on commit `8d4a5c16` with gcc version
`arm-none-eabi-gcc (Fedora 7.1.0-5.fc27) 7.1.0`. `arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0`.
| sam3x8e | ticks | | sam3x8e | ticks |
| ---------------- | ----- | | -------------------- | ----- |
| 1 stepper | 388 | | 1 stepper | 388 |
| 2 stepper | 405 | | 2 stepper | 405 |
| 3 stepper | 576 | | 3 stepper | 576 |
| 1 stepper (no delay) | 77 |
| 3 stepper (no delay) | 299 |
### Duet Maestro step rate benchmark ### ### Duet Maestro step rate benchmark ###
@ -244,24 +252,28 @@ config_stepper oid=3 step_pin=PB3 dir_pin=PB8 min_stop_interval=0 invert_step=0
finalize_config crc=0 finalize_config crc=0
``` ```
The test was last run on commit `c380d463` with gcc version The test was last run on commit `8d4a5c16` with gcc version
`arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0`. The STM32F407 results `arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0`. The STM32F407 results
were obtained by running an STM32F407 binary on an STM32F446 (and thus were obtained by running an STM32F407 binary on an STM32F446 (and thus
using a 168Mhz clock). using a 168Mhz clock).
| stm32f446 | ticks | | stm32f446 | ticks |
| ---------------- | ----- | | -------------------- | ----- |
| 1 stepper | 757 | | 1 stepper | 757 |
| 2 stepper | 761 | | 2 stepper | 761 |
| 3 stepper | 757 | | 3 stepper | 757 |
| 4 stepper | 767 | | 4 stepper | 767 |
| 1 stepper (no delay) | 51 |
| 3 stepper (no delay) | 226 |
| stm32f407 | ticks | | stm32f407 | ticks |
| ---------------- | ----- | | -------------------- | ----- |
| 1 stepper | 709 | | 1 stepper | 709 |
| 2 stepper | 714 | | 2 stepper | 714 |
| 3 stepper | 709 | | 3 stepper | 709 |
| 4 stepper | 729 | | 4 stepper | 729 |
| 1 stepper (no delay) | 52 |
| 3 stepper (no delay) | 226 |
### LPC176x step rate benchmark ### ### LPC176x step rate benchmark ###
@ -274,21 +286,25 @@ config_stepper oid=2 step_pin=P1.23 dir_pin=P1.18 min_stop_interval=0 invert_ste
finalize_config crc=0 finalize_config crc=0
``` ```
The test was last run on commit `9f3517fd` with gcc version The test was last run on commit `8d4a5c16` with gcc version
`arm-none-eabi-gcc (Fedora 7.1.0-5.fc27) 7.1.0`. The 120Mhz LPC1769 `arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0`. The 120Mhz LPC1769
results were obtained by overclocking an LPC1768 to 120Mhz. results were obtained by overclocking an LPC1768 to 120Mhz.
| lpc1768 | ticks | | lpc1768 | ticks |
| ---------------- | ----- | | -------------------- | ----- |
| 1 stepper | 448 | | 1 stepper | 448 |
| 2 stepper | 450 | | 2 stepper | 450 |
| 3 stepper | 523 | | 3 stepper | 523 |
| 1 stepper (no delay) | 56 |
| 3 stepper (no delay) | 240 |
| lpc1769 | ticks | | lpc1769 | ticks |
| ---------------- | ----- | | -------------------- | ----- |
| 1 stepper | 525 | | 1 stepper | 525 |
| 2 stepper | 526 | | 2 stepper | 526 |
| 3 stepper | 545 | | 3 stepper | 545 |
| 1 stepper (no delay) | 56 |
| 3 stepper (no delay) | 240 |
### SAMD21 step rate benchmark ### ### SAMD21 step rate benchmark ###
@ -301,15 +317,17 @@ config_stepper oid=2 step_pin=PA17 dir_pin=PA21 min_stop_interval=0 invert_step=
finalize_config crc=0 finalize_config crc=0
``` ```
The test was last run on commit `9f3517fd` with gcc version The test was last run on commit `8d4a5c16` with gcc version
`arm-none-eabi-gcc (Fedora 7.1.0-5.fc27) 7.1.0` on a SAMD21G18 `arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0` on a SAMD21G18
micro-controller. micro-controller.
| samd21 | ticks | | samd21 | ticks |
| ---------------- | ----- | | -------------------- | ----- |
| 1 stepper | 277 | | 1 stepper | 277 |
| 2 stepper | 410 | | 2 stepper | 410 |
| 3 stepper | 664 | | 3 stepper | 664 |
| 1 stepper (no delay) | 83 |
| 3 stepper (no delay) | 321 |
### SAMD51 step rate benchmark ### ### SAMD51 step rate benchmark ###
@ -323,16 +341,18 @@ config_stepper oid=3 step_pin=PA22 dir_pin=PA18 min_stop_interval=0 invert_step=
finalize_config crc=0 finalize_config crc=0
``` ```
The test was last run on commit `9f3517fd` with gcc version The test was last run on commit `8d4a5c16` with gcc version
`arm-none-eabi-gcc (Fedora 7.1.0-5.fc27) 7.1.0` on a SAMD51G19A `arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0` on a SAMD51G19A
micro-controller. micro-controller.
| samd51 | ticks | | samd51 | ticks |
| ---------------- | ----- | | -------------------- | ----- |
| 1 stepper | 516 | | 1 stepper | 516 |
| 2 stepper | 520 | | 2 stepper | 520 |
| 3 stepper | 519 | | 3 stepper | 519 |
| 4 stepper | 655 | | 4 stepper | 655 |
| 1 stepper (no delay) | 41 |
| 3 stepper (no delay) | 197 |
## Command dispatch benchmark ## ## Command dispatch benchmark ##