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ChannelBenchmark

README.md

ChannelBenchmark

The ChannelBenchmark estimates the CPU overhead of writing and reading from a Channel. The "Baseline" uses a Coroutine to increment a counter to a pre-determined NUM_COUNT, and measures the microseconds per iteration of the counter.

The "Channels" benchmark keeps the original Coroutine that counts, and adds a writer Coroutine that writes to a Channel, and a reader Coroutine that reads from the same Channel. We then measure the time take to increase the counter to NUM_COUNT as before, and calculate the microseconds per iteration.

The times under the diff column below is the difference per iteration which is an approximation of how much overhead the Channel write and read operations took, per iteration.

All times in below are in microseconds.

Version: AceRoutine v1.5.0

DO NOT EDIT: This file was auto-generated using make README.md.

Dependencies

This program depends on the following libraries:

How to Generate

This requires the AUniter script to execute the Arduino IDE programmatically.

The Makefile has rules to generate the *.txt results file for several microcontrollers that I usually support, but the $ make benchmarks command does not work very well because the USB port of the microcontroller is a dynamically changing parameter. I created a semi-automated way of collect the *.txt files:

  1. Connect the microcontroller to the serial port. I usually do this through a USB hub with individually controlled switch.
  2. Type $ auniter ports to determine its /dev/ttyXXX port number (e.g. /dev/ttyUSB0 or /dev/ttyACM0).
  3. If the port is USB0 or ACM0, type $ make nano.txt, etc.
  4. Switch off the old microontroller.
  5. Go to Step 1 and repeat for each microcontroller.

The generate_table.awk program reads one of *.txt files and prints out an ASCII table that can be directly embedded into this README.md file. For example the following command produces the table in the Nano section below:

$ ./generate_table.awk < nano.txt

Fortunately, we no longer need to run generate_table.awk for each *.txt file. The process has been automated using the generate_readme.py script which will be invoked by the following command:

$ make README.md

Arduino Nano

  • 16MHz ATmega328P
  • Arduino IDE 1.8.19, Arduino CLI 0.19.2
  • Arduino AVR Boards 1.8.4
  • micros() has a resolution of 4 microseconds

CPU:
+---------------+--------+-------------+--------+
| Functionality |  count | micros/iter |   diff |
+---------------+--------+-------------+--------+
| Baseline      |  10000 |      16.400 |  0.000 |
| Channels      |  10000 |      28.100 | 11.700 |
+---------------+--------+-------------+--------+

SparkFun Pro Micro

  • 16 MHz ATmega32U4
  • Arduino IDE 1.8.19, Arduino CLI 0.19.2
  • SparkFun AVR Boards 1.1.13
  • micros() has a resolution of 4 microseconds

CPU:
+---------------+--------+-------------+--------+
| Functionality |  count | micros/iter |   diff |
+---------------+--------+-------------+--------+
| Baseline      |  10000 |      16.500 |  0.000 |
| Channels      |  10000 |      28.300 | 11.800 |
+---------------+--------+-------------+--------+

STM32

  • STM32 "Blue Pill", STM32F103C8, 72 MHz ARM Cortex-M3
  • Arduino IDE 1.8.19, Arduino CLI 0.19.2
  • STM32duino 2.2.0

CPU:
+---------------+--------+-------------+--------+
| Functionality |  count | micros/iter |   diff |
+---------------+--------+-------------+--------+
| Baseline      |  50000 |       3.040 |  0.000 |
| Channels      |  50000 |       4.460 |  1.420 |
+---------------+--------+-------------+--------+

ESP8266

  • NodeMCU 1.0 clone, 80MHz ESP8266
  • Arduino IDE 1.8.19, Arduino CLI 0.19.2
  • ESP8266 Boards 3.0.2

CPU:
+---------------+--------+-------------+--------+
| Functionality |  count | micros/iter |   diff |
+---------------+--------+-------------+--------+
| Baseline      |  10000 |       2.700 |  0.000 |
| Channels      |  10000 |       4.200 |  1.500 |
+---------------+--------+-------------+--------+

ESP32

  • ESP32-01 Dev Board, 240 MHz Tensilica LX6
  • Arduino IDE 1.8.19, Arduino CLI 0.19.2
  • ESP32 Boards 2.0.2

CPU:
+---------------+--------+-------------+--------+
| Functionality |  count | micros/iter |   diff |
+---------------+--------+-------------+--------+
| Baseline      | 100000 |       0.880 |  0.000 |
| Channels      | 100000 |       1.340 |  0.460 |
+---------------+--------+-------------+--------+

Teensy 3.2

  • 96 MHz ARM Cortex-M4
  • Arduino IDE 1.8.19, Arduino CLI 0.19.2
  • Teensyduino 1.56
  • Compiler options: "Faster"

CPU:
+---------------+--------+-------------+--------+
| Functionality |  count | micros/iter |   diff |
+---------------+--------+-------------+--------+
| Baseline      | 100000 |       0.950 |  0.000 |
| Channels      | 100000 |       2.130 |  1.180 |
+---------------+--------+-------------+--------+