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429 lines
16 KiB
Markdown
429 lines
16 KiB
Markdown
# Benchmarks
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This document describes Klipper benchmarks.
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## Micro-controller Benchmarks
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This section describes the mechanism used to generate the Klipper
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micro-controller step rate benchmarks.
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The primary goal of the benchmarks is to provide a consistent
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mechanism for measuring the impact of coding changes within the
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software. A secondary goal is to provide high-level metrics for
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comparing the performance between chips and between software
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platforms.
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The step rate benchmark is designed to find the maximum stepping rate
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that the hardware and software can reach. This benchmark stepping rate
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is not achievable in day-to-day use as Klipper needs to perform other
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tasks (eg, mcu/host communication, temperature reading, endstop
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checking) in any real-world usage.
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In general, the pins for the benchmark tests are chosen to flash LEDs
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or other innocuous pins. **Always verify that it is safe to drive the
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configured pins prior to running a benchmark.** It is not recommended
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to drive an actual stepper during a benchmark.
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### Step rate benchmark test
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The test is performed using the console.py tool (described in
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[Debugging.md](Debugging.md)). The micro-controller is configured for
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the particular hardware platform (see below) and then the following is
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cut-and-paste into the console.py terminal window:
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```
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SET start_clock {clock+freq}
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SET ticks 1000
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reset_step_clock oid=0 clock={start_clock}
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set_next_step_dir oid=0 dir=0
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queue_step oid=0 interval={ticks} count=60000 add=0
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set_next_step_dir oid=0 dir=1
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queue_step oid=0 interval=3000 count=1 add=0
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reset_step_clock oid=1 clock={start_clock}
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set_next_step_dir oid=1 dir=0
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queue_step oid=1 interval={ticks} count=60000 add=0
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set_next_step_dir oid=1 dir=1
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queue_step oid=1 interval=3000 count=1 add=0
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reset_step_clock oid=2 clock={start_clock}
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set_next_step_dir oid=2 dir=0
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queue_step oid=2 interval={ticks} count=60000 add=0
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set_next_step_dir oid=2 dir=1
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queue_step oid=2 interval=3000 count=1 add=0
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```
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The above tests three steppers simultaneously stepping. If running the
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above results in a "Rescheduled timer in the past" or "Stepper too far
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in past" error then it indicates the `ticks` parameter is too low (it
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results in a stepping rate that is too fast). The goal is to find the
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lowest setting of the ticks parameter that reliably results in a
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successful completion of the test. It should be possible to bisect the
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ticks parameter until a stable value is found.
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On a failure, one can copy-and-paste the following to clear the error
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in preparation for the next test:
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```
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clear_shutdown
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```
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To obtain the single stepper benchmarks, the same configuration
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sequence is used, but only the first block of the above test is
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cut-and-paste into the console.py window.
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To produce the benchmarks found in the [Features](Features.md) document, the total
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number of steps per second is calculated by multiplying the number of
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active steppers with the nominal mcu frequency and dividing by the
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final ticks parameter. The results are rounded to the nearest K. For
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example, with three active steppers:
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```
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ECHO Test result is: {"%.0fK" % (3. * freq / ticks / 1000.)}
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```
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The benchmarks are run with parameters suitable for TMC Drivers. For
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micro-controllers that support `STEPPER_BOTH_EDGE=1` (as reported in
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the `MCU config` line when console.py first starts) use
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`step_pulse_duration=0` and `invert_step=-1` to enable optimized
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stepping on both edges of the step pulse. For other micro-controllers
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use a `step_pulse_duration` corresponding to 100ns.
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### AVR step rate benchmark
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The following configuration sequence is used on AVR chips:
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```
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allocate_oids count=3
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config_stepper oid=0 step_pin=PA5 dir_pin=PA4 invert_step=0 step_pulse_ticks=32
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config_stepper oid=1 step_pin=PA3 dir_pin=PA2 invert_step=0 step_pulse_ticks=32
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config_stepper oid=2 step_pin=PC7 dir_pin=PC6 invert_step=0 step_pulse_ticks=32
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finalize_config crc=0
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```
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The test was last run on commit `59314d99` with gcc version `avr-gcc
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(GCC) 5.4.0`. Both the 16Mhz and 20Mhz tests were run using simulavr
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configured for an atmega644p (previous tests have confirmed simulavr
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results match tests on both a 16Mhz at90usb and a 16Mhz atmega2560).
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| avr | ticks |
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| ---------------- | ----- |
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| 1 stepper | 102 |
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| 3 stepper | 486 |
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### Arduino Due step rate benchmark
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The following configuration sequence is used on the Due:
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```
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allocate_oids count=3
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config_stepper oid=0 step_pin=PB27 dir_pin=PA21 invert_step=-1 step_pulse_ticks=0
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config_stepper oid=1 step_pin=PB26 dir_pin=PC30 invert_step=-1 step_pulse_ticks=0
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config_stepper oid=2 step_pin=PA21 dir_pin=PC30 invert_step=-1 step_pulse_ticks=0
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finalize_config crc=0
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```
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The test was last run on commit `59314d99` with gcc version
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`arm-none-eabi-gcc (Fedora 10.2.0-4.fc34) 10.2.0`.
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| sam3x8e | ticks |
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| -------------------- | ----- |
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| 1 stepper | 66 |
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| 3 stepper | 257 |
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### Duet Maestro step rate benchmark
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The following configuration sequence is used on the Duet Maestro:
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```
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allocate_oids count=3
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config_stepper oid=0 step_pin=PC26 dir_pin=PC18 invert_step=-1 step_pulse_ticks=0
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config_stepper oid=1 step_pin=PC26 dir_pin=PA8 invert_step=-1 step_pulse_ticks=0
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config_stepper oid=2 step_pin=PC26 dir_pin=PB4 invert_step=-1 step_pulse_ticks=0
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finalize_config crc=0
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```
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The test was last run on commit `59314d99` with gcc version
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`arm-none-eabi-gcc (Fedora 10.2.0-4.fc34) 10.2.0`.
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| sam4s8c | ticks |
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| -------------------- | ----- |
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| 1 stepper | 71 |
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| 3 stepper | 260 |
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### Duet Wifi step rate benchmark
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The following configuration sequence is used on the Duet Wifi:
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```
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allocate_oids count=3
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config_stepper oid=0 step_pin=PD6 dir_pin=PD11 invert_step=-1 step_pulse_ticks=0
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config_stepper oid=1 step_pin=PD7 dir_pin=PD12 invert_step=-1 step_pulse_ticks=0
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config_stepper oid=2 step_pin=PD8 dir_pin=PD13 invert_step=-1 step_pulse_ticks=0
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finalize_config crc=0
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```
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The test was last run on commit `59314d99` with gcc version
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`gcc version 10.3.1 20210621 (release) (GNU Arm Embedded Toolchain 10.3-2021.07)`.
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| sam4e8e | ticks |
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| ---------------- | ----- |
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| 1 stepper | 48 |
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| 3 stepper | 215 |
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### Beaglebone PRU step rate benchmark
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The following configuration sequence is used on the PRU:
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```
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allocate_oids count=3
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config_stepper oid=0 step_pin=gpio0_23 dir_pin=gpio1_12 invert_step=0 step_pulse_ticks=20
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config_stepper oid=1 step_pin=gpio1_15 dir_pin=gpio0_26 invert_step=0 step_pulse_ticks=20
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config_stepper oid=2 step_pin=gpio0_22 dir_pin=gpio2_1 invert_step=0 step_pulse_ticks=20
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finalize_config crc=0
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```
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The test was last run on commit `59314d99` with gcc version `pru-gcc
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(GCC) 8.0.0 20170530 (experimental)`.
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| pru | ticks |
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| ---------------- | ----- |
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| 1 stepper | 231 |
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| 3 stepper | 847 |
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### STM32F042 step rate benchmark
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The following configuration sequence is used on the STM32F042:
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```
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allocate_oids count=3
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config_stepper oid=0 step_pin=PA1 dir_pin=PA2 invert_step=-1 step_pulse_ticks=0
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config_stepper oid=1 step_pin=PA3 dir_pin=PA2 invert_step=-1 step_pulse_ticks=0
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config_stepper oid=2 step_pin=PB8 dir_pin=PA2 invert_step=-1 step_pulse_ticks=0
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finalize_config crc=0
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```
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The test was last run on commit `59314d99` with gcc version
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`arm-none-eabi-gcc (Fedora 10.2.0-4.fc34) 10.2.0`.
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| stm32f042 | ticks |
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| ---------------- | ----- |
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| 1 stepper | 59 |
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| 3 stepper | 249 |
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### STM32F103 step rate benchmark
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The following configuration sequence is used on the STM32F103:
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```
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allocate_oids count=3
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config_stepper oid=0 step_pin=PC13 dir_pin=PB5 invert_step=-1 step_pulse_ticks=0
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config_stepper oid=1 step_pin=PB3 dir_pin=PB6 invert_step=-1 step_pulse_ticks=0
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config_stepper oid=2 step_pin=PA4 dir_pin=PB7 invert_step=-1 step_pulse_ticks=0
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finalize_config crc=0
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```
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The test was last run on commit `59314d99` with gcc version
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`arm-none-eabi-gcc (Fedora 10.2.0-4.fc34) 10.2.0`.
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| stm32f103 | ticks |
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| -------------------- | ----- |
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| 1 stepper | 61 |
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| 3 stepper | 264 |
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### STM32F4 step rate benchmark
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The following configuration sequence is used on the STM32F4:
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```
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allocate_oids count=3
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config_stepper oid=0 step_pin=PA5 dir_pin=PB5 invert_step=-1 step_pulse_ticks=0
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config_stepper oid=1 step_pin=PB2 dir_pin=PB6 invert_step=-1 step_pulse_ticks=0
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config_stepper oid=2 step_pin=PB3 dir_pin=PB7 invert_step=-1 step_pulse_ticks=0
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finalize_config crc=0
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```
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The test was last run on commit `59314d99` with gcc version
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`arm-none-eabi-gcc (Fedora 10.2.0-4.fc34) 10.2.0`. The STM32F407
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results were obtained by running an STM32F407 binary on an STM32F446
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(and thus using a 168Mhz clock).
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| stm32f446 | ticks |
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| -------------------- | ----- |
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| 1 stepper | 46 |
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| 3 stepper | 205 |
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| stm32f407 | ticks |
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| -------------------- | ----- |
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| 1 stepper | 46 |
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| 3 stepper | 205 |
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### STM32G0B1 step rate benchmark
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The following configuration sequence is used on the STM32G0B1:
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```
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allocate_oids count=3
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config_stepper oid=0 step_pin=PB13 dir_pin=PB12 invert_step=-1 step_pulse_ticks=0
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config_stepper oid=1 step_pin=PB10 dir_pin=PB2 invert_step=-1 step_pulse_ticks=0
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config_stepper oid=2 step_pin=PB0 dir_pin=PC5 invert_step=-1 step_pulse_ticks=0
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finalize_config crc=0
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```
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The test was last run on commit `247cd753` with gcc version
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`arm-none-eabi-gcc (Fedora 10.2.0-4.fc34) 10.2.0`.
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| stm32f042 | ticks |
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| ---------------- | ----- |
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| 1 stepper | 58 |
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| 3 stepper | 243 |
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### LPC176x step rate benchmark
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The following configuration sequence is used on the LPC176x:
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```
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allocate_oids count=3
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config_stepper oid=0 step_pin=P1.20 dir_pin=P1.18 invert_step=-1 step_pulse_ticks=0
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config_stepper oid=1 step_pin=P1.21 dir_pin=P1.18 invert_step=-1 step_pulse_ticks=0
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config_stepper oid=2 step_pin=P1.23 dir_pin=P1.18 invert_step=-1 step_pulse_ticks=0
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finalize_config crc=0
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```
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The test was last run on commit `59314d99` with gcc version
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`arm-none-eabi-gcc (Fedora 10.2.0-4.fc34) 10.2.0`. The 120Mhz LPC1769
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results were obtained by overclocking an LPC1768 to 120Mhz.
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| lpc1768 | ticks |
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| -------------------- | ----- |
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| 1 stepper | 52 |
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| 3 stepper | 222 |
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| lpc1769 | ticks |
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| -------------------- | ----- |
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| 1 stepper | 51 |
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| 3 stepper | 222 |
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### SAMD21 step rate benchmark
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The following configuration sequence is used on the SAMD21:
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```
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allocate_oids count=3
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config_stepper oid=0 step_pin=PA27 dir_pin=PA20 invert_step=-1 step_pulse_ticks=0
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config_stepper oid=1 step_pin=PB3 dir_pin=PA21 invert_step=-1 step_pulse_ticks=0
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config_stepper oid=2 step_pin=PA17 dir_pin=PA21 invert_step=-1 step_pulse_ticks=0
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finalize_config crc=0
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```
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The test was last run on commit `59314d99` with gcc version
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`arm-none-eabi-gcc (Fedora 10.2.0-4.fc34) 10.2.0` on a SAMD21G18
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micro-controller.
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| samd21 | ticks |
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| -------------------- | ----- |
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| 1 stepper | 70 |
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| 3 stepper | 306 |
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### SAMD51 step rate benchmark
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The following configuration sequence is used on the SAMD51:
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```
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allocate_oids count=3
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config_stepper oid=0 step_pin=PA22 dir_pin=PA20 invert_step=-1 step_pulse_ticks=0
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config_stepper oid=1 step_pin=PA22 dir_pin=PA21 invert_step=-1 step_pulse_ticks=0
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config_stepper oid=2 step_pin=PA22 dir_pin=PA19 invert_step=-1 step_pulse_ticks=0
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finalize_config crc=0
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```
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The test was last run on commit `59314d99` with gcc version
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`arm-none-eabi-gcc (Fedora 10.2.0-4.fc34) 10.2.0` on a SAMD51J19A
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micro-controller.
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| samd51 | ticks |
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| -------------------- | ----- |
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| 1 stepper | 39 |
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| 3 stepper | 191 |
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| 1 stepper (200Mhz) | 39 |
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| 3 stepper (200Mhz) | 181 |
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### RP2040 step rate benchmark
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The following configuration sequence is used on the RP2040:
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```
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allocate_oids count=3
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config_stepper oid=0 step_pin=gpio25 dir_pin=gpio3 invert_step=-1 step_pulse_ticks=0
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config_stepper oid=1 step_pin=gpio26 dir_pin=gpio4 invert_step=-1 step_pulse_ticks=0
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config_stepper oid=2 step_pin=gpio27 dir_pin=gpio5 invert_step=-1 step_pulse_ticks=0
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finalize_config crc=0
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```
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The test was last run on commit `59314d99` with gcc version
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`arm-none-eabi-gcc (Fedora 10.2.0-4.fc34) 10.2.0` on a Raspberry Pi
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Pico board.
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| rp2040 | ticks |
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| -------------------- | ----- |
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| 1 stepper | 5 |
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| 3 stepper | 22 |
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### Linux MCU step rate benchmark
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The following configuration sequence is used on a Raspberry Pi:
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```
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allocate_oids count=3
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config_stepper oid=0 step_pin=gpio2 dir_pin=gpio3 invert_step=0 step_pulse_ticks=5
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config_stepper oid=1 step_pin=gpio4 dir_pin=gpio5 invert_step=0 step_pulse_ticks=5
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config_stepper oid=2 step_pin=gpio6 dir_pin=gpio17 invert_step=0 step_pulse_ticks=5
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finalize_config crc=0
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```
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The test was last run on commit `59314d99` with gcc version
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`gcc (Raspbian 8.3.0-6+rpi1) 8.3.0` on a Raspberry Pi 3 (revision
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a02082). It was difficult to get stable results in this benchmark.
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| Linux (RPi3) | ticks |
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| -------------------- | ----- |
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| 1 stepper | 160 |
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| 3 stepper | 380 |
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## Command dispatch benchmark
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The command dispatch benchmark tests how many "dummy" commands the
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micro-controller can process. It is primarily a test of the hardware
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communication mechanism. The test is run using the console.py tool
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(described in [Debugging.md](Debugging.md)). The following is
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cut-and-paste into the console.py terminal window:
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```
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DELAY {clock + 2*freq} get_uptime
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FLOOD 100000 0.0 debug_nop
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get_uptime
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```
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When the test completes, determine the difference between the clocks
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reported in the two "uptime" response messages. The total number of
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commands per second is then `100000 * mcu_frequency / clock_diff`.
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Note that this test may saturate the USB/CPU capacity of a Raspberry
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Pi. If running on a Raspberry Pi, Beaglebone, or similar host computer
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then increase the delay (eg, `DELAY {clock + 20*freq} get_uptime`).
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Where applicable, the benchmarks below are with console.py running on
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a desktop class machine with the device connected via a high-speed
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hub.
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| MCU | Rate | Build | Build compiler |
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| ------------------- | ---- | -------- | ------------------- |
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| stm32f042 (CAN) | 18K | c105adc8 | arm-none-eabi-gcc (GNU Tools 7-2018-q3-update) 7.3.1 |
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| atmega2560 (serial) | 23K | b161a69e | avr-gcc (GCC) 4.8.1 |
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| sam3x8e (serial) | 23K | b161a69e | arm-none-eabi-gcc (Fedora 7.1.0-5.fc27) 7.1.0 |
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| at90usb1286 (USB) | 75K | 01d2183f | avr-gcc (GCC) 5.4.0 |
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| samd21 (USB) | 223K | 01d2183f | arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0 |
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| pru (shared memory) | 260K | c5968a08 | pru-gcc (GCC) 8.0.0 20170530 (experimental) |
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| stm32f103 (USB) | 355K | 01d2183f | arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0 |
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| sam3x8e (USB) | 418K | 01d2183f | arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0 |
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| lpc1768 (USB) | 534K | 01d2183f | arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0 |
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| lpc1769 (USB) | 628K | 01d2183f | arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0 |
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| sam4s8c (USB) | 650K | 8d4a5c16 | arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0 |
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| samd51 (USB) | 864K | 01d2183f | arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0 |
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| stm32f446 (USB) | 870K | 01d2183f | arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0 |
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| rp2040 (USB) | 873K | c5667193 | arm-none-eabi-gcc (Fedora 10.2.0-4.fc34) 10.2.0 |
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## Host Benchmarks
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It is possible to run timing tests on the host software using the
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"batch mode" processing mechanism (described in
|
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[Debugging.md](Debugging.md)). This is typically done by choosing a
|
|
large and complex G-Code file and timing how long it takes for the
|
|
host software to process it. For example:
|
|
```
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|
time ~/klippy-env/bin/python ./klippy/klippy.py config/example-cartesian.cfg -i something_complex.gcode -o /dev/null -d out/klipper.dict
|
|
```
|