Arduino Benchmark

Benchmark of internal time precision

Model	range of 60 sec delay() call	avg. duration of 60 sec delay() call
Arduino 101	59998-59999	59998.5625
Arduino Due (clone)	60000-60001	60000.5143
Arduino Mega 2560 (clone)	59989-59994	59991.75
Arduino Mega 2560 (clone 2)	60470-60471	60470.25

Benchmark of digital sensor read (100000 digitalRead()) (internal time used for measurement)

Model	Duration (ms)
Arduino 101	156
Arduino Mega 2560 (clone)	534

Benchmark of analog sensor read (100000 analogRead()) (internal time used for measurement)

Model	Duration (ms)
Arduino 101	280
Arduino Mega 2560 (clone)	1175

Benchmark of pi calculation (internal time used for measurement)

Model	Size of double	Duration (sec)	Pi value
Arduino 101	8	3.879	3.1415936536
Arduino Due (clone)	8	16.512	3.1415936536
Arduino Mega 2560 (clone)	4	58.338	3.1415972709

Test programs: Python program for measuring response time

import time
import serial
def millis():
    return int(round(time.time() * 1000))
ser = serial.Serial('/dev/ttyACM0', 9600)
while True:
	start = millis()
	data= "recv: "+ser.readline()	
	end = millis()
	print (end-start)
	print data

Time precision benchmark

void setup() {
  Serial.begin(9600);
}

void loop() { 

  while (true) {
    unsigned long start = millis();
    delay(60000);
    unsigned elap = millis() - start;
    Serial.println(elap);
  }
}

Pi benchmark (adapted from http://forum.arduino.cc/index.php?topic=138802.0)

#define ITERATIONS 1000000L    // number of iterations

void setup() {
  Serial.begin(9600);
}

void loop() {

  unsigned long start, time;
  unsigned long niter = ITERATIONS;

  double x = 1.0;
  double pi = 1.0;
  unsigned long i = 0;
  start = millis();
  Serial.print("Sizeof(double)=");
  Serial.print(sizeof(double));
  Serial.println();

  for ( i = 2; i < niter; i++) {
    x *= -1.0;
    pi += x / (2.0 * (double)i - 1);
  }

  time = millis() - start;

  pi = pi * 4.0;

  Serial.print("# of trials = ");
  Serial.println(niter);
  Serial.print("Estimate of pi = ");
  Serial.println(pi, 10);

  Serial.print("Time: ");
  Serial.print(time);
  Serial.println(" ms");
  Serial.println();
  delay(5000);
}

DigitalRead program

void setup() {
  pinMode(3, INPUT);
  Serial.begin(9600);
}

void loop() {

  long reads = 0;
  unsigned long start = millis();
  while (true)  {
    if (analogRead(3) < 1000.0) { 

      if (reads == 10000) {
        break;
      }
      reads++;

    }
  }
  unsigned elap = millis() - start;
  Serial.println(elap);


}

Analog read benchmark program

void setup() {
  pinMode(2, INPUT);
  Serial.begin(9600);
}

void loop() {

  int readZero = 0;
  unsigned long start = millis();
  while (true) {

    if (!digitalRead(2)) {
      if (readZero == 10000) {
        break;
      }
      readZero++; 

    }
  }
  unsigned elap = millis() - start;
  Serial.println(elap);


}