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 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
Arduino 101	156 ms.
Arduino Mega 2560 (clone)	534 ms.

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

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

Benchmark of pi calculation (internal time used for measurement)

Model	Size of double	Duration	Pi value
Arduino 101	8	3879 ms.	3.1415936536
Arduino Due	8	16512 ms.	3.1415936536
Arduino Mega 2560 (clone)	4	58338 ms.	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);


}