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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
Arduino Mega 2560 (clone)

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

Model Duration (ms)
Arduino 101
Arduino Due (clone)
Arduino Mega 2560 (clone)

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);
}

Analog Read program

void setup() {

 pinMode(2, INPUT);
 Serial.begin(9600);

}

void loop() {

 int readZero = 0;
 int reads = 0;
 unsigned long start = millis();
 while (true) {
   if (analogRead(2)==0) {
     readZero++;
   }
   if (reads == 10000) {
     break;
   }
   reads++;
 }
 unsigned elap = millis() - start;
 Serial.println(elap);
 Serial.print("Zeros: ");
 Serial.println(readZero);

}


Digital read benchmark program

void setup() {

 pinMode(2, INPUT);
 Serial.begin(9600);

}

void loop() {

 int readZero = 0;
 int reads = 0;
 unsigned long start = millis();
 while (true) {
   if (!digitalRead(2)) {
     readZero++;
   }
   if (reads == 10000) {
     break;
   }
   reads++;
 }
 unsigned elap = millis() - start;
 Serial.println(elap);
 Serial.print("Zeros: ");
 Serial.println(readZero);

}