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docs: Update benchmarks after stepper and scheduler changes

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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Kevin O'Connor 2021-11-04 22:08:32 -04:00
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docs/Features.md
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@ -17,7 +17,7 @@ Klipper has several compelling features:
* Best in class performance. Klipper is able to achieve high stepping
rates on both new and old micro-controllers. Even old 8bit
micro-controllers can obtain rates over 175K steps per second. On
more recent micro-controllers, rates over 500K steps per second are
more recent micro-controllers, several million steps per second are
possible. Higher stepper rates enable higher print velocities. The
stepper event timing remains precise even at high speeds which
improves overall stability.
@ -157,25 +157,23 @@ guide.
Below are the results of stepper performance tests. The numbers shown
represent total number of steps per second on the micro-controller.
| Micro-controller | Fastest step rate | 3 steppers active |
| Micro-controller | 1 stepper active | 3 steppers active |
| ------------------------------- | ----------------- | ----------------- |
| 16Mhz AVR | 154K | 102K |
| 20Mhz AVR | 192K | 127K |
| Arduino Zero (SAMD21) | 234K | 217K |
| "Blue Pill" (STM32F103) | 387K | 360K |
| Arduino Due (SAM3X8E) | 438K | 438K |
| Duet2 Maestro (SAM4S8C) | 564K | 564K |
| Smoothieboard (LPC1768) | 574K | 574K |
| Smoothieboard (LPC1769) | 661K | 661K |
| Beaglebone PRU | 680K | 680K |
| Duet2 Wifi/Eth (SAM4E8E) | 686K | 686K |
| Adafruit Metro M4 (SAMD51) | 761K | 692K |
| BigTreeTech SKR Pro (STM32F407) | 922K | 711K |
| 16Mhz AVR | 157K | 99K |
| 20Mhz AVR | 196K | 123K |
| Arduino Zero (SAMD21) | 686K | 471K |
| STM32F042 | 814K | 578K |
| Beaglebone PRU | 866K | 708K |
| "Blue Pill" (STM32F103) | 1180K | 818K |
| Arduino Due (SAM3X8E) | 1273K | 981K |
| Duet2 Maestro (SAM4S8C) | 1690K | 1385K |
| Smoothieboard (LPC1768) | 1923K | 1351K |
| Smoothieboard (LPC1769) | 2353K | 1622K |
| Raspberry Pi Pico (RP2040) | 2400K | 1636K |
| Duet2 Wifi/Eth (SAM4E8E) | 2500K | 1674K |
| Adafruit Metro M4 (SAMD51) | 3077K | 1885K |
| BigTreeTech SKR Pro (STM32F407) | 3652K | 2459K |
| Fysetc Spider (STM32F446) | 3913K | 2634K |
On AVR platforms, the highest achievable step rate is with just one
stepper stepping. On the SAMD21 and STM32F103 the highest step rate is
with two simultaneous steppers stepping. On the SAM3X8E, SAM4S8C,
SAM4E8E, LPC176x, and PRU the highest step rate is with three
simultaneous steppers. On the SAMD51 and STM32F4 the highest step rate
is with four simultaneous steppers. (Further details on the benchmarks
are available in the [Benchmarks document](Benchmarks.md).)
Further details on the benchmarks are available in the
[Benchmarks document](Benchmarks.md).