PicoMite V6.00.02 release candidates - all versions

Author Message
karlelch

Guru

Joined: 30/10/2014
Location: Germany
Posts: 321
Posted: 04:38pm 17 Apr 2025      

Hi Peter,

First of all, the latest beta works for me w/o any problem - thanks!
I did run a few performance tests with my hexapod code for the v6 beta versions that I had at hand. It measures the time needed for a full inverse kinematics loop (18 DOF), which updates the calculations for the leg positions. Here are the results:

With the RP2040:
PicoMite MMBasic RP2040 Edition V6.00.02b6
OPTION LIBRARY_FLASH_SIZE  20000
OPTION HEARTBEAT OFF
OPTION CPUSPEED  150000 'KHz
comp=56.206 (56.944, n=29)

[...]
OPTION CPUSPEED  252000 'KHz
comp=33.277 (34.030, n=17)

[...]
OPTION CPUSPEED  315000 'KHz
comp=26.409 (27.569, n=10)

PicoMite MMBasic RP2040 Edition V6.00.02RC15
OPTION LIBRARY_FLASH_SIZE  20000
OPTION HEARTBEAT OFF
OPTION CPUSPEED (KHz) 150000
comp=53.280 (54.949, n=14)

[...]
OPTION CPUSPEED (KHz) 252000
comp=31.767 (32.467, n=15)

[...]
OPTION CPUSPEED (KHz) 315000
comp=25.349 (26.066, n=12)

[...]
OPTION CPUSPEED (KHz) 315000
OPTION FAST TRIG ON
comp=25.300 (25.857, n=17)


With the RP2350B:
PicoMite MMBasic RP2350B Edition V6.00.02RC15
OPTION FLASH SIZE 16777216
OPTION LIBRARY_FLASH_SIZE  48000
OPTION PICO OFF
OPTION CPUSPEED (KHz) 315000
OPTION PSRAM PIN GP47
OPTION FAST TRIG OFF
comp=13.070 (13.351, n=17)

[...]
OPTION FAST TRIG ON
comp=13.102 (13.439, n=13)


For the RP2040, the performance is nearly the same for b6 and RC15; it scales with the CPU speed, unsurprisingly.

It is much faster on the RP2350B. Interestingly (maybe unsurprisingly for you), PSRAM  on vs. off did not make a significant difference (not shown). What surprises me was that `OPTION FAST TRIG ON` did not have any effect although the code makes some use of trigonometry ...

Best
Thomas