Introduction
This datasheet provides the performance numbers of various device drivers in MCU PLUS SDK for AM263x
Generic Setup details
| SOC Details | Values |
| Core | R5F |
| Core Operating Speed | 400 MHz |
| Cache Status | Enabled |
| Device Type | HSFS |
| Optimization Details | Values |
| Build Profile | Release |
| R5F Compiler flags | -mcpu=cortex-r5 -mfloat-abi=hard -mfpu=vfpv3-d16 -Wall -Werror -g -mthumb -Wno-gnu-variable-sized-type-not-at-end -Wno-unused-function -Os |
| R5F Linker flags | -Wl,–diag_suppress=10063 -Wl,–ram_model -Wl,–reread_libs |
| Code Placement | MSRAM |
| Data Placement | MSRAM |
Performance Numbers
SBL QSPI performance
- Software/Application used : sbl_qspi and ipc_notify_echo
- Size of sbl_qspi appimage : 63 KB
- Size of ipc_notify_echo appimage : 99 KB
| Boot time breakdown | Time (us) |
| ROM : init + SBL load from flash | 22400 |
| SBL : System Init | 788 |
| SBL : Drivers_open | 33 |
| SBL : LoadHsmRtFw | 177 |
| SBL : Board_driversOpen | 239 |
| SBL : CPU Load | 5927 |
| SBL : Total time taken | 7166 |
- Please note that the total time taken provided at the end is not including the ROM boot time.
MCAN performance
- Internal loopback mode of operation
- Software/Application used : test_mcan
- Memory Mode : TX Buffer Mode, RX FIFO Mode
- MCAN CLK : 80MHz
- CPU : R5F
Theoretical Rate Calculation
| Frame Type | Arbitration BitRate(Mbps) | Data BitRate(Mbps) | Arb Phase bits | Data Phase bits | Throughput (Msg/Sec) |
| CAN FD STANDARD FORMAT | 1 | 5 | 27 | 538 | 7430 |
| CAN FD EXTENDED FORMAT | 1 | 5 | 46 | 538 | 6510 |
Actual Numbers
| Frame Type | Arbitration BitRate(Mbps) | Data BitRate(Mbps) | Theoretical Throughput (Msg/Sec) | Actual Throughput (Msg/Sec) |
| CAN FD STANDARD FORMAT | 1 | 5 | 7430 | 6578 |
| CAN FD EXTENDED FORMAT | 1 | 5 | 6510 | 5713 |
IPC performance
IPC NOTIFY
- 10000 messages are sent and average one way message latency is measured
| Local Core | Remote Core | Average Message Latency (us) |
| r5f0-0 | r5f0-1 | 1.81 |
| r5f0-0 | r5f1-0 | 1.78 |
| r5f0-0 | r5f1-1 | 1.83 |
IPC RPMSG
- 10000 messages are sent and average one way message latency is measured
| Local Core | Remote Core | Message Size | Average Message Latency (us) |
| r5f0-0 | r5f0-1 | 4 | 1.06 |
| r5f0-0 | r5f1-0 | 4 | 1.06 |
| r5f0-0 | r5f1-1 | 4 | 1.06 |
| r5f0-0 | r5f0-1 | 32 | 1.30 |
| r5f0-0 | r5f0-1 | 64 | 1.58 |
| r5f0-0 | r5f0-1 | 112 | 1.98 |
MCSPI performance
MCSPI driver performance in different modes
- measurement is provided for Master mode in Loopback configuration with TX and RX.
- Transfer time captured with driver API in different operation mode.
- Throughput comparison is added for transfer of 400 Bytes with different word width and corresponding number of words.
- Time
- CPU : R5F
- Transfer Length : 400 Bytes
- SPI Clock speed : 50MHz
| Number of Words | Word Width (Bits) | Polled mode Throughput / Transfer time | Interrupt mode (Mbps) Throughput / Transfer time | Dma mode (Mbps) Throughput / Transfer time |
| 400 | 08 | 20.70 Mbps / 154.62 us | 22.97 Mbps / 139.31 us | 0.91 Mbps / 3524.02 us |
| 200 | 16 | 32.08 Mbps / 99.76 us | 29.98 Mbps / 106.74 us | 0.95 Mbps / 3368.14 us |
| 100 | 32 | 38.10 Mbps / 83.99 us | 35.26 Mbps / 90.75 us | 0.97 Mbps / 3290.38 us |
- Theoretically for 400 Bytes at 50MHz time required for clocks is 64us.
- Additionally hardware adds 160ns + 1bit time delay between each word transfer as measured in the scope
MATHLIB performance
- Calculated for the 500 samples taken between 0 and 2 * Pi
- trignometric function timings compared between the optimized Mathlib mcusdk implementation and the compiler mathlib version
- The max error for each operation between the optimized Mathlib mcusdk functions and the compiler mathlib version is printed
| Function | Err | Max Cycles Mathlib (mcusdk) | avg cycles Mathlib (mcusdk) | max cycles mathlib (clang) | avg cycles mathlib (clang) |
| sin | 0.0000007150 | 549 | 44.771999 | 549 | 288.019989 |
| cos | 0.0000002870 | 75 | 53.669998 | 533 | 288.928009 |
| sincos sin | 0.0000001790 | 90 | 68.585999 | 775 | 287.963989 |
| asin | 0.0000003430 | 93 | 64.907997 | 617 | 444.674011 |
| acos | 0.0000004770 | 86 | 64.584000 | 543 | 396.074005 |
| atan | 0.0000005360 | 93 | 72.323997 | 853 | 386.246002 |
| atan2 | 0.0000007150 | 112 | 102.505997 | 826 | 490.612000 |
Ethernet Performance
For Ethernet performance refer Ethernet Performance on AM263x
1.8.20