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Performance

Overview

Other SAMD21-based ARM M0 boards, such as the MKRZero, Adafruit Gemma M0, Adafruit ItsyBitsy M0, and Adafruit Feather M0 Adalogger are similar in performance to the Arduino Zero.

Other SAMD51-based ARM M4 boards, such as the Adafruit ItsyBitsy M4 and Adafruit Feather M4, are similar in performance to the Adafruit Metro M4.

Other RP2040-based boards, such as the Raspberry Pi Pico W and Adafruit Feather RP2040, are similar in performance to the Raspberry Pi Pico.

Other K210-based RISC-V boards, such as the Sipeed MAiX One Dock and Sipeed MAiX BiT, are similar in performance to the Sipeed Maixduino.

Platforms

The following table gives a summary of the performance of the different boards supported by the latest release of uLisp for each platform:

AVR-Nano version

Platform	Processor	Clock	Objects	Image	Code	GC time	Tak	Q2
Arduino Uno	ATmega328	16 MHz	319	256	†	0.5 ms	63.3 s
Arduino Nano	ATmega328	16 MHz	319	256	†	0.5 ms	63.3 s
Arduino Nano Every	ATmega4809	20 MHz	1066	64	†	1.4 ms	53.3 s	105.4 s
ATmega4809 Curiosity Nano	ATmega4809	20 MHz	1066	64	†	1.4 ms	49 s	112 s

AVR version

Platform	Processor	Clock	Objects	Image	Code	GC time	Tak	Q2
Arduino Mega 2560	ATmega2560	16 MHz	1344	1024	†	2.1 ms	55.6 s	110.7 s
Lisp Badge	ATmega1284	16 MHz	2944	All	96	4.7 ms	54.6 s	109.2 s
Lisp Badge LE	AVR128DB48	24 MHz	2800	All	96	2.5 ms	34.9 s	72.1 s
AVR128DA48 Curiosity Nano	AVR128DA48	24 MHz	2920	All	96	2.6 ms	33.1 s	66.7 s
AVR128DB48 Curiosity Nano	AVR128DB48	24 MHz	2920	All	96	2.6 ms	33.1 s	66.7 s

ARM version

Platform	Processor	Clock	Objects	Image	Code	GC time	Tak	Q2	FFT
Arduino Zero	ATSAMD21	48 MHz	2639	All	128	2.4 ms	12 s	51 s	348 ms
Arduino MKRZero	ATSAMD21	48 MHz	2639	All	128	2.2 ms	18.3 s	43.6 s	446 ms
Adafruit Gemma M0	ATSAMD21	48 MHz	2816	All	128	2.4 ms	14.9 s	33.8 s	445 ms
Adafruit QT-Py SAMD21	ATSAMD21	48 MHz	2816	All	128	1.3 ms	14.9 s	33.8 s	445 ms
Adafruit ItsyBitsy M0	ATSAMD21	48 MHz	2816	All	128	1.3 ms	14.9 s	33.8 s	445 ms
Adafruit Feather M0	ATSAMD21	48 MHz	2816	All	128	1.3 ms	14.9 s	34.3 s	445 ms
Adafruit Neo Trinkey	ATSAMD21	48 MHz	2816	All	128	1.3 ms	10.5 s	26.6 s	445 ms
Seeed Studio XIAO SAMD21	ATSAMD21	48 MHz	2816	All	128	2.4 ms	14 s	41 s	445 ms
Adafruit Metro M4 Grand Central	ATSAMD51	120 MHz	28800	All	256	4.6 ms	4.1 s	11 s	122 ms
Adafruit Metro M4	ATSAMD51	120 MHz	20480	All	256	3.3 ms	4.4 s	9.8 s	122 ms
Adafruit ItsyBitsy M4	ATSAMD51	120 MHz	20608	All	256	3.3 ms	4.4 s	9.9 s	121 ms
Adafruit Feather M4	ATSAMD51	120 MHz	20608	All	256	3.3 ms	4.5 s	10.2 s	121 ms
Adafruit PyGamer and PyBadge	ATSAMD51	120 MHz	20608	All	256	3.3 ms	4.2 s	10.2 s	121 ms
Seeed Studio Wio Terminal	ATSAMD51	120 MHz	20480	All	256	3.3 ms	5.3 s	13.0 s	121 ms
BBC Micro:bit	nRF51822	16 MHz	1344	*	64	2.2 ms	38.4 s	77.9 s	N/A
Calliope mini	nRF51822	16 MHz	3328	*	64	5.3 ms	34 s	82 s	1110 ms
BBC Micro:bit V2	nRF52833	64 MHz	12927	*	128	6.7 ms	8.6 s	18.9 s	246 ms
Adafruit CLUE	nRF52840	64 MHz	21120	All	256	7.8 ms	12.7 s	31.8 s	199 ms
Adafruit ItsyBitsy nRF52840	nRF52840	64 MHz	21120	All	256	6.8 ms	12.6 s	31.4 s	199 ms
Seeed Studio XIAO nRF52840	nRF52840	64 MHz	21120	All	256	5.9 ms	9.1 s	24.9 s	199 ms
Circuit Playground Bluefruit	nRF52840	64 MHz	21120	All	256	6.8 ms	9.0 s	24.4 s	199 ms
Raspberry Pi Pico	RP2040	133 MHz	23000	All	256	4.0 ms	4.8 s	12.9 s	174 ms
Raspberry Pi Pico W	RP2040	133 MHz	23000	All	256	4.0 ms	4.8 s	12.9 s	174 ms
Adafruit Feather RP2040	RP2040	133 MHz	23000	All	256	4.0 ms	5.0 s	13.1 s	174 ms
Feather RP2040 Adalogger	RP2040	133 MHz	23000	All	256	4.0 ms	5.0 s	13.1 s	163 ms
Adafruit Qt-Py RP2040	RP2040	133 MHz	22911	All	256	3.7 ms	8.9 s	22.3 s	174 ms
Seed Studio XIAO RP2040	RP2040	133 MHz	22911	All	256	3.7 ms	9.2 s	23.1 s	174 ms
Raspberry Pi Pico 2	RP2350	150 MHz	47250	All	256	5.0 ms	3.8 s	10.7 s	98 ms
Maxim MAX32620FTHR	MAX32620	96 MHz	24576	*	256	8.7 ms	6.7 s	14.7 s	179 ms
Teensy 4.0 and 4.1	iMXRT1062	600 MHz	60000	All	256	1.2 ms	0.4 s	0.98 s	12 ms
Arduino UNO R4 Minima	RA4M1	48 MHz	2032	1024	128	0.9 ms	10.7 s	22.6 s	335 ms
Arduino UNO R4 WiFi	RA4M1	48 MHz	1610	1024	128	0.8 ms	11.0 s	22.8 s	344 ms

ESP version

Platform	Processor	Clock	Objects	Image	Code	GC time	Tak	Q2	FFT
Adafruit ESP32 Feather	ESP32	240 MHz	9216	All	†	0.4 ms	8.1 s	22.1 s	242 ms
Adafruit ESP32 Feather V2	ESP32	240 MHz	260000	All	†	168 ms	8.0 s	21.1 s	242 ms
Adafruit QT Py ESP32 Pico	ESP32	240 MHz	260000	All	†	156 ms	7.9 s	20.9 s	90 ms
Adafruit ESP32-S2 Feather	ESP32-S2	240 MHz	8160	All	†	0.6 ms	2.7 s	6.0 s	90 ms
Adafruit ESP32-S2 QT-Py	ESP32-S2	240 MHz	8160	All	†	0.6 ms	2.7 s	6.0 s	90 ms
Unexpected Maker Feather S2	ESP32-S2	240 MHz	8160	All	†	0.6 ms	2.7 s	6.0 s	90 ms
ESP32-S2-Soala-1 WROVER	ESP32-S2	240 MHz	260000	All	†	137 ms	5.4 s	13.6 s	169 ms
ESP32-S2-Soala-1 WROOM	ESP32-S2	240 MHz	8160	All	†	0.6 ms	3.8 s	10.0 s	169 ms
ESP32-C3-DevKitM-1	ESP32-C3	160 MHz	9216	All	†	0.9 ms	7.8 s	20.3 s	235 ms
ESP32-S3-DevKitM-1	ESP32-S3	240 MHz	22000	All	†	0.9 ms	6.1 s	16.0 s	180 ms

RISC-V version

Platform	Processor	Clock	Objects	Image	Code	GC time	Tak	Q2	FFT
Sipeed MAiX RISC-V boards	K210	400 MHz	500000	*	512	44 ms	1.0 s	2.3 s	28 ms

Key

Objects gives the number of Lisp objects of storage available, each equivalent to 4 bytes on the 8/16-bit platforms and 8 bytes on the 32-bit platforms.

Image gives the number of objects that can be saved to non-volatile storage using save-image, or All which means that the whole workspace can be saved.
* These platforms don't provide non-volatile storage for saving an image, but you can save images to an SD card with a suitable interface.

Code gives the number of bytes of machine code that can be stored by the assembler, by default, on AVR, ARM, or RISC-V platforms.
† means not available.

GC time gives the time taken for a garbage collection.

Tak gives the time taken to calculate the recursive integer function (tak 18 12 6); see Benchmarks.

Q2 gives the time taken to calculate the recursive integer function (q2 7 8); see Benchmarks.

FFT (32-bit platforms only) gives the time taken to run the floating-point 32-point fft benchmark; see Fast Fourier Transform.