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ESP32-S3 on-device benchmark

This is an ESP-IDF app that links qf_math together with libfixmath, fr_math, and newlib libm (sinf, …), then runs the same numerical loops as make compare on your PC (compare/benchmark_core.c).

What you get

  • Wall-clock numbers from esp_timer_get_time() (microsecond resolution, FreeRTOS tick jitter still applies).
  • Accuracy checks versus double references (same grids as the host harness).
  • Important: fixed-point peers are still exercised through float bridges here — same caveat as compare/README.md § Float vs fixed-point. For native fix16_t / radix-s32 timings you would add separate loops later.

The UART log ends with Markdown between serial markers :::: DOC_TABLE_START :::: and :::: DOC_TABLE_END ::::. The checked-in MCU_BENCHMARK_SNAPSHOT_ESP32S3.md is refreshed from the LilyGO PlatformIO build via make mcu-benchmark-snapshot (same kernels).

Prerequisites

  1. ESP-IDF v5.x installed and sourced (IDF_PATH, idf.py on PATH).

  2. From the repository root, fetch compare dependencies (libfixmath + fr_math sources):

    make compare-deps

    That populates build/compare/third_party/ (gitignored). main/CMakeLists.txt pulls sources from there.

  3. Main task stack: each benchmark uses ~32 KiB of stack (float inputs[8000]). This example sets CONFIG_ESP_MAIN_TASK_STACK_SIZE=65536 in sdkconfig.defaults. Do not shrink it without changing benchmark_core.c.

Build / flash / monitor

cd examples/esp32s3_benchmark
idf.py set-target esp32s3
idf.py build flash monitor

Power the board, connect USB-UART, then reset — the full report prints once over the serial console (same layout as the host benchmark_suite human mode).

LilyGO T-Display-S3 (USB + optional TFT): use examples/lilygo_t_display_s3_bench/ — PlatformIO board lilygo-t-display-s3, pio run -t upload -t monitor.

Troubleshooting

  • CMake error — missing fix16.c: run make compare-deps from the repo root first.
  • Panics / stack overflow: confirm CONFIG_ESP_MAIN_TASK_STACK_SIZE is at least 65536 (merge sdkconfig.defaults into your sdkconfig, or idf.py menuconfig → Main task stack size).
  • Wi-Fi / Bluetooth: left disabled by default; enable only if you need them — extra ISR load shifts timing.

Files

Path Role
main/app_main.c ESP timer adapter + bench_run_all / bench_print_human
main/CMakeLists.txt Sources + include paths into repo root + build/compare/third_party/
CMakeLists.txt ESP-IDF project wrapper
sdkconfig.defaults ESP32-S3 target hints, large main stack, -Os friendly defaults