docs: Update benchmarks after stepper and scheduler changes

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

2 files changed, 129 insertions, 181 deletions

diff --git a/docs/Benchmarks.md b/docs/Benchmarks.md
index 90eb1245..32ee1c6e 100644
--- a/docs/Benchmarks.md
+++ b/docs/Benchmarks.md
@@ -67,10 +67,9 @@ in preparation for the next test:
 clear_shutdown
 ```
 
-To obtain the single stepper and dual stepper benchmarks, the same
-configuration sequence is used, but only the first block (for the
-single stepper case) or first two blocks (for the dual stepper case)
-of the above test is cut-and-paste into the console.py window.
+To obtain the single stepper benchmarks, the same configuration
+sequence is used, but only the first block of the above test is
+cut-and-paste into the console.py window.
 
 To produce the benchmarks found in the Features.md document, the total
 number of steps per second is calculated by multiplying the number of
@@ -81,330 +80,281 @@ example, with three active steppers:
 ECHO Test result is: {"%.0fK" % (3. * freq / ticks / 1000.)}
 ```
 
-Benchmarks may be run with the micro-controller code compiled using a
-"step pulse duration" of zero (the tables below report this as "no
-delay"). This configuration is believed to be valid in real-world
-usage when one is solely using Trinamic stepper drivers. The results
-of these benchmarks are not reported in the Features.md document.
+The benchmarks are run with parameters suitable for TMC Drivers. For
+micro-controllers that support `STEPPER_BOTH_EDGE=1` (as reported in
+the `MCU config` line when console.py first starts) use
+`step_pulse_duration=0` and `invert_step=-1` to enable optimized
+stepping on both edges of the step pulse. For other micro-controllers
+use a `step_pulse_duration` corresponding to 100ns.
 
 ### AVR step rate benchmark
 
 The following configuration sequence is used on AVR chips:
 ```
 allocate_oids count=3
-config_stepper oid=0 step_pin=PA5 dir_pin=PA4 invert_step=0
-config_stepper oid=1 step_pin=PA3 dir_pin=PA2 invert_step=0
-config_stepper oid=2 step_pin=PC7 dir_pin=PC6 invert_step=0
+config_stepper oid=0 step_pin=PA5 dir_pin=PA4 invert_step=0 step_pulse_ticks=32
+config_stepper oid=1 step_pin=PA3 dir_pin=PA2 invert_step=0 step_pulse_ticks=32
+config_stepper oid=2 step_pin=PC7 dir_pin=PC6 invert_step=0 step_pulse_ticks=32
 finalize_config crc=0
 ```
 
-The test was last run on commit `01d2183f` with gcc version `avr-gcc
+The test was last run on commit `59314d99` with gcc version `avr-gcc
 (GCC) 5.4.0`. Both the 16Mhz and 20Mhz tests were run using simulavr
 configured for an atmega644p (previous tests have confirmed simulavr
 results match tests on both a 16Mhz at90usb and a 16Mhz atmega2560).
 
 | avr              | ticks |
 | ---------------- | ----- |
-| 1 stepper        | 104   |
-| 2 stepper        | 296   |
-| 3 stepper        | 472   |
+| 1 stepper        | 102   |
+| 3 stepper        | 486   |
 
 ### Arduino Due step rate benchmark
 
 The following configuration sequence is used on the Due:
 ```
 allocate_oids count=3
-config_stepper oid=0 step_pin=PB27 dir_pin=PA21 invert_step=0
-config_stepper oid=1 step_pin=PB26 dir_pin=PC30 invert_step=0
-config_stepper oid=2 step_pin=PA21 dir_pin=PC30 invert_step=0
+config_stepper oid=0 step_pin=PB27 dir_pin=PA21 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=1 step_pin=PB26 dir_pin=PC30 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=2 step_pin=PA21 dir_pin=PC30 invert_step=-1 step_pulse_ticks=0
 finalize_config crc=0
 ```
 
-The test was last run on commit `8d4a5c16` with gcc version
-`arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0`.
+The test was last run on commit `59314d99` with gcc version
+`arm-none-eabi-gcc (Fedora 10.2.0-4.fc34) 10.2.0`.
 
 | sam3x8e              | ticks |
 | -------------------- | ----- |
-| 1 stepper            | 388   |
-| 2 stepper            | 405   |
-| 3 stepper            | 576   |
-| 1 stepper (no delay) | 77    |
-| 3 stepper (no delay) | 299   |
+| 1 stepper            | 66    |
+| 3 stepper            | 257   |
 
 ### Duet Maestro step rate benchmark
 
 The following configuration sequence is used on the Duet Maestro:
 ```
 allocate_oids count=3
-config_stepper oid=0 step_pin=PC26 dir_pin=PC18 invert_step=0
-config_stepper oid=1 step_pin=PC26 dir_pin=PA8 invert_step=0
-config_stepper oid=2 step_pin=PC26 dir_pin=PB4 invert_step=0
+config_stepper oid=0 step_pin=PC26 dir_pin=PC18 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=1 step_pin=PC26 dir_pin=PA8 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=2 step_pin=PC26 dir_pin=PB4 invert_step=-1 step_pulse_ticks=0
 finalize_config crc=0
 ```
 
-The test was last run on commit `8d4a5c16` with gcc version
-`arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0`.
+The test was last run on commit `59314d99` with gcc version
+`arm-none-eabi-gcc (Fedora 10.2.0-4.fc34) 10.2.0`.
 
 | sam4s8c              | ticks |
 | -------------------- | ----- |
-| 1 stepper            | 527   |
-| 2 stepper            | 535   |
-| 3 stepper            | 638   |
-| 1 stepper (no delay) | 70    |
-| 3 stepper (no delay) | 254   |
+| 1 stepper            | 71    |
+| 3 stepper            | 260   |
 
 ### Duet Wifi step rate benchmark
 
 The following configuration sequence is used on the Duet Wifi:
 ```
-allocate_oids count=4
-config_stepper oid=0 step_pin=PD6 dir_pin=PD11 invert_step=0
-config_stepper oid=1 step_pin=PD7 dir_pin=PD12 invert_step=0
-config_stepper oid=2 step_pin=PD8 dir_pin=PD13 invert_step=0
-config_stepper oid=3 step_pin=PD5 dir_pin=PA1 invert_step=0
+allocate_oids count=3
+config_stepper oid=0 step_pin=PD6 dir_pin=PD11 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=1 step_pin=PD7 dir_pin=PD12 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=2 step_pin=PD8 dir_pin=PD13 invert_step=-1 step_pulse_ticks=0
 finalize_config crc=0
-
 ```
 
-The test was last run on commit `59a60d68` with gcc version
-`arm-none-eabi-gcc 7.3.1 20180622 (release)
-[ARM/embedded-7-branch revision 261907]`.
+The test was last run on commit `59314d99` with gcc version
+`gcc version 10.3.1 20210621 (release) (GNU Arm Embedded Toolchain 10.3-2021.07)`.
 
 | sam4e8e          | ticks |
 | ---------------- | ----- |
-| 1 stepper        | 519   |
-| 2 stepper        | 520   |
-| 3 stepper        | 525   |
-| 4 stepper        | 703   |
+| 1 stepper        | 48    |
+| 3 stepper        | 215   |
 
 ### Beaglebone PRU step rate benchmark
 
 The following configuration sequence is used on the PRU:
 ```
 allocate_oids count=3
-config_stepper oid=0 step_pin=gpio0_23 dir_pin=gpio1_12 invert_step=0
-config_stepper oid=1 step_pin=gpio1_15 dir_pin=gpio0_26 invert_step=0
-config_stepper oid=2 step_pin=gpio0_22 dir_pin=gpio2_1 invert_step=0
+config_stepper oid=0 step_pin=gpio0_23 dir_pin=gpio1_12 invert_step=0 step_pulse_ticks=20
+config_stepper oid=1 step_pin=gpio1_15 dir_pin=gpio0_26 invert_step=0 step_pulse_ticks=20
+config_stepper oid=2 step_pin=gpio0_22 dir_pin=gpio2_1 invert_step=0 step_pulse_ticks=20
 finalize_config crc=0
 ```
 
-The test was last run on commit `b161a69e` with gcc version `pru-gcc
+The test was last run on commit `59314d99` with gcc version `pru-gcc
 (GCC) 8.0.0 20170530 (experimental)`.
 
 | pru              | ticks |
 | ---------------- | ----- |
-| 1 stepper        | 861   |
-| 2 stepper        | 853   |
-| 3 stepper        | 883   |
+| 1 stepper        | 231   |
+| 3 stepper        | 847   |
 
 ### STM32F042 step rate benchmark
 
 The following configuration sequence is used on the STM32F042:
 ```
 allocate_oids count=3
-config_stepper oid=0 step_pin=PA1 dir_pin=PA2 invert_step=0
-config_stepper oid=1 step_pin=PA3 dir_pin=PA2 invert_step=0
-config_stepper oid=2 step_pin=PB8 dir_pin=PA2 invert_step=0
+config_stepper oid=0 step_pin=PA1 dir_pin=PA2 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=1 step_pin=PA3 dir_pin=PA2 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=2 step_pin=PB8 dir_pin=PA2 invert_step=-1 step_pulse_ticks=0
 finalize_config crc=0
 ```
 
-The test was last run on commit `0b0c47c5` with gcc version
-`arm-none-eabi-gcc (Fedora 9.2.0-1.fc30) 9.2.0`.
+The test was last run on commit `59314d99` with gcc version
+`arm-none-eabi-gcc (Fedora 10.2.0-4.fc34) 10.2.0`.
 
 | stm32f042        | ticks |
 | ---------------- | ----- |
-| 1 stepper        | 247   |
-| 2 stepper        | 328   |
-| 3 stepper        | 558   |
+| 1 stepper        | 59    |
+| 3 stepper        | 249   |
 
 ### STM32F103 step rate benchmark
 
 The following configuration sequence is used on the STM32F103:
 ```
 allocate_oids count=3
-config_stepper oid=0 step_pin=PC13 dir_pin=PB5 invert_step=0
-config_stepper oid=1 step_pin=PB3 dir_pin=PB6 invert_step=0
-config_stepper oid=2 step_pin=PA4 dir_pin=PB7 invert_step=0
+config_stepper oid=0 step_pin=PC13 dir_pin=PB5 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=1 step_pin=PB3 dir_pin=PB6 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=2 step_pin=PA4 dir_pin=PB7 invert_step=-1 step_pulse_ticks=0
 finalize_config crc=0
 ```
 
-The test was last run on commit `8d4a5c16` with gcc version
-`arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0`.
+The test was last run on commit `59314d99` with gcc version
+`arm-none-eabi-gcc (Fedora 10.2.0-4.fc34) 10.2.0`.
 
 | stm32f103            | ticks |
 | -------------------- | ----- |
-| 1 stepper            | 347   |
-| 2 stepper            | 372   |
-| 3 stepper            | 600   |
-| 1 stepper (no delay) | 71    |
-| 3 stepper (no delay) | 288   |
+| 1 stepper            | 61    |
+| 3 stepper            | 264   |
 
 ### STM32F4 step rate benchmark
 
 The following configuration sequence is used on the STM32F4:
 ```
-allocate_oids count=4
-config_stepper oid=0 step_pin=PA5 dir_pin=PB5 invert_step=0
-config_stepper oid=1 step_pin=PB2 dir_pin=PB6 invert_step=0
-config_stepper oid=2 step_pin=PB3 dir_pin=PB7 invert_step=0
-config_stepper oid=3 step_pin=PB3 dir_pin=PB8 invert_step=0
+allocate_oids count=3
+config_stepper oid=0 step_pin=PA5 dir_pin=PB5 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=1 step_pin=PB2 dir_pin=PB6 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=2 step_pin=PB3 dir_pin=PB7 invert_step=-1 step_pulse_ticks=0
 finalize_config crc=0
 ```
 
-The test was last run on commit `8d4a5c16` with gcc version
-`arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0`. The STM32F407 results
-were obtained by running an STM32F407 binary on an STM32F446 (and thus
-using a 168Mhz clock).
+The test was last run on commit `59314d99` with gcc version
+`arm-none-eabi-gcc (Fedora 10.2.0-4.fc34) 10.2.0`. The STM32F407
+results were obtained by running an STM32F407 binary on an STM32F446
+(and thus using a 168Mhz clock).
 
 | stm32f446            | ticks |
 | -------------------- | ----- |
-| 1 stepper            | 757   |
-| 2 stepper            | 761   |
-| 3 stepper            | 757   |
-| 4 stepper            | 767   |
-| 1 stepper (no delay) | 51    |
-| 3 stepper (no delay) | 226   |
+| 1 stepper            | 46    |
+| 3 stepper            | 205   |
 
 | stm32f407            | ticks |
 | -------------------- | ----- |
-| 1 stepper            | 709   |
-| 2 stepper            | 714   |
-| 3 stepper            | 709   |
-| 4 stepper            | 729   |
-| 1 stepper (no delay) | 52    |
-| 3 stepper (no delay) | 226   |
+| 1 stepper            | 46    |
+| 3 stepper            | 205   |
 
 ### LPC176x step rate benchmark
 
 The following configuration sequence is used on the LPC176x:
 ```
 allocate_oids count=3
-config_stepper oid=0 step_pin=P1.20 dir_pin=P1.18 invert_step=0
-config_stepper oid=1 step_pin=P1.21 dir_pin=P1.18 invert_step=0
-config_stepper oid=2 step_pin=P1.23 dir_pin=P1.18 invert_step=0
+config_stepper oid=0 step_pin=P1.20 dir_pin=P1.18 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=1 step_pin=P1.21 dir_pin=P1.18 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=2 step_pin=P1.23 dir_pin=P1.18 invert_step=-1 step_pulse_ticks=0
 finalize_config crc=0
 ```
 
-The test was last run on commit `8d4a5c16` with gcc version
-`arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0`. The 120Mhz LPC1769
+The test was last run on commit `59314d99` with gcc version
+`arm-none-eabi-gcc (Fedora 10.2.0-4.fc34) 10.2.0`. The 120Mhz LPC1769
 results were obtained by overclocking an LPC1768 to 120Mhz.
 
 | lpc1768              | ticks |
 | -------------------- | ----- |
-| 1 stepper            | 448   |
-| 2 stepper            | 450   |
-| 3 stepper            | 523   |
-| 1 stepper (no delay) | 56    |
-| 3 stepper (no delay) | 240   |
+| 1 stepper            | 52    |
+| 3 stepper            | 222   |
 
 | lpc1769              | ticks |
 | -------------------- | ----- |
-| 1 stepper            | 525   |
-| 2 stepper            | 526   |
-| 3 stepper            | 545   |
-| 1 stepper (no delay) | 56    |
-| 3 stepper (no delay) | 240   |
+| 1 stepper            | 51    |
+| 3 stepper            | 222   |
 
 ### SAMD21 step rate benchmark
 
 The following configuration sequence is used on the SAMD21:
 ```
 allocate_oids count=3
-config_stepper oid=0 step_pin=PA27 dir_pin=PA20 invert_step=0
-config_stepper oid=1 step_pin=PB3 dir_pin=PA21 invert_step=0
-config_stepper oid=2 step_pin=PA17 dir_pin=PA21 invert_step=0
+config_stepper oid=0 step_pin=PA27 dir_pin=PA20 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=1 step_pin=PB3 dir_pin=PA21 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=2 step_pin=PA17 dir_pin=PA21 invert_step=-1 step_pulse_ticks=0
 finalize_config crc=0
 ```
 
-The test was last run on commit `8d4a5c16` with gcc version
-`arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0` on a SAMD21G18
+The test was last run on commit `59314d99` with gcc version
+`arm-none-eabi-gcc (Fedora 10.2.0-4.fc34) 10.2.0` on a SAMD21G18
 micro-controller.
 
 | samd21               | ticks |
 | -------------------- | ----- |
-| 1 stepper            | 277   |
-| 2 stepper            | 410   |
-| 3 stepper            | 664   |
-| 1 stepper (no delay) | 83    |
-| 3 stepper (no delay) | 321   |
+| 1 stepper            | 70    |
+| 3 stepper            | 306   |
 
 ### SAMD51 step rate benchmark
 
 The following configuration sequence is used on the SAMD51:
 ```
-allocate_oids count=5
-config_stepper oid=0 step_pin=PA22 dir_pin=PA20 invert_step=0
-config_stepper oid=1 step_pin=PA22 dir_pin=PA21 invert_step=0
-config_stepper oid=2 step_pin=PA22 dir_pin=PA19 invert_step=0
-config_stepper oid=3 step_pin=PA22 dir_pin=PA18 invert_step=0
-config_stepper oid=4 step_pin=PA23 dir_pin=PA17 invert_step=0
+allocate_oids count=3
+config_stepper oid=0 step_pin=PA22 dir_pin=PA20 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=1 step_pin=PA22 dir_pin=PA21 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=2 step_pin=PA22 dir_pin=PA19 invert_step=-1 step_pulse_ticks=0
 finalize_config crc=0
 ```
 
-The test was last run on commit `524ebbc7` with gcc version
-`arm-none-eabi-gcc (Fedora 9.2.0-1.fc30) 9.2.0` on a SAMD51J19A
+The test was last run on commit `59314d99` with gcc version
+`arm-none-eabi-gcc (Fedora 10.2.0-4.fc34) 10.2.0` on a SAMD51J19A
 micro-controller.
 
 | samd51               | ticks |
 | -------------------- | ----- |
-| 1 stepper            | 516   |
-| 2 stepper            | 520   |
-| 3 stepper            | 520   |
-| 4 stepper            | 631   |
-| 1 stepper (200Mhz)   | 839   |
-| 2 stepper (200Mhz)   | 838   |
-| 3 stepper (200Mhz)   | 838   |
-| 4 stepper (200Mhz)   | 838   |
-| 5 stepper (200Mhz)   | 891   |
-| 1 stepper (no delay) | 42    |
-| 3 stepper (no delay) | 194   |
+| 1 stepper            | 39    |
+| 3 stepper            | 191   |
+| 1 stepper (200Mhz)   | 39    |
+| 3 stepper (200Mhz)   | 181   |
 
 ### RP2040 step rate benchmark
 
 The following configuration sequence is used on the RP2040:
 
 ```
-allocate_oids count=4
-config_stepper oid=0 step_pin=gpio25 dir_pin=gpio3 invert_step=0
-config_stepper oid=1 step_pin=gpio26 dir_pin=gpio4 invert_step=0
-config_stepper oid=2 step_pin=gpio27 dir_pin=gpio5 invert_step=0
-config_stepper oid=3 step_pin=gpio28 dir_pin=gpio6 invert_step=0
+allocate_oids count=3
+config_stepper oid=0 step_pin=gpio25 dir_pin=gpio3 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=1 step_pin=gpio26 dir_pin=gpio4 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=2 step_pin=gpio27 dir_pin=gpio5 invert_step=-1 step_pulse_ticks=0
 finalize_config crc=0
 ```
 
-The test was last run on commit `c5667193` with gcc version
+The test was last run on commit `59314d99` with gcc version
 `arm-none-eabi-gcc (Fedora 10.2.0-4.fc34) 10.2.0` on a Raspberry Pi
 Pico board.
 
 | rp2040               | ticks |
 | -------------------- | ----- |
-| 1 stepper            | 52    |
-| 2 stepper            | 52    |
-| 3 stepper            | 52    |
-| 4 stepper            | 66    |
-| 1 stepper (no delay) | 5     |
-| 3 stepper (no delay) | 22    |
+| 1 stepper            | 5     |
+| 3 stepper            | 22    |
 
 ### Linux MCU step rate benchmark
 
 The following configuration sequence is used on a Raspberry Pi:
 ```
 allocate_oids count=3
-config_stepper oid=0 step_pin=gpio2 dir_pin=gpio3 invert_step=0
-config_stepper oid=1 step_pin=gpio4 dir_pin=gpio5 invert_step=0
-config_stepper oid=2 step_pin=gpio6 dir_pin=gpio7 invert_step=0
+config_stepper oid=0 step_pin=gpio2 dir_pin=gpio3 invert_step=0 step_pulse_ticks=5
+config_stepper oid=1 step_pin=gpio4 dir_pin=gpio5 invert_step=0 step_pulse_ticks=5
+config_stepper oid=2 step_pin=gpio6 dir_pin=gpio17 invert_step=0 step_pulse_ticks=5
 finalize_config crc=0
 ```
 
-The test was last run on commit `db0fb5d5` with gcc version `gcc
-(Raspbian 6.3.0-18+rpi1+deb9u1) 6.3.0 20170516` on a Raspberry Pi 3
-(revision a22082).
+The test was last run on commit `59314d99` with gcc version
+`gcc (Raspbian 8.3.0-6+rpi1) 8.3.0` on a Raspberry Pi 3 (revision
+a02082). It was difficult to get stable results in this benchmark.
 
 | Linux (RPi3)         | ticks |
 | -------------------- | ----- |
-| 1 stepper            | 349   |
-| 2 stepper            | 350   |
-| 3 stepper            | 400   |
+| 1 stepper            | 160   |
+| 3 stepper            | 380   |
 
 ## Command dispatch benchmark
 
diff --git a/docs/Features.md b/docs/Features.md
index 88352b55..2ba6e23e 100644
--- a/docs/Features.md
+++ b/docs/Features.md
@@ -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).