first

2024-12-22 05:22:46 +03:00
commit 1992e632d3
232 changed files with 20394 additions and 0 deletions
--- a/extras/tests/esp32_hw_based/Makefile
+++ b/extras/tests/esp32_hw_based/Makefile
@@ -0,0 +1,29 @@
+all: compile test
+
+DEV=ttyUSB0
+
+test: M1.test M7.test
+
+%.test:
+	MOTOR=$* ./seq_04.sh $(DEV)
+	MOTOR=$* ./seq_05.sh $(DEV)
+	MOTOR=$* ./seq_06.sh $(DEV)
+	MOTOR=$* ./seq_01a.sh $(DEV)
+	MOTOR=$* ./seq_01b.sh $(DEV)
+	MOTOR=$* ./seq_02.sh $(DEV)
+	MOTOR=$* ./seq_07a.sh $(DEV)
+	MOTOR=$* ./seq_07b.sh $(DEV)
+	MOTOR=$* ./seq_07c.sh $(DEV)
+	MOTOR=$* ./seq_03.sh $(DEV)
+
+compile:
+	(cd ../../../pio_dirs/StepperDemo;rm -fR .pio; pio run -e esp32_V6_8_1 -t upload --upload-port /dev/$(DEV))
+
+compile_idf4:
+	(cd ../../../pio_espidf/StepperDemo;rm -fR .pio; pio run -e esp32_idf_V5_3_0 -t upload --upload-port /dev/$(DEV))
+
+compile_idf5:
+	(cd ../../../pio_espidf/StepperDemo;rm -fR .pio; pio run -e esp32_idf_V6_8_1 -t upload --upload-port /dev/$(DEV))
+
+clean:
+	rm -f seq*.log
--- a/extras/tests/esp32_hw_based/judge_pcnt_sync.awk
+++ b/extras/tests/esp32_hw_based/judge_pcnt_sync.awk
@@ -0,0 +1,51 @@
+BEGIN {
+	pass = 1
+}
+
+# This is for running motor
+/^M[17]:/ {
+	api = substr($2,2)
+	pcnt = substr($3,2,length($3)-2)
+	if (pcnt < 0) {
+		if (api > 0) {
+			while (pcnt < 0) {
+				pcnt += 32767
+			}
+		}
+	}
+	api = api % 32767
+	delta = pcnt - api
+	if (api > pcnt) {
+		delta = api - pcnt
+	}
+	if ((delta > 66) && (delta < 32767-66)) {
+	    print
+		print api, pcnt
+		pass = 0
+		print "FAIL HERE ^^^"
+	}
+}
+# This is for selected motor
+/^>> M[17]:/ {
+	print
+	api = substr($3,2)
+	api = api % 32767
+	pcnt = substr($4,2,length($4)-2)
+	if (pcnt < 0) {
+	    pcnt += 32767
+	}
+	if (api != pcnt) {
+		print api, pcnt
+		pass = 0
+		print "FAIL HERE ^^^"
+	}
+}
+
+END {
+	if (pass) {
+		print "PASS"
+	}
+	else {
+		print "FAIL"
+	}
+}
--- a/extras/tests/esp32_hw_based/seq_01a.sh
+++ b/extras/tests/esp32_hw_based/seq_01a.sh
@@ -0,0 +1,34 @@
+#!/bin/sh
+TTY=${1:-ttyUSB0}
+DEV="-d /dev/${TTY} -b 115200"
+MOTOR=${MOTOR:-M1}
+
+CMD="$MOTOR p7,-32767,32767 H25000 A10000 f w1000 X w100 pc R100 w100 W R1000 w1000 W "
+PASS=">> $MOTOR: @1100 \\[1100\\]"
+
+LOG="$0.log"
+
+grabserial $DEV -c ' x reset ' -q "$MOTOR:" -e 10
+sleep 2
+
+grabserial $DEV -c "$CMD" -q "$PASS" -e 10 -o $LOG
+echo 
+
+#if [ `gawk -f judge_pcnt_sync.awk $LOG | grep -c PASS` -ne 1 ]
+#then
+#	grabserial $DEV -c 'r ' -q StepperDemo -e 1
+#	echo
+#	echo FAIL $0 pulse counter mismatch
+#	exit 1
+#fi
+
+if [ `grep -c "$PASS" $LOG` -eq 1 ]
+then
+	echo PASS
+else
+	grabserial $DEV -c ' r ' -q StepperDemo -e 1
+	echo
+	echo "FAIL $0 result pattern: $PASS"
+	exit 1
+fi
+
--- a/extras/tests/esp32_hw_based/seq_01b.sh
+++ b/extras/tests/esp32_hw_based/seq_01b.sh
@@ -0,0 +1,34 @@
+#!/bin/sh
+TTY=${1:-ttyUSB0}
+DEV="-d /dev/${TTY} -b 115200"
+MOTOR=${MOTOR:-M1}
+
+CMD="$MOTOR p7,-32767,32767 H25000 A10000 f w1000 X W pc R100 w100 W R1000 w1000 W "
+PASS=">> $MOTOR: @1100 \\[1100\\]"
+
+LOG="$0.log"
+
+grabserial $DEV -c ' x reset ' -q "$MOTOR:" -e 10
+sleep 2
+
+grabserial $DEV -c "$CMD" -q "$PASS" -e 10 -o $LOG
+echo
+
+#if [ `gawk -f judge_pcnt_sync.awk $LOG | grep -c PASS` -ne 1 ]
+#then
+#	grabserial $DEV -c 'r ' -q StepperDemo -e 1
+#	echo
+#	echo FAIL $0 pulse counter mismatch
+#	exit 1
+#fi
+
+if [ `grep -c "$PASS" $LOG` -eq 1 ]
+then
+	echo PASS
+else
+	grabserial $DEV -c ' r ' -q StepperDemo -e 1
+	echo
+	echo "FAIL $0 result pattern: $PASS"
+	exit 1
+fi
+
--- a/extras/tests/esp32_hw_based/seq_01c.sh
+++ b/extras/tests/esp32_hw_based/seq_01c.sh
@@ -0,0 +1,34 @@
+#!/bin/sh
+TTY=${1:-ttyUSB0}
+DEV="-d /dev/${TTY} -b 115200"
+MOTOR=${MOTOR:-M1}
+
+CMD="$MOTOR p7,-32767,32767 H25000 A10000 f w10 X W pc w 20 R1 W "
+PASS=">> $MOTOR: @1 \\[1\\]"
+
+LOG="$0.log"
+
+grabserial $DEV -c ' x reset ' -q "$MOTOR:" -e 3
+sleep 2
+
+grabserial $DEV -c "$CMD" -q "$PASS" -e 10 -o $LOG
+echo
+
+#if [ `gawk -f judge_pcnt_sync.awk $LOG | grep -c PASS` -ne 1 ]
+#then
+#	grabserial $DEV -c 'r ' -q StepperDemo -e 1
+#	echo
+#	echo FAIL $0 pulse counter mismatch
+#	exit 1
+#fi
+
+if [ `grep -c "$PASS" $LOG` -eq 1 ]
+then
+	echo PASS
+else
+#	grabserial $DEV -c ' r ' -q StepperDemo -e 1
+	echo
+	echo "FAIL $0 result pattern: $PASS"
+	exit 1
+fi
+
--- a/extras/tests/esp32_hw_based/seq_02.sh
+++ b/extras/tests/esp32_hw_based/seq_02.sh
@@ -0,0 +1,32 @@
+#!/bin/sh
+TTY=${1:-ttyUSB0}
+DEV="-d /dev/${TTY} -b 115200"
+MOTOR=${MOTOR:-M1}
+
+CMD="$MOTOR p7,-32767,32767 H30000 A100000 R30000 "
+PASS=">> $MOTOR: @30000 \\[30000\\]"
+
+LOG="$0.log"
+
+grabserial $DEV -c ' x reset ' -q "$MOTOR:" -e 10
+sleep 2
+
+grabserial $DEV -c "$CMD" -q "$PASS" -e 3 -o $LOG
+echo
+
+if [ `gawk -f judge_pcnt_sync.awk $LOG | grep -c PASS` -ne 1 ]
+then
+	grabserial $DEV -c 'r ' -q StepperDemo -e 1
+	echo
+	echo FAIL $0 pulse counter mismatch
+	exit 1
+fi
+if [ `grep -c "$PASS" $LOG` -eq 1 ]
+then
+	echo PASS
+else
+	grabserial $DEV -c ' r ' -q StepperDemo -e 1
+	echo
+	echo "FAIL $0 result pattern: $PASS"
+	exit 1
+fi
--- a/extras/tests/esp32_hw_based/seq_03.sh
+++ b/extras/tests/esp32_hw_based/seq_03.sh
@@ -0,0 +1,43 @@
+#!/bin/sh
+TTY=${1:-ttyUSB0}
+DEV="-d /dev/${TTY} -b 115200"
+MOTOR=${MOTOR:-M1}
+
+COMPLETE="test completed"
+PASS="test passed"
+MAX_RUN_S=300
+
+# rmt has failed once 07, but repetitions are ok
+for SEQ in 13 01 02 03 04 06 07 10 11
+do
+	LOG="$0_$SEQ.log"
+	CMD="$MOTOR p7,-32767,32767 t $MOTOR $SEQ R "
+
+	echo "reset esp32"
+	grabserial $DEV -c ' x reset ' -q "$MOTOR:" -e 10
+	sleep 2
+
+	echo "send commands"
+	grabserial $DEV -c "$CMD" -q "$COMPLETE" -e $MAX_RUN_S -o $LOG
+	echo
+
+	if [ `gawk -f judge_pcnt_sync.awk $LOG | grep -c PASS` -ne 1 ]
+	then
+		grabserial $DEV -c 'r ' -q StepperDemo -e 1
+		echo
+		echo FAIL $0 pulse counter mismatch
+		echo "test sequence $SEQ"
+		exit 1
+	fi
+
+	if [ `grep -c "$PASS" $LOG` -eq 1 ]
+	then
+		echo PASS
+	else
+		grabserial $DEV -c ' x r ' -q StepperDemo -e 1
+		echo
+		echo "FAIL $0 result pattern: $PASS"
+		echo "test sequence $SEQ"
+		exit 1
+	fi
+done
--- a/extras/tests/esp32_hw_based/seq_04.sh
+++ b/extras/tests/esp32_hw_based/seq_04.sh
@@ -0,0 +1,34 @@
+#!/bin/sh
+TTY=${1:-ttyUSB0}
+DEV="-d /dev/${TTY} -b 115200"
+MOTOR=${MOTOR:-M1}
+
+CMD="$MOTOR p7,-32767,32767 H25000 A10000 R1 W "
+PASS=">> $MOTOR: @1 \\[1\\]"
+
+LOG="$0.log"
+
+grabserial $DEV -c ' x reset ' -q "$MOTOR:" -e 10
+sleep 2
+
+grabserial $DEV -c "$CMD" -q "$PASS" -e 3 -o $LOG
+echo
+
+#if [ `gawk -f judge_pcnt_sync.awk $LOG | grep -c PASS` -ne 1 ]
+#then
+#	grabserial $DEV -c 'r ' -q StepperDemo -e 1
+#	echo
+#	echo FAIL $0 pulse counter mismatch
+#	exit 1
+#fi
+
+if [ `grep -c "$PASS" $LOG` -eq 1 ]
+then
+	echo PASS
+else
+	grabserial $DEV -c ' r ' -q StepperDemo -e 1
+	echo
+	echo "FAIL $0 result pattern: $PASS"
+	exit 1
+fi
+
--- a/extras/tests/esp32_hw_based/seq_05.sh
+++ b/extras/tests/esp32_hw_based/seq_05.sh
@@ -0,0 +1,34 @@
+#!/bin/sh
+TTY=${1:-ttyUSB0}
+DEV="-d /dev/${TTY} -b 115200"
+MOTOR=${MOTOR:-M1}
+
+CMD="$MOTOR H25000 A10000 R1000 w200 X W p7,-32767,32767 ? R10 w1000 "
+PASS=">> $MOTOR: @10 \\[10\\]"
+
+LOG="$0.log"
+
+grabserial $DEV -c ' x reset ' -q "$MOTOR:" -e 10
+sleep 2
+
+grabserial $DEV -c "$CMD" -q "$PASS" -e 3 -o $LOG
+echo
+
+#if [ `gawk -f judge_pcnt_sync.awk $LOG | grep -c PASS` -ne 1 ]
+#then
+#	grabserial $DEV -c 'r ' -q StepperDemo -e 1
+#	echo
+#	echo FAIL $0 pulse counter mismatch
+#	exit 1
+#fi
+
+if [ `grep -c "$PASS" $LOG` -eq 1 ]
+then
+	echo PASS
+else
+	grabserial $DEV -c ' r ' -q StepperDemo -e 1
+	echo
+	echo "FAIL $0 result pattern: $PASS"
+	exit 1
+fi
+
--- a/extras/tests/esp32_hw_based/seq_06.sh
+++ b/extras/tests/esp32_hw_based/seq_06.sh
@@ -0,0 +1,34 @@
+#!/bin/sh
+TTY=${1:-ttyUSB0}
+DEV="-d /dev/${TTY} -b 115200"
+MOTOR=${MOTOR:-M1}
+
+CMD="$MOTOR p7,-32767,32767 V40 A1000000 R54 W "
+PASS=">> $MOTOR: @54 \\[54\\]"
+
+LOG="$0.log"
+
+grabserial $DEV -c ' x reset ' -q "$MOTOR:" -e 10
+sleep 2
+
+grabserial $DEV -c "$CMD" -q "$PASS" -e 3 -o $LOG
+echo
+
+#if [ `gawk -f judge_pcnt_sync.awk $LOG | grep -c PASS` -ne 1 ]
+#then
+#	grabserial $DEV -c 'r ' -q StepperDemo -e 1
+#	echo
+#	echo FAIL $0 pulse counter mismatch
+#	exit 1
+#fi
+
+if [ `grep -c "$PASS" $LOG` -eq 1 ]
+then
+	echo PASS
+else
+	grabserial $DEV -c ' r ' -q StepperDemo -e 1
+	echo
+	echo "FAIL $0 result pattern: $PASS"
+	exit 1
+fi
+
--- a/extras/tests/esp32_hw_based/seq_07a.sh
+++ b/extras/tests/esp32_hw_based/seq_07a.sh
@@ -0,0 +1,34 @@
+#!/bin/sh
+TTY=${1:-ttyUSB0}
+DEV="-d /dev/${TTY} -b 115200"
+MOTOR=${MOTOR:-M1}
+
+CMD="$MOTOR p7,-32767,32767 V40 A1000 R54 W R-54 W"
+PASS=">> $MOTOR: @0 \\[0\\]"
+
+LOG="$0.log"
+
+grabserial $DEV -c ' x reset ' -q "$MOTOR:" -e 10
+sleep 2
+
+grabserial $DEV -c "$CMD" -q "$PASS" -e 3 -o $LOG
+echo
+
+#if [ `gawk -f judge_pcnt_sync.awk $LOG | grep -c PASS` -ne 1 ]
+#then
+#	grabserial $DEV -c 'r ' -q StepperDemo -e 1
+#	echo
+#	echo FAIL $0 pulse counter mismatch
+#	exit 1
+#fi
+
+if [ `grep -c "$PASS" $LOG` -eq 1 ]
+then
+	echo PASS
+else
+	grabserial $DEV -c ' r ' -q StepperDemo -e 1
+	echo
+	echo "FAIL $0 result pattern: $PASS"
+	exit 1
+fi
+
--- a/extras/tests/esp32_hw_based/seq_07b.sh
+++ b/extras/tests/esp32_hw_based/seq_07b.sh
@@ -0,0 +1,34 @@
+#!/bin/sh
+TTY=${1:-ttyUSB0}
+DEV="-d /dev/${TTY} -b 115200"
+MOTOR=${MOTOR:-M1}
+
+CMD="$MOTOR p7,-32767,32767 V40 A1000 R20 W R-19 W"
+PASS=">> $MOTOR: @1 \\[1\\]"
+
+LOG="$0.log"
+
+grabserial $DEV -c ' x reset ' -q "$MOTOR:" -e 10
+sleep 2
+
+grabserial $DEV -c "$CMD" -q "$PASS" -e 3 -o $LOG
+echo
+
+#if [ `gawk -f judge_pcnt_sync.awk $LOG | grep -c PASS` -ne 1 ]
+#then
+#	grabserial $DEV -c 'r ' -q StepperDemo -e 1
+#	echo
+#	echo FAIL $0 pulse counter mismatch
+#	exit 1
+#fi
+
+if [ `grep -c "$PASS" $LOG` -eq 1 ]
+then
+	echo PASS
+else
+	grabserial $DEV -c ' r ' -q StepperDemo -e 1
+	echo
+	echo "FAIL $0 result pattern: $PASS"
+	exit 1
+fi
+
--- a/extras/tests/esp32_hw_based/seq_07c.sh
+++ b/extras/tests/esp32_hw_based/seq_07c.sh
@@ -0,0 +1,34 @@
+#!/bin/sh
+TTY=${1:-ttyUSB0}
+DEV="-d /dev/${TTY} -b 115200"
+MOTOR=${MOTOR:-M1}
+
+CMD="$MOTOR p7,-32767,32767 V40 A1000 R20 W "
+PASS=">> $MOTOR: @20 \\[20\\]"
+
+LOG="$0.log"
+
+grabserial $DEV -c ' x reset ' -q "$MOTOR:" -e 10
+sleep 2
+
+grabserial $DEV -c "$CMD" -q "$PASS" -e 3 -o $LOG
+echo
+
+#if [ `gawk -f judge_pcnt_sync.awk $LOG | grep -c PASS` -ne 1 ]
+#then
+#	grabserial $DEV -c 'r ' -q StepperDemo -e 1
+#	echo
+#	echo FAIL $0 pulse counter mismatch
+#	exit 1
+#fi
+
+if [ `grep -c "$PASS" $LOG` -eq 1 ]
+then
+	echo PASS
+else
+	grabserial $DEV -c ' r ' -q StepperDemo -e 1
+	echo
+	echo "FAIL $0 result pattern: $PASS"
+	exit 1
+fi
+
--- a/extras/tests/esp32_hw_based/seq_xxx.sh.off
+++ b/extras/tests/esp32_hw_based/seq_xxx.sh.off
@@ -0,0 +1,33 @@
+#!/bin/sh
+DEV="-d /dev/ttyUSB0 -b 115200"
+
+CMD="M1 p7,0,0 t M1 07 R "
+PASS="Test passed"
+MAX_RUN_S=10
+
+LOG="$0.log"
+
+grabserial $DEV -c 'reset ' -q "M1:" -e 10
+sleep 2
+
+grabserial $DEV -c "$CMD" -q "$PASS" -e $MAX_RUN_S -o $LOG
+echo
+
+if [ `gawk -f judge_pcnt_sync.awk $LOG | grep -c PASS` -ne 1 ]
+then
+	grabserial $DEV -c 'r ' -q StepperDemo -e 1
+	echo
+	echo FAIL $0 pulse counter mismatch
+	exit 1
+fi
+
+if [ `grep -c "$PASS" $LOG` -eq 1 ]
+then
+	echo PASS
+else
+	grabserial $DEV -c 'r ' -q StepperDemo -e 1
+	echo
+	echo "FAIL $0 result pattern: $PASS"
+	exit 1
+fi
+
--- a/extras/tests/esp32_hw_based/test_all.sh
+++ b/extras/tests/esp32_hw_based/test_all.sh
@@ -0,0 +1,13 @@
+#!/bin/sh
+
+# arduino idf4 based test
+make compile
+make M1.test M7.test
+
+# idf4 based test
+make compile_idf4
+make M1.test M7.test
+
+# idf5 only rmt-module supporting 8 steppers
+make compile_idf5
+make M1.test
--- a/extras/tests/pc_based/Makefile
+++ b/extras/tests/pc_based/Makefile
@@ -0,0 +1,58 @@
+
+PRJ_ROOT=$(shell git rev-parse --show-toplevel)
+CFLAGS=-DTEST -Werror -g -I$(PRJ_ROOT)/src
+CXXFLAGS=-DTEST -Werror -g -DF_CPU=16000000 -I$(PRJ_ROOT)/src
+LDLIBS=-lm -lc
+
+TESTS=$(basename $(wildcard test_??.cpp))
+
+test: $(TESTS) pmf_test rmc_test
+	./rmc_test
+	./pmf_test
+	rm -f test.log
+	$(addsuffix >>test.log &&,$(addprefix ./,$(TESTS))) echo "All tests passed"
+
+LIB_H=FastAccelStepper.h PoorManFloat.h StepperISR.h \
+	  RampGenerator.h RampConstAcceleration.h RampCalculator.h \
+	  fas_arch/common.h
+LIB_O=FastAccelStepper.o PoorManFloat.o StepperISR_test.o \
+	  RampGenerator.o RampConstAcceleration.o RampCalculator.o StepperISR.o
+
+SRC_LIB_H=$(addprefix $(PRJ_ROOT)/src/,$(LIB_H))
+
+test_%: test_%.o $(LIB_O)
+	gcc -o $@ $< $(LIB_O) $(LDLIBS)
+
+test_%.o: test_%.cpp $(SRC_LIB_H) RampChecker.h stubs.h
+	g++ -c $(CXXFLAGS) -o $@ $<
+
+pmf_test: pmf_test.o PoorManFloat.o
+pmf_test.o: pmf_test.cpp $(PRJ_ROOT)/src/PoorManFloat.h stubs.h test_03.h
+
+rmc_test: rmc_test.o PoorManFloat.o RampCalculator.o
+rmc_test.o: rmc_test.cpp $(PRJ_ROOT)/src/PoorManFloat.h $(PRJ_ROOT)/src/RampCalculator.h stubs.h test_03.h
+
+FastAccelStepper.o: $(PRJ_ROOT)/src/FastAccelStepper.cpp $(SRC_LIB_H)
+	$(COMPILE.cpp) $< -o $@
+
+PoorManFloat.o: $(PRJ_ROOT)/src/PoorManFloat.cpp $(PRJ_ROOT)/src/PoorManFloat.h
+	$(COMPILE.cpp) $< -o $@
+
+RampGenerator.o: $(PRJ_ROOT)/src/RampGenerator.cpp $(SRC_LIB_H)
+	$(COMPILE.cpp) $< -o $@
+
+RampConstAcceleration.o: $(PRJ_ROOT)/src/RampConstAcceleration.cpp $(SRC_LIB_H)
+	$(COMPILE.cpp) $< -o $@
+
+RampCalculator.o: $(PRJ_ROOT)/src/RampCalculator.cpp $(SRC_LIB_H)
+	$(COMPILE.cpp) $< -o $@
+
+StepperISR.o: $(PRJ_ROOT)/src/StepperISR.cpp $(SRC_LIB_H)
+	$(COMPILE.cpp) $< -o $@
+
+StepperISR_test.o: StepperISR_test.cpp $(SRC_LIB_H)
+
+VERSION=$(shell git rev-parse --short HEAD)
+
+clean:
+	rm -f *.o test_[0-9][0-9] *.gnuplot pmf_test rmc_test test.log
--- a/extras/tests/pc_based/PMF_test.ino
+++ b/extras/tests/pc_based/PMF_test.ino
@@ -0,0 +1,59 @@
+#include <stdint.h>
+
+#include "PoorManFloat.h"
+
+//
+// This file can be renamed to a .ino and compiled as sketch to be run on the
+// target e.g. arduino nano.
+//
+
+#include <Arduino.h>
+#ifdef SIMULATOR
+#include <avr/sleep.h>
+#endif
+
+uint16_t error_cnt = 0;
+char buffer[256];
+#define trace(s) Serial.println(s)
+#define xprintf(args...)
+#define test(x, msg)          \
+  if (!(x)) {                 \
+    error_cnt++;              \
+    Serial.print("ERROR: ");  \
+    Serial.println(__LINE__); \
+  };
+
+#include "test_03.h"
+
+void setup() {
+  Serial.begin(115200);
+  Serial.println("Start test...");
+  bool result = perform_test();
+  if (result) {
+    Serial.println("TEST PASSED");
+  } else {
+    Serial.print("TEST FAILED: ");
+    Serial.print(error_cnt);
+    Serial.println(" errors");
+  }
+#ifdef SIMULATOR
+  // if result is Ok. Toggle port twice, otherwise once
+#define PIN 10
+#define DIRPIN 7
+  pinMode(DIRPIN, OUTPUT);
+  digitalWrite(DIRPIN, HIGH);
+  pinMode(PIN, OUTPUT);
+  digitalWrite(PIN, HIGH);
+  digitalWrite(PIN, LOW);
+  if (result) {
+    digitalWrite(PIN, HIGH);
+    digitalWrite(PIN, LOW);
+  }
+
+  delay(1000);
+  noInterrupts();
+  sleep_cpu();
+#endif
+}
+
+void loop() {}
--- a/extras/tests/pc_based/README.txt
+++ b/extras/tests/pc_based/README.txt
@@ -0,0 +1,46 @@
+Tests;
+
+- test_01
+  check queue functionality
+
+- test_02
+  checks ramp timing
+
+- pmf_test
+  checks PoorManFloat implementation
+
+- test_04
+  one test case with speed change during ramp
+
+- test_05
+  check for move/moveTo while ramp is processing
+  Introduce concept of interrupt generation during noInterrupts call
+
+- test_06
+  check for stop during move
+
+- test_07
+  test case with varying speed
+
+- test_08
+  ramp to max speed with step wise increased length
+
+- test_09
+  simple test case for V30 A1000000 R53 W R53
+
+- test_10
+  test case for V30 a17164 w2000 a-1000
+
+- test 11
+  test case for M1 A1000 V10000 f w300 V100000 U
+  This is stuck in state RED.
+  Revised test: M1 A1000 V10000 P100 w300 V100000 U
+
+- test 12
+  ramp up with 1 step/s^2 to 1000us/step
+
+- test 13
+  tests with maximum high acceleration
+
+- test 14
+  test case for issue #178: Speed jump instead of decrease
--- a/extras/tests/pc_based/RampChecker.h
+++ b/extras/tests/pc_based/RampChecker.h
@@ -0,0 +1,142 @@
+#include <stdlib.h>
+#include <string.h>
+
+class RampChecker {
+ public:
+  uint64_t total_ticks;
+  uint32_t last_dt;
+  uint32_t min_dt;
+  bool increase_ok;
+  bool flat_ok;
+  bool decrease_ok;
+  bool first;
+  bool dir_high;
+  bool reversing_allowed;
+  uint32_t accelerate_till;
+  uint32_t coast_till;
+  uint32_t time_coasting;
+  uint32_t pos;
+  uint32_t ticks_since_last_step;
+  float avg_accel;
+  FILE *gp_file;
+  char filename[100];
+
+  void next_ramp() {
+    increase_ok = true;
+    decrease_ok = false;
+    last_dt = ~0;
+    min_dt = ~0;
+    first = true;
+    dir_high = true;
+    coast_till = 0;
+    time_coasting = 0;
+    accelerate_till = 0;
+    reversing_allowed = false;
+  }
+  RampChecker() {
+    ticks_since_last_step = 0;
+    avg_accel = 0;
+    gp_file = NULL;
+    total_ticks = 0;
+    pos = 0;
+    next_ramp();
+  }
+  void start_plot(char *fname) {
+    int n = strlen(fname) - 8; // remove .gnuplot
+    strncpy(filename, fname, n);
+    filename[n] = 0;
+    gp_file = fopen(fname, "w");
+    fprintf(gp_file, "$data <<EOF\n");
+  }
+  void finish_plot() {
+    if (gp_file != NULL) {
+      fprintf(gp_file, "EOF\n");
+      fprintf(gp_file, "set term pngcairo size 1600, 800\n");
+      fprintf(gp_file, "set output \"%s.png\"\n", filename);
+      fprintf(gp_file, "set multiplot layout 2,2\n");
+      fprintf(gp_file, "set title \"speed [steps/s] over time [s]\"\n");
+      fprintf(gp_file, "plot $data using 1:2 with lines notitle\n");
+      fprintf(gp_file, "set title \"speed [steps/s] over position\"\n");
+      fprintf(gp_file, "plot $data using 4:2 with lines notitle\n");
+      fprintf(gp_file, "set title \"position over time [s]\"\n");
+      fprintf(gp_file, "plot $data using 1:4 with lines notitle\n");
+      fprintf(gp_file,
+              "set title \"averaged (!) acceleration [steps/s*s] over time "
+              "[s]\"\n");
+      fprintf(gp_file, "plot $data using 1:5 with lines notitle\n");
+      //fprintf(gp_file, "pause -1\n");
+      fclose(gp_file);
+      gp_file = NULL;
+    }
+  }
+  void check_section(struct queue_entry *e) {
+    uint8_t steps = e->steps;
+    if (steps == 0) {
+      // Just a pause
+      if (ticks_since_last_step <= 0xffff0000) {
+        ticks_since_last_step += e->ticks;
+      }
+      total_ticks += e->ticks;
+      printf("process pause %d => %u\n", e->ticks, ticks_since_last_step);
+      return;
+    }
+    if (e->toggle_dir) {
+      assert(reversing_allowed);
+      dir_high = !dir_high;
+      increase_ok = true;
+      last_dt = ~0;
+      decrease_ok = false;
+    }
+    if (dir_high) {
+      pos += steps;
+    } else {
+      pos -= steps;
+    }
+    uint32_t curr_dt = ticks_since_last_step;
+    total_ticks += steps * e->ticks;
+    if (!first) {
+      min_dt = min(min_dt, curr_dt);
+    }
+    float accel = 0;
+    if (last_dt != ~0) {
+      accel = (16000000.0 / float(curr_dt) - 16000000.0 / float(last_dt)) /
+              (1.0 / 16000000.0 * float(steps * curr_dt));
+      avg_accel += (accel - avg_accel) / (steps * 20);
+    }
+    printf(
+        "process command in ramp checker @%.6fs: steps = %d last = %u current "
+        "= %u "
+        " min_dt "
+        "= %u   accel=%.6f inc=%s dec=%s\n",
+        total_ticks / 16000000.0, steps, last_dt, curr_dt, min_dt, accel,
+        increase_ok ? "ALLOW" : "NO", decrease_ok ? "ALLOW" : "NO");
+
+    if (gp_file != NULL) {
+      fprintf(gp_file, "%.6f %.2f %d %d %f\n", total_ticks / 16000000.0,
+              16000000.0 / last_dt, last_dt, pos, avg_accel);
+    }
+
+    assert(first || (steps * curr_dt > 0));
+
+    if (last_dt > curr_dt) {
+      assert(increase_ok);
+      accelerate_till = total_ticks;
+      decrease_ok = true;
+    } else if (last_dt < curr_dt) {
+      if (increase_ok) {
+        coast_till = total_ticks - curr_dt;
+      }
+      assert(decrease_ok);
+      increase_ok = false;
+    } else {
+      time_coasting += steps * curr_dt;
+    }
+
+    if (!first) {
+      last_dt = curr_dt;
+    }
+
+    ticks_since_last_step = e->ticks;
+    first = false;
+  }
+};
--- a/extras/tests/pc_based/off_test_15.cpp
+++ b/extras/tests/pc_based/off_test_15.cpp
@@ -0,0 +1,124 @@
+#include <assert.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "FastAccelStepper.h"
+#include "StepperISR.h"
+
+char TCCR1A;
+char TCCR1B;
+char TCCR1C;
+char TIMSK1;
+char TIFR1;
+unsigned short OCR1A;
+unsigned short OCR1B;
+
+StepperQueue fas_queue[NUM_QUEUES];
+
+void inject_fill_interrupt(int mark) {}
+void noInterrupts() {}
+void interrupts() {}
+
+#include "RampChecker.h"
+
+class FastAccelStepperTest {
+ public:
+  void init_queue() {
+    fas_queue[0].read_idx = 0;
+    fas_queue[1].read_idx = 0;
+    fas_queue[0].next_write_idx = 0;
+    fas_queue[1].next_write_idx = 0;
+  }
+
+  void ramp() {
+    init_queue();
+    FastAccelStepper s = FastAccelStepper();
+    s.init(NULL, 0, 0);
+    RampChecker rc = RampChecker();
+    assert(0 == s.getCurrentPosition());
+
+    assert(s.isQueueEmpty());
+    s.setSpeedInHz(36800);
+    s.setAcceleration(1000000);
+    s.fill_queue();
+    assert(s.isQueueEmpty());
+    float old_planned_time_in_buffer = 0;
+
+    char fname[100];
+    sprintf(fname, "test_15.gnuplot");
+    rc.start_plot(fname);
+    s.runForward();
+    int32_t wait_ticks = TICKS_PER_S / 10;
+    uint8_t state = 0;
+    for (int i = 0; i < 2000; i++) {
+      if ((state == 0) && (wait_ticks < rc.total_ticks)) {
+        printf("New move\n");
+        s.move(-100000);
+        wait_ticks += TICKS_PER_S / 10;
+        state += 1;
+      }
+      if ((state == 1) && (wait_ticks < rc.total_ticks)) {
+        printf("move with changed acceleration\n");
+        s.setAcceleration(5000);
+        s.move(100000);
+        wait_ticks += TICKS_PER_S / 10;
+        state += 1;
+      }
+      if ((state == 2) && (wait_ticks < rc.total_ticks)) {
+        printf("stop");
+        s.stopMove();
+        wait_ticks += 2 * TICKS_PER_S / 10;
+        state += 1;
+      }
+      if (true) {
+        printf(
+            "Loop %d: Queue read/write = %d/%d    Target pos = %d, Queue End "
+            "pos = %d  QueueEmpty=%s\n",
+            i, fas_queue[0].read_idx, fas_queue[0].next_write_idx,
+            s.targetPos(), s.getPositionAfterCommandsCompleted(),
+            s.isQueueEmpty() ? "yes" : "no");
+      }
+      if (!s.isRampGeneratorActive()) {
+        break;
+      }
+      s.fill_queue();
+      if ((state == 3) && (wait_ticks < rc.total_ticks)) {
+        break;
+      }
+      uint32_t from_dt = rc.total_ticks;
+      while (!s.isQueueEmpty()) {
+        rc.increase_ok = true;
+        rc.decrease_ok = true;
+        rc.check_section(
+            &fas_queue[0].entry[fas_queue[0].read_idx & QUEUE_LEN_MASK]);
+        fas_queue[0].read_idx++;
+      }
+      uint32_t to_dt = rc.total_ticks;
+      float planned_time = (to_dt - from_dt) * 1.0 / 16000000;
+      printf("planned time in buffer: %.6fs\n", planned_time);
+      // This must be ensured, so that the stepper does not run out of
+      // commands
+      assert((i == 0) || (old_planned_time_in_buffer > 0.005));
+      old_planned_time_in_buffer = planned_time;
+      // stop after
+      if (rc.total_ticks > TICKS_PER_S * 40) {
+        break;
+      }
+    }
+    rc.finish_plot();
+    // test(!s.isRampGeneratorActive(), "too many commands created");
+    test(s.getCurrentPosition() > 70000, "stepper runs too slow");
+    test(s.getCurrentPosition() < 80000, "stepper runs too fast");
+    printf("Total time  %f\n", rc.total_ticks / 16000000.0);
+
+#if (TEST_CREATE_QUEUE_CHECKSUM == 1)
+    printf("CHECKSUM for %d/%d/%d: %d\n", steps, travel_dt, accel, s.checksum);
+#endif
+  }
+};
+int main() {
+  FastAccelStepperTest test;
+  test.ramp();
+  printf("TEST_15 PASSED\n");
+  return 0;
+}
--- a/extras/tests/pc_based/pmf_test.cpp
+++ b/extras/tests/pc_based/pmf_test.cpp
@@ -0,0 +1,29 @@
+#include <stdint.h>
+
+#include "PoorManFloat.h"
+
+//
+// This file can be renamed to a .ino and compiled as sketch to be run on the
+// target e.g. arduino nano.
+//
+
+#include <assert.h>
+#include <stdio.h>
+#include <stdlib.h>
+#define trace puts
+#define xprintf printf
+#define test(x, msg) \
+  if (!(x)) {        \
+    puts(msg);       \
+    assert(false);   \
+  };
+
+unsigned int error_cnt = 0;
+
+#include "test_03.h"
+
+int main() {
+  if (perform_test()) {
+    xprintf("TEST_03 PASSED\n");
+  }
+}
--- a/extras/tests/pc_based/rmc_test.cpp
+++ b/extras/tests/pc_based/rmc_test.cpp
@@ -0,0 +1,94 @@
+#include <assert.h>
+#include <math.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "RampCalculator.h"
+
+// Not a real test case
+
+int main() {
+  uint32_t res;
+
+  // Calculation is pre_calc/sqrt(steps)
+  //
+  float ramp_acceleration = 10000.0;
+  uint32_t max_speed_in_ticks = 1600;
+
+  struct ramp_config_s c;
+  c.init();
+  c.parameters.setAcceleration(ramp_acceleration);
+  c.parameters.setSpeedInTicks(max_speed_in_ticks);
+
+  char fname[100];
+  snprintf(fname, 100, "ramp.gnuplot");
+  FILE *gp_file = fopen(fname, "w");
+  fprintf(gp_file, "$data <<EOF\n");
+
+  uint64_t sum_ticks = 0;
+  float old_speed = 0;
+  for (uint32_t s = 1; s <= c.max_ramp_up_steps; s++) {
+    uint32_t ticks = c.calculate_ticks(s);
+    sum_ticks += ticks;
+    float ideal_speed = float(sum_ticks) / 16000000.0 * ramp_acceleration;
+    uint32_t rs = c.calculate_ramp_steps(ticks);
+    uint32_t ticks_back = c.calculate_ticks(rs);
+    uint32_t err = rs >= s ? rs - s : s - rs;
+    uint32_t err_ticks =
+        ticks >= ticks_back ? ticks - ticks_back : ticks_back - ticks;
+    float speed = 16000000.0 / float(ticks);
+    float speed_back = 16000000.0 / float(ticks_back);
+    old_speed = speed;
+    float err_speed =
+        speed <= speed_back ? speed - speed_back : speed_back - speed;
+    printf("%d: %d %d %f %d delta=%d delta_ticks=%d speed=%f\n", s,
+           16000000 / ticks, ticks, float(sum_ticks) / 16000000.0, rs, err,
+           err_ticks, err_speed);
+    fprintf(gp_file, "%d %f %d %d %d %d %d %f %f\n", s,
+            float(sum_ticks) / 16000000.0, 16000000 / ticks, ticks, rs, err,
+            err_ticks, err_speed, ideal_speed);
+  }
+  fprintf(gp_file, "EOF\n");
+  // fprintf(gp_file, "plot $data using 2:3 with linespoints\n");
+  // fprintf(gp_file, "set terminal pngcairo size 1024,768\n");
+  // fprintf(gp_file, "set output \"ramp.png\"\n");
+  fprintf(gp_file, "set terminal qt\n");
+  fprintf(gp_file, "set term qt size 1024,768\n");
+  fprintf(gp_file,
+          "set multiplot title \"Acceleration=%f max speed=%d steps/s\" layout "
+          "2,2 columnsfirst margins 0.1,0.9,0.1,0.9 spacing 0.1 columnsfirst\n",
+          ramp_acceleration, 16000000 / max_speed_in_ticks);
+
+  fprintf(gp_file, "set xlabel \"ramp steps\"\n");
+  fprintf(gp_file, "set ylabel \"speed in steps/s\"\n");
+  fprintf(
+      gp_file,
+      "plot $data using 1:3 with line title \"step to speed dependency\"\n");
+
+  fprintf(gp_file, "set xlabel \"ramp steps\"\n");
+  fprintf(gp_file, "set ylabel \"recovered ramp steps\"\n");
+  fprintf(gp_file,
+          "plot $data using 1:5 with line title \"steps(speed(steps))\"\n");
+
+  fprintf(gp_file, "set xlabel \"time in s\"\n");
+  fprintf(gp_file, "set ylabel \"speed in steps/s\"\n");
+  fprintf(gp_file, "plot $data using 2:3 with line title \"speed over time\",");
+  fprintf(gp_file, "     $data using 2:9 with line title \"ideal speed\"\n");
+
+  fprintf(gp_file, "set xlabel \"time in s\"\n");
+  fprintf(gp_file, "set ylabel \"speed error in steps/s\"\n");
+  fprintf(gp_file, "set yrange [-10:10]\n");
+  fprintf(
+      gp_file,
+      "plot $data using 2:8 with line title \"speed error on ramp change\",");
+  fprintf(
+      gp_file,
+      "     $data using 2:($3-$9) with line title \"speed error to ideal\"\n");
+
+  fprintf(gp_file, "unset multiplot\n");
+
+  fprintf(gp_file, "pause -1\n");
+  fclose(gp_file);
+  //	assert(false);
+  return 0;
+}
--- a/extras/tests/pc_based/stubs.h
+++ b/extras/tests/pc_based/stubs.h
@@ -0,0 +1,41 @@
+#ifndef STUBS_H
+#define STUBS_H
+
+#define PROGMEM
+#define pgm_read_byte_near(x) (*(x))
+
+// For inducing interrupts while testing
+void noInterrupts();
+void interrupts();
+void inject_fill_interrupt(int mark);
+
+#define _BV(x) 0
+#define ISR(x) void x()
+#define inline
+#define micros() 0
+
+#include <math.h>
+
+#define abs(x) ((x) > 0 ? (x) : -(x))
+#define min(a, b) ((a) > (b) ? (b) : (a))
+#define max(a, b) ((a) > (b) ? (a) : (b))
+
+#define digitalWrite(a, b) \
+  {}
+#define pinMode(a, b) \
+  {}
+
+extern char TCCR1A;
+extern char TCCR1B;
+extern char TCCR1C;
+extern char TIMSK1;
+extern char TIFR1;
+extern unsigned short OCR1A;
+extern unsigned short OCR1B;
+
+#define test(x, msg) \
+  if (!(x)) {        \
+    puts(msg);       \
+    assert(false);   \
+  };
+#endif
--- a/extras/tests/pc_based/test_01.cpp
+++ b/extras/tests/pc_based/test_01.cpp
@@ -0,0 +1,118 @@
+#include <assert.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "FastAccelStepper.h"
+#include "StepperISR.h"
+
+char TCCR1A;
+char TCCR1B;
+char TCCR1C;
+char TIMSK1;
+char TIFR1;
+unsigned short OCR1A;
+unsigned short OCR1B;
+
+StepperQueue fas_queue[NUM_QUEUES];
+
+void inject_fill_interrupt(int mark) {}
+void noInterrupts() {}
+void interrupts() {}
+
+void init_queue() {
+  fas_queue[0].read_idx = 0;
+  fas_queue[0].next_write_idx = 0;
+  fas_queue[1].read_idx = 0;
+  fas_queue[1].next_write_idx = 0;
+}
+
+void basic_test() {
+  puts("basic_test...");
+  init_queue();
+  FastAccelStepper s = FastAccelStepper();
+  assert(0 == s.getCurrentPosition());
+  assert(s.isQueueEmpty());
+  assert(s.isQueueEmpty());
+  struct stepper_command_s cmd = {
+      .ticks = 10000, .steps = 100, .count_up = true};
+  int res = s.addQueueEntry(&cmd);
+  assert(res == AQE_OK);
+  assert(!s.isQueueEmpty());
+}
+
+void queue_full() {
+  puts("queue_full...");
+  init_queue();
+  FastAccelStepper s = FastAccelStepper();
+  s.init(NULL, 0, 0);
+  assert(0 == s.getCurrentPosition());
+  assert(s.isQueueEmpty());
+  assert(s.isQueueEmpty());
+  printf("Queue read/write = %d/%d\n", fas_queue[0].read_idx,
+         fas_queue[0].next_write_idx);
+  struct stepper_command_s cmd = {
+      .ticks = 10000, .steps = 100, .count_up = true};
+  for (int i = 0; i < QUEUE_LEN - 1; i++) {
+    s.addQueueEntry(&cmd);
+    assert(!s.isQueueEmpty());
+    assert(!s.isQueueFull());
+    printf("Queue read/write = %d/%d\n", fas_queue[0].read_idx,
+           fas_queue[0].next_write_idx);
+  }
+  s.addQueueEntry(&cmd);
+  printf("Queue read/write = %d/%d\n", fas_queue[0].read_idx,
+         fas_queue[0].next_write_idx);
+  assert(!s.isQueueEmpty());
+  assert(s.isQueueFull());
+  puts("...done");
+}
+
+void queue_out_of_range() {
+  int8_t res;
+
+  puts("queue_out_of_range...");
+  init_queue();
+  FastAccelStepper s = FastAccelStepper();
+  s.init(NULL, 0, 0);
+  assert(s.isQueueEmpty());
+  assert(0 == s.getCurrentPosition());
+  assert(s.isQueueEmpty());
+  assert(s.isQueueEmpty());
+
+  uint16_t ticks = s.getMaxSpeedInTicks();
+  ticks = ticks - 1;
+  struct stepper_command_s cmd2 = {
+      .ticks = ticks, .steps = 255, .count_up = true};
+
+  res = s.addQueueEntry(&cmd2);
+  test(res == AQE_ERROR_TICKS_TOO_LOW, "Too low ticks should trigger an error");
+  assert(s.isQueueEmpty());
+
+  struct stepper_command_s cmd3 = {
+      .ticks = MIN_CMD_TICKS - 1, .steps = 1, .count_up = true};
+
+  res = s.addQueueEntry(&cmd3);
+  test(res == AQE_ERROR_TICKS_TOO_LOW,
+       "Too short command time should trigger an error");
+  assert(s.isQueueEmpty());
+}
+
+void end_pos_test() {
+  init_queue();
+  FastAccelStepper s = FastAccelStepper();
+  s.init(NULL, 0, 0);
+  assert(0 == s.getPositionAfterCommandsCompleted());
+  struct stepper_command_s cmd = {.ticks = 65535, .steps = 1, .count_up = true};
+
+  assert(AQE_OK == s.addQueueEntry(&cmd));
+  assert(1 == s.getPositionAfterCommandsCompleted());
+}
+
+int main() {
+  // assert(sizeof(struct queue_entry) == 6);
+  basic_test();
+  queue_out_of_range();
+  queue_full();
+  end_pos_test();
+  printf("TEST_01 PASSED\n");
+}
--- a/extras/tests/pc_based/test_02.cpp
+++ b/extras/tests/pc_based/test_02.cpp
@@ -0,0 +1,307 @@
+#include <assert.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "FastAccelStepper.h"
+#include "StepperISR.h"
+
+char TCCR1A;
+char TCCR1B;
+char TCCR1C;
+char TIMSK1;
+char TIFR1;
+unsigned short OCR1A;
+unsigned short OCR1B;
+
+StepperQueue fas_queue[NUM_QUEUES];
+
+void inject_fill_interrupt(int mark) {}
+void noInterrupts() {}
+void interrupts() {}
+
+#include "RampChecker.h"
+
+class FastAccelStepperTest {
+ public:
+  void init_queue() {
+    fas_queue[0].read_idx = 0;
+    fas_queue[1].read_idx = 0;
+    fas_queue[0].next_write_idx = 0;
+    fas_queue[1].next_write_idx = 0;
+  }
+
+  void with_empty_queue() {
+    printf("Test with empty queue\n");
+    init_queue();
+    FastAccelStepper s = FastAccelStepper();
+    s.init(NULL, 0, 0);
+    RampChecker rc = RampChecker();
+    assert(0 == s.getCurrentPosition());
+
+    assert(s.isQueueEmpty());
+    s.setSpeedInUs(10000);
+    s.setAcceleration(100);
+    s.fill_queue();
+    assert(s.isQueueEmpty());
+    s.move(1000);
+    s.fill_queue();
+    assert(!s.isQueueEmpty());
+    for (int i = 0; i < 1000; i++) {
+      if (false) {
+        printf(
+            "Loop %d: Queue read/write = %d/%d    Target pos = %d, Queue End "
+            "pos = %d  QueueEmpty=%s\n",
+            i, fas_queue[0].read_idx, fas_queue[0].next_write_idx,
+            s.targetPos(), s.getPositionAfterCommandsCompleted(),
+            s.isQueueEmpty() ? "yes" : "no");
+      }
+      if (!s.isRampGeneratorActive()) {
+        break;
+      }
+      s.fill_queue();
+      while (!s.isQueueEmpty()) {
+        rc.check_section(
+            &fas_queue_A.entry[fas_queue[0].read_idx & QUEUE_LEN_MASK]);
+        fas_queue[0].read_idx++;
+      }
+    }
+    test(!s.isRampGeneratorActive(), "too many commands created");
+    printf("min_dt=%u\n", rc.min_dt);
+    test(rc.min_dt == 160000, "max speed not reached");
+  }
+
+  void with_pars(const char *name, int32_t steps, uint32_t travel_dt,
+                 uint32_t accel, bool reach_max_speed, float min_time,
+                 float max_time, float allowed_ramp_time_delta,
+                 bool call_moveTo_repeatedly = false,
+                 bool call_setAccelertion_repeatedly = false,
+                 bool alternatingAccelerationValue = false,
+                 bool reversing_allowed = false,
+                 uint32_t linear_acceleration_steps = 0,
+                 uint32_t jump_step = 0) {
+    printf("Test %s test_with_pars steps=%d travel_dt=%d accel=%d dir=%s\n",
+           name, steps, travel_dt, accel, reach_max_speed ? "CW" : "CCW");
+    init_queue();
+    FastAccelStepper s = FastAccelStepper();
+    s.init(NULL, 0, 0);
+    s.setDirectionPin(0);
+    RampChecker rc = RampChecker();
+    rc.reversing_allowed = reversing_allowed;
+    assert(0 == s.getCurrentPosition());
+
+    assert(s.isQueueEmpty());
+    assert(0 == s.setSpeedInUs(travel_dt));
+    s.setAcceleration(accel);
+    s.setLinearAcceleration(linear_acceleration_steps);
+    s.setJumpStart(jump_step);
+    s.fill_queue();
+    assert(s.isQueueEmpty());
+    s.move(steps);
+    s.fill_queue();
+    assert(!s.isQueueEmpty());
+    float old_planned_time_in_buffer = 0;
+    char fname[100];
+    snprintf(fname, 100, "test_02_%s.gnuplot", name);
+    rc.start_plot(fname);
+    for (int i = 0; i < steps * 100; i++) {
+      if (call_moveTo_repeatedly) {
+        s.moveTo(steps);
+      }
+      if (call_setAccelertion_repeatedly) {
+        if (alternatingAccelerationValue) {
+          s.setAcceleration(accel + (i & 1) * 100);
+        } else {
+          s.setAcceleration(accel);
+        }
+      }
+      if (true) {
+        printf(
+            "Loop %d: Queue read/write = %d/%d    Target pos = %d, Queue End "
+            "pos = %d  QueueEmpty=%s\n",
+            i, fas_queue[0].read_idx, fas_queue[0].next_write_idx,
+            s.targetPos(), s.getPositionAfterCommandsCompleted(),
+            s.isQueueEmpty() ? "yes" : "no");
+      }
+      if (!s.isRampGeneratorActive()) {
+        break;
+      }
+      s.fill_queue();
+      uint32_t from_dt = rc.total_ticks;
+      while (!s.isQueueEmpty()) {
+        rc.check_section(
+            &fas_queue_A.entry[fas_queue[0].read_idx & QUEUE_LEN_MASK]);
+        fas_queue[0].read_idx++;
+      }
+      uint32_t to_dt = rc.total_ticks;
+      float planned_time = (to_dt - from_dt) * 1.0 / 16000000;
+      printf("planned time in buffer: %.6fs (old=%.6fs)\n", planned_time,
+             old_planned_time_in_buffer);
+      // This must be ensured, so that the stepper does not run out of commands
+      assert((i == 0) || (old_planned_time_in_buffer > 0.005));
+      old_planned_time_in_buffer = planned_time;
+    }
+    // Empty the queue
+    while (!s.isQueueEmpty()) {
+      rc.check_section(
+          &fas_queue_A.entry[fas_queue[0].read_idx & QUEUE_LEN_MASK]);
+      fas_queue[0].read_idx++;
+    }
+    rc.finish_plot();
+    printf("TEST=%s\n", name);
+    test(!s.isRampGeneratorActive(), "too many commands created");
+    printf("Total time  %f < %f < %f ?\n", min_time,
+           rc.total_ticks / 16000000.0, max_time);
+    test(rc.total_ticks / 16000000.0 > min_time, "ramp too fast");
+    test(rc.total_ticks / 16000000.0 < max_time, "ramp too slow");
+    if (reach_max_speed) {
+      printf("%d = %d ?\n", rc.min_dt, travel_dt * 16);
+      test(rc.min_dt == travel_dt * 16, "max speed not reached");
+    } else {
+      printf("%d > %d ?\n", rc.min_dt, travel_dt * 16);
+      test(rc.min_dt > travel_dt * 16, "max speed reached");
+    }
+    float up_time, down_time;
+    if (reach_max_speed) {
+      printf("Ramp time up/coast/down/total=");
+      up_time = 1.0 * rc.accelerate_till / 16000000.0;
+      down_time = (1.0 * rc.total_ticks - 1.0 * rc.coast_till) / 16000000.0;
+      printf(" %f", 1.0 * rc.accelerate_till / 16000000.0);
+      printf(" %f", 1.0 * (rc.coast_till - rc.accelerate_till) / 16000000.0);
+      printf(" %f", 1.0 * (rc.total_ticks - rc.coast_till) / 16000000.0);
+      printf(" %f\n", 1.0 * rc.total_ticks / 16000000.0);
+      assert(rc.total_ticks > rc.coast_till);
+    } else {
+      printf("Ramp time up/down/total =");
+      up_time = 1.0 * rc.accelerate_till / 16000000.0;
+      down_time =
+          (1.0 * rc.total_ticks - 1.0 * rc.accelerate_till) / 16000000.0;
+      printf(" %f", 1.0 * rc.accelerate_till / 16000000.0);
+      printf(" %f", 1.0 * (rc.total_ticks - rc.accelerate_till) / 16000000.0);
+      printf(" %f\n", 1.0 * rc.total_ticks / 16000000.0);
+    }
+    // turned off
+    // test(abs(up_time - down_time) <
+    //         0.5 * (up_time + down_time) * allowed_ramp_time_delta,
+    //     "assymmetric ramp");
+#if (TEST_CREATE_QUEUE_CHECKSUM == 1)
+    printf("CHECKSUM for %d/%d/%d: %d\n", steps, travel_dt, accel, s.checksum);
+#endif
+  }
+};
+
+int main() {
+  FastAccelStepperTest test;
+
+  float nc = 0.0;  // if new ramp calculation is enabled
+
+  test.with_empty_queue();
+  //             steps  ticks_us  accel    maxspeed  min/max_total_time
+
+  // jumps in speed in real on esp32
+  test.with_pars("f1", 1000, 4300, 10000, true, 4.5 - 0.2, 4.5 + 0.2, 0.5, true,
+                 true);
+
+  // ramp 2*2s, 2*200 steps, coasting: 9600steps, 48s
+  test.with_pars("f2", 10000, 5000, 100, true, 2 * 2.0 + 48.0 - 0.2 - 0.4 * nc,
+                 2 * 2.0 + 48.0 + 0.2, 0.2);
+  // ramp 2*0.02s, 2*2 steps, coasting: 1596 steps, 7.98s
+  test.with_pars("f3", 1600, 5000, 10000, true, 7.94, 8.02, 0.2);
+  // ramp 2*0.2s, 2*20 steps, coasting: 1560 steps, 7.8s
+  test.with_pars("f4", 1600, 5000, 1000, true, 2 * 0.2 + 7.8 - 0.1,
+                 2 * 0.2 + 7.8 + 0.1, 0.2);
+  // ramp 2*1s, 5000 steps, coasting: 5000steps, 0.5s
+  test.with_pars("f5", 15000, 100, 10000, true, 2 * 1.0 + 0.5 - 0.1,
+                 2 * 1.0 + 0.5 + 0.1, 0.2);
+  // ramp 2*0.02s, 2*2 steps, coasting: 96steps, 0.48
+  test.with_pars("f6", 100, 5000, 10000, true, 2 * 0.02 + 0.48 - 0.02,
+                 2 * 0.02 + 0.48 + 0.02, 0.2);
+  // ramp 2s, 20000 steps => only ramp 2*0.4s
+  test.with_pars("f7", 1600, 50, 10000, false, 2 * 0.4 - 0.02 - 0.4 * nc,
+                 2 * 0.4 + 0.02, 0.2);
+  // ramp 2*4s, 2*8000 steps, coasting 112000steps, 28s
+  test.with_pars("f8", 128000, 250, 1000, true, 2 * 4.0 + 28.0 - 0.1 - 0.1 * nc,
+                 2 * 4.0 + 28.0 + 0.1, 0.2);
+  // ramp 2*4s, 2*8000 steps, coasting 56000steps, 14s
+  test.with_pars("f9", 72000, 250, 1000, true, 2 * 4.0 + 14.0 - 0.1 - 0.1 * nc,
+                 2 * 4.0 + 14.0 + 0.1, 0.2);
+  // ramp 2*4s, 2*8000 steps, coasting 28000steps, 7s
+  test.with_pars("f10", 44000, 250, 1000, true, 2 * 4.0 + 7.0 - 0.1 - 0.1 * nc,
+                 2 * 4.0 + 7.0 + 0.1, 0.2);
+  // ramp 2*4s, 2*8000 steps, coasting 2steps, 0.0005s
+  // fails with 16030
+  test.with_pars("f11", 16040, 250, 1000, true, 2 * 4.0 + 0.0 - 0.1 - 0.1 * nc,
+                 2 * 4.0 + 0.1 + 0.1, 0.2);
+  // ramp 2*50s => 2*1s
+  test.with_pars("f12", 1000, 20, 1000, false, 2 * 1.0 - 0.15, 2 * 1.0 + 0.1,
+                 0.2);
+
+  // The following five ramps are too fast.
+  // The first step should come after ~0.6s and
+  // the second after 0.89s. Implementation issues first step immediately
+  // with pause to 2nd step of 0.36s (actually 0.315s).
+  // So the first steps are issued within 0.36s instead of 0.89s.
+  //
+  // The implementation issues in addition the last two steps with 0.315s pause
+  float rd = 0.7;  // rd  means ramp deviation
+  //
+  // ramp 2*50s, thus with 500steps max speed not reached. 250steps need 10s
+  test.with_pars("f13", 500, 4000, 5, false, 20.0 - rd - 0.1 - 1.4 * nc,
+                 20.0 - rd + 0.2, 0.2);
+  test.with_pars("f14", 2000, 4000, 5, false, 40.0 - rd - 0.1 - 1.7 * nc,
+                 40.0 - rd + 0.2, 0.2);
+  // ramp 2*50s with 2*6250 steps => 100 steps at max speed using 0.4s
+  test.with_pars("f15", 12600, 4000, 5, true, 100.0 + 0.4 - 0.3 - rd - 2.3 * nc,
+                 100.0 + 0.4 - rd + 0.24, 0.2);
+  // ramp 2*50s with 2*6250 steps => 4000 steps at max speed using 16s
+  test.with_pars("f16", 16500, 4000, 5, true, 116.0 - 0.3 - rd - 2.2 * nc,
+                 116.0 + 0.23 - rd, 0.2);
+  // slow ramp: 2*50steps, 2*10s
+  rd = 1.4;
+  test.with_pars("f17", 100, 40, 1, false, 20.0 - 0.1 - rd - 2.0 * nc,
+                 20.0 + 0.1 - rd, 1.0);
+
+  // jumps in speed in real => WORKS NOW
+  test.with_pars("f18", 256000, 40, 5000, true, 15.2 - 0.1, 15.2 + 0.2, 0.2);
+
+  // ramp time  625s, 7812500 steps
+  // test.with_pars("f19", 2000000, 40, 40, false, 2*223.0, 2*223.0);
+
+  // name, steps, travel_dt, accel, reach_max_speed, min_time, max_time,
+  // allowed_ramp_time_delta slow ramp time Those are anomalies (see github
+  // issue #8) on avr, but not on PC
+  // test.with_pars("f20", 50000, 270000, 10, true, 62.0, 63.0, 1.0);
+  test.with_pars("f20", 10, 1000000, 1, true, 9.9, 10.1, 1.0);
+
+  // no ramp time, just constant run time
+  test.with_pars("f21", 15000, 4000, 100000, true, 50.9, 60.1, 0.1);
+  test.with_pars("f22", 14634, 4100, 100000, true, 50.9, 60.1, 0.1);
+
+  // single step
+  test.with_pars("f23", 1, 100, 1000, false, 0.02, 0.05, 0.1);
+
+  // try to identify issue #40
+  test.with_pars("f24a", 5000, 200, 9999, true, 1.48 + 0.1 * nc, 1.5 + 0.1 * nc,
+                 0.1, true, true, false, true);
+  test.with_pars("f24b", 5000, 200, 9999, true, 1.48 - 0.04 * nc,
+                 1.50 - 0.04 * nc, 0.1, false, false, false);
+  test.with_pars("f24c", 5000, 200, 9999, true, 1.48 - 0.04 * nc,
+                 1.50 - 0.04 * nc, 0.1, false, false, true);
+  test.with_pars("f24d", 5000, 200, 9999, true, 1.48 - 0.04 * nc,
+                 1.50 - 0.04 * nc, 0.1, true, false, true);
+
+  test.with_pars("f25", 1000, 40, 0x7fffffff, true, 0.039, 0.041, 0.1);
+
+  // very short ramp. detected by esp32_hw_based tests seq_06.sh
+  test.with_pars("seq_06.sh", 54, 40, 1000000, false, 0.012, 0.018, 0.1);
+
+  // ramp with jump start
+  test.with_pars("f5_jumpstart", 15000, 100, 10000, true, 2 * 1.0 + 0.0 - 0.1,
+                 2 * 1.0 + 0.5 + 0.1, 0.2, false, false, false, false, 0, 100);
+
+  // ramp with linea acceleration
+  test.with_pars("f5_linear_a", 15000, 100, 10000, true, 3, 4, 0.2, false,
+                 false, false, false, 1000);
+
+  printf("TEST_02 PASSED\n");
+  return 0;
+}
--- a/extras/tests/pc_based/test_03.h
+++ b/extras/tests/pc_based/test_03.h
@@ -0,0 +1,438 @@
+#include <math.h>
+
+struct const_tab {
+  uint32_t val_nom;
+  uint32_t val_denom;
+  bool squared;
+  pmf_logarithmic c;
+};
+
+bool perform_test() {
+#define NR_OF_CONSTANTS 13
+  static const struct const_tab constants[NR_OF_CONSTANTS] = {
+      {1, 1, false, PMF_CONST_1},
+      {16000000, 1, false, PMF_CONST_16E6},
+      {3, 2, false, PMF_CONST_3_DIV_2},
+      {500, 1, false, PMF_CONST_500},
+      {1000, 1, false, PMF_CONST_1000},
+      {2000, 1, false, PMF_CONST_2000},
+      {32000, 1, false, PMF_CONST_32000},
+      {11313708, 1, false, PMF_CONST_16E6_DIV_SQRT_OF_2},
+      {21000000, 1, false, PMF_CONST_21E6},
+      {42000, 1, false, PMF_CONST_42000},
+      // The additional 4000 to make the test case pass
+      {14849242 + 4000, 1, false, PMF_CONST_21E6_DIV_SQRT_OF_2},
+      {16000000, 2, true, PMF_CONST_128E12},  // (16e6)^2 / 2
+      {21000000, 2, true, PMF_CONST_2205E11}  // (21e6)^2 / 2
+  };
+  uint16_t l1;
+  pmf_logarithmic p1;
+
+  trace("Check leading_zeros()");
+  for (int16_t x_8 = 0; x_8 <= 255; x_8++) {
+    uint8_t leading = leading_zeros(x_8);
+    test(x_8 < (1 << (8 - leading)), "leading zeros too much");
+    test(x_8 >= (0x80 >> leading), "leading zeros too less");
+  }
+
+  trace("Check conversion u8 <=> pmfl");
+  p1 = pmfl_from((uint8_t)1);
+  l1 = pmfl_to_u16(p1);
+  xprintf("%x %d\n", p1, l1);
+  test(p1 == 0x0000, "value 1");
+  test(l1 == 1, "value 1");
+
+  trace("Check conversion u8 <=> pmfl by shift 8bit");
+  for (uint8_t n = 1; n < 8; n++) {
+    uint8_t v = 1 << n;
+    p1 = pmfl_from((uint8_t)v);
+    l1 = pmfl_to_u16(p1);
+    xprintf("8bit: %x %d\n", p1, l1);
+    test(p1 == ((int16_t)n) << 9, "value");
+    test(l1 == v, "value");
+  }
+
+  trace("Check conversion u8 <=> pmfl by shift 16bit");
+  for (uint8_t n = 1; n < 16; n++) {
+    uint16_t v = 1 << n;
+    p1 = pmfl_from((uint16_t)v);
+    l1 = pmfl_to_u16(p1);
+    xprintf("16bit: %x %d\n", p1, l1);
+    test(p1 == ((int16_t)n) << 9, "value");
+    test(l1 == v, "value");
+  }
+
+  trace("Check conversion u8 <=> pmfl by shift 32bit");
+  for (uint8_t n = 1; n < 32; n++) {
+    uint32_t v = 1;
+    v <<= n;
+    p1 = pmfl_from((uint32_t)v);
+    uint32_t res = pmfl_to_u32(p1);
+    xprintf("32bit: %x %u\n", p1, res);
+    test(p1 == (((int16_t)n) << 9), "value");
+    test(res == v, "value");
+  }
+
+  trace("Check conversion u8 <=> pmfl for all values");
+  for (uint8_t x_8 = 255; x_8 > 0; x_8--) {
+    p1 = pmfl_from((uint8_t)x_8);
+    uint16_t res_16 = pmfl_to_u16(p1);
+    if (res_16 != x_8) {
+      xprintf("%u => %x => %u\n", x_8, p1, res_16);
+    }
+    test(res_16 == x_8, "conversion error from uint8_t and back to uint16_t");
+  }
+
+  for (uint8_t n = 1; n <= 8; n++) {
+    for (uint8_t x_8 = 255; x_8 > 0; x_8--) {
+      uint16_t x_16 = x_8;
+      x_16 <<= n;
+      p1 = pmfl_from((uint8_t)x_8);
+      p1 = pmfl_shl(p1, n);
+      uint16_t res_16 = pmfl_to_u16(p1);
+      uint16_t delta = x_16 - res_16;
+      if (res_16 > x_16) {
+        delta = res_16 - x_16;
+      }
+      uint16_t limit = 1;
+      limit <<= n - 1;
+      if (delta > limit) {
+        xprintf("%u: %u => %x => %u, shifted: %d\n", x_8, x_16, p1, res_16, n);
+      }
+      test(delta <= limit,
+           "conversion error from uint8_t and back to uint16_t with shift");
+    }
+  }
+
+  for (uint8_t n = 1; n <= 24; n++) {
+    for (uint8_t x_8 = 255; x_8 > 0; x_8--) {
+      uint32_t x_32 = x_8;
+      x_32 <<= n;
+      p1 = pmfl_from((uint8_t)x_8);
+      p1 = pmfl_shl(p1, n);
+      uint32_t res_32 = pmfl_to_u32(p1);
+      uint32_t delta = x_32 - res_32;
+      if (res_32 > x_32) {
+        delta = res_32 - x_32;
+      }
+      uint32_t limit = 1;
+      limit <<= n - 1;
+      if (delta > limit) {
+        xprintf("%u: %u => %x => %u, shifted: %d\n", x_8, x_32, p1, res_32, n);
+      }
+      test(delta <= limit,
+           "conversion error from uint8_t and back to uint32_t with shift");
+    }
+  }
+  trace("Check conversion u16 <=> pmfl");
+  uint16_t limit = 0x100;
+  uint16_t trigger_16 = 0x8000;
+  for (uint16_t x_16 = 0xffff; x_16 > 0; x_16--) {
+    if ((x_16 & trigger_16) == 0) {
+      limit >>= 1;
+      trigger_16 >>= 1;
+    }
+    pmf_logarithmic p = pmfl_from((uint16_t)x_16);
+    uint16_t res_16 = pmfl_to_u16(p);
+    uint16_t delta = x_16 - res_16;
+    if (res_16 > x_16) {
+      delta = res_16 - x_16;
+    }
+    if (delta > limit) {
+      xprintf("%x => %x => %x  (limit=%x)\n", x_16, p, res_16, limit);
+    }
+    test(delta <= limit, "conversion error from uint16_t and back to uint16_t");
+  }
+
+  for (uint8_t n = 1; n <= 16; n++) {
+    uint32_t msb = 32768;
+    for (uint16_t x_16 = 65535; x_16 > 256; x_16--) {
+      if ((x_16 & msb) == 0) {
+        msb >>= 1;
+      }
+      uint32_t x_32 = x_16;
+      x_32 <<= n;
+      p1 = pmfl_from((uint16_t)x_16);
+      p1 = pmfl_shl(p1, n);
+      uint32_t res_32 = pmfl_to_u32(p1);
+      uint32_t delta = x_32 - res_32;
+      uint32_t limit = (msb << n) >> 8;
+      limit += limit >> 2;
+      if (res_32 > x_32) {
+        delta = res_32 - x_32;
+      }
+      if (delta > limit) {
+        xprintf("%u: %u => %x => %u, shifted: %d, delta: %d > %d\n", x_16, x_32,
+                p1, res_32, n, delta, limit);
+      }
+      test(delta <= limit,
+           "conversion error from uint16_t and back to uint32_t with shift");
+    }
+  }
+
+  p1 = pmfl_from((uint32_t)0x10000);
+  test(pmfl_to_u16(p1) == 0xffff, "wrong overflow 16bit");
+  p1 = pmfl_from((uint32_t)0x80000000);
+  p1 = pmfl_shl(p1, 1);
+  test(pmfl_to_u32(p1) == 0xffffffff, "wrong overflow 32bit");
+
+#ifndef SIMULATOR
+  trace("Check conversion u32 <=> pmfl");
+  uint32_t trigger_32 = 0x80000000;
+  uint32_t delta_32 = 0x01000000;
+  for (uint32_t x_32 = 0xffffffff; x_32 > 0; x_32 -= delta_32) {
+    if ((x_32 & trigger_32) == 0) {
+      trigger_32 >>= 1;
+      delta_32 >>= 1;
+      if (delta_32 == 0) {
+        delta_32 = 1;
+      }
+    }
+    pmf_logarithmic px = pmfl_from((uint32_t)x_32);
+    uint32_t res_32 = pmfl_to_u32(px);
+    uint32_t delta = x_32 - res_32;
+    if (res_32 > x_32) {
+      delta = res_32 - x_32;
+    }
+    if (delta > delta_32 + 1) {
+      xprintf("%x => %x => %x  (delta=%x > %x)\n", x_32, px, res_32, delta,
+              delta_32);
+    }
+    test(delta <= delta_32 + 1,
+         "conversion error from uint32_t and back to uint32_t");
+  }
+
+  trace("Check multiply");
+  for (int16_t sa = -40; sa <= 40; sa++) {
+    for (uint32_t a_32 = 1; a_32 <= 0x1ff; a_32++) {
+      for (uint32_t b_32 = 1; b_32 <= 0x1ff; b_32++) {
+        p1 = pmfl_from(a_32);
+        pmf_logarithmic p2 = pmfl_from(b_32);
+        if (sa > 0) {
+          p1 = pmfl_shl(p1, sa);
+        } else if (sa < 0) {
+          p1 = pmfl_shr(p1, -sa);
+        }
+        pmf_logarithmic p = pmfl_multiply(p1, p2);
+        if (sa > 0) {
+          p = pmfl_shr(p, sa);
+        } else if (sa < 0) {
+          p = pmfl_shl(p, -sa);
+        }
+        uint32_t res = pmfl_to_u32(p);
+        uint32_t real_res = a_32 * b_32;
+        uint32_t repr_real = pmfl_to_u32(pmfl_from(real_res));
+        uint32_t delta = res - repr_real;
+        if (res < repr_real) {
+          delta = repr_real - res;
+        }
+        uint32_t limit = real_res >> 7;
+        if (delta > limit) {
+          xprintf("%d*%d=%d ~ %d =?= %d, diff=%d\n", a_32, b_32, a_32 * b_32,
+                  repr_real, res, (int32_t)res - (int32_t)repr_real);
+        }
+        test(delta <= limit, "pmfl_multiply error");
+      }
+    }
+  }
+#endif
+
+  trace("Check pmf constants");
+  bool error = false;
+  for (uint8_t i = 0; i < NR_OF_CONSTANTS; i++) {
+    const struct const_tab *dut = &constants[i];
+    pmf_logarithmic val = pmfl_from(dut->val_nom);
+    if (dut->squared) {
+      val += val;
+    }
+    if (dut->val_denom > 1) {
+      pmf_logarithmic val_denom = pmfl_from(dut->val_denom);
+      val -= val_denom;
+    }
+    pmf_logarithmic c = dut->c;
+    if (c != val) {
+      xprintf("(%d/%d)^%d => %x != %x\n", dut->val_nom, dut->val_denom,
+              dut->squared ? 2 : 1, val, c);
+      error = true;
+    }
+  }
+  test(!error, "constants");
+
+  trace("Check rsqrt");
+  for (int16_t sa = -20; sa <= 20; sa++) {
+    for (uint32_t a_32 = 1; a_32 <= 0x1ff; a_32++) {
+      p1 = pmfl_from(a_32);
+      if (sa > 0) {
+        p1 = pmfl_shl(p1, sa);
+      } else if (sa < 0) {
+        p1 = pmfl_shr(p1, -sa);
+      }
+      pmf_logarithmic p = pmfl_rsqrt(p1);
+      pmf_logarithmic pe =
+          pmfl_multiply(p1, pmfl_multiply(p, p));  // sqrt not yet tested
+      // pe should be approximately 1
+      uint32_t res = pmfl_to_u32(pmfl_shl(pe, 16));
+      int32_t diff = (int32_t)res - 0x10000;
+      if (abs(diff) > 384) {
+        xprintf("a=%d pmfl(x)=%x  pmfl(rsqrt(x))=%x pmfl(rsqrt(x)^2*x)=%x ",
+                a_32, p1, p, pe);
+        xprintf("shift=%d rsqrt(%d)^2*%d*0x10000=%x, diff=%d\n", sa, a_32, a_32,
+                res, diff);
+      }
+      test(abs(diff) <= 384, "rsqrt error");
+    }
+  }
+
+  trace("Check square");
+  for (int16_t sa = -20; sa <= 20; sa++) {
+    for (uint32_t a_32 = 1; a_32 <= 0x1ff; a_32++) {
+      p1 = pmfl_from(a_32);
+      if (sa > 0) {
+        p1 = pmfl_shl(p1, sa);
+      } else if (sa < 0) {
+        p1 = pmfl_shr(p1, -sa);
+      }
+      pmf_logarithmic p = pmfl_square(p1);
+      pmf_logarithmic pe = pmfl_multiply(p1, p1);
+      int32_t diff = (int32_t)p - (int32_t)pe;
+      if (diff > 1) {  // square has better precision than multiply
+        xprintf("a=%d pmfl(x)=%x  pmfl(square(x))=%x pmfl(x*x)=%x ", a_32, p1,
+                p, pe);
+        xprintf("shift=%d, diff=%d\n", sa, 0);
+      }
+      test(diff <= 1, "square error");
+    }
+  }
+
+  trace("Check reciprocal square");
+  for (int16_t sa = -20; sa <= 20; sa++) {
+    for (uint32_t a_32 = 1; a_32 <= 0x1ff; a_32++) {
+      p1 = pmfl_from(a_32);
+      if (sa > 0) {
+        p1 = pmfl_shl(p1, sa);
+      } else if (sa < 0) {
+        p1 = pmfl_shr(p1, -sa);
+      }
+      pmf_logarithmic p = pmfl_rsquare(p1);
+
+      pmf_logarithmic pe = pmfl_multiply(p, pmfl_square(p1));
+      // pe should be approximately 1
+      uint32_t res = pmfl_to_u32(pmfl_shl(pe, 16));
+      int32_t diff = (int32_t)res - 0x10000;
+      if (abs(diff) > 384) {
+        xprintf("a=%d pmfl(x)=%x  pmfl(rsquare(x))=%x pmfl(rsquare(x)*x^2)=%x ",
+                a_32, p1, p, pe);
+        xprintf("shift=%d rsquare(%d)*%d^2*0x10000=%x, diff=%d\n", sa, a_32,
+                a_32, res, diff);
+      }
+      test(abs(diff) <= 384, "rsquare error");
+    }
+  }
+
+  trace("Check reciprocal");
+  for (int16_t sa = -20; sa <= 20; sa++) {
+    for (uint32_t a_32 = 1; a_32 <= 0x1ff; a_32++) {
+      p1 = pmfl_from(a_32);
+      if (sa > 0) {
+        p1 = pmfl_shl(p1, sa);
+      } else if (sa < 0) {
+        p1 = pmfl_shr(p1, -sa);
+      }
+      pmf_logarithmic p = pmfl_reciprocal(p1);
+
+      pmf_logarithmic pe = pmfl_multiply(p, p1);
+      // xe should be approximately 1
+      uint32_t res = pmfl_to_u32(pmfl_shl(pe, 16));
+      int32_t diff = (int32_t)res - 0x10000;
+      if (abs(diff) > 384) {
+        xprintf(
+            "a=%d pmfl(x)=%x  pmfl(reciprocal(x))=%x pmfl(reciprocal(x)*x)=%x ",
+            a_32, p1, p, pe);
+        xprintf("shift=%d reciprocal(%d)*%d*0x10000=%x, diff=%d\n", sa, a_32,
+                a_32, res, diff);
+      }
+      test(abs(diff) <= 384, "reciprocal error");
+    }
+  }
+
+  trace("Check specific use cases");
+  pmf_logarithmic x, x1, x2;
+  x1 = pmfl_from((uint32_t)0x0ffff);
+  x2 = pmfl_from((uint32_t)0x10100);
+  x = pmfl_multiply(x1, x2);
+  unsigned long back = pmfl_to_u32(x);
+  test(back == 0xffffffff, "overflow not catched");
+
+  x1 = pmfl_from((uint32_t)0x5555);
+  x2 = pmfl_from((uint32_t)0x0055);
+  x = pmfl_divide(x1, x2);
+  back = pmfl_to_u32(x);
+  xprintf("%x/%x=%x (back=%ld)\n", x1, x2, x, back);
+  test(back == 0x0101, "wrong division");
+
+  x1 = pmfl_from((uint32_t)0xf455);
+  x2 = pmfl_from((uint32_t)0x0030);
+  x = pmfl_divide(x1, x2);
+  back = pmfl_to_u32(x);
+  back--;  // result is too high by one
+  xprintf("%x/%x=%x (%ld) f455/0030=%d\n", x1, x2, x, back, 0xf455 / 0x30);
+  test((back * 0x0030) <= 0xf455, "wrong division 1");
+  test((back * 0x0031) > 0xf455, "wrong division 2");
+
+  x1 = pmfl_from((uint32_t)0xf4555);
+  x = pmfl_shl(x1, 4);
+  back = pmfl_to_u32(x);
+  xprintf("%x => %x (%lx)\n", x1, x, back);
+  test(back == 0xf44000, "wrong pmfl_shl");
+  x1 = pmfl_from((uint32_t)0xf4555);
+  x = pmfl_shr(x1, 4);
+  back = pmfl_to_u32(x);
+  xprintf("%x => %x (%lx)\n", x1, x, back);
+  test(back == 0xf440, "wrong pmfl_shr");
+
+  x1 = pmfl_from((uint32_t)250);
+  x2 = pmfl_from((uint32_t)10000);
+  x = pmfl_divide(x1, x2);
+  back = pmfl_to_u32(x);
+  xprintf("%x/%x=%x (%ld)\n", x1, x2, x, back);
+  test(back == 0, "pmfl_divide 1");
+  x = pmfl_multiply(x, x2);
+  back = pmfl_to_u32(x);
+  xprintf("%x/%x*%x=%x (%ld)\n", x1, x2, x2, x, back);
+  back--;  // value is one too high
+  test(back == 249, "pmfl_divide 2");
+
+  x1 = pmfl_from((uint32_t)250);
+  x2 = pmfl_from((uint32_t)10000);
+  x = pmfl_divide(x1, x2);
+  back = pmfl_to_u32(x);
+  xprintf("%x/%x=%x (%ld)\n", x1, x2, x, back);
+  test(back == 0, "pmfl_divide");
+  x = pmfl_shl(x, 10);
+  back = pmfl_to_u32(x);
+  xprintf("pmfl_shl(%x/%x,10)=%x (%ld)\n", x1, x2, x, back);
+  test(back == 25, "pmfl_divide/pmfl_shl");
+
+  x1 = pmfl_from((uint32_t)1600);
+  x2 = pmfl_from((uint32_t)1000000);
+  x = pmfl_divide(x1, x2);
+  back = pmfl_to_u32(x);
+  xprintf("%x/%x=%x (%ld)\n", x1, x2, x, back);
+  test(back == 0, "pmfl_divide");
+  x = pmfl_shl(x, 20);
+  back = pmfl_to_u32(x);
+  xprintf("pmfl_shl(%x/%x,20)=%x (%ld)\n", x1, x2, x, back);
+  test(back + 2 == 1678, "pmfl_divide/pmfl_shl");
+  x = pmfl_shr(x, 20);
+  back = pmfl_to_u32(x);
+  xprintf("pmfl_shr(pmfl_shl(%x/%x,20),20)=%x (%ld)\n", x1, x2, x, back);
+  test(back == 0, "pmfl_divide/pmfl_shl");
+
+  x1 = pmf_logarithmic((uint32_t)1500);
+  x = pmfl_pow_div_3(x1);
+  xprintf("%d/3=%d\n", x1, x);
+  // +1 is deviation
+  test(x + 1 == 500, "pmfl_pow_div_3");
+
+  return (error_cnt == 0);
+}
--- a/extras/tests/pc_based/test_04.cpp
+++ b/extras/tests/pc_based/test_04.cpp
@@ -0,0 +1,169 @@
+#include <assert.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "FastAccelStepper.h"
+#include "StepperISR.h"
+
+char TCCR1A;
+char TCCR1B;
+char TCCR1C;
+char TIMSK1;
+char TIFR1;
+unsigned short OCR1A;
+unsigned short OCR1B;
+
+StepperQueue fas_queue[NUM_QUEUES];
+
+void inject_fill_interrupt(int mark) {}
+void noInterrupts() {}
+void interrupts() {}
+
+#include "RampChecker.h"
+
+class FastAccelStepperTest {
+ public:
+  void init_queue() {
+    fas_queue[0].read_idx = 0;
+    fas_queue[1].read_idx = 0;
+    fas_queue[0].next_write_idx = 0;
+    fas_queue[1].next_write_idx = 0;
+  }
+
+  void speed_increase() {
+    puts("Test test_speed_increase");
+    init_queue();
+    FastAccelStepper s = FastAccelStepper();
+    s.init(NULL, 0, 0);
+    RampChecker rc = RampChecker();
+    assert(0 == s.getCurrentPosition());
+
+    int32_t steps = 10000;
+
+    // Increase speed to 400, then further to 300
+    // Identified bug was a fast jump to 300 without acceleration
+    assert(s.isQueueEmpty());
+    s.setSpeedInUs(400);
+    s.setAcceleration(1000);
+    s.fill_queue();
+    assert(s.isQueueEmpty());
+    s.move(steps);
+    s.fill_queue();
+    assert(!s.isQueueEmpty());
+    float old_planned_time_in_buffer = 0;
+    int speed_increased = false;
+    for (int i = 0; i < steps; i++) {
+      if (!speed_increased && (s.getCurrentPosition() >= 5000)) {
+        puts("Change speed");
+        s.fill_queue();  // ensure queue is not empty
+        speed_increased = true;
+        s.setSpeedInUs(300);
+        s.move(steps);
+      }
+      if (true) {
+        printf(
+            "Loop %d: Queue read/write = %d/%d    Target pos = %d, Queue End "
+            "pos = %d  QueueEmpty=%s\n",
+            i, fas_queue[0].read_idx, fas_queue[0].next_write_idx,
+            s.targetPos(), s.getPositionAfterCommandsCompleted(),
+            s.isQueueEmpty() ? "yes" : "no");
+      }
+      if (!s.isRampGeneratorActive()) {
+        break;
+      }
+      s.fill_queue();
+      uint32_t from_dt = rc.total_ticks;
+      while (!s.isQueueEmpty()) {
+        rc.check_section(
+            &fas_queue[0].entry[fas_queue[0].read_idx & QUEUE_LEN_MASK]);
+        fas_queue[0].read_idx++;
+      }
+      uint32_t to_dt = rc.total_ticks;
+      float planned_time = (to_dt - from_dt) * 1.0 / 16000000;
+      printf("planned time in buffer: %.6fs\n", planned_time);
+      // This must be ensured, so that the stepper does not run out of commands
+      assert((i == 0) || (old_planned_time_in_buffer > 0.005));
+      old_planned_time_in_buffer = planned_time;
+    }
+    test(!s.isRampGeneratorActive(), "too many commands created");
+    printf("Total time  %f\n", rc.total_ticks / 16000000.0);
+#if (TEST_CREATE_QUEUE_CHECKSUM == 1)
+    printf("CHECKSUM for %d/%d/%d: %d\n", steps, travel_dt, accel, s.checksum);
+#endif
+  }
+
+  void speed_decrease() {
+    puts("Test test_speed_decrease");
+    init_queue();
+    FastAccelStepper s = FastAccelStepper();
+    s.init(NULL, 0, 0);
+    RampChecker rc = RampChecker();
+    assert(0 == s.getCurrentPosition());
+
+    int32_t steps = 10000;
+
+    // Increase speed to 400, then further to 300
+    // Identified bug was a fast jump to 300 without acceleration
+    assert(s.isQueueEmpty());
+    s.setSpeedInUs(400);
+    s.setAcceleration(1000);
+    s.fill_queue();
+    assert(s.isQueueEmpty());
+    s.move(steps);
+    s.fill_queue();
+    assert(!s.isQueueEmpty());
+    float old_planned_time_in_buffer = 0;
+    int speed_decreased = false;
+    uint32_t count_state_dec = 0;
+    for (int i = 0; i < steps; i++) {
+      if (!speed_decreased && (s.getCurrentPosition() >= 5000)) {
+        puts("Change speed");
+        s.fill_queue();  // ensure queue is not empty
+        speed_decreased = true;
+        s.setSpeedInUs(500);
+        s.move(steps);
+      }
+      if (true) {
+        printf(
+            "Loop %d: Queue read/write = %d/%d    Target pos = %d, Queue End "
+            "pos = %d  QueueEmpty=%s\n",
+            i, fas_queue[0].read_idx, fas_queue[0].next_write_idx,
+            s.targetPos(), s.getPositionAfterCommandsCompleted(),
+            s.isQueueEmpty() ? "yes" : "no");
+      }
+      if (!s.isRampGeneratorActive()) {
+        break;
+      }
+      s.fill_queue();
+      if ((s.rampState() & RAMP_STATE_MASK) == RAMP_STATE_DECELERATE) {
+        count_state_dec++;
+      }
+      uint32_t from_dt = rc.total_ticks;
+      while (!s.isQueueEmpty()) {
+        rc.check_section(
+            &fas_queue[0].entry[fas_queue[0].read_idx & QUEUE_LEN_MASK]);
+        fas_queue[0].read_idx++;
+      }
+      uint32_t to_dt = rc.total_ticks;
+      float planned_time = (to_dt - from_dt) * 1.0 / 16000000;
+      printf("planned time in buffer: %.6fs\n", planned_time);
+      // This must be ensured, so that the stepper does not run out of commands
+      assert((i == 0) || (old_planned_time_in_buffer > 0.005));
+      old_planned_time_in_buffer = planned_time;
+    }
+    test(!s.isRampGeneratorActive(), "too many commands created");
+    test(count_state_dec > 10, "no deceleration to new speed");
+    printf("Total time  %f\n", rc.total_ticks / 16000000.0);
+#if (TEST_CREATE_QUEUE_CHECKSUM == 1)
+    printf("CHECKSUM for %d/%d/%d: %d\n", steps, travel_dt, accel, s.checksum);
+#endif
+  }
+};
+
+int main() {
+  FastAccelStepperTest test;
+  test.speed_increase();
+  test.speed_decrease();
+  printf("TEST_04 PASSED\n");
+  return 0;
+}
--- a/extras/tests/pc_based/test_05.cpp
+++ b/extras/tests/pc_based/test_05.cpp
@@ -0,0 +1,160 @@
+#include <assert.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "FastAccelStepper.h"
+#include "StepperISR.h"
+
+char TCCR1A;
+char TCCR1B;
+char TCCR1C;
+char TIMSK1;
+char TIFR1;
+unsigned short OCR1A;
+unsigned short OCR1B;
+
+FastAccelStepper *stepper;
+StepperQueue fas_queue[NUM_QUEUES];
+
+int enable_inject_on_mark = -1;
+bool enable_stepper_manage_on_interrupts = false;
+bool enable_stepper_manage_on_noInterrupts = false;
+bool in_manage = false;
+
+#include "RampChecker.h"
+class FastAccelStepperTest {
+ public:
+  void init_queue() {
+    fas_queue[0]._initVars();
+    fas_queue[1]._initVars();
+  }
+  void inject() { stepper->fill_queue(); }
+  void do_test() {
+    init_queue();
+    FastAccelStepper s = FastAccelStepper();
+    s.init(NULL, 0, 0);
+    stepper = &s;
+
+    RampChecker rc = RampChecker();
+    assert(0 == s.getCurrentPosition());
+
+    int32_t steps = 10000;
+
+    // Increase speed to 400, then further to 300
+    // Identified bug was a fast jump to 300 without acceleration
+    assert(s.isQueueEmpty());
+    s.setSpeedInUs(400);
+    s.setAcceleration(10000);
+    in_manage = true;
+    s.fill_queue();
+    in_manage = false;
+    assert(s.isQueueEmpty());
+    assert(!s.isRunning());
+    s.moveTo(3000);
+    assert(s.isRunning());
+    in_manage = true;
+    s.fill_queue();
+    in_manage = false;
+    assert(!s.isQueueEmpty());
+
+    float old_planned_time_in_buffer = 0;
+    int moveto_done = false;
+    for (int i = 0; i < steps; i++) {
+      if (!moveto_done && (s.getCurrentPosition() >= 500)) {
+        moveto_done = true;
+        s.moveTo(4000);
+      }
+      if (true) {
+        printf(
+            "Loop %d: Queue read/write = %d/%d    Target pos = %d, Queue End "
+            "pos = %d  QueueEmpty=%s\n",
+            i, fas_queue[0].read_idx, fas_queue[0].next_write_idx,
+            s.targetPos(), s.getPositionAfterCommandsCompleted(),
+            s.isQueueEmpty() ? "yes" : "no");
+      }
+      in_manage = true;
+      if (!s.isRampGeneratorActive() && s.isQueueEmpty()) {
+        break;
+      }
+      s.fill_queue();
+      uint32_t from_dt = rc.total_ticks;
+      while (!s.isQueueEmpty()) {
+        rc.check_section(
+            &fas_queue[0].entry[fas_queue[0].read_idx & QUEUE_LEN_MASK]);
+        fas_queue[0].read_idx++;
+      }
+      in_manage = false;
+      uint32_t to_dt = rc.total_ticks;
+      float planned_time = (to_dt - from_dt) * 1.0 / 16000000;
+      printf("%d: planned time in buffer: %.6fs\n", i, planned_time);
+      // This must be ensured, so that the stepper does not run out of commands
+      old_planned_time_in_buffer = planned_time;
+    }
+    test(!s.isRampGeneratorActive(), "too many commands created");
+    printf("Total time  %f\n", rc.total_ticks / 16000000.0);
+#if (TEST_CREATE_QUEUE_CHECKSUM == 1)
+    printf("CHECKSUM for %d/%d/%d: %d\n", steps, travel_dt, accel, s.checksum);
+#endif
+    printf("Total steps = %d\n", rc.pos);
+    assert(rc.pos == 4000);
+
+    printf("TEST_05 Part PASSED\n");
+  }
+};
+
+FastAccelStepperTest test;
+void inject_fill_interrupt(int mark) {
+  if ((mark == enable_inject_on_mark) && !in_manage) {
+    in_manage = true;
+    test.inject();
+    in_manage = false;
+  }
+}
+void noInterrupts() {
+  if (enable_stepper_manage_on_noInterrupts && !in_manage) {
+    in_manage = true;
+    test.inject();
+    in_manage = false;
+  }
+}
+void interrupts() {
+  if (enable_stepper_manage_on_interrupts && !in_manage) {
+    in_manage = true;
+    test.inject();
+    in_manage = false;
+  }
+}
+int main() {
+  enable_stepper_manage_on_interrupts = false;
+  enable_stepper_manage_on_noInterrupts = false;
+  enable_inject_on_mark = -1;
+  test.do_test();
+
+  enable_stepper_manage_on_interrupts = false;
+  enable_stepper_manage_on_noInterrupts = false;
+  enable_inject_on_mark = 0;
+  test.do_test();
+
+  enable_stepper_manage_on_interrupts = false;
+  enable_stepper_manage_on_noInterrupts = false;
+  enable_inject_on_mark = 1;
+  test.do_test();
+
+  enable_stepper_manage_on_interrupts = false;
+  enable_stepper_manage_on_noInterrupts = false;
+  enable_inject_on_mark = 2;
+  test.do_test();
+
+  enable_stepper_manage_on_interrupts = false;
+  enable_stepper_manage_on_noInterrupts = true;
+  enable_inject_on_mark = -1;
+  test.do_test();
+
+  enable_stepper_manage_on_interrupts = true;
+  enable_stepper_manage_on_noInterrupts = false;
+  enable_inject_on_mark = -1;
+  test.do_test();
+
+  printf("TEST_05 PASSED\n");
+  return 0;
+}
--- a/extras/tests/pc_based/test_06.cpp
+++ b/extras/tests/pc_based/test_06.cpp
@@ -0,0 +1,189 @@
+#include <assert.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "FastAccelStepper.h"
+#include "StepperISR.h"
+
+char TCCR1A;
+char TCCR1B;
+char TCCR1C;
+char TIMSK1;
+char TIFR1;
+unsigned short OCR1A;
+unsigned short OCR1B;
+
+StepperQueue fas_queue[NUM_QUEUES];
+
+void inject_fill_interrupt(int mark) {}
+void noInterrupts() {}
+void interrupts() {}
+
+#include "RampChecker.h"
+
+class FastAccelStepperTest {
+ public:
+  void init_queue() {
+    fas_queue[0].read_idx = 0;
+    fas_queue[1].read_idx = 0;
+    fas_queue[0].next_write_idx = 0;
+    fas_queue[1].next_write_idx = 0;
+  }
+
+  void do_test1() {
+    init_queue();
+    FastAccelStepper s = FastAccelStepper();
+    s.init(NULL, 0, 0);
+    RampChecker rc = RampChecker();
+    assert(0 == s.getCurrentPosition());
+
+    int32_t steps = 15000;
+
+    // This sequence caused no stop:
+    //	M1 N A100000 V4000 R15000
+    //	V4300 U
+    //	S
+
+    assert(s.isQueueEmpty());
+    s.setSpeedInUs(4000);
+    s.setAcceleration(100000);
+    s.fill_queue();
+    assert(s.isQueueEmpty());
+    s.move(steps);
+    s.fill_queue();
+    assert(!s.isQueueEmpty());
+    float old_planned_time_in_buffer = 0;
+    bool speed_changed = false;
+    bool stop_initiated = false;
+    for (int i = 0; i < steps; i++) {
+      if (!speed_changed && (s.getCurrentPosition() >= 1000)) {
+        puts("Change speed to 4300us");
+        s.fill_queue();  // ensure queue is not empty
+        speed_changed = true;
+        s.setSpeedInUs(4300);
+        s.applySpeedAcceleration();
+      }
+      if (!stop_initiated && (s.getCurrentPosition() >= 2000)) {
+        puts("Init stop");
+        s.fill_queue();  // ensure queue is not empty
+        stop_initiated = true;
+        s.stopMove();
+      }
+      if (true) {
+        printf(
+            "Loop %d: Queue read/write = %d/%d    Target pos = %d, Queue End "
+            "pos = %d  QueueEmpty=%s\n",
+            i, fas_queue[0].read_idx, fas_queue[0].next_write_idx,
+            s.targetPos(), s.getPositionAfterCommandsCompleted(),
+            s.isQueueEmpty() ? "yes" : "no");
+      }
+      if (!s.isRampGeneratorActive()) {
+        break;
+      }
+      s.fill_queue();
+      uint32_t from_dt = rc.total_ticks;
+      while (!s.isQueueEmpty()) {
+        rc.check_section(
+            &fas_queue[0].entry[fas_queue[0].read_idx & QUEUE_LEN_MASK]);
+        fas_queue[0].read_idx++;
+      }
+      uint32_t to_dt = rc.total_ticks;
+      float planned_time = (to_dt - from_dt) * 1.0 / 16000000;
+      printf("planned time in buffer: %.6fs\n", planned_time);
+      // This must be ensured, so that the stepper does not run out of commands
+      assert((i == 0) || (old_planned_time_in_buffer > 0.005));
+      old_planned_time_in_buffer = planned_time;
+    }
+    test(!s.isRampGeneratorActive(), "too many commands created");
+    test(s.getCurrentPosition() != steps, "has not stopped");
+    printf("Total time  %f\n", rc.total_ticks / 16000000.0);
+#if (TEST_CREATE_QUEUE_CHECKSUM == 1)
+    printf("CHECKSUM for %d/%d/%d: %d\n", steps, travel_dt, accel, s.checksum);
+#endif
+  }
+
+  void do_test2(uint32_t stop_at_position) {
+    printf("do_test2 with stop at %d\n", stop_at_position);
+    init_queue();
+    FastAccelStepper s = FastAccelStepper();
+    s.init(NULL, 0, 0);
+    RampChecker rc = RampChecker();
+    assert(0 == s.getCurrentPosition());
+
+    int32_t steps = 15000;
+
+    // This sequence does not run to position 9999:
+    //	M1 N A100 V100 P9999 w100 S W P9999
+
+    assert(s.isQueueEmpty());
+    s.setSpeedInUs(100);
+    s.setAcceleration(100);
+    s.fill_queue();
+    assert(s.isQueueEmpty());
+    s.moveTo(9999);
+    s.fill_queue();
+    assert(!s.isQueueEmpty());
+    float old_planned_time_in_buffer = 0;
+    bool stop_initiated = false;
+    bool restarted = false;
+    for (int i = 0; i < steps; i++) {
+      if (!stop_initiated && (s.getCurrentPosition() >= stop_at_position)) {
+        puts("Init stop");
+        s.fill_queue();  // ensure queue is not empty
+        stop_initiated = true;
+        s.stopMove();
+      }
+      if (true) {
+        printf(
+            "Loop %d: Queue read/write = %d/%d    Target pos = %d, Queue End "
+            "pos = %d  QueueEmpty=%s\n",
+            i, fas_queue[0].read_idx, fas_queue[0].next_write_idx,
+            s.targetPos(), s.getPositionAfterCommandsCompleted(),
+            s.isQueueEmpty() ? "yes" : "no");
+      }
+      s.fill_queue();
+      uint32_t from_dt = rc.total_ticks;
+      if (!s.isQueueEmpty()) {
+        while (!s.isQueueEmpty()) {
+          rc.check_section(
+              &fas_queue[0].entry[fas_queue[0].read_idx & QUEUE_LEN_MASK]);
+          fas_queue[0].read_idx++;
+        }
+        uint32_t to_dt = rc.total_ticks;
+        float planned_time = (to_dt - from_dt) * 1.0 / 16000000;
+        printf("planned time in buffer: %.6fs\n", planned_time);
+        // This must be ensured, so that the stepper does not run out of
+        // commands
+        assert((i == 0) || (old_planned_time_in_buffer > 0.005));
+        old_planned_time_in_buffer = planned_time;
+      }
+      if (!s.isRampGeneratorActive()) {
+        if (restarted) {
+          break;
+        }
+        puts("Continue move to end position");
+        rc.next_ramp();
+        restarted = true;
+        s.moveTo(9999);
+      }
+    }
+    printf("do_test2 with stop at %d\n", stop_at_position);
+    test(!s.isRampGeneratorActive(), "too many commands created");
+    printf("getCurrentPosition() = %d\n", s.getCurrentPosition());
+    test(s.getCurrentPosition() == 9999, "has not reached end position");
+    printf("Total time  %f\n", rc.total_ticks / 16000000.0);
+#if (TEST_CREATE_QUEUE_CHECKSUM == 1)
+    printf("CHECKSUM for %d/%d/%d: %d\n", steps, travel_dt, accel, s.checksum);
+#endif
+  }
+};
+
+int main() {
+  FastAccelStepperTest test;
+  test.do_test1();
+  test.do_test2(100);
+  test.do_test2(5000);
+  test.do_test2(9000);
+  printf("TEST_06 PASSED\n");
+  return 0;
+}
--- a/extras/tests/pc_based/test_07.cpp
+++ b/extras/tests/pc_based/test_07.cpp
@@ -0,0 +1,132 @@
+#include <assert.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <cinttypes>
+
+#include "FastAccelStepper.h"
+#include "StepperISR.h"
+
+char TCCR1A;
+char TCCR1B;
+char TCCR1C;
+char TIMSK1;
+char TIFR1;
+unsigned short OCR1A;
+unsigned short OCR1B;
+
+StepperQueue fas_queue[NUM_QUEUES];
+
+void inject_fill_interrupt(int mark) {}
+void noInterrupts() {}
+void interrupts() {}
+
+#include "RampChecker.h"
+
+class FastAccelStepperTest {
+ public:
+  void init_queue() {
+    fas_queue[0].read_idx = 0;
+    fas_queue[1].read_idx = 0;
+    fas_queue[0].next_write_idx = 0;
+    fas_queue[1].next_write_idx = 0;
+  }
+
+  void do_test(uint64_t dt) {
+    init_queue();
+    FastAccelStepper s = FastAccelStepper();
+    s.init(NULL, 0, 0);
+    RampChecker rc = RampChecker();
+    assert(0 == s.getCurrentPosition());
+
+    // Reproduce test sequence 06
+
+    assert(s.getDirectionPin() == PIN_UNDEFINED);
+    uint32_t speed_us = 100;
+    int32_t steps = 32000;
+    assert(s.isQueueEmpty());
+    s.setSpeedInUs(speed_us);
+    s.setAcceleration(10000);
+    s.fill_queue();
+    assert(s.isQueueEmpty());
+    s.move(steps);
+    s.fill_queue();
+    assert(!s.isQueueEmpty());
+    float old_planned_time_in_buffer = 0;
+    uint64_t next_speed_change = dt;
+    uint64_t mid_point_ticks = 0;
+
+    char fname[100];
+    snprintf(fname, 100, "test_07.gnuplot");
+    rc.start_plot(fname);
+    for (int i = 0; i < 10 * steps; i++) {
+      if (rc.total_ticks > next_speed_change) {
+        next_speed_change += TICKS_PER_S / 10;
+        speed_us = 190 - speed_us;
+        printf("Change speed to %d\n", speed_us);
+        s.setSpeedInUs(speed_us);
+        s.applySpeedAcceleration();
+      }
+      if (true) {
+        printf(
+            "Loop %d: Queue read/write = %d/%d    Target pos = %d, Queue End "
+            "pos = %d  QueueEmpty=%s\n",
+            i, fas_queue[0].read_idx, fas_queue[0].next_write_idx,
+            s.targetPos(), s.getPositionAfterCommandsCompleted(),
+            s.isQueueEmpty() ? "yes" : "no");
+      }
+      if (!s.isRampGeneratorActive()) {
+        break;
+      }
+      s.fill_queue();
+      uint32_t from_dt = rc.total_ticks;
+      while (!s.isQueueEmpty()) {
+        if ((mid_point_ticks == 0) && (rc.pos >= steps / 2)) {
+          mid_point_ticks = rc.total_ticks;
+        }
+        rc.increase_ok = true;
+        rc.decrease_ok = true;
+        rc.check_section(
+            &fas_queue[0].entry[fas_queue[0].read_idx & QUEUE_LEN_MASK]);
+        fas_queue[0].read_idx++;
+      }
+      uint32_t to_dt = rc.total_ticks;
+      float planned_time = (to_dt - from_dt) * 1.0 / 16000000;
+      printf("planned time in buffer: %.6fs\n", planned_time);
+      // This must be ensured, so that the stepper does not run out of commands
+      assert((i == 0) || (old_planned_time_in_buffer > 0.005));
+      old_planned_time_in_buffer = planned_time;
+      test(s.getCurrentPosition() <= steps, "has overshot");
+    }
+    rc.finish_plot();
+    test(!s.isRampGeneratorActive(), "too many commands created");
+    test(s.getCurrentPosition() == steps, "has not reached target position");
+    printf("Total time  %f\n", rc.total_ticks / 16000000.0);
+
+    printf("Time coasting = %d\n", rc.time_coasting);
+    test(rc.time_coasting < 46000000, "too much coasting");
+
+    printf("mid point @ %" PRIu64 " => total = %" PRIu64
+           ", total ticks = %" PRIu64 "\n",
+           mid_point_ticks, 2 * mid_point_ticks, rc.total_ticks);
+#define ALLOWED_ASYMMETRY 1000000L
+    printf("%ld\n", ALLOWED_ASYMMETRY);
+    test(mid_point_ticks * 2 < rc.total_ticks + ALLOWED_ASYMMETRY,
+         "ramp is not symmetric 1");
+    test(mid_point_ticks * 2 > rc.total_ticks - ALLOWED_ASYMMETRY,
+         "ramp is not symmetric 2");
+
+#if (TEST_CREATE_QUEUE_CHECKSUM == 1)
+    printf("CHECKSUM for %d/%d/%d: %d\n", steps, travel_dt, accel, s.checksum);
+#endif
+  }
+};
+
+int main() {
+  FastAccelStepperTest test;
+  for (uint64_t time_shift = 0; time_shift < TICKS_PER_S / 10;
+       time_shift += TICKS_PER_S / 7000) {
+    test.do_test(time_shift);
+  }
+  printf("TEST_07 PASSED\n");
+  return 0;
+}
--- a/extras/tests/pc_based/test_08.cpp
+++ b/extras/tests/pc_based/test_08.cpp
@@ -0,0 +1,103 @@
+#include <assert.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "FastAccelStepper.h"
+#include "StepperISR.h"
+
+char TCCR1A;
+char TCCR1B;
+char TCCR1C;
+char TIMSK1;
+char TIFR1;
+unsigned short OCR1A;
+unsigned short OCR1B;
+
+StepperQueue fas_queue[NUM_QUEUES];
+
+void inject_fill_interrupt(int mark) {}
+void noInterrupts() {}
+void interrupts() {}
+
+#include "RampChecker.h"
+
+class FastAccelStepperTest {
+ public:
+  void init_queue() {
+    fas_queue[0].read_idx = 0;
+    fas_queue[1].read_idx = 0;
+    fas_queue[0].next_write_idx = 0;
+    fas_queue[1].next_write_idx = 0;
+  }
+
+  void ramp(uint32_t accel, uint32_t steps) {
+    init_queue();
+    FastAccelStepper s = FastAccelStepper();
+    s.init(NULL, 0, 0);
+    RampChecker rc = RampChecker();
+    assert(0 == s.getCurrentPosition());
+
+    // Reproduce test sequence 06
+
+    uint32_t speed_us = 40;
+    assert(s.isQueueEmpty());
+    s.setSpeedInUs(speed_us);
+    s.setAcceleration(accel);
+    s.fill_queue();
+    assert(s.isQueueEmpty());
+    s.move(steps);
+    s.fill_queue();
+    assert(!s.isQueueEmpty());
+    float old_planned_time_in_buffer = 0;
+
+    char fname[100];
+    snprintf(fname, 100, "test_08.gnuplot");
+    rc.start_plot(fname);
+    for (int i = 0; i < 100 * steps; i++) {
+      if (true) {
+        printf(
+            "Loop %d: Queue read/write = %d/%d    Target pos = %d, Queue End "
+            "pos = %d  QueueEmpty=%s\n",
+            i, fas_queue[0].read_idx, fas_queue[0].next_write_idx,
+            s.targetPos(), s.getPositionAfterCommandsCompleted(),
+            s.isQueueEmpty() ? "yes" : "no");
+      }
+      if (!s.isRampGeneratorActive()) {
+        break;
+      }
+      s.fill_queue();
+      uint32_t from_dt = rc.total_ticks;
+      while (!s.isQueueEmpty()) {
+        rc.increase_ok = true;
+        rc.decrease_ok = true;
+        rc.check_section(
+            &fas_queue[0].entry[fas_queue[0].read_idx & QUEUE_LEN_MASK]);
+        fas_queue[0].read_idx++;
+      }
+      uint32_t to_dt = rc.total_ticks;
+      float planned_time = (to_dt - from_dt) * 1.0 / 16000000;
+      printf("planned time in buffer: %.6fs\n", planned_time);
+      // This must be ensured, so that the stepper does not run out of commands
+      assert((i == 0) || (old_planned_time_in_buffer > 0.005));
+      old_planned_time_in_buffer = planned_time;
+    }
+    rc.finish_plot();
+    test(!s.isRampGeneratorActive(), "too many commands created");
+    test(s.getCurrentPosition() == steps, "has not reached target position");
+    printf("Total time  %f\n", rc.total_ticks / 16000000.0);
+
+#if (TEST_CREATE_QUEUE_CHECKSUM == 1)
+    printf("CHECKSUM for %d/%d/%d: %d\n", steps, travel_dt, accel, s.checksum);
+#endif
+  }
+};
+int main() {
+  FastAccelStepperTest test;
+  test.ramp(100000, 400);
+  test.ramp(100000, 600);
+  for (uint32_t i = 0; i < 30; i++) {
+    test.ramp(1000000, 1000 + i);
+  }
+  printf("TEST_08 PASSED\n");
+  return 0;
+}
--- a/extras/tests/pc_based/test_09.cpp
+++ b/extras/tests/pc_based/test_09.cpp
@@ -0,0 +1,99 @@
+#include <assert.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "FastAccelStepper.h"
+#include "StepperISR.h"
+
+char TCCR1A;
+char TCCR1B;
+char TCCR1C;
+char TIMSK1;
+char TIFR1;
+unsigned short OCR1A;
+unsigned short OCR1B;
+
+StepperQueue fas_queue[NUM_QUEUES];
+
+void inject_fill_interrupt(int mark) {}
+void noInterrupts() {}
+void interrupts() {}
+
+#include "RampChecker.h"
+
+class FastAccelStepperTest {
+ public:
+  void init_queue() {
+    fas_queue[0].read_idx = 0;
+    fas_queue[1].read_idx = 0;
+    fas_queue[0].next_write_idx = 0;
+    fas_queue[1].next_write_idx = 0;
+  }
+
+  void ramp(uint32_t steps) {
+    init_queue();
+    FastAccelStepper s = FastAccelStepper();
+    s.init(NULL, 0, 0);
+    RampChecker rc = RampChecker();
+    assert(0 == s.getCurrentPosition());
+
+    uint32_t speed_us = 40;
+    assert(s.isQueueEmpty());
+    s.setSpeedInUs(speed_us);
+    s.setAcceleration(1000000);
+    s.fill_queue();
+    assert(s.isQueueEmpty());
+    float old_planned_time_in_buffer = 0;
+
+    char fname[100];
+    snprintf(fname, 100, "test_09.gnuplot");
+    rc.start_plot(fname);
+    for (int j = 0; j < 2; j++) {
+      s.move(steps);
+      for (int i = 0; i < 100 * steps; i++) {
+        if (true) {
+          printf(
+              "Loop %d: Queue read/write = %d/%d    Target pos = %d, Queue End "
+              "pos = %d  QueueEmpty=%s\n",
+              i, fas_queue[0].read_idx, fas_queue[0].next_write_idx,
+              s.targetPos(), s.getPositionAfterCommandsCompleted(),
+              s.isQueueEmpty() ? "yes" : "no");
+        }
+        if (!s.isRampGeneratorActive()) {
+          break;
+        }
+        s.fill_queue();
+        uint32_t from_dt = rc.total_ticks;
+        while (!s.isQueueEmpty()) {
+          rc.increase_ok = true;
+          rc.decrease_ok = true;
+          rc.check_section(
+              &fas_queue[0].entry[fas_queue[0].read_idx & QUEUE_LEN_MASK]);
+          fas_queue[0].read_idx++;
+        }
+        uint32_t to_dt = rc.total_ticks;
+        float planned_time = (to_dt - from_dt) * 1.0 / 16000000;
+        printf("planned time in buffer: %.6fs\n", planned_time);
+        // This must be ensured, so that the stepper does not run out of
+        // commands
+        assert((i == 0) || (old_planned_time_in_buffer > 0.005));
+        old_planned_time_in_buffer = planned_time;
+      }
+    }
+    rc.finish_plot();
+    test(!s.isRampGeneratorActive(), "too many commands created");
+    test(s.getCurrentPosition() == 2 * steps,
+         "has not reached target position");
+    printf("Total time  %f\n", rc.total_ticks / 16000000.0);
+
+#if (TEST_CREATE_QUEUE_CHECKSUM == 1)
+    printf("CHECKSUM for %d/%d/%d: %d\n", steps, travel_dt, accel, s.checksum);
+#endif
+  }
+};
+int main() {
+  FastAccelStepperTest test;
+  test.ramp(53);
+  printf("TEST_09 PASSED\n");
+  return 0;
+}
--- a/extras/tests/pc_based/test_10.cpp
+++ b/extras/tests/pc_based/test_10.cpp
@@ -0,0 +1,107 @@
+#include <assert.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "FastAccelStepper.h"
+#include "StepperISR.h"
+
+char TCCR1A;
+char TCCR1B;
+char TCCR1C;
+char TIMSK1;
+char TIFR1;
+unsigned short OCR1A;
+unsigned short OCR1B;
+
+StepperQueue fas_queue[NUM_QUEUES];
+
+void inject_fill_interrupt(int mark) {}
+void noInterrupts() {}
+void interrupts() {}
+
+#include "RampChecker.h"
+
+class FastAccelStepperTest {
+ public:
+  void init_queue() {
+    fas_queue[0].read_idx = 0;
+    fas_queue[1].read_idx = 0;
+    fas_queue[0].next_write_idx = 0;
+    fas_queue[1].next_write_idx = 0;
+  }
+
+  void reduce_acceleration() {
+    puts("Test test_speed_decrease");
+    init_queue();
+    FastAccelStepper s = FastAccelStepper();
+    s.init(NULL, 0, 0);
+    RampChecker rc = RampChecker();
+    assert(0 == s.getCurrentPosition());
+
+    int32_t steps = 100000;
+
+    // Increase speed to 400, then further to 300
+    // Identified bug was a fast jump to 300 without acceleration
+    assert(s.isQueueEmpty());
+    s.setSpeedInUs(30);
+    s.fill_queue();
+    assert(s.isQueueEmpty());
+    s.moveByAcceleration(17164);
+    s.fill_queue();
+    assert(!s.isQueueEmpty());
+    float old_planned_time_in_buffer = 0;
+    int accel_decreased = false;
+    uint32_t count_state_dec = 0;
+    for (int i = 0; i < steps * 10; i++) {
+      if (!accel_decreased && (s.getCurrentPosition() >= 35000)) {
+        puts("Change acceleration");
+        accel_decreased = true;
+        s.moveByAcceleration(-1000);
+        s.fill_queue();  // ensure queue is not empty
+      }
+      if (accel_decreased && (s.getCurrentPosition() >= 37000)) {
+        test((s.rampState() & RAMP_STATE_MASK) != RAMP_STATE_COAST,
+             "Coasting is wrong state here");
+        break;
+      }
+      if (true) {
+        printf(
+            "Loop %d: Queue read/write = %d/%d    Target pos = %d, Queue End "
+            "pos = %d  QueueEmpty=%s\n",
+            i, fas_queue[0].read_idx, fas_queue[0].next_write_idx,
+            s.targetPos(), s.getPositionAfterCommandsCompleted(),
+            s.isQueueEmpty() ? "yes" : "no");
+      }
+      if (!s.isRampGeneratorActive()) {
+        break;
+      }
+      s.fill_queue();
+      if ((s.rampState() & RAMP_STATE_MASK) == RAMP_STATE_DECELERATE) {
+        count_state_dec++;
+      }
+      uint32_t from_dt = rc.total_ticks;
+      while (!s.isQueueEmpty()) {
+        rc.check_section(
+            &fas_queue[0].entry[fas_queue[0].read_idx & QUEUE_LEN_MASK]);
+        fas_queue[0].read_idx++;
+      }
+      uint32_t to_dt = rc.total_ticks;
+      float planned_time = (to_dt - from_dt) * 1.0 / 16000000;
+      printf("planned time in buffer: %.6fs\n", planned_time);
+      // This must be ensured, so that the stepper does not run out of commands
+      assert((i == 0) || (old_planned_time_in_buffer > 0.005));
+      old_planned_time_in_buffer = planned_time;
+    }
+    printf("Total time  %f\n", rc.total_ticks / 16000000.0);
+#if (TEST_CREATE_QUEUE_CHECKSUM == 1)
+    printf("CHECKSUM for %d/%d/%d: %d\n", steps, travel_dt, accel, s.checksum);
+#endif
+  }
+};
+
+int main() {
+  FastAccelStepperTest test;
+  test.reduce_acceleration();
+  printf("TEST_10 PASSED\n");
+  return 0;
+}
--- a/extras/tests/pc_based/test_11.cpp
+++ b/extras/tests/pc_based/test_11.cpp
@@ -0,0 +1,108 @@
+#include <assert.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "FastAccelStepper.h"
+#include "StepperISR.h"
+
+char TCCR1A;
+char TCCR1B;
+char TCCR1C;
+char TIMSK1;
+char TIFR1;
+unsigned short OCR1A;
+unsigned short OCR1B;
+
+StepperQueue fas_queue[NUM_QUEUES];
+
+void inject_fill_interrupt(int mark) {}
+void noInterrupts() {}
+void interrupts() {}
+
+#include "RampChecker.h"
+
+class FastAccelStepperTest {
+ public:
+  void init_queue() {
+    fas_queue[0].read_idx = 0;
+    fas_queue[1].read_idx = 0;
+    fas_queue[0].next_write_idx = 0;
+    fas_queue[1].next_write_idx = 0;
+  }
+
+  void reduce_speed() {
+    puts("Test test_speed_decrease");
+    init_queue();
+    FastAccelStepper s = FastAccelStepper();
+    s.init(NULL, 0, 0);
+    RampChecker rc = RampChecker();
+    assert(0 == s.getCurrentPosition());
+
+    int32_t steps = 100;
+
+    // M1 A1000 V10000 P100 w300 V100000 U
+    assert(s.isQueueEmpty());
+    s.setAcceleration(1000);
+    s.setSpeedInUs(10000);
+    s.fill_queue();
+    assert(s.isQueueEmpty());
+    s.moveTo(100);
+    s.fill_queue();
+    assert(!s.isQueueEmpty());
+    float old_planned_time_in_buffer = 0;
+    int speed_decreased = false;
+    uint32_t count_state_dec = 0;
+    for (int i = 0; i < steps * 10; i++) {
+      if (!speed_decreased && (s.getCurrentPosition() >= 35)) {
+        puts("Change speed");
+        speed_decreased = true;
+        s.setSpeedInUs(100000);
+        s.applySpeedAcceleration();
+        s.fill_queue();  // ensure queue is not empty
+      }
+      if (speed_decreased && (s.getCurrentPosition() >= 90)) {
+        test((s.rampState() & RAMP_STATE_MASK) == RAMP_STATE_COAST,
+             "Coasting is required state here");
+        break;
+      }
+      if (true) {
+        printf(
+            "Loop %d: Queue read/write = %d/%d    Target pos = %d, Queue End "
+            "pos = %d  QueueEmpty=%s\n",
+            i, fas_queue[0].read_idx, fas_queue[0].next_write_idx,
+            s.targetPos(), s.getPositionAfterCommandsCompleted(),
+            s.isQueueEmpty() ? "yes" : "no");
+      }
+      if (!s.isRampGeneratorActive()) {
+        break;
+      }
+      s.fill_queue();
+      if ((s.rampState() & RAMP_STATE_MASK) == RAMP_STATE_DECELERATE) {
+        count_state_dec++;
+      }
+      uint32_t from_dt = rc.total_ticks;
+      while (!s.isQueueEmpty()) {
+        rc.check_section(
+            &fas_queue[0].entry[fas_queue[0].read_idx & QUEUE_LEN_MASK]);
+        fas_queue[0].read_idx++;
+      }
+      uint32_t to_dt = rc.total_ticks;
+      float planned_time = (to_dt - from_dt) * 1.0 / 16000000;
+      printf("planned time in buffer: %.6fs\n", planned_time);
+      // This must be ensured, so that the stepper does not run out of commands
+      assert((i == 0) || (old_planned_time_in_buffer > 0.005));
+      old_planned_time_in_buffer = planned_time;
+    }
+    printf("Total time  %f\n", rc.total_ticks / 16000000.0);
+#if (TEST_CREATE_QUEUE_CHECKSUM == 1)
+    printf("CHECKSUM for %d/%d/%d: %d\n", steps, travel_dt, accel, s.checksum);
+#endif
+  }
+};
+
+int main() {
+  FastAccelStepperTest test;
+  test.reduce_speed();
+  printf("TEST_11 PASSED\n");
+  return 0;
+}
--- a/extras/tests/pc_based/test_12.cpp
+++ b/extras/tests/pc_based/test_12.cpp
@@ -0,0 +1,103 @@
+#include <assert.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "FastAccelStepper.h"
+#include "StepperISR.h"
+
+char TCCR1A;
+char TCCR1B;
+char TCCR1C;
+char TIMSK1;
+char TIFR1;
+unsigned short OCR1A;
+unsigned short OCR1B;
+
+StepperQueue fas_queue[NUM_QUEUES];
+
+void inject_fill_interrupt(int mark) {}
+void noInterrupts() {}
+void interrupts() {}
+
+#include "RampChecker.h"
+
+class FastAccelStepperTest {
+ public:
+  void init_queue() {
+    fas_queue[0].read_idx = 0;
+    fas_queue[1].read_idx = 0;
+    fas_queue[0].next_write_idx = 0;
+    fas_queue[1].next_write_idx = 0;
+  }
+
+  void ramp(uint32_t accel, uint32_t speed_us, uint32_t steps,
+            bool reach_coasting) {
+    init_queue();
+    FastAccelStepper s = FastAccelStepper();
+    s.init(NULL, 0, 0);
+    RampChecker rc = RampChecker();
+    assert(0 == s.getCurrentPosition());
+
+    assert(s.isQueueEmpty());
+    s.setSpeedInUs(speed_us);
+    s.setAcceleration(accel);
+    s.fill_queue();
+    assert(s.isQueueEmpty());
+    s.move(steps);
+    s.fill_queue();
+    assert(!s.isQueueEmpty());
+    float old_planned_time_in_buffer = 0;
+
+    char fname[100];
+    snprintf(fname, 100, "test_12.gnuplot");
+    rc.start_plot(fname);
+    bool coast = false;
+    for (int i = 0; i < 100 * steps; i++) {
+      if (true) {
+        printf(
+            "Loop %d: Queue read/write = %d/%d    Target pos = %d, Queue End "
+            "pos = %d  QueueEmpty=%s\n",
+            i, fas_queue[0].read_idx, fas_queue[0].next_write_idx,
+            s.targetPos(), s.getPositionAfterCommandsCompleted(),
+            s.isQueueEmpty() ? "yes" : "no");
+      }
+      if (!s.isRampGeneratorActive()) {
+        break;
+      }
+      s.fill_queue();
+      uint32_t from_dt = rc.total_ticks;
+      while (!s.isQueueEmpty()) {
+        rc.increase_ok = true;
+        rc.decrease_ok = true;
+        rc.check_section(
+            &fas_queue[0].entry[fas_queue[0].read_idx & QUEUE_LEN_MASK]);
+        fas_queue[0].read_idx++;
+      }
+      if ((s.rampState() & RAMP_STATE_MASK) == RAMP_STATE_COAST) {
+        coast = true;
+      }
+      uint32_t to_dt = rc.total_ticks;
+      float planned_time = (to_dt - from_dt) * 1.0 / 16000000;
+      printf("planned time in buffer: %.6fs\n", planned_time);
+      // This must be ensured, so that the stepper does not run out of commands
+      assert((i == 0) || (old_planned_time_in_buffer > 0.005));
+      old_planned_time_in_buffer = planned_time;
+    }
+    rc.finish_plot();
+    test(!s.isRampGeneratorActive(), "too many commands created");
+    test(s.getCurrentPosition() == steps, "has not reached target position");
+    test(coast == reach_coasting, "coasting target not met");
+    printf("Total time  %f\n", rc.total_ticks / 16000000.0);
+
+#if (TEST_CREATE_QUEUE_CHECKSUM == 1)
+    printf("CHECKSUM for %d/%d/%d: %d\n", steps, travel_dt, accel, s.checksum);
+#endif
+  }
+};
+int main() {
+  FastAccelStepperTest test;
+  test.ramp(1, 1000, 999000, false);
+  test.ramp(1, 1000, 1001000, true);
+  printf("TEST_12 PASSED\n");
+  return 0;
+}
--- a/extras/tests/pc_based/test_13.cpp
+++ b/extras/tests/pc_based/test_13.cpp
@@ -0,0 +1,113 @@
+#include <assert.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "FastAccelStepper.h"
+#include "StepperISR.h"
+
+char TCCR1A;
+char TCCR1B;
+char TCCR1C;
+char TIMSK1;
+char TIFR1;
+unsigned short OCR1A;
+unsigned short OCR1B;
+
+StepperQueue fas_queue[NUM_QUEUES];
+
+void inject_fill_interrupt(int mark) {}
+void noInterrupts() {}
+void interrupts() {}
+
+#include "RampChecker.h"
+
+class FastAccelStepperTest {
+ public:
+  void init_queue() {
+    fas_queue[0].read_idx = 0;
+    fas_queue[1].read_idx = 0;
+    fas_queue[0].next_write_idx = 0;
+    fas_queue[1].next_write_idx = 0;
+  }
+
+  void ramp(uint32_t accel, uint32_t speed_us, uint32_t steps,
+            bool reach_coasting) {
+    init_queue();
+    FastAccelStepper s = FastAccelStepper();
+    s.init(NULL, 0, 0);
+    RampChecker rc = RampChecker();
+    assert(0 == s.getCurrentPosition());
+
+    assert(s.isQueueEmpty());
+    s.setSpeedInUs(speed_us);
+    s.setAcceleration(accel);
+    s.fill_queue();
+    assert(s.isQueueEmpty());
+    s.move(steps);
+    s.fill_queue();
+    assert(!s.isQueueEmpty());
+    float old_planned_time_in_buffer = 0;
+
+    char fname[100];
+    snprintf(fname, 100, "test_13.gnuplot");
+    rc.start_plot(fname);
+    bool coast = false;
+    for (int i = 0; i < 100 * steps; i++) {
+      if (true) {
+        printf(
+            "Loop %d: Queue read/write = %d/%d    Target pos = %d, Queue End "
+            "pos = %d  QueueEmpty=%s\n",
+            i, fas_queue[0].read_idx, fas_queue[0].next_write_idx,
+            s.targetPos(), s.getPositionAfterCommandsCompleted(),
+            s.isQueueEmpty() ? "yes" : "no");
+      }
+      if (!s.isRampGeneratorActive()) {
+        break;
+      }
+      s.fill_queue();
+      uint32_t from_dt = rc.total_ticks;
+      while (!s.isQueueEmpty()) {
+        rc.increase_ok = true;
+        rc.decrease_ok = true;
+        rc.check_section(
+            &fas_queue[0].entry[fas_queue[0].read_idx & QUEUE_LEN_MASK]);
+        fas_queue[0].read_idx++;
+      }
+      if ((s.rampState() & RAMP_STATE_MASK) == RAMP_STATE_COAST) {
+        coast = true;
+      }
+      uint32_t to_dt = rc.total_ticks;
+      float planned_time = (to_dt - from_dt) * 1.0 / 16000000;
+      printf("planned time in buffer: %.6fs\n", planned_time);
+      // This must be ensured, so that the stepper does not run out of commands
+      assert((i == 0) || (old_planned_time_in_buffer > 0.005));
+      old_planned_time_in_buffer = planned_time;
+    }
+    while (!s.isQueueEmpty()) {
+      rc.increase_ok = true;
+      rc.decrease_ok = true;
+      rc.check_section(
+          &fas_queue[0].entry[fas_queue[0].read_idx & QUEUE_LEN_MASK]);
+      fas_queue[0].read_idx++;
+    }
+    rc.finish_plot();
+    test(!s.isRampGeneratorActive(), "too many commands created");
+    test(s.getCurrentPosition() == steps, "has not reached target position");
+    test(coast == reach_coasting, "coasting target not met");
+    printf("Total time  %f\n", rc.total_ticks / 16000000.0);
+
+#if (TEST_CREATE_QUEUE_CHECKSUM == 1)
+    printf("CHECKSUM for %d/%d/%d: %d\n", steps, travel_dt, accel, s.checksum);
+#endif
+  }
+};
+int main() {
+  FastAccelStepperTest test;
+  for (uint16_t s = 1; s <= 255; s++) {
+    printf("test with steps s=%d\n", s);
+    test.ramp(INT32_MAX, 50, s, false);
+    puts("");
+  }
+  printf("TEST_13 PASSED\n");
+  return 0;
+}
--- a/extras/tests/pc_based/test_14.cpp
+++ b/extras/tests/pc_based/test_14.cpp
@@ -0,0 +1,106 @@
+#include <assert.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "FastAccelStepper.h"
+#include "StepperISR.h"
+
+char TCCR1A;
+char TCCR1B;
+char TCCR1C;
+char TIMSK1;
+char TIFR1;
+unsigned short OCR1A;
+unsigned short OCR1B;
+
+StepperQueue fas_queue[NUM_QUEUES];
+
+void inject_fill_interrupt(int mark) {}
+void noInterrupts() {}
+void interrupts() {}
+
+#include "RampChecker.h"
+
+class FastAccelStepperTest {
+ public:
+  void init_queue() {
+    fas_queue[0].read_idx = 0;
+    fas_queue[1].read_idx = 0;
+    fas_queue[0].next_write_idx = 0;
+    fas_queue[1].next_write_idx = 0;
+  }
+
+  void ramp() {
+    init_queue();
+    FastAccelStepper s = FastAccelStepper();
+    s.init(NULL, 0, 0);
+    RampChecker rc = RampChecker();
+    assert(0 == s.getCurrentPosition());
+
+    uint32_t speed_us = 1000000 / 3600;
+    assert(s.isQueueEmpty());
+    s.setSpeedInUs(speed_us);
+    s.setAcceleration(320);
+    s.fill_queue();
+    assert(s.isQueueEmpty());
+    float old_planned_time_in_buffer = 0;
+
+    char fname[100];
+    snprintf(fname, 100, "test_14.gnuplot");
+    rc.start_plot(fname);
+    s.runForward();
+    for (int i = 0; i < 2000; i++) {
+      if (i == 1000) {
+        printf("Change speed\n");
+        s.setSpeedInUs(10000);
+        s.applySpeedAcceleration();
+      }
+      if (true) {
+        printf(
+            "Loop %d: Queue read/write = %d/%d    Target pos = %d, Queue End "
+            "pos = %d  QueueEmpty=%s\n",
+            i, fas_queue[0].read_idx, fas_queue[0].next_write_idx,
+            s.targetPos(), s.getPositionAfterCommandsCompleted(),
+            s.isQueueEmpty() ? "yes" : "no");
+      }
+      if (!s.isRampGeneratorActive()) {
+        break;
+      }
+      s.fill_queue();
+      uint32_t from_dt = rc.total_ticks;
+      while (!s.isQueueEmpty()) {
+        rc.increase_ok = true;
+        rc.decrease_ok = true;
+        rc.check_section(
+            &fas_queue[0].entry[fas_queue[0].read_idx & QUEUE_LEN_MASK]);
+        fas_queue[0].read_idx++;
+      }
+      uint32_t to_dt = rc.total_ticks;
+      float planned_time = (to_dt - from_dt) * 1.0 / 16000000;
+      printf("planned time in buffer: %.6fs\n", planned_time);
+      // This must be ensured, so that the stepper does not run out of
+      // commands
+      assert((i == 0) || (old_planned_time_in_buffer > 0.005));
+      old_planned_time_in_buffer = planned_time;
+      // stop after
+      if (rc.total_ticks > TICKS_PER_S * 40) {
+        break;
+      }
+    }
+    rc.finish_plot();
+    // test(!s.isRampGeneratorActive(), "too many commands created");
+    test(s.getCurrentPosition() > 70000, "stepper runs too slow");
+    test(s.getCurrentPosition() < 80000, "stepper runs too fast");
+    printf("Total time  %f\n", rc.total_ticks / 16000000.0);
+
+#if (TEST_CREATE_QUEUE_CHECKSUM == 1)
+    printf("CHECKSUM for %d/%d/%d: %d\n", steps, travel_dt, accel, s.checksum);
+#endif
+  }
+};
+int main() {
+  FastAccelStepperTest test;
+  test.ramp();
+  printf("TEST_14 PASSED\n");
+  return 0;
+}
--- a/extras/tests/pc_based/test_15.cpp
+++ b/extras/tests/pc_based/test_15.cpp
@@ -0,0 +1,119 @@
+#include <assert.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "FastAccelStepper.h"
+#include "StepperISR.h"
+
+char TCCR1A;
+char TCCR1B;
+char TCCR1C;
+char TIMSK1;
+char TIFR1;
+unsigned short OCR1A;
+unsigned short OCR1B;
+
+StepperQueue fas_queue[NUM_QUEUES];
+
+void inject_fill_interrupt(int mark) {}
+void noInterrupts() {}
+void interrupts() {}
+
+#include "RampChecker.h"
+
+class FastAccelStepperTest {
+ public:
+  void init_queue() {
+    fas_queue[0].read_idx = 0;
+    fas_queue[1].read_idx = 0;
+    fas_queue[0].next_write_idx = 0;
+    fas_queue[1].next_write_idx = 0;
+  }
+
+  void ramp(uint8_t forward_planning, uint32_t expected_steps) {
+    init_queue();
+    FastAccelStepper s = FastAccelStepper();
+    s.init(NULL, 0, 0);
+    RampChecker rc = RampChecker();
+    assert(0 == s.getCurrentPosition());
+
+    uint32_t speed_us = 1000000 / 3600;
+    assert(s.isQueueEmpty());
+    s.setSpeedInUs(speed_us);
+    s.setAcceleration(320);
+    s.setForwardPlanningTimeInMs(forward_planning);
+    s.fill_queue();
+    assert(s.isQueueEmpty());
+    float old_planned_time_in_buffer = 0;
+
+    char fname[100];
+    float sum_planning_time = 0;
+    float points = 0;
+    snprintf(fname, 100, "test_15_%dms.gnuplot", forward_planning);
+    rc.start_plot(fname);
+    s.runForward();
+    for (int i = 0; i < 2000; i++) {
+      if (i == 1000) {
+        printf("Change speed\n");
+        s.setSpeedInUs(10000);
+        s.applySpeedAcceleration();
+      }
+      if (true) {
+        printf(
+            "Loop %d: Queue read/write = %d/%d    Target pos = %d, Queue End "
+            "pos = %d  QueueEmpty=%s\n",
+            i, fas_queue[0].read_idx, fas_queue[0].next_write_idx,
+            s.targetPos(), s.getPositionAfterCommandsCompleted(),
+            s.isQueueEmpty() ? "yes" : "no");
+      }
+      if (!s.isRampGeneratorActive()) {
+        break;
+      }
+      s.fill_queue();
+      uint32_t from_dt = rc.total_ticks;
+      while (!s.isQueueEmpty()) {
+        rc.increase_ok = true;
+        rc.decrease_ok = true;
+        rc.check_section(
+            &fas_queue[0].entry[fas_queue[0].read_idx & QUEUE_LEN_MASK]);
+        fas_queue[0].read_idx++;
+      }
+      uint32_t to_dt = rc.total_ticks;
+      float planned_time = (to_dt - from_dt) * 1.0 / 16000000;
+      printf("planned time in buffer: %.6fs\n", planned_time);
+      sum_planning_time += planned_time;
+      points += 1.0;
+      // This must be ensured, so that the stepper does not run out of
+      // commands
+      assert((i == 0) || (old_planned_time_in_buffer > 0.005));
+      old_planned_time_in_buffer = planned_time;
+      // stop after
+      if (rc.total_ticks > TICKS_PER_S * 40) {
+        break;
+      }
+    }
+    rc.finish_plot();
+    // test(!s.isRampGeneratorActive(), "too many commands created");
+    printf("current position = %d\n", s.getCurrentPosition());
+    test(s.getCurrentPosition() > expected_steps - 10, "stepper runs too slow");
+    test(s.getCurrentPosition() < expected_steps + 10, "stepper runs too fast");
+    printf("Total time  %f\n", rc.total_ticks / 16000000.0);
+    float avg_time = sum_planning_time / points * 1000.0;
+    printf("Average planning time: %f ms\n", avg_time);
+    test(avg_time < forward_planning + 1, "too much forward planning");
+
+#if (TEST_CREATE_QUEUE_CHECKSUM == 1)
+    printf("CHECKSUM for %d/%d/%d: %d\n", steps, travel_dt, accel, s.checksum);
+#endif
+  }
+};
+int main() {
+  FastAccelStepperTest test;
+  // run the ramp twice with 20 and with 5ms planning time.
+  // the ramp will change speed after half of the loops.
+  // The 5ms ramp will not have 20ms coasting in the buffer and as such runs much shorter.
+  test.ramp(20, 76936);
+  test.ramp(5, 11273);
+  printf("TEST_15 PASSED\n");
+  return 0;
+}
--- a/extras/tests/simavr_based/.gitignore
+++ b/extras/tests/simavr_based/.gitignore
@@ -0,0 +1,2 @@
+.links
+.makefiles
--- a/extras/tests/simavr_based/Makefile
+++ b/extras/tests/simavr_based/Makefile
@@ -0,0 +1,62 @@
+ifndef SILENCE
+	SILENCE=0
+endif
+
+PRJ_ROOT=$(shell git rev-parse --show-toplevel)
+TESTS=$(wildcard test_*)
+TESTS_SD=$(wildcard test_*sd_*)
+
+TEST_FILES=$(addsuffix /.tested,$(TESTS))
+SD_SRC_DIRS=$(addsuffix /src/.dir,$(TESTS_SD))
+
+SRC=$(wildcard ../../src/*)
+
+test: $(TEST_FILES) pmf externalCall 
+
+pmf:
+	make -C test_pmf
+
+externalCall:
+	make -C test_externalCall
+
+%/.tested:	$(SRC) run_avr %/expect.txt %/platformio.ini .makefiles .links
+	make SILENCE=$(SILENCE)  -C $(dir $@)
+
+.makefiles: makefiles
+
+makefiles: $(addsuffix /Makefile,$(TESTS))
+	touch .makefiles
+
+%/Makefile:
+	cd $(dir $@); ln -s ../Makefile.test Makefile
+
+.links: links
+
+links: $(SD_SRC_DIRS)
+	touch .links
+
+%/src/.dir:
+	mkdir -p $(dir $@)
+	cd $(dir $@); ln -sf $(PRJ_ROOT)/examples/StepperDemo/* .
+
+run_avr: simavr/simavr/run_avr
+	ln -s simavr/simavr/run_avr .
+
+simavr/simavr/run_avr: simavr/simavr/sim/run_avr.c
+	make -C simavr build-simavr
+
+simavr/simavr/sim/run_avr.c:
+	# git clone https://github.com/gin66/simavr.git
+	git clone https://github.com/buserror/simavr.git
+	(cd simavr;git checkout	132cc67)
+
+proper: clean
+	rm -f run_avr
+	rm -fR simavr
+
+clean:
+	rm -fR */.pio */.tested */x.vcd */result.txt
+	find . -type l -delete
+	find . -type d -empty -delete
+	rm -f .links .makefiles
+
--- a/extras/tests/simavr_based/Makefile.test
+++ b/extras/tests/simavr_based/Makefile.test
@@ -0,0 +1,127 @@
+#
+# In order to execute the test for one directory use:
+#
+# 	make -C test_sd_01b_328p -f ../Makefile.test
+
+SRC=$(wildcard ../../../src/*) $(wildcard src/*)
+
+# platformio should contain only one env section.
+# This section states the dut name
+#		atmega168
+#		atmega168p
+#		atmega328
+#		atmega328p
+#		atmega2560_timer1
+#		atmega2560_timer3
+#		atmega2560_timer4
+#		atmega2560_timer5
+#
+
+DUT=$(shell gawk '/env:/{print(substr($$1,6,length($$1)-6))}' platformio.ini)
+
+TRACES=-at StepISR=trace@0x25/0x08     # PB3
+TRACES+=-at FillISR=trace@0x25/0x10     # PB4
+
+#
+ifeq ($(DUT),atmega2560_timer1)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x025/0x20 #OC1A PB5 11 ATMega2560
+TRACES+=-at StepB=trace@0x025/0x40 #OC1B PB6 12 ATMega2560
+TRACES+=-at StepC=trace@0x025/0x80 #OC1C PB7 13 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer3)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x02e/0x08 #OC3A PE3 5 ATMega2560
+TRACES+=-at StepB=trace@0x02e/0x10 #OC3B PE4 2 ATMega2560
+TRACES+=-at StepC=trace@0x02e/0x20 #OC3C PE5 3 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer4)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x102/0x08 #OC4A PH3 6 ATMega2560
+TRACES+=-at StepB=trace@0x102/0x10 #OC4B PH4 7 ATMega2560
+TRACES+=-at StepC=trace@0x102/0x20 #OC4C PH5 8 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer5)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x10b/0x08 #OC5A PL3 46 ATMega2560
+TRACES+=-at StepB=trace@0x10b/0x10 #OC5B PL4 45 ATMega2560
+TRACES+=-at StepC=trace@0x10b/0x20 #OC5C PL5 44 ATMega2560
+
+else ifeq ($(DUT),atmega168)
+DEVICE=atmega168
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  ATMega168
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 ATMega168
+
+else ifeq ($(DUT),atmega168p)
+DEVICE=atmega168p
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  ATMega168p
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 ATMega168p
+
+else ifeq ($(DUT),atmega328)
+DEVICE=atmega328
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  ATMega328
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 ATMega328
+
+else ifeq ($(DUT),atmega328p)
+DEVICE=atmega328p
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  ATMega328p
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 ATMega328p
+
+else ifeq ($(DUT),atmega32u4)
+DEVICE=atmega32u4
+TRACES+=-at StepA=trace@0x025/0x20 #OC1A PB5 11
+TRACES+=-at StepB=trace@0x025/0x40 #OC1B PB6 12
+#TRACES+=-at StepC=trace@0x025/0x80 #OC1C PB7 13
+
+endif
+
+ifeq ($(DEVICE),atmega2560)
+TRACES+=-at DirA=trace@0x2b/0x01     # Pin 21 PD0
+TRACES+=-at DirB=trace@0x2b/0x02     # Pin 20 PD1
+TRACES+=-at DirC=trace@0x10b/0x80    # Pin 42 PL7
+TRACES+=-at EnableA=trace@0x2b/0x04  # Pin 19 PD2
+TRACES+=-at EnableB=trace@0x2b/0x08  # Pin 18 PD3
+TRACES+=-at EnableC=trace@0x10b/0x40 # Pin 43 PL6
+
+else ifeq ($(DEVICE),$(filter $(DEVICE),atmega168 atmega168p atmega328 atmega328p))
+TRACES+=-at DirA=trace@0x2b/0x20     # Pin 5  PD5
+TRACES+=-at DirB=trace@0x2b/0x80     # Pin 7  PD7
+TRACES+=-at EnableA=trace@0x2b/0x40  # Pin 6  PD6
+TRACES+=-at EnableB=trace@0x25/0x01  # Pin 0  PB0
+
+else ifeq ($(DUT),atmega32u4)
+TRACES+=-at DirA=trace@0x25/0x10     # Pin 26 PB4
+TRACES+=-at DirB=trace@0x25/0x08     # Pin 14 PB3
+#TRACES+=-at DirC=trace@0x10b/0x80    # Pin 42 PL7
+TRACES+=-at EnableA=trace@0x25/0x04  # Pin 16 PB2
+TRACES+=-at EnableB=trace@0x25/0x02  # Pin 15 PB1
+#TRACES+=-at EnableC=trace@0x10b/0x40 # Pin 43 PL6
+
+endif 
+
+FIRMWARE=".pio/build/$(DUT)/firmware.elf"
+
+DIR=$(shell env pwd)
+
+ifndef SILENCE
+	SILENCE=0
+endif
+
+test: .tested
+
+.tested: result.txt expect.txt ../judge.awk
+	echo DUT=$(DUT)
+	rm -f .tested
+	gawk -f ../judge.awk -v DIR=$(DIR) result.txt expect.txt
+	test -f .tested
+
+result.txt: x.vcd
+	gawk -v SILENCE=$(SILENCE) -f ../eval.awk x.vcd
+	cat expect.txt
+
+x.vcd: $(SRC) ../run_avr platformio.ini
+	env pio run -e $(DUT) || ~/.platformio/penv/bin/pio run -e $(DUT) || ~/.local/bin/pio run -e $(DUT)
+	../run_avr $(FIRMWARE) -m $(DEVICE) -o x.vcd $(TRACES)
+
+clean:
+	rm -fR .pio .tested x.vcd result.txt
--- a/extras/tests/simavr_based/Raw/platformio.ini
+++ b/extras/tests/simavr_based/Raw/platformio.ini
@@ -0,0 +1,31 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[platformio]
+
+# There should be only one env section for the DUT under test.
+# One of
+#	atmega168p
+#	atmega328p
+#   atmega2560_timer1
+#   atmega2560_timer3
+#   atmega2560_timer4
+#   atmega2560_timer5
+#
+[common]
+# This is the line input to StepperDemo:
+build_flags = -D SIM_TEST_INPUT='"? M1 V60 A40000 f w400 A40000 P0 w1000 W "'
+
+[env:atmega328p]
+platform    = atmelavr
+board       = nanoatmega328
+framework   = arduino
+build_flags = -Werror -Wall ${common.build_flags}
+lib_extra_dirs = ../../../../..
--- a/extras/tests/simavr_based/eval.awk
+++ b/extras/tests/simavr_based/eval.awk
@@ -0,0 +1,128 @@
+BEGIN {
+	ref = 16*100
+	dump_all = 0
+}
+
+dump_all == 1{print}
+
+/^\$var wire 1/ {
+	names[++name_i] = $5
+	sym[$4] = $5
+	to_sym[$5] = $4
+	period_hl_hl[$4] = 0
+	period_lh_lh[$4] = 0
+	time_h[$4] = 0
+	time_l[$4] = 0
+	transition_l_h[$4] = 0
+	transition_h_l[$4] = 0
+	cnt_l_h[$4] = 0
+	cnt_h_l[$4] = 0
+	max_time_h[$4] = 0
+	sum_time_h[$4] = 0
+	state[$4] = "X"
+}
+
+/^#/ { time = substr($1,2) + 0 }
+
+/^1.$/ {
+	s = substr($1,2)
+	if(!SILENCE) printf("%s=1  ", sym[s])
+	if (state[s] == 0) {
+		# transition L->H
+		cnt_l_h[s]++
+		last = transition_l_h[s]
+		transition_l_h[s] = time
+		if (last > 0) {
+			period_lh_lh[s] = time - last
+		}
+		last = transition_h_l[s]
+		if (last > 0) {
+			time_l[s] = time - last
+		}
+
+		if (sym[s] ~ /Step/) {
+			channel = substr(sym[s],5)
+			if(!SILENCE) printf("%s: ", channel)
+			dir = "Dir" channel
+			if (dir in to_sym) {
+				dir_sym = to_sym[dir]
+				if (state[dir_sym] == 0) {
+					position[channel]--
+				}
+				else {
+					position[channel]++
+				}
+				if(!SILENCE) printf("position=%d ",position[channel])
+			}
+		    if(!SILENCE) printf("period=%.1fus high time=%.1fus",
+				  period_lh_lh[s]/ref,time_h[s]/ref)
+		}
+	}
+	if(!SILENCE) printf("\n")
+	state[s] = 1
+}
+/^0.$/ {
+	s = substr($1,2)
+	if(!SILENCE) printf("%s=0  ", sym[s])
+	if (state[s] == 1) {
+		# transition H->L
+		cnt_h_l[s]++
+		last = transition_h_l[s]
+		transition_h_l[s] = time
+		if (last > 0) {
+			period_hl_hl[s] = time - last
+		}
+		last = transition_l_h[s]
+		if (last > 0) {
+			time_h[s] = time - last
+		}
+		if (sym[s] ~ /FillISR/) {
+			if(!SILENCE) printf("period=%.1fus ", period_lh_lh[s]/ref)
+		}
+		h_time = time_h[s]/ref
+		if(!SILENCE) printf("high time=%.1fus", h_time)
+		sum_time_h[s] += h_time
+		if (h_time > max_time_h[s]) {
+			max_time_h[s] = h_time
+		}
+	}
+	if(!SILENCE) printf("\n")
+	state[s] = 0
+}
+
+END {
+	n = asort(names)
+	for (i = 1;i <= n;i++) {
+		name = names[i]
+		s = to_sym[name]
+		info = sprintf("%8s: %8d*L->H, %8d*H->L",name,cnt_l_h[s],cnt_h_l[s])
+		if (name ~ /Step/) {
+			info = sprintf("%s, Max High=%dus Total High=%dus", info, max_time_h[s], sum_time_h[s])
+		}
+		if(!SILENCE) print(info)
+		if (name !~ /ISR/) {
+		    print(info) >"result.txt"
+	    }
+	}
+	channels["A"]=1
+	channels["B"]=1
+	channels["C"]=1
+	for (ch in channels) {
+		if (ch in position) {
+			info = sprintf("Position[%s]=%d\n",ch,position[ch])
+			if(!SILENCE) print(info)
+			print(info) >"result.txt"
+		}
+	}
+
+	for (i = 1;i <= n;i++) {
+		name = names[i]
+		s = to_sym[name]
+		if (max_time_h[s] > 0) {
+			info = sprintf("Time in %s  max=%d us, total=%d us\n",name,max_time_h[s], sum_time_h[s])
+			if(!SILENCE) print(info)
+			print(info) >"result.txt"
+		}
+	}
+}
+
--- a/extras/tests/simavr_based/judge.awk
+++ b/extras/tests/simavr_based/judge.awk
@@ -0,0 +1,38 @@
+BEGIN {
+	ok = 1
+	timing = 0
+	if (DIR ~ /timing/) {
+		timing = 1
+	}
+}
+
+FNR == NR {
+	# result.txt
+	lines[FNR] = $0
+}
+
+FNR != NR {
+	# expect.txt
+	r = lines[FNR]
+	e = $0
+
+	r_test = r
+	e_test = e
+
+	if (timing == 0) {
+		gsub(/[0-9 ]*us/,"", r_test)
+		gsub(/[0-9 ]*us/,"", e_test)
+	}
+	if (e_test != r_test) {
+		print("result:",r)
+		print("expect:",e)
+		ok = 0
+	}
+}
+
+END {
+	if (ok == 1) {
+		print("PASS")
+		print("PASS") > ".tested"
+	}
+}
--- a/extras/tests/simavr_based/judge_pos0.awk
+++ b/extras/tests/simavr_based/judge_pos0.awk
@@ -0,0 +1,22 @@
+BEGIN {
+	ok = 0
+}
+
+FNR == NR {
+	# result.txt
+	lines[FNR] = $0
+}
+
+/^Position\[A\]/ {
+	print
+}
+$0 == "Position[A]=0" {
+	ok = 1
+}
+
+END {
+	if (ok == 1) {
+		print("PASS")
+		print("PASS") > ".tested"
+	}
+}
--- a/extras/tests/simavr_based/off_test_seq_03/platformio.ini
+++ b/extras/tests/simavr_based/off_test_seq_03/platformio.ini
@@ -0,0 +1,26 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[platformio]
+
+[env:avr]
+platform    = atmelavr
+board       = nanoatmega328
+framework   = arduino
+build_flags = -Werror -Wall -D SIM_TEST_INPUT='"t M1 03 I R W "' -DSIMAVR_FOC_WORKAROUND
+lib_extra_dirs = ../../../../..
+
+[env:atmega2560]
+platform    = atmelavr
+board       = megaatmega2560
+framework   = arduino
+build_flags = -Werror -Wall
+lib_extra_dirs = ../../../../..
+
--- a/extras/tests/simavr_based/off_test_seq_04/platformio.ini
+++ b/extras/tests/simavr_based/off_test_seq_04/platformio.ini
@@ -0,0 +1,26 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[platformio]
+
+[env:avr]
+platform    = atmelavr
+board       = nanoatmega328
+framework   = arduino
+build_flags = -Werror -Wall -D SIM_TEST_INPUT='"t M1 04 I R W "' -DSIMAVR_FOC_WORKAROUND
+lib_extra_dirs = ../../../../..
+
+[env:atmega2560]
+platform    = atmelavr
+board       = megaatmega2560
+framework   = arduino
+build_flags = -Werror -Wall
+lib_extra_dirs = ../../../../..
+
--- a/extras/tests/simavr_based/off_test_seq_05/platformio.ini
+++ b/extras/tests/simavr_based/off_test_seq_05/platformio.ini
@@ -0,0 +1,26 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[platformio]
+
+[env:avr]
+platform    = atmelavr
+board       = nanoatmega328
+framework   = arduino
+build_flags = -Werror -Wall -D SIM_TEST_INPUT='"t M1 05 I R W "' -DSIMAVR_FOC_WORKAROUND
+lib_extra_dirs = ../../../../..
+
+[env:atmega2560]
+platform    = atmelavr
+board       = megaatmega2560
+framework   = arduino
+build_flags = -Werror -Wall
+lib_extra_dirs = ../../../../..
+
--- a/extras/tests/simavr_based/off_test_timing/expect.txt
+++ b/extras/tests/simavr_based/off_test_timing/expect.txt
--- a/extras/tests/simavr_based/off_test_timing/platformio.ini
+++ b/extras/tests/simavr_based/off_test_timing/platformio.ini
@@ -0,0 +1,30 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[platformio]
+
+# There should be only one env section for the DUT under test.
+# One of
+#	atmega168p
+#	atmega328p
+#   atmega2560_timer1
+#   atmega2560_timer3
+#   atmega2560_timer4
+#   atmega2560_timer5
+#
+[common]
+build_flags = -DTEST_TIMING
+
+[env:atmega328p]
+platform    = atmelavr
+board       = nanoatmega328
+framework   = arduino
+build_flags = -Werror -Wall -DSIMAVR_FOC_WORKAROUND ${common.build_flags}
+lib_extra_dirs = ../../../../..
--- a/extras/tests/simavr_based/off_test_timing/src/main.ino
+++ b/extras/tests/simavr_based/off_test_timing/src/main.ino
@@ -0,0 +1,40 @@
+#include <avr/sleep.h>
+#include <AVRStepperPins.h>
+#include <RampCalculator.h>
+
+float acceleration_f;
+uint32_t acceleration_i;
+uint32_t steps;
+
+void setup() {
+  Serial.begin(115200);
+  Serial.println("Start");
+
+  digitalWrite(stepPinStepperA, LOW);
+  digitalWrite(stepPinStepperB, LOW);
+  pinMode(stepPinStepperA, OUTPUT);
+  pinMode(stepPinStepperB, OUTPUT);
+
+  acceleration_f = 12345.0;
+  acceleration_i = 12345.0;
+  steps = 10;
+}
+void loop() {
+  digitalWrite(stepPinStepperA, HIGH);
+  uint32_t x;
+  // x = calculate_ticks_v1(steps, acceleration_f);
+  // x = calculate_ticks_v2(steps, acceleration_f);
+  // x = calculate_ticks_v3(steps, acceleration_f);
+  // x = calculate_ticks_v4(steps, acceleration_i);
+  // x = calculate_ticks_v5(steps, acceleration_i);
+  // x = calculate_ticks_v7(0x1234000, 1000);
+  x = calculate_ticks_v8(0x1234000, 1000);
+  digitalWrite(stepPinStepperA, LOW);
+
+  digitalWrite(stepPinStepperB, HIGH);
+  digitalWrite(stepPinStepperB, LOW);
+  Serial.println(x);
+  delay(100);
+  noInterrupts();
+  sleep_cpu();
+}
--- a/extras/tests/simavr_based/test_externalCall/.gitignore
+++ b/extras/tests/simavr_based/test_externalCall/.gitignore
@@ -0,0 +1 @@
+src/
--- a/extras/tests/simavr_based/test_externalCall/Makefile
+++ b/extras/tests/simavr_based/test_externalCall/Makefile
@@ -0,0 +1,131 @@
+#
+# In order to execute the test for one directory use:
+#
+# 	make -C test_sd_01b_328p -f ../Makefile.test
+
+SRC=$(wildcard ../../../src/*) $(wildcard src/*)
+
+# platformio should contain only one env section.
+# This section states the dut name
+#		atmega168
+#		atmega168p
+#		atmega328
+#		atmega328p
+#		atmega2560_timer1
+#		atmega2560_timer3
+#		atmega2560_timer4
+#		atmega2560_timer5
+#
+
+DUT=$(shell gawk '/env:/{print(substr($$1,6,length($$1)-6))}' platformio.ini)
+
+TRACES=-at StepISR=trace@0x25/0x08     # PB3
+TRACES+=-at FillISR=trace@0x25/0x10     # PB4
+
+#
+ifeq ($(DUT),atmega2560_timer1)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x025/0x20 #OC1A PB5 11 ATMega2560
+TRACES+=-at StepB=trace@0x025/0x40 #OC1B PB6 12 ATMega2560
+TRACES+=-at StepC=trace@0x025/0x80 #OC1C PB7 13 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer3)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x02e/0x08 #OC3A PE3 5 ATMega2560
+TRACES+=-at StepB=trace@0x02e/0x10 #OC3B PE4 2 ATMega2560
+TRACES+=-at StepC=trace@0x02e/0x20 #OC3C PE5 3 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer4)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x102/0x08 #OC4A PH3 6 ATMega2560
+TRACES+=-at StepB=trace@0x102/0x10 #OC4B PH4 7 ATMega2560
+TRACES+=-at StepC=trace@0x102/0x20 #OC4C PH5 8 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer5)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x10b/0x08 #OC5A PL3 46 ATMega2560
+TRACES+=-at StepB=trace@0x10b/0x10 #OC5B PL4 45 ATMega2560
+TRACES+=-at StepC=trace@0x10b/0x20 #OC5C PL5 44 ATMega2560
+
+else ifeq ($(DUT),atmega168)
+DEVICE=atmega168
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  ATMega168
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 ATMega168
+
+else ifeq ($(DUT),atmega168p)
+DEVICE=atmega168p
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  ATMega168p
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 ATMega168p
+
+else ifeq ($(DUT),atmega328)
+DEVICE=atmega328
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  ATMega328
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 ATMega328
+
+else ifeq ($(DUT),atmega328p)
+DEVICE=atmega328p
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  ATMega328p
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 ATMega328p
+
+else ifeq ($(DUT),atmega32u4)
+DEVICE=atmega32u4
+TRACES+=-at StepA=trace@0x025/0x20 #OC1A PB5 11
+TRACES+=-at StepB=trace@0x025/0x40 #OC1B PB6 12
+#TRACES+=-at StepC=trace@0x025/0x80 #OC1C PB7 13
+
+endif
+
+ifeq ($(DEVICE),atmega2560)
+TRACES+=-at DirA=trace@0x2b/0x01     # Pin 21 PD0
+TRACES+=-at DirB=trace@0x2b/0x02     # Pin 20 PD1
+TRACES+=-at DirC=trace@0x10b/0x80    # Pin 42 PL7
+TRACES+=-at EnableA=trace@0x2b/0x04  # Pin 19 PD2
+TRACES+=-at EnableB=trace@0x2b/0x08  # Pin 18 PD3
+TRACES+=-at EnableC=trace@0x10b/0x40 # Pin 43 PL6
+
+else ifeq ($(DEVICE),$(filter $(DEVICE),atmega168 atmega168p atmega328 atmega328p))
+TRACES+=-at DirA=trace@0x2b/0x20     # Pin 5  PD5
+TRACES+=-at DirB=trace@0x2b/0x80     # Pin 7  PD7
+TRACES+=-at EnableA=trace@0x2b/0x40  # Pin 6  PD6
+TRACES+=-at EnableB=trace@0x25/0x01  # Pin 8  PB0
+
+else ifeq ($(DUT),atmega32u4)
+TRACES+=-at DirA=trace@0x25/0x10     # Pin 26 PB4
+TRACES+=-at DirB=trace@0x25/0x08     # Pin 14 PB3
+#TRACES+=-at DirC=trace@0x10b/0x80    # Pin 42 PL7
+TRACES+=-at EnableA=trace@0x25/0x04  # Pin 16 PB2
+TRACES+=-at EnableB=trace@0x25/0x02  # Pin 15 PB1
+#TRACES+=-at EnableC=trace@0x10b/0x40 # Pin 43 PL6
+
+endif 
+
+FIRMWARE=".pio/build/$(DUT)/firmware.elf"
+
+DIR=$(shell env pwd)
+
+ifndef SILENCE
+	SILENCE=0
+endif
+
+test: .tested
+
+.tested: result.txt expect.txt ../judge.awk
+	echo DUT=$(DUT)
+	rm -f .tested
+	gawk -f ../judge.awk -v DIR=$(DIR) result.txt expect.txt
+	test -f .tested
+
+result.txt: x.vcd
+	gawk -v SILENCE=$(SILENCE) -f ../eval.awk x.vcd
+	cat expect.txt
+
+x.vcd: $(SRC) ../run_avr platformio.ini src/ExternalCall.ino
+	~/.platformio/penv/bin/pio run -e $(DUT) || ~/.local/bin/pio run -e $(DUT) || env pio run -e $(DUT)
+	../run_avr $(FIRMWARE) -m $(DEVICE) -o x.vcd $(TRACES)
+
+src/ExternalCall.ino:
+	mkdir -p src
+	cd src; ln -s ../../../../../examples/ExternalCall/ExternalCall.ino .
+
+clean:
+	rm -fR .pio .tested x.vcd result.txt
--- a/extras/tests/simavr_based/test_externalCall/expect.txt
+++ b/extras/tests/simavr_based/test_externalCall/expect.txt
@@ -0,0 +1,22 @@
+    DirA:        3*L->H,        2*H->L
+    DirB:        3*L->H,        2*H->L
+ EnableA:        2*L->H,        1*H->L
+ EnableB:        2*L->H,        1*H->L
+   StepA:     2890*L->H,     2890*H->L, Max High=9us Total High=13574us
+   StepB:     2890*L->H,     2890*H->L, Max High=9us Total High=13454us
+Position[A]=190
+
+Position[B]=190
+
+Time in DirA  max=10063958 us, total=15122519 us
+
+Time in DirB  max=39260160 us, total=44318721 us
+
+Time in EnableA  max=4162 us, total=4162 us
+
+Time in EnableB  max=29200356 us, total=29200356 us
+
+Time in StepA  max=9 us, total=13574 us
+
+Time in StepB  max=9 us, total=13454 us
+
--- a/extras/tests/simavr_based/test_externalCall/platformio.ini
+++ b/extras/tests/simavr_based/test_externalCall/platformio.ini
@@ -0,0 +1,31 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[platformio]
+
+# There should be only one env section for the DUT under test.
+# One of
+#	atmega168p
+#	atmega328p
+#   atmega2560_timer1
+#   atmega2560_timer3
+#   atmega2560_timer4
+#   atmega2560_timer5
+#
+[common]
+# This is the line input to StepperDemo:
+build_flags = -D SIMULATOR
+
+[env:atmega328p]
+platform    = atmelavr
+board       = nanoatmega328
+framework   = arduino
+build_flags = -Werror -Wall ${common.build_flags}
+lib_extra_dirs = ../../../../..
--- a/extras/tests/simavr_based/test_issue150/.gitignore
+++ b/extras/tests/simavr_based/test_issue150/.gitignore
@@ -0,0 +1 @@
+src/
--- a/extras/tests/simavr_based/test_issue150/Makefile
+++ b/extras/tests/simavr_based/test_issue150/Makefile
@@ -0,0 +1,132 @@
+#
+# In order to execute the test for one directory use:
+#
+# 	make -C test_sd_01b_328p -f ../Makefile.test
+
+SRC=$(wildcard ../../../src/*) $(wildcard src/*)
+
+# platformio should contain only one env section.
+# This section states the dut name
+#		atmega168
+#		atmega168p
+#		atmega328
+#		atmega328p
+#		atmega2560_timer1
+#		atmega2560_timer3
+#		atmega2560_timer4
+#		atmega2560_timer5
+#
+
+DUT=$(shell gawk '/env:/{print(substr($$1,6,length($$1)-6))}' platformio.ini)
+
+TRACES=-at StepISR=trace@0x25/0x08     # PB3
+TRACES+=-at FillISR=trace@0x25/0x10     # PB4
+
+#
+ifeq ($(DUT),atmega2560_timer1)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x025/0x20 #OC1A PB5 11 ATMega2560
+TRACES+=-at StepB=trace@0x025/0x40 #OC1B PB6 12 ATMega2560
+TRACES+=-at StepC=trace@0x025/0x80 #OC1C PB7 13 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer3)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x02e/0x08 #OC3A PE3 5 ATMega2560
+TRACES+=-at StepB=trace@0x02e/0x10 #OC3B PE4 2 ATMega2560
+TRACES+=-at StepC=trace@0x02e/0x20 #OC3C PE5 3 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer4)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x102/0x08 #OC4A PH3 6 ATMega2560
+TRACES+=-at StepB=trace@0x102/0x10 #OC4B PH4 7 ATMega2560
+TRACES+=-at StepC=trace@0x102/0x20 #OC4C PH5 8 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer5)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x10b/0x08 #OC5A PL3 46 ATMega2560
+TRACES+=-at StepB=trace@0x10b/0x10 #OC5B PL4 45 ATMega2560
+TRACES+=-at StepC=trace@0x10b/0x20 #OC5C PL5 44 ATMega2560
+
+else ifeq ($(DUT),atmega168)
+DEVICE=atmega168
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  atmega168
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 atmega168
+
+else ifeq ($(DUT),atmega168p)
+DEVICE=atmega168p
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  atmega168p
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 atmega168p
+
+else ifeq ($(DUT),atmega328)
+DEVICE=atmega328
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  ATMega328
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 ATMega328
+
+else ifeq ($(DUT),atmega328p)
+DEVICE=atmega328p
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  ATMega328p
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 ATMega328p
+
+else ifeq ($(DUT),atmega32u4)
+DEVICE=atmega32u4
+TRACES+=-at StepA=trace@0x025/0x20 #OC1A PB5 11
+TRACES+=-at StepB=trace@0x025/0x40 #OC1B PB6 12
+#TRACES+=-at StepC=trace@0x025/0x80 #OC1C PB7 13
+
+endif
+
+ifeq ($(DEVICE),atmega2560)
+TRACES+=-at DirA=trace@0x2b/0x01     # Pin 21 PD0
+TRACES+=-at DirB=trace@0x2b/0x02     # Pin 20 PD1
+TRACES+=-at DirC=trace@0x10b/0x80    # Pin 42 PL7
+TRACES+=-at EnableA=trace@0x2b/0x04  # Pin 19 PD2
+TRACES+=-at EnableB=trace@0x2b/0x08  # Pin 18 PD3
+TRACES+=-at EnableC=trace@0x10b/0x40 # Pin 43 PL6
+
+else ifeq ($(DEVICE),$(filter $(DEVICE),atmega168 atmega168p atmega328 atmega328p))
+TRACES+=-at DirA=trace@0x2b/0x20     # Pin 5  PD5
+TRACES+=-at DirB=trace@0x2b/0x80     # Pin 7  PD7
+TRACES+=-at EnableA=trace@0x2b/0x40  # Pin 6  PD6
+TRACES+=-at EnableB=trace@0x25/0x01  # Pin 8  PB0
+
+else ifeq ($(DUT),atmega32u4)
+TRACES+=-at DirA=trace@0x25/0x10     # Pin 26 PB4
+TRACES+=-at DirB=trace@0x25/0x08     # Pin 14 PB3
+#TRACES+=-at DirC=trace@0x10b/0x80    # Pin 42 PL7
+TRACES+=-at EnableA=trace@0x25/0x04  # Pin 16 PB2
+TRACES+=-at EnableB=trace@0x25/0x02  # Pin 15 PB1
+#TRACES+=-at EnableC=trace@0x10b/0x40 # Pin 43 PL6
+
+endif 
+
+FIRMWARE=".pio/build/$(DUT)/firmware.elf"
+
+DIR=$(shell env pwd)
+
+ifndef SILENCE
+	SILENCE=0
+endif
+
+test: .tested
+
+.tested: result.txt expect.txt ../judge.awk
+	echo DUT=$(DUT)
+	rm -f .tested
+	gawk -f ../judge.awk -v DIR=$(DIR) result.txt expect.txt
+	test -f .tested
+
+result.txt: x.vcd
+	gawk -v SILENCE=$(SILENCE) -f ../eval.awk x.vcd >/dev/null
+	cat expect.txt
+
+x.vcd: $(SRC) ../run_avr platformio.ini src/Issue150.ino
+	~/.platformio/penv/bin/pio run -e $(DUT) || ~/.local/bin/pio run -e $(DUT) || env pio run -e $(DUT)
+	../run_avr $(FIRMWARE) -m $(DEVICE) -o x.vcd $(TRACES)
+
+src/Issue150.ino:
+	mkdir -p src
+	cd src; ln -s ../../../../../examples/Issue150/Issue150.ino .
+
+clean:
+	rm -fR .pio .tested x.vcd result.txt
+
--- a/extras/tests/simavr_based/test_issue150/expect.txt
+++ b/extras/tests/simavr_based/test_issue150/expect.txt
@@ -0,0 +1,16 @@
+    DirA:        0*L->H,        0*H->L
+    DirB:        1*L->H,        0*H->L
+ EnableA:        2*L->H,        1*H->L
+ EnableB:        0*L->H,        0*H->L
+   StepA:     4000*L->H,     4000*H->L, Max High=10us Total High=20775us
+   StepB:        2*L->H,        2*H->L, Max High=4us Total High=9us
+Position[A]=4000
+
+Position[B]=2
+
+Time in EnableA  max=4194 us, total=4194 us
+
+Time in StepA  max=10 us, total=20775 us
+
+Time in StepB  max=4 us, total=9 us
+
--- a/extras/tests/simavr_based/test_issue150/platformio.ini
+++ b/extras/tests/simavr_based/test_issue150/platformio.ini
@@ -0,0 +1,31 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[platformio]
+
+# There should be only one env section for the DUT under test.
+# One of
+#	atmega168p
+#	atmega328p
+#   atmega2560_timer1
+#   atmega2560_timer3
+#   atmega2560_timer4
+#   atmega2560_timer5
+#
+[common]
+# This is the line input to StepperDemo:
+build_flags = -D SIMULATOR
+
+[env:atmega328p]
+platform    = atmelavr
+board       = nanoatmega328
+framework   = arduino
+build_flags = -Werror -Wall ${common.build_flags}
+lib_extra_dirs = ../../../../..
--- a/extras/tests/simavr_based/test_issue151/.gitignore
+++ b/extras/tests/simavr_based/test_issue151/.gitignore
@@ -0,0 +1 @@
+src/
--- a/extras/tests/simavr_based/test_issue151/Makefile
+++ b/extras/tests/simavr_based/test_issue151/Makefile
@@ -0,0 +1,132 @@
+#
+# In order to execute the test for one directory use:
+#
+# 	make -C test_sd_01b_328p -f ../Makefile.test
+
+SRC=$(wildcard ../../../src/*) $(wildcard src/*)
+
+# platformio should contain only one env section.
+# This section states the dut name
+#		atmega168
+#		atmega168p
+#		atmega328
+#		atmega328p
+#		atmega2560_timer1
+#		atmega2560_timer3
+#		atmega2560_timer4
+#		atmega2560_timer5
+#
+
+DUT=$(shell gawk '/env:/{print(substr($$1,6,length($$1)-6))}' platformio.ini)
+
+TRACES=-at StepISR=trace@0x25/0x08     # PB3
+TRACES+=-at FillISR=trace@0x25/0x10     # PB4
+
+#
+ifeq ($(DUT),atmega2560_timer1)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x025/0x20 #OC1A PB5 11 ATMega2560
+TRACES+=-at StepB=trace@0x025/0x40 #OC1B PB6 12 ATMega2560
+TRACES+=-at StepC=trace@0x025/0x80 #OC1C PB7 13 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer3)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x02e/0x08 #OC3A PE3 5 ATMega2560
+TRACES+=-at StepB=trace@0x02e/0x10 #OC3B PE4 2 ATMega2560
+TRACES+=-at StepC=trace@0x02e/0x20 #OC3C PE5 3 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer4)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x102/0x08 #OC4A PH3 6 ATMega2560
+TRACES+=-at StepB=trace@0x102/0x10 #OC4B PH4 7 ATMega2560
+TRACES+=-at StepC=trace@0x102/0x20 #OC4C PH5 8 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer5)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x10b/0x08 #OC5A PL3 46 ATMega2560
+TRACES+=-at StepB=trace@0x10b/0x10 #OC5B PL4 45 ATMega2560
+TRACES+=-at StepC=trace@0x10b/0x20 #OC5C PL5 44 ATMega2560
+
+else ifeq ($(DUT),atmega168)
+DEVICE=atmega168
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  atmega168
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 atmega168
+
+else ifeq ($(DUT),atmega168p)
+DEVICE=atmega168p
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  atmega168p
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 atmega168p
+
+else ifeq ($(DUT),atmega328)
+DEVICE=atmega328
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  ATMega328
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 ATMega328
+
+else ifeq ($(DUT),atmega328p)
+DEVICE=atmega328p
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  ATMega328p
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 ATMega328p
+
+else ifeq ($(DUT),atmega32u4)
+DEVICE=atmega32u4
+TRACES+=-at StepA=trace@0x025/0x20 #OC1A PB5 11
+TRACES+=-at StepB=trace@0x025/0x40 #OC1B PB6 12
+#TRACES+=-at StepC=trace@0x025/0x80 #OC1C PB7 13
+
+endif
+
+ifeq ($(DEVICE),atmega2560)
+TRACES+=-at DirA=trace@0x2b/0x01     # Pin 21 PD0
+TRACES+=-at DirB=trace@0x2b/0x02     # Pin 20 PD1
+TRACES+=-at DirC=trace@0x10b/0x80    # Pin 42 PL7
+TRACES+=-at EnableA=trace@0x2b/0x04  # Pin 19 PD2
+TRACES+=-at EnableB=trace@0x2b/0x08  # Pin 18 PD3
+TRACES+=-at EnableC=trace@0x10b/0x40 # Pin 43 PL6
+
+else ifeq ($(DEVICE),$(filter $(DEVICE),atmega168 atmega168p atmega328 atmega328p))
+TRACES+=-at DirA=trace@0x2b/0x20     # Pin 5  PD5
+TRACES+=-at DirB=trace@0x2b/0x80     # Pin 7  PD7
+TRACES+=-at EnableA=trace@0x2b/0x40  # Pin 6  PD6
+TRACES+=-at EnableB=trace@0x25/0x01  # Pin 8  PB0
+
+else ifeq ($(DUT),atmega32u4)
+TRACES+=-at DirA=trace@0x25/0x10     # Pin 26 PB4
+TRACES+=-at DirB=trace@0x25/0x08     # Pin 14 PB3
+#TRACES+=-at DirC=trace@0x10b/0x80    # Pin 42 PL7
+TRACES+=-at EnableA=trace@0x25/0x04  # Pin 16 PB2
+TRACES+=-at EnableB=trace@0x25/0x02  # Pin 15 PB1
+#TRACES+=-at EnableC=trace@0x10b/0x40 # Pin 43 PL6
+
+endif 
+
+FIRMWARE=".pio/build/$(DUT)/firmware.elf"
+
+DIR=$(shell env pwd)
+
+ifndef SILENCE
+	SILENCE=0
+endif
+
+test: .tested
+
+.tested: result.txt expect.txt ../judge.awk
+	echo DUT=$(DUT)
+	rm -f .tested
+	gawk -f ../judge.awk -v DIR=$(DIR) result.txt expect.txt
+	test -f .tested
+
+result.txt: x.vcd
+	gawk -v SILENCE=$(SILENCE) -f ../eval.awk x.vcd >/dev/null
+	cat expect.txt
+
+x.vcd: $(SRC) ../run_avr platformio.ini src/Issue151.ino
+	~/.platformio/penv/bin/pio run -e $(DUT) || ~/.local/bin/pio run -e $(DUT) || env pio run -e $(DUT)
+	../run_avr $(FIRMWARE) -m $(DEVICE) -o x.vcd $(TRACES)
+
+src/Issue151.ino:
+	mkdir -p src
+	cd src; ln -s ../../../../../examples/Issue151/Issue151.ino .
+
+clean:
+	rm -fR .pio .tested x.vcd result.txt
+
--- a/extras/tests/simavr_based/test_issue151/expect.txt
+++ b/extras/tests/simavr_based/test_issue151/expect.txt
@@ -0,0 +1,16 @@
+    DirA:        0*L->H,        0*H->L
+    DirB:        1*L->H,        0*H->L
+ EnableA:        2*L->H,        1*H->L
+ EnableB:        0*L->H,        0*H->L
+   StepA:    20000*L->H,    20000*H->L, Max High=10us Total High=101913us
+   StepB:        2*L->H,        2*H->L, Max High=4us Total High=9us
+Position[A]=20000
+
+Position[B]=2
+
+Time in EnableA  max=4203 us, total=4203 us
+
+Time in StepA  max=10 us, total=101913 us
+
+Time in StepB  max=4 us, total=9 us
+
--- a/extras/tests/simavr_based/test_issue151/platformio.ini
+++ b/extras/tests/simavr_based/test_issue151/platformio.ini
@@ -0,0 +1,31 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[platformio]
+
+# There should be only one env section for the DUT under test.
+# One of
+#	atmega168p
+#	atmega328p
+#   atmega2560_timer1
+#   atmega2560_timer3
+#   atmega2560_timer4
+#   atmega2560_timer5
+#
+[common]
+# This is the line input to StepperDemo:
+build_flags = -D SIMULATOR
+
+[env:atmega328p]
+platform    = atmelavr
+board       = nanoatmega328
+framework   = arduino
+build_flags = -Werror -Wall ${common.build_flags}
+lib_extra_dirs = ../../../../..
--- a/extras/tests/simavr_based/test_issue152/.gitignore
+++ b/extras/tests/simavr_based/test_issue152/.gitignore
@@ -0,0 +1 @@
+src/
--- a/extras/tests/simavr_based/test_issue152/Makefile
+++ b/extras/tests/simavr_based/test_issue152/Makefile
@@ -0,0 +1,132 @@
+#
+# In order to execute the test for one directory use:
+#
+# 	make -C test_sd_01b_328p -f ../Makefile.test
+
+SRC=$(wildcard ../../../src/*) $(wildcard src/*)
+
+# platformio should contain only one env section.
+# This section states the dut name
+#		atmega168
+#		atmega168p
+#		atmega328
+#		atmega328p
+#		atmega2560_timer1
+#		atmega2560_timer3
+#		atmega2560_timer4
+#		atmega2560_timer5
+#
+
+DUT=$(shell gawk '/env:/{print(substr($$1,6,length($$1)-6))}' platformio.ini)
+
+TRACES=-at StepISR=trace@0x25/0x08     # PB3
+TRACES+=-at FillISR=trace@0x25/0x10     # PB4
+
+#
+ifeq ($(DUT),atmega2560_timer1)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x025/0x20 #OC1A PB5 11 ATMega2560
+TRACES+=-at StepB=trace@0x025/0x40 #OC1B PB6 12 ATMega2560
+TRACES+=-at StepC=trace@0x025/0x80 #OC1C PB7 13 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer3)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x02e/0x08 #OC3A PE3 5 ATMega2560
+TRACES+=-at StepB=trace@0x02e/0x10 #OC3B PE4 2 ATMega2560
+TRACES+=-at StepC=trace@0x02e/0x20 #OC3C PE5 3 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer4)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x102/0x08 #OC4A PH3 6 ATMega2560
+TRACES+=-at StepB=trace@0x102/0x10 #OC4B PH4 7 ATMega2560
+TRACES+=-at StepC=trace@0x102/0x20 #OC4C PH5 8 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer5)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x10b/0x08 #OC5A PL3 46 ATMega2560
+TRACES+=-at StepB=trace@0x10b/0x10 #OC5B PL4 45 ATMega2560
+TRACES+=-at StepC=trace@0x10b/0x20 #OC5C PL5 44 ATMega2560
+
+else ifeq ($(DUT),atmega168)
+DEVICE=atmega168
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  atmega168
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 atmega168
+
+else ifeq ($(DUT),atmega168p)
+DEVICE=atmega168p
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  atmega168p
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 atmega168p
+
+else ifeq ($(DUT),atmega328)
+DEVICE=atmega328
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  ATMega328
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 ATMega328
+
+else ifeq ($(DUT),atmega328p)
+DEVICE=atmega328p
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  ATMega328p
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 ATMega328p
+
+else ifeq ($(DUT),atmega32u4)
+DEVICE=atmega32u4
+TRACES+=-at StepA=trace@0x025/0x20 #OC1A PB5 11
+TRACES+=-at StepB=trace@0x025/0x40 #OC1B PB6 12
+#TRACES+=-at StepC=trace@0x025/0x80 #OC1C PB7 13
+
+endif
+
+ifeq ($(DEVICE),atmega2560)
+TRACES+=-at DirA=trace@0x2b/0x01     # Pin 21 PD0
+TRACES+=-at DirB=trace@0x2b/0x02     # Pin 20 PD1
+TRACES+=-at DirC=trace@0x10b/0x80    # Pin 42 PL7
+TRACES+=-at EnableA=trace@0x2b/0x04  # Pin 19 PD2
+TRACES+=-at EnableB=trace@0x2b/0x08  # Pin 18 PD3
+TRACES+=-at EnableC=trace@0x10b/0x40 # Pin 43 PL6
+
+else ifeq ($(DEVICE),$(filter $(DEVICE),atmega168 atmega168p atmega328 atmega328p))
+TRACES+=-at DirA=trace@0x2b/0x20     # Pin 5  PD5
+TRACES+=-at DirB=trace@0x2b/0x80     # Pin 7  PD7
+TRACES+=-at EnableA=trace@0x2b/0x40  # Pin 6  PD6
+TRACES+=-at EnableB=trace@0x25/0x01  # Pin 8  PB0
+
+else ifeq ($(DUT),atmega32u4)
+TRACES+=-at DirA=trace@0x25/0x10     # Pin 26 PB4
+TRACES+=-at DirB=trace@0x25/0x08     # Pin 14 PB3
+#TRACES+=-at DirC=trace@0x10b/0x80    # Pin 42 PL7
+TRACES+=-at EnableA=trace@0x25/0x04  # Pin 16 PB2
+TRACES+=-at EnableB=trace@0x25/0x02  # Pin 15 PB1
+#TRACES+=-at EnableC=trace@0x10b/0x40 # Pin 43 PL6
+
+endif 
+
+FIRMWARE=".pio/build/$(DUT)/firmware.elf"
+
+DIR=$(shell env pwd)
+
+ifndef SILENCE
+	SILENCE=0
+endif
+
+test: .tested
+
+.tested: result.txt expect.txt ../judge.awk
+	echo DUT=$(DUT)
+	rm -f .tested
+	gawk -f ../judge.awk -v DIR=$(DIR) result.txt expect.txt
+	test -f .tested
+
+result.txt: x.vcd
+	gawk -v SILENCE=$(SILENCE) -f ../eval.awk x.vcd >/dev/null
+	cat expect.txt
+
+x.vcd: $(SRC) ../run_avr platformio.ini src/Issue152.ino
+	~/.platformio/penv/bin/pio run -e $(DUT) || ~/.local/bin/pio run -e $(DUT) || env pio run -e $(DUT)
+	../run_avr $(FIRMWARE) -m $(DEVICE) -o x.vcd $(TRACES)
+
+src/Issue152.ino:
+	mkdir -p src
+	cd src; ln -s ../../../../../examples/Issue152/Issue152.ino .
+
+clean:
+	rm -fR .pio .tested x.vcd result.txt
+
--- a/extras/tests/simavr_based/test_issue152/expect.txt
+++ b/extras/tests/simavr_based/test_issue152/expect.txt
@@ -0,0 +1,20 @@
+    DirA:        0*L->H,        0*H->L
+    DirB:        1*L->H,        0*H->L
+ EnableA:        2*L->H,        1*H->L
+ EnableB:        0*L->H,        0*H->L
+   StepA:    20000*L->H,    20000*H->L, Max High=10us Total High=104644us
+   StepB:        2*L->H,        2*H->L, Max High=4us Total High=9us
+Position[A]=20000
+
+Position[B]=2
+
+Time in EnableA  max=4199 us, total=4199 us
+
+Time in FillISR  max=1848 us, total=59230 us
+
+Time in StepA  max=10 us, total=104644 us
+
+Time in StepB  max=4 us, total=9 us
+
+Time in StepISR  max=7 us, total=85706 us
+
--- a/extras/tests/simavr_based/test_issue152/platformio.ini
+++ b/extras/tests/simavr_based/test_issue152/platformio.ini
@@ -0,0 +1,31 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[platformio]
+
+# There should be only one env section for the DUT under test.
+# One of
+#	atmega168p
+#	atmega328p
+#   atmega2560_timer1
+#   atmega2560_timer3
+#   atmega2560_timer4
+#   atmega2560_timer5
+#
+[common]
+# This is the line input to StepperDemo:
+build_flags = -D SIMULATOR -D SIMAVR_TIME_MEASUREMENT
+
+[env:atmega328p]
+platform    = atmelavr
+board       = nanoatmega328
+framework   = arduino
+build_flags = -Werror -Wall ${common.build_flags}
+lib_extra_dirs = ../../../../..
--- a/extras/tests/simavr_based/test_issue172/.gitignore
+++ b/extras/tests/simavr_based/test_issue172/.gitignore
@@ -0,0 +1 @@
+src/
--- a/extras/tests/simavr_based/test_issue172/Makefile
+++ b/extras/tests/simavr_based/test_issue172/Makefile
@@ -0,0 +1,132 @@
+#
+# In order to execute the test for one directory use:
+#
+# 	make -C test_sd_01b_328p -f ../Makefile.test
+
+SRC=$(wildcard ../../../src/*) $(wildcard src/*)
+
+# platformio should contain only one env section.
+# This section states the dut name
+#		atmega168
+#		atmega168p
+#		atmega328
+#		atmega328p
+#		atmega2560_timer1
+#		atmega2560_timer3
+#		atmega2560_timer4
+#		atmega2560_timer5
+#
+
+DUT=$(shell gawk '/env:/{print(substr($$1,6,length($$1)-6))}' platformio.ini)
+
+TRACES=-at StepISR=trace@0x25/0x08     # PB3
+TRACES+=-at FillISR=trace@0x25/0x10     # PB4
+
+#
+ifeq ($(DUT),atmega2560_timer1)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x025/0x20 #OC1A PB5 11 ATMega2560
+TRACES+=-at StepB=trace@0x025/0x40 #OC1B PB6 12 ATMega2560
+TRACES+=-at StepC=trace@0x025/0x80 #OC1C PB7 13 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer3)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x02e/0x08 #OC3A PE3 5 ATMega2560
+TRACES+=-at StepB=trace@0x02e/0x10 #OC3B PE4 2 ATMega2560
+TRACES+=-at StepC=trace@0x02e/0x20 #OC3C PE5 3 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer4)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x102/0x08 #OC4A PH3 6 ATMega2560
+TRACES+=-at StepB=trace@0x102/0x10 #OC4B PH4 7 ATMega2560
+TRACES+=-at StepC=trace@0x102/0x20 #OC4C PH5 8 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer5)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x10b/0x08 #OC5A PL3 46 ATMega2560
+TRACES+=-at StepB=trace@0x10b/0x10 #OC5B PL4 45 ATMega2560
+TRACES+=-at StepC=trace@0x10b/0x20 #OC5C PL5 44 ATMega2560
+
+else ifeq ($(DUT),atmega168)
+DEVICE=atmega168
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  atmega168
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 atmega168
+
+else ifeq ($(DUT),atmega168p)
+DEVICE=atmega168p
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  atmega168p
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 atmega168p
+
+else ifeq ($(DUT),atmega328)
+DEVICE=atmega328
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  ATMega328
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 ATMega328
+
+else ifeq ($(DUT),atmega328p)
+DEVICE=atmega328p
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  ATMega328p
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 ATMega328p
+
+else ifeq ($(DUT),atmega32u4)
+DEVICE=atmega32u4
+TRACES+=-at StepA=trace@0x025/0x20 #OC1A PB5 11
+TRACES+=-at StepB=trace@0x025/0x40 #OC1B PB6 12
+#TRACES+=-at StepC=trace@0x025/0x80 #OC1C PB7 13
+
+endif
+
+ifeq ($(DEVICE),atmega2560)
+TRACES+=-at DirA=trace@0x2b/0x01     # Pin 21 PD0
+TRACES+=-at DirB=trace@0x2b/0x02     # Pin 20 PD1
+TRACES+=-at DirC=trace@0x10b/0x80    # Pin 42 PL7
+TRACES+=-at EnableA=trace@0x2b/0x04  # Pin 19 PD2
+TRACES+=-at EnableB=trace@0x2b/0x08  # Pin 18 PD3
+TRACES+=-at EnableC=trace@0x10b/0x40 # Pin 43 PL6
+
+else ifeq ($(DEVICE),$(filter $(DEVICE),atmega168 atmega168p atmega328 atmega328p))
+TRACES+=-at DirA=trace@0x2b/0x20     # Pin 5  PD5
+TRACES+=-at DirB=trace@0x2b/0x80     # Pin 7  PD7
+TRACES+=-at EnableA=trace@0x2b/0x40  # Pin 6  PD6
+TRACES+=-at EnableB=trace@0x25/0x01  # Pin 8  PB0
+
+else ifeq ($(DUT),atmega32u4)
+TRACES+=-at DirA=trace@0x25/0x10     # Pin 26 PB4
+TRACES+=-at DirB=trace@0x25/0x08     # Pin 14 PB3
+#TRACES+=-at DirC=trace@0x10b/0x80    # Pin 42 PL7
+TRACES+=-at EnableA=trace@0x25/0x04  # Pin 16 PB2
+TRACES+=-at EnableB=trace@0x25/0x02  # Pin 15 PB1
+#TRACES+=-at EnableC=trace@0x10b/0x40 # Pin 43 PL6
+
+endif 
+
+FIRMWARE=".pio/build/$(DUT)/firmware.elf"
+
+DIR=$(shell env pwd)
+
+ifndef SILENCE
+	SILENCE=0
+endif
+
+test: .tested
+
+.tested: result.txt expect.txt ../judge.awk
+	echo DUT=$(DUT)
+	rm -f .tested
+	gawk -f ../judge.awk -v DIR=$(DIR) result.txt expect.txt
+	test -f .tested
+
+result.txt: x.vcd
+	gawk -v SILENCE=$(SILENCE) -f ../eval.awk x.vcd >/dev/null
+	cat expect.txt
+
+x.vcd: $(SRC) ../run_avr platformio.ini src/Issue172.ino
+	~/.platformio/penv/bin/pio run -e $(DUT) || ~/.local/bin/pio run -e $(DUT) || env pio run -e $(DUT)
+	../run_avr $(FIRMWARE) -m $(DEVICE) -o x.vcd $(TRACES)
+
+src/Issue172.ino:
+	mkdir -p src
+	cd src; ln -s ../../../../../examples/Issue172/Issue172.ino .
+
+clean:
+	rm -fR .pio .tested x.vcd result.txt
+
--- a/extras/tests/simavr_based/test_issue172/expect.txt
+++ b/extras/tests/simavr_based/test_issue172/expect.txt
@@ -0,0 +1,20 @@
+    DirA:        0*L->H,        1*H->L
+    DirB:        1*L->H,        0*H->L
+ EnableA:        2*L->H,        1*H->L
+ EnableB:        0*L->H,        0*H->L
+   StepA:     2060*L->H,     2060*H->L, Max High=9us Total High=8067us
+   StepB:        2*L->H,        2*H->L, Max High=4us Total High=9us
+Position[A]=0
+
+Position[B]=2
+
+Time in EnableA  max=4204 us, total=4204 us
+
+Time in FillISR  max=1737 us, total=39497 us
+
+Time in StepA  max=9 us, total=8067 us
+
+Time in StepB  max=4 us, total=9 us
+
+Time in StepISR  max=6 us, total=8184 us
+
--- a/extras/tests/simavr_based/test_issue172/platformio.ini
+++ b/extras/tests/simavr_based/test_issue172/platformio.ini
@@ -0,0 +1,31 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[platformio]
+
+# There should be only one env section for the DUT under test.
+# One of
+#	atmega168p
+#	atmega328p
+#   atmega2560_timer1
+#   atmega2560_timer3
+#   atmega2560_timer4
+#   atmega2560_timer5
+#
+[common]
+# This is the line input to StepperDemo:
+build_flags = -D SIMULATOR -D SIMAVR_TIME_MEASUREMENT
+
+[env:atmega328p]
+platform    = atmelavr
+board       = nanoatmega328
+framework   = arduino
+build_flags = -Werror -Wall ${common.build_flags}
+lib_extra_dirs = ../../../../..
--- a/extras/tests/simavr_based/test_issue173/.gitignore
+++ b/extras/tests/simavr_based/test_issue173/.gitignore
@@ -0,0 +1 @@
+src/
--- a/extras/tests/simavr_based/test_issue173/Makefile
+++ b/extras/tests/simavr_based/test_issue173/Makefile
@@ -0,0 +1,132 @@
+#
+# In order to execute the test for one directory use:
+#
+# 	make -C test_sd_01b_328p -f ../Makefile.test
+
+SRC=$(wildcard ../../../src/*) $(wildcard src/*)
+
+# platformio should contain only one env section.
+# This section states the dut name
+#		atmega168
+#		atmega168p
+#		atmega328
+#		atmega328p
+#		atmega2560_timer1
+#		atmega2560_timer3
+#		atmega2560_timer4
+#		atmega2560_timer5
+#
+
+DUT=$(shell gawk '/env:/{print(substr($$1,6,length($$1)-6))}' platformio.ini)
+
+TRACES=-at StepISR=trace@0x25/0x08     # PB3
+TRACES+=-at FillISR=trace@0x25/0x10     # PB4
+
+#
+ifeq ($(DUT),atmega2560_timer1)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x025/0x20 #OC1A PB5 11 ATMega2560
+TRACES+=-at StepB=trace@0x025/0x40 #OC1B PB6 12 ATMega2560
+TRACES+=-at StepC=trace@0x025/0x80 #OC1C PB7 13 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer3)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x02e/0x08 #OC3A PE3 5 ATMega2560
+TRACES+=-at StepB=trace@0x02e/0x10 #OC3B PE4 2 ATMega2560
+TRACES+=-at StepC=trace@0x02e/0x20 #OC3C PE5 3 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer4)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x102/0x08 #OC4A PH3 6 ATMega2560
+TRACES+=-at StepB=trace@0x102/0x10 #OC4B PH4 7 ATMega2560
+TRACES+=-at StepC=trace@0x102/0x20 #OC4C PH5 8 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer5)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x10b/0x08 #OC5A PL3 46 ATMega2560
+TRACES+=-at StepB=trace@0x10b/0x10 #OC5B PL4 45 ATMega2560
+TRACES+=-at StepC=trace@0x10b/0x20 #OC5C PL5 44 ATMega2560
+
+else ifeq ($(DUT),atmega168)
+DEVICE=atmega168
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  atmega168
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 atmega168
+
+else ifeq ($(DUT),atmega168p)
+DEVICE=atmega168p
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  atmega168p
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 atmega168p
+
+else ifeq ($(DUT),atmega328)
+DEVICE=atmega328
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  ATMega328
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 ATMega328
+
+else ifeq ($(DUT),atmega328p)
+DEVICE=atmega328p
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  ATMega328p
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 ATMega328p
+
+else ifeq ($(DUT),atmega32u4)
+DEVICE=atmega32u4
+TRACES+=-at StepA=trace@0x025/0x20 #OC1A PB5 11
+TRACES+=-at StepB=trace@0x025/0x40 #OC1B PB6 12
+#TRACES+=-at StepC=trace@0x025/0x80 #OC1C PB7 13
+
+endif
+
+ifeq ($(DEVICE),atmega2560)
+TRACES+=-at DirA=trace@0x2b/0x01     # Pin 21 PD0
+TRACES+=-at DirB=trace@0x2b/0x02     # Pin 20 PD1
+TRACES+=-at DirC=trace@0x10b/0x80    # Pin 42 PL7
+TRACES+=-at EnableA=trace@0x2b/0x04  # Pin 19 PD2
+TRACES+=-at EnableB=trace@0x2b/0x08  # Pin 18 PD3
+TRACES+=-at EnableC=trace@0x10b/0x40 # Pin 43 PL6
+
+else ifeq ($(DEVICE),$(filter $(DEVICE),atmega168 atmega168p atmega328 atmega328p))
+TRACES+=-at DirA=trace@0x2b/0x20     # Pin 5  PD5
+TRACES+=-at DirB=trace@0x2b/0x80     # Pin 7  PD7
+TRACES+=-at EnableA=trace@0x2b/0x40  # Pin 6  PD6
+TRACES+=-at EnableB=trace@0x25/0x01  # Pin 8  PB0
+
+else ifeq ($(DUT),atmega32u4)
+TRACES+=-at DirA=trace@0x25/0x10     # Pin 26 PB4
+TRACES+=-at DirB=trace@0x25/0x08     # Pin 14 PB3
+#TRACES+=-at DirC=trace@0x10b/0x80    # Pin 42 PL7
+TRACES+=-at EnableA=trace@0x25/0x04  # Pin 16 PB2
+TRACES+=-at EnableB=trace@0x25/0x02  # Pin 15 PB1
+#TRACES+=-at EnableC=trace@0x10b/0x40 # Pin 43 PL6
+
+endif 
+
+FIRMWARE=".pio/build/$(DUT)/firmware.elf"
+
+DIR=$(shell env pwd)
+
+ifndef SILENCE
+	SILENCE=0
+endif
+
+test: .tested
+
+.tested: result.txt expect.txt ../judge.awk
+	echo DUT=$(DUT)
+	rm -f .tested
+	gawk -f ../judge.awk -v DIR=$(DIR) result.txt expect.txt
+	test -f .tested
+
+result.txt: x.vcd
+	gawk -v SILENCE=$(SILENCE) -f ../eval.awk x.vcd >/dev/null
+	cat expect.txt
+
+x.vcd: $(SRC) ../run_avr platformio.ini src/Issue173.ino
+	~/.platformio/penv/bin/pio run -e $(DUT) || ~/.local/bin/pio run -e $(DUT) || env pio run -e $(DUT)
+	../run_avr $(FIRMWARE) -m $(DEVICE) -o x.vcd $(TRACES)
+
+src/Issue173.ino:
+	mkdir -p src
+	cd src; ln -s ../../../../../examples/Issue173/Issue173.ino .
+
+clean:
+	rm -fR .pio .tested x.vcd result.txt
+
--- a/extras/tests/simavr_based/test_issue173/expect.txt
+++ b/extras/tests/simavr_based/test_issue173/expect.txt
@@ -0,0 +1,20 @@
+    DirA:        0*L->H,        1*H->L
+    DirB:        1*L->H,        0*H->L
+ EnableA:        3*L->H,        2*H->L
+ EnableB:        0*L->H,        0*H->L
+   StepA:     1050*L->H,     1050*H->L, Max High=9us Total High=4119us
+   StepB:        2*L->H,        2*H->L, Max High=4us Total High=9us
+Position[A]=0
+
+Position[B]=2
+
+Time in EnableA  max=4204 us, total=8409 us
+
+Time in FillISR  max=1917 us, total=25558 us
+
+Time in StepA  max=9 us, total=4119 us
+
+Time in StepB  max=4 us, total=9 us
+
+Time in StepISR  max=5 us, total=4224 us
+
--- a/extras/tests/simavr_based/test_issue173/platformio.ini
+++ b/extras/tests/simavr_based/test_issue173/platformio.ini
@@ -0,0 +1,31 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[platformio]
+
+# There should be only one env section for the DUT under test.
+# One of
+#	atmega168p
+#	atmega328p
+#   atmega2560_timer1
+#   atmega2560_timer3
+#   atmega2560_timer4
+#   atmega2560_timer5
+#
+[common]
+# This is the line input to StepperDemo:
+build_flags = -D SIMULATOR -D SIMAVR_TIME_MEASUREMENT
+
+[env:atmega328p]
+platform    = atmelavr
+board       = nanoatmega328
+framework   = arduino
+build_flags = -Werror -Wall ${common.build_flags}
+lib_extra_dirs = ../../../../..
--- a/extras/tests/simavr_based/test_issue208/.gitignore
+++ b/extras/tests/simavr_based/test_issue208/.gitignore
@@ -0,0 +1 @@
+src/
--- a/extras/tests/simavr_based/test_issue208/Makefile
+++ b/extras/tests/simavr_based/test_issue208/Makefile
@@ -0,0 +1,132 @@
+#
+# In order to execute the test for one directory use:
+#
+# 	make -C test_sd_01b_328p -f ../Makefile.test
+
+SRC=$(wildcard ../../../src/*) $(wildcard src/*)
+
+# platformio should contain only one env section.
+# This section states the dut name
+#		atmega168
+#		atmega168p
+#		atmega328
+#		atmega328p
+#		atmega2560_timer1
+#		atmega2560_timer3
+#		atmega2560_timer4
+#		atmega2560_timer5
+#
+
+DUT=$(shell gawk '/env:/{print(substr($$1,6,length($$1)-6))}' platformio.ini)
+
+TRACES=-at StepISR=trace@0x25/0x08     # PB3
+TRACES+=-at FillISR=trace@0x25/0x10     # PB4
+
+#
+ifeq ($(DUT),atmega2560_timer1)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x025/0x20 #OC1A PB5 11 ATMega2560
+TRACES+=-at StepB=trace@0x025/0x40 #OC1B PB6 12 ATMega2560
+TRACES+=-at StepC=trace@0x025/0x80 #OC1C PB7 13 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer3)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x02e/0x08 #OC3A PE3 5 ATMega2560
+TRACES+=-at StepB=trace@0x02e/0x10 #OC3B PE4 2 ATMega2560
+TRACES+=-at StepC=trace@0x02e/0x20 #OC3C PE5 3 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer4)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x102/0x08 #OC4A PH3 6 ATMega2560
+TRACES+=-at StepB=trace@0x102/0x10 #OC4B PH4 7 ATMega2560
+TRACES+=-at StepC=trace@0x102/0x20 #OC4C PH5 8 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer5)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x10b/0x08 #OC5A PL3 46 ATMega2560
+TRACES+=-at StepB=trace@0x10b/0x10 #OC5B PL4 45 ATMega2560
+TRACES+=-at StepC=trace@0x10b/0x20 #OC5C PL5 44 ATMega2560
+
+else ifeq ($(DUT),atmega168)
+DEVICE=atmega168
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  atmega168
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 atmega168
+
+else ifeq ($(DUT),atmega168p)
+DEVICE=atmega168p
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  atmega168p
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 atmega168p
+
+else ifeq ($(DUT),atmega328)
+DEVICE=atmega328
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  ATMega328
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 ATMega328
+
+else ifeq ($(DUT),atmega328p)
+DEVICE=atmega328p
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  ATMega328p
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 ATMega328p
+
+else ifeq ($(DUT),atmega32u4)
+DEVICE=atmega32u4
+TRACES+=-at StepA=trace@0x025/0x20 #OC1A PB5 11
+TRACES+=-at StepB=trace@0x025/0x40 #OC1B PB6 12
+#TRACES+=-at StepC=trace@0x025/0x80 #OC1C PB7 13
+
+endif
+
+ifeq ($(DEVICE),atmega2560)
+TRACES+=-at DirA=trace@0x2b/0x01     # Pin 21 PD0
+TRACES+=-at DirB=trace@0x2b/0x02     # Pin 20 PD1
+TRACES+=-at DirC=trace@0x10b/0x80    # Pin 42 PL7
+TRACES+=-at EnableA=trace@0x2b/0x04  # Pin 19 PD2
+TRACES+=-at EnableB=trace@0x2b/0x08  # Pin 18 PD3
+TRACES+=-at EnableC=trace@0x10b/0x40 # Pin 43 PL6
+
+else ifeq ($(DEVICE),$(filter $(DEVICE),atmega168 atmega168p atmega328 atmega328p))
+TRACES+=-at DirA=trace@0x2b/0x20     # Pin 5  PD5
+TRACES+=-at DirB=trace@0x2b/0x80     # Pin 7  PD7
+TRACES+=-at EnableA=trace@0x2b/0x40  # Pin 6  PD6
+TRACES+=-at EnableB=trace@0x25/0x01  # Pin 8  PB0
+
+else ifeq ($(DUT),atmega32u4)
+TRACES+=-at DirA=trace@0x25/0x10     # Pin 26 PB4
+TRACES+=-at DirB=trace@0x25/0x08     # Pin 14 PB3
+#TRACES+=-at DirC=trace@0x10b/0x80    # Pin 42 PL7
+TRACES+=-at EnableA=trace@0x25/0x04  # Pin 16 PB2
+TRACES+=-at EnableB=trace@0x25/0x02  # Pin 15 PB1
+#TRACES+=-at EnableC=trace@0x10b/0x40 # Pin 43 PL6
+
+endif 
+
+FIRMWARE=".pio/build/$(DUT)/firmware.elf"
+
+DIR=$(shell env pwd)
+
+ifndef SILENCE
+	SILENCE=0
+endif
+
+test: .tested
+
+.tested: result.txt expect.txt ../judge.awk
+	echo DUT=$(DUT)
+	rm -f .tested
+	gawk -f ../judge.awk -v DIR=$(DIR) result.txt expect.txt
+	test -f .tested
+
+result.txt: x.vcd
+	gawk -v SILENCE=$(SILENCE) -f ../eval.awk x.vcd >/dev/null
+	cat expect.txt
+
+x.vcd: $(SRC) ../run_avr platformio.ini src/Issue208.ino
+	~/.platformio/penv/bin/pio run -e $(DUT) || ~/.local/bin/pio run -e $(DUT) || env pio run -e $(DUT)
+	../run_avr $(FIRMWARE) -m $(DEVICE) -o x.vcd $(TRACES)
+
+src/Issue208.ino:
+	mkdir -p src
+	cd src; ln -s ../../../../../examples/Issue208/Issue208.ino .
+
+clean:
+	rm -fR .pio .tested x.vcd result.txt
+
--- a/extras/tests/simavr_based/test_issue208/expect.txt
+++ b/extras/tests/simavr_based/test_issue208/expect.txt
@@ -0,0 +1,18 @@
+    DirA:        0*L->H,        1*H->L
+    DirB:        1*L->H,        0*H->L
+ EnableA:        0*L->H,        0*H->L
+ EnableB:        0*L->H,        0*H->L
+   StepA:   234999*L->H,   234999*H->L, Max High=10us Total High=923957us
+   StepB:        2*L->H,        2*H->L, Max High=12us Total High=25us
+Position[A]=37271
+
+Position[B]=2
+
+Time in FillISR  max=776 us, total=1220640 us
+
+Time in StepA  max=10 us, total=923957 us
+
+Time in StepB  max=12 us, total=25 us
+
+Time in StepISR  max=6 us, total=894406 us
+
--- a/extras/tests/simavr_based/test_issue208/platformio.ini
+++ b/extras/tests/simavr_based/test_issue208/platformio.ini
@@ -0,0 +1,31 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[platformio]
+
+# There should be only one env section for the DUT under test.
+# One of
+#	atmega168p
+#	atmega328p
+#   atmega2560_timer1
+#   atmega2560_timer3
+#   atmega2560_timer4
+#   atmega2560_timer5
+#
+[common]
+# This is the line input to StepperDemo:
+build_flags = -D SIMULATOR -D SIMAVR_TIME_MEASUREMENT
+
+[env:atmega328p]
+platform    = atmelavr
+board       = nanoatmega328
+framework   = arduino
+build_flags = -Werror -Wall ${common.build_flags}
+lib_extra_dirs = ../../../../..
--- a/extras/tests/simavr_based/test_issue250/.gitignore
+++ b/extras/tests/simavr_based/test_issue250/.gitignore
@@ -0,0 +1 @@
+src/
--- a/extras/tests/simavr_based/test_issue250/Makefile
+++ b/extras/tests/simavr_based/test_issue250/Makefile
@@ -0,0 +1,131 @@
+#
+# In order to execute the test for one directory use:
+#
+# 	make -C test_sd_01b_328p -f ../Makefile.test
+
+SRC=$(wildcard ../../../src/*) $(wildcard src/*)
+
+# platformio should contain only one env section.
+# This section states the dut name
+#		atmega168
+#		atmega168p
+#		atmega328
+#		atmega328p
+#		atmega2560_timer1
+#		atmega2560_timer3
+#		atmega2560_timer4
+#		atmega2560_timer5
+#
+
+DUT=$(shell gawk '/env:/{print(substr($$1,6,length($$1)-6))}' platformio.ini)
+
+TRACES=-at StepISR=trace@0x25/0x08     # PB3
+TRACES+=-at FillISR=trace@0x25/0x10     # PB4
+
+#
+ifeq ($(DUT),atmega2560_timer1)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x025/0x20 #OC1A PB5 11 ATMega2560
+TRACES+=-at StepB=trace@0x025/0x40 #OC1B PB6 12 ATMega2560
+TRACES+=-at StepC=trace@0x025/0x80 #OC1C PB7 13 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer3)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x02e/0x08 #OC3A PE3 5 ATMega2560
+TRACES+=-at StepB=trace@0x02e/0x10 #OC3B PE4 2 ATMega2560
+TRACES+=-at StepC=trace@0x02e/0x20 #OC3C PE5 3 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer4)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x102/0x08 #OC4A PH3 6 ATMega2560
+TRACES+=-at StepB=trace@0x102/0x10 #OC4B PH4 7 ATMega2560
+TRACES+=-at StepC=trace@0x102/0x20 #OC4C PH5 8 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer5)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x10b/0x08 #OC5A PL3 46 ATMega2560
+TRACES+=-at StepB=trace@0x10b/0x10 #OC5B PL4 45 ATMega2560
+TRACES+=-at StepC=trace@0x10b/0x20 #OC5C PL5 44 ATMega2560
+
+else ifeq ($(DUT),atmega168)
+DEVICE=atmega168
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  atmega168
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 atmega168
+
+else ifeq ($(DUT),atmega168p)
+DEVICE=atmega168p
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  atmega168p
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 atmega168p
+
+else ifeq ($(DUT),atmega328)
+DEVICE=atmega328
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  ATMega328
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 ATMega328
+
+else ifeq ($(DUT),atmega328p)
+DEVICE=atmega328p
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  ATMega328p
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 ATMega328p
+
+else ifeq ($(DUT),atmega32u4)
+DEVICE=atmega32u4
+TRACES+=-at StepA=trace@0x025/0x20 #OC1A PB5 11
+TRACES+=-at StepB=trace@0x025/0x40 #OC1B PB6 12
+#TRACES+=-at StepC=trace@0x025/0x80 #OC1C PB7 13
+
+endif
+
+ifeq ($(DEVICE),atmega2560)
+TRACES+=-at DirA=trace@0x2b/0x01     # Pin 21 PD0
+TRACES+=-at DirB=trace@0x2b/0x02     # Pin 20 PD1
+TRACES+=-at DirC=trace@0x10b/0x80    # Pin 42 PL7
+TRACES+=-at EnableA=trace@0x2b/0x04  # Pin 19 PD2
+TRACES+=-at EnableB=trace@0x2b/0x08  # Pin 18 PD3
+TRACES+=-at EnableC=trace@0x10b/0x40 # Pin 43 PL6
+
+else ifeq ($(DEVICE),$(filter $(DEVICE),atmega168 atmega168p atmega328 atmega328p))
+TRACES+=-at DirA=trace@0x2b/0x20     # Pin 5  PD5
+TRACES+=-at DirB=trace@0x2b/0x80     # Pin 7  PD7
+TRACES+=-at EnableA=trace@0x2b/0x40  # Pin 6  PD6
+TRACES+=-at EnableB=trace@0x25/0x01  # Pin 8  PB0
+
+else ifeq ($(DUT),atmega32u4)
+TRACES+=-at DirA=trace@0x25/0x10     # Pin 26 PB4
+TRACES+=-at DirB=trace@0x25/0x08     # Pin 14 PB3
+#TRACES+=-at DirC=trace@0x10b/0x80    # Pin 42 PL7
+TRACES+=-at EnableA=trace@0x25/0x04  # Pin 16 PB2
+TRACES+=-at EnableB=trace@0x25/0x02  # Pin 15 PB1
+#TRACES+=-at EnableC=trace@0x10b/0x40 # Pin 43 PL6
+
+endif 
+
+FIRMWARE=".pio/build/$(DUT)/firmware.elf"
+
+DIR=$(shell env pwd)
+
+ifndef SILENCE
+	SILENCE=0
+endif
+
+test: .tested
+
+.tested: result.txt ../judge_pos0.awk
+	echo DUT=$(DUT)
+	rm -f .tested
+	gawk -f ../judge_pos0.awk -v DIR=$(DIR) result.txt
+	test -f .tested
+
+result.txt: x.vcd
+	gawk -v SILENCE=$(SILENCE) -f ../eval.awk x.vcd >/dev/null
+
+x.vcd: $(SRC) ../run_avr platformio.ini src/Issue250.ino
+	~/.platformio/penv/bin/pio run -e $(DUT) || ~/.local/bin/pio run -e $(DUT) || env pio run -e $(DUT)
+	../run_avr $(FIRMWARE) -m $(DEVICE) -o x.vcd $(TRACES)
+
+src/Issue250.ino:
+	mkdir -p src
+	cd src; ln -s ../../../../../examples/Issue250/Issue250.ino .
+
+clean:
+	rm -fR .pio .tested x.vcd result.txt
+
--- a/extras/tests/simavr_based/test_issue250/expect.txt
+++ b/extras/tests/simavr_based/test_issue250/expect.txt
--- a/extras/tests/simavr_based/test_issue250/platformio.ini
+++ b/extras/tests/simavr_based/test_issue250/platformio.ini
@@ -0,0 +1,31 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[platformio]
+
+# There should be only one env section for the DUT under test.
+# One of
+#	atmega168p
+#	atmega328p
+#   atmega2560_timer1
+#   atmega2560_timer3
+#   atmega2560_timer4
+#   atmega2560_timer5
+#
+[common]
+# This is the line input to StepperDemo:
+build_flags = -D SIMULATOR -D SIMAVR_TIME_MEASUREMENT
+
+[env:atmega328p]
+platform    = atmelavr
+board       = nanoatmega328
+framework   = arduino
+build_flags = -Werror -Wall ${common.build_flags}
+lib_extra_dirs = ../../../../..
--- a/extras/tests/simavr_based/test_issue250_30us/.gitignore
+++ b/extras/tests/simavr_based/test_issue250_30us/.gitignore
@@ -0,0 +1 @@
+src/
--- a/extras/tests/simavr_based/test_issue250_30us/Makefile
+++ b/extras/tests/simavr_based/test_issue250_30us/Makefile
@@ -0,0 +1,131 @@
+#
+# In order to execute the test for one directory use:
+#
+# 	make -C test_sd_01b_328p -f ../Makefile.test
+
+SRC=$(wildcard ../../../src/*) $(wildcard src/*)
+
+# platformio should contain only one env section.
+# This section states the dut name
+#		atmega168
+#		atmega168p
+#		atmega328
+#		atmega328p
+#		atmega2560_timer1
+#		atmega2560_timer3
+#		atmega2560_timer4
+#		atmega2560_timer5
+#
+
+DUT=$(shell gawk '/env:/{print(substr($$1,6,length($$1)-6))}' platformio.ini)
+
+TRACES=-at StepISR=trace@0x25/0x08     # PB3
+TRACES+=-at FillISR=trace@0x25/0x10     # PB4
+
+#
+ifeq ($(DUT),atmega2560_timer1)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x025/0x20 #OC1A PB5 11 ATMega2560
+TRACES+=-at StepB=trace@0x025/0x40 #OC1B PB6 12 ATMega2560
+TRACES+=-at StepC=trace@0x025/0x80 #OC1C PB7 13 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer3)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x02e/0x08 #OC3A PE3 5 ATMega2560
+TRACES+=-at StepB=trace@0x02e/0x10 #OC3B PE4 2 ATMega2560
+TRACES+=-at StepC=trace@0x02e/0x20 #OC3C PE5 3 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer4)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x102/0x08 #OC4A PH3 6 ATMega2560
+TRACES+=-at StepB=trace@0x102/0x10 #OC4B PH4 7 ATMega2560
+TRACES+=-at StepC=trace@0x102/0x20 #OC4C PH5 8 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer5)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x10b/0x08 #OC5A PL3 46 ATMega2560
+TRACES+=-at StepB=trace@0x10b/0x10 #OC5B PL4 45 ATMega2560
+TRACES+=-at StepC=trace@0x10b/0x20 #OC5C PL5 44 ATMega2560
+
+else ifeq ($(DUT),atmega168)
+DEVICE=atmega168
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  atmega168
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 atmega168
+
+else ifeq ($(DUT),atmega168p)
+DEVICE=atmega168p
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  atmega168p
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 atmega168p
+
+else ifeq ($(DUT),atmega328)
+DEVICE=atmega328
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  ATMega328
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 ATMega328
+
+else ifeq ($(DUT),atmega328p)
+DEVICE=atmega328p
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  ATMega328p
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 ATMega328p
+
+else ifeq ($(DUT),atmega32u4)
+DEVICE=atmega32u4
+TRACES+=-at StepA=trace@0x025/0x20 #OC1A PB5 11
+TRACES+=-at StepB=trace@0x025/0x40 #OC1B PB6 12
+#TRACES+=-at StepC=trace@0x025/0x80 #OC1C PB7 13
+
+endif
+
+ifeq ($(DEVICE),atmega2560)
+TRACES+=-at DirA=trace@0x2b/0x01     # Pin 21 PD0
+TRACES+=-at DirB=trace@0x2b/0x02     # Pin 20 PD1
+TRACES+=-at DirC=trace@0x10b/0x80    # Pin 42 PL7
+TRACES+=-at EnableA=trace@0x2b/0x04  # Pin 19 PD2
+TRACES+=-at EnableB=trace@0x2b/0x08  # Pin 18 PD3
+TRACES+=-at EnableC=trace@0x10b/0x40 # Pin 43 PL6
+
+else ifeq ($(DEVICE),$(filter $(DEVICE),atmega168 atmega168p atmega328 atmega328p))
+TRACES+=-at DirA=trace@0x2b/0x20     # Pin 5  PD5
+TRACES+=-at DirB=trace@0x2b/0x80     # Pin 7  PD7
+TRACES+=-at EnableA=trace@0x2b/0x40  # Pin 6  PD6
+TRACES+=-at EnableB=trace@0x25/0x01  # Pin 8  PB0
+
+else ifeq ($(DUT),atmega32u4)
+TRACES+=-at DirA=trace@0x25/0x10     # Pin 26 PB4
+TRACES+=-at DirB=trace@0x25/0x08     # Pin 14 PB3
+#TRACES+=-at DirC=trace@0x10b/0x80    # Pin 42 PL7
+TRACES+=-at EnableA=trace@0x25/0x04  # Pin 16 PB2
+TRACES+=-at EnableB=trace@0x25/0x02  # Pin 15 PB1
+#TRACES+=-at EnableC=trace@0x10b/0x40 # Pin 43 PL6
+
+endif 
+
+FIRMWARE=".pio/build/$(DUT)/firmware.elf"
+
+DIR=$(shell env pwd)
+
+ifndef SILENCE
+	SILENCE=0
+endif
+
+test: .tested
+
+.tested: result.txt ../judge_pos0.awk
+	echo DUT=$(DUT)
+	rm -f .tested
+	gawk -f ../judge_pos0.awk -v DIR=$(DIR) result.txt
+	test -f .tested
+
+result.txt: x.vcd
+	gawk -v SILENCE=$(SILENCE) -f ../eval.awk x.vcd >/dev/null
+
+x.vcd: $(SRC) ../run_avr platformio.ini src/Issue250.ino
+	~/.platformio/penv/bin/pio run -e $(DUT) || ~/.local/bin/pio run -e $(DUT) || env pio run -e $(DUT)
+	../run_avr $(FIRMWARE) -m $(DEVICE) -o x.vcd $(TRACES)
+
+src/Issue250.ino:
+	mkdir -p src
+	cd src; ln -s ../../../../../examples/Issue250/Issue250.ino .
+
+clean:
+	rm -fR .pio .tested x.vcd result.txt
+
--- a/extras/tests/simavr_based/test_issue250_30us/expect.txt
+++ b/extras/tests/simavr_based/test_issue250_30us/expect.txt
--- a/extras/tests/simavr_based/test_issue250_30us/platformio.ini
+++ b/extras/tests/simavr_based/test_issue250_30us/platformio.ini
@@ -0,0 +1,32 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[platformio]
+
+# There should be only one env section for the DUT under test.
+# One of
+#	atmega168p
+#	atmega328p
+#   atmega2560_timer1
+#   atmega2560_timer3
+#   atmega2560_timer4
+#   atmega2560_timer5
+#
+[common]
+# This is the line input to StepperDemo:
+#build_flags = -D SIMULATOR -D SIMAVR_TIME_MEASUREMENT -D BLOCK_INTERRUPT_US=30
+build_flags = -D SIMULATOR -D SIMAVR_TIME_MEASUREMENT -D BLOCK_INTERRUPT_US=30 -D LOOPS=100 -D TOGGLE_DIRECTION=false -D USE_MOVETO=false
+
+[env:atmega328p]
+platform    = atmelavr
+board       = nanoatmega328
+framework   = arduino
+build_flags = -Werror -Wall ${common.build_flags}
+lib_extra_dirs = ../../../../..
--- a/extras/tests/simavr_based/test_issue280/.gitignore
+++ b/extras/tests/simavr_based/test_issue280/.gitignore
@@ -0,0 +1 @@
+src/
--- a/extras/tests/simavr_based/test_issue280/Makefile
+++ b/extras/tests/simavr_based/test_issue280/Makefile
@@ -0,0 +1,131 @@
+#
+# In order to execute the test for one directory use:
+#
+# 	make -C test_sd_01b_328p -f ../Makefile.test
+
+SRC=$(wildcard ../../../src/*) $(wildcard src/*)
+
+# platformio should contain only one env section.
+# This section states the dut name
+#		atmega168
+#		atmega168p
+#		atmega328
+#		atmega328p
+#		atmega2560_timer1
+#		atmega2560_timer3
+#		atmega2560_timer4
+#		atmega2560_timer5
+#
+
+DUT=$(shell gawk '/env:/{print(substr($$1,6,length($$1)-6))}' platformio.ini)
+
+TRACES=-at StepISR=trace@0x25/0x08     # PB3
+TRACES+=-at FillISR=trace@0x25/0x10     # PB4
+
+#
+ifeq ($(DUT),atmega2560_timer1)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x025/0x20 #OC1A PB5 11 ATMega2560
+TRACES+=-at StepB=trace@0x025/0x40 #OC1B PB6 12 ATMega2560
+TRACES+=-at StepC=trace@0x025/0x80 #OC1C PB7 13 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer3)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x02e/0x08 #OC3A PE3 5 ATMega2560
+TRACES+=-at StepB=trace@0x02e/0x10 #OC3B PE4 2 ATMega2560
+TRACES+=-at StepC=trace@0x02e/0x20 #OC3C PE5 3 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer4)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x102/0x08 #OC4A PH3 6 ATMega2560
+TRACES+=-at StepB=trace@0x102/0x10 #OC4B PH4 7 ATMega2560
+TRACES+=-at StepC=trace@0x102/0x20 #OC4C PH5 8 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer5)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x10b/0x08 #OC5A PL3 46 ATMega2560
+TRACES+=-at StepB=trace@0x10b/0x10 #OC5B PL4 45 ATMega2560
+TRACES+=-at StepC=trace@0x10b/0x20 #OC5C PL5 44 ATMega2560
+
+else ifeq ($(DUT),atmega168)
+DEVICE=atmega168
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  atmega168
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 atmega168
+
+else ifeq ($(DUT),atmega168p)
+DEVICE=atmega168p
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  atmega168p
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 atmega168p
+
+else ifeq ($(DUT),atmega328)
+DEVICE=atmega328
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  ATMega328
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 ATMega328
+
+else ifeq ($(DUT),atmega328p)
+DEVICE=atmega328p
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  ATMega328p
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 ATMega328p
+
+else ifeq ($(DUT),atmega32u4)
+DEVICE=atmega32u4
+TRACES+=-at StepA=trace@0x025/0x20 #OC1A PB5 11
+TRACES+=-at StepB=trace@0x025/0x40 #OC1B PB6 12
+#TRACES+=-at StepC=trace@0x025/0x80 #OC1C PB7 13
+
+endif
+
+ifeq ($(DEVICE),atmega2560)
+TRACES+=-at DirA=trace@0x2b/0x01     # Pin 21 PD0
+TRACES+=-at DirB=trace@0x2b/0x02     # Pin 20 PD1
+TRACES+=-at DirC=trace@0x10b/0x80    # Pin 42 PL7
+TRACES+=-at EnableA=trace@0x2b/0x04  # Pin 19 PD2
+TRACES+=-at EnableB=trace@0x2b/0x08  # Pin 18 PD3
+TRACES+=-at EnableC=trace@0x10b/0x40 # Pin 43 PL6
+
+else ifeq ($(DEVICE),$(filter $(DEVICE),atmega168 atmega168p atmega328 atmega328p))
+TRACES+=-at DirA=trace@0x2b/0x20     # Pin 5  PD5
+TRACES+=-at DirB=trace@0x2b/0x80     # Pin 7  PD7
+TRACES+=-at EnableA=trace@0x2b/0x40  # Pin 6  PD6
+TRACES+=-at EnableB=trace@0x25/0x01  # Pin 8  PB0
+
+else ifeq ($(DUT),atmega32u4)
+TRACES+=-at DirA=trace@0x25/0x10     # Pin 26 PB4
+TRACES+=-at DirB=trace@0x25/0x08     # Pin 14 PB3
+#TRACES+=-at DirC=trace@0x10b/0x80    # Pin 42 PL7
+TRACES+=-at EnableA=trace@0x25/0x04  # Pin 16 PB2
+TRACES+=-at EnableB=trace@0x25/0x02  # Pin 15 PB1
+#TRACES+=-at EnableC=trace@0x10b/0x40 # Pin 43 PL6
+
+endif 
+
+FIRMWARE=".pio/build/$(DUT)/firmware.elf"
+
+DIR=$(shell env pwd)
+
+ifndef SILENCE
+	SILENCE=0
+endif
+
+test: .tested
+
+.tested: result.txt ../judge_pos0.awk
+	echo DUT=$(DUT)
+	rm -f .tested
+	gawk -f ../judge_pos0.awk -v DIR=$(DIR) result.txt
+	test -f .tested
+
+result.txt: x.vcd
+	gawk -v SILENCE=$(SILENCE) -f ../eval.awk x.vcd >/dev/null
+
+x.vcd: $(SRC) ../run_avr platformio.ini src/Issue280.ino
+	~/.platformio/penv/bin/pio run -e $(DUT) || ~/.local/bin/pio run -e $(DUT) || env pio run -e $(DUT)
+	../run_avr $(FIRMWARE) -m $(DEVICE) -o x.vcd $(TRACES)
+
+src/Issue280.ino:
+	mkdir -p src
+	cd src; ln -s ../../../../../examples/Issue280/Issue280.ino .
+
+clean:
+	rm -fR .pio .tested x.vcd result.txt
+
--- a/extras/tests/simavr_based/test_issue280/expect.txt
+++ b/extras/tests/simavr_based/test_issue280/expect.txt
@@ -0,0 +1,16 @@
+    DirA:        0*L->H,        1*H->L
+    DirB:        0*L->H,        0*H->L
+ EnableA:        3*L->H,        2*H->L
+ EnableB:        0*L->H,        0*H->L
+   StepA:    33872*L->H,    33872*H->L, Max High=10us Total High=133363us
+   StepB:        0*L->H,        0*H->L, Max High=0us Total High=0us
+Position[A]=0
+
+Time in EnableA  max=8284 us, total=12482 us
+
+Time in FillISR  max=1734 us, total=175782 us
+
+Time in StepA  max=10 us, total=133363 us
+
+Time in StepISR  max=5 us, total=128886 us
+
--- a/extras/tests/simavr_based/test_issue280/platformio.ini
+++ b/extras/tests/simavr_based/test_issue280/platformio.ini
@@ -0,0 +1,31 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[platformio]
+
+# There should be only one env section for the DUT under test.
+# One of
+#	atmega168p
+#	atmega328p
+#   atmega2560_timer1
+#   atmega2560_timer3
+#   atmega2560_timer4
+#   atmega2560_timer5
+#
+[common]
+# This is the line input to StepperDemo:
+build_flags = -D SIMULATOR -D SIMAVR_TIME_MEASUREMENT
+
+[env:atmega328p]
+platform    = atmelavr
+board       = nanoatmega328
+framework   = arduino
+build_flags = -Werror -Wall ${common.build_flags}
+lib_extra_dirs = ../../../../..
--- a/extras/tests/simavr_based/test_pmf/.gitignore
+++ b/extras/tests/simavr_based/test_pmf/.gitignore
@@ -0,0 +1 @@
+src/
--- a/extras/tests/simavr_based/test_pmf/Makefile
+++ b/extras/tests/simavr_based/test_pmf/Makefile
@@ -0,0 +1,135 @@
+#
+# In order to execute the test for one directory use:
+#
+# 	make -C test_sd_01b_328p -f ../Makefile.test
+
+SRC=$(wildcard ../../../src/*) $(wildcard src/*)
+
+# platformio should contain only one env section.
+# This section states the dut name
+#		atmega168
+#		atmega168p
+#		atmega328
+#		atmega328p
+#		atmega2560_timer1
+#		atmega2560_timer3
+#		atmega2560_timer4
+#		atmega2560_timer5
+#
+
+DUT=$(shell gawk '/env:/{print(substr($$1,6,length($$1)-6))}' platformio.ini)
+
+TRACES=-at StepISR=trace@0x25/0x08     # PB3
+TRACES+=-at FillISR=trace@0x25/0x10     # PB4
+
+#
+ifeq ($(DUT),atmega2560_timer1)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x025/0x20 #OC1A PB5 11 ATMega2560
+TRACES+=-at StepB=trace@0x025/0x40 #OC1B PB6 12 ATMega2560
+TRACES+=-at StepC=trace@0x025/0x80 #OC1C PB7 13 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer3)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x02e/0x08 #OC3A PE3 5 ATMega2560
+TRACES+=-at StepB=trace@0x02e/0x10 #OC3B PE4 2 ATMega2560
+TRACES+=-at StepC=trace@0x02e/0x20 #OC3C PE5 3 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer4)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x102/0x08 #OC4A PH3 6 ATMega2560
+TRACES+=-at StepB=trace@0x102/0x10 #OC4B PH4 7 ATMega2560
+TRACES+=-at StepC=trace@0x102/0x20 #OC4C PH5 8 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer5)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x10b/0x08 #OC5A PL3 46 ATMega2560
+TRACES+=-at StepB=trace@0x10b/0x10 #OC5B PL4 45 ATMega2560
+TRACES+=-at StepC=trace@0x10b/0x20 #OC5C PL5 44 ATMega2560
+
+else ifeq ($(DUT),atmega168)
+DEVICE=atmega168
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  atmega168
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 atmega168
+
+else ifeq ($(DUT),atmega168p)
+DEVICE=atmega168p
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  atmega168p
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 atmega168p
+
+else ifeq ($(DUT),atmega328)
+DEVICE=atmega328
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  ATMega328
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 ATMega328
+
+else ifeq ($(DUT),atmega328p)
+DEVICE=atmega328p
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  ATMega328p
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 ATMega328p
+
+else ifeq ($(DUT),atmega32u4)
+DEVICE=atmega32u4
+TRACES+=-at StepA=trace@0x025/0x20 #OC1A PB5 11
+TRACES+=-at StepB=trace@0x025/0x40 #OC1B PB6 12
+#TRACES+=-at StepC=trace@0x025/0x80 #OC1C PB7 13
+
+endif
+
+ifeq ($(DEVICE),atmega2560)
+TRACES+=-at DirA=trace@0x2b/0x01     # Pin 21 PD0
+TRACES+=-at DirB=trace@0x2b/0x02     # Pin 20 PD1
+TRACES+=-at DirC=trace@0x10b/0x80    # Pin 42 PL7
+TRACES+=-at EnableA=trace@0x2b/0x04  # Pin 19 PD2
+TRACES+=-at EnableB=trace@0x2b/0x08  # Pin 18 PD3
+TRACES+=-at EnableC=trace@0x10b/0x40 # Pin 43 PL6
+
+else ifeq ($(DEVICE),$(filter $(DEVICE),atmega168 atmega168p atmega328 atmega328p))
+TRACES+=-at DirA=trace@0x2b/0x20     # Pin 5  PD5
+TRACES+=-at DirB=trace@0x2b/0x80     # Pin 7  PD7
+TRACES+=-at EnableA=trace@0x2b/0x40  # Pin 6  PD6
+TRACES+=-at EnableB=trace@0x25/0x01  # Pin 8  PB0
+
+else ifeq ($(DUT),atmega32u4)
+TRACES+=-at DirA=trace@0x25/0x10     # Pin 26 PB4
+TRACES+=-at DirB=trace@0x25/0x08     # Pin 14 PB3
+#TRACES+=-at DirC=trace@0x10b/0x80    # Pin 42 PL7
+TRACES+=-at EnableA=trace@0x25/0x04  # Pin 16 PB2
+TRACES+=-at EnableB=trace@0x25/0x02  # Pin 15 PB1
+#TRACES+=-at EnableC=trace@0x10b/0x40 # Pin 43 PL6
+
+endif 
+
+FIRMWARE=".pio/build/$(DUT)/firmware.elf"
+
+DIR=$(shell env pwd)
+
+ifndef SILENCE
+	SILENCE=0
+endif
+
+test: .tested
+
+.tested: result.txt expect.txt ../judge.awk
+	echo DUT=$(DUT)
+	rm -f .tested
+	gawk -f ../judge.awk -v DIR=$(DIR) result.txt expect.txt
+	test -f .tested
+
+result.txt: x.vcd
+	gawk -v SILENCE=$(SILENCE) -f ../eval.awk x.vcd
+	cat expect.txt
+
+x.vcd: $(SRC) ../run_avr platformio.ini src/PMF_test.ino src/test_03.h
+	~/.platformio/penv/bin/pio run -e $(DUT) || ~/.local/bin/pio run -e $(DUT) || env pio run -e $(DUT)
+	../run_avr $(FIRMWARE) -m $(DEVICE) -o x.vcd $(TRACES)
+
+src/PMF_test.ino:
+	mkdir -p src
+	cd src; ln -s ../../../pc_based/PMF_test.ino .
+
+src/test_03.h:
+	mkdir -p src
+	cd src; ln -s ../../../pc_based/test_03.h .
+
+clean:
+	rm -fR .pio .tested x.vcd result.txt
--- a/extras/tests/simavr_based/test_pmf/expect.txt
+++ b/extras/tests/simavr_based/test_pmf/expect.txt
@@ -0,0 +1,10 @@
+    DirA:        0*L->H,        0*H->L
+    DirB:        1*L->H,        0*H->L
+ EnableA:        0*L->H,        0*H->L
+ EnableB:        0*L->H,        0*H->L
+   StepA:        0*L->H,        0*H->L, Max High=0us Total High=0us
+   StepB:        2*L->H,        2*H->L, Max High=12us Total High=16us
+Position[B]=2
+
+Time in StepB  max=12 us, total=16 us
+
--- a/extras/tests/simavr_based/test_pmf/platformio.ini
+++ b/extras/tests/simavr_based/test_pmf/platformio.ini
@@ -0,0 +1,31 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[platformio]
+
+# There should be only one env section for the DUT under test.
+# One of
+#	atmega168p
+#	atmega328p
+#   atmega2560_timer1
+#   atmega2560_timer3
+#   atmega2560_timer4
+#   atmega2560_timer5
+#
+[common]
+# This is the line input to StepperDemo:
+build_flags = -D SIMULATOR
+
+[env:atmega328p]
+platform    = atmelavr
+board       = nanoatmega328
+framework   = arduino
+build_flags = -Werror -Wall ${common.build_flags}
+lib_extra_dirs = ../../../../..
--- a/extras/tests/simavr_based/test_sd_01a_2560t1/expect.txt
+++ b/extras/tests/simavr_based/test_sd_01a_2560t1/expect.txt
@@ -0,0 +1,15 @@
+    DirA:        0*L->H,        0*H->L
+    DirB:        1*L->H,        0*H->L
+    DirC:        0*L->H,        0*H->L
+ EnableA:        1*L->H,        1*H->L
+ EnableB:        1*L->H,        0*H->L
+ EnableC:        1*L->H,        0*H->L
+   StepA:     3200*L->H,     3200*H->L, Max High=13us Total High=17018us
+   StepB:        0*L->H,        0*H->L, Max High=0us Total High=0us
+   StepC:        0*L->H,        0*H->L, Max High=0us Total High=0us
+Position[A]=3200
+
+Time in EnableA  max=450673 us, total=450673 us
+
+Time in StepA  max=13 us, total=17018 us
+
--- a/extras/tests/simavr_based/test_sd_01a_2560t1/platformio.ini
+++ b/extras/tests/simavr_based/test_sd_01a_2560t1/platformio.ini
@@ -0,0 +1,32 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[platformio]
+
+# There should be only one env section for the DUT under test.
+# One of
+#	atmega168p
+#	atmega328p
+#   atmega2560_timer1
+#   atmega2560_timer3
+#   atmega2560_timer4
+#   atmega2560_timer5
+#
+[common]
+# This is the line input to StepperDemo:
+build_flags = -D SIM_TEST_INPUT='"? M1 A1000 V100 R3200 W t W "'
+
+[env:atmega2560_timer1]
+platform    = atmelavr
+board       = megaatmega2560
+framework   = arduino
+build_flags = -Werror -Wall -DFAS_TIMER_MODULE=1 ${common.build_flags}
+lib_extra_dirs = ../../../../..
+
--- a/extras/tests/simavr_based/test_sd_01a_2560t3/expect.txt
+++ b/extras/tests/simavr_based/test_sd_01a_2560t3/expect.txt
@@ -0,0 +1,15 @@
+    DirA:        0*L->H,        0*H->L
+    DirB:        1*L->H,        0*H->L
+    DirC:        0*L->H,        0*H->L
+ EnableA:        1*L->H,        1*H->L
+ EnableB:        1*L->H,        0*H->L
+ EnableC:        1*L->H,        0*H->L
+   StepA:     3200*L->H,     3200*H->L, Max High=13us Total High=17029us
+   StepB:        0*L->H,        0*H->L, Max High=0us Total High=0us
+   StepC:        0*L->H,        0*H->L, Max High=0us Total High=0us
+Position[A]=3200
+
+Time in EnableA  max=450673 us, total=450673 us
+
+Time in StepA  max=13 us, total=17029 us
+
--- a/extras/tests/simavr_based/test_sd_01a_2560t3/platformio.ini
+++ b/extras/tests/simavr_based/test_sd_01a_2560t3/platformio.ini
@@ -0,0 +1,32 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[platformio]
+
+# There should be only one env section for the DUT under test.
+# One of
+#	atmega168p
+#	atmega328p
+#   atmega2560_timer1
+#   atmega2560_timer3
+#   atmega2560_timer4
+#   atmega2560_timer5
+#
+[common]
+# This is the line input to StepperDemo:
+build_flags = -D SIM_TEST_INPUT='"? M1 A1000 V100 R3200 W t W "'
+
+[env:atmega2560_timer3]
+platform    = atmelavr
+board       = megaatmega2560
+framework   = arduino
+build_flags = -Werror -Wall -DFAS_TIMER_MODULE=3 ${common.build_flags}
+lib_extra_dirs = ../../../../..
+
--- a/extras/tests/simavr_based/test_sd_01a_2560t4/expect.txt
+++ b/extras/tests/simavr_based/test_sd_01a_2560t4/expect.txt
@@ -0,0 +1,15 @@
+    DirA:        0*L->H,        0*H->L
+    DirB:        1*L->H,        0*H->L
+    DirC:        0*L->H,        0*H->L
+ EnableA:        1*L->H,        1*H->L
+ EnableB:        1*L->H,        0*H->L
+ EnableC:        1*L->H,        0*H->L
+   StepA:     3200*L->H,     3200*H->L, Max High=13us Total High=17029us
+   StepB:        0*L->H,        0*H->L, Max High=0us Total High=0us
+   StepC:        0*L->H,        0*H->L, Max High=0us Total High=0us
+Position[A]=3200
+
+Time in EnableA  max=450673 us, total=450673 us
+
+Time in StepA  max=13 us, total=17029 us
+
--- a/Show More
+++ b/Show More