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307
extras/tests/pc_based/test_02.cpp
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307
extras/tests/pc_based/test_02.cpp
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#include <assert.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include "FastAccelStepper.h"
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#include "StepperISR.h"
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char TCCR1A;
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char TCCR1B;
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char TCCR1C;
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char TIMSK1;
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char TIFR1;
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unsigned short OCR1A;
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unsigned short OCR1B;
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StepperQueue fas_queue[NUM_QUEUES];
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void inject_fill_interrupt(int mark) {}
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void noInterrupts() {}
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void interrupts() {}
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#include "RampChecker.h"
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class FastAccelStepperTest {
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public:
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void init_queue() {
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fas_queue[0].read_idx = 0;
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fas_queue[1].read_idx = 0;
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fas_queue[0].next_write_idx = 0;
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fas_queue[1].next_write_idx = 0;
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}
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void with_empty_queue() {
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printf("Test with empty queue\n");
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init_queue();
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FastAccelStepper s = FastAccelStepper();
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s.init(NULL, 0, 0);
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RampChecker rc = RampChecker();
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assert(0 == s.getCurrentPosition());
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assert(s.isQueueEmpty());
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s.setSpeedInUs(10000);
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s.setAcceleration(100);
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s.fill_queue();
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assert(s.isQueueEmpty());
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s.move(1000);
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s.fill_queue();
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assert(!s.isQueueEmpty());
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for (int i = 0; i < 1000; i++) {
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if (false) {
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printf(
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"Loop %d: Queue read/write = %d/%d Target pos = %d, Queue End "
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"pos = %d QueueEmpty=%s\n",
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i, fas_queue[0].read_idx, fas_queue[0].next_write_idx,
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s.targetPos(), s.getPositionAfterCommandsCompleted(),
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s.isQueueEmpty() ? "yes" : "no");
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}
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if (!s.isRampGeneratorActive()) {
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break;
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}
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s.fill_queue();
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while (!s.isQueueEmpty()) {
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rc.check_section(
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&fas_queue_A.entry[fas_queue[0].read_idx & QUEUE_LEN_MASK]);
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fas_queue[0].read_idx++;
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}
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}
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test(!s.isRampGeneratorActive(), "too many commands created");
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printf("min_dt=%u\n", rc.min_dt);
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test(rc.min_dt == 160000, "max speed not reached");
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}
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void with_pars(const char *name, int32_t steps, uint32_t travel_dt,
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uint32_t accel, bool reach_max_speed, float min_time,
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float max_time, float allowed_ramp_time_delta,
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bool call_moveTo_repeatedly = false,
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bool call_setAccelertion_repeatedly = false,
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bool alternatingAccelerationValue = false,
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bool reversing_allowed = false,
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uint32_t linear_acceleration_steps = 0,
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uint32_t jump_step = 0) {
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printf("Test %s test_with_pars steps=%d travel_dt=%d accel=%d dir=%s\n",
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name, steps, travel_dt, accel, reach_max_speed ? "CW" : "CCW");
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init_queue();
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FastAccelStepper s = FastAccelStepper();
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s.init(NULL, 0, 0);
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s.setDirectionPin(0);
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RampChecker rc = RampChecker();
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rc.reversing_allowed = reversing_allowed;
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assert(0 == s.getCurrentPosition());
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assert(s.isQueueEmpty());
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assert(0 == s.setSpeedInUs(travel_dt));
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s.setAcceleration(accel);
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s.setLinearAcceleration(linear_acceleration_steps);
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s.setJumpStart(jump_step);
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s.fill_queue();
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assert(s.isQueueEmpty());
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s.move(steps);
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s.fill_queue();
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assert(!s.isQueueEmpty());
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float old_planned_time_in_buffer = 0;
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char fname[100];
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snprintf(fname, 100, "test_02_%s.gnuplot", name);
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rc.start_plot(fname);
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for (int i = 0; i < steps * 100; i++) {
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if (call_moveTo_repeatedly) {
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s.moveTo(steps);
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}
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if (call_setAccelertion_repeatedly) {
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if (alternatingAccelerationValue) {
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s.setAcceleration(accel + (i & 1) * 100);
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} else {
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s.setAcceleration(accel);
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}
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}
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if (true) {
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printf(
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"Loop %d: Queue read/write = %d/%d Target pos = %d, Queue End "
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"pos = %d QueueEmpty=%s\n",
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i, fas_queue[0].read_idx, fas_queue[0].next_write_idx,
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s.targetPos(), s.getPositionAfterCommandsCompleted(),
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s.isQueueEmpty() ? "yes" : "no");
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}
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if (!s.isRampGeneratorActive()) {
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break;
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}
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s.fill_queue();
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uint32_t from_dt = rc.total_ticks;
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while (!s.isQueueEmpty()) {
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rc.check_section(
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&fas_queue_A.entry[fas_queue[0].read_idx & QUEUE_LEN_MASK]);
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fas_queue[0].read_idx++;
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}
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uint32_t to_dt = rc.total_ticks;
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float planned_time = (to_dt - from_dt) * 1.0 / 16000000;
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printf("planned time in buffer: %.6fs (old=%.6fs)\n", planned_time,
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old_planned_time_in_buffer);
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// This must be ensured, so that the stepper does not run out of commands
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assert((i == 0) || (old_planned_time_in_buffer > 0.005));
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old_planned_time_in_buffer = planned_time;
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}
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// Empty the queue
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while (!s.isQueueEmpty()) {
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rc.check_section(
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&fas_queue_A.entry[fas_queue[0].read_idx & QUEUE_LEN_MASK]);
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fas_queue[0].read_idx++;
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}
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rc.finish_plot();
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printf("TEST=%s\n", name);
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test(!s.isRampGeneratorActive(), "too many commands created");
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printf("Total time %f < %f < %f ?\n", min_time,
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rc.total_ticks / 16000000.0, max_time);
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test(rc.total_ticks / 16000000.0 > min_time, "ramp too fast");
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test(rc.total_ticks / 16000000.0 < max_time, "ramp too slow");
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if (reach_max_speed) {
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printf("%d = %d ?\n", rc.min_dt, travel_dt * 16);
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test(rc.min_dt == travel_dt * 16, "max speed not reached");
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} else {
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printf("%d > %d ?\n", rc.min_dt, travel_dt * 16);
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test(rc.min_dt > travel_dt * 16, "max speed reached");
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}
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float up_time, down_time;
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if (reach_max_speed) {
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printf("Ramp time up/coast/down/total=");
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up_time = 1.0 * rc.accelerate_till / 16000000.0;
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down_time = (1.0 * rc.total_ticks - 1.0 * rc.coast_till) / 16000000.0;
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printf(" %f", 1.0 * rc.accelerate_till / 16000000.0);
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printf(" %f", 1.0 * (rc.coast_till - rc.accelerate_till) / 16000000.0);
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printf(" %f", 1.0 * (rc.total_ticks - rc.coast_till) / 16000000.0);
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printf(" %f\n", 1.0 * rc.total_ticks / 16000000.0);
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assert(rc.total_ticks > rc.coast_till);
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} else {
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printf("Ramp time up/down/total =");
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up_time = 1.0 * rc.accelerate_till / 16000000.0;
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down_time =
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(1.0 * rc.total_ticks - 1.0 * rc.accelerate_till) / 16000000.0;
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printf(" %f", 1.0 * rc.accelerate_till / 16000000.0);
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printf(" %f", 1.0 * (rc.total_ticks - rc.accelerate_till) / 16000000.0);
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printf(" %f\n", 1.0 * rc.total_ticks / 16000000.0);
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}
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// turned off
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// test(abs(up_time - down_time) <
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// 0.5 * (up_time + down_time) * allowed_ramp_time_delta,
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// "assymmetric ramp");
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#if (TEST_CREATE_QUEUE_CHECKSUM == 1)
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printf("CHECKSUM for %d/%d/%d: %d\n", steps, travel_dt, accel, s.checksum);
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#endif
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}
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};
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int main() {
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FastAccelStepperTest test;
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float nc = 0.0; // if new ramp calculation is enabled
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test.with_empty_queue();
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// steps ticks_us accel maxspeed min/max_total_time
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// jumps in speed in real on esp32
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test.with_pars("f1", 1000, 4300, 10000, true, 4.5 - 0.2, 4.5 + 0.2, 0.5, true,
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true);
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// ramp 2*2s, 2*200 steps, coasting: 9600steps, 48s
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test.with_pars("f2", 10000, 5000, 100, true, 2 * 2.0 + 48.0 - 0.2 - 0.4 * nc,
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2 * 2.0 + 48.0 + 0.2, 0.2);
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// ramp 2*0.02s, 2*2 steps, coasting: 1596 steps, 7.98s
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test.with_pars("f3", 1600, 5000, 10000, true, 7.94, 8.02, 0.2);
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// ramp 2*0.2s, 2*20 steps, coasting: 1560 steps, 7.8s
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test.with_pars("f4", 1600, 5000, 1000, true, 2 * 0.2 + 7.8 - 0.1,
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2 * 0.2 + 7.8 + 0.1, 0.2);
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// ramp 2*1s, 5000 steps, coasting: 5000steps, 0.5s
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test.with_pars("f5", 15000, 100, 10000, true, 2 * 1.0 + 0.5 - 0.1,
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2 * 1.0 + 0.5 + 0.1, 0.2);
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// ramp 2*0.02s, 2*2 steps, coasting: 96steps, 0.48
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test.with_pars("f6", 100, 5000, 10000, true, 2 * 0.02 + 0.48 - 0.02,
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2 * 0.02 + 0.48 + 0.02, 0.2);
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// ramp 2s, 20000 steps => only ramp 2*0.4s
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test.with_pars("f7", 1600, 50, 10000, false, 2 * 0.4 - 0.02 - 0.4 * nc,
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2 * 0.4 + 0.02, 0.2);
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// ramp 2*4s, 2*8000 steps, coasting 112000steps, 28s
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test.with_pars("f8", 128000, 250, 1000, true, 2 * 4.0 + 28.0 - 0.1 - 0.1 * nc,
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2 * 4.0 + 28.0 + 0.1, 0.2);
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// ramp 2*4s, 2*8000 steps, coasting 56000steps, 14s
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test.with_pars("f9", 72000, 250, 1000, true, 2 * 4.0 + 14.0 - 0.1 - 0.1 * nc,
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2 * 4.0 + 14.0 + 0.1, 0.2);
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// ramp 2*4s, 2*8000 steps, coasting 28000steps, 7s
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test.with_pars("f10", 44000, 250, 1000, true, 2 * 4.0 + 7.0 - 0.1 - 0.1 * nc,
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2 * 4.0 + 7.0 + 0.1, 0.2);
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// ramp 2*4s, 2*8000 steps, coasting 2steps, 0.0005s
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// fails with 16030
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test.with_pars("f11", 16040, 250, 1000, true, 2 * 4.0 + 0.0 - 0.1 - 0.1 * nc,
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2 * 4.0 + 0.1 + 0.1, 0.2);
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// ramp 2*50s => 2*1s
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test.with_pars("f12", 1000, 20, 1000, false, 2 * 1.0 - 0.15, 2 * 1.0 + 0.1,
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0.2);
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// The following five ramps are too fast.
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// The first step should come after ~0.6s and
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// the second after 0.89s. Implementation issues first step immediately
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// with pause to 2nd step of 0.36s (actually 0.315s).
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// So the first steps are issued within 0.36s instead of 0.89s.
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//
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// The implementation issues in addition the last two steps with 0.315s pause
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float rd = 0.7; // rd means ramp deviation
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//
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// ramp 2*50s, thus with 500steps max speed not reached. 250steps need 10s
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test.with_pars("f13", 500, 4000, 5, false, 20.0 - rd - 0.1 - 1.4 * nc,
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20.0 - rd + 0.2, 0.2);
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test.with_pars("f14", 2000, 4000, 5, false, 40.0 - rd - 0.1 - 1.7 * nc,
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40.0 - rd + 0.2, 0.2);
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// ramp 2*50s with 2*6250 steps => 100 steps at max speed using 0.4s
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test.with_pars("f15", 12600, 4000, 5, true, 100.0 + 0.4 - 0.3 - rd - 2.3 * nc,
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100.0 + 0.4 - rd + 0.24, 0.2);
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// ramp 2*50s with 2*6250 steps => 4000 steps at max speed using 16s
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test.with_pars("f16", 16500, 4000, 5, true, 116.0 - 0.3 - rd - 2.2 * nc,
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116.0 + 0.23 - rd, 0.2);
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// slow ramp: 2*50steps, 2*10s
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rd = 1.4;
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test.with_pars("f17", 100, 40, 1, false, 20.0 - 0.1 - rd - 2.0 * nc,
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20.0 + 0.1 - rd, 1.0);
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// jumps in speed in real => WORKS NOW
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test.with_pars("f18", 256000, 40, 5000, true, 15.2 - 0.1, 15.2 + 0.2, 0.2);
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// ramp time 625s, 7812500 steps
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// test.with_pars("f19", 2000000, 40, 40, false, 2*223.0, 2*223.0);
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// name, steps, travel_dt, accel, reach_max_speed, min_time, max_time,
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// allowed_ramp_time_delta slow ramp time Those are anomalies (see github
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// issue #8) on avr, but not on PC
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// test.with_pars("f20", 50000, 270000, 10, true, 62.0, 63.0, 1.0);
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test.with_pars("f20", 10, 1000000, 1, true, 9.9, 10.1, 1.0);
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// no ramp time, just constant run time
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test.with_pars("f21", 15000, 4000, 100000, true, 50.9, 60.1, 0.1);
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test.with_pars("f22", 14634, 4100, 100000, true, 50.9, 60.1, 0.1);
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// single step
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test.with_pars("f23", 1, 100, 1000, false, 0.02, 0.05, 0.1);
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// try to identify issue #40
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test.with_pars("f24a", 5000, 200, 9999, true, 1.48 + 0.1 * nc, 1.5 + 0.1 * nc,
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0.1, true, true, false, true);
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test.with_pars("f24b", 5000, 200, 9999, true, 1.48 - 0.04 * nc,
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1.50 - 0.04 * nc, 0.1, false, false, false);
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test.with_pars("f24c", 5000, 200, 9999, true, 1.48 - 0.04 * nc,
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1.50 - 0.04 * nc, 0.1, false, false, true);
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test.with_pars("f24d", 5000, 200, 9999, true, 1.48 - 0.04 * nc,
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1.50 - 0.04 * nc, 0.1, true, false, true);
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test.with_pars("f25", 1000, 40, 0x7fffffff, true, 0.039, 0.041, 0.1);
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// very short ramp. detected by esp32_hw_based tests seq_06.sh
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test.with_pars("seq_06.sh", 54, 40, 1000000, false, 0.012, 0.018, 0.1);
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// ramp with jump start
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test.with_pars("f5_jumpstart", 15000, 100, 10000, true, 2 * 1.0 + 0.0 - 0.1,
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2 * 1.0 + 0.5 + 0.1, 0.2, false, false, false, false, 0, 100);
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// ramp with linea acceleration
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test.with_pars("f5_linear_a", 15000, 100, 10000, true, 3, 4, 0.2, false,
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false, false, false, 1000);
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printf("TEST_02 PASSED\n");
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return 0;
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}
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