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extras/tests/pc_based/test_05.cpp

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+#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;
+}