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extras/tests/pc_based/test_07.cpp

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+#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;
+}