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extras/tests/pc_based/test_09.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;
+
+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;
+}