107 lines
2.9 KiB
C++
107 lines
2.9 KiB
C++
#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 ramp() {
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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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uint32_t speed_us = 1000000 / 3600;
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assert(s.isQueueEmpty());
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s.setSpeedInUs(speed_us);
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s.setAcceleration(320);
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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_14.gnuplot");
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rc.start_plot(fname);
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s.runForward();
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for (int i = 0; i < 2000; i++) {
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if (i == 1000) {
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printf("Change speed\n");
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s.setSpeedInUs(10000);
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s.applySpeedAcceleration();
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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.increase_ok = true;
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rc.decrease_ok = true;
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rc.check_section(
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&fas_queue[0].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\n", planned_time);
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// This must be ensured, so that the stepper does not run out of
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// 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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// stop after
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if (rc.total_ticks > TICKS_PER_S * 40) {
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break;
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}
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}
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rc.finish_plot();
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// test(!s.isRampGeneratorActive(), "too many commands created");
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test(s.getCurrentPosition() > 70000, "stepper runs too slow");
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test(s.getCurrentPosition() < 80000, "stepper runs too fast");
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printf("Total time %f\n", rc.total_ticks / 16000000.0);
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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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test.ramp();
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printf("TEST_14 PASSED\n");
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return 0;
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}
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