119 lines
3.0 KiB
C++
119 lines
3.0 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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void init_queue() {
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fas_queue[0].read_idx = 0;
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fas_queue[0].next_write_idx = 0;
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fas_queue[1].read_idx = 0;
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fas_queue[1].next_write_idx = 0;
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}
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void basic_test() {
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puts("basic_test...");
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init_queue();
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FastAccelStepper s = FastAccelStepper();
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assert(0 == s.getCurrentPosition());
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assert(s.isQueueEmpty());
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assert(s.isQueueEmpty());
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struct stepper_command_s cmd = {
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.ticks = 10000, .steps = 100, .count_up = true};
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int res = s.addQueueEntry(&cmd);
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assert(res == AQE_OK);
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assert(!s.isQueueEmpty());
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}
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void queue_full() {
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puts("queue_full...");
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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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assert(0 == s.getCurrentPosition());
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assert(s.isQueueEmpty());
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assert(s.isQueueEmpty());
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printf("Queue read/write = %d/%d\n", fas_queue[0].read_idx,
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fas_queue[0].next_write_idx);
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struct stepper_command_s cmd = {
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.ticks = 10000, .steps = 100, .count_up = true};
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for (int i = 0; i < QUEUE_LEN - 1; i++) {
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s.addQueueEntry(&cmd);
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assert(!s.isQueueEmpty());
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assert(!s.isQueueFull());
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printf("Queue read/write = %d/%d\n", fas_queue[0].read_idx,
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fas_queue[0].next_write_idx);
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}
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s.addQueueEntry(&cmd);
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printf("Queue read/write = %d/%d\n", fas_queue[0].read_idx,
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fas_queue[0].next_write_idx);
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assert(!s.isQueueEmpty());
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assert(s.isQueueFull());
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puts("...done");
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}
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void queue_out_of_range() {
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int8_t res;
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puts("queue_out_of_range...");
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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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assert(s.isQueueEmpty());
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assert(0 == s.getCurrentPosition());
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assert(s.isQueueEmpty());
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assert(s.isQueueEmpty());
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uint16_t ticks = s.getMaxSpeedInTicks();
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ticks = ticks - 1;
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struct stepper_command_s cmd2 = {
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.ticks = ticks, .steps = 255, .count_up = true};
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res = s.addQueueEntry(&cmd2);
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test(res == AQE_ERROR_TICKS_TOO_LOW, "Too low ticks should trigger an error");
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assert(s.isQueueEmpty());
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struct stepper_command_s cmd3 = {
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.ticks = MIN_CMD_TICKS - 1, .steps = 1, .count_up = true};
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res = s.addQueueEntry(&cmd3);
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test(res == AQE_ERROR_TICKS_TOO_LOW,
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"Too short command time should trigger an error");
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assert(s.isQueueEmpty());
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}
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void end_pos_test() {
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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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assert(0 == s.getPositionAfterCommandsCompleted());
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struct stepper_command_s cmd = {.ticks = 65535, .steps = 1, .count_up = true};
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assert(AQE_OK == s.addQueueEntry(&cmd));
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assert(1 == s.getPositionAfterCommandsCompleted());
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}
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int main() {
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// assert(sizeof(struct queue_entry) == 6);
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basic_test();
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queue_out_of_range();
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queue_full();
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end_pos_test();
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printf("TEST_01 PASSED\n");
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}
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