133 lines
4.0 KiB
C++
133 lines
4.0 KiB
C++
#include <assert.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <cinttypes>
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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 do_test(uint64_t dt) {
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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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// Reproduce test sequence 06
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assert(s.getDirectionPin() == PIN_UNDEFINED);
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uint32_t speed_us = 100;
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int32_t steps = 32000;
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assert(s.isQueueEmpty());
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s.setSpeedInUs(speed_us);
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s.setAcceleration(10000);
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s.fill_queue();
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assert(s.isQueueEmpty());
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s.move(steps);
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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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uint64_t next_speed_change = dt;
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uint64_t mid_point_ticks = 0;
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char fname[100];
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snprintf(fname, 100, "test_07.gnuplot");
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rc.start_plot(fname);
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for (int i = 0; i < 10 * steps; i++) {
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if (rc.total_ticks > next_speed_change) {
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next_speed_change += TICKS_PER_S / 10;
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speed_us = 190 - speed_us;
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printf("Change speed to %d\n", speed_us);
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s.setSpeedInUs(speed_us);
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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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if ((mid_point_ticks == 0) && (rc.pos >= steps / 2)) {
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mid_point_ticks = rc.total_ticks;
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}
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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 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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test(s.getCurrentPosition() <= steps, "has overshot");
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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() == steps, "has not reached target position");
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printf("Total time %f\n", rc.total_ticks / 16000000.0);
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printf("Time coasting = %d\n", rc.time_coasting);
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test(rc.time_coasting < 46000000, "too much coasting");
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printf("mid point @ %" PRIu64 " => total = %" PRIu64
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", total ticks = %" PRIu64 "\n",
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mid_point_ticks, 2 * mid_point_ticks, rc.total_ticks);
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#define ALLOWED_ASYMMETRY 1000000L
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printf("%ld\n", ALLOWED_ASYMMETRY);
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test(mid_point_ticks * 2 < rc.total_ticks + ALLOWED_ASYMMETRY,
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"ramp is not symmetric 1");
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test(mid_point_ticks * 2 > rc.total_ticks - ALLOWED_ASYMMETRY,
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"ramp is not symmetric 2");
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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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for (uint64_t time_shift = 0; time_shift < TICKS_PER_S / 10;
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time_shift += TICKS_PER_S / 7000) {
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test.do_test(time_shift);
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}
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printf("TEST_07 PASSED\n");
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return 0;
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}
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