finalize fix/test for issue #250

CHANGELOG.md

@@ -1,5 +1,5 @@
 TODO:
-- Different behavior avr vs pc-based tests to be analyzed
+- Different behavior avr vs pc-based testgis to be analyzed
 - #include-file structure needs to be cleaned up
 - setCurrentPosition() should adjust the maintained last position bits in queue. can be called a bug
 - rename PoorManFloat to e.g. Log2Representation
@@ -8,6 +8,9 @@ TODO:
 
 pre-0.30.12:
 - esp32: fix deprecation warning for `rmt_memory_rw_rst()`
+- simavr-tests: 
+- avr: Fix issue #250
+- avr: In course of issue #250, interrupt blocks of 20us from application are tested.
 
 0.30.11:
 - esp32s3: add support for rmt from patch #225

README.md

@@ -500,4 +500,4 @@ As mentioned by kthod861 in [Issue #110](https://github.com/gin66/FastAccelStepp
 - Thanks DaAwesomeP for the extension to ATmega 168/168P/328 (https://github.com/gin66/FastAccelStepper/pull/179)
 - Thanks turley for the patch for missing `_stepper_cnt` initialization (https://github.com/gin66/FastAccelStepper/pull/204)
 - Thanks GarmischWg for adding rmt-support to ESP32-S3 (https://github.com/gin66/FastAccelStepper/pull/225)
-
+- THanks SHWotever for avr patch to fix missing direction pin toggle (https://github.com/gin66/FastAccelStepper/pull/252)

examples/Issue250/Issue250.ino

@@ -39,11 +39,12 @@ void setup() {
 
 uint16_t loopcnt = 0;
 
+// fails with blocking 30us
 #ifndef BLOCK_INTERRUPT_US 
-#define BLOCK_INTERRUPT_US 30
+#define BLOCK_INTERRUPT_US 20
 #endif
 #ifndef TOGGLE_DIRECTION
-#define TOGGLE_DIRECTION false
+#define TOGGLE_DIRECTION true
 #endif
 #ifndef USE_MOVETO
 #define USE_MOVETO true

extras/tests/simavr_based/test_sd_04_timing_2560/expect.txt

@@ -4,9 +4,9 @@
  EnableA:        1*L->H,        1*H->L
  EnableB:        2*L->H,        1*H->L
  EnableC:        2*L->H,        1*H->L
-   StepA:    64000*L->H,    64000*H->L, Max High=29us Total High=380000us
-   StepB:    64000*L->H,    64000*H->L, Max High=34us Total High=507758us
-   StepC:    64000*L->H,    64000*H->L, Max High=40us Total High=629247us
+   StepA:    64000*L->H,    64000*H->L, Max High=25us Total High=396526us
+   StepB:    64000*L->H,    64000*H->L, Max High=35us Total High=418067us
+   StepC:    64000*L->H,    64000*H->L, Max High=41us Total High=635308us
 Position[A]=64000
 
 Position[B]=64000
@@ -19,11 +19,11 @@ Time in EnableB  max=246080 us, total=246080 us
 
 Time in EnableC  max=254236 us, total=254236 us
 
-Time in FillISR  max=2849 us, total=2127254 us
+Time in FillISR  max=2866 us, total=2158540 us
 
-Time in StepA  max=29 us, total=380000 us
+Time in StepA  max=25 us, total=396526 us
 
-Time in StepB  max=34 us, total=507758 us
+Time in StepB  max=35 us, total=418067 us
 
-Time in StepC  max=40 us, total=629247 us
+Time in StepC  max=41 us, total=635308 us
 

extras/tests/simavr_based/test_sd_04_timing_328p/expect.txt

@@ -2,21 +2,21 @@
     DirB:        1*L->H,        0*H->L
  EnableA:        1*L->H,        1*H->L
  EnableB:        2*L->H,        1*H->L
-   StepA:     1000*L->H,     1000*H->L, Max High=14us Total High=5335us
-   StepB:     1000*L->H,     1000*H->L, Max High=16us Total High=5809us
+   StepA:     1000*L->H,     1000*H->L, Max High=15us Total High=5588us
+   StepB:     1000*L->H,     1000*H->L, Max High=15us Total High=5832us
 Position[A]=1000
 
 Position[B]=1000
 
 Time in EnableA  max=225398 us, total=225398 us
 
-Time in EnableB  max=238116 us, total=238116 us
+Time in EnableB  max=238117 us, total=238117 us
 
-Time in FillISR  max=2642 us, total=47687 us
+Time in FillISR  max=2645 us, total=47801 us
 
-Time in StepA  max=14 us, total=5335 us
+Time in StepA  max=15 us, total=5588 us
 
-Time in StepB  max=16 us, total=5809 us
+Time in StepB  max=15 us, total=5832 us
 
-Time in StepISR  max=7 us, total=9300 us
+Time in StepISR  max=7 us, total=9366 us
 

extras/tests/simavr_based/test_sd_04_timing_328p_37k/expect.txt

@@ -2,15 +2,15 @@
     DirB:        1*L->H,        0*H->L
  EnableA:        1*L->H,        1*H->L
  EnableB:        1*L->H,        0*H->L
-   StepA:     1000*L->H,     1000*H->L, Max High=10us Total High=5028us
+   StepA:     1000*L->H,     1000*H->L, Max High=10us Total High=5265us
    StepB:        0*L->H,        0*H->L, Max High=0us Total High=0us
 Position[A]=1000
 
 Time in EnableA  max=225399 us, total=225399 us
 
-Time in FillISR  max=2014 us, total=27533 us
+Time in FillISR  max=2015 us, total=27562 us
 
-Time in StepA  max=10 us, total=5028 us
+Time in StepA  max=10 us, total=5265 us
 
-Time in StepISR  max=7 us, total=4581 us
+Time in StepISR  max=7 us, total=4614 us