start with test case for issue #262

.gitignore

@@ -32,4 +32,3 @@ extras/tests/simavr_based/test_sd*/Makefile
 extras/tests/simavr_based/test_seq*/Makefile
 extras/tests/esp32_hw_based/*.log
 library.properties
-examples

examples/Issue262/Issue262.ino

@@ -0,0 +1,75 @@
+#include <FastAccelStepper.h>
+
+#define stepPin 9
+#define dirPin 5
+#define USB_BAUD 250000
+
+FastAccelStepperEngine engine = FastAccelStepperEngine();
+FastAccelStepper *stepper = NULL;
+
+const int32_t quickAcc = 100000 * 4;
+const int32_t acc = 2000;
+const int32_t minSpeed = 1;
+const int32_t maxSpeed = 2000;
+
+void memoryMix() {
+  delay(30);
+}
+
+void setup() {
+  engine.init();
+  stepper = engine.stepperConnectToPin(stepPin);
+  stepper->setDirectionPin(dirPin);
+  Serial.begin(USB_BAUD);
+  randomSeed(42);
+
+}
+
+void loop() {
+  uint32_t sp, oldSp;
+  int i, count;
+  long target;
+ // Serial.println("Starting");
+  target = random(minSpeed, maxSpeed);
+  stepper->setAcceleration(acc);
+  stepper->setSpeedInHz(target);
+  stepper->runForward();
+  while (stepper-> getCurrentSpeedInMilliHz()/1000 < target - 100)
+    {};
+ // Serial.println("Stopping");
+  stepper ->moveByAcceleration(-quickAcc, false);
+  stepper ->applySpeedAcceleration();
+  oldSp = stepper -> getCurrentSpeedInMilliHz();
+  count = 0;
+  while ((sp = stepper -> getCurrentSpeedInMilliHz()) != 0) {
+    count ++;
+    if (count > 20) {
+      Serial.print("No stop iter ");
+      Serial.print(count);
+      Serial.print(".");
+      if (!stepper -> isRunning())
+        Serial.print("isRunning() reports stopped");
+      Serial.println();
+  }
+    if (sp > oldSp) {
+      Serial.print("Speed moves wrong way ");
+      Serial.print(sp);
+      Serial.print(">");
+      Serial.print(oldSp);
+      Serial.println();
+    }
+    oldSp = sp;
+    memoryMix();
+  }
+  for (i =0; i< 100; i++) {
+    memoryMix();
+    sp = stepper-> getCurrentSpeedInMilliHz();
+    if (sp !=0) {
+      Serial.print("Speed error. Received value: ");
+      Serial.print(sp);
+      Serial.print(". Target speed was ");
+      Serial.print(target);
+      Serial.println();
+    }
+  }
+}

extras/tests/simavr_based/test_issue262/.gitignore

@@ -0,0 +1 @@
+src/

extras/tests/simavr_based/test_issue262/Makefile

@@ -0,0 +1,132 @@
+#
+# In order to execute the test for one directory use:
+#
+# 	make -C test_sd_01b_328p -f ../Makefile.test
+
+SRC=$(wildcard ../../../src/*) $(wildcard src/*)
+
+# platformio should contain only one env section.
+# This section states the dut name
+#		atmega168
+#		atmega168p
+#		atmega328
+#		atmega328p
+#		atmega2560_timer1
+#		atmega2560_timer3
+#		atmega2560_timer4
+#		atmega2560_timer5
+#
+
+DUT=$(shell gawk '/env:/{print(substr($$1,6,length($$1)-6))}' platformio.ini)
+
+TRACES=-at StepISR=trace@0x25/0x08     # PB3
+TRACES+=-at FillISR=trace@0x25/0x10     # PB4
+
+#
+ifeq ($(DUT),atmega2560_timer1)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x025/0x20 #OC1A PB5 11 ATMega2560
+TRACES+=-at StepB=trace@0x025/0x40 #OC1B PB6 12 ATMega2560
+TRACES+=-at StepC=trace@0x025/0x80 #OC1C PB7 13 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer3)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x02e/0x08 #OC3A PE3 5 ATMega2560
+TRACES+=-at StepB=trace@0x02e/0x10 #OC3B PE4 2 ATMega2560
+TRACES+=-at StepC=trace@0x02e/0x20 #OC3C PE5 3 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer4)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x102/0x08 #OC4A PH3 6 ATMega2560
+TRACES+=-at StepB=trace@0x102/0x10 #OC4B PH4 7 ATMega2560
+TRACES+=-at StepC=trace@0x102/0x20 #OC4C PH5 8 ATMega2560
+#
+else ifeq ($(DUT),atmega2560_timer5)
+DEVICE=atmega2560
+TRACES+=-at StepA=trace@0x10b/0x08 #OC5A PL3 46 ATMega2560
+TRACES+=-at StepB=trace@0x10b/0x10 #OC5B PL4 45 ATMega2560
+TRACES+=-at StepC=trace@0x10b/0x20 #OC5C PL5 44 ATMega2560
+
+else ifeq ($(DUT),atmega168)
+DEVICE=atmega168
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  atmega168
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 atmega168
+
+else ifeq ($(DUT),atmega168p)
+DEVICE=atmega168p
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  atmega168p
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 atmega168p
+
+else ifeq ($(DUT),atmega328)
+DEVICE=atmega328
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  ATMega328
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 ATMega328
+
+else ifeq ($(DUT),atmega328p)
+DEVICE=atmega328p
+TRACES+=-at StepA=trace@0x25/0x02  #OC1A PB1 9  ATMega328p
+TRACES+=-at StepB=trace@0x25/0x04  #OC1B PB2 10 ATMega328p
+
+else ifeq ($(DUT),atmega32u4)
+DEVICE=atmega32u4
+TRACES+=-at StepA=trace@0x025/0x20 #OC1A PB5 11
+TRACES+=-at StepB=trace@0x025/0x40 #OC1B PB6 12
+#TRACES+=-at StepC=trace@0x025/0x80 #OC1C PB7 13
+
+endif
+
+ifeq ($(DEVICE),atmega2560)
+TRACES+=-at DirA=trace@0x2b/0x01     # Pin 21 PD0
+TRACES+=-at DirB=trace@0x2b/0x02     # Pin 20 PD1
+TRACES+=-at DirC=trace@0x10b/0x80    # Pin 42 PL7
+TRACES+=-at EnableA=trace@0x2b/0x04  # Pin 19 PD2
+TRACES+=-at EnableB=trace@0x2b/0x08  # Pin 18 PD3
+TRACES+=-at EnableC=trace@0x10b/0x40 # Pin 43 PL6
+
+else ifeq ($(DEVICE),$(filter $(DEVICE),atmega168 atmega168p atmega328 atmega328p))
+TRACES+=-at DirA=trace@0x2b/0x20     # Pin 5  PD5
+TRACES+=-at DirB=trace@0x2b/0x80     # Pin 7  PD7
+TRACES+=-at EnableA=trace@0x2b/0x40  # Pin 6  PD6
+TRACES+=-at EnableB=trace@0x25/0x01  # Pin 8  PB0
+
+else ifeq ($(DUT),atmega32u4)
+TRACES+=-at DirA=trace@0x25/0x10     # Pin 26 PB4
+TRACES+=-at DirB=trace@0x25/0x08     # Pin 14 PB3
+#TRACES+=-at DirC=trace@0x10b/0x80    # Pin 42 PL7
+TRACES+=-at EnableA=trace@0x25/0x04  # Pin 16 PB2
+TRACES+=-at EnableB=trace@0x25/0x02  # Pin 15 PB1
+#TRACES+=-at EnableC=trace@0x10b/0x40 # Pin 43 PL6
+
+endif 
+
+FIRMWARE=".pio/build/$(DUT)/firmware.elf"
+
+DIR=$(shell env pwd)
+
+ifndef SILENCE
+	SILENCE=0
+endif
+
+test: .tested
+
+.tested: result.txt expect.txt ../judge.awk
+	echo DUT=$(DUT)
+	rm -f .tested
+	gawk -f ../judge.awk -v DIR=$(DIR) result.txt expect.txt
+	test -f .tested
+
+result.txt: x.vcd
+	gawk -v SILENCE=$(SILENCE) -f ../eval.awk x.vcd >/dev/null
+	cat expect.txt
+
+x.vcd: $(SRC) ../run_avr platformio.ini src/Issue262.ino
+	~/.platformio/penv/bin/pio run -e $(DUT) || ~/.local/bin/pio run -e $(DUT) || env pio run -e $(DUT)
+	../run_avr $(FIRMWARE) -m $(DEVICE) -o x.vcd $(TRACES)
+
+src/Issue262.ino:
+	mkdir -p src
+	cd src; ln -s ../../../../../examples/Issue262/Issue262.ino .
+
+clean:
+	rm -fR .pio .tested x.vcd result.txt
+

extras/tests/simavr_based/test_issue262/platformio.ini

@@ -0,0 +1,31 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[platformio]
+
+# There should be only one env section for the DUT under test.
+# One of
+#	atmega168p
+#	atmega328p
+#   atmega2560_timer1
+#   atmega2560_timer3
+#   atmega2560_timer4
+#   atmega2560_timer5
+#
+[common]
+# This is the line input to StepperDemo:
+build_flags = -D SIMULATOR -D SIMAVR_TIME_MEASUREMENT
+
+[env:atmega328p]
+platform    = atmelavr
+board       = nanoatmega328
+framework   = arduino
+build_flags = -Werror -Wall ${common.build_flags}
+lib_extra_dirs = ../../../../..