add first test for moveTimed

examples/MoveTimed/MoveTimed.ino

@@ -1,6 +1,9 @@
 #if defined(ARDUINO_ARCH_AVR)
 #include "AVRStepperPins.h"
 #include "FastAccelStepper.h"
+#ifdef SIMULATOR
+#include <avr/sleep.h>
+#endif
 
 // As in StepperDemo for Motor 1 on AVR
 #define dirPinStepperX    5
@@ -19,14 +22,13 @@ FastAccelStepper *stepperY = NULL;
 struct control_s {
   uint64_t time;
   uint16_t phi;
-  bool is_running;
   uint16_t drift;  // time delta in ticks
 };
 struct control_s controlX = {
-  .time = 0, .phi = 0, .is_running = false, .drift = 0
+  .time = 0, .phi = 0, .drift = 0
 };
 struct control_s controlY = {
-  .time = 0, .phi = 90, .is_running = false, .drift = 0
+  .time = 0, .phi = 90, .drift = 0
 };
 
 // This means, the circle is executed in 360*4ms = 1440ms
@@ -57,6 +59,8 @@ void setup() {
   stepperY->setEnablePin(enablePinStepperY);
   stepperY->setAutoEnable(false);
 
+  stepperY->setCurrentPosition(steps[90]);
+
   // Without auto enable, need to enable manually both steppers
   stepperX->enableOutputs();
   stepperY->enableOutputs();
@@ -71,12 +75,10 @@ void setup() {
 }
 
 void moveStepper(FastAccelStepper *stepper, struct control_s *control) {
-   if (control->phi == 360) {
-      control->phi = 0;
-   }
+   uint16_t phi = control->phi % 360;
 
    // The table contains only one quadrant
-   uint16_t index = control->phi;
+   uint16_t index = phi;
    bool negate = false;
    if (index > 180) {
       negate = true;
@@ -90,16 +92,6 @@ void moveStepper(FastAccelStepper *stepper, struct control_s *control) {
       position = -position;
    }
    int32_t current_position = stepper->getPositionAfterCommandsCompleted();
-   if (!control->is_running) {
-      // we need to wait until current_position and position match
-      if (position != current_position) {
-         // just advance time and phi
-         control->time += TIMESTEP_TICKS;
-         control->phi += 1;
-         return;
-      }
-      control->is_running = true;
-   }
    int32_t steps = position - current_position;
    uint32_t actual;
    int8_t rc;
@@ -141,6 +133,8 @@ void loop() {
     Serial.print(' ');
     Serial.print(stepperX->getPositionAfterCommandsCompleted());
     Serial.print(' ');
+    Serial.print(stepperY->getPositionAfterCommandsCompleted());
+    Serial.print(' ');
     Serial.println(millis());
     last_millis = millis();
   }
@@ -151,6 +145,15 @@ void loop() {
   else {
     moveStepper(stepperY, &controlY);
   }
+  if ((controlX.phi != 361) && (controlY.phi != 451)) {
+     return;
+  }
+  // Full round should be completed
+#ifdef SIMULATOR
+  delay(1000);
+  noInterrupts();
+  sleep_cpu();
+#endif
 }
 #else
 void setup() {}

extras/tests/simavr_based/test_moveTimed/.gitignore

@@ -0,0 +1,2 @@
+src/
+x.log

extras/tests/simavr_based/test_moveTimed/Makefile

@@ -0,0 +1,130 @@
+#
+# 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)
+
+test: .tested
+
+.tested: result.txt ../judge_pos0.awk
+	echo DUT=$(DUT)
+	rm -f .tested
+	gawk -f ../judge_pos0.awk -v DIR=$(DIR) result.txt
+	test -f .tested
+
+result.txt: x.vcd
+	gawk -f ../eval.awk x.vcd >x.log
+	mv result.txt result.tmp
+	gawk -f log2pos.awk x.log
+	mv result.tmp result.txt
+
+x.vcd: $(SRC) ../run_avr platformio.ini src/MoveTimed.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/MoveTimed.ino:
+	mkdir -p src
+	cd src; ln -s ../../../../../examples/MoveTimed/MoveTimed.ino .
+
+clean:
+	rm -fR .pio .tested x.vcd result.txt
+

extras/tests/simavr_based/test_moveTimed/log2pos.awk

@@ -0,0 +1,24 @@
+BEGIN {
+   posX = 0
+   posY = 1600
+   FS = "[ =]"
+   ret = 0
+}
+
+/A: position=/{
+   posX = $6
+}
+/B: position=/{
+   posY = $6+1600
+}
+/: position/ {
+   r = sqrt(posX*posX+posY*posY)
+   if ((r > 1602) || (r < 1597)) {
+      print(posX,posY,r)
+      ret = -1
+   }
+}
+
+END {
+   exit(ret)
+}

extras/tests/simavr_based/test_moveTimed/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 = .