finalizing pulse counter for debugging

README.md

@@ -239,6 +239,21 @@ cd pio_dirs/StepperDemo
 pio run -e avr --target upload --upload-port /dev/ttyUSB0
 ```
 
+## TEST STRATEGY
+
+The library is tested with different kind of tests:
+* PC only, which reside in tests/.
+  These tests focussing primarily the ramp generator and part of the API
+* simavr based for avr
+  The simavr is an excellent simulator for avr microcontrollers. This allows to check the avr implementation thoroughly and even count the number of steps generated. Tested code is mainly the StepperDemo, which gets fed in a line of commands to execute.
+  These tests focus on avr and help to check the whole library code and helps for esp32
+* esp32 tests with another pulse counter attached
+  The FastAccelStepper-API supports to attach another free pulse counter to a stepper's step and dir pins. This counter counts in the range of -16383 to 16383 with wrap around to 0. The test condition is, that the library's view of the position should match the independently counted one. These tests are still evolving
+* Test for pulse generation using examples/Pulses
+  This has been intensively used to debug the esp32 ISR code
+* manual tests using StepperDemo
+  These are unstructured tests with listening to the motor and observing the behavior
+
 ## CHANGELOG
 
 See [changelog](https://github.com/gin66/FastAccelStepper/blob/master/CHANGELOG)

examples/StepperDemo/StepperDemo.ino

@@ -6,7 +6,7 @@
 #include <avr/sleep.h>
 #endif
 
-#define VERSION "post-d6679bd"
+#define VERSION "post-c651c61"
 
 struct stepper_config_s {
   uint8_t step;
@@ -264,7 +264,12 @@ const static char messages[] PROGMEM =
 #define MSG_CANNOT_SET_DIRECTION_PIN 37
     "Cannot set direction pin to |"
 #define MSG_STEPPER_VERSION 38
-    "StepperDemo Version " VERSION "\n|";
+    "StepperDemo Version " VERSION
+    "\n|"
+#define MSG_ATTACH_PULSE_COUNTER 39
+    "Attach pulse counter |"
+#define MSG_ERROR_ATTACH_PULSE_COUNTER 40
+    "ERROR attaching pulse counter\n|";
 
 void output_msg(int8_t i) {
   char ch;
@@ -434,9 +439,16 @@ uint32_t pause_ms = 0;
 uint32_t pause_start = 0;
 
 void info(FastAccelStepper *s) {
+  Serial.print('@');
+  Serial.print(s->getCurrentPosition());
+#if defined(ARDUINO_ARCH_ESP32)
+  if (s->pulseCounterAttached()) {
+    Serial.print(" [");
+    Serial.print(s->readPulseCounter());
+    Serial.print(']');
+  }
+#endif
   if (s->isRunning()) {
-    Serial.print("@");
-    Serial.print(s->getCurrentPosition());
     if (s->isRunningContinuously()) {
       Serial.print(" nonstop");
     } else {
@@ -445,7 +457,7 @@ void info(FastAccelStepper *s) {
     }
     Serial.print(" QueueEnd=");
     Serial.print(s->getPositionAfterCommandsCompleted());
-    Serial.print("/");
+    Serial.print('/');
     Serial.print(s->getPeriodAfterCommandsCompleted());
     Serial.print("us");
     if (s->isRampGeneratorActive()) {
@@ -474,11 +486,8 @@ void info(FastAccelStepper *s) {
     } else {
       Serial.print(" MANU");
     }
-  } else {
-    Serial.print("@");
-    Serial.print(s->getPositionAfterCommandsCompleted());
   }
-  Serial.print(" ");
+  Serial.print(' ');
 }
 
 const static char usage_str[] PROGMEM =
@@ -516,6 +525,7 @@ const static char usage_str[] PROGMEM =
     "     T         ... Test selected motor with direct port access\n"
 #if defined(ARDUINO_ARCH_ESP32)
     "     r         ... Call ESP.restart()\n"
+    "     p<n>      ... Attach pulse counter n<=7\n"
 #endif
     "     t         ... Enter test mode\n"
     "     Q         ... Toggle print usage on motor stop\n"
@@ -547,7 +557,7 @@ void stepper_info() {
       } else {
         Serial.print("   ");
       }
-      Serial.print("M");
+      Serial.print('M');
       Serial.print(i + 1);
       Serial.print(": ");
       info(stepper[i]);
@@ -585,7 +595,7 @@ void usage() {
 void output_info() {
   for (uint8_t i = 0; i < MAX_STEPPER; i++) {
     if (stepper[i]) {
-      Serial.print("M");
+      Serial.print('M');
       Serial.print(i + 1);
       Serial.print(": ");
       info(stepper[i]);
@@ -793,6 +803,15 @@ void loop() {
               output_msg(MSG_STEPPED_BACKWARD);
             }
           }
+#if defined(ARDUINO_ARCH_ESP32)
+          else if (sscanf(out_buffer, "p%lu", &val) == 1) {
+            output_msg(MSG_ATTACH_PULSE_COUNTER);
+            Serial.println(val);
+            if (!stepper_selected->attachToPulseCounter(val)) {
+               output_msg(MSG_ERROR_ATTACH_PULSE_COUNTER);
+		    }
+          }
+#endif
         } else {
           if (strcmp(out_buffer, "x") == 0) {
             output_msg(MSG_EXIT_TO_MAIN_MENU);

examples/StepperDemo/test_seq_08.cpp

@@ -21,10 +21,10 @@ bool test_seq_08(FastAccelStepper *stepper, struct test_seq_s *seq,
     case 0:  // INIT
       srand(135);
       if (!stepper->attachToPulseCounter(7)) {
-		  Serial.println("Error attaching to pulse counter");
-          seq->state = TEST_STATE_ERROR;
-          return true;
-	  }
+        Serial.println("Error attaching to pulse counter");
+        seq->state = TEST_STATE_ERROR;
+        return true;
+      }
       seq->u32_1 = time_ms;
       seq->state++;
       break;

src/FastAccelStepper.cpp

@@ -705,13 +705,13 @@ void FastAccelStepper::reAttachToPin() { fas_queue[_queue_num].connect(); }
 bool FastAccelStepper::attachToPulseCounter(uint8_t pcnt_unit) {
   if (pcnt_unit < 8) {
     if (_esp32_attachToPulseCounter(pcnt_unit, this)) {
-		_attached_pulse_cnt_unit = pcnt_unit;
-		return true;
-	}
+      _attached_pulse_cnt_unit = pcnt_unit;
+      return true;
+    }
   }
   return false;
 }
-uint16_t FastAccelStepper::readPulseCounter() {
+int16_t FastAccelStepper::readPulseCounter() {
   if (_attached_pulse_cnt_unit >= 0) {
     return _esp32_readPulseCounter(_attached_pulse_cnt_unit);
   }

src/FastAccelStepper.h

@@ -261,8 +261,23 @@ class FastAccelStepper {
   void reAttachToPin();
 
 #if defined(ARDUINO_ARCH_ESP32)
+  // These two functions are only available on esp32.
+  // The first can attach any of the eight pulse counters to this stepper.
+  // The second then will read the current pulse counter value
+  //
+  // The user is responsible to not use a pulse counter, which is occupied by a
+  // stepper and by this render the stepper or even blow up the uC.
+  //
+  // Pulse counter 6 and 7 are not used by the stepper library and are judged as
+  // available. If only five steppers are defined, then 5 gets available. If
+  // four steppers are defined, then 4 is usable,too.
+  //
+  // The function are intended for testing, because the library should always
+  // output the correct amount of pulses. Possible application usage would be an
+  // immediate and interrupt friendly version for getCurrentPosition()
   bool attachToPulseCounter(uint8_t pcnt_unit);
-  uint16_t readPulseCounter();
+  int16_t readPulseCounter();
+  bool pulseCounterAttached() { return _attached_pulse_cnt_unit >= 0; }
 #endif
 
  private:

src/StepperISR_esp32.cpp

@@ -387,27 +387,14 @@ void StepperQueue::forceStop() {
 bool StepperQueue::isValidStepPin(uint8_t step_pin) { return true; }
 int8_t StepperQueue::queueNumForStepPin(uint8_t step_pin) { return -1; }
 
-
-uint32_t sig_idx[8] = {
-	PCNT_SIG_CH0_IN0_IDX,
-	PCNT_SIG_CH0_IN1_IDX,
-	PCNT_SIG_CH0_IN2_IDX,
-	PCNT_SIG_CH0_IN3_IDX,
-	PCNT_SIG_CH0_IN4_IDX,
-	PCNT_SIG_CH0_IN5_IDX,
-	PCNT_SIG_CH0_IN6_IDX,
-	PCNT_SIG_CH0_IN7_IDX
-};
-uint32_t ctrl_idx[8] = {
-	PCNT_CTRL_CH0_IN0_IDX,
-	PCNT_CTRL_CH0_IN1_IDX,
-	PCNT_CTRL_CH0_IN2_IDX,
-	PCNT_CTRL_CH0_IN3_IDX,
-	PCNT_CTRL_CH0_IN4_IDX,
-	PCNT_CTRL_CH0_IN5_IDX,
-	PCNT_CTRL_CH0_IN6_IDX,
-	PCNT_CTRL_CH0_IN7_IDX
-};
+uint32_t sig_idx[8] = {PCNT_SIG_CH0_IN0_IDX, PCNT_SIG_CH0_IN1_IDX,
+                       PCNT_SIG_CH0_IN2_IDX, PCNT_SIG_CH0_IN3_IDX,
+                       PCNT_SIG_CH0_IN4_IDX, PCNT_SIG_CH0_IN5_IDX,
+                       PCNT_SIG_CH0_IN6_IDX, PCNT_SIG_CH0_IN7_IDX};
+uint32_t ctrl_idx[8] = {PCNT_CTRL_CH0_IN0_IDX, PCNT_CTRL_CH0_IN1_IDX,
+                        PCNT_CTRL_CH0_IN2_IDX, PCNT_CTRL_CH0_IN3_IDX,
+                        PCNT_CTRL_CH0_IN4_IDX, PCNT_CTRL_CH0_IN5_IDX,
+                        PCNT_CTRL_CH0_IN6_IDX, PCNT_CTRL_CH0_IN7_IDX};
 
 bool _esp32_attachToPulseCounter(uint8_t pcnt_unit, FastAccelStepper *stepper) {
   // TODO: Check if free pulse counter