add parameter realtime to getCurrentSpeedIn...()

CHANGELOG.md

@@ -7,8 +7,8 @@ TODO:
 - merge the two esp32 rmt drivers as soon as esp32c3 works
 
 pre-0.30.7:
-- Fix for issue #208: close to speed reversal is the sign of current speed incorrect.
-  Still the speed increase during acceleration/deceleraion is not monotonic
+- Fix for issue #208: the sign of current speed may be incorrect close to direction change 
+- The functions `getCurrentSpeedInMilliHz()` and `getCurrentSpeedInUs()` have been extended to supply a bool parameter about being realtime.
 
 0.30.6:
 - Support for ESP32C3

examples/Issue208/Issue208.ino

@@ -19,59 +19,61 @@ FastAccelStepperEngine engine = FastAccelStepperEngine();
 FastAccelStepper *stepper;
 
 bool test() {
+  bool verbose = false;
   int32_t errCnt = 0;
   Serial.println("Start test: speed up");
   int32_t last_v_mHz = 0;
   stepper->setAcceleration(10000);
   stepper->setSpeedInHz(36800);
   stepper->runForward();
 
-  while(stepper->rampState() != (RAMP_STATE_COAST | RAMP_DIRECTION_COUNT_UP)) {
-     int32_t v_mHz = stepper->getCurrentSpeedInMilliHz();
-     if (v_mHz == last_v_mHz) {
-        continue;
-     }
-     Serial.println(v_mHz);
-     if (v_mHz < last_v_mHz) {
-        Serial.print("FAIL: last=");
-        Serial.print(last_v_mHz);
-        Serial.print("  new=");
-        Serial.println(v_mHz);
-        errCnt++;
- //       return false;
-     }
-     last_v_mHz = v_mHz;
+  while (stepper->rampState() != (RAMP_STATE_COAST | RAMP_DIRECTION_COUNT_UP)) {
+    int32_t v_mHz = stepper->getCurrentSpeedInMilliHz(false);
+    if (v_mHz == last_v_mHz) {
+      continue;
+    }
+    if (verbose) Serial.println(v_mHz);
+    if (v_mHz < last_v_mHz) {
+      Serial.print("FAIL: last=");
+      Serial.print(last_v_mHz);
+      Serial.print("  new=");
+      Serial.println(v_mHz);
+      errCnt++;
+      //       return false;
+    }
+    last_v_mHz = v_mHz;
   }
   // There can be still speed increases in the queue, even so the ramp generator
   // is already coasting
   delay(20);
-  last_v_mHz = stepper->getCurrentSpeedInMilliHz();
+  last_v_mHz = stepper->getCurrentSpeedInMilliHz(false);
 
   Serial.println("Reverse");
 
   stepper->runBackward();
 
-  while(stepper->rampState() != (RAMP_STATE_COAST | RAMP_DIRECTION_COUNT_DOWN)) {
-     int32_t v_mHz = stepper->getCurrentSpeedInMilliHz();
-     if (v_mHz == last_v_mHz) {
-        continue;
-     }
-     Serial.println(v_mHz);
-     if (v_mHz > last_v_mHz) {
-        Serial.print("FAIL: last=");
-        Serial.print(last_v_mHz);
-        Serial.print("  new=");
-        Serial.println(v_mHz);
-        errCnt++;
- //       return false;
-     }
-     last_v_mHz = v_mHz;
+  while (stepper->rampState() !=
+         (RAMP_STATE_COAST | RAMP_DIRECTION_COUNT_DOWN)) {
+    int32_t v_mHz = stepper->getCurrentSpeedInMilliHz(false);
+    if (v_mHz == last_v_mHz) {
+      continue;
+    }
+    if (verbose) Serial.println(v_mHz);
+    if (v_mHz > last_v_mHz) {
+      Serial.print("FAIL: last=");
+      Serial.print(last_v_mHz);
+      Serial.print("  new=");
+      Serial.println(v_mHz);
+      errCnt++;
+      //       return false;
+    }
+    last_v_mHz = v_mHz;
   }
   if (errCnt > 0) {
-     Serial.print("Errors=");
-     Serial.println(errCnt);
+    Serial.print("Errors=");
+    Serial.println(errCnt);
   }
-  return errCnt != 0;
+  return errCnt == 0;
 }
 
 void setup() {
@@ -112,8 +114,7 @@ void setup() {
     Serial.println("PASS");
     digitalWrite(PIN, HIGH);
     digitalWrite(PIN, LOW);
-  }
-  else {
+  } else {
     Serial.println("FAIL");
   }
   delay(1000);
@@ -122,6 +123,4 @@ void setup() {
 #endif
 }
 
-
-void loop() {
-}
+void loop() {}

examples/StepperDemo/generic.h

@@ -13,7 +13,7 @@
 #error "Unsupported derivate"
 #endif
 
-#if defined(CONFIG_IDF_TARGET_ESP32C3) && (ARDUINO_USB_MODE==1)
+#if defined(CONFIG_IDF_TARGET_ESP32C3) && (ARDUINO_USB_MODE == 1)
 #define SerialInterface USBSerial
 #else
 #define SerialInterface Serial

extras/doc/FastAccelStepper_API.md

@@ -157,8 +157,8 @@ And the two directions of a move
 #define RAMP_DIRECTION_COUNT_DOWN 64
 ```
 A ramp state value of 2 is set after any move call on a stopped motor
-and until the stepper task. The stepper task will then control the direction
-flags
+and until the stepper task is serviced. The stepper task will then 
+control the direction flags
 
 ## Timing values - Architecture dependent
 
@@ -326,9 +326,22 @@ retrieves the actual speed.
 |   > 0 | while position counting up   |
 |   < 0 | while position counting down |
 
+If the parameter realtime is true, then the most actual speed
+from the stepper queue is derived. This works only, if the queue
+does not contain pauses, which is normally the case for slow speeds.
+Otherwise the speed from the ramp generator is reported, which is
+done always in case of `realtime == false`. That speed is typically
+the value of the speed a couple of milliseconds later.
+
+The drawback of `realtime == true` is, that the reported speed
+may either come from the queue or from the ramp generator.
+This means the returned speed may have jumps during
+acceleration/deceleration.
+
+For backward compatibility, the default is true.
 ```cpp
-  int32_t getCurrentSpeedInUs();
-  int32_t getCurrentSpeedInMilliHz();
+  int32_t getCurrentSpeedInUs(bool realtime = true);
+  int32_t getCurrentSpeedInMilliHz(bool realtime = true);
 ```
 ## Acceleration
  setAcceleration() expects as parameter the change of speed

extras/tests/simavr_based/test_issue208/expect.txt

@@ -1,20 +1,18 @@
     DirA:        0*L->H,        1*H->L
     DirB:        1*L->H,        0*H->L
- EnableA:        3*L->H,        2*H->L
+ EnableA:        0*L->H,        0*H->L
  EnableB:        0*L->H,        0*H->L
-   StepA:     1048*L->H,     1048*H->L, Max High=10us Total High=5476us
-   StepB:        2*L->H,        2*H->L, Max High=4us Total High=9us
-Position[A]=0
+   StepA:   235909*L->H,   235909*H->L, Max High=11us Total High=1237097us
+   StepB:        2*L->H,        2*H->L, Max High=13us Total High=17us
+Position[A]=37461
 
 Position[B]=2
 
-Time in EnableA  max=4204 us, total=8408 us
+Time in FillISR  max=769 us, total=1237221 us
 
-Time in FillISR  max=1906 us, total=25682 us
+Time in StepA  max=11 us, total=1237097 us
 
-Time in StepA  max=10 us, total=5476 us
+Time in StepB  max=13 us, total=17 us
 
-Time in StepB  max=4 us, total=9 us
-
-Time in StepISR  max=7 us, total=4875 us
+Time in StepISR  max=7 us, total=1021996 us
 

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=28us Total High=521699us
-   StepB:    64000*L->H,    64000*H->L, Max High=35us Total High=393630us
-   StepC:    64000*L->H,    64000*H->L, Max High=40us Total High=484932us
+   StepA:    64000*L->H,    64000*H->L, Max High=28us Total High=580688us
+   StepB:    64000*L->H,    64000*H->L, Max High=31us Total High=392513us
+   StepC:    64000*L->H,    64000*H->L, Max High=41us Total High=426208us
 Position[A]=64000
 
 Position[B]=64000
@@ -19,11 +19,11 @@ Time in EnableB  max=246080 us, total=246080 us
 
 Time in EnableC  max=254235 us, total=254235 us
 
-Time in FillISR  max=2686 us, total=2092758 us
+Time in FillISR  max=2686 us, total=2091889 us
 
-Time in StepA  max=28 us, total=521699 us
+Time in StepA  max=28 us, total=580688 us
 
-Time in StepB  max=35 us, total=393630 us
+Time in StepB  max=31 us, total=392513 us
 
-Time in StepC  max=40 us, total=484932 us
+Time in StepC  max=41 us, total=426208 us
 

extras/tests/simavr_based/test_sd_04_timing_328p/expect.txt

@@ -2,8 +2,8 @@
     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=13us Total High=5539us
-   StepB:     1000*L->H,     1000*H->L, Max High=15us Total High=5513us
+   StepA:     1000*L->H,     1000*H->L, Max High=13us Total High=5545us
+   StepB:     1000*L->H,     1000*H->L, Max High=16us Total High=5520us
 Position[A]=1000
 
 Position[B]=1000
@@ -12,11 +12,11 @@ Time in EnableA  max=225398 us, total=225398 us
 
 Time in EnableB  max=238116 us, total=238116 us
 
-Time in FillISR  max=2644 us, total=47660 us
+Time in FillISR  max=2644 us, total=47652 us
 
-Time in StepA  max=13 us, total=5539 us
+Time in StepA  max=13 us, total=5545 us
 
-Time in StepB  max=15 us, total=5513 us
+Time in StepB  max=16 us, total=5520 us
 
 Time in StepISR  max=7 us, total=9224 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=11us Total High=5276us
+   StepA:     1000*L->H,     1000*H->L, Max High=12us Total High=5274us
    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=2015 us, total=27549 us
+Time in FillISR  max=2015 us, total=27557 us
 
-Time in StepA  max=11 us, total=5276 us
+Time in StepA  max=12 us, total=5274 us
 
 Time in StepISR  max=7 us, total=4581 us
 

src/FastAccelStepper.cpp

@@ -775,32 +775,38 @@ uint32_t FastAccelStepper::getPeriodInUsAfterCommandsCompleted() {
   }
   return 0;
 }
-void FastAccelStepper::getCurrentSpeedInTicks(struct actual_ticks_s *speed) {
-  bool valid = fas_queue[_queue_num].getActualTicksWithDirection(speed);
+void FastAccelStepper::getCurrentSpeedInTicks(struct actual_ticks_s* speed,
+                                              bool realtime) {
+  bool valid;
+  if (realtime) {
+    valid = fas_queue[_queue_num].getActualTicksWithDirection(speed);
+  } else {
+    valid = false;
+  }
   if (!valid) {
     if (_rg.isRampGeneratorActive()) {
-	  _rg.getCurrentSpeedInTicks(speed);
-	}
+      _rg.getCurrentSpeedInTicks(speed);
+    }
   }
 }
-int32_t FastAccelStepper::getCurrentSpeedInUs() {
+int32_t FastAccelStepper::getCurrentSpeedInUs(bool realtime) {
   struct actual_ticks_s speed;
-  getCurrentSpeedInTicks(&speed);
+  getCurrentSpeedInTicks(&speed, realtime);
   int32_t speed_in_us = speed.ticks / (TICKS_PER_S / 1000000);
   if (speed.count_up) {
-	  return speed_in_us;
+    return speed_in_us;
   }
   return -speed_in_us;
 }
-int32_t FastAccelStepper::getCurrentSpeedInMilliHz() {
+int32_t FastAccelStepper::getCurrentSpeedInMilliHz(bool realtime) {
   struct actual_ticks_s speed;
-  getCurrentSpeedInTicks(&speed);
+  getCurrentSpeedInTicks(&speed, realtime);
   if (speed.ticks > 0) {
     int32_t speed_in_mhz = ((uint32_t)250 * TICKS_PER_S) / speed.ticks * 4;
-	if (speed.count_up) {
-		return speed_in_mhz;
-	}
-	return -speed_in_mhz;
+    if (speed.count_up) {
+      return speed_in_mhz;
+    }
+    return -speed_in_mhz;
   }
   return 0;
 }

src/FastAccelStepper.h

@@ -187,8 +187,8 @@ class FastAccelStepperEngine {
 #define RAMP_DIRECTION_COUNT_DOWN 64
 
 // A ramp state value of 2 is set after any move call on a stopped motor
-// and until the stepper task. The stepper task will then control the direction
-// flags
+// and until the stepper task is serviced. The stepper task will then 
+// control the direction flags
 
 #include "RampGenerator.h"
 
@@ -365,8 +365,21 @@ class FastAccelStepper {
   // |   > 0 | while position counting up   |
   // |   < 0 | while position counting down |
   //
-  int32_t getCurrentSpeedInUs();
-  int32_t getCurrentSpeedInMilliHz();
+  // If the parameter realtime is true, then the most actual speed
+  // from the stepper queue is derived. This works only, if the queue
+  // does not contain pauses, which is normally the case for slow speeds.
+  // Otherwise the speed from the ramp generator is reported, which is
+  // done always in case of `realtime == false`. That speed is typically
+  // the value of the speed a couple of milliseconds later.
+  //
+  // The drawback of `realtime == true` is, that the reported speed
+  // may either come from the queue or from the ramp generator.
+  // This means the returned speed may have jumps during
+  // acceleration/deceleration.
+  //
+  // For backward compatibility, the default is true.
+  int32_t getCurrentSpeedInUs(bool realtime = true);
+  int32_t getCurrentSpeedInMilliHz(bool realtime = true);
 
   // ## Acceleration
   //  setAcceleration() expects as parameter the change of speed
@@ -646,7 +659,7 @@ class FastAccelStepper {
   bool needAutoDisable();
   bool agreeWithAutoDisable();
   bool usesAutoEnablePin(uint8_t pin);
-  void getCurrentSpeedInTicks(struct actual_ticks_s *speed);
+  void getCurrentSpeedInTicks(struct actual_ticks_s* speed, bool realtime);
 
   FastAccelStepperEngine* _engine;
   RampGenerator _rg;

src/RampGenerator.h

@@ -92,9 +92,9 @@ class RampGenerator {
   void getCurrentSpeedInTicks(struct actual_ticks_s *speed) {
     fasDisableInterrupts();
     speed->ticks = _rw.curr_ticks;
-	uint8_t rs = _rw.rampState();
+    uint8_t rs = _rw.rampState();
     fasEnableInterrupts();
-	speed->count_up = ((rs & RAMP_DIRECTION_COUNT_UP) != 0);
+    speed->count_up = ((rs & RAMP_DIRECTION_COUNT_UP) != 0);
   }
   uint32_t getCurrentPeriodInTicks() {
     fasDisableInterrupts();