fix issue #152: lower max speed to 70kSteps/s

gin66 · Dec 7, 2022 · 86556d8 · 86556d8
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Showing 9 changed files with 24 additions and 21 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -3,8 +3,11 @@ TODO:
 - #include-file structure needs to be cleaned up
 - setCurrentPosition() should adjust the maintained last position bits in queue. can be called a bug
 
+0.28.3:
+- reduce AVR max single stepper speed to 70kSteps/s due to issue [Issue #152](https://github.com/gin66/FastAccelStepper/issues/152)
+
 0.28.2:
-- fix for issue [Issue #150](https://github.com/gin66/FastAccelStepper/issues/150)
+- fix for issue [Issue #150](https://github.com/gin66/FastAccelStepper/issues/150) for low speed not reducing below startup speed
 
 0.28.1:
 - try to fix [Issue #142](https://github.com/gin66/FastAccelStepper/issues/142) for esp32 mcpwm/pcnt and format code

diff --git a/README.md b/README.md
@@ -96,21 +96,21 @@ Comments to pin sharing:
 
 ### AVR ATMega 328
 
-* allows up to 76000 generated steps per second for single stepper operation, 37000 for dual stepper
+* allows up to 70000 generated steps per second for single stepper operation, 37000 for dual stepper
 * supports up to two stepper motors using Step/Direction/Enable Control (Direction and Enable is optional)
 * Uses `F_CPU` Macro for the relation tick value to time, so it should now not be limited to 16 MHz CPU frequency (untested)
 * Steppers' command queue depth: 16
 
 ### AVR ATMega 32u4
 
-* allows up to 76000 generated steps per second for single stepper operation, 37000 for dual stepper and 25000 for three steppers
+* allows up to 70000 generated steps per second for single stepper operation, 37000 for dual stepper and 25000 for three steppers
 * supports up to three stepper motors using Step/Direction/Enable Control (Direction and Enable is optional)
 * Uses `F_CPU` Macro for the relation tick value to time, so it should now not be limited to 16 MHz CPU frequency (untested)
 * Steppers' command queue depth: 16
 
 ### AVR ATMega 2560
 
-* allows up to 76000 generated steps per second for single stepper operation, 37000 for dual stepper and 25000 for three steppers
+* allows up to 70000 generated steps per second for single stepper operation, 37000 for dual stepper and 25000 for three steppers
 * supports up to three stepper motors using Step/Direction/Enable Control (Direction and Enable is optional)
 * Uses `F_CPU` Macro for the relation tick value to time, so it should now not be limited to 16 MHz CPU frequency (untested)
 * Steppers' command queue depth: 16

diff --git a/examples/Issue151/Issue151.ino b/examples/Issue151/Issue151.ino
@@ -40,7 +40,7 @@ void setup() {
 void loop() {
   // test to check single stepper high speed operation
   int32_t target = 20000;
-  stepper->setSpeedInHz(75000);
+  stepper->setSpeedInHz(70000);
   stepper->moveTo(target);
   while(stepper->isRunning()) {
   };

diff --git a/examples/Issue152/Issue152.ino b/examples/Issue152/Issue152.ino
@@ -40,7 +40,7 @@ void setup() {
 void loop() {
   // test to check single stepper high speed operation
   int32_t target = 20000;
-  stepper->setSpeedInHz(75000);
+  stepper->setSpeedInHz(70000);
   stepper->moveTo(target);
   while(stepper->isRunning()) {
   };

diff --git a/extras/tests/simavr_based/test_sd_04_timing_2560/expect.txt b/extras/tests/simavr_based/test_sd_04_timing_2560/expect.txt
@@ -17,7 +17,7 @@ Time in EnableA  max=217159 us, total=217159 us
 
 Time in EnableB  max=233738 us, total=233738 us
 
-Time in EnableC  max=242116 us, total=242116 us
+Time in EnableC  max=242115 us, total=242115 us
 
 Time in FillISR  max=3655 us, total=2140393 us
 

diff --git a/extras/tests/simavr_based/test_sd_04_timing_328p/expect.txt b/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=15us Total High=5505us
-   StepB:     1000*L->H,     1000*H->L, Max High=17us Total High=5540us
+   StepA:     1000*L->H,     1000*H->L, Max High=15us Total High=5504us
+   StepB:     1000*L->H,     1000*H->L, Max High=17us Total High=5497us
 Position[A]=1000
 
 Position[B]=1000
 
-Time in EnableA  max=213060 us, total=213060 us
+Time in EnableA  max=213059 us, total=213059 us
 
-Time in EnableB  max=225632 us, total=225632 us
+Time in EnableB  max=225630 us, total=225630 us
 
-Time in FillISR  max=2409 us, total=46255 us
+Time in FillISR  max=2409 us, total=46246 us
 
-Time in StepA  max=15 us, total=5505 us
+Time in StepA  max=15 us, total=5504 us
 
-Time in StepB  max=17 us, total=5540 us
+Time in StepB  max=17 us, total=5497 us
 
 Time in StepISR  max=7 us, total=9224 us
 
diff --git a/extras/tests/simavr_based/test_sd_04_timing_328p_37k/expect.txt b/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=12us Total High=5258us
+   StepA:     1000*L->H,     1000*H->L, Max High=12us Total High=5262us
    StepB:        0*L->H,        0*H->L, Max High=0us Total High=0us
 Position[A]=1000
 
-Time in EnableA  max=213060 us, total=213060 us
+Time in EnableA  max=213059 us, total=213059 us
 
-Time in FillISR  max=1937 us, total=26708 us
+Time in FillISR  max=1937 us, total=26715 us
 
-Time in StepA  max=12 us, total=5258 us
+Time in StepA  max=12 us, total=5262 us
 
 Time in StepISR  max=7 us, total=4581 us
 
diff --git a/library.properties b/library.properties
@@ -1,10 +1,10 @@
 name=FastAccelStepper
-version=0.28.2
+version=0.28.3
 1icense=MIT
 author=Jochen Kiemes <[email protected]>
 maintainer=Jochen Kiemes <[email protected]>
 sentence=A high speed stepper library for Atmega 328p (nano), 32u4 (leonardo), 2560, ESP32, ESP32S2 and Atmel SAM Due
-paragraph=Drive stepper motors with acceleration/deceleration profile up to 76 kSteps/s (Atmega) and 200kSteps/s (esp32).
+paragraph=Drive stepper motors with acceleration/deceleration profile up to 70 kSteps/s (Atmega) and 200kSteps/s (esp32).
 url=https://github.com/gin66/FastAccelStepper
 repository=https://github.com/gin66/FastAccelStepper.git
 architectures=avr,esp32,sam

diff --git a/src/StepperISR_avr.cpp b/src/StepperISR_avr.cpp
@@ -347,7 +347,7 @@ void StepperQueue::adjustSpeedToStepperCount(uint8_t steppers) {
   // using test_sd_04_timing_328p version 0.25.6 as reference
   //   manageStepper (fillISR) already needs max 2.3 ms !
   //
-  max_speed_in_ticks = 213 * steppers;
+  max_speed_in_ticks = (steppers == 1) ? 228 : 213 * steppers;
 }
 
 void fas_init_engine(FastAccelStepperEngine* engine, uint8_t cpu_core) {