adjust test expectations

README.md

@@ -288,11 +288,15 @@ This stepper driver uses rmt module.
 
 ### ESP32S3
 
-This stepper driver uses mcpwm/pcnt modules. Can drive up to 4 motors. Tested with 2 motors.
+This stepper driver uses mcpwm/pcnt modules. Can drive up to 4 motors. Tested with 2 motors (not by me). 
 
-### ESP32C3/ESP32-MINI-1
+Apparently the ESP32S3's rmt module is similar to esp32c3 with 4 instead of 2 channels. Theoretically can drive 4 more steppers.
 
-Compatibility with ESP32-C3: Not supported currently. The rmt module has more changes compared to esp32/esp32s2
+### ESP32C3
+
+This stepper driver uses rmt module and can drive up to 2 motors. Not thoroughly tested, so only experimental support.
+
+### ESP32-MINI-1
 
 Compatibility with ESP32-MINI-1: At least mcpwm and pulse counter modules are listed in the datasheet. So there are chances, that this lib works.
 

examples/StepperDemo/StepperDemo.ino

@@ -908,7 +908,6 @@ void test_direct_drive(const struct stepper_config_s *stepper) {
 
 void setup() {
   SerialInterface.begin(115200);
-  delay(2000);
   output_msg(MSG_STEPPER_VERSION);
   SerialInterface.print("    F_CPU=");
   SerialInterface.println(F_CPU);

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=576437us
-   StepB:    64000*L->H,    64000*H->L, Max High=30us Total High=393762us
-   StepC:    64000*L->H,    64000*H->L, Max High=37us Total High=429542us
+   StepA:    64000*L->H,    64000*H->L, Max High=24us Total High=391242us
+   StepB:    64000*L->H,    64000*H->L, Max High=33us Total High=394815us
+   StepC:    64000*L->H,    64000*H->L, Max High=34us Total High=477571us
 Position[A]=64000
 
 Position[B]=64000
@@ -15,15 +15,15 @@ Position[C]=64000
 
 Time in EnableA  max=233598 us, total=233598 us
 
-Time in EnableB  max=246081 us, total=246081 us
+Time in EnableB  max=246086 us, total=246086 us
 
-Time in EnableC  max=254229 us, total=254229 us
+Time in EnableC  max=254235 us, total=254235 us
 
-Time in FillISR  max=2697 us, total=2091083 us
+Time in FillISR  max=3140 us, total=2095013 us
 
-Time in StepA  max=28 us, total=576437 us
+Time in StepA  max=24 us, total=391242 us
 
-Time in StepB  max=30 us, total=393762 us
+Time in StepB  max=33 us, total=394815 us
 
-Time in StepC  max=37 us, total=429542 us
+Time in StepC  max=34 us, total=477571 us
 

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=14us Total High=5618us
-   StepB:     1000*L->H,     1000*H->L, Max High=16us Total High=5419us
+   StepA:     1000*L->H,     1000*H->L, Max High=13us Total High=5548us
+   StepB:     1000*L->H,     1000*H->L, Max High=18us Total High=5547us
 Position[A]=1000
 
 Position[B]=1000
 
 Time in EnableA  max=225398 us, total=225398 us
 
-Time in EnableB  max=238110 us, total=238110 us
+Time in EnableB  max=238116 us, total=238116 us
 
-Time in FillISR  max=2638 us, total=47569 us
+Time in FillISR  max=2644 us, total=47713 us
 
-Time in StepA  max=14 us, total=5618 us
+Time in StepA  max=13 us, total=5548 us
 
-Time in StepB  max=16 us, total=5419 us
+Time in StepB  max=18 us, total=5547 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=5286us
+   StepA:     1000*L->H,     1000*H->L, Max High=11us Total High=5281us
    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=27518 us
+Time in FillISR  max=2015 us, total=27776 us
 
-Time in StepA  max=11 us, total=5286 us
+Time in StepA  max=11 us, total=5281 us
 
 Time in StepISR  max=7 us, total=4581 us
 

extras/tests/simavr_based/test_sd_11_328p/expect.txt

@@ -2,11 +2,11 @@
     DirB:        1*L->H,        0*H->L
  EnableA:        1*L->H,        1*H->L
  EnableB:        1*L->H,        0*H->L
-   StepA:    99808*L->H,    99808*H->L, Max High=13us Total High=514674us
+   StepA:    99808*L->H,    99808*H->L, Max High=13us Total High=513811us
    StepB:        0*L->H,        0*H->L, Max High=0us Total High=0us
-Position[A]=50536
+Position[A]=50736
 
 Time in EnableA  max=225395 us, total=225395 us
 
-Time in StepA  max=13 us, total=514674 us
+Time in StepA  max=13 us, total=513811 us
 

extras/tests/simavr_based/test_sd_15_328p/expect.txt

@@ -2,11 +2,11 @@
     DirB:        1*L->H,        0*H->L
  EnableA:        1*L->H,        1*H->L
  EnableB:        1*L->H,        0*H->L
-   StepA:     3434*L->H,     3434*H->L, Max High=12us Total High=17813us
+   StepA:     3433*L->H,     3433*H->L, Max High=12us Total High=17723us
    StepB:        0*L->H,        0*H->L, Max High=0us Total High=0us
-Position[A]=-1034
+Position[A]=-1033
 
-Time in EnableA  max=225394 us, total=225394 us
+Time in EnableA  max=225396 us, total=225396 us
 
-Time in StepA  max=12 us, total=17813 us
+Time in StepA  max=12 us, total=17723 us
 

extras/tests/simavr_based/test_sd_16_328p/expect.txt

@@ -2,11 +2,11 @@
     DirB:        1*L->H,        0*H->L
  EnableA:        1*L->H,        1*H->L
  EnableB:        1*L->H,        0*H->L
-   StepA:     1122*L->H,     1122*H->L, Max High=11us Total High=5775us
+   StepA:     1123*L->H,     1123*H->L, Max High=12us Total High=5797us
    StepB:        0*L->H,        0*H->L, Max High=0us Total High=0us
-Position[A]=1122
+Position[A]=1123
 
-Time in EnableA  max=225395 us, total=225395 us
+Time in EnableA  max=225397 us, total=225397 us
 
-Time in StepA  max=11 us, total=5775 us
+Time in StepA  max=12 us, total=5797 us
 

extras/tests/simavr_based/test_sd_17_328p/expect.txt

@@ -2,11 +2,11 @@
     DirB:        1*L->H,        0*H->L
  EnableA:        1*L->H,        1*H->L
  EnableB:        1*L->H,        0*H->L
-   StepA:     1431*L->H,     1431*H->L, Max High=12us Total High=7390us
+   StepA:     1430*L->H,     1430*H->L, Max High=11us Total High=7398us
    StepB:        0*L->H,        0*H->L, Max High=0us Total High=0us
-Position[A]=1431
+Position[A]=1430
 
-Time in EnableA  max=229524 us, total=229524 us
+Time in EnableA  max=229523 us, total=229523 us
 
-Time in StepA  max=12 us, total=7390 us
+Time in StepA  max=11 us, total=7398 us
 

extras/tests/simavr_based/test_sd_18_328p/expect.txt

@@ -2,11 +2,11 @@
     DirB:        1*L->H,        0*H->L
  EnableA:        1*L->H,        1*H->L
  EnableB:        1*L->H,        0*H->L
-   StepA:     3866*L->H,     3866*H->L, Max High=12us Total High=19824us
+   StepA:     3870*L->H,     3870*H->L, Max High=12us Total High=19922us
    StepB:        0*L->H,        0*H->L, Max High=0us Total High=0us
 Position[A]=0
 
 Time in EnableA  max=229523 us, total=229523 us
 
-Time in StepA  max=12 us, total=19824 us
+Time in StepA  max=12 us, total=19922 us
 

extras/tests/simavr_based/test_sd_18_328p/platformio.ini

@@ -21,7 +21,7 @@
 #
 [common]
 # This is the line input to StepperDemo:
-build_flags = -D SIM_TEST_INPUT='"Q M1 A10 V100 j100000 f w1000 A100000 U X w100 R-1431 W "'
+build_flags = -D SIM_TEST_INPUT='"Q M1 A10 V100 j100000 f w1000 A100000 U X w100 R-1433 W "'
 
 # The -1431 moves the stepper after the force stop, so that the visible position is 0.
 # Visible means: counted by watching the external step/direction signals.