added function to determine steps to target and updated example

examples/Example5_processMovement_in_own_task/Example5_processMovement_in_own_task.ino

@@ -51,14 +51,13 @@ void setup()
 void loop()
 {
   // just move the stepper back and forth in an endless loop
-  if (stepper.getDirectionOfMotion() == 0)
+  if (stepper.getDistanceToTargetSigned() == 0)
   {
     delay(5000);
     previousDirection *= -1;
     long relativeTargetPosition = DISTANCE_TO_TRAVEL_IN_STEPS * previousDirection;
     Serial.printf("Moving stepper by %ld steps\n", relativeTargetPosition);
     stepper.setTargetPositionRelativeInSteps(relativeTargetPosition);
-    delay(10);
   }
 
   // Notice that you can now do whatever you want in the loop function without the need to call processMovement().

src/ESP_FlexyStepper.cpp

@@ -86,20 +86,20 @@ void ESP_FlexyStepper::startAsService(void)
   disableCore0WDT(); // we have to disable the Watchdog timer to prevent it from rebooting the ESP all the time another option would be to add a vTaskDelay but it would slow down the stepper
   xTaskCreate(
       ESP_FlexyStepper::taskRunner, /* Task function. */
-      "FlexyStepper",  /* String with name of task. */
-      10000,                        /* Stack size in bytes. */
+      "FlexyStepper",               /* String with name of task (by default max 16 characters long) */
+      1000,                        /* Stack size in bytes. */
       this,                         /* Parameter passed as input of the task */
-      1,                            /* Priority of the task. */
+      1,                            /* Priority of the task, 1 seems to work just fine for us */
       &this->xHandle);              /* Task handle. */
 }
 
 void ESP_FlexyStepper::taskRunner(void *parameter)
 {
   ESP_FlexyStepper *stepperRef = (ESP_FlexyStepper *)parameter;
-  while (true)
+  for( ;; )
   {
     stepperRef->processMovement();
-    yield();
+    //vTaskDelay(1); // This would be a working solution to prevent the WDT to fire (if not disabled, yet it will cause noticeably less smooth stepper movements / lower frequencies)
   }
 }
 
@@ -114,6 +114,29 @@ bool ESP_FlexyStepper::isStartedAsService()
   return (this->xHandle != NULL);
 }
 
+/**
+ * get the overall max stack size since task creation (since the call to startAsService() )
+ * This function is used to determine if the stacksize is large enough and has more of a debugging purpose.
+ * Return the minimum amount of free bytes on the stack that has been measured so far.
+ */
+long ESP_FlexyStepper::getTaskStackHighWaterMark()
+{
+  if (this->isStartedAsService())
+  {
+    return uxTaskGetStackHighWaterMark(this->xHandle);
+  }
+  return 0;
+}
+
+/**
+ * get the distance in steps to the currently set target position.
+ * 0 is returned if the stepper is already at the target position.
+ * The returned value is signed, depending on the direction to move to reach the target
+ */
+long ESP_FlexyStepper::getDistanceToTargetSigned(){
+  return (this->targetPosition_InSteps - this->currentPosition_InSteps);
+}
+
 /**
  * perform an emergency stop, causing all movements to be canceled instantly
  * the optional parameter 'holdUntilReleased' allows to define if the emergency stop shall only affect the current motion (if any) 

src/ESP_FlexyStepper.h

@@ -48,6 +48,7 @@ class ESP_FlexyStepper
   void connectToPins(byte stepPinNumber, byte directionPinNumber);
   static void taskRunner(void *parameter);
   bool isStartedAsService(void);
+  long getTaskStackHighWaterMark(void);
 
   void setStepsPerMillimeter(float motorStepPerMillimeter);
   float getCurrentPositionInMillimeters();
@@ -61,7 +62,8 @@ class ESP_FlexyStepper
   void setTargetPositionRelativeInMillimeters(float distanceToMoveInMillimeters);
   void moveToPositionInMillimeters(float absolutePositionToMoveToInMillimeters);
   void setTargetPositionInMillimeters(float absolutePositionToMoveToInMillimeters);
-  float getCurrentVelocityInMillimetersPerSecond();
+  float getCurrentVelocityInMillimetersPerSecond(void);
+  long getDistanceToTargetSigned(void);
 
   void setStepsPerRevolution(float motorStepPerRevolution);
   void setCurrentPositionInRevolutions(float currentPositionInRevolutions);