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fix bugs and typos found in full src/ audit
- Fix wrong variable in actual_duration calculation (d *= cmd.steps) - Fix shadowed fas_stepper[] wasting RAM in static allocation path - Fix dead redundant condition in rmt_fill_buffer (steps < 2*PART_SIZE) - Fix double micros() call in SAM PWM_Handler - Fix HAVE_ESP32S3_PULSE_COUNTER wrongly set for ESP32S2 (#pragma->#error in pd_config.h still open) - Make _delay_ms private, add _task_rate() getter, update pico/esp32 callers - Fix typos: changeing, obsolote, derivate, Periphal, not save, PD_PICO_PICO_PIO_H - Add full src/ audit document (06_full_src_audit.md)
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‎extras/doc/ai_improvements/06_full_src_audit.md‎

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# Full `src/` Architecture Audit
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Generated: 2026-03-18
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Updated: 2026-03-18 (applied fixes marked ~~strikethrough~~)
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Comprehensive audit of all source files under `src/`, identifying bugs, dead code,
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leftover code, code smells, inconsistencies, and technical debt.
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---
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## Bugs (Highest Priority)
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| # | File | Line(s) | Description | Status |
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|---|------|---------|-------------|--------|
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| 1 | `pd_esp32/pd_config.h` | 30 | `#pragma "Last supported..."` should be `#error` -- silently ignored by compilers | open |
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| 2 | `pd_esp32/pd_config_idf4.h:31`, `pd_config_idf5.h:35` | -- | `HAVE_ESP32S3_PULSE_COUNTER` set for **ESP32S2** (copy-paste bug) | open |
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| ~~3~~ | ~~`FastAccelStepper.cpp`~~ | ~~885~~ | ~~`d *= steps` uses loop variable instead of `d *= cmd.steps`~~ | **fixed** |
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| 4 | `FastAccelStepper_idf5_esp32_pcnt.cpp` | 81-100 | 5 error paths leak `punit`/`pcnt_chan` before returning `false` | open |
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| ~~5~~ | ~~`FastAccelStepperEngine.cpp`~~ | ~~17, 150~~ | ~~File-scope `fas_stepper[]` shadowed by local `static`~~ | **fixed** |
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| 6 | `FastAccelStepperEngine.cpp` | 123-124 | No bounds check on `_stepper_cnt` increment -- buffer overflow | open |
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| 7 | `StepperISR_idf4_esp32c3_rmt.cpp:61`, `StepperISR_idf4_esp32s3_rmt.cpp:62` | -- | Hardcoded `61/62` in `stop_rmt()` is wrong for C3/S3 where `PART_SIZE=22` (should be `43/44`) | open |
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| ~~8~~ | ~~`StepperISR_esp32xx_rmt.cpp`~~ | ~~116-118~~ | ~~Dead redundant condition: inner `if (steps > PART_SIZE)` always true~~ | **fixed** (changed to `steps < 2*PART_SIZE`) |
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| ~~9~~ | ~~`sam_queue.cpp`~~ | ~~64-65~~ | ~~`timeElapsed = micros() - ...` uses a second `micros()` call instead of saved `t`~~ | **fixed** |
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| 10 | `sam_queue.cpp` | 140-145 | `static` locals in ISR initialized once from mutable pointer -- stale data on remap | open |
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| 11 | `pico_queue.cpp` | 192-196 | Inverted break condition: breaks when FIFO has data, should break when empty | open |
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| 12 | `esp32_queue.cpp` | 154 | `queues_allocated` never incremented in `SUPPORT_SELECT_DRIVER_TYPE + SUPPORT_DYNAMIC_ALLOCATION` path -- `MAX_STEPPER` check is dead code | open |
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---
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## Dead Code / Leftover Code
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| # | File | Line(s) | Description |
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|---|------|---------|-------------|
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| 14 | `sam_queue.cpp` | 4-5 | `const bool enabled = false;` and `uint32_t junk = 0;` -- never used |
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| 15 | `sam_queue.cpp` | 45-51 | `strobePin()` -- defined but never called |
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| 16 | `sam_queue.cpp` | 23-33, 246-249 | `KEEP_SCORE` debugging block -- permanently disabled (`KEEP_SCORE` never defined) |
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| 17 | `pd_test/test_queue.h` | 20-24, 29-33 | ESP32-specific `SUPPORT_ESP32_RMT` blocks -- can never activate in test platform |
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| 18 | `AVRStepperPins.h` | 58-76 | `FAS_TIMER_MODULE == 3` and `== 5` branches -- values never assigned |
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| 19 | `result_codes.h` | 27-29, 74-76, 116-118, 161-163 | `aqeIsOk()`, `moveIsOk()`, `moveTimedIsOk()`, `delayIsValid()` -- never called |
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| 20 | `result_codes.h` | 78-91, 124-153, 165-176 | 3 `toString()` overloads -- never called |
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| 21 | `Log2RepresentationConst.h` | 9, 25, 29, 33, 37, 49, 71 | 7 `LOG2_CONST_*` constants -- unused in `src/` |
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| 22 | `Log2Representation.h` | 28 | `log2_rsquare(x)` macro -- never used |
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| 23 | `RampControl.h` | 16-18 | `advanceTargetPositionWithinInterruptDisabledScope()` -- never called |
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| 24 | `RampCalculator.cpp` | 31-180 | `calculate_ticks_v1`..`v8` behind `#ifdef TEST_TIMING` -- dead benchmark functions |
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| 25 | `pd_config_idf5.h` / `pd_config_idf6.h` | ~20 lines | Commented-out `SUPPORT_ESP32_MCPWM_PCNT`, `NEED_MCPWM_HEADERS`, etc. |
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| 26 | `pd_config_idf5.h` / `pd_config_idf6.h` | 139-154 | `NEED_MCPWM_HEADERS` / `NEED_PCNT_HEADERS` include blocks -- dead (never compiled) |
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| 27 | `StepperISR_esp32xx_rmt.cpp` | 117 | `steps_to_do = PART_SIZE` -- dead assignment, always overwritten by line 119 |
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Note: item #13 (accidental LLM prompt in `pd_pico/pico_pio.cpp:1-10`) was present at audit
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time but may have been removed separately.
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---
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## Code Duplication (DRY Violations)
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| # | Files | Lines | Description |
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|---|------|-------|-------------|
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| 28 | 3x IDF4 RMT files + idf5 | ~600 lines total | `stop_rmt()`, `tx_intr_handler()`, `init_rmt()`, `forceStop_rmt()`, `isReadyForCommands_rmt()`, `_getPerformedPulses_rmt()`, `startQueue_rmt()` -- nearly identical across 4 files |
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| 29 | `pd_config_idf5.h` vs `pd_config_idf6.h` | entire files | 95%+ duplicated content |
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| 30 | `FastAccelStepperEngine.cpp` | 21-35 vs 37-52 | `init()` function body duplicated |
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| 31 | `FastAccelStepperEngine.cpp` | 108-165 | `stepperConnectToPin()` x4 variants with shared logic |
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| 32 | `FastAccelStepper_idf4_esp32_pcnt.cpp` vs `idf5` | 67-74 vs 111-122 | GPIO matrix setup nearly identical |
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| 33 | `FastAccelStepper.cpp` + `FastAccelStepperEngine.cpp` | 5-8 / 8-11 | `printf`/`puts` redefinition macro duplicated |
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| 34 | `RampControl.cpp` | 446-453 vs 489-497 | Identical pause-ticks-left calculation (only difference: `(uint32_t)` cast) |
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| 35 | `RampControl.cpp` | 141-149 vs 241-249 | Identical "ramp complete" early-return blocks |
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| 36 | `test_pc.h` vs `Log2Representation.cpp` | -- | `PROGMEM` / `pgm_read_byte_near` polyfill duplicated |
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| 37 | `avr_queue.h`, `pico_queue.h`, `sam_queue.h` | -- | `SET_ENABLE_PIN_STATE` macro verbatim duplicated |
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| 38 | `sam_queue.cpp` | 310-335 | 6 identical `attachInterrupt()` calls in switch cases |
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---
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## Inconsistencies
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### Preprocessor Style
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| # | File | Details |
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|---|------|---------|
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| 39 | `esp32_queue.h` (lines 21, 35, 53, 68, 71 vs 76, 229) | `#ifdef SUPPORT_ESP32_RMT` mixed with `#if defined(SUPPORT_ESP32_RMT)` interchangeably |
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### Platform Configuration
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| # | File | Details |
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|---|------|---------|
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| 40 | `pd_config_idf4.h` vs `idf5/6.h` | `PART_SIZE` formula: IDF4 uses `((RMT_SIZE-1)/4)<<1`=30; IDF5/6 use `RMT_SIZE>>1`=32 |
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| 41 | `StepperISR_idf5_esp32_rmt.cpp:182` vs all IDF4 | `lastChunkContainsSteps` init: IDF5=`false`; all IDF4=`true` |
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| 42 | `pd_avr/pd_config.h:15` vs all others | `MIN_CMD_TICKS` divisor: AVR `/25000` (5x shorter); all others `/5000` |
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| 43 | IDF4 RMT files vs C3/S3 vs IDF5 | TRACE debug output: ESP32=`Serial`; C3/S3=`USBSerial`; IDF5=`printf` |
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### Naming Conventions
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| # | File | Details |
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|---|------|---------|
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| 44 | `fas_queue`/`fas_arch` vs `fas_ramp`/`log2` | Header guard prefix: `FAS_*` vs no prefix (`RAMP_CONTROL_H`, `LOG2REPRESENTATION_H`) |
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| 45 | `fas_queue/` vs `fas_ramp/` | File naming: `snake_case.cpp` vs `PascalCase.cpp` |
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| 46 | `queue_add_entry.cpp:14` vs elsewhere | `NULL` vs `nullptr` inconsistency |
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### Logic Patterns
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| # | File | Details |
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|---|------|---------|
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| 47 | `FastAccelStepper.cpp:554, 562` | Bitwise `&` used instead of logical `&&` for `bool` return values |
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| 48 | `StepperISR_idf4_esp32_rmt.cpp:160` vs C3/S3/IDF5 | `connect()` vs `connect_rmt()` called in `init_rmt()` |
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| 49 | `StepperISR_idf4_esp32_rmt.cpp:131-132` vs `idf5:85-86` | Pin setup order: `digitalWrite` then `pinMode` vs `pinMode` then `digitalWrite` |
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| 50 | `pd_config.h:19-21` | `SUPPORT_DYNAMIC_ALLOCATION` missing for IDF6 |
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| 51 | `esp32_queue.h:217-233` | `AFTER_DIR_CHANGE_DELAY_TICKS` missing in non-I2S path |
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---
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## Typos
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All fixed.
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| # | File | Line | Fix |
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|---|------|------|-----|
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| ~~52~~ | ~~`FastAccelStepper.h`~~ | ~~271~~ | ~~"changeing" -> "changing"~~ | **fixed** |
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| ~~53~~ | ~~`FastAccelStepper.h`~~ | ~~501~~ | ~~"obsolote" -> "obsolete"~~ | **fixed** |
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| ~~54~~ | ~~`FastAccelStepper_idf5_esp32_pcnt.cpp`~~ | ~~8~~ | ~~"not save" -> "not safe"~~ | **fixed** |
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| ~~55~~ | ~~`pd_avr/pd_config.h`~~ | ~~36, 44, 53, 60, 64~~ | ~~"derivate" -> "derivative" (5 occurrences)~~ | **fixed** |
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| ~~56~~ | ~~`sam_queue.cpp`~~ | ~~7, 119~~ | ~~"Periphal" -> "Peripheral" (declaration + definition)~~ | **fixed** |
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| ~~57~~ | ~~`pico_pio.h`~~ | ~~1, 2, 19~~ | ~~`PD_PICO_PICO_PIO_H` -> `PD_PICO_PIO_H`~~ | **fixed** |
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---
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## TODOs / Technical Debt
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| # | File | Line | Description |
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|---|------|------|-------------|
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| 58 | `queue_get_position.cpp` | 42 | `break; // TODO: ERROR` -- known bad position transitions silently ignored |
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| 59 | `esp32_queue.cpp` | 461 | `break; // TODO: ERROR` -- same pattern in `getCurrentPosition()` |
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| 60 | `pd_sam/pd_config.h` | 27 | `// TO BE CHECKED` -- `SUPPORT_QUEUE_ENTRY_END_POS_U16` unverified on SAM |
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| 61 | `FastAccelStepper.h` | 609 | "Will be renamed in future release" -- `getPeriodInUsAfterCommandsCompleted()` |
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| 62 | `FastAccelStepper_idf5_esp32_pcnt.cpp` | 9-19 | Private struct redeclaration to access `unit_id`/`channel_id` -- fragile across ESP-IDF versions |
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---
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## Commented-Out Code (should be removed)
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Approximately **80+ lines** of commented-out code across the codebase:
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- `StepperISR_idf4_esp32_rmt.cpp:27-28, 148-149, 211-212, 226, 234, 254-255, 257, 271, 273`
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- `StepperISR_idf4_esp32c3_rmt.cpp:47-48, 180-181, 210-212, 288, 336-338`
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- `StepperISR_idf4_esp32s3_rmt.cpp:48-49, 181-182, 211-213, 289, 337-339`
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- `StepperISR_idf5_esp32_rmt.cpp:109-110, 129, 149, 177-180`
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- `StepperISR_idf4_esp32_mcpwm_pcnt.cpp:259, 473-474, 548-553`
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- `StepperISR_esp32xx_rmt.cpp:68-69`
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- `FastAccelStepper.cpp:309-310, 321-322, 335-336, 880-882`
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- `FastAccelStepper_idf4_esp32_pcnt.cpp:65-66`
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- `pico_pio.cpp:75, 79-83, 196-199`
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- `avr_queue.cpp:18-21` (behind `#ifdef DISABLE`)
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- `queue_add_entry.cpp:7-10, 29`
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- `RampControl.cpp:174, 415-417, 463`
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- `RampGenerator.cpp:246`
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- `RampCalculator.cpp:73-76`
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- `pd_pico/pico_queue.cpp:72-77` (duplicate retry call)
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- `pd_config_idf5.h:135, 147-148, 163`
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- `pd_config_idf6.h:135, 147-148, 163`
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- `i2s_fill.cpp:74-79, 87-90, 114-118`
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---
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## Design / Encapsulation Issues
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| # | File | Line | Description | Status |
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|---|------|------|-------------|--------|
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| ~~63~~ | ~~`FastAccelStepperEngine.h`~~ | ~~145~~ | ~~`_delay_ms` is `public` but named as private (leading underscore)~~ | **fixed** |
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| 64 | `FastAccelStepper.h` | 49 | `#include "fas_ramp/RampGenerator.h"` in public header -- could be forward-declared | open |
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| 65 | `stepper_queue.h` | 6 | `#include "FastAccelStepper.h"` creates heavy dependency from queue layer to API | open |
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| 66 | `FastAccelStepper.cpp` | 739-891 | `moveTimed()` -- ~153 lines, should be split into helpers | open |
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| 67 | `FastAccelStepper.cpp` | 67-207 | `addQueueEntry()` -- ~140 lines, should be split into helpers | open |
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| 68 | `FastAccelStepper_idf5_esp32_pcnt.cpp` | 21-127 | `attachToPulseCounter()` -- ~106 lines | open |
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---
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## Summary
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| Category | Total | Open | Fixed |
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|----------|-------|------|-------|
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| **Bugs** | 12 | 8 | 4 |
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| **Dead / leftover code** | 14 | 14 | 0 |
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| **Code duplication** | 11 | 11 | 0 |
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| **Inconsistencies** | 13 | 13 | 0 |
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| **Typos** | 6 | 0 | 6 |
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| **TODOs / tech debt** | 5 | 5 | 0 |
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| **Design / encapsulation** | 6 | 5 | 1 |
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### Remaining Recommended Fix Priority
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1. **Bug #7** -- Hardcoded `61/62` in C3/S3 `stop_rmt()` causes incorrect pause duration
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2. **Bug #2** -- `HAVE_ESP32S3_PULSE_COUNTER` on ESP32S2 may use wrong registers
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3. **Bug #6** -- `_stepper_cnt` overflow risk
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4. **Bug #1** -- `#pragma` should be `#error`
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5. **Bug #4** -- Memory leaks in idf5 pcnt error paths
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6. **Bugs #10, #11, #12** -- Remaining open bugs

‎extras/doc/ai_improvements/README.md‎

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| [03_configuration_system.md](03_configuration_system.md) | Configuration system modernization proposal |
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| [04_esp32_i2s_driver.md](04_esp32_i2s_driver.md) | ESP32 I2S output driver (single-pin and serial demux modes) |
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| [05_sam_platform_audit.md](05_sam_platform_audit.md) | SAM platform audit against SAM3X8E datasheet (6 open issues) |
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| [06_full_src_audit.md](06_full_src_audit.md) | Full `src/` audit: 12 bugs, 15 dead code items, 11 duplication patterns, 13 inconsistencies |
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## Contributing
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‎extras/doc/memory_report.md‎

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# FastAccelStepper Memory Footprint
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Generated: 2026-03-18 12:46:19
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Generated: 2026-03-18 20:27:11
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Library size measured using the difference method:
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- Baseline: Empty Arduino sketch (setup/loop only)
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| Board | RAM (bytes) | Flash (bytes) |
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|-------|-------------|---------------|
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| ATmega2560 | 370 | 9552 |
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| ATmega328P | 249 | 8752 |
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| ATmega328P | 249 | 8806 |
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| ATmega32U4 | 370 | 9246 |
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| ESP32 | 5360 | 30568 |
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| ESP32-C3 | 968 | 29434 |
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| ESP32-S2 | 1664 | 28648 |
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| ESP32-S3 | 3504 | 38100 |
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| RP2040 | 2380 | 8640 |
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| RP2350 | 3472 | 8320 |
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| SAM3X8E | 2432 | 22004 |
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| ESP32 | 5360 | 30528 |
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| ESP32-C3 | 968 | 29414 |
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| ESP32-S2 | 1664 | 28592 |
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| ESP32-S3 | 3504 | 38048 |
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| RP2040 | 2380 | 8576 |
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| RP2350 | 3472 | 8272 |
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| SAM3X8E | 2432 | 21976 |
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**Notes:**
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- RAM = .data + .bss (static allocation)

‎src/FastAccelStepper.cpp‎

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// cmd_duration *= cmd.steps;
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if (actual_duration) {
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uint32_t d = cmd.ticks;
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d *= steps;
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d *= cmd.steps;
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*actual_duration += d;
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}
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steps -= cmd.steps;

‎src/FastAccelStepper.h‎

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// getCurrentAcceleration() retrieves the actual acceleration.
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// = 0 while idle or coasting
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// > 0 while speed is changing towards positive values
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// < 0 while speed is changeing towards negative values
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// < 0 while speed is changing towards negative values
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inline int32_t getCurrentAcceleration() const {
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return _rg.getCurrentAcceleration();
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}
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// ## Low Level Stepper Queue Management (low level access)
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//
501-
// If the queue is already running, then the start parameter is obsolote.
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// If the queue is already running, then the start parameter is obsolete.
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// But the queue may run out of commands while executing addQueueEntry,
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// so it is better to set start=true to automatically restart/continue
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// a running queue.

‎src/FastAccelStepperEngine.cpp‎

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uint8_t fas_stepper_num = (uint8_t)(q - fas_queue);
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_stepper_cnt++;
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static FastAccelStepper fas_stepper[MAX_STEPPER];
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FastAccelStepper* s = &fas_stepper[fas_stepper_num];
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s->init(this, fas_stepper_num, step_pin);
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_stepper[fas_stepper_num] = s;

‎src/FastAccelStepperEngine.h‎

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// relevant. Apparently, arduino-esp32 has FreeRTOS configured to have a
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// tick-rate of 1000Hz
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inline void task_rate(uint8_t delay_ms) { _delay_ms = delay_ms; };
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inline uint8_t _task_rate() const { return _delay_ms; };
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private:
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uint8_t _delay_ms;
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public:
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#endif
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// ## External Pins

‎src/FastAccelStepper_idf5_esp32_pcnt.cpp‎

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// needed ? Without unit/channel ID, the needed parameter for
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// gpio_matrix_in/gpio_iomux_in cannot be derived.
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//
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// Here we declare the private pcnt_chan_t structure, which is not save.
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// Here we declare the private pcnt_chan_t structure, which is not safe.
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struct pcnt_unit_t {
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/*pcnt_group_t*/ void* group;
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portMUX_TYPE spinlock;

‎src/pd_avr/pd_config.h‎

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//==========================================================================
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//
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// AVR derivate ATmega 168/328/P
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// AVR derivative ATmega 168/328/P
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//
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//==========================================================================
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#if (defined(__AVR_ATmega168__) || defined(__AVR_ATmega168P__) || \
@@ -41,27 +41,27 @@
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#define NUM_QUEUES 2
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//==========================================================================
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//
44-
// AVR derivate ATmega 2560
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// AVR derivative ATmega 2560
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//
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//==========================================================================
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#elif defined(__AVR_ATmega2560__)
4848
#define MAX_STEPPER 3
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#define NUM_QUEUES 3
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//==========================================================================
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//
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// AVR derivate ATmega 32U4
52+
// AVR derivative ATmega 32U4
5353
//
5454
//==========================================================================
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#elif defined(__AVR_ATmega32U4__)
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#define MAX_STEPPER 3
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#define NUM_QUEUES 3
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//==========================================================================
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//
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// For all unsupported AVR derivates
60+
// For all unsupported AVR derivatives
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//
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//==========================================================================
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#else
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#error "Unsupported AVR derivative"
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#endif
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#endif /* PD_AVR_CONFIG_H */

‎src/pd_esp32/StepperISR_esp32xx_rmt.cpp‎

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@@ -115,7 +115,7 @@ void IRAM_ATTR rmt_fill_buffer(StepperQueue* q, bool fill_part_one,
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uint8_t steps_to_do = steps;
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if (steps > PART_SIZE) {
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steps_to_do = PART_SIZE;
118-
if (steps > PART_SIZE) {
118+
if (steps < 2*PART_SIZE) {
119119
steps_to_do >>= 1;
120120
}
121121
}

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