111 lines
3.0 KiB
C++
111 lines
3.0 KiB
C++
|
//////////////////////////////////////////////////////////////////
|
||
|
|
// example91.cpp
|
||
|
|
//
|
||
|
|
// Copyright (c) 2015 Robert Ramey
|
||
|
|
//
|
||
|
|
// Distributed under the Boost Software License, Version 1.0. (See
|
||
|
|
// accompanying file LICENSE_1_0.txt or copy at
|
||
|
|
// http://www.boost.org/LICENSE_1_0.txt)
|
||
|
|
|
||
|
|
#include <iostream>
|
||
|
|
#include <limits>
|
||
|
|
|
||
|
|
#include <boost/safe_numerics/cpp.hpp>
|
||
|
|
#include <boost/safe_numerics/safe_integer.hpp>
|
||
|
|
#include <boost/safe_numerics//safe_integer_range.hpp>
|
||
|
|
|
||
|
|
// use same type promotion as used by the pic compiler
|
||
|
|
// see the following comment in motor.c
|
||
|
|
// Types: int8,int16,int32=8,16,32bit integers
|
||
|
|
|
||
|
|
using pic16_promotion = boost::safe_numerics::cpp<
|
||
|
|
8, // char
|
||
|
|
8, // short
|
||
|
|
8, // int
|
||
|
|
16, // long
|
||
|
|
32 // long long
|
||
|
|
>;
|
||
|
|
|
||
|
|
// define safe types used desktop version of the program. In conjunction
|
||
|
|
// with the promotion policy above, this will permit us to guarantee that
|
||
|
|
// the resulting program will be free of arithmetic errors introduced by
|
||
|
|
// C expression syntax and type promotion with no runtime penalty
|
||
|
|
template <typename T> // T is char, int, etc data type
|
||
|
|
using safe_t = boost::safe_numerics::safe<
|
||
|
|
T,
|
||
|
|
pic16_promotion,
|
||
|
|
boost::safe_numerics::default_exception_policy // use for compiling and running tests
|
||
|
|
>;
|
||
|
|
using safe_bool_t = boost::safe_numerics::safe_unsigned_range<
|
||
|
|
0,
|
||
|
|
1,
|
||
|
|
pic16_promotion,
|
||
|
|
boost::safe_numerics::default_exception_policy // use for compiling and running tests
|
||
|
|
>;
|
||
|
|
// alias original program's integer types to corresponding PIC safe types
|
||
|
|
// In conjunction with the promotion policy above, this will permit us to
|
||
|
|
// guarantee that the resulting program will be free of arithmetic errors
|
||
|
|
// introduced by C expression syntax and type promotion with no runtime penalty
|
||
|
|
|
||
|
|
typedef safe_t<int8_t> int8;
|
||
|
|
typedef safe_t<int16_t> int16;
|
||
|
|
typedef safe_t<int32_t> int32;
|
||
|
|
typedef safe_t<uint8_t> uint8;
|
||
|
|
typedef safe_t<uint16_t> uint16;
|
||
|
|
typedef safe_t<uint32_t> uint32;
|
||
|
|
|
||
|
|
// ***************************
|
||
|
|
// 4. emulate PIC features on the desktop
|
||
|
|
|
||
|
|
// filter out special keyword used only by XC8 compiler
|
||
|
|
#define __interrupt
|
||
|
|
// filter out XC8 enable/disable global interrupts
|
||
|
|
#define ei()
|
||
|
|
#define di()
|
||
|
|
|
||
|
|
#define DESKTOP
|
||
|
|
#include "motor1.c"
|
||
|
|
|
||
|
|
#include <chrono>
|
||
|
|
#include <thread>
|
||
|
|
|
||
|
|
void sleep(int16){
|
||
|
|
std::this_thread::sleep_for(std::chrono::microseconds(ccpr));
|
||
|
|
}
|
||
|
|
|
||
|
|
int main(){
|
||
|
|
std::cout << "start test\n";
|
||
|
|
try{
|
||
|
|
initialize();
|
||
|
|
motor_run(100);
|
||
|
|
do{
|
||
|
|
isr_motor_step();
|
||
|
|
}while (run_flg);
|
||
|
|
|
||
|
|
// move motor to position 1000
|
||
|
|
motor_run(1000);
|
||
|
|
do{
|
||
|
|
sleep(ccpr);
|
||
|
|
isr_motor_step();
|
||
|
|
}while (run_flg);
|
||
|
|
|
||
|
|
// move back to position 0
|
||
|
|
motor_run(0);
|
||
|
|
do{
|
||
|
|
sleep(ccpr);
|
||
|
|
isr_motor_step();
|
||
|
|
}while (run_flg);
|
||
|
|
}
|
||
|
|
catch(std::exception & e){
|
||
|
|
std::cout << e.what() << '\n';
|
||
|
|
// we expect to trap an exception
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
catch(...){
|
||
|
|
std::cout << "test interrupted\n";
|
||
|
|
return 1;
|
||
|
|
}
|
||
|
|
std::cout << "end test\n";
|
||
|
|
return 1;
|
||
|
|
}
|