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