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//////////////////////////////////////////////////////////////////
// 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 0;
}
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