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110 lines
2.8 KiB
C++
110 lines
2.8 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/integer.hpp>
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#include "../include/cpp.hpp"
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#include "../include/automatic.hpp"
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#include "../include/exception.hpp"
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#include "../include/safe_integer.hpp"
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#include "../include/safe_range.hpp"
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#include "../include/safe_literal.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, unsigned by default
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using pic16_promotion = boost::numeric::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::numeric::safe<
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T,
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pic16_promotion,
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boost::numeric::throw_exception // use for compiling and running tests
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>;
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using safe_bool_t = boost::numeric::safe_unsigned_range<
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0,
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1,
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pic16_promotion,
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boost::numeric::throw_exception // use for compiling and running tests
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>;
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using step_t = boost::numeric::safe_signed_range<
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0,
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1000,
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pic16_promotion,
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boost::numeric::throw_exception
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>;
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using denom_t = boost::numeric::safe_signed_range<
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1,
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4001,
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pic16_promotion,
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boost::numeric::throw_exception
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>;
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using phase_ix_t = boost::numeric::safe_unsigned_range<
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0,
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3,
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pic16_promotion,
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boost::numeric::throw_exception
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>;
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#define literal(x) boost::numeric::safe_literal<x>{}
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#define DESKTOP
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#include "motor3.c"
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#include <chrono>
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#include <thread>
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void test(step_t m){
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std::cout << "move motor to " << m << '\n';
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int i = 0;
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motor_run(m);
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do{
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isr_motor_step();
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std::cout << ++i << ' ' << c32 << ' ' << c << '\n';
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std::this_thread::sleep_for(std::chrono::microseconds(ccpr));
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}while(true == run_flg);
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}
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int main()
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{
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std::cout << "start test\n";
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try{
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initialize();
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// move motor to position 100
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test(literal(100));
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// move motor to position 1000
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//test(1000);
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// move back to position 0
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test(literal(0));
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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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return 1;
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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 0;
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}
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