1//////////////////////////////////////////////////////////////////
2// example92.cpp
3//
4// Copyright (c) 2015 Robert Ramey
5//
6// Distributed under the Boost Software License, Version 1.0. (See
7// accompanying file LICENSE_1_0.txt or copy at
8// http://www.boost.org/LICENSE_1_0.txt)
9
10#include <iostream>
11
12// ***************************
13// 1. include headers to support safe integers
14#include <boost/safe_numerics/cpp.hpp>
15#include <boost/safe_numerics/exception.hpp>
16#include <boost/safe_numerics/safe_integer.hpp>
17
18// ***************************
19// 2. specify a promotion policy to support proper emulation of
20// PIC types on the desktop
21using pic16_promotion = boost::safe_numerics::cpp<
22 8, // char 8 bits
23 16, // short 16 bits
24 16, // int 16 bits
25 16, // long 16 bits
26 32 // long long 32 bits
27>;
28
29// 1st step=50ms; max speed=120rpm (based on 1MHz timer, 1.8deg steps)
30#define C0 (50000 << 8)
31#define C_MIN (2500 << 8)
32
33static_assert(C0 < 0xffffff, "Largest step too long");
34static_assert(C_MIN > 0, "Smallest step must be greater than zero");
35static_assert(C_MIN < C0, "Smallest step must be smaller than largest step");
36
37// ***************************
38// 3. define PIC integer type names to be safe integer types of he same size.
39
40template <typename T> // T is char, int, etc data type
41using safe_t = boost::safe_numerics::safe<
42 T,
43 pic16_promotion
44>;
45
46// alias original program's integer types to corresponding PIC safe types
47// In conjunction with the promotion policy above, this will permit us to
48// guarantee that the resulting program will be free of arithmetic errors
49// introduced by C expression syntax and type promotion with no runtime penalty
50
51typedef safe_t<int8_t> int8;
52typedef safe_t<int16_t> int16;
53typedef safe_t<int32_t> int32;
54typedef safe_t<uint8_t> uint8;
55typedef safe_t<uint16_t> uint16;
56typedef safe_t<uint32_t> uint32;
57
58// ***************************
59// 4. emulate PIC features on the desktop
60
61// filter out special keyword used only by XC8 compiler
62#define __interrupt
63// filter out XC8 enable/disable global interrupts
64#define ei()
65#define di()
66
67// emulate PIC special registers
68uint8 RCON;
69uint8 INTCON;
70uint8 CCP1IE;
71uint8 CCP2IE;
72uint8 PORTC;
73uint8 TRISC;
74uint8 T3CON;
75uint8 T1CON;
76
77uint8 CCPR2H;
78uint8 CCPR2L;
79uint8 CCPR1H;
80uint8 CCPR1L;
81uint8 CCP1CON;
82uint8 CCP2CON;
83uint8 TMR1H;
84uint8 TMR1L;
85
86// create type used to map PIC bit names to
87// correct bit in PIC register
88template<typename T, std::int8_t N>
89struct bit {
90 T & m_word;
91 constexpr explicit bit(T & rhs) :
92 m_word(rhs)
93 {}
94 constexpr bit & operator=(int b){
95 if(b != 0)
96 m_word |= (1 << N);
97 else
98 m_word &= ~(1 << N);
99 return *this;
100 }
101 constexpr operator int () const {
102 return m_word >> N & 1;
103 }
104};
105
106// define bits for T1CON register
107struct {
108 bit<uint8, 7> RD16{T1CON};
109 bit<uint8, 5> T1CKPS1{T1CON};
110 bit<uint8, 4> T1CKPS0{T1CON};
111 bit<uint8, 3> T1OSCEN{T1CON};
112 bit<uint8, 2> T1SYNC{T1CON};
113 bit<uint8, 1> TMR1CS{T1CON};
114 bit<uint8, 0> TMR1ON{T1CON};
115} T1CONbits;
116
117// define bits for T1CON register
118struct {
119 bit<uint8, 7> GEI{INTCON};
120 bit<uint8, 5> PEIE{INTCON};
121 bit<uint8, 4> TMR0IE{INTCON};
122 bit<uint8, 3> RBIE{INTCON};
123 bit<uint8, 2> TMR0IF{INTCON};
124 bit<uint8, 1> INT0IF{INTCON};
125 bit<uint8, 0> RBIF{INTCON};
126} INTCONbits;
127
128// ***************************
129// 5. include the environment independent code we want to test
130#include "motor2.c"
131
132#include <chrono>
133#include <thread>
134
135// round 24.8 format to microseconds
136int32 to_microseconds(uint32 t){
137 return (t + 128) / 256;
138}
139
140using result_t = uint8_t;
141const result_t success = 1;
142const result_t fail = 0;
143
144// move motor to the indicated target position in steps
145result_t test(int32 m){
146 try {
147 std::cout << "move motor to " << m << '\n';
148 motor_run(pos_new: m);
149 std::cout
150 << "step #" << ' '
151 << "delay(us)(24.8)" << ' '
152 << "delay(us)" << ' '
153 << "CCPR" << ' '
154 << "motor position" << '\n';
155 do{
156 std::this_thread::sleep_for(rtime: std::chrono::microseconds(to_microseconds(t: c)));
157 uint32 last_c = c;
158 uint32 last_ccpr = ccpr;
159 isr_motor_step();
160 std::cout
161 << step_no << ' '
162 << last_c << ' '
163 << to_microseconds(t: last_c) << ' '
164 << std::hex << last_ccpr << std::dec << ' '
165 << motor_pos << '\n';
166 }while(run_flg);
167 }
168 catch(const std::exception & e){
169 std::cout << e.what() << '\n';
170 return fail;
171 }
172 return success;
173}
174
175int main(){
176 std::cout << "start test\n";
177 result_t result = success;
178 try{
179 initialize();
180 // move motor to position 1000
181 result &= test(m: 1000);
182 // move motor to position 200
183 result &= test(m: 200);
184 // move motor to position 200 again! Should result in no movement.
185 result &= test(m: 200);
186 // move back to position 0
187 result &= test(m: 0);
188 // ***************************
189 // 6. error detected here! data types can't handle enough
190 // steps to move the carriage from end to end! Suppress this
191 // test for now.
192 // move motor to position 50000.
193// result &= test(50000);
194 // move motor back to position 0.
195 result &= test(m: 0);
196 }
197 catch(const std::exception & e){
198 std::cout << e.what() << '\n';
199 return 1;
200 }
201 catch(...){
202 std::cout << "test interrupted\n";
203 return EXIT_FAILURE;
204 }
205 std::cout << "end test\n";
206 return result == success ? EXIT_SUCCESS : EXIT_FAILURE;
207}
208

source code of boost/libs/safe_numerics/example/example92.cpp