int ttest_main()
{
int i1 = nop1(1);
nop3(i1);
int i2 = nop2(2,3);
nop3(i2);
int i3 = nop1(4);
nop3(i3);
int i4 = nop2(5,6);
return i1+i3+7;
}
int test_main1()
{
for(int i = 0; i< 100; i++)
{
nop3(i);
for(int j=0; j < 22; j++)
{
nop3(nop2(i,j));
}
}
return 5;
}
void test_missing_ref()
{
QList<Trivial> trivials;
QList<BigTrivial> bigTrivials;
QList<SmallNonTrivial> smallNonTrivials;
// Test #2: No warning
foreach (Trivial t, trivials) {
nop();
}
// Test #3: Warning
foreach (BigTrivial t, bigTrivials) {
nop();
}
// Test #4: Warning
foreach (SmallNonTrivial t, smallNonTrivials) {
nop();
}
// Test #5: Warning
foreach (const BigTrivial t, bigTrivials) {
t.constFoo();
}
// Test #6: No warning
foreach (BigTrivial t, bigTrivials) {
t.nonConstFoo();
}
// Test #7: No warning
foreach (BigTrivial t, bigTrivials) {
t = BigTrivial();
}
// Test #8: No warning
foreach (BigTrivial t, bigTrivials) {
nop2(t);
}
void EscI2CDelay(void)
{
nop2();
nop2();
nop2();
}
void OutSignals(void)
{
bank0 uns8 MV, MH, ML, MR; // must reside on bank0
uns8 MT@MV; // cam tilt servo
uns8 ME@MH; // cam tilt servo
#ifdef NADA
SendComValH(MCamRoll);
SendComValH(MCamNick);
SendComChar(0x0d);
SendComChar(0x0a);
#endif
#ifndef DEBUG_SENSORS
#ifdef DEBUG_MOTORS
if( _Flying && CamNickFactor.4 )
{
SendComValU(IGas);
SendComChar(';');
SendComValS(IRoll);
SendComChar(';');
SendComValS(INick);
SendComChar(';');
SendComValS(ITurn);
SendComChar(';');
SendComValU(MVorne);
SendComChar(';');
SendComValU(MHinten);
SendComChar(';');
SendComValU(MLinks);
SendComChar(';');
SendComValU(MRechts);
SendComChar(0x0d);
SendComChar(0x0a);
}
#endif
TMR0 = 0;
T0IF = 0;
#ifdef ESC_PPM
ALL_PULSE_ON; // turn on all motor outputs
#endif
MV = MVorne;
MH = MHinten;
ML = MLinks;
MR = MRechts;
#ifdef DEBUG_MOTORS
// if DEBUG_MOTORS is active, CamIntFactor is a bitmap:
// bit 0 = no front motor
// bit 1 = no rear motor
// bit 2 = no left motor
// bit 3 = no right motor
// bit 4 = turns on the serial output
if( CamNickFactor.0 )
MV = _Minimum;
if( CamNickFactor.1 )
MH = _Minimum;
if( CamNickFactor.2 )
ML = _Minimum;
if( CamNickFactor.3 )
MR = _Minimum;
#else
#ifdef INTTEST
MV = _Minimum;
MH = _Minimum;
ML = _Minimum;
MR = _Minimum;
#endif
#endif
#ifdef ESC_PPM
// simply wait for nearly 1 ms
// irq service time is max 256 cycles = 64us = 16 TMR0 ticks
while( TMR0 < 0x100-3-16 ) ;
// now stop CCP1 interrupt
// capture can survive 1ms without service!
// Strictly only if the masked interrupt region below is
// less than the minimum valid Rx pulse/gap width which
// is 1027uS less capture time overheads
GIE = 0; // BLOCK ALL INTERRUPTS for NO MORE than 1mS
while( T0IF == 0 ) ; // wait for first overflow
T0IF=0; // quit TMR0 interrupt
#if !defined DEBUG && !defined DEBUG_MOTORS
if( _OutToggle ) // driver cam servos only every 2nd pulse
{
CAM_PULSE_ON; // now turn camera servo pulses on too
}
_OutToggle ^= 1;
#endif
// This loop is exactly 16 cycles long
// under no circumstances should the loop cycle time be changed
#asm
BCF RP0 // clear all bank bits
// BCF RP1
OS005
MOVF PORTB,W
ANDLW 0x0F // output ports 0 to 3
BTFSC Zero_
GOTO OS006 // stop if all 4 outputs are done
DECFSZ MV,f // front motor
GOTO OS007
BCF PulseVorne // stop pulse
OS007
DECFSZ ML,f // left motor
GOTO OS008
BCF PulseLinks // stop pulse
OS008
DECFSZ MR,f // right motor
GOTO OS009
BCF PulseRechts // stop pulse
OS009
DECFSZ MH,f // rear motor
GOTO OS005
BCF PulseHinten // stop pulse
GOTO OS005
OS006
#endasm
// This will be the corresponding C code:
// while( ALL_OUTPUTS != 0 )
// { // remain in loop as long as any output is still high
// if( TMR2 = MVorne ) PulseVorne = 0;
// if( TMR2 = MHinten ) PulseHinten = 0;
// if( TMR2 = MLinks ) PulseLinks = 0;
// if( TMR2 = MRechts ) PulseRechts = 0;
// }
GIE = 1; // Re-enable interrupt
#endif // ESC_PPM
#if defined ESC_X3D || defined ESC_HOLGER || defined ESC_YGEI2C
#if !defined DEBUG && !defined DEBUG_MOTORS
if( _OutToggle ) // driver cam servos only every 2nd pulse
{
CAM_PULSE_ON; // now turn camera servo pulses on too
}
_OutToggle ^= 1;
#endif
// in X3D- and Holger-Mode, K2 (left motor) is SDA, K3 (right) is SCL
#ifdef ESC_X3D
EscI2CStart();
SendEscI2CByte(0x10); // one command, 4 data bytes
SendEscI2CByte(MV); // for all motors
SendEscI2CByte(MH);
SendEscI2CByte(ML);
SendEscI2CByte(MR);
EscI2CStop();
#endif // ESC_X3D
#ifdef ESC_HOLGER
EscI2CStart();
SendEscI2CByte(0x52); // one cmd, one data byte per motor
SendEscI2CByte(MV); // for all motors
EscI2CStop();
EscI2CStart();
SendEscI2CByte(0x54);
SendEscI2CByte(MH);
EscI2CStop();
EscI2CStart();
SendEscI2CByte(0x58);
SendEscI2CByte(ML);
EscI2CStop();
EscI2CStart();
SendEscI2CByte(0x56);
SendEscI2CByte(MR);
EscI2CStop();
#endif // ESC_HOLGER
#ifdef ESC_YGEI2C
EscI2CStart();
SendEscI2CByte(0x62); // one cmd, one data byte per motor
SendEscI2CByte(MV>>1); // for all motors
EscI2CStop();
EscI2CStart();
SendEscI2CByte(0x64);
SendEscI2CByte(MH>>1);
EscI2CStop();
EscI2CStart();
SendEscI2CByte(0x68);
SendEscI2CByte(ML>>1);
EscI2CStop();
EscI2CStart();
SendEscI2CByte(0x66);
SendEscI2CByte(MR>>1);
EscI2CStop();
#endif // ESC_YGEI2C
#endif // ESC_X3D or ESC_HOLGER or ESC_YGEI2C
#ifndef DEBUG_MOTORS
while( TMR0 < 0x100-3-16 ) ; // wait for 2nd TMR0 near overflow
GIE = 0; // Int wieder sperren, wegen Jitter
while( T0IF == 0 ) ; // wait for 2nd overflow (2 ms)
// avoid servo overrun when MCamxx == 0
ME = MCamRoll+1;
MT = MCamNick+1;
#if !defined DEBUG && !defined DEBUG_SENSORS
// This loop is exactly 16 cycles long
// under no circumstances should the loop cycle time be changed
#asm
BCF RP0 // clear all bank bits
BCF RP1
OS001
MOVF PORTB,W
ANDLW 0x30 // output ports 4 and 5
BTFSC Zero_
GOTO OS002 // stop if all 2 outputs are 0
DECFSZ MT,f
GOTO OS003
BCF PulseCamRoll
OS003
DECFSZ ME,f
GOTO OS004
BCF PulseCamNick
OS004
#endasm
nop2();
nop2();
#asm
GOTO OS001
OS002
#endasm
#endif // DEBUG
GIE = 1; // re-enable interrupt
while( T0IF == 0 ) ; // wait for 3rd TMR2 overflow
#endif // DEBUG_MOTORS
#endif // !DEBUG_SENSORS
}
void OutSignals(void)
{
bank0 uns8 MV, MH, ML, MR; // must reside on bank0
uns8 MT@MV; // cam tilt servo
uns8 ME@MH; // cam tilt servo
TMR0 = 0;
T0IF = 0;
#ifdef ESC_PWM
ALL_PULSE_ON; // turn on all motor outputs
MV = MVorne;
MH = MHinten;
ML = MLinks;
MR = MRechts;
// simply wait for nearly 1 ms
// irq service time is max 256 cycles = 64us = 16 TMR0 ticks
while( TMR0 < 0x100-3-16 ) ;
// now stop CCP1 interrupt
// capture can survive 1ms without service!
GIE = 0; // BLOCK ALL INTERRUPTS
while( T0IF == 0 ) ; // wait for first overflow
T0IF=0; // quit TMR0 interrupt
#ifndef DEBUG
CAM_PULSE_ON; // now turn camera servo pulses on too
#endif
// This loop is exactly 16 cycles long
// under no circumstances should the loop cycle time be changed
#asm
BCF RP0 // clear all bank bits
BCF RP1
OS005
MOVF PORTB,W
ANDLW 0x0F // output ports 0 to 3
BTFSC Zero_
GOTO OS006 // stop if all 4 outputs are done
DECFSZ MV,f // front motor
GOTO OS007
BCF PulseVorne // stop pulse
OS007
DECFSZ ML,f // left motor
GOTO OS008
BCF PulseLinks // stop pulse
OS008
DECFSZ MR,f // right motor
GOTO OS009
BCF PulseRechts // stop pulse
OS009
DECFSZ MH,f // rear motor
GOTO OS005
BCF PulseHinten // stop pulse
GOTO OS005
OS006
#endasm
// This will be the corresponding C code:
// while( ALL_OUTPUTS != 0 )
// { // remain in loop as long as any output is still high
// if( TMR2 = MVorne ) PulseVorne = 0;
// if( TMR2 = MHinten ) PulseHinten = 0;
// if( TMR2 = MLinks ) PulseLinks = 0;
// if( TMR2 = MRechts ) PulseRechts = 0;
// }
GIE = 1; // Re-enable interrupt
#endif // ESC_PWM
#if defined ESC_X3D || defined ESC_HOLGER
#ifndef DEBUG
CAM_PULSE_ON; // now turn camera servo pulses on too
#endif
// in X3D- and Holger-Mode, K2 (left motor) is SDA, K3 (right) is SCL
#ifdef ESC_X3D
EscI2CStart();
SendEscI2CByte(0x10); // one command, 4 data bytes
SendEscI2CByte(MVorne); // for all motors
SendEscI2CByte(MHinten);
SendEscI2CByte(MLinks);
SendEscI2CByte(MRechts);
EscI2CStop();
#endif // ESC_X3D
#ifdef ESC_HOLGER
EscI2CStart();
SendEscI2CByte(0x52); // one cmd, one data byte per motor
SendEscI2CByte(MVorne); // for all motors
EscI2CStop();
EscI2CStart();
SendEscI2CByte(0x54);
SendEscI2CByte(MHinten);
EscI2CStop();
EscI2CStart();
SendEscI2CByte(0x58);
SendEscI2CByte(MLinks);
EscI2CStop();
EscI2CStart();
SendEscI2CByte(0x56);
SendEscI2CByte(MRechts);
EscI2CStop();
#endif // ESC_HOLGER
#endif // ESC_X3D or ESC_HOLGER
while( TMR0 < 0x100-3-16 ) ; // wait for 2nd TMR0 near overflow
GIE = 0; // Int wieder sperren, wegen Jitter
while( T0IF == 0 ) ; // wait for 2nd overflow (2 ms)
ME = MCamRoll;
MT = MCamNick;
#ifndef DEBUG
// This loop is exactly 16 cycles long
// under no circumstances should the loop cycle time be changed
#asm
BCF RP0 // clear all bank bits
BCF RP1
OS001
MOVF PORTB,W
ANDLW 0x30 // output ports 4 and 5
BTFSC Zero_
GOTO OS002 // stop if all 2 outputs are 0
DECFSZ MT,f
GOTO OS003
BCF PulseCamRoll
OS003
DECFSZ ME,f
GOTO OS004
BCF PulseCamNick
OS004
#endasm
nop2();
nop2();
nop2();
#asm
GOTO OS001
OS002
#endasm
#endif // DEBUG
GIE = 1; // re-enable interrupt
while( T0IF == 0 ) ; // wait for 3rd TMR2 overflow
}