1 files changed, 48 insertions, 0 deletions
diff --git a/src/boost/libs/safe_numerics/example/motor_test2.c b/src/boost/libs/safe_numerics/example/motor_test2.c
new file mode 100644
index 000000000..23f705760
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+++ b/src/boost/libs/safe_numerics/example/motor_test2.c
@@ -0,0 +1,48 @@
+/*
+ * david austin
+ * http://www.embedded.com/design/mcus-processors-and-socs/4006438/Generate-stepper-motor-speed-profiles-in-real-time
+ * DECEMBER 30, 2004
+ *
+ * Demo program for stepper motor control with linear ramps
+ * Hardware: PIC18F252, L6219
+ *
+ * Compile with on Microchip XC8 compiler with the command line:
+ * XC8 --chip=18F252 motor_test2.c
+ *
+ * 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 <xc.h>
+#include <stdint.h>
+#include <stdbool.h>        /* For true/false definition */
+
+// *************************** 
+// alias integer types standard C integer types
+typedef int8_t int8;
+typedef int16_t int16;
+typedef int32_t int32;
+typedef uint8_t uint8;
+typedef uint16_t uint16;
+typedef uint32_t uint32;
+
+// 1st step=50ms; max speed=120rpm (based on 1MHz timer, 1.8deg steps)
+#define C0    (50000*8l)
+#define C_MIN  (2500*8)
+
+#include "motor2.c"
+
+void main() {
+    initialize();
+     while (1) { // repeat 5 revs forward & back
+        motor_run(1000);
+        while (run_flg);
+        motor_run(0);
+        while (run_flg);
+        motor_run(50000);
+        while (run_flg);
+    }
+} // main()