Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Embed:
(wiki syntax)
Show/hide line numbers
errors.h
00001 #ifndef __ERRORS_H 00002 #define __ERRORS_H 00003 00004 #include "prefs.h" 00005 00006 #define _MASK_MODE_CFG (1 << (MODE_CFG)) 00007 #define _MASK_MODE_RUN (1 << (MODE_RUN)) 00008 #define _MASK_MODE_ZERO (1 << (MODE_ZERO)) 00009 #define _MASK_MODE_CHR (1 << (MODE_CHR)) 00010 00011 #define _MASK_OP_TORQUE (1 << (NUM_MODES + OP_TORQUE)) 00012 #define _MASK_OP_DRIVING (1 << (NUM_MODES + OP_DRIVING)) 00013 #define _MASK_OP_SPEED (1 << (NUM_MODES + OP_SPEED)) 00014 #define _MASK_OP_POSITION (1 << (NUM_MODES + OP_POSITION)) 00015 00016 #define _MASK_SRC_RC (1 << (NUM_MODES + NUM_OPS + CMD_SRC_RC)) 00017 #define _MASK_SRC_ANALOG (1 << (NUM_MODES + NUM_OPS + CMD_SRC_ANALOG)) 00018 #define _MASK_SRC_TERMINAL (1 << (NUM_MODES + NUM_OPS + CMD_SRC_TERMINAL)) 00019 #define _MASK_SRC_SERIAL (1 << (NUM_MODES + NUM_OPS + CMD_SRC_SERIAL)) 00020 #define _MASK_SRC_CAN (1 << (NUM_MODES + NUM_OPS + CMD_SRC_CAN)) 00021 #define _MASK_SRC_INTERNAL (1 << (NUM_MODES + NUM_OPS + CMD_SRC_INTERNAL)) 00022 00023 #define _mask_mode(x) (1 << (x)) 00024 #define _mask_op(x) (1 << (NUM_MODES + x)) 00025 #define _mask_src(x) (1 << (NUM_MODES + NUM_OPS + x)) 00026 00027 #define NUM_ERRORS 3 00028 enum { 00029 ERR_THROTTLE_DISABLED, 00030 ERR_POS_INVALID, 00031 ERR_NOT_DRIVING, 00032 }; 00033 00034 extern int errors, moded_errors; 00035 extern int masks[32]; 00036 00037 void init_masks(); 00038 bool checks_passed(); 00039 00040 #endif
Generated on Tue Jul 12 2022 17:58:39 by 1.7.2