Diff: globals.h

Revision:

0:2b1edabdd26b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/globals.h	Sun Feb 03 03:38:05 2019 +0000
@@ -0,0 +1,47 @@
+#ifndef __GLOBALS_H
+#define __GLOBALS_H
+
+#include "FastPWM.h"
+#include "PreferenceWriter.h"
+
+extern FastPWM *out1, *out2, *out3;
+extern int adval1, adval2;
+extern PreferenceWriter *pref;
+extern float current, throttle, vout, user_cmd;
+
+extern int __int_reg[];
+extern float __float_reg[];
+
+#define I_LIMIT __float_reg[0]
+#define KP __float_reg[1]
+#define KI __float_reg[2]
+#define F_SW __float_reg[3]
+#define THROTTLE_DEADBAND __float_reg[4]
+#define ANALOG_THROTTLE_LOW __float_reg[5]
+#define ANALOG_THROTTLE_HI __float_reg[6]
+
+#define PREFS_VALID __int_reg[0]
+#define BREMS_src __int_reg[1]
+#define BREMS_op __int_reg[2]
+
+#define NUM_OPS 4
+enum {
+    OP_TORQUE,
+    OP_DRIVING,
+    OP_SPEED,
+    OP_POSITION,
+};
+
+#define NUM_SRCS 6
+enum {
+    CMD_SRC_RC,
+    CMD_SRC_ANALOG,
+    CMD_SRC_TERMINAL,
+    CMD_SRC_SERIAL,
+    CMD_SRC_CAN,
+    CMD_SRC_INTERNAL
+};
+
+#define set_dtc(a, x) *a = (x)
+
+#endif
\ No newline at end of file