Bayley Wang
/
foc-ed_in_the_bot_compact
robot
errors.h@85:2280526f9bad, 2017-03-12 (annotated)
- Committer:
- bwang
- Date:
- Sun Mar 12 08:46:04 2017 +0000
- Revision:
- 85:2280526f9bad
- Parent:
- 84:dd32640942a4
- Child:
- 86:b059f637e9ac
better error handling, continued
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bwang | 84:dd32640942a4 | 1 | #ifndef __ERRORS_H |
bwang | 84:dd32640942a4 | 2 | #define __ERRORS_H |
bwang | 84:dd32640942a4 | 3 | |
bwang | 84:dd32640942a4 | 4 | #include "Preferences.h" |
bwang | 84:dd32640942a4 | 5 | |
bwang | 84:dd32640942a4 | 6 | #define _MASK_MODE_CFG (1 << (MODE_CFG)) |
bwang | 84:dd32640942a4 | 7 | #define _MASK_MODE_RUN (1 << (MODE_RUN)) |
bwang | 84:dd32640942a4 | 8 | #define _MASK_MODE_ZERO (1 << (MODE_ZERO)) |
bwang | 84:dd32640942a4 | 9 | #define _MASK_MODE_CHR (1 << (MODE_CHR)) |
bwang | 84:dd32640942a4 | 10 | |
bwang | 84:dd32640942a4 | 11 | #define _MASK_OP_TORQUE (1 << (NUM_MODES + OP_TORQUE)) |
bwang | 84:dd32640942a4 | 12 | #define _MASK_OP_DRIVING (1 << (NUM_MODES + OP_DRIVING)) |
bwang | 84:dd32640942a4 | 13 | #define _MASK_OP_SPEED (1 << (NUM_MODES + OP_SPEED)) |
bwang | 84:dd32640942a4 | 14 | #define _MASK_OP_POSITION (1 << (NUM_MODES + OP_POSITION)) |
bwang | 84:dd32640942a4 | 15 | |
bwang | 84:dd32640942a4 | 16 | #define _MASK_SRC_RC (1 << (NUM_MODES + NUM_OPS + CMD_SRC_RC)) |
bwang | 84:dd32640942a4 | 17 | #define _MASK_SRC_ANALOG (1 << (NUM_MODES + NUM_OPS + CMD_SRC_ANALOG)) |
bwang | 84:dd32640942a4 | 18 | #define _MASK_SRC_TERMINAL (1 << (NUM_MODES + NUM_OPS + CMD_SRC_TERMINAL)) |
bwang | 84:dd32640942a4 | 19 | #define _MASK_SRC_SERIAL (1 << (NUM_MODES + NUM_OPS + CMD_SRC_SERIAL)) |
bwang | 84:dd32640942a4 | 20 | #define _MASK_SRC_CAN (1 << (NUM_MODES + NUM_OPS + CMD_SRC_CAN)) |
bwang | 84:dd32640942a4 | 21 | #define _MASK_SRC_INTERNAL (1 << (NUM_MODES + NUM_OPS + CMD_SRC_INTERNAL)) |
bwang | 84:dd32640942a4 | 22 | |
bwang | 85:2280526f9bad | 23 | #define _mask_mode(x) (1 << (x)) |
bwang | 85:2280526f9bad | 24 | #define _mask_op(x) (1 << (NUM_MODES + x)) |
bwang | 85:2280526f9bad | 25 | #define _mask_src(x) (1 << (NUM_MODES + NUM_OPS + x)) |
bwang | 85:2280526f9bad | 26 | |
bwang | 85:2280526f9bad | 27 | #define NUM_ERRORS 3 |
bwang | 84:dd32640942a4 | 28 | enum { |
bwang | 84:dd32640942a4 | 29 | ERR_THROTTLE_DISABLED, |
bwang | 84:dd32640942a4 | 30 | ERR_POS_INVALID, |
bwang | 84:dd32640942a4 | 31 | ERR_NOT_DRIVING, |
bwang | 84:dd32640942a4 | 32 | }; |
bwang | 84:dd32640942a4 | 33 | |
bwang | 85:2280526f9bad | 34 | extern int errors, moded_errors; |
bwang | 84:dd32640942a4 | 35 | extern int masks[32]; |
bwang | 84:dd32640942a4 | 36 | |
bwang | 84:dd32640942a4 | 37 | void init_masks(); |
bwang | 84:dd32640942a4 | 38 | |
bwang | 84:dd32640942a4 | 39 | #endif |