Bayley Wang
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robot
errors.h@181:d3510c8beab6, 2018-02-09 (annotated)
- Committer:
- bwang
- Date:
- Fri Feb 09 03:49:31 2018 +0000
- Revision:
- 181:d3510c8beab6
- Child:
- 187:523cf8c962e4
02/08/2018 22:48 - integrated CommandProcessor and PreferenceWriter (but code does not use dynamic config variables or set error flags yet)
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bwang | 181:d3510c8beab6 | 1 | #ifndef __ERRORS_H |
bwang | 181:d3510c8beab6 | 2 | #define __ERRORS_H |
bwang | 181:d3510c8beab6 | 3 | |
bwang | 181:d3510c8beab6 | 4 | #include "prefs.h" |
bwang | 181:d3510c8beab6 | 5 | |
bwang | 181:d3510c8beab6 | 6 | #define _MASK_MODE_CFG (1 << (MODE_CFG)) |
bwang | 181:d3510c8beab6 | 7 | #define _MASK_MODE_RUN (1 << (MODE_RUN)) |
bwang | 181:d3510c8beab6 | 8 | #define _MASK_MODE_ZERO (1 << (MODE_ZERO)) |
bwang | 181:d3510c8beab6 | 9 | #define _MASK_MODE_CHR (1 << (MODE_CHR)) |
bwang | 181:d3510c8beab6 | 10 | |
bwang | 181:d3510c8beab6 | 11 | #define _MASK_OP_TORQUE (1 << (NUM_MODES + OP_TORQUE)) |
bwang | 181:d3510c8beab6 | 12 | #define _MASK_OP_DRIVING (1 << (NUM_MODES + OP_DRIVING)) |
bwang | 181:d3510c8beab6 | 13 | #define _MASK_OP_SPEED (1 << (NUM_MODES + OP_SPEED)) |
bwang | 181:d3510c8beab6 | 14 | #define _MASK_OP_POSITION (1 << (NUM_MODES + OP_POSITION)) |
bwang | 181:d3510c8beab6 | 15 | |
bwang | 181:d3510c8beab6 | 16 | #define _MASK_SRC_RC (1 << (NUM_MODES + NUM_OPS + CMD_SRC_RC)) |
bwang | 181:d3510c8beab6 | 17 | #define _MASK_SRC_ANALOG (1 << (NUM_MODES + NUM_OPS + CMD_SRC_ANALOG)) |
bwang | 181:d3510c8beab6 | 18 | #define _MASK_SRC_TERMINAL (1 << (NUM_MODES + NUM_OPS + CMD_SRC_TERMINAL)) |
bwang | 181:d3510c8beab6 | 19 | #define _MASK_SRC_SERIAL (1 << (NUM_MODES + NUM_OPS + CMD_SRC_SERIAL)) |
bwang | 181:d3510c8beab6 | 20 | #define _MASK_SRC_CAN (1 << (NUM_MODES + NUM_OPS + CMD_SRC_CAN)) |
bwang | 181:d3510c8beab6 | 21 | #define _MASK_SRC_INTERNAL (1 << (NUM_MODES + NUM_OPS + CMD_SRC_INTERNAL)) |
bwang | 181:d3510c8beab6 | 22 | |
bwang | 181:d3510c8beab6 | 23 | #define _mask_mode(x) (1 << (x)) |
bwang | 181:d3510c8beab6 | 24 | #define _mask_op(x) (1 << (NUM_MODES + x)) |
bwang | 181:d3510c8beab6 | 25 | #define _mask_src(x) (1 << (NUM_MODES + NUM_OPS + x)) |
bwang | 181:d3510c8beab6 | 26 | |
bwang | 181:d3510c8beab6 | 27 | #define NUM_ERRORS 3 |
bwang | 181:d3510c8beab6 | 28 | enum { |
bwang | 181:d3510c8beab6 | 29 | ERR_THROTTLE_DISABLED, |
bwang | 181:d3510c8beab6 | 30 | ERR_POS_INVALID, |
bwang | 181:d3510c8beab6 | 31 | ERR_NOT_DRIVING, |
bwang | 181:d3510c8beab6 | 32 | }; |
bwang | 181:d3510c8beab6 | 33 | |
bwang | 181:d3510c8beab6 | 34 | extern int errors, moded_errors; |
bwang | 181:d3510c8beab6 | 35 | extern int masks[32]; |
bwang | 181:d3510c8beab6 | 36 | |
bwang | 181:d3510c8beab6 | 37 | void init_masks(); |
bwang | 181:d3510c8beab6 | 38 | |
bwang | 181:d3510c8beab6 | 39 | #endif |