Bayley Wang
/
foc-ed_in_the_bot_compact
robot
errors.h
- Committer:
- bwang
- Date:
- 2018-02-09
- Revision:
- 187:523cf8c962e4
- Parent:
- 181:d3510c8beab6
- Child:
- 232:47f6cf4f9126
File content as of revision 187:523cf8c962e4:
#ifndef __ERRORS_H #define __ERRORS_H #include "prefs.h" #define _MASK_MODE_CFG (1 << (MODE_CFG)) #define _MASK_MODE_RUN (1 << (MODE_RUN)) #define _MASK_MODE_ZERO (1 << (MODE_ZERO)) #define _MASK_MODE_CHR (1 << (MODE_CHR)) #define _MASK_OP_TORQUE (1 << (NUM_MODES + OP_TORQUE)) #define _MASK_OP_DRIVING (1 << (NUM_MODES + OP_DRIVING)) #define _MASK_OP_SPEED (1 << (NUM_MODES + OP_SPEED)) #define _MASK_OP_POSITION (1 << (NUM_MODES + OP_POSITION)) #define _MASK_SRC_RC (1 << (NUM_MODES + NUM_OPS + CMD_SRC_RC)) #define _MASK_SRC_ANALOG (1 << (NUM_MODES + NUM_OPS + CMD_SRC_ANALOG)) #define _MASK_SRC_TERMINAL (1 << (NUM_MODES + NUM_OPS + CMD_SRC_TERMINAL)) #define _MASK_SRC_SERIAL (1 << (NUM_MODES + NUM_OPS + CMD_SRC_SERIAL)) #define _MASK_SRC_CAN (1 << (NUM_MODES + NUM_OPS + CMD_SRC_CAN)) #define _MASK_SRC_INTERNAL (1 << (NUM_MODES + NUM_OPS + CMD_SRC_INTERNAL)) #define _mask_mode(x) (1 << (x)) #define _mask_op(x) (1 << (NUM_MODES + x)) #define _mask_src(x) (1 << (NUM_MODES + NUM_OPS + x)) #define NUM_ERRORS 3 enum { ERR_THROTTLE_DISABLED, ERR_POS_INVALID, ERR_NOT_DRIVING, }; extern int errors, moded_errors; extern int masks[32]; void init_masks(); #endif