File content as of revision 252:38644631ed97:

#include "errors.h"
#include "globals.h"
#include "prefs.h"

int errors = 0, moded_errors = 0;
int masks[32];

void init_masks() {
    masks[ERR_THROTTLE_DISABLED] =  _MASK_MODE_RUN |
                                    _MASK_OP_TORQUE | _MASK_OP_DRIVING | _MASK_OP_SPEED | _MASK_OP_POSITION |
                                    _MASK_SRC_RC | _MASK_SRC_ANALOG;
    masks[ERR_POS_INVALID] =        _MASK_MODE_RUN | _MASK_MODE_ZERO | _MASK_MODE_CHR |
                                    _MASK_OP_TORQUE | _MASK_OP_DRIVING | _MASK_OP_SPEED | _MASK_OP_POSITION |
                                    _MASK_SRC_RC | _MASK_SRC_ANALOG | _MASK_SRC_TERMINAL | _MASK_SRC_SERIAL |
                                    _MASK_SRC_CAN | _MASK_SRC_INTERNAL;
    masks[ERR_NOT_DRIVING] =        _MASK_MODE_RUN |
                                    _MASK_OP_TORQUE | _MASK_OP_DRIVING | _MASK_OP_SPEED |
                                    _MASK_SRC_RC | _MASK_SRC_ANALOG | _MASK_SRC_TERMINAL | _MASK_SRC_SERIAL |
                                    _MASK_SRC_CAN | _MASK_SRC_INTERNAL;
}

void go_enabled() {
    control.enabled = true;
    io.en->write(1);
}

void go_disabled() {
    control.d_integral = 0.0f;
    control.q_integral = 0.0f;
    control.w_integral = 0.0f;
    control.enabled = false;
    io.en->write(0);
}

bool is_driving() {
    return fabsf(control.user_cmd) > 0.01f || fabsf(control.torque_percent) > 0.01f || fabsf(read.w) > _W_SAFE;
}

#define _seterr(x) errors |= (1 << x)
#define _unseterr(x) errors &= ~(1 << x)
#define _upderr(x) _unseterr(x) : _seterr(x)
void check_errors_modeless() {
    io.throttle_in->get_enabled() ? _upderr(ERR_THROTTLE_DISABLED);
    io.pos->IsValid() ? _upderr(ERR_POS_INVALID);
    is_driving() ? _upderr(ERR_NOT_DRIVING);
}

bool checks_passed() {
    check_errors_modeless();
    for (int k = 0; k < NUM_ERRORS; k++) {
        int mask_mode = masks[k] & _mask_mode(BREMS_mode);
        int mask_op = masks[k] & _mask_op(BREMS_op);
        int mask_src = masks[k] & _mask_src(BREMS_src);
        if ((errors & (1 << k)) != 0 && mask_mode != 0 && mask_op != 0 && mask_src != 0) {
            moded_errors |= 1 << k;
        } else {
            moded_errors &= ~(1 << k);
        }
    }

    if (moded_errors != 0) {
        return false;
    }
    return true;
}