ctrl_servo/global.h at master · ckming102/ctrl_servo · GitHub

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/*==============================================================================
    Useful macros and global flags to keep track of state
 =============================================================================*/
#ifndef GLOBAL_H
#define GLOBAL_H

/* ---------------------*/
/*  Stand-in for bools  */
/* ---------------------*/
#define TRUE 1
#define FALSE 0

/* ---------------- */
/*  Bit Ops Macros  */
/* ---------------- */
#define flip_1bit(REG, BIT_POS) (REG ^= (1 << BIT_POS))
#define sethigh_1bit(REG, BIT_POS) (REG |= (1 << BIT_POS))
#define setlow_1bit(REG, BIT_POS) (REG &= ~ (1 << BIT_POS))
#define set_1bit(REG, BIT_POS, VAL) (\
    VAL ? sethigh_1bit(REG, BIT_POS) : setlow_1bit(REG, BIT_POS) \
)

#define set_1bit_hex(REG, BIT_POS, HEX) (\
    set_1bit(REG, BIT_POS, HEX & (1 << BIT_POS)) \
)

/* ---------------------------------- */
/*  GLOBAL flags and state variables  */
/* ---------------------------------- */

/* Global flags */
struct GLOBAL_FLAGS {
  /* True when uart has received a string (ended with '/r') */
  uint8_t cmd_check:1;
  /* True when valid command is executing */
  uint8_t cmd_executed:1;
  /* True when RX interrupt received */
  uint8_t rx_int:1;
  /* True when escape character received */
  uint8_t esc_char:1;
  /* True when [ received */
  uint8_t bracket:1;
  /* Dummy bits to fill up a byte */
  uint8_t dummy:3;
};

volatile struct GLOBAL_FLAGS status;

/* context */
#define N_CONTEXT_TYPES 3
enum context_types
{
  context_cli, context_manual, context_game
};

volatile uint8_t context;

/* error number */
int err_no;


#endif