added boilerplate source and header files

1 files changed, 33 insertions, 0 deletions

diff --git a/robot/consts.h b/robot/consts.h
new file mode 100644
index 0000000..6530528
--- /dev/null
+++ b/robot/consts.h
@@ -0,0 +1,33 @@
+#pragma once
+
+#ifndef BUILD_STR
+// should be defined with -DBUILD_STR in makefile
+#define BUILD_STR ("????????")
+#endif
+
+#define W2_MAX_MODULE_CYCLE_MS (20)
+#define W2_SERIAL_BAUD (9600)
+
+#define W2_ERR_TYPE_CRIT (0b00 << 6)
+#define W2_ERR_TYPE_WARN (0b01 << 6)
+#define W2_ERR_TYPE_INFO (0b10 << 6)
+#define W2_ERR_TYPE_VERB (0b11 << 6)
+
+/**
+ * enum storing all error codes
+ *
+ * error codes are between 0-63 because the two most significant bits are
+ * reserved for error type checking
+ */
+enum w2_e_errorcodes {
+	// critical error codes
+	W2_ERR_CONN_LOST	   = 0x00 | W2_ERR_TYPE_CRIT,
+	W2_ERR_COM_UNAVAILABLE = 0x01 | W2_ERR_TYPE_CRIT, // client-only
+	W2_ERR_LINE_LOST	   = 0x02 | W2_ERR_TYPE_CRIT,
+	W2_ERR_OBSTACLE_STUCK  = 0x03 | W2_ERR_TYPE_CRIT,
+
+	// warnings
+	W2_ERR_BATTERY_LOW		 = 0x00 | W2_ERR_TYPE_WARN,
+	W2_ERR_OBSTACLE_DETECTED = 0x01 | W2_ERR_TYPE_WARN,
+	W2_ERR_CYCLE_EXPIRED	 = 0x02 | W2_ERR_TYPE_WARN,
+};