text: // ----------------------------------------------------------------------------
  // BSD 3-Clause License
  
  // Copyright (c) 2016, qbrobotics
  // Copyright (c) 2017, Centro "E.Piaggio"
  // All rights reserved.
  
  // Redistribution and use in source and binary forms, with or without
  // modification, are permitted provided that the following conditions are met:
  
  // * Redistributions of source code must retain the above copyright notice, this
  //   list of conditions and the following disclaimer.
  
  // * Redistributions in binary form must reproduce the above copyright notice,
  //   this list of conditions and the following disclaimer in the documentation
  //   and/or other materials provided with the distribution.
  
  // * Neither the name of the copyright holder nor the names of its
  //   contributors may be used to endorse or promote products derived from
  //   this software without specific prior written permission.
  
  // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
  // FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  // DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  // SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  // CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  // OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  // POSSIBILITY OF SUCH DAMAGE.
  // ----------------------------------------------------------------------------
  
  /**
  * \file         globals.c
  *
  * \brief        Global variables.
  * \date         Dic. 1, 2015
  * \author       qbrobotics
  * \copyright    (C) 2012-2016 qbrobotics. All rights reserved.
  * \copyright    (C) 2017 Centro "E.Piaggio". All rights reserved.
  */
  
  //=================================================================     includes
  
  #include <globals.h>
  
  //=============================================      global variables definition
  
  struct st_ref   g_ref, g_refNew, g_refOld;  // motor variables
  struct st_meas  g_meas, g_measOld;          // measurements
  struct st_data  g_rx;                       // income data
  struct st_mem   g_mem, c_mem;               // memory
  
  // Timer value for debug field
  
  uint32 timer_value;
  uint32 timer_value0;
  
  // Device Data
  
  int32   dev_tension;                // Power supply tension
  uint8   dev_pwm_limit;
  
  uint8 calibration_flag;
  
  // Bit Flag
  
  CYBIT reset_last_value_flag;
  CYBIT tension_valid;
  CYBIT interrupt_flag;
  CYBIT watchdog_flag;
  
  // DMA Buffer
  
  int16 ADC_buf[3]; 
  
  // PWM Sign
  
  int8 pwm_sign[NUM_OF_MOTORS];
  