author | etisserant |
Thu, 31 Jan 2008 15:20:59 +0100 | |
changeset 375 | 03fb0bfccc1f |
parent 296 | 03f2b8b8cb0b |
child 378 | d2abf6c8c27b |
permissions | -rw-r--r-- |
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/* |
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This file is part of CanFestival, a library implementing CanOpen Stack. |
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Copyright (C): Edouard TISSERANT and Francis DUPIN |
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See COPYING file for copyrights details. |
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This library is free software; you can redistribute it and/or |
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modify it under the terms of the GNU Lesser General Public |
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License as published by the Free Software Foundation; either |
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version 2.1 of the License, or (at your option) any later version. |
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This library is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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Lesser General Public License for more details. |
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You should have received a copy of the GNU Lesser General Public |
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License along with this library; if not, write to the Free Software |
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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*/ |
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/*! |
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** @file emcy.h |
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** @author Luis Jimenez |
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** @date Wed Sep 26 2007 |
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** |
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** @brief Declarations of the functions that manage EMCY (emergency) messages |
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** |
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** |
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*/ |
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#ifndef __emcy_h__ |
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#define __emcy_h__ |
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#include <applicfg.h> |
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/* The error states |
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* ----------------- */ |
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typedef enum enum_errorState { |
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Error_free = 0x00, |
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Error_occurred = 0x01 |
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} e_errorState; |
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typedef struct { |
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UNS16 errCode; |
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UNS8 errRegMask; |
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UNS8 active; |
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} s_errors; |
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#include "data.h" |
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typedef void (*post_emcy_t)(UNS8 nodeID, UNS16 errCode, UNS8 errReg); |
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void _post_emcy(UNS8 nodeID, UNS16 errCode, UNS8 errReg); |
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/************************************************************************* |
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* Functions |
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*************************************************************************/ |
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/** Sets a new error with code errCode. Also sets corresponding bits in Error register (1001h) |
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*/ |
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03f2b8b8cb0b
Solved a small bug in emcy.c (errRegMask was always '1' in EMCY_setError.
luis
parents:
284
diff
changeset
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UNS8 EMCY_setError(CO_Data* d, UNS16 errCode, UNS8 errRegMask, UNS16 addInfo); |
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/** Indicates it has recovered from error errCode. Also clears corresponding bits in Error register (1001h) |
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*/ |
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void EMCY_errorRecovered(CO_Data* d, UNS16 errCode); |
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/** Start EMCY consumer and producer |
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*/ |
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void emergencyInit(CO_Data* d); |
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/** Stop EMCY producer and consumer |
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*/ |
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void emergencyStop(CO_Data* d); |
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/** This function is responsible to process an EMCY canopen-message |
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* \param Message The CAN-message which has to be analysed. |
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*/ |
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void proceedEMCY(CO_Data* d, Message* m); |
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#endif /*__emcy_h__ */ |