|
284
|
1 |
/*
|
|
|
2 |
This file is part of CanFestival, a library implementing CanOpen Stack.
|
|
|
3 |
|
|
|
4 |
Copyright (C): Edouard TISSERANT and Francis DUPIN
|
|
|
5 |
|
|
|
6 |
See COPYING file for copyrights details.
|
|
|
7 |
|
|
|
8 |
This library is free software; you can redistribute it and/or
|
|
|
9 |
modify it under the terms of the GNU Lesser General Public
|
|
|
10 |
License as published by the Free Software Foundation; either
|
|
|
11 |
version 2.1 of the License, or (at your option) any later version.
|
|
|
12 |
|
|
|
13 |
This library is distributed in the hope that it will be useful,
|
|
|
14 |
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
|
15 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
|
|
16 |
Lesser General Public License for more details.
|
|
|
17 |
|
|
|
18 |
You should have received a copy of the GNU Lesser General Public
|
|
|
19 |
License along with this library; if not, write to the Free Software
|
|
|
20 |
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
|
|
21 |
*/
|
|
|
22 |
|
|
|
23 |
/*!
|
|
|
24 |
** @file emcy.h
|
|
|
25 |
** @author Luis Jimenez
|
|
|
26 |
** @date Wed Sep 26 2007
|
|
|
27 |
**
|
|
|
28 |
** @brief Declarations of the functions that manage EMCY (emergency) messages
|
|
|
29 |
**
|
|
|
30 |
**
|
|
|
31 |
*/
|
|
|
32 |
|
|
|
33 |
#ifndef __emcy_h__
|
|
|
34 |
#define __emcy_h__
|
|
|
35 |
|
|
|
36 |
|
|
|
37 |
#include <applicfg.h>
|
|
|
38 |
|
|
|
39 |
/* The error states
|
|
|
40 |
* ----------------- */
|
|
|
41 |
typedef enum enum_errorState {
|
|
|
42 |
Error_free = 0x00,
|
|
|
43 |
Error_occurred = 0x01
|
|
|
44 |
} e_errorState;
|
|
|
45 |
|
|
|
46 |
typedef struct {
|
|
|
47 |
UNS16 errCode;
|
|
|
48 |
UNS8 errRegMask;
|
|
|
49 |
UNS8 active;
|
|
|
50 |
} s_errors;
|
|
|
51 |
|
|
|
52 |
#include "data.h"
|
|
|
53 |
|
|
|
54 |
|
|
|
55 |
typedef void (*post_emcy_t)(UNS8 nodeID, UNS16 errCode, UNS8 errReg);
|
|
|
56 |
void _post_emcy(UNS8 nodeID, UNS16 errCode, UNS8 errReg);
|
|
|
57 |
|
|
|
58 |
/*************************************************************************
|
|
|
59 |
* Functions
|
|
|
60 |
*************************************************************************/
|
|
|
61 |
|
|
|
62 |
/** Sets a new error with code errCode. Also sets corresponding bits in Error register (1001h)
|
|
|
63 |
*/
|
|
|
64 |
UNS8 EMCY_setError(CO_Data* d, UNS16 errCode, UNS8 errRegMask);
|
|
|
65 |
|
|
|
66 |
/** Indicates it has recovered from error errCode. Also clears corresponding bits in Error register (1001h)
|
|
|
67 |
*/
|
|
|
68 |
void EMCY_errorRecovered(CO_Data* d, UNS16 errCode);
|
|
|
69 |
|
|
|
70 |
/** Start EMCY consumer and producer
|
|
|
71 |
*/
|
|
|
72 |
void emergencyInit(CO_Data* d);
|
|
|
73 |
|
|
|
74 |
/** Stop EMCY producer and consumer
|
|
|
75 |
*/
|
|
|
76 |
void emergencyStop(CO_Data* d);
|
|
|
77 |
|
|
|
78 |
/** This function is responsible to process an EMCY canopen-message
|
|
|
79 |
* \param Message The CAN-message which has to be analysed.
|
|
|
80 |
*/
|
|
|
81 |
void proceedEMCY(CO_Data* d, Message* m);
|
|
|
82 |
|
|
|
83 |
#endif /*__emcy_h__ */
|