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)(CO_Data* d, UNS8 nodeID, UNS16 errCode, UNS8 errReg);

    56

void _post_emcy(CO_Data* d, 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, UNS16 addInfo);

    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__ */