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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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/** @defgroup emcyo Emergency Object

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 *  Emergency Object is used to communicate device and application failures.

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 *  @ingroup comobj

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

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

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/*************************************************************************

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 * Functions

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 *************************************************************************/

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/** 

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 * @ingroup emcy

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 * @brief Sets a new error with code errCode. Also sets corresponding bits in Error register (1001h)

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 * @param *d Pointer on a CAN object data structure

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 * @param errCode The error code

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 * @param errRegMask

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 * @param addInfo

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 * @return

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 */

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UNS8 EMCY_setError(CO_Data* d, UNS16 errCode, UNS8 errRegMask, UNS16 addInfo);

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/**

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 * @ingroup emcy 

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 * @brief Indicates it has recovered from error errCode. Also clears corresponding bits in Error register (1001h)

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 * @param *d Pointer on a CAN object data structure

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 * @param errCode The error code

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 */

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void EMCY_errorRecovered(CO_Data* d, UNS16 errCode);

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/**

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 * @ingroup emcy 

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 * @brief Start EMCY consumer and producer

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 * @param *d Pointer on a CAN object data structure

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 */

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void emergencyInit(CO_Data* d);

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/** 

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 * @ingroup emcy

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 * @brief Stop EMCY producer and consumer

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 * @param *d Pointer on a CAN object data structure 

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 */

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void emergencyStop(CO_Data* d);

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/** 

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 * @ingroup emcy

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 * @brief This function is responsible to process an EMCY canopen-message

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 * @param *d Pointer on a CAN object data structure 

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 * @param *m Pointer on 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__ */