src/emcy.c
author greg
Wed, 12 Mar 2008 10:08:43 +0100
changeset 416 9ef58fa2c66a
parent 378 d2abf6c8c27b
child 427 6deafe46484f
permissions -rw-r--r--
fixed missing uninstall target in examples makefile
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/*
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  This file is part of CanFestival, a library implementing CanOpen
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  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
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  USA
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*/
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/*!
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** @file   emcy.c
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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 Definitions of the functions that manage EMCY (emergency) messages
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**
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**
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*/
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#include <data.h>
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#include "emcy.h"
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#include "canfestival.h"
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#include "sysdep.h"
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UNS32 OnNumberOfErrorsUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex);
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UNS8 sendEMCY(CO_Data* d, UNS16 errCode, UNS8 errRegister);
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/*! This is called when Index 0x1003 is updated.
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**
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**
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** @param d
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** @param unsused_indextable
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** @param unsused_bSubindex
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**
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** @return
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**/
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UNS32 OnNumberOfErrorsUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
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{
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	UNS8 index;
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  // if 0, reset Pre-defined Error Field
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  // else, don't change and give an abort message (eeror code: 0609 0030h)
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	if (*d->error_number == 0)
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		for (index = 0; index < d->error_history_size; ++index)
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			*(d->error_first_element + index) = 0;		/* clear all the fields in Pre-defined Error Field (1003h) */
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	else
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		;// abort message
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  return 0;
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}
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/*! start the EMCY mangagement.
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**
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**
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** @param d
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**/
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void emergencyInit(CO_Data* d)
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{
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  RegisterSetODentryCallBack(d, 0x1003, 0x00, &OnNumberOfErrorsUpdate);
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  *d->error_number = 0;
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}
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/*!
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**
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**
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** @param d
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**/
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void emergencyStop(CO_Data* d)
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{
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}
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/*!                                                                                                
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 **                                                                                                 
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 **                                                                                                 
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 ** @param d                                                                                        
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 ** @param cob_id                                                                                   
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 **                                                                                                 
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 ** @return                                                                                         
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 **/  
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UNS8 sendEMCY(CO_Data* d, UNS16 errCode, UNS8 errRegister)
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{
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	Message m;
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	MSG_WAR(0x3051, "sendEMCY", 0);
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	m.cob_id = UNS16_LE(*(UNS16*)d->error_cobid);
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	m.rtr = NOT_A_REQUEST;
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	m.len = 8;
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	m.data[0] = errCode & 0xFF;        /* LSB */
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	m.data[1] = (errCode >> 8) & 0xFF; /* MSB */
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	m.data[2] = errRegister;
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	m.data[3] = 0;		/* Manufacturer specific Error Field still not implemented */
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	m.data[4] = 0;
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	m.data[5] = 0;
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	m.data[6] = 0;
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	m.data[7] = 0;
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	return canSend(d->canHandle,&m);
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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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 **  
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 ** @param d
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 ** @param errCode Code of the error                                                                                        
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 ** @param errRegister Bits of Error register (1001h) to be set.
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 ** @return 1 if error, 0 if successful
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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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	UNS8 index;
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	UNS8 errRegister_tmp;
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	for (index = 0; index < EMCY_MAX_ERRORS; ++index)
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	{
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		if (d->error_data[index].errCode == errCode)		/* error already registered */
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		{
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			if (d->error_data[index].active)
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			{
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				MSG_WAR(0x3052, "EMCY message already sent", 0);
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				return 0;
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			} else d->error_data[index].active = 1;		/* set as active error */
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			break;
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		}
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	}
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	if (index == EMCY_MAX_ERRORS)		/* if errCode not already registered */
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		for (index = 0; index < EMCY_MAX_ERRORS; ++index) if (d->error_data[index].active == 0) break;	/* find first inactive error */
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	if (index == EMCY_MAX_ERRORS)		/* error_data full */
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	{
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		MSG_ERR(0x3053, "error_data full", 0);
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		return 1;
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	}
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	d->error_data[index].errCode = errCode;
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	d->error_data[index].errRegMask = errRegMask;
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	d->error_data[index].active = 1;
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	/* set the new state in the error state machine */
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	d->error_state = Error_occurred;
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	/* set Error Register (1001h) */
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	for (index = 0, errRegister_tmp = 0; index < EMCY_MAX_ERRORS; ++index)
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		if (d->error_data[index].active == 1) errRegister_tmp |= d->error_data[index].errRegMask;
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	*d->error_register = errRegister_tmp;
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	/* set Pre-defined Error Field (1003h) */
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	for (index = d->error_history_size - 1; index > 0; --index)
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		*(d->error_first_element + index) = *(d->error_first_element + index - 1);
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	*(d->error_first_element) = errCode | ((UNS32)addInfo << 16);
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	if(*d->error_number < d->error_history_size) ++(*d->error_number);
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	/* send EMCY message */
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	if (d->CurrentCommunicationState.csEmergency)
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		return sendEMCY(d, errCode, *d->error_register);
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	else return 1;
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}
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/*! Deletes error errCode. Also clears corresponding bits in Error register (1001h)
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 **                                                                                                 
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 **  
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 ** @param d
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 ** @param errCode Code of the error                                                                                        
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 ** @param errRegister Bits of Error register (1001h) to be set.
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 ** @return 1 if error, 0 if successful
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 */
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void EMCY_errorRecovered(CO_Data* d, UNS16 errCode)
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{
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	UNS8 index;
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	UNS8 errRegister_tmp;
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	UNS8 anyActiveError = 0;
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	for (index = 0; index < EMCY_MAX_ERRORS; ++index)
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		if (d->error_data[index].errCode == errCode) break;		/* find the position of the error */
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	if ((index != EMCY_MAX_ERRORS) && (d->error_data[index].active == 1))
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	{
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		d->error_data[index].active = 0;
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		/* set Error Register (1001h) and check error state machine */
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		for (index = 0, errRegister_tmp = 0; index < EMCY_MAX_ERRORS; ++index)
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			if (d->error_data[index].active == 1)
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			{
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				anyActiveError = 1;
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				errRegister_tmp |= d->error_data[index].errRegMask;
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			}
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		if(anyActiveError == 0)
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		{
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			d->error_state = Error_free;
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			/* send a EMCY message with code "Error Reset or No Error" */
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			if (d->CurrentCommunicationState.csEmergency)
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				sendEMCY(d, 0x0000, 0x00);
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		}
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		*d->error_register = errRegister_tmp;
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	}
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	else
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		MSG_WAR(0x3054, "recovered error was not active", 0);
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}
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/*! This function is responsible to process an EMCY canopen-message.
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 **
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 **
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 ** @param d
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 ** @param m The CAN-message which has to be analysed.
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 **
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 **/
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void proceedEMCY(CO_Data* d, Message* m)
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{
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	UNS8 nodeID;
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	UNS16 errCode;
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	UNS8 errReg;
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	MSG_WAR(0x3055, "EMCY received. Proceed. ", 0);
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	/* Test if the size of the EMCY is ok */
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	if ( m->len != 8) {
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		MSG_ERR(0x1056, "Error size EMCY. CobId  : ", m->cob_id);
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		return;
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	}
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	/* post the received EMCY */
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	nodeID = UNS16_LE(m->cob_id) & 0x7F;
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	errCode = m->data[0] | ((UNS16)m->data[1] << 8);
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	errReg = m->data[2];
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	(*d->post_emcy)(d, nodeID, errCode, errReg);
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}
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void _post_emcy(CO_Data* d, UNS8 nodeID, UNS16 errCode, UNS8 errReg){}