author | etisserant |
Mon, 23 Jun 2008 17:55:11 +0200 | |
changeset 484 | f59d1cdde42b |
parent 427 | 6deafe46484f |
child 587 | c175351a6994 |
permissions | -rw-r--r-- |
284 | 1 |
/* |
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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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6fecf36df407
Fixed some endianization problems caused by switch to UNS16 for cob_id member in CAN messages. To be continued.
etisserant
parents:
365
diff
changeset
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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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Better EMCY support. Now EMCY COB-ID depend on OD 1014h entry, as told in DS-301.
etisserant
parents:
296
diff
changeset
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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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314
68e83c3ffbb5
Better EMCY support. Now EMCY COB-ID depend on OD 1014h entry, as told in DS-301.
etisserant
parents:
296
diff
changeset
|
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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(*(UNS32*)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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03f2b8b8cb0b
Solved a small bug in emcy.c (errRegMask was always '1' in EMCY_setError.
luis
parents:
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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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03f2b8b8cb0b
Solved a small bug in emcy.c (errRegMask was always '1' in EMCY_setError.
luis
parents:
288
diff
changeset
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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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296
03f2b8b8cb0b
Solved a small bug in emcy.c (errRegMask was always '1' in EMCY_setError.
luis
parents:
288
diff
changeset
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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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314
68e83c3ffbb5
Better EMCY support. Now EMCY COB-ID depend on OD 1014h entry, as told in DS-301.
etisserant
parents:
296
diff
changeset
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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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314
68e83c3ffbb5
Better EMCY support. Now EMCY COB-ID depend on OD 1014h entry, as told in DS-301.
etisserant
parents:
296
diff
changeset
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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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370
6fecf36df407
Fixed some endianization problems caused by switch to UNS16 for cob_id member in CAN messages. To be continued.
etisserant
parents:
365
diff
changeset
|
242 |
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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378
d2abf6c8c27b
As requested long ago, added CoData* parameter to all this applications callback, let application designer use identical callback for multiple nodes, and reduce source code length.
etisserant
parents:
370
diff
changeset
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(*d->post_emcy)(d, nodeID, errCode, errReg); |
d2abf6c8c27b
As requested long ago, added CoData* parameter to all this applications callback, let application designer use identical callback for multiple nodes, and reduce source code length.
etisserant
parents:
370
diff
changeset
|
246 |
} |
d2abf6c8c27b
As requested long ago, added CoData* parameter to all this applications callback, let application designer use identical callback for multiple nodes, and reduce source code length.
etisserant
parents:
370
diff
changeset
|
247 |
|
d2abf6c8c27b
As requested long ago, added CoData* parameter to all this applications callback, let application designer use identical callback for multiple nodes, and reduce source code length.
etisserant
parents:
370
diff
changeset
|
248 |
void _post_emcy(CO_Data* d, UNS8 nodeID, UNS16 errCode, UNS8 errReg){} |