|
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__ */ |