equal
deleted
inserted
replaced
98 { |
98 { |
99 Message m; |
99 Message m; |
100 |
100 |
101 MSG_WAR(0x3051, "sendEMCY", 0); |
101 MSG_WAR(0x3051, "sendEMCY", 0); |
102 |
102 |
103 m.cob_id.w = *d->error_cobid; |
103 m.cob_id = *d->error_cobid; |
104 m.rtr = NOT_A_REQUEST; |
104 m.rtr = NOT_A_REQUEST; |
105 m.len = 8; |
105 m.len = 8; |
106 m.data[0] = errCode & 0xFF; /* LSB */ |
106 m.data[0] = errCode & 0xFF; /* LSB */ |
107 m.data[1] = (errCode >> 8) & 0xFF; /* MSB */ |
107 m.data[1] = (errCode >> 8) & 0xFF; /* MSB */ |
108 m.data[2] = errRegister; |
108 m.data[2] = errRegister; |
231 |
231 |
232 MSG_WAR(0x3055, "EMCY received. Proceed. ", 0); |
232 MSG_WAR(0x3055, "EMCY received. Proceed. ", 0); |
233 |
233 |
234 /* Test if the size of the EMCY is ok */ |
234 /* Test if the size of the EMCY is ok */ |
235 if ( m->len != 8) { |
235 if ( m->len != 8) { |
236 MSG_ERR(0x1056, "Error size EMCY. CobId : ", m->cob_id.w); |
236 MSG_ERR(0x1056, "Error size EMCY. CobId : ", m->cob_id); |
237 return; |
237 return; |
238 } |
238 } |
239 |
239 |
240 /* post the received EMCY */ |
240 /* post the received EMCY */ |
241 nodeID = m->cob_id.w & 0x7F; |
241 nodeID = m->cob_id & 0x7F; |
242 errCode = m->data[0] | ((UNS16)m->data[1] << 8); |
242 errCode = m->data[0] | ((UNS16)m->data[1] << 8); |
243 errReg = m->data[2]; |
243 errReg = m->data[2]; |
244 (*d->post_emcy)(nodeID, errCode, errReg); |
244 (*d->post_emcy)(nodeID, errCode, errReg); |
245 } |
245 } |
246 |
246 |