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include/emcy.h
author Robert Lehmann <robert.lehmann@sitec-systems.de>
Tue, 28 Jul 2015 16:36:55 +0200
changeset 793 72e9e1064432
parent 529 c171e11707c5
permissions -rw-r--r--
timers_unix: Fix termination problem of WaitReceiveTaskEnd

The function pthread_kill sends the Signal thread and to the own process.
If you use this construct than the application which calls uses the
canfestival api will terminate at the call of canClose. To avoid that
use pthread_cancel instead of pthread_kill. To use the pthread_cancel call
you need to set the cancel ability in the thread function. That means
you need to call pthread_setcancelstate and pthread_setcanceltype.
For the termination of the thread at any time it is important to set the
cancel type to PTHREAD_CANCEL_ASYNCHRONOUS. 
/*
This file is part of CanFestival, a library implementing CanOpen Stack. 

Copyright (C): Edouard TISSERANT and Francis DUPIN

See COPYING file for copyrights details.

This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

/*!
** @file   emcy.h
** @author Luis Jimenez
** @date   Wed Sep 26 2007
**
** @brief Declarations of the functions that manage EMCY (emergency) messages
**
**
*/
 
/** @defgroup emcyo Emergency Object
 *  Emergency Object is used to communicate device and application failures.
 *  @ingroup comobj
 */
					 
#ifndef __emcy_h__
#define __emcy_h__


#include <applicfg.h>

/* The error states 
 * ----------------- */
typedef enum enum_errorState {
  Error_free		= 0x00, 
  Error_occurred	= 0x01
} e_errorState;

typedef struct {
	UNS16 errCode;
	UNS8 errRegMask;
	UNS8 active;
} s_errors;

#include "data.h"


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

/*************************************************************************
 * Functions
 *************************************************************************/

/** 
 * @ingroup emcy
 * @brief Sets a new error with code errCode. Also sets corresponding bits in Error register (1001h)
 * @param *d Pointer on a CAN object data structure
 * @param errCode The error code
 * @param errRegMask
 * @param addInfo
 * @return
 */
UNS8 EMCY_setError(CO_Data* d, UNS16 errCode, UNS8 errRegMask, UNS16 addInfo);

/**
 * @ingroup emcy 
 * @brief Indicates it has recovered from error errCode. Also clears corresponding bits in Error register (1001h)
 * @param *d Pointer on a CAN object data structure
 * @param errCode The error code
 */
void EMCY_errorRecovered(CO_Data* d, UNS16 errCode);

/**
 * @ingroup emcy 
 * @brief Start EMCY consumer and producer
 * @param *d Pointer on a CAN object data structure
 */
void emergencyInit(CO_Data* d);

/** 
 * @ingroup emcy
 * @brief Stop EMCY producer and consumer
 * @param *d Pointer on a CAN object data structure 
 */
void emergencyStop(CO_Data* d);

/** 
 * @ingroup emcy
 * @brief This function is responsible to process an EMCY canopen-message
 * @param *d Pointer on a CAN object data structure 
 * @param *m Pointer on the CAN-message which has to be analysed.
 */
void proceedEMCY(CO_Data* d, Message* m);

#endif /*__emcy_h__ */
canfestival