luis@284: /*
luis@284: This file is part of CanFestival, a library implementing CanOpen Stack. 
luis@284: 
luis@284: Copyright (C): Edouard TISSERANT and Francis DUPIN
luis@284: 
luis@284: See COPYING file for copyrights details.
luis@284: 
luis@284: This library is free software; you can redistribute it and/or
luis@284: modify it under the terms of the GNU Lesser General Public
luis@284: License as published by the Free Software Foundation; either
luis@284: version 2.1 of the License, or (at your option) any later version.
luis@284: 
luis@284: This library is distributed in the hope that it will be useful,
luis@284: but WITHOUT ANY WARRANTY; without even the implied warranty of
luis@284: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
luis@284: Lesser General Public License for more details.
luis@284: 
luis@284: You should have received a copy of the GNU Lesser General Public
luis@284: License along with this library; if not, write to the Free Software
luis@284: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
luis@284: */
luis@284: 
luis@284: /*!
luis@284: ** @file   emcy.h
luis@284: ** @author Luis Jimenez
luis@284: ** @date   Wed Sep 26 2007
luis@284: **
luis@284: ** @brief Declarations of the functions that manage EMCY (emergency) messages
luis@284: **
luis@284: **
luis@284: */
greg@528:  
greg@529: /** @defgroup emcyo Emergency Object
greg@529:  *  Emergency Object is used to communicate device and application failures.
greg@529:  *  @ingroup comobj
greg@529:  */
greg@529: 					 
luis@284: #ifndef __emcy_h__
luis@284: #define __emcy_h__
luis@284: 
luis@284: 
luis@284: #include <applicfg.h>
luis@284: 
luis@284: /* The error states 
luis@284:  * ----------------- */
luis@284: typedef enum enum_errorState {
luis@284:   Error_free		= 0x00, 
luis@284:   Error_occurred	= 0x01
luis@284: } e_errorState;
luis@284: 
luis@284: typedef struct {
luis@284: 	UNS16 errCode;
luis@284: 	UNS8 errRegMask;
luis@284: 	UNS8 active;
luis@284: } s_errors;
luis@284: 
luis@284: #include "data.h"
luis@284: 
luis@284: 
etisserant@378: typedef void (*post_emcy_t)(CO_Data* d, UNS8 nodeID, UNS16 errCode, UNS8 errReg);
etisserant@378: void _post_emcy(CO_Data* d, UNS8 nodeID, UNS16 errCode, UNS8 errReg);
luis@284: 
luis@284: /*************************************************************************
luis@284:  * Functions
luis@284:  *************************************************************************/
luis@284: 
greg@528: /** 
greg@528:  * @ingroup emcy
greg@528:  * @brief Sets a new error with code errCode. Also sets corresponding bits in Error register (1001h)
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  * @param errCode The error code
greg@528:  * @param errRegMask
greg@528:  * @param addInfo
greg@528:  * @return
luis@284:  */
luis@296: UNS8 EMCY_setError(CO_Data* d, UNS16 errCode, UNS8 errRegMask, UNS16 addInfo);
luis@284: 
greg@528: /**
greg@528:  * @ingroup emcy 
greg@528:  * @brief Indicates it has recovered from error errCode. Also clears corresponding bits in Error register (1001h)
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  * @param errCode The error code
luis@284:  */
luis@284: void EMCY_errorRecovered(CO_Data* d, UNS16 errCode);
luis@284: 
greg@528: /**
greg@528:  * @ingroup emcy 
greg@528:  * @brief Start EMCY consumer and producer
greg@528:  * @param *d Pointer on a CAN object data structure
luis@284:  */
luis@284: void emergencyInit(CO_Data* d);
luis@284: 
greg@528: /** 
greg@528:  * @ingroup emcy
greg@528:  * @brief Stop EMCY producer and consumer
greg@528:  * @param *d Pointer on a CAN object data structure 
luis@284:  */
luis@284: void emergencyStop(CO_Data* d);
luis@284: 
greg@528: /** 
greg@528:  * @ingroup emcy
greg@528:  * @brief This function is responsible to process an EMCY canopen-message
greg@528:  * @param *d Pointer on a CAN object data structure 
greg@528:  * @param *m Pointer on the CAN-message which has to be analysed.
luis@284:  */
luis@284: void proceedEMCY(CO_Data* d, Message* m);
luis@284: 
luis@284: #endif /*__emcy_h__ */