diff -r e0b3096230e5 -r 24bf3d692993 include/emcy.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/include/emcy.h	Wed Sep 26 16:02:00 2007 +0200
@@ -0,0 +1,83 @@
+/*
+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
+**
+**
+*/
+
+#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)(UNS8 nodeID, UNS16 errCode, UNS8 errReg);
+void _post_emcy(UNS8 nodeID, UNS16 errCode, UNS8 errReg);
+
+/*************************************************************************
+ * Functions
+ *************************************************************************/
+
+/** Sets a new error with code errCode. Also sets corresponding bits in Error register (1001h)
+ */
+UNS8 EMCY_setError(CO_Data* d, UNS16 errCode, UNS8 errRegMask);
+
+/** Indicates it has recovered from error errCode. Also clears corresponding bits in Error register (1001h)
+ */
+void EMCY_errorRecovered(CO_Data* d, UNS16 errCode);
+
+/** Start EMCY consumer and producer
+ */
+void emergencyInit(CO_Data* d);
+
+/** Stop EMCY producer and consumer 
+ */
+void emergencyStop(CO_Data* d);
+
+/** This function is responsible to process an EMCY canopen-message 
+ *  \param Message The CAN-message which has to be analysed.
+ */
+void proceedEMCY(CO_Data* d, Message* m);
+
+#endif /*__emcy_h__ */