diff -r e0b3096230e5 -r 24bf3d692993 src/emcy.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/src/emcy.c Wed Sep 26 16:02:00 2007 +0200 @@ -0,0 +1,247 @@ +/* + 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.c +** @author Luis Jimenez +** @date Wed Sep 26 2007 +** +** @brief Definitions of the functions that manage EMCY (emergency) messages +** +** +*/ + +#include +#include "emcy.h" +#include "canfestival.h" + + + +UNS32 OnNumberOfErrorsUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex); +UNS8 sendEMCY(CO_Data* d, UNS32 cob_id, UNS16 errCode, UNS8 errRegister); + + +/*! This is called when Index 0x1003 is updated. +** +** +** @param d +** @param unsused_indextable +** @param unsused_bSubindex +** +** @return +**/ +UNS32 OnNumberOfErrorsUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex) +{ + UNS8 index; + // if 0, reset Pre-defined Error Field + // else, don't change and give an abort message (eeror code: 0609 0030h) + if (*d->error_number == 0) + for (index = 0; index < d->error_history_size; ++index) + *(d->error_first_element + index) = 0; /* clear all the fields in Pre-defined Error Field (1003h) */ + else + ;// abort message + return 0; +} + +/*! start the EMCY mangagement. +** +** +** @param d +**/ +void emergencyInit(CO_Data* d) +{ + RegisterSetODentryCallBack(d, 0x1003, 0x00, &OnNumberOfErrorsUpdate); + + *d->error_number = 0; +} + +/*! +** +** +** @param d +**/ +void emergencyStop(CO_Data* d) +{ + +} + +/*! + ** + ** + ** @param d + ** @param cob_id + ** + ** @return + **/ +UNS8 sendEMCY(CO_Data* d, UNS32 cob_id, UNS16 errCode, UNS8 errRegister) +{ + Message m; + + MSG_WAR(0xA001, "sendEMCY", 0); + + m.cob_id.w = cob_id ; + m.rtr = NOT_A_REQUEST; + m.len = 8; + m.data[0] = errCode & 0xFF; /* LSB */ + m.data[1] = (errCode >> 8) & 0xFF; /* MSB */ + m.data[2] = errRegister; + m.data[3] = 0; /* Manufacturer specific Error Field still not implemented */ + m.data[4] = 0; + m.data[5] = 0; + m.data[6] = 0; + m.data[7] = 0; + + return canSend(d->canHandle,&m); +} + +/*! Sets a new error with code errCode. Also sets corresponding bits in Error register (1001h) + ** + ** + ** @param d + ** @param errCode Code of the error + ** @param errRegister Bits of Error register (1001h) to be set. + ** @return 1 if error, 0 if successful + */ +UNS8 EMCY_setError(CO_Data* d, UNS16 errCode, UNS8 errRegMask) +{ + UNS8 index; + UNS8 errRegister_tmp; + + for (index = 0; index < EMCY_MAX_ERRORS; ++index) + { + if (d->error_data[index].errCode == errCode) /* error already registered */ + { + if (d->error_data[index].active) + { + MSG_WAR(0xA002, "EMCY message already sent", 0); + return 0; + } else d->error_data[index].active = 1; /* set as active error */ + break; + } + } + + if (index == EMCY_MAX_ERRORS) /* if errCode not already registered */ + for (index = 0; index < EMCY_MAX_ERRORS; ++index) if (d->error_data[index].active == 0) break; /* find first inactive error */ + + if (index == EMCY_MAX_ERRORS) /* error_data full */ + { + MSG_ERR(0xA003, "error_data full", 0); + return 1; + } + + d->error_data[index].errCode = errCode; + d->error_data[index].errRegMask = 1; + d->error_data[index].active = 1; + + /* set the new state in the error state machine */ + d->error_state = Error_occurred; + + /* set Error Register (1001h) */ + for (index = 0, errRegister_tmp = 0; index < EMCY_MAX_ERRORS; ++index) + if (d->error_data[index].active == 1) errRegister_tmp |= d->error_data[index].errRegMask; + *d->error_register = errRegister_tmp; + + /* set Pre-defined Error Field (1003h) */ + for (index = d->error_history_size - 1; index > 0; --index) + *(d->error_first_element + index) = *(d->error_first_element + index - 1); + *(d->error_first_element) = (UNS32)errCode; + if(*d->error_number < d->error_history_size) ++(*d->error_number); + + /* send EMCY message */ + if (d->CurrentCommunicationState.csEmergency) + return sendEMCY(d, *d->bDeviceNodeId + 0x080, errCode, *d->error_register); + else return 1; +} + +/*! Deletes error errCode. Also clears corresponding bits in Error register (1001h) + ** + ** + ** @param d + ** @param errCode Code of the error + ** @param errRegister Bits of Error register (1001h) to be set. + ** @return 1 if error, 0 if successful + */ +void EMCY_errorRecovered(CO_Data* d, UNS16 errCode) +{ + UNS8 index; + UNS8 errRegister_tmp; + UNS8 anyActiveError = 0; + + for (index = 0; index < EMCY_MAX_ERRORS; ++index) + if (d->error_data[index].errCode == errCode) break; /* find the position of the error */ + + + if ((index != EMCY_MAX_ERRORS) && (d->error_data[index].active == 1)) + { + d->error_data[index].active = 0; + + /* set Error Register (1001h) and check error state machine */ + for (index = 0, errRegister_tmp = 0; index < EMCY_MAX_ERRORS; ++index) + if (d->error_data[index].active == 1) + { + anyActiveError = 1; + errRegister_tmp |= d->error_data[index].errRegMask; + } + if(anyActiveError == 0) + { + d->error_state = Error_free; + /* send a EMCY message with code "Error Reset or No Error" */ + if (d->CurrentCommunicationState.csEmergency) + sendEMCY(d, *d->bDeviceNodeId + 0x080, 0x0000, 0x00); + } + *d->error_register = errRegister_tmp; + } + else + MSG_WAR(0xA004, "recovered error was not active", 0); +} + +/*! This function is responsible to process an EMCY canopen-message. + ** + ** + ** @param d + ** @param m The CAN-message which has to be analysed. + ** + **/ +void proceedEMCY(CO_Data* d, Message* m) +{ + UNS8 nodeID; + UNS16 errCode; + UNS8 errReg; + + MSG_WAR(0xA005, "EMCY received. Proceed. ", 0); + + /* Test if the size of the EMCY is ok */ + if ( m->len != 8) { + MSG_ERR(0xA006, "Error size EMCY. CobId : ", m->cob_id.w); + return; + } + + /* post the received EMCY */ + nodeID = m->cob_id.w & 0x7F; + errCode = m->data[0] | ((UNS16)m->data[1] << 8); + errReg = m->data[2]; + (*d->post_emcy)(nodeID, errCode, errReg); +} + +void _post_emcy(UNS8 nodeID, UNS16 errCode, UNS8 errReg){}