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emcy.c File Reference
Functions

emcy.c File Reference

Definitions of the functions that manage EMCY (emergency) messages. More...

Go to the source code of this file.

Functions

UNS32 OnNumberOfErrorsUpdate (CO_Data *d, const indextable *unsused_indextable, UNS8 unsused_bSubindex)
UNS8 sendEMCY (CO_Data *d, UNS16 errCode, UNS8 errRegister)
void emergencyInit (CO_Data *d)
 Start EMCY consumer and producer.
void emergencyStop (CO_Data *d)
 Stop EMCY producer and consumer.
UNS8 EMCY_setError (CO_Data *d, UNS16 errCode, UNS8 errRegMask, UNS16 addInfo)
 Sets a new error with code errCode.
void EMCY_errorRecovered (CO_Data *d, UNS16 errCode)
 Indicates it has recovered from error errCode.
void proceedEMCY (CO_Data *d, Message *m)
 This function is responsible to process an EMCY canopen-message.

Detailed Description

Definitions of the functions that manage EMCY (emergency) messages.

Author:
Luis Jimenez
Date:
Wed Sep 26 2007

Definition in file emcy.c.

Function Documentation

void EMCY_errorRecovered ( CO_Data *  d,
UNS16  errCode 
)

Indicates it has recovered from error errCode.

Deletes error errCode. Also clears corresponding bits in Error register (1001h)

Parameters:
d
errCodeCode of the error
errRegisterBits of Error register (1001h) to be set.
Returns:
1 if error, 0 if successful

Definition at line 186 of file emcy.c.

UNS8 EMCY_setError ( CO_Data *  d,
UNS16  errCode,
UNS8  errRegMask,
UNS16  addInfo 
)

Sets a new error with code errCode.

Sets a new error with code errCode. Also sets corresponding bits in Error register (1001h)

Parameters:
d
errCodeCode of the error
errRegisterBits of Error register (1001h) to be set.
Returns:
1 if error, 0 if successful

Definition at line 127 of file emcy.c.

void emergencyInit ( CO_Data *  d )

Start EMCY consumer and producer.

start the EMCY mangagement.

Parameters:
d

Definition at line 73 of file emcy.c.

void emergencyStop ( CO_Data *  d )

Stop EMCY producer and consumer.

Parameters:
d

Definition at line 85 of file emcy.c.

UNS32 OnNumberOfErrorsUpdate ( CO_Data *  d,
const indextable *  unsused_indextable,
UNS8  unsused_bSubindex 
)

This is called when Index 0x1003 is updated.

Parameters:
d
unsused_indextable
unsused_bSubindex
Returns:

Definition at line 55 of file emcy.c.

void proceedEMCY ( CO_Data *  d,
Message *  m 
)

This function is responsible to process an EMCY canopen-message.

This function is responsible to process an EMCY canopen-message.

Parameters:
d
mThe CAN-message which has to be analysed.

Definition at line 227 of file emcy.c.

UNS8 sendEMCY ( CO_Data *  d,
UNS16  errCode,
UNS8  errRegister 
)
Parameters:
d
cob_id
Returns:

Definition at line 98 of file emcy.c.

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