Sam Grove / Mbed 2 deprecated canopen_slavenode

CANfestival - an open source CANopen framework

Dependencies:   mbed

framework/include/emcy.h@0:6219434a0cb5, 2011-05-30 (annotated)

Committer:
sam_grove
Date:
Mon May 30 07:14:41 2011 +0000
Revision:
0:6219434a0cb5
Initial public release of slave node framework port

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sam_grove 0:6219434a0cb5 1 /*
sam_grove 0:6219434a0cb5 2 This file is part of CanFestival, a library implementing CanOpen Stack.
sam_grove 0:6219434a0cb5 3
sam_grove 0:6219434a0cb5 4 Copyright (C): Edouard TISSERANT and Francis DUPIN
sam_grove 0:6219434a0cb5 5
sam_grove 0:6219434a0cb5 6 See COPYING file for copyrights details.
sam_grove 0:6219434a0cb5 7
sam_grove 0:6219434a0cb5 8 This library is free software; you can redistribute it and/or
sam_grove 0:6219434a0cb5 9 modify it under the terms of the GNU Lesser General Public
sam_grove 0:6219434a0cb5 10 License as published by the Free Software Foundation; either
sam_grove 0:6219434a0cb5 11 version 2.1 of the License, or (at your option) any later version.
sam_grove 0:6219434a0cb5 12
sam_grove 0:6219434a0cb5 13 This library is distributed in the hope that it will be useful,
sam_grove 0:6219434a0cb5 14 but WITHOUT ANY WARRANTY; without even the implied warranty of
sam_grove 0:6219434a0cb5 15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
sam_grove 0:6219434a0cb5 16 Lesser General Public License for more details.
sam_grove 0:6219434a0cb5 17
sam_grove 0:6219434a0cb5 18 You should have received a copy of the GNU Lesser General Public
sam_grove 0:6219434a0cb5 19 License along with this library; if not, write to the Free Software
sam_grove 0:6219434a0cb5 20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
sam_grove 0:6219434a0cb5 21 */
sam_grove 0:6219434a0cb5 22
sam_grove 0:6219434a0cb5 23 /*!
sam_grove 0:6219434a0cb5 24 ** @file emcy.h
sam_grove 0:6219434a0cb5 25 ** @author Luis Jimenez
sam_grove 0:6219434a0cb5 26 ** @date Wed Sep 26 2007
sam_grove 0:6219434a0cb5 27 **
sam_grove 0:6219434a0cb5 28 ** @brief Declarations of the functions that manage EMCY (emergency) messages
sam_grove 0:6219434a0cb5 29 **
sam_grove 0:6219434a0cb5 30 **
sam_grove 0:6219434a0cb5 31 */
sam_grove 0:6219434a0cb5 32
sam_grove 0:6219434a0cb5 33 /** @defgroup emcyo Emergency Object
sam_grove 0:6219434a0cb5 34 * Emergency Object is used to communicate device and application failures.
sam_grove 0:6219434a0cb5 35 * @ingroup comobj
sam_grove 0:6219434a0cb5 36 */
sam_grove 0:6219434a0cb5 37
sam_grove 0:6219434a0cb5 38 #ifndef __emcy_h__
sam_grove 0:6219434a0cb5 39 #define __emcy_h__
sam_grove 0:6219434a0cb5 40
sam_grove 0:6219434a0cb5 41
sam_grove 0:6219434a0cb5 42 #include <applicfg.h>
sam_grove 0:6219434a0cb5 43
sam_grove 0:6219434a0cb5 44 /* The error states
sam_grove 0:6219434a0cb5 45 * ----------------- */
sam_grove 0:6219434a0cb5 46 typedef enum enum_errorState {
sam_grove 0:6219434a0cb5 47 Error_free = 0x00,
sam_grove 0:6219434a0cb5 48 Error_occurred = 0x01
sam_grove 0:6219434a0cb5 49 } e_errorState;
sam_grove 0:6219434a0cb5 50
sam_grove 0:6219434a0cb5 51 typedef struct {
sam_grove 0:6219434a0cb5 52 UNS16 errCode;
sam_grove 0:6219434a0cb5 53 UNS8 errRegMask;
sam_grove 0:6219434a0cb5 54 UNS8 active;
sam_grove 0:6219434a0cb5 55 } s_errors;
sam_grove 0:6219434a0cb5 56
sam_grove 0:6219434a0cb5 57 #include "data.h"
sam_grove 0:6219434a0cb5 58
sam_grove 0:6219434a0cb5 59
sam_grove 0:6219434a0cb5 60 typedef void (*post_emcy_t)(CO_Data* d, UNS8 nodeID, UNS16 errCode, UNS8 errReg);
sam_grove 0:6219434a0cb5 61 void _post_emcy(CO_Data* d, UNS8 nodeID, UNS16 errCode, UNS8 errReg);
sam_grove 0:6219434a0cb5 62
sam_grove 0:6219434a0cb5 63 /*************************************************************************
sam_grove 0:6219434a0cb5 64 * Functions
sam_grove 0:6219434a0cb5 65 *************************************************************************/
sam_grove 0:6219434a0cb5 66
sam_grove 0:6219434a0cb5 67 /**
sam_grove 0:6219434a0cb5 68 * @ingroup emcy
sam_grove 0:6219434a0cb5 69 * @brief Sets a new error with code errCode. Also sets corresponding bits in Error register (1001h)
sam_grove 0:6219434a0cb5 70 * @param *d Pointer on a CAN object data structure
sam_grove 0:6219434a0cb5 71 * @param errCode The error code
sam_grove 0:6219434a0cb5 72 * @param errRegMask
sam_grove 0:6219434a0cb5 73 * @param addInfo
sam_grove 0:6219434a0cb5 74 * @return
sam_grove 0:6219434a0cb5 75 */
sam_grove 0:6219434a0cb5 76 UNS8 EMCY_setError(CO_Data* d, UNS16 errCode, UNS8 errRegMask, UNS16 addInfo);
sam_grove 0:6219434a0cb5 77
sam_grove 0:6219434a0cb5 78 /**
sam_grove 0:6219434a0cb5 79 * @ingroup emcy
sam_grove 0:6219434a0cb5 80 * @brief Indicates it has recovered from error errCode. Also clears corresponding bits in Error register (1001h)
sam_grove 0:6219434a0cb5 81 * @param *d Pointer on a CAN object data structure
sam_grove 0:6219434a0cb5 82 * @param errCode The error code
sam_grove 0:6219434a0cb5 83 */
sam_grove 0:6219434a0cb5 84 void EMCY_errorRecovered(CO_Data* d, UNS16 errCode);
sam_grove 0:6219434a0cb5 85
sam_grove 0:6219434a0cb5 86 /**
sam_grove 0:6219434a0cb5 87 * @ingroup emcy
sam_grove 0:6219434a0cb5 88 * @brief Start EMCY consumer and producer
sam_grove 0:6219434a0cb5 89 * @param *d Pointer on a CAN object data structure
sam_grove 0:6219434a0cb5 90 */
sam_grove 0:6219434a0cb5 91 void emergencyInit(CO_Data* d);
sam_grove 0:6219434a0cb5 92
sam_grove 0:6219434a0cb5 93 /**
sam_grove 0:6219434a0cb5 94 * @ingroup emcy
sam_grove 0:6219434a0cb5 95 * @brief Stop EMCY producer and consumer
sam_grove 0:6219434a0cb5 96 * @param *d Pointer on a CAN object data structure
sam_grove 0:6219434a0cb5 97 */
sam_grove 0:6219434a0cb5 98 void emergencyStop(CO_Data* d);
sam_grove 0:6219434a0cb5 99
sam_grove 0:6219434a0cb5 100 /**
sam_grove 0:6219434a0cb5 101 * @ingroup emcy
sam_grove 0:6219434a0cb5 102 * @brief This function is responsible to process an EMCY canopen-message
sam_grove 0:6219434a0cb5 103 * @param *d Pointer on a CAN object data structure
sam_grove 0:6219434a0cb5 104 * @param *m Pointer on the CAN-message which has to be analysed.
sam_grove 0:6219434a0cb5 105 */
sam_grove 0:6219434a0cb5 106 void proceedEMCY(CO_Data* d, Message* m);
sam_grove 0:6219434a0cb5 107
sam_grove 0:6219434a0cb5 108 #endif /*__emcy_h__ */