Diff: framework/include/emcy.h

Revision:

0:6219434a0cb5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/framework/include/emcy.h	Mon May 30 07:14:41 2011 +0000
@@ -0,0 +1,108 @@
+/*
+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
+**
+**
+*/
+ 
+/** @defgroup emcyo Emergency Object
+ *  Emergency Object is used to communicate device and application failures.
+ *  @ingroup comobj
+ */
+					 
+#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)(CO_Data* d, UNS8 nodeID, UNS16 errCode, UNS8 errReg);
+void _post_emcy(CO_Data* d, UNS8 nodeID, UNS16 errCode, UNS8 errReg);
+
+/*************************************************************************
+ * Functions
+ *************************************************************************/
+
+/** 
+ * @ingroup emcy
+ * @brief Sets a new error with code errCode. Also sets corresponding bits in Error register (1001h)
+ * @param *d Pointer on a CAN object data structure
+ * @param errCode The error code
+ * @param errRegMask
+ * @param addInfo
+ * @return
+ */
+UNS8 EMCY_setError(CO_Data* d, UNS16 errCode, UNS8 errRegMask, UNS16 addInfo);
+
+/**
+ * @ingroup emcy 
+ * @brief Indicates it has recovered from error errCode. Also clears corresponding bits in Error register (1001h)
+ * @param *d Pointer on a CAN object data structure
+ * @param errCode The error code
+ */
+void EMCY_errorRecovered(CO_Data* d, UNS16 errCode);
+
+/**
+ * @ingroup emcy 
+ * @brief Start EMCY consumer and producer
+ * @param *d Pointer on a CAN object data structure
+ */
+void emergencyInit(CO_Data* d);
+
+/** 
+ * @ingroup emcy
+ * @brief Stop EMCY producer and consumer
+ * @param *d Pointer on a CAN object data structure 
+ */
+void emergencyStop(CO_Data* d);
+
+/** 
+ * @ingroup emcy
+ * @brief This function is responsible to process an EMCY canopen-message
+ * @param *d Pointer on a CAN object data structure 
+ * @param *m Pointer on the CAN-message which has to be analysed.
+ */
+void proceedEMCY(CO_Data* d, Message* m);
+
+#endif /*__emcy_h__ */