Diff: framework/src/emcy.c

Revision:

0:6219434a0cb5

diff -r 000000000000 -r 6219434a0cb5 framework/src/emcy.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/framework/src/emcy.c	Mon May 30 07:14:41 2011 +0000
@@ -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 <data.h>
+#include "emcy.h"
+#include "canfestival.h"
+#include "sysdep.h"
+
+
+
+UNS32 OnNumberOfErrorsUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex);
+UNS8 sendEMCY(CO_Data* d, 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, UNS16 errCode, UNS8 errRegister)
+{
+	Message m;
+  
+	MSG_WAR(0x3051, "sendEMCY", 0);
+  
+	m.cob_id = (UNS16)UNS16_LE(*(UNS32*)d->error_cobid);
+	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, UNS16 addInfo)
+{
+	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(0x3052, "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(0x3053, "error_data full", 0);
+		return 1;
+	}
+	
+	d->error_data[index].errCode = errCode;
+	d->error_data[index].errRegMask = errRegMask;
+	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) = errCode | ((UNS32)addInfo << 16);
+	if(*d->error_number < d->error_history_size) ++(*d->error_number);
+	
+	/* send EMCY message */
+	if (d->CurrentCommunicationState.csEmergency)
+		return sendEMCY(d, 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, 0x0000, 0x00);
+		}
+		*d->error_register = errRegister_tmp;
+	}
+	else
+		MSG_WAR(0x3054, "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(0x3055, "EMCY received. Proceed. ", 0);
+  
+	/* Test if the size of the EMCY is ok */
+	if ( m->len != 8) {
+		MSG_ERR(0x1056, "Error size EMCY. CobId  : ", m->cob_id);
+		return;
+	}
+	
+	/* post the received EMCY */
+	nodeID = UNS16_LE(m->cob_id) & 0x7F;
+	errCode = m->data[0] | ((UNS16)m->data[1] << 8);
+	errReg = m->data[2];
+	(*d->post_emcy)(d, nodeID, errCode, errReg);
+}
+
+void _post_emcy(CO_Data* d, UNS8 nodeID, UNS16 errCode, UNS8 errReg){}