emcy.h

/*
 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
}__attribute__ ((packed)) e_errorState;

typedef struct {
    UNS16 errCode;UNS8 errRegMask;UNS8 active;
} s_errors;

#include "data.h"

typedef void (*post_emcy_t)(UNS8 nodeID, UNS16 errCode, UNS8 errReg);
void _post_emcy(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(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(UNS16 errCode);

/**
 * @ingroup emcy 
 * @brief Start EMCY consumer and producer
 * @param *d Pointer on a CAN object data structure
 */
void emergencyInit();

/** 
 * @ingroup emcy
 * @brief Stop EMCY producer and consumer
 * @param *d Pointer on a CAN object data structure 
 */
void emergencyStop();

/** 
 * @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(Message* m);

#endif /*__emcy_h__ */