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第一版代码，为了在EEPROM保存参数的时候走STM32的CRC，让Codex修改了一下，现在的效果是无法存储，codex表示原因是CRC方法不同，修改到一半今天的额度使用完了，有待后续解决CRC的bug

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wwhaoww
2026-02-28 17:36:05 +08:00
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/**
* CANopen Emergency protocol.
*
* @file CO_Emergency.h
* @ingroup CO_Emergency
* @author Janez Paternoster
* @copyright 2020 Janez Paternoster
*
* This file is part of <https://github.com/CANopenNode/CANopenNode>, a CANopen Stack.
*
* Licensed under the Apache License, Version 2.0 (the "License"); you may not use this
* file except in compliance with the License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software distributed under the License is
* distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and limitations under the License.
*/
#ifndef CO_EMERGENCY_H
#define CO_EMERGENCY_H
#include "301/CO_driver.h"
#include "301/CO_ODinterface.h"
/* default configuration, see CO_config.h */
#ifndef CO_CONFIG_EM
#define CO_CONFIG_EM \
(CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY | CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE \
| CO_CONFIG_GLOBAL_FLAG_TIMERNEXT)
#endif
#ifndef CO_CONFIG_EM_ERR_STATUS_BITS_COUNT
#define CO_CONFIG_EM_ERR_STATUS_BITS_COUNT (10U * 8U)
#endif
#ifndef CO_CONFIG_ERR_CONDITION_GENERIC
#define CO_CONFIG_ERR_CONDITION_GENERIC (em->errorStatusBits[5] != 0U)
#endif
#ifndef CO_CONFIG_ERR_CONDITION_COMMUNICATION
#define CO_CONFIG_ERR_CONDITION_COMMUNICATION ((em->errorStatusBits[2] != 0U) || (em->errorStatusBits[3] != 0U))
#endif
#ifndef CO_CONFIG_ERR_CONDITION_MANUFACTURER
#define CO_CONFIG_ERR_CONDITION_MANUFACTURER ((em->errorStatusBits[8] != 0U) || (em->errorStatusBits[9] != 0U))
#endif
#ifdef __cplusplus
extern "C" {
#endif
/**
* @defgroup CO_Emergency Emergency
* CANopen Emergency protocol.
*
* @ingroup CO_CANopen_301
* @{
* Error control and Emergency is used for control internal error state and for sending a CANopen Emergency message.
*
* In case of error condition stack or application calls CO_errorReport() function with indication of the error.
* Specific error condition is reported (with CANopen Emergency message) only the first time after it occurs. Internal
* state of specific error condition is indicated by internal bitfield variable, with space for maximum @ref
* CO_CONFIG_EM_ERR_STATUS_BITS_COUNT bits. Meaning for each bit is described by @ref CO_EM_errorStatusBits_t. Specific
* error condition can be reset by CO_errorReset() function. In that case Emergency message is sent with CO_EM_NO_ERROR
* indication.
*
* Some error conditions are informative and some are critical. Critical error conditions set the corresponding bit in
* @ref CO_errorRegister_t. Critical error conditions for generic error are specified by @ref
* CO_CONFIG_ERR_CONDITION_GENERIC macro. Similar macros are defined for other error bits in in @ref CO_errorRegister_t.
*
* ### Emergency producer
* If @ref CO_CONFIG_EM has CO_CONFIG_EM_PRODUCER enabled, then CANopen Emergency message will be sent on each change of
* any error condition. Emergency message contents are:
*
* Byte | Description
* -----|-----------------------------------------------------------
* 0..1 | @ref CO_EM_errorCode_t
* 2 | @ref CO_errorRegister_t
* 3 | Index of error condition (see @ref CO_EM_errorStatusBits_t).
* 4..7 | Additional informative argument to CO_errorReport() function.
*
* ### Error history
* If @ref CO_CONFIG_EM has CO_CONFIG_EM_HISTORY enabled, then latest errors can be read from _Pre Defined Error Field_
* (object dictionary, index 0x1003). Contents corresponds to bytes 0..3 from the Emergency message.
*
* ### Emergency consumer
* If @ref CO_CONFIG_EM has CO_CONFIG_EM_CONSUMER enabled, then callback can be registered by @ref
* CO_EM_initCallbackRx() function.
*/
/**
* @defgroup CO_errorRegister_t CANopen Error register
* @{
*
* Mandatory for CANopen, resides in object dictionary, index 0x1001.
*
* Error register is calculated from internal bitfield variable, critical bits. See @ref CO_EM_errorStatusBits_t and
* @ref CO_STACK_CONFIG_EMERGENCY for error condition macros.
*
* Internal errors may prevent device to stay in NMT Operational state and changes may switch between the states. See
* @ref CO_NMT_control_t for details.
*/
#define CO_ERR_REG_GENERIC_ERR 0x01U /**< bit 0, generic error */
#define CO_ERR_REG_CURRENT 0x02U /**< bit 1, current */
#define CO_ERR_REG_VOLTAGE 0x04U /**< bit 2, voltage */
#define CO_ERR_REG_TEMPERATURE 0x08U /**< bit 3, temperature */
#define CO_ERR_REG_COMMUNICATION 0x10U /**< bit 4, communication error */
#define CO_ERR_REG_DEV_PROFILE 0x20U /**< bit 5, device profile specific */
#define CO_ERR_REG_RESERVED 0x40U /**< bit 6, reserved (always 0) */
#define CO_ERR_REG_MANUFACTURER 0x80U /**< bit 7, manufacturer specific */
/** @} */ /* CO_errorRegister_t */
/**
* @defgroup CO_EM_errorCode_t CANopen Error code
* @{
*
* Standard error codes according to CiA DS-301 and DS-401.
*/
#define CO_EMC_NO_ERROR 0x0000U /**< 0x00xx error Reset or No Error */
#define CO_EMC_GENERIC 0x1000U /**< 0x10xx Generic Error */
#define CO_EMC_CURRENT 0x2000U /**< 0x20xx Current */
#define CO_EMC_CURRENT_INPUT 0x2100U /**< 0x21xx Current device input side */
#define CO_EMC_CURRENT_INSIDE 0x2200U /**< 0x22xx Current inside the device */
#define CO_EMC_CURRENT_OUTPUT 0x2300U /**< 0x23xx Current device output side */
#define CO_EMC_VOLTAGE 0x3000U /**< 0x30xx Voltage */
#define CO_EMC_VOLTAGE_MAINS 0x3100U /**< 0x31xx Mains Voltage */
#define CO_EMC_VOLTAGE_INSIDE 0x3200U /**< 0x32xx Voltage inside the device */
#define CO_EMC_VOLTAGE_OUTPUT 0x3300U /**< 0x33xx Output Voltage */
#define CO_EMC_TEMPERATURE 0x4000U /**< 0x40xx Temperature */
#define CO_EMC_TEMP_AMBIENT 0x4100U /**< 0x41xx Ambient Temperature */
#define CO_EMC_TEMP_DEVICE 0x4200U /**< 0x42xx Device Temperature */
#define CO_EMC_HARDWARE 0x5000U /**< 0x50xx Device Hardware */
#define CO_EMC_SOFTWARE_DEVICE 0x6000U /**< 0x60xx Device Software */
#define CO_EMC_SOFTWARE_INTERNAL 0x6100U /**< 0x61xx Internal Software */
#define CO_EMC_SOFTWARE_USER 0x6200U /**< 0x62xx User Software */
#define CO_EMC_DATA_SET 0x6300U /**< 0x63xx Data Set */
#define CO_EMC_ADDITIONAL_MODUL 0x7000U /**< 0x70xx Additional Modules */
#define CO_EMC_MONITORING 0x8000U /**< 0x80xx Monitoring */
#define CO_EMC_COMMUNICATION 0x8100U /**< 0x81xx Communication */
#define CO_EMC_CAN_OVERRUN 0x8110U /**< 0x8110 CAN Overrun (Objects lost) */
#define CO_EMC_CAN_PASSIVE 0x8120U /**< 0x8120 CAN in Error Passive Mode */
#define CO_EMC_HEARTBEAT 0x8130U /**< 0x8130 Life Guard Error or Heartbeat Error */
#define CO_EMC_BUS_OFF_RECOVERED 0x8140U /**< 0x8140 recovered from bus off */
#define CO_EMC_CAN_ID_COLLISION 0x8150U /**< 0x8150 CAN-ID collision */
#define CO_EMC_PROTOCOL_ERROR 0x8200U /**< 0x82xx Protocol Error */
#define CO_EMC_PDO_LENGTH 0x8210U /**< 0x8210 PDO not processed due to length error */
#define CO_EMC_PDO_LENGTH_EXC 0x8220U /**< 0x8220 PDO length exceeded */
#define CO_EMC_DAM_MPDO 0x8230U /**< 0x8230 DAM MPDO not processed destination object not available */
#define CO_EMC_SYNC_DATA_LENGTH 0x8240U /**< 0x8240 Unexpected SYNC data length */
#define CO_EMC_RPDO_TIMEOUT 0x8250U /**< 0x8250 RPDO timeout */
#define CO_EMC_EXTERNAL_ERROR 0x9000U /**< 0x90xx External Error */
#define CO_EMC_ADDITIONAL_FUNC 0xF000U /**< 0xF0xx Additional Functions */
#define CO_EMC_DEVICE_SPECIFIC 0xFF00U /**< 0xFFxx Device specific */
#define CO_EMC401_OUT_CUR_HI 0x2310U /**< 0x2310 DS401 Current at outputs too high (overload) */
#define CO_EMC401_OUT_SHORTED 0x2320U /**< 0x2320 DS401 Short circuit at outputs */
#define CO_EMC401_OUT_LOAD_DUMP 0x2330U /**< 0x2330 DS401 Load dump at outputs */
#define CO_EMC401_IN_VOLT_HI 0x3110U /**< 0x3110 DS401 Input voltage too high */
#define CO_EMC401_IN_VOLT_LOW 0x3120U /**< 0x3120 DS401 Input voltage too low */
#define CO_EMC401_INTERN_VOLT_HI 0x3210U /**< 0x3210 DS401 Internal voltage too high */
#define CO_EMC401_INTERN_VOLT_LO 0x3220U /**< 0x3220 DS401 Internal voltage too low */
#define CO_EMC401_OUT_VOLT_HIGH 0x3310U /**< 0x3310 DS401 Output voltage too high */
#define CO_EMC401_OUT_VOLT_LOW 0x3320U /**< 0x3320 DS401 Output voltage too low */
/** @} */ /* CO_EM_errorCode_t */
/**
* @defgroup CO_EM_errorStatusBits_t Error status bits
* @{
*
* Bits for internal indication of the error condition. Each error condition is specified by unique index from 0x00 up
* to 0xFF.
*
* If specific error occurs in the stack or in the application, CO_errorReport() sets specific bit in the
* _errorStatusBit_ variable from @ref CO_EM_t. If bit was already set, function returns without any action. Otherwise
* it prepares emergency message.
*
* Maximum size (in bits) of the _errorStatusBit_ variable is specified by @ref CO_CONFIG_EM_ERR_STATUS_BITS_COUNT (set
* to 10*8 bits by default). Stack uses first 6 bytes. Additional 4 bytes are pre-defined for manufacturer or device
* specific error indications, by default.
*/
#define CO_EM_NO_ERROR 0x00U /**< 0x00 Error Reset or No Error */
#define CO_EM_CAN_BUS_WARNING 0x01U /**< 0x01 communication info CAN bus warning limit reached */
#define CO_EM_RXMSG_WRONG_LENGTH 0x02U /**< 0x02 communication info Wrong data length of the received CAN message */
#define CO_EM_RXMSG_OVERFLOW 0x03U /**< 0x03 communication info Previous received CAN message wasn't processed */
#define CO_EM_RPDO_WRONG_LENGTH 0x04U /**< 0x04 communication info Wrong data length of received PDO */
#define CO_EM_RPDO_OVERFLOW 0x05U /**< 0x05 communication info Previous received PDO wasn't processed yet */
#define CO_EM_CAN_RX_BUS_PASSIVE 0x06U /**< 0x06 communication info CAN receive bus is passive */
#define CO_EM_CAN_TX_BUS_PASSIVE 0x07U /**< 0x07 communication info CAN transmit bus is passive */
#define CO_EM_NMT_WRONG_COMMAND 0x08U /**< 0x08 communication info Wrong NMT command received */
#define CO_EM_TIME_TIMEOUT 0x09U /**< 0x09 communication info TIME message timeout */
#define CO_EM_0A_unused 0x0AU /**< 0x0A communication info (unused) */
#define CO_EM_0B_unused 0x0BU /**< 0x0B communication info (unused) */
#define CO_EM_0C_unused 0x0CU /**< 0x0C communication info (unused) */
#define CO_EM_0D_unused 0x0DU /**< 0x0D communication info (unused) */
#define CO_EM_0E_unused 0x0EU /**< 0x0E communication info (unused) */
#define CO_EM_0F_unused 0x0FU /**< 0x0F communication info (unused) */
#define CO_EM_10_unused 0x10U /**< 0x10 communication critical (unused) */
#define CO_EM_11_unused 0x11U /**< 0x11 communication critical (unused) */
#define CO_EM_CAN_TX_BUS_OFF 0x12U /**< 0x12 communication critical CAN transmit bus is off */
#define CO_EM_CAN_RXB_OVERFLOW 0x13U /**< 0x13 communication critical CAN module receive buffer overflowed */
#define CO_EM_CAN_TX_OVERFLOW 0x14U /**< 0x14 communication critical CAN transmit buffer overflowed */
#define CO_EM_TPDO_OUTSIDE_WINDOW 0x15U /**< 0x15 communication critical TPDO is outside SYNC window */
#define CO_EM_16_unused 0x16U /**< 0x16 communication critical (unused) */
#define CO_EM_RPDO_TIME_OUT 0x17U /**< 0x17 communication critical RPDO message timeout */
#define CO_EM_SYNC_TIME_OUT 0x18U /**< 0x18 communication critical SYNC message timeout */
#define CO_EM_SYNC_LENGTH 0x19U /**< 0x19 communication critical Unexpected SYNC data length */
#define CO_EM_PDO_WRONG_MAPPING 0x1AU /**< 0x1A communication critical Error with PDO mapping */
#define CO_EM_HEARTBEAT_CONSUMER 0x1BU /**< 0x1B communication critical Heartbeat consumer timeout */
#define CO_EM_HB_CONSUMER_REMOTE_RESET 0x1CU /**< 0x1C comm. critical Heartbeat consumer detected remote node reset */
#define CO_EM_SRDO_CONFIGURATION 0x1DU /**< 0x1D communication critical Error in SRDO configuration parameters */
#define CO_EM_1E_unused 0x1EU /**< 0x1E communication critical (unused) */
#define CO_EM_1F_unused 0x1FU /**< 0x1F communication critical (unused) */
#define CO_EM_EMERGENCY_BUFFER_FULL 0x20U /**< 0x20 generic info Emergency buffer is full or message wasn't sent */
#define CO_EM_21_unused 0x21U /**< 0x21 generic info (unused) */
#define CO_EM_MICROCONTROLLER_RESET 0x22U /**< 0x22 generic info Microcontroller has just started */
#define CO_EM_23_unused 0x23U /**< 0x23 generic info (unused) */
#define CO_EM_24_unused 0x24U /**< 0x24 generic info (unused) */
#define CO_EM_25_unused 0x25U /**< 0x25 generic info (unused) */
#define CO_EM_26_unused 0x26U /**< 0x26 generic info (unused) */
#define CO_EM_NON_VOLATILE_AUTO_SAVE 0x27U /**< 0x27 generic info Automatic store to non-volatile memory failed */
#define CO_EM_WRONG_ERROR_REPORT 0x28U /**< 0x28 generic critical Wrong parameters to CO_errorReport() */
#define CO_EM_ISR_TIMER_OVERFLOW 0x29U /**< 0x29 generic critical Timer task has overflowed */
#define CO_EM_MEMORY_ALLOCATION_ERROR 0x2AU /**< 0x2A generic critical Unable to allocate memory for objects */
#define CO_EM_GENERIC_ERROR 0x2BU /**< 0x2B generic critical Generic error test usage */
#define CO_EM_GENERIC_SOFTWARE_ERROR 0x2CU /**< 0x2C generic critical Software error */
#define CO_EM_INCONSISTENT_OBJECT_DICT 0x2DU /**< 0x2D generic critical Object dict. does not match the software */
#define CO_EM_CALCULATION_OF_PARAMETERS 0x2EU /**< 0x2E generic critical Error in calculation of device parameters */
#define CO_EM_NON_VOLATILE_MEMORY 0x2FU /**< 0x2F generic critical Error with access to non volatile memory */
/**
* 0x30+ manufacturer info or critical Error status buts free to use by manufacturer. By default bits 0x30..0x3F are set
* as informational and bits 0x40..0x4F are set as critical. Manufacturer critical bits sets the error register as
* specified by @ref CO_CONFIG_ERR_CONDITION_MANUFACTURER
*/
#define CO_EM_MANUFACTURER_START 0x30U
/** (@ref CO_CONFIG_EM_ERR_STATUS_BITS_COUNT - 1) largest value of the Error status bit. */
#define CO_EM_MANUFACTURER_END (CO_CONFIG_EM_ERR_STATUS_BITS_COUNT - 1U)
/** @} */ /* CO_EM_errorStatusBits_t */
#if (((CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)) != 0) || defined CO_DOXYGEN
/**
* Fifo buffer for emergency producer and error history
*/
typedef struct {
uint32_t msg;
#if (((CO_CONFIG_EM)&CO_CONFIG_EM_PRODUCER) != 0) || defined CO_DOXYGEN
uint32_t info;
#endif
} CO_EM_fifo_t;
#endif
/**
* Emergency object.
*/
typedef struct {
uint8_t errorStatusBits[CO_CONFIG_EM_ERR_STATUS_BITS_COUNT / 8U]; /**< Bitfield for the internal indication of
the error condition. */
uint8_t* errorRegister; /**< Pointer to error register in object dictionary at 0x1001,00. */
uint16_t CANerrorStatusOld; /**< Old CAN error status bitfield */
CO_CANmodule_t* CANdevTx; /**< From CO_EM_init() */
#if (((CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)) != 0) || defined CO_DOXYGEN
CO_EM_fifo_t*
fifo; /**< Internal circular FIFO buffer for storing pre-processed emergency messages. Messages are added by
@ref CO_error() function. All messages are later post-processed by @ref CO_EM_process() function. In
case of overflow, error is indicated but emergency message is not sent. Fifo is also used for error
history, OD object 0x1003, "Pre-defined error field". Buffer is defined by @ref CO_EM_init(). */
uint8_t fifoSize; /**< Size of the above buffer, specified by @ref CO_EM_init(). */
uint8_t fifoWrPtr; /**< Pointer for the fifo buffer, where next emergency message will be written by @ref CO_error()
function. */
uint8_t fifoPpPtr; /**< Pointer for the fifo, where next emergency message has to be post-processed by @ref
CO_EM_process() function. If equal to bufWrPtr, then all messages has been post-processed. */
uint8_t fifoOverflow; /**< Indication of overflow - messages in buffer are not post-processed */
uint8_t fifoCount; /**< Count of emergency messages in fifo, used for OD object 0x1003 */
#endif /* (CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY) */
#if (((CO_CONFIG_EM)&CO_CONFIG_EM_PRODUCER) != 0) || defined CO_DOXYGEN
bool_t producerEnabled; /**< True, if emergency producer is enabled, from Object dictionary */
uint8_t nodeId; /**< Copy of CANopen node ID, from CO_EM_init() */
CO_CANtx_t* CANtxBuff; /**< CAN transmit buffer */
OD_extension_t OD_1014_extension; /**< Extension for OD object */
#if (((CO_CONFIG_EM)&CO_CONFIG_EM_PROD_CONFIGURABLE) != 0) || defined CO_DOXYGEN
uint16_t producerCanId; /**< COB ID of emergency message, from Object dictionary */
uint16_t CANdevTxIdx; /**< From CO_EM_init() */
#endif
#if (((CO_CONFIG_EM)&CO_CONFIG_EM_PROD_INHIBIT) != 0) || defined CO_DOXYGEN
uint32_t inhibitEmTime_us; /**< Inhibit time for emergency message, from Object dictionary */
uint32_t inhibitEmTimer; /**< Internal timer for inhibit time */
OD_extension_t OD_1015_extension; /**< Extension for OD object */
#endif
#endif /* (CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER */
#if (((CO_CONFIG_EM)&CO_CONFIG_EM_HISTORY) != 0) || defined CO_DOXYGEN
OD_extension_t OD_1003_extension; /**< Extension for OD object */
#endif
#if (((CO_CONFIG_EM)&CO_CONFIG_EM_STATUS_BITS) != 0) || defined CO_DOXYGEN
OD_extension_t OD_statusBits_extension; /**< Extension for OD object */
#endif
#if (((CO_CONFIG_EM)&CO_CONFIG_EM_CONSUMER) != 0) || defined CO_DOXYGEN
void (*pFunctSignalRx)(const uint16_t ident, const uint16_t errorCode, const uint8_t errorRegister,
const uint8_t errorBit, const uint32_t infoCode); /**< From CO_EM_initCallbackRx() or NULL */
#endif
#if (((CO_CONFIG_EM)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
void (*pFunctSignalPre)(void* object); /**< From CO_EM_initCallbackPre() or NULL */
void* functSignalObjectPre; /**< From CO_EM_initCallbackPre() or NULL */
#endif
} CO_EM_t;
/**
* Initialize Emergency object.
*
* Function must be called in the communication reset section.
*
* @param em This object will be initialized.
* @param fifo Fifo buffer for emergency producer and error history. It must be defined externally. Its size must be
* capacity+1. See also @ref CO_EM_t, fifo.
* @param fifoSize Size of the above fifo buffer. It is usually equal to the length of the OD array 0x1003 + 1. If
* fifoSize is smaller than 2, then emergency producer and error history will not work and 'fifo' may be NULL.
* @param CANdevTx CAN device for Emergency transmission.
* @param OD_1001_errReg OD entry for 0x1001 - "Error register", entry is required, without IO extension.
* @param OD_1014_cobIdEm OD entry for 0x1014 - "COB-ID EMCY", entry is required, IO extension is required.
* @param CANdevTxIdx Index of transmit buffer in the above CAN device.
* @param OD_1015_InhTime OD entry for 0x1015 - "Inhibit time EMCY", entry is optional (can be NULL), IO extension is
* optional for runtime configuration.
* @param OD_1003_preDefErr OD entry for 0x1003 - "Pre-defined error field". Emergency object has own memory buffer for
* this entry. Entry is optional, IO extension is required.
* @param OD_statusBits Custom OD entry for accessing errorStatusBits from
* @ref CO_EM_t. Entry must have variable of size (CO_CONFIG_EM_ERR_STATUS_BITS_COUNT/8) bytes available for read/write
* access on subindex 0. Emergency object has own memory buffer for this entry. Entry is optional, IO extension is
* required.
* @param CANdevRx CAN device for Emergency consumer reception.
* @param CANdevRxIdx Index of receive buffer in the above CAN device.
* @param nodeId CANopen node ID of this device (for default emergency producer)
* @param [out] errInfo Additional information in case of error, may be NULL.
*
* @return @ref CO_ReturnError_t CO_ERROR_NO in case of success.
*/
CO_ReturnError_t CO_EM_init(CO_EM_t* em, CO_CANmodule_t* CANdevTx, const OD_entry_t* OD_1001_errReg,
#if (((CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)) != 0) || defined CO_DOXYGEN
CO_EM_fifo_t* fifo, uint8_t fifoSize,
#endif
#if (((CO_CONFIG_EM)&CO_CONFIG_EM_PRODUCER) != 0) || defined CO_DOXYGEN
OD_entry_t* OD_1014_cobIdEm, uint16_t CANdevTxIdx,
#if (((CO_CONFIG_EM)&CO_CONFIG_EM_PROD_INHIBIT) != 0) || defined CO_DOXYGEN
OD_entry_t* OD_1015_InhTime,
#endif
#endif
#if (((CO_CONFIG_EM)&CO_CONFIG_EM_HISTORY) != 0) || defined CO_DOXYGEN
OD_entry_t* OD_1003_preDefErr,
#endif
#if (((CO_CONFIG_EM)&CO_CONFIG_EM_STATUS_BITS) != 0) || defined CO_DOXYGEN
OD_entry_t* OD_statusBits,
#endif
#if (((CO_CONFIG_EM)&CO_CONFIG_EM_CONSUMER) != 0) || defined CO_DOXYGEN
CO_CANmodule_t* CANdevRx, uint16_t CANdevRxIdx,
#endif
const uint8_t nodeId, uint32_t* errInfo);
#if (((CO_CONFIG_EM)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/**
* Initialize Emergency callback function.
*
* Function initializes optional callback function, which should immediately start processing of CO_EM_process()
* function. Callback is called from CO_errorReport() or CO_errorReset() function. Those functions are fast and may be
* called from any thread. Callback should immediately start mainline thread, which calls CO_EM_process() function.
*
* @param em This object.
* @param object Pointer to object, which will be passed to pFunctSignal(). Can be NULL
* @param pFunctSignal Pointer to the callback function. Not called if NULL.
*/
void CO_EM_initCallbackPre(CO_EM_t* em, void* object, void (*pFunctSignal)(void* object));
#endif
#if (((CO_CONFIG_EM)&CO_CONFIG_EM_CONSUMER) != 0) || defined CO_DOXYGEN
/**
* Initialize Emergency received callback function.
*
* Function initializes optional callback function, which executes after error condition is received.
*
* _ident_ argument from callback contains CAN-ID of the emergency message. If _ident_ == 0, then emergency message was
* sent from this device.
*
* @remark Depending on the CAN driver implementation, this function is called inside an ISR or inside a mainline. Must
* be thread safe.
*
* @param em This object.
* @param pFunctSignalRx Pointer to the callback function. Not called if NULL.
*/
void CO_EM_initCallbackRx(CO_EM_t* em, void (*pFunctSignalRx)(const uint16_t ident, const uint16_t errorCode,
const uint8_t errorRegister, const uint8_t errorBit,
const uint32_t infoCode));
#endif
/**
* Process Error control and Emergency object.
*
* Function must be called cyclically. It verifies some communication errors, calculates OD object 0x1001 - "Error
* register" and sends emergency message if necessary.
*
* @param em This object.
* @param NMTisPreOrOperational True if this node is NMT_PRE_OPERATIONAL or NMT_OPERATIONAL state.
* @param timeDifference_us Time difference from previous function call in [microseconds].
* @param [out] timerNext_us info to OS - see CO_process().
*/
void CO_EM_process(CO_EM_t* em, bool_t NMTisPreOrOperational, uint32_t timeDifference_us, uint32_t* timerNext_us);
/**
* Set or reset error condition.
*
* Function can be called on any error condition inside CANopen stack or application. Function first checks change of
* error condition (setError is true and error bit wasn't set or setError is false and error bit was set before). If
* changed, then Emergency message is prepared and record in history is added. Emergency message is later sent by
* CO_EM_process() function.
*
* Function is short and thread safe.
*
* @param em Emergency object.
* @param setError True if error occurred or false if error resolved.
* @param errorBit from @ref CO_EM_errorStatusBits_t.
* @param errorCode from @ref CO_EM_errorCode_t.
* @param infoCode 32 bit value is passed to bytes 4...7 of the Emergency message. It contains optional additional
* information.
*/
void CO_error(CO_EM_t* em, bool_t setError, const uint8_t errorBit, uint16_t errorCode, uint32_t infoCode);
/**
* Report error condition, for description of parameters see @ref CO_error.
*/
#define CO_errorReport(em, errorBit, errorCode, infoCode) CO_error(em, true, errorBit, errorCode, infoCode)
/**
* Reset error condition, for description of parameters see @ref CO_error.
*/
#define CO_errorReset(em, errorBit, infoCode) CO_error(em, false, errorBit, CO_EMC_NO_ERROR, infoCode)
/**
* Check specific error condition.
*
* Function returns true, if specific internal error is present.
*
* @param em Emergency object.
* @param errorBit from @ref CO_EM_errorStatusBits_t.
*
* @return true if Error is present.
*/
static inline bool_t
CO_isError(CO_EM_t* em, const uint8_t errorBit) {
uint8_t index = errorBit >> 3;
uint8_t bitmask = 1 << (errorBit & 0x7);
return (em == NULL || index >= (CO_CONFIG_EM_ERR_STATUS_BITS_COUNT / 8U)
|| (em->errorStatusBits[index] & bitmask) != 0)
? true
: false;
}
/**
* Get error register
*
* @param em Emergency object.
*
* @return Error register or 0 if doesn't exist.
*/
static inline uint8_t
CO_getErrorRegister(CO_EM_t* em) {
return (em == NULL || em->errorRegister == NULL) ? 0 : *em->errorRegister;
}
/** @} */ /* CO_Emergency */
#ifdef __cplusplus
}
#endif /* __cplusplus */
#endif /* CO_EMERGENCY_H */