/** * CANopen Emergency protocol. * * @file CO_Emergency.h * @ingroup CO_Emergency * @author Janez Paternoster * @copyright 2020 Janez Paternoster * * This file is part of , 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 */