CANopen Emergency protocol. More...

#include "301/CO_driver.h"
#include "301/CO_ODinterface.h"

Include dependency graph for CO_Emergency.h:

This graph shows which files directly or indirectly include this file:

Data Structures
struct	CO_EM_fifo_t
	Fifo buffer for emergency producer and error history. More...

struct	CO_EM_t
	Emergency object. More...

Macros
#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

#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

#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.

#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.

#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

#define	CO_EM_MANUFACTURER_START 0x30U
	0x30+ manufacturer info or critical Error status buts free to use by manufacturer.

#define	CO_EM_MANUFACTURER_END (CO_CONFIG_EM_ERR_STATUS_BITS_COUNT - 1U)
	(CO_CONFIG_EM_ERR_STATUS_BITS_COUNT - 1) largest value of the Error status bit.

#define	CO_errorReport(em, errorBit, errorCode, infoCode) CO_error(em, true, errorBit, errorCode, infoCode)
	Report error condition, for description of parameters see CO_error.

#define	CO_errorReset(em, errorBit, infoCode) CO_error(em, false, errorBit, CO_EMC_NO_ERROR, infoCode)
	Reset error condition, for description of parameters see CO_error.

Functions
CO_ReturnError_t	CO_EM_init (CO_EM_t em, CO_CANmodule_t CANdevTx, const OD_entry_t OD_1001_errReg, CO_EM_fifo_t fifo, uint8_t fifoSize, OD_entry_t OD_1014_cobIdEm, uint16_t CANdevTxIdx, OD_entry_t OD_1015_InhTime, OD_entry_t OD_1003_preDefErr, OD_entry_t OD_statusBits, CO_CANmodule_t CANdevRx, uint16_t CANdevRxIdx, const uint8_t nodeId, uint32_t errInfo)
	Initialize Emergency object.

void	CO_EM_initCallbackPre (CO_EM_t em, void object, void(pFunctSignal)(void object))
	Initialize Emergency callback function.

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))
	Initialize Emergency received callback function.

void	CO_EM_process (CO_EM_t em, bool_t NMTisPreOrOperational, uint32_t timeDifference_us, uint32_t timerNext_us)
	Process Error control and Emergency object.

void	CO_error (CO_EM_t *em, bool_t setError, const uint8_t errorBit, uint16_t errorCode, uint32_t infoCode)
	Set or reset error condition.

static bool_t	CO_isError (CO_EM_t *em, const uint8_t errorBit)
	Check specific error condition.

static uint8_t	CO_getErrorRegister (CO_EM_t *em)
	Get error register.

Detailed Description

CANopen Emergency protocol.

Author: 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.

Data Structures

Macros

Functions

Detailed Description