CO_Emergency.h

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#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
 
#define CO_ERR_REG_GENERIC_ERR          0x01U 
#define CO_ERR_REG_CURRENT              0x02U 
#define CO_ERR_REG_VOLTAGE              0x04U 
#define CO_ERR_REG_TEMPERATURE          0x08U 
#define CO_ERR_REG_COMMUNICATION        0x10U 
#define CO_ERR_REG_DEV_PROFILE          0x20U 
#define CO_ERR_REG_RESERVED             0x40U 
#define CO_ERR_REG_MANUFACTURER         0x80U 
 /* CO_errorRegister_t */
 
#define CO_EMC_NO_ERROR                 0x0000U 
#define CO_EMC_GENERIC                  0x1000U 
#define CO_EMC_CURRENT                  0x2000U 
#define CO_EMC_CURRENT_INPUT            0x2100U 
#define CO_EMC_CURRENT_INSIDE           0x2200U 
#define CO_EMC_CURRENT_OUTPUT           0x2300U 
#define CO_EMC_VOLTAGE                  0x3000U 
#define CO_EMC_VOLTAGE_MAINS            0x3100U 
#define CO_EMC_VOLTAGE_INSIDE           0x3200U 
#define CO_EMC_VOLTAGE_OUTPUT           0x3300U 
#define CO_EMC_TEMPERATURE              0x4000U 
#define CO_EMC_TEMP_AMBIENT             0x4100U 
#define CO_EMC_TEMP_DEVICE              0x4200U 
#define CO_EMC_HARDWARE                 0x5000U 
#define CO_EMC_SOFTWARE_DEVICE          0x6000U 
#define CO_EMC_SOFTWARE_INTERNAL        0x6100U 
#define CO_EMC_SOFTWARE_USER            0x6200U 
#define CO_EMC_DATA_SET                 0x6300U 
#define CO_EMC_ADDITIONAL_MODUL         0x7000U 
#define CO_EMC_MONITORING               0x8000U 
#define CO_EMC_COMMUNICATION            0x8100U 
#define CO_EMC_CAN_OVERRUN              0x8110U 
#define CO_EMC_CAN_PASSIVE              0x8120U 
#define CO_EMC_HEARTBEAT                0x8130U 
#define CO_EMC_BUS_OFF_RECOVERED        0x8140U 
#define CO_EMC_CAN_ID_COLLISION         0x8150U 
#define CO_EMC_PROTOCOL_ERROR           0x8200U 
#define CO_EMC_PDO_LENGTH               0x8210U 
#define CO_EMC_PDO_LENGTH_EXC           0x8220U 
#define CO_EMC_DAM_MPDO                 0x8230U 
#define CO_EMC_SYNC_DATA_LENGTH         0x8240U 
#define CO_EMC_RPDO_TIMEOUT             0x8250U 
#define CO_EMC_EXTERNAL_ERROR           0x9000U 
#define CO_EMC_ADDITIONAL_FUNC          0xF000U 
#define CO_EMC_DEVICE_SPECIFIC          0xFF00U 
#define CO_EMC401_OUT_CUR_HI            0x2310U 
#define CO_EMC401_OUT_SHORTED           0x2320U 
#define CO_EMC401_OUT_LOAD_DUMP         0x2330U 
#define CO_EMC401_IN_VOLT_HI            0x3110U 
#define CO_EMC401_IN_VOLT_LOW           0x3120U 
#define CO_EMC401_INTERN_VOLT_HI        0x3210U 
#define CO_EMC401_INTERN_VOLT_LO        0x3220U 
#define CO_EMC401_OUT_VOLT_HIGH         0x3310U 
#define CO_EMC401_OUT_VOLT_LOW          0x3320U 
 /* CO_EM_errorCode_t */
 
#define CO_EM_NO_ERROR                  0x00U 
#define CO_EM_CAN_BUS_WARNING           0x01U 
#define CO_EM_RXMSG_WRONG_LENGTH        0x02U 
#define CO_EM_RXMSG_OVERFLOW            0x03U 
#define CO_EM_RPDO_WRONG_LENGTH         0x04U 
#define CO_EM_RPDO_OVERFLOW             0x05U 
#define CO_EM_CAN_RX_BUS_PASSIVE        0x06U 
#define CO_EM_CAN_TX_BUS_PASSIVE        0x07U 
#define CO_EM_NMT_WRONG_COMMAND         0x08U 
#define CO_EM_TIME_TIMEOUT              0x09U 
#define CO_EM_0A_unused                 0x0AU 
#define CO_EM_0B_unused                 0x0BU 
#define CO_EM_0C_unused                 0x0CU 
#define CO_EM_0D_unused                 0x0DU 
#define CO_EM_0E_unused                 0x0EU 
#define CO_EM_0F_unused                 0x0FU 
#define CO_EM_10_unused                 0x10U 
#define CO_EM_11_unused                 0x11U 
#define CO_EM_CAN_TX_BUS_OFF            0x12U 
#define CO_EM_CAN_RXB_OVERFLOW          0x13U 
#define CO_EM_CAN_TX_OVERFLOW           0x14U 
#define CO_EM_TPDO_OUTSIDE_WINDOW       0x15U 
#define CO_EM_16_unused                 0x16U 
#define CO_EM_RPDO_TIME_OUT             0x17U 
#define CO_EM_SYNC_TIME_OUT             0x18U 
#define CO_EM_SYNC_LENGTH               0x19U 
#define CO_EM_PDO_WRONG_MAPPING         0x1AU 
#define CO_EM_HEARTBEAT_CONSUMER        0x1BU 
#define CO_EM_HB_CONSUMER_REMOTE_RESET  0x1CU 
#define CO_EM_SRDO_CONFIGURATION        0x1DU 
#define CO_EM_1E_unused                 0x1EU 
#define CO_EM_1F_unused                 0x1FU 
#define CO_EM_EMERGENCY_BUFFER_FULL     0x20U 
#define CO_EM_21_unused                 0x21U 
#define CO_EM_MICROCONTROLLER_RESET     0x22U 
#define CO_EM_23_unused                 0x23U 
#define CO_EM_24_unused                 0x24U 
#define CO_EM_25_unused                 0x25U 
#define CO_EM_26_unused                 0x26U 
#define CO_EM_NON_VOLATILE_AUTO_SAVE    0x27U 
#define CO_EM_WRONG_ERROR_REPORT        0x28U 
#define CO_EM_ISR_TIMER_OVERFLOW        0x29U 
#define CO_EM_MEMORY_ALLOCATION_ERROR   0x2AU 
#define CO_EM_GENERIC_ERROR             0x2BU 
#define CO_EM_GENERIC_SOFTWARE_ERROR    0x2CU 
#define CO_EM_INCONSISTENT_OBJECT_DICT  0x2DU 
#define CO_EM_CALCULATION_OF_PARAMETERS 0x2EU 
#define CO_EM_NON_VOLATILE_MEMORY       0x2FU 
#define CO_EM_MANUFACTURER_START        0x30U
#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
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
 
typedef struct {
    uint8_t errorStatusBits[CO_CONFIG_EM_ERR_STATUS_BITS_COUNT / 8U]; 
    uint8_t* errorRegister;     
    uint16_t CANerrorStatusOld; 
    CO_CANmodule_t* CANdevTx;   
#if (((CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)) != 0) || defined CO_DOXYGEN
    CO_EM_fifo_t*
        fifo; 
    uint8_t fifoSize;  
    uint8_t fifoWrPtr; 
    uint8_t fifoPpPtr; 
    uint8_t fifoOverflow; 
    uint8_t fifoCount;    
#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;           
    uint8_t nodeId;                   
    CO_CANtx_t* CANtxBuff;            
    OD_extension_t OD_1014_extension; 
#if (((CO_CONFIG_EM)&CO_CONFIG_EM_PROD_CONFIGURABLE) != 0) || defined CO_DOXYGEN
    uint16_t producerCanId; 
    uint16_t CANdevTxIdx;   
#endif
#if (((CO_CONFIG_EM)&CO_CONFIG_EM_PROD_INHIBIT) != 0) || defined CO_DOXYGEN
    uint32_t inhibitEmTime_us;        
    uint32_t inhibitEmTimer;          
    OD_extension_t OD_1015_extension; 
#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; 
#endif
 
#if (((CO_CONFIG_EM)&CO_CONFIG_EM_STATUS_BITS) != 0) || defined CO_DOXYGEN
    OD_extension_t OD_statusBits_extension; 
#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); 
#endif
 
#if (((CO_CONFIG_EM)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
    void (*pFunctSignalPre)(void* object); 
    void* functSignalObjectPre;            
#endif
} CO_EM_t;
 
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
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
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
 
void CO_EM_process(CO_EM_t* em, bool_t NMTisPreOrOperational, uint32_t timeDifference_us, uint32_t* timerNext_us);
 
void CO_error(CO_EM_t* em, bool_t setError, const uint8_t errorBit, uint16_t errorCode, uint32_t infoCode);
 
#define CO_errorReport(em, errorBit, errorCode, infoCode) CO_error(em, true, errorBit, errorCode, infoCode)
 
#define CO_errorReset(em, errorBit, infoCode)             CO_error(em, false, errorBit, CO_EMC_NO_ERROR, infoCode)
 
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;
}
 
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 */