Emergency producer/consumer

Specified in standard CiA 301 More...

Collaboration diagram for Emergency producer/consumer:

Macros
#define	CO_CONFIG_EM
	Configuration of Emergency.
#define	CO_CONFIG_EM_ERR_STATUS_BITS_COUNT   (10 * 8)
	Maximum number of Error status bits.
#define	CO_CONFIG_ERR_CONDITION_GENERIC   (em->errorStatusBits[5] != 0)
	Condition for calculating CANopen Error register, "generic" error bit.
#define	CO_CONFIG_ERR_CONDITION_CURRENT
	Condition for calculating CANopen Error register, "current" error bit.
#define	CO_CONFIG_ERR_CONDITION_VOLTAGE
	Condition for calculating CANopen Error register, "voltage" error bit.
#define	CO_CONFIG_ERR_CONDITION_TEMPERATURE
	Condition for calculating CANopen Error register, "temperature" error bit.
#define	CO_CONFIG_ERR_CONDITION_COMMUNICATION   (em->errorStatusBits[2] || em->errorStatusBits[3])
	Condition for calculating CANopen Error register, "communication" error bit.
#define	CO_CONFIG_ERR_CONDITION_DEV_PROFILE
	Condition for calculating CANopen Error register, "device profile" error bit.
#define	CO_CONFIG_ERR_CONDITION_MANUFACTURER   (em->errorStatusBits[8] || em->errorStatusBits[9])
	Condition for calculating CANopen Error register, "manufacturer" error bit.

Detailed Description

Specified in standard CiA 301

Macro Definition Documentation

CO_CONFIG_EM

#define CO_CONFIG_EM

Value:

    (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY | CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE                                 \
     | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT)

Configuration of Emergency.

Possible flags, can be ORed:

• CO_CONFIG_EM_PRODUCER - Enable emergency producer.
• CO_CONFIG_EM_PROD_CONFIGURABLE - Emergency producer COB-ID is configurable, OD object 0x1014. If not configurable, then 0x1014 is read-only, COB_ID is set to CO_CAN_ID_EMERGENCY + nodeId and write is not verified.
• CO_CONFIG_EM_PROD_INHIBIT - Enable inhibit timer on emergency producer, OD object 0x1015.
• CO_CONFIG_EM_HISTORY - Enable error history, OD object 0x1003, "Pre-defined error field"
• CO_CONFIG_EM_CONSUMER - Enable simple emergency consumer with callback.
• CO_CONFIG_EM_STATUS_BITS - Access Error status bits from OD.
• CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing emergency condition by CO_errorReport() or CO_errorReset() call. Callback is configured by CO_EM_initCallbackPre().
• CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable inside CO_EM_process().

CO_CONFIG_EM_ERR_STATUS_BITS_COUNT

#define CO_CONFIG_EM_ERR_STATUS_BITS_COUNT   (10 * 8)

Maximum number of Error status bits.

Stack uses 6*8 = 48 Error status bits, others are free to use by manufacturer. Allowable value range is from 48 to 256 bits in steps of 8. Default is 80.

CO_CONFIG_ERR_CONDITION_GENERIC

#define CO_CONFIG_ERR_CONDITION_GENERIC   (em->errorStatusBits[5] != 0)

Condition for calculating CANopen Error register, "generic" error bit.

Condition must observe suitable Error status bits and use corresponding member of errorStatusBits array from CO_EM_t to calculate the condition. See also CANopen Error register.

Warning

Size of CO_CONFIG_EM_ERR_STATUS_BITS_COUNT must be large enough. (CO_CONFIG_EM_ERR_STATUS_BITS_COUNT/8) must be larger than index of array member in em->errorStatusBits[index].

em->errorStatusBits[5] should be included in the condition, because they are used by the stack.

CO_CONFIG_ERR_CONDITION_CURRENT

#define CO_CONFIG_ERR_CONDITION_CURRENT

Condition for calculating CANopen Error register, "current" error bit.

See CO_CONFIG_ERR_CONDITION_GENERIC for description. Macro is not defined by default, so no error is verified.

CO_CONFIG_ERR_CONDITION_VOLTAGE

#define CO_CONFIG_ERR_CONDITION_VOLTAGE

Condition for calculating CANopen Error register, "voltage" error bit.

See CO_CONFIG_ERR_CONDITION_GENERIC for description. Macro is not defined by default, so no error is verified.

CO_CONFIG_ERR_CONDITION_TEMPERATURE

#define CO_CONFIG_ERR_CONDITION_TEMPERATURE

Condition for calculating CANopen Error register, "temperature" error bit.

See CO_CONFIG_ERR_CONDITION_GENERIC for description. Macro is not defined by default, so no error is verified.

CO_CONFIG_ERR_CONDITION_COMMUNICATION

#define CO_CONFIG_ERR_CONDITION_COMMUNICATION   (em->errorStatusBits[2] || em->errorStatusBits[3])

Condition for calculating CANopen Error register, "communication" error bit.

See CO_CONFIG_ERR_CONDITION_GENERIC for description.

em->errorStatusBits[2] and em->errorStatusBits[3] must be included in the condition, because they are used by the stack.

CO_CONFIG_ERR_CONDITION_DEV_PROFILE

#define CO_CONFIG_ERR_CONDITION_DEV_PROFILE

Condition for calculating CANopen Error register, "device profile" error bit.

See CO_CONFIG_ERR_CONDITION_GENERIC for description. Macro is not defined by default, so no error is verified.

CO_CONFIG_ERR_CONDITION_MANUFACTURER

#define CO_CONFIG_ERR_CONDITION_MANUFACTURER   (em->errorStatusBits[8] || em->errorStatusBits[9])

Condition for calculating CANopen Error register, "manufacturer" error bit.

See CO_CONFIG_ERR_CONDITION_GENERIC for description.

em->errorStatusBits[8] and em->errorStatusBits[8] are pre-defined, but can be changed.