Emergency

Files
file	CO_Emergency.h
	CANopen Emergency protocol.

Data Structures
struct	CO_EM_t
	Emergency object. More...

Macros
#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.

Enumerations
enum	CO_errorRegister_t {   CO_ERR_REG_GENERIC_ERR = 0x01U, CO_ERR_REG_CURRENT = 0x02U, CO_ERR_REG_VOLTAGE = 0x04U, CO_ERR_REG_TEMPERATURE = 0x08U,   CO_ERR_REG_COMMUNICATION = 0x10U, CO_ERR_REG_DEV_PROFILE = 0x20U, CO_ERR_REG_RESERVED = 0x40U, CO_ERR_REG_MANUFACTURER = 0x80U }
	CANopen Error register. More...
enum	CO_EM_errorCode_t {   CO_EMC_NO_ERROR = 0x0000U, CO_EMC_GENERIC = 0x1000U, CO_EMC_CURRENT = 0x2000U, CO_EMC_CURRENT_INPUT = 0x2100U,   CO_EMC_CURRENT_INSIDE = 0x2200U, CO_EMC_CURRENT_OUTPUT = 0x2300U, CO_EMC_VOLTAGE = 0x3000U, CO_EMC_VOLTAGE_MAINS = 0x3100U,   CO_EMC_VOLTAGE_INSIDE = 0x3200U, CO_EMC_VOLTAGE_OUTPUT = 0x3300U, CO_EMC_TEMPERATURE = 0x4000U, CO_EMC_TEMP_AMBIENT = 0x4100U,   CO_EMC_TEMP_DEVICE = 0x4200U, CO_EMC_HARDWARE = 0x5000U, CO_EMC_SOFTWARE_DEVICE = 0x6000U, CO_EMC_SOFTWARE_INTERNAL = 0x6100U,   CO_EMC_SOFTWARE_USER = 0x6200U, CO_EMC_DATA_SET = 0x6300U, CO_EMC_ADDITIONAL_MODUL = 0x7000U, CO_EMC_MONITORING = 0x8000U,   CO_EMC_COMMUNICATION = 0x8100U, CO_EMC_CAN_OVERRUN = 0x8110U, CO_EMC_CAN_PASSIVE = 0x8120U, CO_EMC_HEARTBEAT = 0x8130U,   CO_EMC_BUS_OFF_RECOVERED = 0x8140U, CO_EMC_CAN_ID_COLLISION = 0x8150U, CO_EMC_PROTOCOL_ERROR = 0x8200U, CO_EMC_PDO_LENGTH = 0x8210U,   CO_EMC_PDO_LENGTH_EXC = 0x8220U, CO_EMC_DAM_MPDO = 0x8230U, CO_EMC_SYNC_DATA_LENGTH = 0x8240U, CO_EMC_RPDO_TIMEOUT = 0x8250U,   CO_EMC_TIME_DATA_LENGTH = 0x8260U, CO_EMC_EXTERNAL_ERROR = 0x9000U, CO_EMC_ADDITIONAL_FUNC = 0xF000U, CO_EMC_DEVICE_SPECIFIC = 0xFF00U,   CO_EMC401_OUT_CUR_HI = 0x2310U, CO_EMC401_OUT_SHORTED = 0x2320U, CO_EMC401_OUT_LOAD_DUMP = 0x2330U, CO_EMC401_IN_VOLT_HI = 0x3110U,   CO_EMC401_IN_VOLT_LOW = 0x3120U, CO_EMC401_INTERN_VOLT_HI = 0x3210U, CO_EMC401_INTERN_VOLT_LO = 0x3220U, CO_EMC401_OUT_VOLT_HIGH = 0x3310U,   CO_EMC401_OUT_VOLT_LOW = 0x3320U }
	CANopen Error code. More...
enum	CO_EM_errorStatusBits_t {   CO_EM_NO_ERROR = 0x00U, CO_EM_CAN_BUS_WARNING = 0x01U, CO_EM_RXMSG_WRONG_LENGTH = 0x02U, CO_EM_RXMSG_OVERFLOW = 0x03U,   CO_EM_RPDO_WRONG_LENGTH = 0x04U, CO_EM_RPDO_OVERFLOW = 0x05U, CO_EM_CAN_RX_BUS_PASSIVE = 0x06U, CO_EM_CAN_TX_BUS_PASSIVE = 0x07U,   CO_EM_NMT_WRONG_COMMAND = 0x08U, CO_EM_TIME_TIMEOUT = 0x09U, CO_EM_TIME_LENGTH = 0x0AU, CO_EM_0B_unused = 0x0BU,   CO_EM_0C_unused = 0x0CU, CO_EM_0D_unused = 0x0DU, CO_EM_0E_unused = 0x0EU, CO_EM_0F_unused = 0x0FU,   CO_EM_10_unused = 0x10U, CO_EM_11_unused = 0x11U, CO_EM_CAN_TX_BUS_OFF = 0x12U, CO_EM_CAN_RXB_OVERFLOW = 0x13U,   CO_EM_CAN_TX_OVERFLOW = 0x14U, CO_EM_TPDO_OUTSIDE_WINDOW = 0x15U, CO_EM_16_unused = 0x16U, CO_EM_17_unused = 0x17U,   CO_EM_SYNC_TIME_OUT = 0x18U, CO_EM_SYNC_LENGTH = 0x19U, CO_EM_PDO_WRONG_MAPPING = 0x1AU, CO_EM_HEARTBEAT_CONSUMER = 0x1BU,   CO_EM_HB_CONSUMER_REMOTE_RESET = 0x1CU, CO_EM_1D_unused = 0x1DU, CO_EM_1E_unused = 0x1EU, CO_EM_1F_unused = 0x1FU,   CO_EM_EMERGENCY_BUFFER_FULL = 0x20U, CO_EM_21_unused = 0x21U, CO_EM_MICROCONTROLLER_RESET = 0x22U, CO_EM_23_unused = 0x23U,   CO_EM_24_unused = 0x24U, CO_EM_25_unused = 0x25U, CO_EM_26_unused = 0x26U, CO_EM_27_unused = 0x27U,   CO_EM_WRONG_ERROR_REPORT = 0x28U, CO_EM_ISR_TIMER_OVERFLOW = 0x29U, CO_EM_MEMORY_ALLOCATION_ERROR = 0x2AU, CO_EM_GENERIC_ERROR = 0x2BU,   CO_EM_GENERIC_SOFTWARE_ERROR = 0x2CU, CO_EM_INCONSISTENT_OBJECT_DICT = 0x2DU, CO_EM_CALCULATION_OF_PARAMETERS = 0x2EU, CO_EM_NON_VOLATILE_MEMORY = 0x2FU,   CO_EM_MANUFACTURER_START = 0x30U, CO_EM_MANUFACTURER_END = CO_CONFIG_EM_ERR_STATUS_BITS_COUNT - 1 }
	Error status bits. More...

Functions
CO_ReturnError_t	CO_EM_init (CO_EM_t *em, const OD_entry_t *OD_1001_errReg, const OD_entry_t *OD_1014_cobIdEm, CO_CANmodule_t *CANdevTx, uint16_t CANdevTxIdx, const OD_entry_t *OD_1015_InhTime, const OD_entry_t *OD_1003_preDefErr, const OD_entry_t *OD_statusBits, CO_CANmodule_t *CANdevRx, uint16_t CANdevRxIdx, const uint8_t nodeId)
	Initialize Emergency object. More...
void	CO_EM_initCallbackPre (CO_EM_t *em, void *object, void(*pFunctSignal)(void *object))
	Initialize Emergency callback function. More...
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. More...
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. More...
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. More...
static bool_t	CO_isError (CO_EM_t *em, const uint8_t errorBit)
	Check specific error condition. More...
static uint8_t	CO_getErrorRegister (CO_EM_t *em)
	Get error register. More...

Detailed Description

CANopen Emergency protocol.

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 CO_CONFIG_EM_ERR_STATUS_BITS_COUNT bits. Meaning for each bit is described by 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 CO_errorRegister_t. Critical error conditions for generic error are specified by CO_CONFIG_ERR_CONDITION_GENERIC macro. Similar macros are defined for other error bits in in CO_errorRegister_t.

Emergency producer

If 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	CO_EM_errorCode_t
2	CO_errorRegister_t
3	Index of error condition (see CO_EM_errorStatusBits_t).
4..7	Additional informative argument to CO_errorReport() function.

Error history

If 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 CO_CONFIG_EM has CO_CONFIG_EM_CONSUMER enabled, then callback can be registered by CO_EM_initCallbackRx() function.

Enumeration Type Documentation

CO_errorRegister_t

enum 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 CO_EM_errorStatusBits_t and Emergency producer/consumer for error condition macros.

Internal errors may prevent device to stay in NMT Operational state and changes may switch between the states. See CO_NMT_control_t for details.

Enumerator
CO_ERR_REG_GENERIC_ERR	bit 0, generic error
CO_ERR_REG_CURRENT	bit 1, current
CO_ERR_REG_VOLTAGE	bit 2, voltage
CO_ERR_REG_TEMPERATURE	bit 3, temperature
CO_ERR_REG_COMMUNICATION	bit 4, communication error
CO_ERR_REG_DEV_PROFILE	bit 5, device profile specific
CO_ERR_REG_RESERVED	bit 6, reserved (always 0)
CO_ERR_REG_MANUFACTURER	bit 7, manufacturer specific

CO_EM_errorCode_t

enum CO_EM_errorCode_t

CANopen Error code.

Standard error codes according to CiA DS-301 and DS-401.

Enumerator
CO_EMC_NO_ERROR	0x00xx, error Reset or No Error
CO_EMC_GENERIC	0x10xx, Generic Error
CO_EMC_CURRENT	0x20xx, Current
CO_EMC_CURRENT_INPUT	0x21xx, Current, device input side
CO_EMC_CURRENT_INSIDE	0x22xx, Current inside the device
CO_EMC_CURRENT_OUTPUT	0x23xx, Current, device output side
CO_EMC_VOLTAGE	0x30xx, Voltage
CO_EMC_VOLTAGE_MAINS	0x31xx, Mains Voltage
CO_EMC_VOLTAGE_INSIDE	0x32xx, Voltage inside the device
CO_EMC_VOLTAGE_OUTPUT	0x33xx, Output Voltage
CO_EMC_TEMPERATURE	0x40xx, Temperature
CO_EMC_TEMP_AMBIENT	0x41xx, Ambient Temperature
CO_EMC_TEMP_DEVICE	0x42xx, Device Temperature
CO_EMC_HARDWARE	0x50xx, Device Hardware
CO_EMC_SOFTWARE_DEVICE	0x60xx, Device Software
CO_EMC_SOFTWARE_INTERNAL	0x61xx, Internal Software
CO_EMC_SOFTWARE_USER	0x62xx, User Software
CO_EMC_DATA_SET	0x63xx, Data Set
CO_EMC_ADDITIONAL_MODUL	0x70xx, Additional Modules
CO_EMC_MONITORING	0x80xx, Monitoring
CO_EMC_COMMUNICATION	0x81xx, Communication
CO_EMC_CAN_OVERRUN	0x8110, CAN Overrun (Objects lost)
CO_EMC_CAN_PASSIVE	0x8120, CAN in Error Passive Mode
CO_EMC_HEARTBEAT	0x8130, Life Guard Error or Heartbeat Error
CO_EMC_BUS_OFF_RECOVERED	0x8140, recovered from bus off
CO_EMC_CAN_ID_COLLISION	0x8150, CAN-ID collision
CO_EMC_PROTOCOL_ERROR	0x82xx, Protocol Error
CO_EMC_PDO_LENGTH	0x8210, PDO not processed due to length error
CO_EMC_PDO_LENGTH_EXC	0x8220, PDO length exceeded
CO_EMC_DAM_MPDO	0x8230, DAM MPDO not processed, destination object not available
CO_EMC_SYNC_DATA_LENGTH	0x8240, Unexpected SYNC data length
CO_EMC_RPDO_TIMEOUT	0x8250, RPDO timeout
CO_EMC_TIME_DATA_LENGTH	0x8260, Unexpected TIME data length
CO_EMC_EXTERNAL_ERROR	0x90xx, External Error
CO_EMC_ADDITIONAL_FUNC	0xF0xx, Additional Functions
CO_EMC_DEVICE_SPECIFIC	0xFFxx, Device specific
CO_EMC401_OUT_CUR_HI	0x2310, DS401, Current at outputs too high (overload)
CO_EMC401_OUT_SHORTED	0x2320, DS401, Short circuit at outputs
CO_EMC401_OUT_LOAD_DUMP	0x2330, DS401, Load dump at outputs
CO_EMC401_IN_VOLT_HI	0x3110, DS401, Input voltage too high
CO_EMC401_IN_VOLT_LOW	0x3120, DS401, Input voltage too low
CO_EMC401_INTERN_VOLT_HI	0x3210, DS401, Internal voltage too high
CO_EMC401_INTERN_VOLT_LO	0x3220, DS401, Internal voltage too low
CO_EMC401_OUT_VOLT_HIGH	0x3310, DS401, Output voltage too high
CO_EMC401_OUT_VOLT_LOW	0x3320, DS401, Output voltage too low

CO_EM_errorStatusBits_t

enum 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 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 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.

Enumerator
CO_EM_NO_ERROR	0x00, Error Reset or No Error
CO_EM_CAN_BUS_WARNING	0x01, communication, info, CAN bus warning limit reached
CO_EM_RXMSG_WRONG_LENGTH	0x02, communication, info, Wrong data length of the received CAN message
CO_EM_RXMSG_OVERFLOW	0x03, communication, info, Previous received CAN message wasn't processed yet
CO_EM_RPDO_WRONG_LENGTH	0x04, communication, info, Wrong data length of received PDO
CO_EM_RPDO_OVERFLOW	0x05, communication, info, Previous received PDO wasn't processed yet
CO_EM_CAN_RX_BUS_PASSIVE	0x06, communication, info, CAN receive bus is passive
CO_EM_CAN_TX_BUS_PASSIVE	0x07, communication, info, CAN transmit bus is passive
CO_EM_NMT_WRONG_COMMAND	0x08, communication, info, Wrong NMT command received
CO_EM_TIME_TIMEOUT	0x09, communication, info, TIME message timeout
CO_EM_TIME_LENGTH	0x0A, communication, info, Unexpected TIME data length
CO_EM_0B_unused	0x0B, communication, info, (unused)
CO_EM_0C_unused	0x0C, communication, info, (unused)
CO_EM_0D_unused	0x0D, communication, info, (unused)
CO_EM_0E_unused	0x0E, communication, info, (unused)
CO_EM_0F_unused	0x0F, communication, info, (unused)
CO_EM_10_unused	0x10, communication, critical, (unused)
CO_EM_11_unused	0x11, communication, critical, (unused)
CO_EM_CAN_TX_BUS_OFF	0x12, communication, critical, CAN transmit bus is off
CO_EM_CAN_RXB_OVERFLOW	0x13, communication, critical, CAN module receive buffer has overflowed
CO_EM_CAN_TX_OVERFLOW	0x14, communication, critical, CAN transmit buffer has overflowed
CO_EM_TPDO_OUTSIDE_WINDOW	0x15, communication, critical, TPDO is outside SYNC window
CO_EM_16_unused	0x16, communication, critical, (unused)
CO_EM_17_unused	0x17, communication, critical, (unused)
CO_EM_SYNC_TIME_OUT	0x18, communication, critical, SYNC message timeout
CO_EM_SYNC_LENGTH	0x19, communication, critical, Unexpected SYNC data length
CO_EM_PDO_WRONG_MAPPING	0x1A, communication, critical, Error with PDO mapping
CO_EM_HEARTBEAT_CONSUMER	0x1B, communication, critical, Heartbeat consumer timeout
CO_EM_HB_CONSUMER_REMOTE_RESET	0x1C, communication, critical, Heartbeat consumer detected remote node reset
CO_EM_1D_unused	0x1D, communication, critical, (unused)
CO_EM_1E_unused	0x1E, communication, critical, (unused)
CO_EM_1F_unused	0x1F, communication, critical, (unused)
CO_EM_EMERGENCY_BUFFER_FULL	0x20, generic, info, Emergency buffer is full, Emergency message wasn't sent
CO_EM_21_unused	0x21, generic, info, (unused)
CO_EM_MICROCONTROLLER_RESET	0x22, generic, info, Microcontroller has just started
CO_EM_23_unused	0x23, generic, info, (unused)
CO_EM_24_unused	0x24, generic, info, (unused)
CO_EM_25_unused	0x25, generic, info, (unused)
CO_EM_26_unused	0x26, generic, info, (unused)
CO_EM_27_unused	0x27, generic, info, (unused)
CO_EM_WRONG_ERROR_REPORT	0x28, generic, critical, Wrong parameters to CO_errorReport() function
CO_EM_ISR_TIMER_OVERFLOW	0x29, generic, critical, Timer task has overflowed
CO_EM_MEMORY_ALLOCATION_ERROR	0x2A, generic, critical, Unable to allocate memory for objects
CO_EM_GENERIC_ERROR	0x2B, generic, critical, Generic error, test usage
CO_EM_GENERIC_SOFTWARE_ERROR	0x2C, generic, critical, Software error
CO_EM_INCONSISTENT_OBJECT_DICT	0x2D, generic, critical, Object dictionary does not match the software
CO_EM_CALCULATION_OF_PARAMETERS	0x2E, generic, critical, Error in calculation of device parameters
CO_EM_NON_VOLATILE_MEMORY	0x2F, generic, critical, Error with access to non volatile device memory
CO_EM_MANUFACTURER_START	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 CO_CONFIG_ERR_CONDITION_MANUFACTURER
CO_EM_MANUFACTURER_END	(CO_CONFIG_EM_ERR_STATUS_BITS_COUNT - 1), largest value of the Error status bit.

Function Documentation

CO_EM_init()

CO_ReturnError_t CO_EM_init	(	CO_EM_t *	em,
		const OD_entry_t *	OD_1001_errReg,
		const OD_entry_t *	OD_1014_cobIdEm,
		CO_CANmodule_t *	CANdevTx,
		uint16_t	CANdevTxIdx,
		const OD_entry_t *	OD_1015_InhTime,
		const OD_entry_t *	OD_1003_preDefErr,
		const OD_entry_t *	OD_statusBits,
		CO_CANmodule_t *	CANdevRx,
		uint16_t	CANdevRxIdx,
		const uint8_t	nodeId
	)

Initialize Emergency object.

Function must be called in the communication reset section.

Parameters

em	This object will be initialized.
OD_1001_errReg	OD entry for 0x1001 - "Error register", entry is required, without IO extension.
OD_1014_cobIdEm	OD entry for 0x1014 - "COB-ID EMCY", entry is required, IO extension is required.
CANdevTx	CAN device for Emergency transmission.
CANdevTxIdx	Index of transmit buffer in the above CAN device.
OD_1015_InhTime	OD entry for 0x1015 - "Inhibit time EMCY", entry is optional (can be NULL), IO extension is optional for runtime configuration.
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.
OD_statusBits	Custom OD entry for accessing errorStatusBits from 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.
CANdevRx	CAN device for Emergency consumer reception.
CANdevRxIdx	Index of receive buffer in the above CAN device.
nodeId	CANopen node ID of this device (for default emergency producer)

Returns

CO_ReturnError_t CO_ERROR_NO in case of success.

CO_EM_initCallbackPre()

void CO_EM_initCallbackPre	(	CO_EM_t *	em,
		void *	object,
		void(*)(void *object)	pFunctSignal
	)

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.

Parameters

em	This object.
object	Pointer to object, which will be passed to pFunctSignal(). Can be NULL
pFunctSignal	Pointer to the callback function. Not called if NULL.

CO_EM_initCallbackRx()

void CO_EM_initCallbackRx	(	CO_EM_t *	em,
		void(*)(const uint16_t ident, const uint16_t errorCode, const uint8_t errorRegister, const uint8_t errorBit, const uint32_t infoCode)	pFunctSignalRx
	)

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.

Remarks

Depending on the CAN driver implementation, this function is called inside an ISR or inside a mainline. Must be thread safe.

Parameters

em	This object.
pFunctSignalRx	Pointer to the callback function. Not called if NULL.

CO_EM_process()

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.

Function must be called cyclically. It verifies some communication errors, calculates OD object 0x1001 - "Error register" and sends emergency message if necessary.

Parameters

	em	This object.
	NMTisPreOrOperational	True if this node is NMT_PRE_OPERATIONAL or NMT_OPERATIONAL state.
	timeDifference_us	Time difference from previous function call in [microseconds].
[out]	timerNext_us	info to OS - see CO_process().

CO_error()

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.

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.

Parameters

em	Emergency object.
setError	True if error occurred or false if error resolved.
errorBit	from CO_EM_errorStatusBits_t.
errorCode	from CO_EM_errorCode_t.
infoCode	32 bit value is passed to bytes 4...7 of the Emergency message. It contains optional additional information.

CO_isError()

static bool_t CO_isError ( CO_EM_t *  em, const uint8_t  errorBit  )

inlinestatic

Check specific error condition.

Function returns true, if specific internal error is present.

Parameters

em	Emergency object.
errorBit	from CO_EM_errorStatusBits_t.

Returns

true if Error is present.

CO_getErrorRegister()

static uint8_t CO_getErrorRegister ( CO_EM_t *  em )

inlinestatic

Get error register.

Parameters

em	Emergency object.

Returns

Error register or 0 if doesn't exist.