include/emcy.h File Reference

Declarations of the functions that manage EMCY (emergency) messages. More...

#include <applicfg.h>
#include "data.h"

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Functions
UNS8	EMCY_setError (CO_Data *d, UNS16 errCode, UNS8 errRegMask, UNS16 addInfo)
	Sets a new error with code errCode. Also sets corresponding bits in Error register (1001h).
void	EMCY_errorRecovered (CO_Data *d, UNS16 errCode)
	Indicates it has recovered from error errCode. Also clears corresponding bits in Error register (1001h).
void	emergencyInit (CO_Data *d)
	Start EMCY consumer and producer.
void	emergencyStop (CO_Data *d)
	Stop EMCY producer and consumer.
void	proceedEMCY (CO_Data *d, Message *m)
	This function is responsible to process an EMCY canopen-message.

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Detailed Description

Declarations of the functions that manage EMCY (emergency) messages.

Author:

Luis Jimenez

Date:

Wed Sep 26 2007

Definition in file emcy.h.

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Function Documentation

void EMCY_errorRecovered	(	CO_Data *	d,
		UNS16	errCode
	)

Indicates it has recovered from error errCode. Also clears corresponding bits in Error register (1001h).

Parameters:

	*d	Pointer on a CAN object data structure
	errCode	The error code

UNS8 EMCY_setError	(	CO_Data *	d,
		UNS16	errCode,
		UNS8	errRegMask,
		UNS16	addInfo
	)

Sets a new error with code errCode. Also sets corresponding bits in Error register (1001h).

Parameters:

	*d	Pointer on a CAN object data structure
	errCode	The error code
	errRegMask
	addInfo

Returns:

void emergencyInit

(

CO_Data *

d

)

Start EMCY consumer and producer.

Parameters:

*d

Pointer on a CAN object data structure

void emergencyStop

(

CO_Data *

d

)

Stop EMCY producer and consumer.

Parameters:

*d

Pointer on a CAN object data structure

void proceedEMCY	(	CO_Data *	d,
		Message *	m
	)

This function is responsible to process an EMCY canopen-message.

Parameters:

	*d	Pointer on a CAN object data structure
	*m	Pointer on the CAN-message which has to be analysed.