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Changed for two callbacks, as one is called inside ISR context. This also keeps backward compatibility for current useres that don't need RX EMCY events

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This commit is contained in:
Martin Wagner 2019-10-08 10:17:03 +02:00
parent fa5f81e0a9
commit e336b3ad26
2 changed files with 56 additions and 23 deletions
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38
stack/CO_Emergency.c
View file

@ -64,14 +64,14 @@ static void CO_EM_receive(void *object, const CO_CANrxMsg_t *msg){
em = (CO_EM_t*)object;
if(em->pFunctSignal != NULL){
if(em!=NULL && em->pFunctSignalRx!=NULL){
CO_memcpySwap2(&errorCode, &msg->data[0]);
CO_memcpySwap4(&infoCode, &msg->data[4]);
em->pFunctSignal(msg->ident & 0x07FFU,
errorCode,
msg->data[2],
msg->data[3],
infoCode);
em->pFunctSignalRx(msg->ident & 0x07FFU,
errorCode,
msg->data[2],
msg->data[3],
infoCode);
}
}
@ -178,6 +178,7 @@ CO_ReturnError_t CO_EM_init(
em->bufFull = 0U;
em->wrongErrorReport = 0U;
em->pFunctSignal = NULL;
em->pFunctSignalRx = NULL;
emPr->em = em;
emPr->errorRegister = errorRegister;
emPr->preDefErr = preDefErr;
@ -222,11 +223,7 @@ CO_ReturnError_t CO_EM_init(
/******************************************************************************/
void CO_EM_initCallback(
CO_EM_t *em,
void (*pFunctSignal)(const uint16_t ident,
const uint16_t errorCode,
const uint8_t errorRegister,
const uint8_t errorBit,
const uint32_t infoCode))
void (*pFunctSignal)(void))
{
if(em != NULL){
em->pFunctSignal = pFunctSignal;
@ -234,6 +231,21 @@ void CO_EM_initCallback(
}
/******************************************************************************/
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))
{
if(em != NULL){
em->pFunctSignalRx = pFunctSignalRx;
}
}
/******************************************************************************/
void CO_EM_process(
CO_EMpr_t *emPr,
@ -395,7 +407,7 @@ void CO_errorReport(CO_EM_t *em, const uint8_t errorBit, const uint16_t errorCod
/* Optional signal to RTOS, which can resume task, which handles CO_EM_process */
if(em->pFunctSignal != NULL) {
em->pFunctSignal(0, errorCode, 0, errorBit, infoCode);
em->pFunctSignal();
}
}
}
@ -454,7 +466,7 @@ void CO_errorReset(CO_EM_t *em, const uint8_t errorBit, const uint32_t infoCode)
/* Optional signal to RTOS, which can resume task, which handles CO_EM_process */
if(em->pFunctSignal != NULL) {
em->pFunctSignal(0, 0, 0, errorBit, infoCode);
em->pFunctSignal();
}
}
}

41
stack/CO_Emergency.h
View file

@ -283,11 +283,13 @@ typedef struct{
uint8_t wrongErrorReport; /**< Error in arguments to CO_errorReport() */
/** From CO_EM_initCallback() or NULL */
void (*pFunctSignal)(const uint16_t ident,
const uint16_t errorCode,
const uint8_t errorRegister,
const uint8_t errorBit,
const uint32_t infoCode);
void (*pFunctSignal)(void);
/** From CO_EM_initCallbackRx() or NULL */
void (*pFunctSignalRx)(const uint16_t ident,
const uint16_t errorCode,
const uint8_t errorRegister,
const uint8_t errorBit,
const uint32_t infoCode);
}CO_EM_t;
@ -414,12 +416,31 @@ CO_ReturnError_t CO_EM_init(
* @param pFunctSignal Pointer to the callback function. Not called if NULL.
*/
void CO_EM_initCallback(
CO_EM_t *em,
void (*pFunctSignal)(void));
/**
* Initialize Emergency received callback function.
*
* Function initializes optional callback function, which executes after
* error condition is received. Function may wake up external task,
* which processes mainline CANopen functions.
*
* @remark Depending on the CAN driver implementation, this function is called
* inside an ISR
*
* @param em This object.
* @param pFunctSignal Pointer to the callback function. Not called if NULL.
*/
void CO_EM_initCallbackRx(
CO_EM_t *em,
void (*pFunctSignal)(const uint16_t ident,
const uint16_t errorCode,
const uint8_t errorRegister,
const uint8_t errorBit,
const uint32_t infoCode));
void (*pFunctSignalRx)(const uint16_t ident,
const uint16_t errorCode,
const uint8_t errorRegister,
const uint8_t errorBit,
const uint32_t infoCode));
/**
* Process Error control and Emergency object.