/* * CANopen Emergency object. * * @file CO_Emergency.c * @ingroup CO_Emergency * @author Janez Paternoster * @copyright 2020 Janez Paternoster * * This file is part of CANopenNode, an opensource CANopen Stack. * Project home page is . * For more information on CANopen see . * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. */ #include #include "301/CO_Emergency.h" /* verify configuration */ #if CO_CONFIG_EM_ERR_STATUS_BITS_COUNT < (6*8) \ || CO_CONFIG_EM_ERR_STATUS_BITS_COUNT > 256 \ || (CO_CONFIG_EM_ERR_STATUS_BITS_COUNT % 8) != 0 #error CO_CONFIG_EM_ERR_STATUS_BITS_COUNT is not correct #endif #if CO_CONFIG_EM_BUFFER_SIZE < 1 || CO_CONFIG_EM_BUFFER_SIZE > 254 #error CO_CONFIG_EM_BUFFER_SIZE is not correct #endif /* fifo buffer example for CO_CONFIG_EM_BUFFER_SIZE = 6 (em->fifo size = 6+1) * * * * 0 * * * * * * 1 pp==wp fifoPpPtr fifoWrPtr * * * 2 * * * * * * 3 * * * fifoWrPtr * * 4 * fifoWrPtr fifoPpPtr fifoPpPtr * * 5 * * * * * * 6 * * * * * * * * nothing 3 bytes 4 bytes buffer * * to process to process to process full * ******************************************************************************/ #if (CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER #if (CO_CONFIG_EM) & CO_CONFIG_EM_PROD_CONFIGURABLE /* * Custom functions for read/write OD object "COB-ID EMCY" * * For more information see file CO_ODinterface.h, OD_IO_t. */ static OD_size_t OD_read_1014(OD_stream_t *stream, uint8_t subIndex, void *buf, OD_size_t count, ODR_t *returnCode) { (void)count; /* "count" is already verified in *_init() function */ if (stream == NULL || subIndex != 0 || buf == NULL || returnCode == NULL) { if (returnCode != NULL) *returnCode = ODR_DEV_INCOMPAT; return 0; } CO_EM_t *em = (CO_EM_t *)stream->object; *returnCode = ODR_OK; uint16_t canId = em->producerCanId == CO_CAN_ID_EMERGENCY ? CO_CAN_ID_EMERGENCY + em->nodeId : em->producerCanId; uint32_t COB_IDEmergency32 = em->producerEnabled ? 0 : 0x80000000; COB_IDEmergency32 |= canId; CO_setUint32(buf, COB_IDEmergency32); return sizeof(uint32_t); } static OD_size_t OD_write_1014(OD_stream_t *stream, uint8_t subIndex, const void *buf, OD_size_t count, ODR_t *returnCode) { /* "count" is already verified in *_init() function */ if (stream == NULL || subIndex != 0 || buf == NULL || returnCode == NULL) { if (returnCode != NULL) *returnCode = ODR_DEV_INCOMPAT; return 0; } CO_EM_t *em = (CO_EM_t *)stream->object; *returnCode = ODR_OK; /* Verify written value. COB ID must not change, if emergency is enabled */ uint32_t COB_IDEmergency32 = CO_getUint32(buf); uint16_t newCanId = (uint16_t)(COB_IDEmergency32 & 0x7FF); uint16_t curCanId = em->producerCanId == CO_CAN_ID_EMERGENCY ? CO_CAN_ID_EMERGENCY + em->nodeId : em->producerCanId; bool_t newEnabled = (COB_IDEmergency32 & 0x80000000) == 0 && newCanId != 0; if ((COB_IDEmergency32 & 0x7FFFF800) != 0 || (em->producerEnabled && newEnabled && newCanId != curCanId) ) { *returnCode = ODR_INVALID_VALUE; return 0; } /* store values. If default CAN-ID is used, then store only value of * CO_CAN_ID_EMERGENCY without node id. */ em->producerEnabled = newEnabled; em->producerCanId = newCanId == (CO_CAN_ID_EMERGENCY + em->nodeId) ? CO_CAN_ID_EMERGENCY : newCanId; /* configure emergency message CAN transmission */ if (newEnabled) { em->CANtxBuff = CO_CANtxBufferInit( em->CANdevTx, /* CAN device */ em->CANdevTxIdx, /* index of specific buffer inside CAN module */ newCanId, /* CAN identifier */ 0, /* rtr */ 8U, /* number of data bytes */ 0); /* synchronous message flag bit */ } /* write value to the original location in the Object Dictionary */ return OD_writeOriginal(stream, subIndex, buf, count, returnCode); } #else /* * Custom functions for read/write OD object "COB-ID EMCY" * * For more information see file CO_ODinterface.h, OD_IO_t. */ static OD_size_t OD_read_1014_default(OD_stream_t *stream, uint8_t subIndex, void *buf, OD_size_t count, ODR_t *returnCode) { (void)count; /* "count" is already verified in *_init() function */ if (stream == NULL || subIndex != 0 || buf == NULL || returnCode == NULL) { if (returnCode != NULL) *returnCode = ODR_DEV_INCOMPAT; return 0; } CO_EM_t *em = (CO_EM_t *)stream->object; *returnCode = ODR_OK; uint32_t COB_IDEmergency32 = em->producerEnabled ? 0 : 0x80000000; COB_IDEmergency32 |= CO_CAN_ID_EMERGENCY + em->nodeId; CO_setUint32(buf, COB_IDEmergency32); return sizeof(uint32_t); } #endif /* (CO_CONFIG_EM) & CO_CONFIG_EM_PROD_CONFIGURABLE */ #if (CO_CONFIG_EM) & CO_CONFIG_EM_PROD_INHIBIT /* * Custom function for writing OD object "Inhibit time EMCY" * * For more information see file CO_ODinterface.h, OD_IO_t. */ static OD_size_t OD_write_1015(OD_stream_t *stream, uint8_t subIndex, const void *buf, OD_size_t count, ODR_t *returnCode) { /* "count" is already verified in *_init() function */ if (stream == NULL || subIndex != 0 || buf == NULL || returnCode == NULL) { if (returnCode != NULL) *returnCode = ODR_DEV_INCOMPAT; return 0; } CO_EM_t *em = (CO_EM_t *)stream->object; *returnCode = ODR_OK; /* update object */ em->inhibitEmTime_us = (uint32_t)CO_getUint16(buf) * 100; em->inhibitEmTimer = 0; /* write value to the original location in the Object Dictionary */ return OD_writeOriginal(stream, subIndex, buf, count, returnCode); } #endif /* (CO_CONFIG_EM) & CO_CONFIG_EM_PROD_INHIBIT */ #endif /* (CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER */ #if (CO_CONFIG_EM) & CO_CONFIG_EM_HISTORY /* * Custom functions for read/write OD object _OD_statusBits_, optional * * For more information see file CO_ODinterface.h, OD_IO_t. */ static OD_size_t OD_read_1003(OD_stream_t *stream, uint8_t subIndex, void *buf, OD_size_t count, ODR_t *returnCode) { if (stream == NULL || buf == NULL || count < 4 || returnCode == NULL) { if (returnCode != NULL) *returnCode = ODR_DEV_INCOMPAT; return 0; } CO_EM_t *em = (CO_EM_t *)stream->object; *returnCode = ODR_OK; if (subIndex == 0) { CO_setUint8(buf, em->fifoCount); return 1; } else if (subIndex <= em->fifoCount) { /* newest error is reported on subIndex 1 and is stored just behind * fifoWrPtr. Get correct index in FIFO buffer. */ int16_t index = (int16_t)em->fifoWrPtr - subIndex; if (index < 0) { index += CO_CONFIG_EM_BUFFER_SIZE + 1; } else if (index >= (CO_CONFIG_EM_BUFFER_SIZE + 1)) { *returnCode = ODR_DEV_INCOMPAT; return 0; } CO_setUint32(buf, em->fifo[index][0]); return 4; } else { *returnCode = ODR_NO_DATA; return 0; } } static OD_size_t OD_write_1003(OD_stream_t *stream, uint8_t subIndex, const void *buf, OD_size_t count, ODR_t *returnCode) { if (stream == NULL || subIndex != 0 || buf == NULL || count != 1 || returnCode == NULL) { if (returnCode != NULL) *returnCode = ODR_DEV_INCOMPAT; return 0; } if (CO_getUint8(buf) != 0) { *returnCode = ODR_INVALID_VALUE; return 0; } CO_EM_t *em = (CO_EM_t *)stream->object; *returnCode = ODR_OK; /* clear error history */ em->fifoCount = 0; return sizeof(uint8_t); } #endif /* (CO_CONFIG_EM) & CO_CONFIG_EM_HISTORY */ #if (CO_CONFIG_EM) & CO_CONFIG_EM_STATUS_BITS /* * Custom functions for read/write OD object _OD_statusBits_, optional * * For more information see file CO_ODinterface.h, OD_IO_t. */ static OD_size_t OD_read_statusBits(OD_stream_t *stream, uint8_t subIndex, void *buf, OD_size_t count, ODR_t *returnCode) { if (stream == NULL || subIndex != 0 || buf == NULL || returnCode == NULL) { if (returnCode != NULL) *returnCode = ODR_DEV_INCOMPAT; return 0; } CO_EM_t *em = (CO_EM_t *)stream->object; *returnCode = ODR_OK; /* get MAX(errorStatusBitsSize, bufSize, ODsizeIndication) */ size_t countRead = CO_CONFIG_EM_ERR_STATUS_BITS_COUNT / 8; if (countRead > count) { countRead = count; } if (stream->dataLength != 0 && countRead > stream->dataLength) { countRead = stream->dataLength; } else { stream->dataLength = countRead; } memcpy (buf, &em->errorStatusBits[0], countRead); return countRead; } static OD_size_t OD_write_statusBits(OD_stream_t *stream, uint8_t subIndex, const void *buf, OD_size_t count, ODR_t *returnCode) { if (stream == NULL || subIndex != 0 || buf == NULL || returnCode == NULL) { if (returnCode != NULL) *returnCode = ODR_DEV_INCOMPAT; return 0; } CO_EM_t *em = (CO_EM_t *)stream->object; *returnCode = ODR_OK; /* get MAX(errorStatusBitsSize, bufSize, ODsizeIndication) */ size_t countWrite = CO_CONFIG_EM_ERR_STATUS_BITS_COUNT / 8; if (countWrite > count) { countWrite = count; } if (stream->dataLength != 0 && countWrite > stream->dataLength) { countWrite = stream->dataLength; } else { stream->dataLength = countWrite; } memcpy (&em->errorStatusBits[0], buf, countWrite); return countWrite; } #endif /* (CO_CONFIG_EM) & CO_CONFIG_EM_STATUS_BITS */ #if (CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER /* * Read received message from CAN module. * * Function will be called (by CAN receive interrupt) every time, when CAN * message with correct identifier will be received. For more information and * description of parameters see file CO_driver.h. */ static void CO_EM_receive(void *object, void *msg) { CO_EM_t *em = (CO_EM_t*)object; if (em != NULL && em->pFunctSignalRx != NULL) { uint16_t ident = CO_CANrxMsg_readIdent(msg); /* ignore sync messages (necessary if sync object is not used) */ if (ident != 0x80) { uint8_t *data = CO_CANrxMsg_readData(msg); uint16_t errorCode; uint32_t infoCode; memcpy(&errorCode, &data[0], sizeof(errorCode)); memcpy(&infoCode, &data[4], sizeof(infoCode)); em->pFunctSignalRx(ident, CO_SWAP_16(errorCode), data[2], data[3], CO_SWAP_32(infoCode)); } } } #endif /******************************************************************************/ CO_ReturnError_t CO_EM_init(CO_EM_t *em, const OD_entry_t *OD_1001_errReg, #if (CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER OD_entry_t *OD_1014_cobIdEm, CO_CANmodule_t *CANdevTx, uint16_t CANdevTxIdx, #if (CO_CONFIG_EM) & CO_CONFIG_EM_PROD_INHIBIT OD_entry_t *OD_1015_InhTime, #endif #endif #if (CO_CONFIG_EM) & CO_CONFIG_EM_HISTORY OD_entry_t *OD_1003_preDefErr, #endif #if (CO_CONFIG_EM) & CO_CONFIG_EM_STATUS_BITS OD_entry_t *OD_statusBits, #endif #if (CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER CO_CANmodule_t *CANdevRx, uint16_t CANdevRxIdx, #endif const uint8_t nodeId, uint32_t *errInfo) { (void) nodeId; /* may be unused */ CO_ReturnError_t ret = CO_ERROR_NO; /* verify arguments */ if (em == NULL || OD_1001_errReg == NULL #if (CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER || OD_1014_cobIdEm == NULL || CANdevTx == NULL || nodeId < 1 || nodeId > 127 #endif #if (CO_CONFIG_EM) & CO_CONFIG_EM_HISTORY || OD_1003_preDefErr == NULL #endif #if (CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER || CANdevRx == NULL #endif ) { return CO_ERROR_ILLEGAL_ARGUMENT; } /* clear the object */ memset(em, 0, sizeof(CO_EM_t)); /* get and verify "Error register" from Object Dictionary */ OD_size_t len; ODR_t odRet; odRet = OD_getPtr(OD_1001_errReg, 0, (void **)&em->errorRegister, &len); if (odRet != ODR_OK || len != sizeof(uint8_t)) { if (errInfo != NULL) *errInfo = OD_getIndex(OD_1001_errReg); return CO_ERROR_OD_PARAMETERS; } *em->errorRegister = 0; #if (CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER /* get initial and verify "COB-ID EMCY" from Object Dictionary */ uint32_t COB_IDEmergency32; odRet = OD_get_u32(OD_1014_cobIdEm, 0, &COB_IDEmergency32, true); if (odRet != ODR_OK || (COB_IDEmergency32 & 0x7FFFF800) != 0) { if (errInfo != NULL) *errInfo = OD_getIndex(OD_1014_cobIdEm); return CO_ERROR_OD_PARAMETERS; } #if (CO_CONFIG_EM) & CO_CONFIG_EM_PROD_CONFIGURABLE uint16_t producerCanId = (uint16_t)(COB_IDEmergency32 & 0x7FF); em->producerEnabled = (COB_IDEmergency32 & 0x80000000) == 0 && producerCanId != 0; em->OD_1014_extension.object = em; em->OD_1014_extension.read = OD_read_1014; em->OD_1014_extension.write = OD_write_1014; odRet = OD_extension_init(OD_1014_cobIdEm, &em->OD_1014_extension); if (odRet != ODR_OK) { if (errInfo != NULL) *errInfo = OD_getIndex(OD_1014_cobIdEm); return CO_ERROR_OD_PARAMETERS; } /* following two variables are used inside OD_read_1014 and OD_write_1014 */ em->producerCanId = producerCanId; em->CANdevTxIdx = CANdevTxIdx; /* if default producerCanId is used, then value of CO_CAN_ID_EMERGENCY * (0x80) is stored into non-volatile memory. In that case it is necessary * to add nodeId of this node to the stored value. */ if (producerCanId == CO_CAN_ID_EMERGENCY) producerCanId += nodeId; #else uint16_t producerCanId = CO_CAN_ID_EMERGENCY + nodeId; em->producerEnabled = (COB_IDEmergency32 & 0x80000000) == 0; em->OD_1014_extension.object = em; em->OD_1014_extension.read = OD_read_1014_default; em->OD_1014_extension.write = OD_writeOriginal; odRet = OD_extension_init(OD_1014_cobIdEm, &em->OD_1014_extension); if (odRet != ODR_OK) { if (errInfo != NULL) *errInfo = OD_getIndex(OD_1014_cobIdEm); return CO_ERROR_OD_PARAMETERS; } #endif /* configure parameters and emergency message CAN transmission */ em->nodeId = nodeId; em->CANdevTx = CANdevTx; em->CANtxBuff = CO_CANtxBufferInit( CANdevTx, /* CAN device */ CANdevTxIdx, /* index of specific buffer inside CAN module */ producerCanId, /* CAN identifier */ 0, /* rtr */ 8U, /* number of data bytes */ 0); /* synchronous message flag bit */ if (em->CANtxBuff == NULL) { return CO_ERROR_ILLEGAL_ARGUMENT; } #if (CO_CONFIG_EM) & CO_CONFIG_EM_PROD_INHIBIT /* get and verify optional "Inhibit time EMCY" from Object Dictionary */ em->inhibitEmTime_us = 0; em->inhibitEmTimer = 0; uint16_t inhibitTime_100us; odRet = OD_get_u16(OD_1015_InhTime, 0, &inhibitTime_100us, true); if (odRet == ODR_OK) { em->inhibitEmTime_us = (uint32_t)inhibitTime_100us * 100; em->OD_1015_extension.object = em; em->OD_1015_extension.read = OD_readOriginal; em->OD_1015_extension.write = OD_write_1015; OD_extension_init(OD_1015_InhTime, &em->OD_1015_extension); } #endif /* (CO_CONFIG_EM) & CO_CONFIG_EM_PROD_INHIBIT */ #endif /* (CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER */ #if (CO_CONFIG_EM) & CO_CONFIG_EM_HISTORY /* If OD entry available, make access to em->preDefErr */ em->OD_1003_extension.object = em; em->OD_1003_extension.read = OD_read_1003; em->OD_1003_extension.write = OD_write_1003; OD_extension_init(OD_1003_preDefErr, &em->OD_1003_extension); #endif /* (CO_CONFIG_EM) & CO_CONFIG_EM_HISTORY */ #if (CO_CONFIG_EM) & CO_CONFIG_EM_STATUS_BITS /* If OD entry available, make access to em->errorStatusBits */ em->OD_statusBits_extension.object = em; em->OD_statusBits_extension.read = OD_read_statusBits; em->OD_statusBits_extension.write = OD_write_statusBits; OD_extension_init(OD_statusBits, &em->OD_statusBits_extension); #endif /* (CO_CONFIG_EM) & CO_CONFIG_EM_STATUS_BITS */ #if (CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER em->pFunctSignalRx = NULL; /* configure SDO server CAN reception */ ret = CO_CANrxBufferInit( CANdevRx, /* CAN device */ CANdevRxIdx, /* rx buffer index */ CO_CAN_ID_EMERGENCY, /* CAN identifier */ 0x780, /* mask */ 0, /* rtr */ (void*)em, /* object passed to receive function */ CO_EM_receive); /* this function will process received message*/ #endif /* (CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER */ return ret; } /******************************************************************************/ #if (CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER 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; } } #endif #if (CO_CONFIG_EM) & CO_CONFIG_FLAG_CALLBACK_PRE void CO_EM_initCallbackPre(CO_EM_t *em, void *object, void (*pFunctSignal)(void *object)) { if (em != NULL) { em->functSignalObjectPre = object; em->pFunctSignalPre = pFunctSignal; } } #endif /******************************************************************************/ void CO_EM_process(CO_EM_t *em, bool_t NMTisPreOrOperational, uint32_t timeDifference_us, uint32_t *timerNext_us) { (void)timerNext_us; /* may be unused */ /* verify errors from driver */ uint16_t CANerrSt = em->CANdevTx->CANerrorStatus; if (CANerrSt != em->CANerrorStatusOld) { uint16_t CANerrStChanged = CANerrSt ^ em->CANerrorStatusOld; em->CANerrorStatusOld = CANerrSt; if (CANerrStChanged & (CO_CAN_ERRTX_WARNING | CO_CAN_ERRRX_WARNING)) CO_error(em, (CANerrSt & (CO_CAN_ERRTX_WARNING | CO_CAN_ERRRX_WARNING)) != 0, CO_EM_CAN_BUS_WARNING, CO_EMC_NO_ERROR, 0); if (CANerrStChanged & CO_CAN_ERRTX_PASSIVE) CO_error(em, (CANerrSt & CO_CAN_ERRTX_PASSIVE) != 0, CO_EM_CAN_TX_BUS_PASSIVE, CO_EMC_CAN_PASSIVE, 0); if (CANerrStChanged & CO_CAN_ERRTX_BUS_OFF) CO_error(em, (CANerrSt & CO_CAN_ERRTX_BUS_OFF) != 0, CO_EM_CAN_TX_BUS_OFF, CO_EMC_BUS_OFF_RECOVERED, 0); if (CANerrStChanged & CO_CAN_ERRTX_OVERFLOW) CO_error(em, (CANerrSt & CO_CAN_ERRTX_OVERFLOW) != 0, CO_EM_CAN_TX_OVERFLOW, CO_EMC_CAN_OVERRUN, 0); if (CANerrStChanged & CO_CAN_ERRTX_PDO_LATE) CO_error(em, (CANerrSt & CO_CAN_ERRTX_PDO_LATE) != 0, CO_EM_TPDO_OUTSIDE_WINDOW, CO_EMC_COMMUNICATION, 0); if (CANerrStChanged & CO_CAN_ERRRX_PASSIVE) CO_error(em, (CANerrSt & CO_CAN_ERRRX_PASSIVE) != 0, CO_EM_CAN_RX_BUS_PASSIVE, CO_EMC_CAN_PASSIVE, 0); if (CANerrStChanged & CO_CAN_ERRRX_OVERFLOW) CO_error(em, (CANerrSt & CO_CAN_ERRRX_OVERFLOW) != 0, CO_EM_CAN_RXB_OVERFLOW, CO_EM_CAN_RXB_OVERFLOW, 0); } /* calculate Error register */ uint8_t errorRegister = 0U; if (CO_CONFIG_ERR_CONDITION_GENERIC) errorRegister |= CO_ERR_REG_GENERIC_ERR; #ifdef CO_CONFIG_ERR_CONDITION_CURRENT if (CO_CONFIG_ERR_CONDITION_CURRENT) errorRegister |= CO_ERR_REG_CURRENT; #endif #ifdef CO_CONFIG_ERR_CONDITION_VOLTAGE if (CO_CONFIG_ERR_CONDITION_VOLTAGE) errorRegister |= CO_ERR_REG_VOLTAGE; #endif #ifdef CO_CONFIG_ERR_CONDITION_TEMPERATURE if (CO_CONFIG_ERR_CONDITION_TEMPERATURE) errorRegister |= CO_ERR_REG_TEMPERATURE; #endif if (CO_CONFIG_ERR_CONDITION_COMMUNICATION) errorRegister |= CO_ERR_REG_COMMUNICATION; #ifdef CO_CONFIG_ERR_CONDITION_DEV_PROFILE if (CO_CONFIG_ERR_CONDITION_DEV_PROFILE) errorRegister |= CO_ERR_REG_DEV_PROFILE; #endif if (CO_CONFIG_ERR_CONDITION_MANUFACTURER) errorRegister |= CO_ERR_REG_MANUFACTURER; *em->errorRegister = errorRegister; /* post-process Emergency message in fifo buffer. */ #if (CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER /* inhibit time */ if (em->inhibitEmTimer < em->inhibitEmTime_us) { em->inhibitEmTimer += timeDifference_us; } uint8_t fifoPpPtr = em->fifoPpPtr; if (fifoPpPtr != em->fifoWrPtr && em->inhibitEmTimer >= em->inhibitEmTime_us && !em->CANtxBuff->bufferFull ) { em->inhibitEmTimer = 0; /* add error register to emergency message */ em->fifo[fifoPpPtr][0] |= (uint32_t) errorRegister << 16; /* send emergency message */ if (NMTisPreOrOperational) { memcpy(em->CANtxBuff->data, &em->fifo[fifoPpPtr][0], sizeof(em->CANtxBuff->data)); CO_CANsend(em->CANdevTx, em->CANtxBuff); } #if (CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER /* report also own emergency messages */ if (em->pFunctSignalRx != NULL) { uint32_t errMsg = em->fifo[fifoPpPtr][0]; em->pFunctSignalRx(0, CO_SWAP_16((uint16_t) errMsg), errorRegister, (uint8_t) (errMsg >> 24), CO_SWAP_32(em->fifo[fifoPpPtr][1])); } #endif /* increment pointer */ em->fifoPpPtr = (++fifoPpPtr < (CO_CONFIG_EM_BUFFER_SIZE + 1)) ? fifoPpPtr : 0; /* verify message buffer overflow. Clear error condition if all messages * from fifo buffer are processed */ if (em->fifoOverflow == 1) { em->fifoOverflow = 2; CO_errorReport(em, CO_EM_EMERGENCY_BUFFER_FULL, CO_EMC_GENERIC, 0); } else if (em->fifoOverflow == 2 && em->fifoPpPtr == em->fifoWrPtr) { em->fifoOverflow = 0; CO_errorReset(em, CO_EM_EMERGENCY_BUFFER_FULL, 0); } } #if (CO_CONFIG_EM) & CO_CONFIG_FLAG_TIMERNEXT else if (timerNext_us != NULL && em->inhibitEmTimer < em->inhibitEmTime_us){ /* check again after inhibit time elapsed */ uint32_t diff = em->inhibitEmTime_us - em->inhibitEmTimer; if (*timerNext_us > diff) { *timerNext_us = diff; } } #endif #elif (CO_CONFIG_EM) & CO_CONFIG_EM_HISTORY uint8_t fifoPpPtr = em->fifoPpPtr; while (fifoPpPtr != em->fifoWrPtr) { /* add error register to emergency message and increment pointers */ em->fifo[fifoPpPtr][0] |= (uint32_t) errorRegister << 16; if (++fifoPpPtr >= (CO_CONFIG_EM_BUFFER_SIZE + 1)) { fifoPpPtr = 0; } } em->fifoPpPtr = fifoPpPtr; #endif /* (CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER, #elif CO_CONFIG_EM_HISTORY */ return; } /******************************************************************************/ void CO_error(CO_EM_t *em, bool_t setError, const uint8_t errorBit, uint16_t errorCode, uint32_t infoCode) { if (em == NULL) return; uint8_t index = errorBit >> 3; uint8_t bitmask = 1 << (errorBit & 0x7); /* if unsupported errorBit, change to 'CO_EM_WRONG_ERROR_REPORT' */ if (index >= (CO_CONFIG_EM_ERR_STATUS_BITS_COUNT / 8)) { index = CO_EM_WRONG_ERROR_REPORT >> 3; bitmask = 1 << (CO_EM_WRONG_ERROR_REPORT & 0x7); errorCode = CO_EMC_SOFTWARE_INTERNAL; infoCode = errorBit; } uint8_t *errorStatusBits = &em->errorStatusBits[index]; uint8_t errorStatusBitMasked = *errorStatusBits & bitmask; /* If error is already set (or unset), return without further actions, * otherwise toggle bit and continue with error indication. */ if (setError) { if (errorStatusBitMasked != 0) { return; } } else { if (errorStatusBitMasked == 0) { return; } errorCode = CO_EMC_NO_ERROR; } #if (CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY) /* prepare emergency message. Error register will be added in post-process*/ uint32_t errMsg = (uint32_t)errorBit << 24 | CO_SWAP_16(errorCode); #if (CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER uint32_t infoCodeSwapped = CO_SWAP_32(infoCode); #endif #endif /* safely write data, and increment pointers */ CO_LOCK_EMCY(); if (setError) *errorStatusBits |= bitmask; else *errorStatusBits &= ~bitmask; #if (CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY) uint8_t fifoWrPtr = em->fifoWrPtr; uint8_t fifoWrPtrNext = fifoWrPtr + 1; if (fifoWrPtrNext >= (CO_CONFIG_EM_BUFFER_SIZE + 1)) { fifoWrPtrNext = 0; } if (fifoWrPtrNext == em->fifoPpPtr) { em->fifoOverflow = 1; } else { em->fifo[fifoWrPtr][0] = errMsg; #if (CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER em->fifo[fifoWrPtr][1] = infoCodeSwapped; #endif em->fifoWrPtr = fifoWrPtrNext; if (em->fifoCount < CO_CONFIG_EM_BUFFER_SIZE) em->fifoCount++; } #endif /* (CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY) */ CO_UNLOCK_EMCY(); #if (CO_CONFIG_EM) & CO_CONFIG_FLAG_CALLBACK_PRE #if (CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER /* Optional signal to RTOS, which can resume task, which handles * CO_EM_process */ if (em->pFunctSignalPre != NULL && em->producerEnabled) { em->pFunctSignalPre(em->functSignalObjectPre); } #endif #endif }