96 lines
2.3 KiB
C
96 lines
2.3 KiB
C
/*
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* co_emcy.h - contains defines for emcy services
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*
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* Copyright (c) 2012-2024 emotas embedded communication GmbH
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*
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*-------------------------------------------------------------------
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* $Id: co_emcy.h 53985 2024-05-29 09:44:25Z boe $
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*-------------------------------------------------------------------
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*
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*
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*
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*/
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/**
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* \brief defines for emcy services
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*
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* \file co_emcy.h - contains defines for emcy services
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*
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*/
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#ifndef CO_EMCY_H
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#define CO_EMCY_H 1
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#include <co_datatype.h>
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/* constant */
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/**
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* define for Emergency Error Code wrong PDO length
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*/
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#define CO_EMCY_ERRCODE_PDO_LEN 0x8210u
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/**
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* define for Emergency Error Code CAN overrun
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*/
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#define CO_EMCY_ERRCODE_CANOVERRUN_ERROR 0x8110u
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/**
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* define for Emergency Error Code CAN passive
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*/
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#define CO_EMCY_ERRCODE_CANPASSIVE_ERROR 0x8120u
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/**
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* define for Emergency Error Code Heartbeat Error
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*/
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#define CO_EMCY_ERRCODE_COMM_ERROR 0x8130u
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/**
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* define for Emergency Error Code USDO source client or source server number collision
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*/
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#define CO_EMCY_ERRCODE_USDO_SRC_COLLISION 0x8160u
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/* datatypes */
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/** \brief function pointer to emergency function
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*
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* \param errCode - emergency error code
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* \param addErrorCode - pointer to 5 bytes error code
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*
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* \return RET_T
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* \retval RET_OK
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* send emergency
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* \retval RET_xx
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* don't send emergency
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*/
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typedef RET_T (* CO_EVENT_EMCY_T)(UNSIGNED16 errCode, UNSIGNED8 *addErrorCode);
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/** \brief function pointer to emergency consumer function
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*
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* \param node - node id of received emergency
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* \param errCode - emergency error code
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* \param errorRegister - emergency error register
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* \param addErrorCode - pointer to 5 bytes error code
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*
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*/
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typedef void (* CO_EVENT_EMCY_CONSUMER_T)(UNSIGNED8 node, UNSIGNED16 errCode, UNSIGNED8 errorRegister, UNSIGNED8 const *addErrorCode);
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typedef CO_EVENT_EMCY_CONSUMER_T CO_EVENT_EMCY_CONS_T;
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/* function prototypes */
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EXTERN_DECL RET_T coEmcyProducerInit(void);
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EXTERN_DECL RET_T coEmcyConsumerInit(UNSIGNED8 emcyCnt);
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EXTERN_DECL RET_T coEmcyWriteReq(UNSIGNED16 emcyErrCode,
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CO_CONST UNSIGNED8 *pData);
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CO_CAN_TIMESTAMP_T coEmcyGetTimestamp(void);
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EXTERN_DECL RET_T coEventRegister_EMCY(CO_EVENT_EMCY_T pFunction);
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EXTERN_DECL RET_T coEventRegister_EMCY_CONSUMER(
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CO_EVENT_EMCY_CONSUMER_T pFunction);
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#endif /* CO_EMCY_H */
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