Detailed Description

Emergency (EMCY) objects are triggered by the occurrence of a device internal error situation and are transmitted from an emergency producer on the device. Emergency objects are suitable for interrupt type error alerts. An emergency object is transmitted only once per 'error event'. As long as no new errors occur on a device no further emergency objects must be transmitted. The emergency object may be received by zero or more emergency consumers. The reaction on the emergency consumer(s) is not specified.

EMCY consumer

The EMCY consumer functionality can be activated or deactivated via the preprocessor symbol COM_EMCY_CONS_SUPPORT. The EMCY consumer functionality is activated by default. Reception of an EMCY message is enabled via the function ComEmcyConsEnable() based on the node-ID of the EMCY producer. As default, no EMCY messages are received.

//-------------------------------------------------------------------------------
// enable reception of EMCY messages from devices with node-ID 1 and 3
//
ComEmcyConsEnable(eCOM_NET_1, 1, 1);
ComEmcyConsEnable(eCOM_NET_1, 3, 1);

Upon reception of an enabled EMCY message the function ComEmcyConsEventReceive() is called., which only informs about the node-ID of the EMCY producer.

EMCY messages can be stored in a queue, the queue is disabled by default. The function ComEmcyConsQueueEnable() is used to enable a queue for EMCY messages. By means of the function ComEmcyConsQueueCount() the number of messages stored inside the queue can be retrieved. EMCY messages can be fetched from the queue by calling ComEmcyConsQueueFetch(). The following example shows how to read the EMCY queue inside the ComEmcyConsEventReceive() handler.

void ComEmcyConsEventReceive(uint8_t ubNetV, uint8_t ubNodeIdV)
{
   uint16_t          uwEmcyConsCountT = 0;
   CpCanMsg_ts       tsEmcyMessageT;
 
   //---------------------------------------------------------------------------------------------------
   // This handler is called upon reception of an EMCY. In this example we read EMCY messages from the
   // receive queue until the queue is empty. In this example we do not care for the node-ID of the
   // producer.
   //
   (void) ubNodeIdV;
   ComEmcyConsQueueCount(ubNetV, &uwEmcyConsCountT);
   while (uwEmcyConsCountT > 0)
   {
      //-------------------------------------------------------------------------------------------
      // Clear CAN frame structure, the frame format does not matter here
      //
      CpMsgInit(&tsEmcyMessageT, CP_MSG_FORMAT_CBFF);
      ComEmcyConsQueueFetch(ubNetV, &tsEmcyMessageT);
      uwEmcyConsCountT--;
 
 
      //-------------------------------------------------------------------------------------------
      // Do something with the EMCY using the identifier of 082h.
      //
      if (CpMsgGetIdentifier(&tsEmcyMessageT) == 0x082)
      {
 
      }
   }
}

Include dependency graph for com_emcy.h:

Macros
#define	EMCY_ERR_NONE 0x0000

#define	EMCY_ERR_GENERIC 0x1000

#define	EMCY_ERR_CURR_GENERIC 0x2000

#define	EMCY_ERR_CURR_INPUT 0x2100

#define	EMCY_ERR_CURR_DEVICE 0x2200

#define	EMCY_ERR_CURR_OUTPUT 0x2300

#define	EMCY_ERR_VOLT_GENERIC 0x3000

#define	EMCY_ERR_VOLT_INPUT 0x3100

#define	EMCY_ERR_VOLT_DEVICE 0x3200

#define	EMCY_ERR_VOLT_OUTPUT 0x3300

#define	EMCY_ERR_TEMP_GENERIC 0x4000

#define	EMCY_ERR_TEMP_AMBIENT 0x4100

#define	EMCY_ERR_TEMP_DEVICE 0x4200

#define	EMCY_ERR_HW_GENERAL 0x5000

#define	EMCY_ERR_MONITORING 0x8000

#define	EMCY_ERR_COMMUNICATION 0x8100

#define	EMCY_ERR_CAN_OVERRUN 0x8110

#define	EMCY_ERR_CAN_ERROR_PASSIVE 0x8120

#define	EMCY_ERR_CAN_LIFEGUARD 0x8130

#define	EMCY_ERR_CAN_BUSOFF_RECOVER 0x8140

#define	EMCY_ERR_CAN_TX_COB_COLLISION 0x8150

#define	EMCY_ERR_PROTOCOL 0x8200

#define	EMCY_ERR_PROTOCOL_PDO 0x8210

#define	EMCY_ERR_PROTOCOL_PDO_EXCEED 0x8210

#define	EMCY_ERR_DEV_GENERAL 0xFF00

Functions
ComStatus_tv	ComEmcyConsEnable (uint8_t ubNetV, uint8_t ubNodeIdV, uint8_t ubEnableV)

void	ComEmcyConsEventReceive (uint8_t ubNetV, uint8_t ubNodeIdV)

ComStatus_tv	ComEmcyConsGetId (uint8_t ubNetV, uint8_t ubNodeIdV, uint32_t *pulIdV)

ComStatus_tv	ComEmcyConsIsEnabled (uint8_t ubNetV, uint8_t ubNodeIdV, uint8_t *pubEnableV)

ComStatus_tv	ComEmcyConsSetId (uint8_t ubNetV, uint8_t ubNodeIdV, uint32_t ulIdV)

ComStatus_tv	ComEmcyConsQueueClear (uint8_t ubNetV)

ComStatus_tv	ComEmcyConsQueueCount (uint8_t ubNetV, uint16_t *puwCountV)

ComStatus_tv	ComEmcyConsQueueDisable (uint8_t ubNetV)

ComStatus_tv	ComEmcyConsQueueEnable (uint8_t ubNetV)

ComStatus_tv	ComEmcyConsQueueFetch (uint8_t ubNetV, CpCanMsg_ts *ptsCanMsgV)

ComStatus_tv	ComEmcyEnable (uint8_t ubNetV, uint8_t ubEnableV)

ComStatus_tv	ComEmcyGetId (uint8_t ubNetV, uint32_t *pulIdV)

ComStatus_tv	ComEmcyGetInhibit (uint8_t ubNetV, uint32_t *pulTimeV)

ComStatus_tv	ComEmcyIsEnabled (uint8_t ubNetV, uint8_t *pubEnableV)

ComStatus_tv	ComEmcySend (uint8_t ubNetV, uint16_t uwEmcyCodeV, uint8_t *pubManCodeV)

ComStatus_tv	ComEmcySetId (uint8_t ubNetV, uint32_t ulIdV)

ComStatus_tv	ComEmcySetInhibit (uint8_t ubNetV, uint32_t ulTimeV)

Function Documentation

◆ ComEmcyConsEnable()

ComStatus_tv ComEmcyConsEnable	(	uint8_t	ubNetV,
		uint8_t	ubNodeIdV,
		uint8_t	ubEnableV
	)

Parameters

ubNetV	- CANopen Network channel
ubNodeIdV	- Identifier of CANopen device
ubEnableV	- Enable/Disable EMCY service

Returns: Value of enumeration ComErr_e

This function enables (ubEnableV = 1) or disables (ubEnableV = 0) the EMCY consumer service for a Node ID given by ubNodeIdV. Valid values for node-ID are limited by the COM_NODE_MAX symbol in com_conf.h.

◆ ComEmcyConsEventReceive()

void ComEmcyConsEventReceive	(	uint8_t	ubNetV,
		uint8_t	ubNodeIdV
	)

Parameters

ubNetV	- CANopen Network channel
ubNodeIdV	- Identifier of CANopen device

The function is called by the CANopen Master stack upon reception of an EMCY message. The EMCY message has to be enabled by ComEmcyConsEnable() in advance.

◆ ComEmcyConsGetId()

ComStatus_tv ComEmcyConsGetId	(	uint8_t	ubNetV,
		uint8_t	ubNodeIdV,
		uint32_t *	pulIdV
	)

Set EMCY consumer service identifier.

Parameters

ubNetV	- CANopen Network channel
ubNodeIdV	- Node Identifier of CANopen device
pulIdV	- pointer to identifier of EMCY

Returns: Value of enumeration ComErr_e

◆ ComEmcyConsIsEnabled()

ComStatus_tv ComEmcyConsIsEnabled	(	uint8_t	ubNetV,
		uint8_t	ubNodeIdV,
		uint8_t *	pubEnableV
	)

Enable EMCY service.

Parameters

ubNetV	- CANopen Network channel
ubNodeIdV	- Identifier of CANopen device
pubEnableV	- pointer to Enable/Disable EMCY service

Returns: Value of enumeration ComErr_e

◆ ComEmcyConsQueueClear()

ComStatus_tv ComEmcyConsQueueClear ( uint8_t ubNetV )

Parameters

[in] ubNetV CANopen Network channel

Returns: Value of enumeration ComErr_e

The function removes all messages inside the EMCY receive queue.

◆ ComEmcyConsQueueCount()

ComStatus_tv ComEmcyConsQueueCount	(	uint8_t	ubNetV,
		uint16_t *	puwCountV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[out]	puwCountV	Number of messages present in the queue

Returns: Value of enumeration ComErr_e

The function retrieves the number of pending elements inside a EMCY receive queue.

◆ ComEmcyConsQueueDisable()

ComStatus_tv ComEmcyConsQueueDisable ( uint8_t ubNetV )

Parameters

[in] ubNetV CANopen Network channel

Returns: Value of enumeration ComErr_e

See also: ComEmcyConsQueueEnable()

The function disables the EMCY receive queue on the selected CANopen network channel.

◆ ComEmcyConsQueueEnable()

ComStatus_tv ComEmcyConsQueueEnable ( uint8_t ubNetV )

Parameters

[in] ubNetV CANopen Network channel

Returns: Value of enumeration ComErr_e

See also: ComEmcyConsQueueDisable()

The function enables the EMCY receive queue on the selected CANopen network channel.

◆ ComEmcyConsQueueFetch()

ComStatus_tv ComEmcyConsQueueFetch	(	uint8_t	ubNetV,
		CpCanMsg_ts *	ptsCanMsgV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[out]	ptsCanMsgV	Pointer to CAN message structure

Returns: Value of enumeration ComErr_e

The function fetches one CAN message from the EMCY receive queue.

◆ ComEmcyConsSetId()

ComStatus_tv ComEmcyConsSetId	(	uint8_t	ubNetV,
		uint8_t	ubNodeIdV,
		uint32_t	ulIdV
	)

Set EMCY consumer service identifier.

Parameters

ubNetV	- CANopen Network channel
ubNodeIdV	- Node Identifier of CANopen device
ulIdV	- Identifier value for Emcy

Returns: Value of enumeration ComErr_e

◆ ComEmcyEnable()

ComStatus_tv ComEmcyEnable	(	uint8_t	ubNetV,
		uint8_t	ubEnableV
	)

Enable EMCY service.

Parameters

ubNetV	- CANopen Network channel
ubEnableV	- Enable/Disable EMCY service

Returns: Value of enumeration ComErr_e

This function enables (ubEnableV = 1) or disables (ubEnableV = 0) the EMCY service. The EMCY service is enabled by default.

◆ ComEmcyGetId()

ComStatus_tv ComEmcyGetId	(	uint8_t	ubNetV,
		uint32_t *	pulIdV
	)

Get EMCY service identifier.

Parameters

ubNetV	- CANopen Network channel
pulIdV	- Pointer to identifier value

Returns: Value of enumeration ComErr_e

See also: ComEmcySetId()

This function reads the identifier value for the EMCY service.

◆ ComEmcyGetInhibit()

ComStatus_tv ComEmcyGetInhibit	(	uint8_t	ubNetV,
		uint32_t *	pulTimeV
	)

Get EMCY message inhibit time.

Parameters

ubNetV	- CANopen Network channel
pulTimeV	- Pointer to EMCY inhibit time

Returns: Value of enumeration ComErr_e

See also: ComEmcySetInhibit()

This function retrieves the inhibit time between two subsequent EMCY messages. The pointer pulTimeV points to a variable that holds the time value in multiples of one microsecond.

◆ ComEmcyIsEnabled()

ComStatus_tv ComEmcyIsEnabled	(	uint8_t	ubNetV,
		uint8_t *	pubEnableV
	)

Check EMCY service.

Parameters

ubNetV	- CANopen Network channel
pubEnableV	- Pointer to Enable/Disable status

Returns: Value of enumeration ComErr_e

See also: ComEmcyEnable()

This function checks if the EMCY service is enabled or disabled. The EMCY service is enabled by default.

◆ ComEmcySend()

ComStatus_tv ComEmcySend	(	uint8_t	ubNetV,
		uint16_t	uwEmcyCodeV,
		uint8_t *	pubManCodeV
	)

Send EMCY message.

Parameters

ubNetV	- CANopen Network channel
uwEmcyCodeV	- Emergency code
pubManCodeV	- Pointer to manufacturer code

Returns: Value of enumeration ComErr_e

This function sends an emergency message with the code uwEmcyCodeV and an optional manufacturer code of 5 bytes.

◆ ComEmcySetId()

ComStatus_tv ComEmcySetId	(	uint8_t	ubNetV,
		uint32_t	ulIdV
	)

Set EMCY service identifier.

Parameters

ubNetV	- CANopen Network channel
ulIdV	- Identifier value

Returns: Value of enumeration ComErr_e

See also: ComEmcyGetId()

This function changes the identifier value for the EMCY service.

◆ ComEmcySetInhibit()

ComStatus_tv ComEmcySetInhibit	(	uint8_t	ubNetV,
		uint32_t	ulTimeV
	)

Set EMCY message inhibit time.

Parameters

ubNetV	- CANopen Network channel
ulTimeV	- EMCY inhibit time

Returns: Value of enumeration ComErr_e

See also: ComEmcyGetInhibit()

This function sets the inhibit time between two subsequent EMCY messages. The parameter ulTimeV is given in multiples of 1 microsecond.

Detailed Description

EMCY consumer

Macros

Functions

Function Documentation

◆ ComEmcyConsEnable()

◆ ComEmcyConsEventReceive()

◆ ComEmcyConsGetId()

◆ ComEmcyConsIsEnabled()

◆ ComEmcyConsQueueClear()

◆ ComEmcyConsQueueCount()

◆ ComEmcyConsQueueDisable()

◆ ComEmcyConsQueueEnable()

◆ ComEmcyConsQueueFetch()

◆ ComEmcyConsSetId()

◆ ComEmcyEnable()

◆ ComEmcyGetId()

◆ ComEmcyGetInhibit()

◆ ComEmcyIsEnabled()

◆ ComEmcySend()

◆ ComEmcySetId()

◆ ComEmcySetInhibit()