cos_emcy.h File Reference

Detailed Description

Emergency 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 (see CiA 301).

EMCY error codes for possible error conditions of the CANopen device are registered inside the EMCY error state machine by means of the CosEmcyErrorRegister() function. Once a error condition is registered, it can be set by CosEmcyErrorSet() and cleared by CosEmcyErrorClr(). Setting and clearing the individual registered error conditions will trigger the transmission of the EMCY object service as well as altering the value of the error register (index 1001_h). It is possible to clear all registered error conditions by calling CosEmcyErrorReset().

Registered error conditions

The following error conditions are already registered by the the protocol stack during initialization:

Error Condition	Assigned EMCY code	Set by stack	Cleared by stack
eEMCY_301_COMMUNICATION	EMCY_ERR_COMMUNICATION	Yes	Yes
eEMCY_301_CAN_ERROR_PASSIVE	EMCY_ERR_CAN_ERROR_PASSIVE	Yes	Yes
eEMCY_301_CAN_OVERRUN	EMCY_ERR_CAN_OVERRUN	Yes	No
eEMCY_301_CAN_BUSOFF_RECOVER	EMCY_ERR_CAN_BUSOFF_RECOVER	Yes	Yes
eEMCY_301_CAN_TX_COB_COLLISION	EMCY_ERR_CAN_TX_COB_COLLISION	Yes	No
eEMCY_301_CAN_LIFEGUARD	EMCY_ERR_CAN_LIFEGUARD	Yes	No
eEMCY_301_MAINS_VOLTAGE	EMCY_ERR_VOLT_GENERAL	No	No
eEMCY_301_DEVICE_TEMPERATURE	EMCY_ERR_TEMP_DEVICE	No	No
eEMCY_301_SYNC_LENGTH	EMCY_ERR_PROTOCOL_SYNC_LENGTH	Yes	No
eEMCY_301_PROTOCOL_PDO	EMCY_ERR_PROTOCOL_PDO	Yes	No

Adding application specific EMCY codes

Application specific error conditions can be added inside the file cos_emcy_user.h

enum CosEmcyUser_e
{
   #if COS_PROFILE_NUMBER == 0
   eEMCY_USER_START      = eEMCY_301_MAX,
   #else
   eEMCY_USER_START      = eEMCY_PROFILE_MAX,
   #endif
 
   //----------------------------------------------------------------
   // Add your user specific error conditions here
   //
   eEMCY_USER_EXAMPLE_1,
 
   //----------------------------------------------------------------
   // Do not remove this symbol, it defines the last entry
   //
   eEMCY_USER_MAX
};

The registration of application specific error conditions can be done inside the CosMgrOnStart() function.

Include dependency graph for cos_emcy.h:

Macros
#define	EMCY_ERR_NONE   ((uint16_t) 0x0000)
#define	EMCY_ERR_GENERIC   ((uint16_t) 0x1000)
#define	EMCY_ERR_VOLT_GENERAL   ((uint16_t) 0x3000)
#define	EMCY_ERR_TEMP_GENERAL   ((uint16_t) 0x4000)
#define	EMCY_ERR_TEMP_DEVICE   ((uint16_t) 0x4200)
#define	EMCY_ERR_HW_GENERIC   ((uint16_t) 0x5000)
#define	EMCY_ERR_SW_GENERIC   ((uint16_t) 0x6000)
#define	EMCY_ERR_MONITORING   ((uint16_t) 0x8000)
#define	EMCY_ERR_COMMUNICATION   ((uint16_t) 0x8100)
#define	EMCY_ERR_CAN_OVERRUN   ((uint16_t) 0x8110)
#define	EMCY_ERR_CAN_ERROR_PASSIVE   ((uint16_t) 0x8120)
#define	EMCY_ERR_CAN_LIFEGUARD   ((uint16_t) 0x8130)
#define	EMCY_ERR_CAN_BUSOFF_RECOVER   ((uint16_t) 0x8140)
#define	EMCY_ERR_CAN_TX_COB_COLLISION   ((uint16_t) 0x8150)
#define	EMCY_ERR_NRL_PASSIVE_USE_DCL   ((uint16_t) 0x8180)
#define	EMCY_ERR_NRL_PASSIVE_USE_RCL   ((uint16_t) 0x8181)
#define	EMCY_ERR_PROTOCOL   ((uint16_t) 0x8200)
#define	EMCY_ERR_PROTOCOL_PDO   ((uint16_t) 0x8210)
#define	EMCY_ERR_PROTOCOL_PDO_EXCEED   ((uint16_t) 0x8220)
#define	EMCY_ERR_PROTOCOL_PDO_MPDO   ((uint16_t) 0x8230)
#define	EMCY_ERR_PROTOCOL_SYNC_LENGTH   ((uint16_t) 0x8240)
#define	EMCY_ERR_PROTOCOL_RPDO   ((uint16_t) 0x8250)
#define	EMCY_ERR_DEV_GENERAL   ((uint16_t) 0xFF00)

Enumerations
enum	CosEmcy301_e { }
enum	CosEmcy_e { eEMCY_COS_MAX = eEMCY_301_MAX }

Functions
Status_tv	CosEmcyErrorClr (uint8_t ubErrConditionV)
Status_tv	CosEmcyErrorRegister (uint8_t ubErrConditionV, uint16_t uwErrCodeV, uint8_t ubErrRegisterV, uint8_t ubErrCompareV)
void	CosEmcyErrorReset (void)
Status_tv	CosEmcyErrorSet (uint8_t ubErrConditionV, uint8_t *pubCustomerCodeV)
void	CosEmcySend (uint16_t uwEmcyCodeV, uint8_t *pubCustomerCodeV)

Enumeration Type Documentation

CosEmcy301_e

enum CosEmcy301_e

EMCY error index.

The following enumeration values correspond to an EMCY error index used the the error state machine. The value is used by the function CosEmcyErrorRegister():

Enumerator
eEMCY_301_COMMUNICATION	Generic communication error
eEMCY_301_CAN_ERROR_PASSIVE	CAN in error passive
eEMCY_301_CAN_OVERRUN	CAN overrun
eEMCY_301_CAN_BUSOFF_RECOVER	CAN recovered from bus-off condition
eEMCY_301_CAN_TX_COB_COLLISION	CAN identifier collision
eEMCY_301_CAN_LIFEGUARD	CAN heartbeat error
eEMCY_301_MAINS_VOLTAGE	Supply voltage error
eEMCY_301_DEVICE_TEMPERATURE	Temperature error
eEMCY_301_SYNC_LENGTH	Length of SYNC
eEMCY_301_PROTOCOL_PDO	PDO Protocol
eEMCY_301_MAX	Last entry

CosEmcy_e

enum CosEmcy_e

EMCY error index.

The following enumeration calculates the highest supported error condition used the the error state machine. The value is used by the function CosEmcyErrorRegister().

Enumerator
eEMCY_COS_MAX	Maximum number of supported error conditions in EMCY state machine

Function Documentation

CosEmcyErrorClr()

Status_tv CosEmcyErrorClr

(

uint8_t

ubErrConditionV

)

Parameters

[in]

ubErrConditionV

Error condition, defined by CosEmcy_e

Returns

eCOS_ERR_NONE in case of success or a code defined CosErr_e on error.

See also

CosEmcyErrorSet()

The function clears an error condition defined by ubErrConditionV from pending state. An EMCY reset message will be transmitted via CAN bus. If other errors are still pending, then the corresponding EMCY messages will be send afterwards.

CosEmcyErrorRegister()

Status_tv CosEmcyErrorRegister	(	uint8_t	ubErrConditionV,
		uint16_t	uwErrCodeV,
		uint8_t	ubErrRegisterV,
		uint8_t	ubErrCompareV
	)

Parameters

[in]	ubErrConditionV	Error condition, defined by CosEmcy_e
[in]	uwErrCodeV	Corresponding Emergency Error Code
[in]	ubErrRegisterV	Corresponding bit in error register (object 1001h)
[in]	ubErrCompareV	Compare manufacturer specific error data

Returns

eCOS_ERR_NONE in case of success or a code defined CosErr_e on error.

This function registers an error condition defined by ubErrConditionV to the EMCY error state machine. Only registered error conditions can be handled by CosEmcyErrorSet() and CosEmcyErrorClr(). If ubErrCompareV is to 1, the function CosEmcyErrorSet() will compare manufacturer specific error data with previously set data. In case of a difference a EMCY message is sent, otherwise the transmission is omitted.

CosEmcyErrorReset()

void CosEmcyErrorReset

(

void

)

The function resets all errors inside the Emergency state machine. If errors are present, an EMCY reset message (EMCY_ERR_NONE) is sent on the bus.

CosEmcyErrorSet()

Status_tv CosEmcyErrorSet	(	uint8_t	ubErrConditionV,
		uint8_t *	pubCustomerCodeV
	)

Parameters

[in]	ubErrConditionV	Error condition, defined by CosEmcy_e
[in]	pubCustomerCodeV	Pointer to manufacturer specific error data

Returns

eCOS_ERR_NONE in case of success or a code defined CosErr_e on error.

See also

CosEmcyErrorClr()

The functions sets an error condition defined by ubErrConditionV to pending state. If the error was not in pending state, an EMCY message with the corresponding code is sent on the bus.

CosEmcySend()

void CosEmcySend	(	uint16_t	uwEmcyCodeV,
		uint8_t *	pubCustomerCodeV
	)

Parameters

[in]	uwEmcyCodeV	Emergency Error Code
[in]	pubCustomerCodeV	Customer specific code

This function is called internally by the EMCY error state machine. It is not recommended to call this function directly by the application program.

The parameter uwEmcyCodeV defines the EMCY error code. The pointer pubCustomerCodeV refers to an array of 5 byte which contains customer specific information. The pointer pubCustomerCodeV can be 0L.