CO_EM_t Struct Reference

Emergency object. More...

#include <CO_Emergency.h>

Data Fields
uint8_t	errorStatusBits [CO_CONFIG_EM_ERR_STATUS_BITS_COUNT/8]
	Bitfield for the internal indication of the error condition.
uint8_t *	errorRegister
	Pointer to error register in object dictionary at 0x1001,00.
uint16_t	CANerrorStatusOld
	Old CAN error status bitfield.
uint32_t	fifo [CO_CONFIG_EM_BUFFER_SIZE+1][2]
	Internal circular FIFO buffer for storing pre-processed emergency messages. More...
uint8_t	fifoWrPtr
	Pointer for the fifo buffer, where next emergency message will be written by CO_error() function.
uint8_t	fifoPpPtr
	Pointer for the fifo, where next emergency message has to be post-processed by CO_EM_process() function. More...
uint8_t	fifoOverflow
	Indication of overflow - messages in buffer are not post-processed.
uint8_t	fifoCount
	Count of emergency messages in fifo, used for OD object 0x1003.
bool_t	producerEnabled
	True, if emergency producer is enabled, from Object dictionary.
uint8_t	nodeId
	Copy of CANopen node ID, from CO_EM_init()
CO_CANmodule_t *	CANdevTx
	From CO_EM_init()
CO_CANtx_t *	CANtxBuff
	CAN transmit buffer.
uint16_t	producerCanId
	COB ID of emergency message, from Object dictionary.
uint16_t	CANdevTxIdx
	From CO_EM_init()
uint32_t	inhibitEmTime_us
	Inhibit time for emergency message, from Object dictionary. More...
void(*	pFunctSignalRx )(const uint16_t ident, const uint16_t errorCode, const uint8_t errorRegister, const uint8_t errorBit, const uint32_t infoCode)
	From CO_EM_initCallbackRx() or NULL.
void(*	pFunctSignalPre )(void *object)
	From CO_EM_initCallbackPre() or NULL.
void *	functSignalObjectPre
	From CO_EM_initCallbackPre() or NULL.

Detailed Description

Emergency object.

Field Documentation

fifo

uint32_t CO_EM_t::fifo[CO_CONFIG_EM_BUFFER_SIZE+1][2]

Internal circular FIFO buffer for storing pre-processed emergency messages.

Messages are added by CO_error() function. All messages are later post-processed by CO_EM_process() function. Fifo is also used for error history - OD object 0x1003, "Pre-defined error field".

fifoPpPtr

uint8_t CO_EM_t::fifoPpPtr

Pointer for the fifo, where next emergency message has to be post-processed by CO_EM_process() function.

If equal to bufWrPtr, then all messages has been post-processed.

inhibitEmTime_us

uint32_t CO_EM_t::inhibitEmTime_us

Inhibit time for emergency message, from Object dictionary.

Internal timer for inhibit time

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The documentation for this struct was generated from the following file:

• 301/CO_Emergency.h