983 lines
82 KiB
HTML
Executable File
983 lines
82 KiB
HTML
Executable File
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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<html xmlns="http://www.w3.org/1999/xhtml">
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<head>
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<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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<meta name="generator" content="Doxygen 1.8.17"/>
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<title>CANopenNode: Emergency</title>
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<link href="search/search.css" rel="stylesheet" type="text/css"/>
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/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
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<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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<div id="titlearea">
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<table cellspacing="0" cellpadding="0">
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<tbody>
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<tr style="height: 56px;">
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<td id="projectalign" style="padding-left: 0.5em;">
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<div id="projectname">CANopenNode
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</div>
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</td>
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<td> <div id="MSearchBox" class="MSearchBoxInactive">
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<input type="text" id="MSearchField" value="Search" accesskey="S"
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onfocus="searchBox.OnSearchFieldFocus(true)"
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onblur="searchBox.OnSearchFieldFocus(false)"
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onkeyup="searchBox.OnSearchFieldChange(event)"/>
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<a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
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/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
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var searchBox = new SearchBox("searchBox", "search",false,'Search');
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/* @license-end */
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</script>
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</div><!-- top -->
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<div id="side-nav" class="ui-resizable side-nav-resizable">
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<div id="nav-tree">
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<div id="nav-tree-contents">
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<div id="nav-sync" class="sync"></div>
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</div>
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</div>
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<div id="splitbar" style="-moz-user-select:none;"
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class="ui-resizable-handle">
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</div>
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<script type="text/javascript">
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/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
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$(document).ready(function(){initNavTree('group__CO__Emergency.html',''); initResizable(); });
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/* @license-end */
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</script>
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<div id="doc-content">
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<div id="MSearchSelectWindow"
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onmouseover="return searchBox.OnSearchSelectShow()"
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onmouseout="return searchBox.OnSearchSelectHide()"
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onkeydown="return searchBox.OnSearchSelectKey(event)">
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<iframe src="javascript:void(0)" frameborder="0"
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name="MSearchResults" id="MSearchResults">
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</iframe>
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</div>
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<div class="header">
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<div class="summary">
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<a href="#files">Files</a> |
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<a href="#nested-classes">Data Structures</a> |
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<a href="#define-members">Macros</a> |
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<a href="#enum-members">Enumerations</a> |
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<a href="#func-members">Functions</a> </div>
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<div class="headertitle">
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<div class="title">Emergency<div class="ingroups"><a class="el" href="group__CO__CANopen__301.html">CANopen_301</a></div></div> </div>
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</div><!--header-->
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<div class="contents">
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<table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="files"></a>
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Files</h2></td></tr>
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<tr class="memitem:CO__Emergency_8h"><td class="memItemLeft" align="right" valign="top">file  </td><td class="memItemRight" valign="bottom"><a class="el" href="CO__Emergency_8h.html">CO_Emergency.h</a></td></tr>
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<tr class="memdesc:CO__Emergency_8h"><td class="mdescLeft"> </td><td class="mdescRight">CANopen Emergency protocol. <br /></td></tr>
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<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
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Data Structures</h2></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structCO__EM__t.html">CO_EM_t</a></td></tr>
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<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Emergency object. <a href="structCO__EM__t.html#details">More...</a><br /></td></tr>
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<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="define-members"></a>
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Macros</h2></td></tr>
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<tr class="memitem:gab66d4a6daa5f7492704b56a46b135f71"><td class="memItemLeft" align="right" valign="top"><a id="gab66d4a6daa5f7492704b56a46b135f71"></a>
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#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CO__Emergency.html#gab66d4a6daa5f7492704b56a46b135f71">CO_errorReport</a>(em, errorBit, errorCode, infoCode)   <a class="el" href="group__CO__Emergency.html#ga9221f9f631ead4b6f66cfcff8614ba46">CO_error</a>(em, <a class="el" href="group__CO__dataTypes.html#ga41f9c5fb8b08eb5dc3edce4dcb37fee7">true</a>, errorBit, errorCode, infoCode)</td></tr>
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<tr class="memdesc:gab66d4a6daa5f7492704b56a46b135f71"><td class="mdescLeft"> </td><td class="mdescRight">Report error condition, for description of parameters see <a class="el" href="group__CO__Emergency.html#ga9221f9f631ead4b6f66cfcff8614ba46">CO_error</a>. <br /></td></tr>
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<tr class="separator:gab66d4a6daa5f7492704b56a46b135f71"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga24e2a9311cf704ec6ed43b0ea730c4a3"><td class="memItemLeft" align="right" valign="top"><a id="ga24e2a9311cf704ec6ed43b0ea730c4a3"></a>
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#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CO__Emergency.html#ga24e2a9311cf704ec6ed43b0ea730c4a3">CO_errorReset</a>(em, errorBit, infoCode)   <a class="el" href="group__CO__Emergency.html#ga9221f9f631ead4b6f66cfcff8614ba46">CO_error</a>(em, <a class="el" href="group__CO__dataTypes.html#ga65e9886d74aaee76545e83dd09011727">false</a>, errorBit, <a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02aa60e1333102cbe544eccbaad8e77f6f7">CO_EMC_NO_ERROR</a>, infoCode)</td></tr>
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<tr class="memdesc:ga24e2a9311cf704ec6ed43b0ea730c4a3"><td class="mdescLeft"> </td><td class="mdescRight">Reset error condition, for description of parameters see <a class="el" href="group__CO__Emergency.html#ga9221f9f631ead4b6f66cfcff8614ba46">CO_error</a>. <br /></td></tr>
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<tr class="separator:ga24e2a9311cf704ec6ed43b0ea730c4a3"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="enum-members"></a>
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Enumerations</h2></td></tr>
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<tr class="memitem:ga2cfc261cce03577083ee3f1a31d5e03c"><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CO__Emergency.html#ga2cfc261cce03577083ee3f1a31d5e03c">CO_errorRegister_t</a> { <br />
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  <a class="el" href="group__CO__Emergency.html#gga2cfc261cce03577083ee3f1a31d5e03ca92a7e121ae04a022fc2fe604eb1c148e">CO_ERR_REG_GENERIC_ERR</a> = 0x01U,
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<a class="el" href="group__CO__Emergency.html#gga2cfc261cce03577083ee3f1a31d5e03ca61eded29fb0fcd95b2f66c2682de0f2b">CO_ERR_REG_CURRENT</a> = 0x02U,
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<a class="el" href="group__CO__Emergency.html#gga2cfc261cce03577083ee3f1a31d5e03ca360c75e04303d1c55e2bc8528407cb87">CO_ERR_REG_VOLTAGE</a> = 0x04U,
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<a class="el" href="group__CO__Emergency.html#gga2cfc261cce03577083ee3f1a31d5e03cab12f2b419af0aeb8aae83a13d5c8b7bf">CO_ERR_REG_TEMPERATURE</a> = 0x08U,
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<br />
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  <a class="el" href="group__CO__Emergency.html#gga2cfc261cce03577083ee3f1a31d5e03ca2f3b7aeac7282281c1d17895406c006a">CO_ERR_REG_COMMUNICATION</a> = 0x10U,
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<a class="el" href="group__CO__Emergency.html#gga2cfc261cce03577083ee3f1a31d5e03cab137d1705e9ab20e2caeb22f57dd4716">CO_ERR_REG_DEV_PROFILE</a> = 0x20U,
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<a class="el" href="group__CO__Emergency.html#gga2cfc261cce03577083ee3f1a31d5e03caffdf7f5d9f9ae52fa1bf97a3fb3d848b">CO_ERR_REG_RESERVED</a> = 0x40U,
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<a class="el" href="group__CO__Emergency.html#gga2cfc261cce03577083ee3f1a31d5e03ca207eee1d9638f61166bc395ee71b84a3">CO_ERR_REG_MANUFACTURER</a> = 0x80U
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<br />
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}</td></tr>
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<tr class="memdesc:ga2cfc261cce03577083ee3f1a31d5e03c"><td class="mdescLeft"> </td><td class="mdescRight">CANopen Error register. <a href="group__CO__Emergency.html#ga2cfc261cce03577083ee3f1a31d5e03c">More...</a><br /></td></tr>
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<tr class="separator:ga2cfc261cce03577083ee3f1a31d5e03c"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga0653c307fd6bc5238babf48e01c9fa02"><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CO__Emergency.html#ga0653c307fd6bc5238babf48e01c9fa02">CO_EM_errorCode_t</a> { <br />
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  <a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02aa60e1333102cbe544eccbaad8e77f6f7">CO_EMC_NO_ERROR</a> = 0x0000U,
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<a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02a2eaf45ca12b32b7bcc58df91becda767">CO_EMC_GENERIC</a> = 0x1000U,
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<a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02abad9ca04a37cc43cacabfef9483699cf">CO_EMC_CURRENT</a> = 0x2000U,
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<a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02ab792c971a569d1175666b3fff9ffbe70">CO_EMC_CURRENT_INPUT</a> = 0x2100U,
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<br />
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  <a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02a3ded1c05cbf37d2d7d286af97e833e65">CO_EMC_CURRENT_INSIDE</a> = 0x2200U,
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<a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02ad42e8ab666fd3da75d1fa3a7b8708efc">CO_EMC_CURRENT_OUTPUT</a> = 0x2300U,
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<a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02a84a8f0dfb97e0ec13be9a4cdb0d71233">CO_EMC_VOLTAGE</a> = 0x3000U,
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<a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02ab4b095d1d9e7e7f5150bc2ecd83bc140">CO_EMC_VOLTAGE_MAINS</a> = 0x3100U,
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<br />
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  <a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02a78dfa1d496a010ae7ae2e8b6edc1362a">CO_EMC_VOLTAGE_INSIDE</a> = 0x3200U,
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<a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02a9c5becd591c91bb3e255badf0a308c2d">CO_EMC_VOLTAGE_OUTPUT</a> = 0x3300U,
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<a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02aa24dfa4c6948187f62d3e8182285d4a3">CO_EMC_TEMPERATURE</a> = 0x4000U,
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<a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02ae5256d8178374a48750537c3d04c0a30">CO_EMC_TEMP_AMBIENT</a> = 0x4100U,
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<br />
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  <a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02a6c29a4b49fae39b45c5c0e553ef6668f">CO_EMC_TEMP_DEVICE</a> = 0x4200U,
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<a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02a33344d49b9667151d86aef28a73e6f66">CO_EMC_HARDWARE</a> = 0x5000U,
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<a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02a6d0b3c0c31228e0bc57fc080c754fefa">CO_EMC_SOFTWARE_DEVICE</a> = 0x6000U,
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<a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02a62e0949639733e85c2b6d4c8b099d467">CO_EMC_SOFTWARE_INTERNAL</a> = 0x6100U,
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<br />
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  <a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02a7b6ae38c015688128890bfe42b0271e5">CO_EMC_SOFTWARE_USER</a> = 0x6200U,
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<a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02ad22329fc3e44867a365401458e691ddc">CO_EMC_DATA_SET</a> = 0x6300U,
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<a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02ae210dc1069c7b046527f7d7903ef82cb">CO_EMC_ADDITIONAL_MODUL</a> = 0x7000U,
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<a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02a8ecd7e45af52d83d986e3de8e957a986">CO_EMC_MONITORING</a> = 0x8000U,
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<br />
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  <a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02aab2946bf800f551bcae55dd299ff315b">CO_EMC_COMMUNICATION</a> = 0x8100U,
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<a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02a1f04b4ffe9cc1d8f2b294261909dec4e">CO_EMC_CAN_OVERRUN</a> = 0x8110U,
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<a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02aa024c00c21f705474355b9ca7d7ce948">CO_EMC_CAN_PASSIVE</a> = 0x8120U,
|
|
<a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02aff47b500e2e760355ca653b247e4b93f">CO_EMC_HEARTBEAT</a> = 0x8130U,
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<br />
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|
  <a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02a2fd717ed311007b4dd6fe92443f134b0">CO_EMC_BUS_OFF_RECOVERED</a> = 0x8140U,
|
|
<a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02a683bff5350b0cbab24aef2fc8eac363a">CO_EMC_CAN_ID_COLLISION</a> = 0x8150U,
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<a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02ab884b23b23af9671d99cca5865549e5a">CO_EMC_PROTOCOL_ERROR</a> = 0x8200U,
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|
<a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02a80fedd7bbb98ddf1ec26d4b31ed6d749">CO_EMC_PDO_LENGTH</a> = 0x8210U,
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<br />
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|
  <a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02a88bac871b7539a579fba73825a2e240a">CO_EMC_PDO_LENGTH_EXC</a> = 0x8220U,
|
|
<a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02ab58df03302ab06710f7455d37039dea3">CO_EMC_DAM_MPDO</a> = 0x8230U,
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<a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02a81aa2a66727d1fe29720067dc4e20879">CO_EMC_SYNC_DATA_LENGTH</a> = 0x8240U,
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<a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02a4ca48c8d1be6a42ac0c13e551e12b230">CO_EMC_RPDO_TIMEOUT</a> = 0x8250U,
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<br />
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  <a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02a018485be8125a3515ecd127a08e2e2f1">CO_EMC_TIME_DATA_LENGTH</a> = 0x8260U,
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<a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02a1d76eff88ebd6050377c393533aebc8d">CO_EMC_EXTERNAL_ERROR</a> = 0x9000U,
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<a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02af5f9446049023ceae559562998172278">CO_EMC_ADDITIONAL_FUNC</a> = 0xF000U,
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<a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02ad7b895b5e7d0f3fa7ff422157ac36c70">CO_EMC_DEVICE_SPECIFIC</a> = 0xFF00U,
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<br />
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  <a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02aa432d9c66bb0f6eecc38d720cae6c32e">CO_EMC401_OUT_CUR_HI</a> = 0x2310U,
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<a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02a182a0c7afc0cb1c30af42a05430da353">CO_EMC401_OUT_SHORTED</a> = 0x2320U,
|
|
<a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02a21cd31a1455c9dc379796798f0eecd32">CO_EMC401_OUT_LOAD_DUMP</a> = 0x2330U,
|
|
<a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02aacdc3517e800b037b46c1b54f454b562">CO_EMC401_IN_VOLT_HI</a> = 0x3110U,
|
|
<br />
|
|
  <a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02a867eb16fce01ade3c728df7c7527e311">CO_EMC401_IN_VOLT_LOW</a> = 0x3120U,
|
|
<a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02a9cd0f1a897f40a3a43198ba05de4a11b">CO_EMC401_INTERN_VOLT_HI</a> = 0x3210U,
|
|
<a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02ac122203ed5c6a71749ace599b13ac594">CO_EMC401_INTERN_VOLT_LO</a> = 0x3220U,
|
|
<a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02abf5b6a68120351c2fa52146b45798ed2">CO_EMC401_OUT_VOLT_HIGH</a> = 0x3310U,
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|
<br />
|
|
  <a class="el" href="group__CO__Emergency.html#gga0653c307fd6bc5238babf48e01c9fa02a5f262e622db7482b7230055e5b27c902">CO_EMC401_OUT_VOLT_LOW</a> = 0x3320U
|
|
<br />
|
|
}</td></tr>
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|
<tr class="memdesc:ga0653c307fd6bc5238babf48e01c9fa02"><td class="mdescLeft"> </td><td class="mdescRight">CANopen Error code. <a href="group__CO__Emergency.html#ga0653c307fd6bc5238babf48e01c9fa02">More...</a><br /></td></tr>
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<tr class="separator:ga0653c307fd6bc5238babf48e01c9fa02"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga587034df9d350c8e121c253f1d4eeacc"><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CO__Emergency.html#ga587034df9d350c8e121c253f1d4eeacc">CO_EM_errorStatusBits_t</a> { <br />
|
|
  <a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeaccafb7b06b4b1d4fb2f9fa8661fdbaf8b01">CO_EM_NO_ERROR</a> = 0x00U,
|
|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeacca27ebb7f155d4b72618c34dd6aa496aac">CO_EM_CAN_BUS_WARNING</a> = 0x01U,
|
|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeaccae1e45de61059459a6f1f6e500962f287">CO_EM_RXMSG_WRONG_LENGTH</a> = 0x02U,
|
|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeacca0b17027ee0097065d92e6c0981e3face">CO_EM_RXMSG_OVERFLOW</a> = 0x03U,
|
|
<br />
|
|
  <a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeacca2a36480d4dd6a24f1f8bb66d79441a8d">CO_EM_RPDO_WRONG_LENGTH</a> = 0x04U,
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|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeacca73426de91d49273d023b5084a0cea8e0">CO_EM_RPDO_OVERFLOW</a> = 0x05U,
|
|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeaccaab5efa11cefb2cd6125cec3ec1c570e1">CO_EM_CAN_RX_BUS_PASSIVE</a> = 0x06U,
|
|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeaccadb8502da626d80a8c423e94e1c76d0cb">CO_EM_CAN_TX_BUS_PASSIVE</a> = 0x07U,
|
|
<br />
|
|
  <a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeaccac5f82aeeda52c83eee0025c8b387ac5d">CO_EM_NMT_WRONG_COMMAND</a> = 0x08U,
|
|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeacca5c1a6209ebe6167bbf13f565b6fd994d">CO_EM_TIME_TIMEOUT</a> = 0x09U,
|
|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeacca3af179820ed2aa88e2c22b7961de71f8">CO_EM_TIME_LENGTH</a> = 0x0AU,
|
|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeacca8bf6fb0db21e29e477b38304279bed5e">CO_EM_0B_unused</a> = 0x0BU,
|
|
<br />
|
|
  <a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeaccaa724f4fdeff7043b0d4f454613a96992">CO_EM_0C_unused</a> = 0x0CU,
|
|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeacca933c070fd08c1223462a3a331b016c99">CO_EM_0D_unused</a> = 0x0DU,
|
|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeacca0cabb2e45202f938cfdafe8e7871f4f7">CO_EM_0E_unused</a> = 0x0EU,
|
|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeaccac6469cc3e6176136f69e549c4a4f5b71">CO_EM_0F_unused</a> = 0x0FU,
|
|
<br />
|
|
  <a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeacca274f46ac0760c4c340f48d1de884f2fe">CO_EM_10_unused</a> = 0x10U,
|
|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeacca9d8abe2f426ed071febf85a932c1df98">CO_EM_11_unused</a> = 0x11U,
|
|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeaccae59f8e20795915a0929861809ed42e7c">CO_EM_CAN_TX_BUS_OFF</a> = 0x12U,
|
|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeaccaf9a86c6c3b87763593dd14be6b0bef29">CO_EM_CAN_RXB_OVERFLOW</a> = 0x13U,
|
|
<br />
|
|
  <a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeacca2dbceee7b6deae231bb40a96f8f748a9">CO_EM_CAN_TX_OVERFLOW</a> = 0x14U,
|
|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeaccaea141284cd85126a9b3e7b0605a26a94">CO_EM_TPDO_OUTSIDE_WINDOW</a> = 0x15U,
|
|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeacca865160ae9fdac8fcba1e5335b31c2f9f">CO_EM_16_unused</a> = 0x16U,
|
|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeaccad5bb584bb3c85ca0ba0313367aa75a9b">CO_EM_17_unused</a> = 0x17U,
|
|
<br />
|
|
  <a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeaccafd760392f4d4d6358896486c5b5d7d82">CO_EM_SYNC_TIME_OUT</a> = 0x18U,
|
|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeacca09a521bfc9ea08ed340cfa29952a471c">CO_EM_SYNC_LENGTH</a> = 0x19U,
|
|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeacca7308b487766b8feca60ef0c1b873f167">CO_EM_PDO_WRONG_MAPPING</a> = 0x1AU,
|
|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeacca6478d414ea45f6a9129e68a9d57e11b7">CO_EM_HEARTBEAT_CONSUMER</a> = 0x1BU,
|
|
<br />
|
|
  <a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeacca0b6698662476cc622661fb5a5a75ec31">CO_EM_HB_CONSUMER_REMOTE_RESET</a> = 0x1CU,
|
|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeacca6d0bf9c926241ec8f67c477928300761">CO_EM_1D_unused</a> = 0x1DU,
|
|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeaccab2f3562c4e1f8e25a7837627dc1721db">CO_EM_1E_unused</a> = 0x1EU,
|
|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeaccadba4afb9dac78f8eb0c5f494926568b1">CO_EM_1F_unused</a> = 0x1FU,
|
|
<br />
|
|
  <a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeaccabd1935c51679f70f509ffd60e28c02b1">CO_EM_EMERGENCY_BUFFER_FULL</a> = 0x20U,
|
|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeaccadbce7bd9d5a0ee681104914092b21d8d">CO_EM_21_unused</a> = 0x21U,
|
|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeaccacb69eecc08e72c56aec215fa55e27e16">CO_EM_MICROCONTROLLER_RESET</a> = 0x22U,
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|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeaccaa0c8857afdd8455b30fd0179e98599fb">CO_EM_23_unused</a> = 0x23U,
|
|
<br />
|
|
  <a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeacca9cf88b48355b3cc43fe9a8360b8470df">CO_EM_24_unused</a> = 0x24U,
|
|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeacca0a8abc6fcd7b0d5469b469c2cf370a82">CO_EM_25_unused</a> = 0x25U,
|
|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeacca0398195eafec5f8d60a76f677ce2a714">CO_EM_26_unused</a> = 0x26U,
|
|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeacca95ca6848349affc579fff2c2a62e87d7">CO_EM_27_unused</a> = 0x27U,
|
|
<br />
|
|
  <a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeacca2d7776243205bc75e6c448e13e697480">CO_EM_WRONG_ERROR_REPORT</a> = 0x28U,
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|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeaccadbf7382f537c9f59f965ce38be464e46">CO_EM_ISR_TIMER_OVERFLOW</a> = 0x29U,
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|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeacca2575dac21ff9ac9c4c4e5ca63d34fdbc">CO_EM_MEMORY_ALLOCATION_ERROR</a> = 0x2AU,
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|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeacca21648a2863590d3cccb469f8ef759267">CO_EM_GENERIC_ERROR</a> = 0x2BU,
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|
<br />
|
|
  <a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeacca6c3e7fff310443f05815ea2b7ac6b289">CO_EM_GENERIC_SOFTWARE_ERROR</a> = 0x2CU,
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|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeacca2c6a108cabca6f03b1400065f2ad4887">CO_EM_INCONSISTENT_OBJECT_DICT</a> = 0x2DU,
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|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeacca5544a90d3047bc08186ea7412528dc93">CO_EM_CALCULATION_OF_PARAMETERS</a> = 0x2EU,
|
|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeaccac019532cacaa8310f9ca413a2f599af3">CO_EM_NON_VOLATILE_MEMORY</a> = 0x2FU,
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|
<br />
|
|
  <a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeaccaf850a661aadde65b10b22715cf24942c">CO_EM_MANUFACTURER_START</a> = 0x30U,
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|
<a class="el" href="group__CO__Emergency.html#gga587034df9d350c8e121c253f1d4eeacca5d3c6fdb77551b3f4aaf993ae1dfb414">CO_EM_MANUFACTURER_END</a> = CO_CONFIG_EM_ERR_STATUS_BITS_COUNT - 1
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<br />
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|
}</td></tr>
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<tr class="memdesc:ga587034df9d350c8e121c253f1d4eeacc"><td class="mdescLeft"> </td><td class="mdescRight">Error status bits. <a href="group__CO__Emergency.html#ga587034df9d350c8e121c253f1d4eeacc">More...</a><br /></td></tr>
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<tr class="separator:ga587034df9d350c8e121c253f1d4eeacc"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
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Functions</h2></td></tr>
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<tr class="memitem:ga5b80f59df00b71dca7a5c18c139aa71e"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__CO__driver.html#ga1cb2d3466eb0c6d267f3b5ff1a0d9532">CO_ReturnError_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CO__Emergency.html#ga5b80f59df00b71dca7a5c18c139aa71e">CO_EM_init</a> (<a class="el" href="structCO__EM__t.html">CO_EM_t</a> *em, const <a class="el" href="structOD__entry__t.html">OD_entry_t</a> *OD_1001_errReg, const <a class="el" href="structOD__entry__t.html">OD_entry_t</a> *OD_1014_cobIdEm, <a class="el" href="structCO__CANmodule__t.html">CO_CANmodule_t</a> *CANdevTx, <a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> CANdevTxIdx, const <a class="el" href="structOD__entry__t.html">OD_entry_t</a> *OD_1015_InhTime, const <a class="el" href="structOD__entry__t.html">OD_entry_t</a> *OD_1003_preDefErr, const <a class="el" href="structOD__entry__t.html">OD_entry_t</a> *OD_statusBits, <a class="el" href="structCO__CANmodule__t.html">CO_CANmodule_t</a> *CANdevRx, <a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> CANdevRxIdx, const <a class="el" href="group__CO__dataTypes.html#gaba7bc1797add20fe3efdf37ced1182c5">uint8_t</a> nodeId)</td></tr>
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<tr class="memdesc:ga5b80f59df00b71dca7a5c18c139aa71e"><td class="mdescLeft"> </td><td class="mdescRight">Initialize Emergency object. <a href="group__CO__Emergency.html#ga5b80f59df00b71dca7a5c18c139aa71e">More...</a><br /></td></tr>
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<tr class="separator:ga5b80f59df00b71dca7a5c18c139aa71e"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga94efd78032de3667e2a89780b08aabed"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CO__Emergency.html#ga94efd78032de3667e2a89780b08aabed">CO_EM_initCallbackPre</a> (<a class="el" href="structCO__EM__t.html">CO_EM_t</a> *em, void *object, void(*pFunctSignal)(void *object))</td></tr>
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<tr class="memdesc:ga94efd78032de3667e2a89780b08aabed"><td class="mdescLeft"> </td><td class="mdescRight">Initialize Emergency callback function. <a href="group__CO__Emergency.html#ga94efd78032de3667e2a89780b08aabed">More...</a><br /></td></tr>
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<tr class="separator:ga94efd78032de3667e2a89780b08aabed"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga583245c954327c3cf7f9fdb97854e76b"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CO__Emergency.html#ga583245c954327c3cf7f9fdb97854e76b">CO_EM_initCallbackRx</a> (<a class="el" href="structCO__EM__t.html">CO_EM_t</a> *em, void(*pFunctSignalRx)(const <a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> ident, const <a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> errorCode, const <a class="el" href="group__CO__dataTypes.html#gaba7bc1797add20fe3efdf37ced1182c5">uint8_t</a> errorRegister, const <a class="el" href="group__CO__dataTypes.html#gaba7bc1797add20fe3efdf37ced1182c5">uint8_t</a> errorBit, const <a class="el" href="group__CO__dataTypes.html#ga33594304e786b158f3fb30289278f5af">uint32_t</a> infoCode))</td></tr>
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<tr class="memdesc:ga583245c954327c3cf7f9fdb97854e76b"><td class="mdescLeft"> </td><td class="mdescRight">Initialize Emergency received callback function. <a href="group__CO__Emergency.html#ga583245c954327c3cf7f9fdb97854e76b">More...</a><br /></td></tr>
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<tr class="separator:ga583245c954327c3cf7f9fdb97854e76b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga93ae7be6ef966192f5761ce343345d3b"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CO__Emergency.html#ga93ae7be6ef966192f5761ce343345d3b">CO_EM_process</a> (<a class="el" href="structCO__EM__t.html">CO_EM_t</a> *em, <a class="el" href="group__CO__dataTypes.html#ga449976458a084f880dc8e3d29e7eb6f5">bool_t</a> NMTisPreOrOperational, <a class="el" href="group__CO__dataTypes.html#ga33594304e786b158f3fb30289278f5af">uint32_t</a> timeDifference_us, <a class="el" href="group__CO__dataTypes.html#ga33594304e786b158f3fb30289278f5af">uint32_t</a> *timerNext_us)</td></tr>
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<tr class="memdesc:ga93ae7be6ef966192f5761ce343345d3b"><td class="mdescLeft"> </td><td class="mdescRight">Process Error control and Emergency object. <a href="group__CO__Emergency.html#ga93ae7be6ef966192f5761ce343345d3b">More...</a><br /></td></tr>
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<tr class="separator:ga93ae7be6ef966192f5761ce343345d3b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga9221f9f631ead4b6f66cfcff8614ba46"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CO__Emergency.html#ga9221f9f631ead4b6f66cfcff8614ba46">CO_error</a> (<a class="el" href="structCO__EM__t.html">CO_EM_t</a> *em, <a class="el" href="group__CO__dataTypes.html#ga449976458a084f880dc8e3d29e7eb6f5">bool_t</a> setError, const <a class="el" href="group__CO__dataTypes.html#gaba7bc1797add20fe3efdf37ced1182c5">uint8_t</a> errorBit, <a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> errorCode, <a class="el" href="group__CO__dataTypes.html#ga33594304e786b158f3fb30289278f5af">uint32_t</a> infoCode)</td></tr>
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<tr class="memdesc:ga9221f9f631ead4b6f66cfcff8614ba46"><td class="mdescLeft"> </td><td class="mdescRight">Set or reset error condition. <a href="group__CO__Emergency.html#ga9221f9f631ead4b6f66cfcff8614ba46">More...</a><br /></td></tr>
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<tr class="separator:ga9221f9f631ead4b6f66cfcff8614ba46"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga8e9bae71814a3e7bbd8d59d721174c2b"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="group__CO__dataTypes.html#ga449976458a084f880dc8e3d29e7eb6f5">bool_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CO__Emergency.html#ga8e9bae71814a3e7bbd8d59d721174c2b">CO_isError</a> (<a class="el" href="structCO__EM__t.html">CO_EM_t</a> *em, const <a class="el" href="group__CO__dataTypes.html#gaba7bc1797add20fe3efdf37ced1182c5">uint8_t</a> errorBit)</td></tr>
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<tr class="memdesc:ga8e9bae71814a3e7bbd8d59d721174c2b"><td class="mdescLeft"> </td><td class="mdescRight">Check specific error condition. <a href="group__CO__Emergency.html#ga8e9bae71814a3e7bbd8d59d721174c2b">More...</a><br /></td></tr>
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<tr class="separator:ga8e9bae71814a3e7bbd8d59d721174c2b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gaf0c47186d9e51fb91d48385a9f6bad6b"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="group__CO__dataTypes.html#gaba7bc1797add20fe3efdf37ced1182c5">uint8_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CO__Emergency.html#gaf0c47186d9e51fb91d48385a9f6bad6b">CO_getErrorRegister</a> (<a class="el" href="structCO__EM__t.html">CO_EM_t</a> *em)</td></tr>
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<tr class="memdesc:gaf0c47186d9e51fb91d48385a9f6bad6b"><td class="mdescLeft"> </td><td class="mdescRight">Get error register. <a href="group__CO__Emergency.html#gaf0c47186d9e51fb91d48385a9f6bad6b">More...</a><br /></td></tr>
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<tr class="separator:gaf0c47186d9e51fb91d48385a9f6bad6b"><td class="memSeparator" colspan="2"> </td></tr>
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</table>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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<p>CANopen Emergency protocol.</p>
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<p>Error control and Emergency is used for control internal error state and for sending a CANopen Emergency message.</p>
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<p>In case of error condition stack or application calls <a class="el" href="group__CO__Emergency.html#gab66d4a6daa5f7492704b56a46b135f71" title="Report error condition, for description of parameters see CO_error.">CO_errorReport()</a> function with indication of the error. Specific error condition is reported (with CANopen Emergency message) only the first time after it occurs. Internal state of specific error condition is indicated by internal bitfield variable, with space for maximum <a class="el" href="group__CO__STACK__CONFIG__EMERGENCY.html#gab87776d4802748671b234112263760af">CO_CONFIG_EM_ERR_STATUS_BITS_COUNT</a> bits. Meaning for each bit is described by <a class="el" href="group__CO__Emergency.html#ga587034df9d350c8e121c253f1d4eeacc">CO_EM_errorStatusBits_t</a>. Specific error condition can be reset by <a class="el" href="group__CO__Emergency.html#ga24e2a9311cf704ec6ed43b0ea730c4a3" title="Reset error condition, for description of parameters see CO_error.">CO_errorReset()</a> function. In that case Emergency message is sent with CO_EM_NO_ERROR indication.</p>
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<p>Some error conditions are informative and some are critical. Critical error conditions set the corresponding bit in <a class="el" href="group__CO__Emergency.html#ga2cfc261cce03577083ee3f1a31d5e03c">CO_errorRegister_t</a>. Critical error conditions for generic error are specified by <a class="el" href="group__CO__STACK__CONFIG__EMERGENCY.html#gad6270eb7887b22c0365c304d7cf2c633">CO_CONFIG_ERR_CONDITION_GENERIC</a> macro. Similar macros are defined for other error bits in in <a class="el" href="group__CO__Emergency.html#ga2cfc261cce03577083ee3f1a31d5e03c">CO_errorRegister_t</a>.</p>
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<h3>Emergency producer</h3>
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<p>If <a class="el" href="group__CO__STACK__CONFIG__EMERGENCY.html#ga16aa1479ffd52a627d1053c20f844b62">CO_CONFIG_EM</a> has CO_CONFIG_EM_PRODUCER enabled, then CANopen Emergency message will be sent on each change of any error condition. Emergency message contents are:</p>
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<table class="markdownTable">
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<tr class="markdownTableHead">
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<th class="markdownTableHeadNone">Byte </th><th class="markdownTableHeadNone">Description </th></tr>
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<tr class="markdownTableRowOdd">
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<td class="markdownTableBodyNone">0..1 </td><td class="markdownTableBodyNone"><a class="el" href="group__CO__Emergency.html#ga0653c307fd6bc5238babf48e01c9fa02">CO_EM_errorCode_t</a> </td></tr>
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<tr class="markdownTableRowEven">
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<td class="markdownTableBodyNone">2 </td><td class="markdownTableBodyNone"><a class="el" href="group__CO__Emergency.html#ga2cfc261cce03577083ee3f1a31d5e03c">CO_errorRegister_t</a> </td></tr>
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<tr class="markdownTableRowOdd">
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<td class="markdownTableBodyNone">3 </td><td class="markdownTableBodyNone">Index of error condition (see <a class="el" href="group__CO__Emergency.html#ga587034df9d350c8e121c253f1d4eeacc">CO_EM_errorStatusBits_t</a>). </td></tr>
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<tr class="markdownTableRowEven">
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<td class="markdownTableBodyNone">4..7 </td><td class="markdownTableBodyNone">Additional informative argument to <a class="el" href="group__CO__Emergency.html#gab66d4a6daa5f7492704b56a46b135f71" title="Report error condition, for description of parameters see CO_error.">CO_errorReport()</a> function. </td></tr>
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</table>
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<h3>Error history</h3>
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<p>If <a class="el" href="group__CO__STACK__CONFIG__EMERGENCY.html#ga16aa1479ffd52a627d1053c20f844b62">CO_CONFIG_EM</a> has CO_CONFIG_EM_HISTORY enabled, then latest errors can be read from <em>Pre Defined Error Field</em> (object dictionary, index 0x1003). Contents corresponds to bytes 0..3 from the Emergency message.</p>
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<h3>Emergency consumer</h3>
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<p>If <a class="el" href="group__CO__STACK__CONFIG__EMERGENCY.html#ga16aa1479ffd52a627d1053c20f844b62">CO_CONFIG_EM</a> has CO_CONFIG_EM_CONSUMER enabled, then callback can be registered by <a class="el" href="group__CO__Emergency.html#ga583245c954327c3cf7f9fdb97854e76b">CO_EM_initCallbackRx()</a> function. </p>
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<h2 class="groupheader">Enumeration Type Documentation</h2>
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<a id="ga2cfc261cce03577083ee3f1a31d5e03c"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ga2cfc261cce03577083ee3f1a31d5e03c">◆ </a></span>CO_errorRegister_t</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">enum <a class="el" href="group__CO__Emergency.html#ga2cfc261cce03577083ee3f1a31d5e03c">CO_errorRegister_t</a></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>CANopen Error register. </p>
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<p>Mandatory for CANopen, resides in object dictionary, index 0x1001.</p>
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<p>Error register is calculated from internal bitfield variable, critical bits. See <a class="el" href="group__CO__Emergency.html#ga587034df9d350c8e121c253f1d4eeacc">CO_EM_errorStatusBits_t</a> and <a class="el" href="group__CO__STACK__CONFIG__EMERGENCY.html">Emergency producer/consumer</a> for error condition macros.</p>
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<p>Internal errors may prevent device to stay in NMT Operational state and changes may switch between the states. See <a class="el" href="group__CO__NMT__Heartbeat.html#gaf92cf5943801e5dda84654345cc3d67f">CO_NMT_control_t</a> for details. </p>
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<table class="fieldtable">
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<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="gga2cfc261cce03577083ee3f1a31d5e03ca92a7e121ae04a022fc2fe604eb1c148e"></a>CO_ERR_REG_GENERIC_ERR </td><td class="fielddoc"><p>bit 0, generic error </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga2cfc261cce03577083ee3f1a31d5e03ca61eded29fb0fcd95b2f66c2682de0f2b"></a>CO_ERR_REG_CURRENT </td><td class="fielddoc"><p>bit 1, current </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga2cfc261cce03577083ee3f1a31d5e03ca360c75e04303d1c55e2bc8528407cb87"></a>CO_ERR_REG_VOLTAGE </td><td class="fielddoc"><p>bit 2, voltage </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga2cfc261cce03577083ee3f1a31d5e03cab12f2b419af0aeb8aae83a13d5c8b7bf"></a>CO_ERR_REG_TEMPERATURE </td><td class="fielddoc"><p>bit 3, temperature </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga2cfc261cce03577083ee3f1a31d5e03ca2f3b7aeac7282281c1d17895406c006a"></a>CO_ERR_REG_COMMUNICATION </td><td class="fielddoc"><p>bit 4, communication error </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga2cfc261cce03577083ee3f1a31d5e03cab137d1705e9ab20e2caeb22f57dd4716"></a>CO_ERR_REG_DEV_PROFILE </td><td class="fielddoc"><p>bit 5, device profile specific </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga2cfc261cce03577083ee3f1a31d5e03caffdf7f5d9f9ae52fa1bf97a3fb3d848b"></a>CO_ERR_REG_RESERVED </td><td class="fielddoc"><p>bit 6, reserved (always 0) </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga2cfc261cce03577083ee3f1a31d5e03ca207eee1d9638f61166bc395ee71b84a3"></a>CO_ERR_REG_MANUFACTURER </td><td class="fielddoc"><p>bit 7, manufacturer specific </p>
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</td></tr>
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</table>
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</div>
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</div>
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<a id="ga0653c307fd6bc5238babf48e01c9fa02"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ga0653c307fd6bc5238babf48e01c9fa02">◆ </a></span>CO_EM_errorCode_t</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">enum <a class="el" href="group__CO__Emergency.html#ga0653c307fd6bc5238babf48e01c9fa02">CO_EM_errorCode_t</a></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>CANopen Error code. </p>
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<p>Standard error codes according to CiA DS-301 and DS-401. </p>
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<table class="fieldtable">
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<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02aa60e1333102cbe544eccbaad8e77f6f7"></a>CO_EMC_NO_ERROR </td><td class="fielddoc"><p>0x00xx, error Reset or No Error </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02a2eaf45ca12b32b7bcc58df91becda767"></a>CO_EMC_GENERIC </td><td class="fielddoc"><p>0x10xx, Generic Error </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02abad9ca04a37cc43cacabfef9483699cf"></a>CO_EMC_CURRENT </td><td class="fielddoc"><p>0x20xx, Current </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02ab792c971a569d1175666b3fff9ffbe70"></a>CO_EMC_CURRENT_INPUT </td><td class="fielddoc"><p>0x21xx, Current, device input side </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02a3ded1c05cbf37d2d7d286af97e833e65"></a>CO_EMC_CURRENT_INSIDE </td><td class="fielddoc"><p>0x22xx, Current inside the device </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02ad42e8ab666fd3da75d1fa3a7b8708efc"></a>CO_EMC_CURRENT_OUTPUT </td><td class="fielddoc"><p>0x23xx, Current, device output side </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02a84a8f0dfb97e0ec13be9a4cdb0d71233"></a>CO_EMC_VOLTAGE </td><td class="fielddoc"><p>0x30xx, Voltage </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02ab4b095d1d9e7e7f5150bc2ecd83bc140"></a>CO_EMC_VOLTAGE_MAINS </td><td class="fielddoc"><p>0x31xx, Mains Voltage </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02a78dfa1d496a010ae7ae2e8b6edc1362a"></a>CO_EMC_VOLTAGE_INSIDE </td><td class="fielddoc"><p>0x32xx, Voltage inside the device </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02a9c5becd591c91bb3e255badf0a308c2d"></a>CO_EMC_VOLTAGE_OUTPUT </td><td class="fielddoc"><p>0x33xx, Output Voltage </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02aa24dfa4c6948187f62d3e8182285d4a3"></a>CO_EMC_TEMPERATURE </td><td class="fielddoc"><p>0x40xx, Temperature </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02ae5256d8178374a48750537c3d04c0a30"></a>CO_EMC_TEMP_AMBIENT </td><td class="fielddoc"><p>0x41xx, Ambient Temperature </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02a6c29a4b49fae39b45c5c0e553ef6668f"></a>CO_EMC_TEMP_DEVICE </td><td class="fielddoc"><p>0x42xx, Device Temperature </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02a33344d49b9667151d86aef28a73e6f66"></a>CO_EMC_HARDWARE </td><td class="fielddoc"><p>0x50xx, Device Hardware </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02a6d0b3c0c31228e0bc57fc080c754fefa"></a>CO_EMC_SOFTWARE_DEVICE </td><td class="fielddoc"><p>0x60xx, Device Software </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02a62e0949639733e85c2b6d4c8b099d467"></a>CO_EMC_SOFTWARE_INTERNAL </td><td class="fielddoc"><p>0x61xx, Internal Software </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02a7b6ae38c015688128890bfe42b0271e5"></a>CO_EMC_SOFTWARE_USER </td><td class="fielddoc"><p>0x62xx, User Software </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02ad22329fc3e44867a365401458e691ddc"></a>CO_EMC_DATA_SET </td><td class="fielddoc"><p>0x63xx, Data Set </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02ae210dc1069c7b046527f7d7903ef82cb"></a>CO_EMC_ADDITIONAL_MODUL </td><td class="fielddoc"><p>0x70xx, Additional Modules </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02a8ecd7e45af52d83d986e3de8e957a986"></a>CO_EMC_MONITORING </td><td class="fielddoc"><p>0x80xx, Monitoring </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02aab2946bf800f551bcae55dd299ff315b"></a>CO_EMC_COMMUNICATION </td><td class="fielddoc"><p>0x81xx, Communication </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02a1f04b4ffe9cc1d8f2b294261909dec4e"></a>CO_EMC_CAN_OVERRUN </td><td class="fielddoc"><p>0x8110, CAN Overrun (Objects lost) </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02aa024c00c21f705474355b9ca7d7ce948"></a>CO_EMC_CAN_PASSIVE </td><td class="fielddoc"><p>0x8120, CAN in Error Passive Mode </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02aff47b500e2e760355ca653b247e4b93f"></a>CO_EMC_HEARTBEAT </td><td class="fielddoc"><p>0x8130, Life Guard Error or Heartbeat Error </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02a2fd717ed311007b4dd6fe92443f134b0"></a>CO_EMC_BUS_OFF_RECOVERED </td><td class="fielddoc"><p>0x8140, recovered from bus off </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02a683bff5350b0cbab24aef2fc8eac363a"></a>CO_EMC_CAN_ID_COLLISION </td><td class="fielddoc"><p>0x8150, CAN-ID collision </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02ab884b23b23af9671d99cca5865549e5a"></a>CO_EMC_PROTOCOL_ERROR </td><td class="fielddoc"><p>0x82xx, Protocol Error </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02a80fedd7bbb98ddf1ec26d4b31ed6d749"></a>CO_EMC_PDO_LENGTH </td><td class="fielddoc"><p>0x8210, PDO not processed due to length error </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02a88bac871b7539a579fba73825a2e240a"></a>CO_EMC_PDO_LENGTH_EXC </td><td class="fielddoc"><p>0x8220, PDO length exceeded </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02ab58df03302ab06710f7455d37039dea3"></a>CO_EMC_DAM_MPDO </td><td class="fielddoc"><p>0x8230, DAM MPDO not processed, destination object not available </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02a81aa2a66727d1fe29720067dc4e20879"></a>CO_EMC_SYNC_DATA_LENGTH </td><td class="fielddoc"><p>0x8240, Unexpected SYNC data length </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02a4ca48c8d1be6a42ac0c13e551e12b230"></a>CO_EMC_RPDO_TIMEOUT </td><td class="fielddoc"><p>0x8250, RPDO timeout </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02a018485be8125a3515ecd127a08e2e2f1"></a>CO_EMC_TIME_DATA_LENGTH </td><td class="fielddoc"><p>0x8260, Unexpected TIME data length </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02a1d76eff88ebd6050377c393533aebc8d"></a>CO_EMC_EXTERNAL_ERROR </td><td class="fielddoc"><p>0x90xx, External Error </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02af5f9446049023ceae559562998172278"></a>CO_EMC_ADDITIONAL_FUNC </td><td class="fielddoc"><p>0xF0xx, Additional Functions </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02ad7b895b5e7d0f3fa7ff422157ac36c70"></a>CO_EMC_DEVICE_SPECIFIC </td><td class="fielddoc"><p>0xFFxx, Device specific </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02aa432d9c66bb0f6eecc38d720cae6c32e"></a>CO_EMC401_OUT_CUR_HI </td><td class="fielddoc"><p>0x2310, DS401, Current at outputs too high (overload) </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02a182a0c7afc0cb1c30af42a05430da353"></a>CO_EMC401_OUT_SHORTED </td><td class="fielddoc"><p>0x2320, DS401, Short circuit at outputs </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02a21cd31a1455c9dc379796798f0eecd32"></a>CO_EMC401_OUT_LOAD_DUMP </td><td class="fielddoc"><p>0x2330, DS401, Load dump at outputs </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02aacdc3517e800b037b46c1b54f454b562"></a>CO_EMC401_IN_VOLT_HI </td><td class="fielddoc"><p>0x3110, DS401, Input voltage too high </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02a867eb16fce01ade3c728df7c7527e311"></a>CO_EMC401_IN_VOLT_LOW </td><td class="fielddoc"><p>0x3120, DS401, Input voltage too low </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02a9cd0f1a897f40a3a43198ba05de4a11b"></a>CO_EMC401_INTERN_VOLT_HI </td><td class="fielddoc"><p>0x3210, DS401, Internal voltage too high </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02ac122203ed5c6a71749ace599b13ac594"></a>CO_EMC401_INTERN_VOLT_LO </td><td class="fielddoc"><p>0x3220, DS401, Internal voltage too low </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02abf5b6a68120351c2fa52146b45798ed2"></a>CO_EMC401_OUT_VOLT_HIGH </td><td class="fielddoc"><p>0x3310, DS401, Output voltage too high </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga0653c307fd6bc5238babf48e01c9fa02a5f262e622db7482b7230055e5b27c902"></a>CO_EMC401_OUT_VOLT_LOW </td><td class="fielddoc"><p>0x3320, DS401, Output voltage too low </p>
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</td></tr>
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</table>
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</div>
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</div>
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<a id="ga587034df9d350c8e121c253f1d4eeacc"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ga587034df9d350c8e121c253f1d4eeacc">◆ </a></span>CO_EM_errorStatusBits_t</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">enum <a class="el" href="group__CO__Emergency.html#ga587034df9d350c8e121c253f1d4eeacc">CO_EM_errorStatusBits_t</a></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Error status bits. </p>
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<p>Bits for internal indication of the error condition. Each error condition is specified by unique index from 0x00 up to 0xFF.</p>
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<p>If specific error occurs in the stack or in the application, <a class="el" href="group__CO__Emergency.html#gab66d4a6daa5f7492704b56a46b135f71" title="Report error condition, for description of parameters see CO_error.">CO_errorReport()</a> sets specific bit in the <em>errorStatusBit</em> variable from <a class="el" href="structCO__EM__t.html">CO_EM_t</a>. If bit was already set, function returns without any action. Otherwise it prepares emergency message.</p>
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<p>Maximum size (in bits) of the <em>errorStatusBit</em> variable is specified by <a class="el" href="group__CO__STACK__CONFIG__EMERGENCY.html#gab87776d4802748671b234112263760af">CO_CONFIG_EM_ERR_STATUS_BITS_COUNT</a> (set to 10*8 bits by default). Stack uses first 6 bytes. Additional 4 bytes are pre-defined for manufacturer or device specific error indications, by default. </p>
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<table class="fieldtable">
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<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeaccafb7b06b4b1d4fb2f9fa8661fdbaf8b01"></a>CO_EM_NO_ERROR </td><td class="fielddoc"><p>0x00, Error Reset or No Error </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeacca27ebb7f155d4b72618c34dd6aa496aac"></a>CO_EM_CAN_BUS_WARNING </td><td class="fielddoc"><p>0x01, communication, info, CAN bus warning limit reached </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeaccae1e45de61059459a6f1f6e500962f287"></a>CO_EM_RXMSG_WRONG_LENGTH </td><td class="fielddoc"><p>0x02, communication, info, Wrong data length of the received CAN message </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeacca0b17027ee0097065d92e6c0981e3face"></a>CO_EM_RXMSG_OVERFLOW </td><td class="fielddoc"><p>0x03, communication, info, Previous received CAN message wasn't processed yet </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeacca2a36480d4dd6a24f1f8bb66d79441a8d"></a>CO_EM_RPDO_WRONG_LENGTH </td><td class="fielddoc"><p>0x04, communication, info, Wrong data length of received PDO </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeacca73426de91d49273d023b5084a0cea8e0"></a>CO_EM_RPDO_OVERFLOW </td><td class="fielddoc"><p>0x05, communication, info, Previous received PDO wasn't processed yet </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeaccaab5efa11cefb2cd6125cec3ec1c570e1"></a>CO_EM_CAN_RX_BUS_PASSIVE </td><td class="fielddoc"><p>0x06, communication, info, CAN receive bus is passive </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeaccadb8502da626d80a8c423e94e1c76d0cb"></a>CO_EM_CAN_TX_BUS_PASSIVE </td><td class="fielddoc"><p>0x07, communication, info, CAN transmit bus is passive </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeaccac5f82aeeda52c83eee0025c8b387ac5d"></a>CO_EM_NMT_WRONG_COMMAND </td><td class="fielddoc"><p>0x08, communication, info, Wrong NMT command received </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeacca5c1a6209ebe6167bbf13f565b6fd994d"></a>CO_EM_TIME_TIMEOUT </td><td class="fielddoc"><p>0x09, communication, info, TIME message timeout </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeacca3af179820ed2aa88e2c22b7961de71f8"></a>CO_EM_TIME_LENGTH </td><td class="fielddoc"><p>0x0A, communication, info, Unexpected TIME data length </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeacca8bf6fb0db21e29e477b38304279bed5e"></a>CO_EM_0B_unused </td><td class="fielddoc"><p>0x0B, communication, info, (unused) </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeaccaa724f4fdeff7043b0d4f454613a96992"></a>CO_EM_0C_unused </td><td class="fielddoc"><p>0x0C, communication, info, (unused) </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeacca933c070fd08c1223462a3a331b016c99"></a>CO_EM_0D_unused </td><td class="fielddoc"><p>0x0D, communication, info, (unused) </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeacca0cabb2e45202f938cfdafe8e7871f4f7"></a>CO_EM_0E_unused </td><td class="fielddoc"><p>0x0E, communication, info, (unused) </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeaccac6469cc3e6176136f69e549c4a4f5b71"></a>CO_EM_0F_unused </td><td class="fielddoc"><p>0x0F, communication, info, (unused) </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeacca274f46ac0760c4c340f48d1de884f2fe"></a>CO_EM_10_unused </td><td class="fielddoc"><p>0x10, communication, critical, (unused) </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeacca9d8abe2f426ed071febf85a932c1df98"></a>CO_EM_11_unused </td><td class="fielddoc"><p>0x11, communication, critical, (unused) </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeaccae59f8e20795915a0929861809ed42e7c"></a>CO_EM_CAN_TX_BUS_OFF </td><td class="fielddoc"><p>0x12, communication, critical, CAN transmit bus is off </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeaccaf9a86c6c3b87763593dd14be6b0bef29"></a>CO_EM_CAN_RXB_OVERFLOW </td><td class="fielddoc"><p>0x13, communication, critical, CAN module receive buffer has overflowed </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeacca2dbceee7b6deae231bb40a96f8f748a9"></a>CO_EM_CAN_TX_OVERFLOW </td><td class="fielddoc"><p>0x14, communication, critical, CAN transmit buffer has overflowed </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeaccaea141284cd85126a9b3e7b0605a26a94"></a>CO_EM_TPDO_OUTSIDE_WINDOW </td><td class="fielddoc"><p>0x15, communication, critical, TPDO is outside SYNC window </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeacca865160ae9fdac8fcba1e5335b31c2f9f"></a>CO_EM_16_unused </td><td class="fielddoc"><p>0x16, communication, critical, (unused) </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeaccad5bb584bb3c85ca0ba0313367aa75a9b"></a>CO_EM_17_unused </td><td class="fielddoc"><p>0x17, communication, critical, (unused) </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeaccafd760392f4d4d6358896486c5b5d7d82"></a>CO_EM_SYNC_TIME_OUT </td><td class="fielddoc"><p>0x18, communication, critical, SYNC message timeout </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeacca09a521bfc9ea08ed340cfa29952a471c"></a>CO_EM_SYNC_LENGTH </td><td class="fielddoc"><p>0x19, communication, critical, Unexpected SYNC data length </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeacca7308b487766b8feca60ef0c1b873f167"></a>CO_EM_PDO_WRONG_MAPPING </td><td class="fielddoc"><p>0x1A, communication, critical, Error with PDO mapping </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeacca6478d414ea45f6a9129e68a9d57e11b7"></a>CO_EM_HEARTBEAT_CONSUMER </td><td class="fielddoc"><p>0x1B, communication, critical, Heartbeat consumer timeout </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeacca0b6698662476cc622661fb5a5a75ec31"></a>CO_EM_HB_CONSUMER_REMOTE_RESET </td><td class="fielddoc"><p>0x1C, communication, critical, Heartbeat consumer detected remote node reset </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeacca6d0bf9c926241ec8f67c477928300761"></a>CO_EM_1D_unused </td><td class="fielddoc"><p>0x1D, communication, critical, (unused) </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeaccab2f3562c4e1f8e25a7837627dc1721db"></a>CO_EM_1E_unused </td><td class="fielddoc"><p>0x1E, communication, critical, (unused) </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeaccadba4afb9dac78f8eb0c5f494926568b1"></a>CO_EM_1F_unused </td><td class="fielddoc"><p>0x1F, communication, critical, (unused) </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeaccabd1935c51679f70f509ffd60e28c02b1"></a>CO_EM_EMERGENCY_BUFFER_FULL </td><td class="fielddoc"><p>0x20, generic, info, Emergency buffer is full, Emergency message wasn't sent </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeaccadbce7bd9d5a0ee681104914092b21d8d"></a>CO_EM_21_unused </td><td class="fielddoc"><p>0x21, generic, info, (unused) </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeaccacb69eecc08e72c56aec215fa55e27e16"></a>CO_EM_MICROCONTROLLER_RESET </td><td class="fielddoc"><p>0x22, generic, info, Microcontroller has just started </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeaccaa0c8857afdd8455b30fd0179e98599fb"></a>CO_EM_23_unused </td><td class="fielddoc"><p>0x23, generic, info, (unused) </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeacca9cf88b48355b3cc43fe9a8360b8470df"></a>CO_EM_24_unused </td><td class="fielddoc"><p>0x24, generic, info, (unused) </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeacca0a8abc6fcd7b0d5469b469c2cf370a82"></a>CO_EM_25_unused </td><td class="fielddoc"><p>0x25, generic, info, (unused) </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeacca0398195eafec5f8d60a76f677ce2a714"></a>CO_EM_26_unused </td><td class="fielddoc"><p>0x26, generic, info, (unused) </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeacca95ca6848349affc579fff2c2a62e87d7"></a>CO_EM_27_unused </td><td class="fielddoc"><p>0x27, generic, info, (unused) </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeacca2d7776243205bc75e6c448e13e697480"></a>CO_EM_WRONG_ERROR_REPORT </td><td class="fielddoc"><p>0x28, generic, critical, Wrong parameters to <a class="el" href="group__CO__Emergency.html#gab66d4a6daa5f7492704b56a46b135f71" title="Report error condition, for description of parameters see CO_error.">CO_errorReport()</a> function </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeaccadbf7382f537c9f59f965ce38be464e46"></a>CO_EM_ISR_TIMER_OVERFLOW </td><td class="fielddoc"><p>0x29, generic, critical, Timer task has overflowed </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeacca2575dac21ff9ac9c4c4e5ca63d34fdbc"></a>CO_EM_MEMORY_ALLOCATION_ERROR </td><td class="fielddoc"><p>0x2A, generic, critical, Unable to allocate memory for objects </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeacca21648a2863590d3cccb469f8ef759267"></a>CO_EM_GENERIC_ERROR </td><td class="fielddoc"><p>0x2B, generic, critical, Generic error, test usage </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeacca6c3e7fff310443f05815ea2b7ac6b289"></a>CO_EM_GENERIC_SOFTWARE_ERROR </td><td class="fielddoc"><p>0x2C, generic, critical, Software error </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeacca2c6a108cabca6f03b1400065f2ad4887"></a>CO_EM_INCONSISTENT_OBJECT_DICT </td><td class="fielddoc"><p>0x2D, generic, critical, Object dictionary does not match the software </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeacca5544a90d3047bc08186ea7412528dc93"></a>CO_EM_CALCULATION_OF_PARAMETERS </td><td class="fielddoc"><p>0x2E, generic, critical, Error in calculation of device parameters </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeaccac019532cacaa8310f9ca413a2f599af3"></a>CO_EM_NON_VOLATILE_MEMORY </td><td class="fielddoc"><p>0x2F, generic, critical, Error with access to non volatile device memory </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeaccaf850a661aadde65b10b22715cf24942c"></a>CO_EM_MANUFACTURER_START </td><td class="fielddoc"><p>0x30+, manufacturer, info or critical, Error status buts, free to use by manufacturer. </p>
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<p>By default bits 0x30..0x3F are set as informational and bits 0x40..0x4F are set as critical. Manufacturer critical bits sets the error register, as specified by <a class="el" href="group__CO__STACK__CONFIG__EMERGENCY.html#ga3717ce44b5db3189757d874f440adce1">CO_CONFIG_ERR_CONDITION_MANUFACTURER</a> </p>
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</td></tr>
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<tr><td class="fieldname"><a id="gga587034df9d350c8e121c253f1d4eeacca5d3c6fdb77551b3f4aaf993ae1dfb414"></a>CO_EM_MANUFACTURER_END </td><td class="fielddoc"><p>(<a class="el" href="group__CO__STACK__CONFIG__EMERGENCY.html#gab87776d4802748671b234112263760af">CO_CONFIG_EM_ERR_STATUS_BITS_COUNT</a> - 1), largest value of the Error status bit. </p>
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</td></tr>
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</table>
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</div>
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</div>
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<h2 class="groupheader">Function Documentation</h2>
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<a id="ga5b80f59df00b71dca7a5c18c139aa71e"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ga5b80f59df00b71dca7a5c18c139aa71e">◆ </a></span>CO_EM_init()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname"><a class="el" href="group__CO__driver.html#ga1cb2d3466eb0c6d267f3b5ff1a0d9532">CO_ReturnError_t</a> CO_EM_init </td>
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<td>(</td>
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<td class="paramtype"><a class="el" href="structCO__EM__t.html">CO_EM_t</a> * </td>
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<td class="paramname"><em>em</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">const <a class="el" href="structOD__entry__t.html">OD_entry_t</a> * </td>
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<td class="paramname"><em>OD_1001_errReg</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">const <a class="el" href="structOD__entry__t.html">OD_entry_t</a> * </td>
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<td class="paramname"><em>OD_1014_cobIdEm</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="structCO__CANmodule__t.html">CO_CANmodule_t</a> * </td>
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<td class="paramname"><em>CANdevTx</em>, </td>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> </td>
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<td class="paramname"><em>CANdevTxIdx</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">const <a class="el" href="structOD__entry__t.html">OD_entry_t</a> * </td>
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<td class="paramname"><em>OD_1015_InhTime</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">const <a class="el" href="structOD__entry__t.html">OD_entry_t</a> * </td>
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<td class="paramname"><em>OD_1003_preDefErr</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">const <a class="el" href="structOD__entry__t.html">OD_entry_t</a> * </td>
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<td class="paramname"><em>OD_statusBits</em>, </td>
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</tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="structCO__CANmodule__t.html">CO_CANmodule_t</a> * </td>
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<td class="paramname"><em>CANdevRx</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> </td>
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<td class="paramname"><em>CANdevRxIdx</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">const <a class="el" href="group__CO__dataTypes.html#gaba7bc1797add20fe3efdf37ced1182c5">uint8_t</a> </td>
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<td class="paramname"><em>nodeId</em> </td>
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</tr>
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<tr>
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<td></td>
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<td>)</td>
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<td></td><td></td>
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</div><div class="memdoc">
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<p>Initialize Emergency object. </p>
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<p>Function must be called in the communication reset section.</p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">em</td><td>This object will be initialized. </td></tr>
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<tr><td class="paramname">OD_1001_errReg</td><td>OD entry for 0x1001 - "Error register", entry is required, without IO extension. </td></tr>
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<tr><td class="paramname">OD_1014_cobIdEm</td><td>OD entry for 0x1014 - "COB-ID EMCY", entry is required, IO extension is required. </td></tr>
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<tr><td class="paramname">CANdevTx</td><td>CAN device for Emergency transmission. </td></tr>
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<tr><td class="paramname">CANdevTxIdx</td><td>Index of transmit buffer in the above CAN device. </td></tr>
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<tr><td class="paramname">OD_1015_InhTime</td><td>OD entry for 0x1015 - "Inhibit time EMCY", entry is optional (can be NULL), IO extension is optional for runtime configuration. </td></tr>
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<tr><td class="paramname">OD_1003_preDefErr</td><td>OD entry for 0x1003 - "Pre-defined error field". Emergency object has own memory buffer for this entry. Entry is optional, IO extension is required. </td></tr>
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<tr><td class="paramname">OD_statusBits</td><td>Custom OD entry for accessing errorStatusBits from <a class="el" href="structCO__EM__t.html">CO_EM_t</a>. Entry must have variable of size (CO_CONFIG_EM_ERR_STATUS_BITS_COUNT/8) bytes available for read/write access on subindex 0. Emergency object has own memory buffer for this entry. Entry is optional, IO extension is required. </td></tr>
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<tr><td class="paramname">CANdevRx</td><td>CAN device for Emergency consumer reception. </td></tr>
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<tr><td class="paramname">CANdevRxIdx</td><td>Index of receive buffer in the above CAN device. </td></tr>
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<tr><td class="paramname">nodeId</td><td>CANopen node ID of this device (for default emergency producer)</td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd><a class="el" href="group__CO__driver.html#ga1cb2d3466eb0c6d267f3b5ff1a0d9532">CO_ReturnError_t</a> CO_ERROR_NO in case of success. </dd></dl>
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</div>
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</div>
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<a id="ga94efd78032de3667e2a89780b08aabed"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ga94efd78032de3667e2a89780b08aabed">◆ </a></span>CO_EM_initCallbackPre()</h2>
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<div class="memitem">
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<td class="memname">void CO_EM_initCallbackPre </td>
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<td>(</td>
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<td class="paramtype"><a class="el" href="structCO__EM__t.html">CO_EM_t</a> * </td>
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<td class="paramname"><em>em</em>, </td>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">void * </td>
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<td class="paramname"><em>object</em>, </td>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">void(*)(void *object) </td>
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<td class="paramname"><em>pFunctSignal</em> </td>
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</tr>
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<tr>
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<td></td>
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<td>)</td>
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<td></td><td></td>
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</div><div class="memdoc">
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<p>Initialize Emergency callback function. </p>
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<p>Function initializes optional callback function, which should immediately start processing of <a class="el" href="group__CO__Emergency.html#ga93ae7be6ef966192f5761ce343345d3b" title="Process Error control and Emergency object.">CO_EM_process()</a> function. Callback is called from <a class="el" href="group__CO__Emergency.html#gab66d4a6daa5f7492704b56a46b135f71" title="Report error condition, for description of parameters see CO_error.">CO_errorReport()</a> or <a class="el" href="group__CO__Emergency.html#ga24e2a9311cf704ec6ed43b0ea730c4a3" title="Reset error condition, for description of parameters see CO_error.">CO_errorReset()</a> function. Those functions are fast and may be called from any thread. Callback should immediately start mainline thread, which calls <a class="el" href="group__CO__Emergency.html#ga93ae7be6ef966192f5761ce343345d3b" title="Process Error control and Emergency object.">CO_EM_process()</a> function.</p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">em</td><td>This object. </td></tr>
|
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<tr><td class="paramname">object</td><td>Pointer to object, which will be passed to pFunctSignal(). Can be NULL </td></tr>
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<tr><td class="paramname">pFunctSignal</td><td>Pointer to the callback function. Not called if NULL. </td></tr>
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</table>
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</dd>
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</dl>
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</div>
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</div>
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<a id="ga583245c954327c3cf7f9fdb97854e76b"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ga583245c954327c3cf7f9fdb97854e76b">◆ </a></span>CO_EM_initCallbackRx()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<td class="memname">void CO_EM_initCallbackRx </td>
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<td>(</td>
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<td class="paramtype"><a class="el" href="structCO__EM__t.html">CO_EM_t</a> * </td>
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<td class="paramname"><em>em</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">void(*)(const <a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> ident, const <a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> errorCode, const <a class="el" href="group__CO__dataTypes.html#gaba7bc1797add20fe3efdf37ced1182c5">uint8_t</a> errorRegister, const <a class="el" href="group__CO__dataTypes.html#gaba7bc1797add20fe3efdf37ced1182c5">uint8_t</a> errorBit, const <a class="el" href="group__CO__dataTypes.html#ga33594304e786b158f3fb30289278f5af">uint32_t</a> infoCode) </td>
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<td class="paramname"><em>pFunctSignalRx</em> </td>
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</tr>
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<tr>
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<td></td>
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<td>)</td>
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<td></td><td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Initialize Emergency received callback function. </p>
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<p>Function initializes optional callback function, which executes after error condition is received.</p>
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<p><em>ident</em> argument from callback contains CAN-ID of the emergency message. If <em>ident</em> == 0, then emergency message was sent from this device.</p>
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<dl class="section remark"><dt>Remarks</dt><dd>Depending on the CAN driver implementation, this function is called inside an ISR or inside a mainline. Must be thread safe.</dd></dl>
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<dl class="params"><dt>Parameters</dt><dd>
|
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<table class="params">
|
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<tr><td class="paramname">em</td><td>This object. </td></tr>
|
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<tr><td class="paramname">pFunctSignalRx</td><td>Pointer to the callback function. Not called if NULL. </td></tr>
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</table>
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</dd>
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</dl>
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</div>
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</div>
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<a id="ga93ae7be6ef966192f5761ce343345d3b"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ga93ae7be6ef966192f5761ce343345d3b">◆ </a></span>CO_EM_process()</h2>
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<div class="memitem">
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<div class="memproto">
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<td class="memname">void CO_EM_process </td>
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<td>(</td>
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<td class="paramtype"><a class="el" href="structCO__EM__t.html">CO_EM_t</a> * </td>
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<td class="paramname"><em>em</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="group__CO__dataTypes.html#ga449976458a084f880dc8e3d29e7eb6f5">bool_t</a> </td>
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<td class="paramname"><em>NMTisPreOrOperational</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="group__CO__dataTypes.html#ga33594304e786b158f3fb30289278f5af">uint32_t</a> </td>
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<td class="paramname"><em>timeDifference_us</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="group__CO__dataTypes.html#ga33594304e786b158f3fb30289278f5af">uint32_t</a> * </td>
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<td class="paramname"><em>timerNext_us</em> </td>
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</tr>
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<tr>
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<td></td>
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<td>)</td>
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<td></td><td></td>
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</table>
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</div><div class="memdoc">
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<p>Process Error control and Emergency object. </p>
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<p>Function must be called cyclically. It verifies some communication errors, calculates OD object 0x1001 - "Error register" and sends emergency message if necessary.</p>
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<dl class="params"><dt>Parameters</dt><dd>
|
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<table class="params">
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<tr><td class="paramdir"></td><td class="paramname">em</td><td>This object. </td></tr>
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<tr><td class="paramdir"></td><td class="paramname">NMTisPreOrOperational</td><td>True if this node is NMT_PRE_OPERATIONAL or NMT_OPERATIONAL state. </td></tr>
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<tr><td class="paramdir"></td><td class="paramname">timeDifference_us</td><td>Time difference from previous function call in [microseconds]. </td></tr>
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<tr><td class="paramdir">[out]</td><td class="paramname">timerNext_us</td><td>info to OS - see <a class="el" href="group__CO__CANopen.html#ga895d7fad40b60aacdac3cb0615729b5e" title="Process CANopen objects.">CO_process()</a>. </td></tr>
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</table>
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</dd>
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</dl>
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</div>
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</div>
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<a id="ga9221f9f631ead4b6f66cfcff8614ba46"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ga9221f9f631ead4b6f66cfcff8614ba46">◆ </a></span>CO_error()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<td class="memname">void CO_error </td>
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<td>(</td>
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<td class="paramtype"><a class="el" href="structCO__EM__t.html">CO_EM_t</a> * </td>
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<td class="paramname"><em>em</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="group__CO__dataTypes.html#ga449976458a084f880dc8e3d29e7eb6f5">bool_t</a> </td>
|
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<td class="paramname"><em>setError</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">const <a class="el" href="group__CO__dataTypes.html#gaba7bc1797add20fe3efdf37ced1182c5">uint8_t</a> </td>
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<td class="paramname"><em>errorBit</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> </td>
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<td class="paramname"><em>errorCode</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="group__CO__dataTypes.html#ga33594304e786b158f3fb30289278f5af">uint32_t</a> </td>
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<td class="paramname"><em>infoCode</em> </td>
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</tr>
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<tr>
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<td></td>
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<td>)</td>
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<td></td><td></td>
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</div><div class="memdoc">
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<p>Set or reset error condition. </p>
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<p>Function can be called on any error condition inside CANopen stack or application. Function first checks change of error condition (setError is true and error bit wasn't set or setError is false and error bit was set before). If changed, then Emergency message is prepared and record in history is added. Emergency message is later sent by <a class="el" href="group__CO__Emergency.html#ga93ae7be6ef966192f5761ce343345d3b" title="Process Error control and Emergency object.">CO_EM_process()</a> function.</p>
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<p>Function is short and thread safe.</p>
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<dl class="params"><dt>Parameters</dt><dd>
|
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<table class="params">
|
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<tr><td class="paramname">em</td><td>Emergency object. </td></tr>
|
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<tr><td class="paramname">setError</td><td>True if error occurred or false if error resolved. </td></tr>
|
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<tr><td class="paramname">errorBit</td><td>from <a class="el" href="group__CO__Emergency.html#ga587034df9d350c8e121c253f1d4eeacc">CO_EM_errorStatusBits_t</a>. </td></tr>
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<tr><td class="paramname">errorCode</td><td>from <a class="el" href="group__CO__Emergency.html#ga0653c307fd6bc5238babf48e01c9fa02">CO_EM_errorCode_t</a>. </td></tr>
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<tr><td class="paramname">infoCode</td><td>32 bit value is passed to bytes 4...7 of the Emergency message. It contains optional additional information. </td></tr>
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</table>
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</dd>
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</dl>
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</div>
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</div>
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<a id="ga8e9bae71814a3e7bbd8d59d721174c2b"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ga8e9bae71814a3e7bbd8d59d721174c2b">◆ </a></span>CO_isError()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="mlabels">
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<td class="memname">static <a class="el" href="group__CO__dataTypes.html#ga449976458a084f880dc8e3d29e7eb6f5">bool_t</a> CO_isError </td>
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<td>(</td>
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<td class="paramtype"><a class="el" href="structCO__EM__t.html">CO_EM_t</a> * </td>
|
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<td class="paramname"><em>em</em>, </td>
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</tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">const <a class="el" href="group__CO__dataTypes.html#gaba7bc1797add20fe3efdf37ced1182c5">uint8_t</a> </td>
|
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<td class="paramname"><em>errorBit</em> </td>
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</tr>
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<tr>
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<td></td>
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<td>)</td>
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<td></td><td></td>
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</table>
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</td>
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<td class="mlabels-right">
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<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span> </td>
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</div><div class="memdoc">
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<p>Check specific error condition. </p>
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<p>Function returns true, if specific internal error is present.</p>
|
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<dl class="params"><dt>Parameters</dt><dd>
|
|
<table class="params">
|
|
<tr><td class="paramname">em</td><td>Emergency object. </td></tr>
|
|
<tr><td class="paramname">errorBit</td><td>from <a class="el" href="group__CO__Emergency.html#ga587034df9d350c8e121c253f1d4eeacc">CO_EM_errorStatusBits_t</a>.</td></tr>
|
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</table>
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</dd>
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</dl>
|
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<dl class="section return"><dt>Returns</dt><dd>true if Error is present. </dd></dl>
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</div>
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</div>
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<h2 class="memtitle"><span class="permalink"><a href="#gaf0c47186d9e51fb91d48385a9f6bad6b">◆ </a></span>CO_getErrorRegister()</h2>
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<td class="memname">static <a class="el" href="group__CO__dataTypes.html#gaba7bc1797add20fe3efdf37ced1182c5">uint8_t</a> CO_getErrorRegister </td>
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<td class="paramtype"><a class="el" href="structCO__EM__t.html">CO_EM_t</a> * </td>
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<td class="paramname"><em>em</em></td><td>)</td>
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<p>Get error register. </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">em</td><td>Emergency object.</td></tr>
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<dl class="section return"><dt>Returns</dt><dd>Error register or 0 if doesn't exist. </dd></dl>
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<li class="footer">Generated on Thu Dec 24 2020 14:30:50 for CANopenNode by
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<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
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