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Add rudimentary option to place an emergency message in the out mailbox

pull/108/head
bnjmnp 2021-12-05 12:54:36 +01:00
parent 829dde8b11
commit 39a4ab1d39
3 changed files with 45 additions and 0 deletions
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12
soes/esc.h
View File

@ -209,6 +209,7 @@
#define COE_DEFAULTLENGTH 0x0a
#define COE_HEADERSIZE 0x0a
#define COE_SEGMENTHEADERSIZE 0x03
#define COE_EMERGENCY 0x01
#define COE_SDOREQUEST 0x02
#define COE_SDORESPONSE 0x03
#define COE_SDOINFORMATION 0x08
@ -572,6 +573,17 @@ typedef struct CC_PACKED
} _MBXerr;
CC_PACKED_END
CC_PACKED_BEGIN
typedef struct CC_PACKED CC_ALIGNED(4)
{
_MBXh mbxheader;
_COEh coeheader;
uint16_t errorcode;
uint8_t errorregister;
uint8_t data[5];
} _COEemc;
CC_PACKED_END
CC_PACKED_BEGIN
typedef struct CC_PACKED CC_ALIGNED(4)
{

32
soes/esc_coe.c
View File

@ -1841,3 +1841,35 @@ uint8_t COE_maxSub (uint16_t index)
maxsub = OBJ_VALUE_FETCH (maxsub, SDOobjects[nidx].objdesc[0]);
return maxsub;
}
/** Throw an emergency message
*
* @param[in] errorcode = error code
* @param[in] errorregister = error register
* @param[in] data = payload
* @return 0= if we succeed, -1 if mailbox was in use
*/
int COE_throwEmergency (uint16_t errorcode, uint8_t errorregister, uint8_t data[5])
{
uint8_t MBXout;
_COEemc *coeemc;
MBXout = ESC_claimbuffer ();
if (MBXout)
{
coeemc = (_COEemc *) &MBX[MBXout * ESC_MBXSIZE];
coeemc->mbxheader.length = htoes (COE_DEFAULTLENGTH);
coeemc->mbxheader.mbxtype = MBXCOE;
coeemc->coeheader.numberservice =
htoes ((0 & 0x01f) | (COE_EMERGENCY << 12));
coeemc->errorcode = htoes (errorcode);
coeemc->errorregister = errorregister;
copy2mbx (data, coeemc->data, 5);
MBXcontrol[MBXout].state = MBXstate_outreq;
return 0;
}
else
{
return -1;
}
}

1
soes/esc_coe.h
View File

@ -116,6 +116,7 @@ void COE_initDefaultValues (void);
void COE_pdoPack (uint8_t * buffer, int nmappings, _SMmap * sm);
void COE_pdoUnpack (uint8_t * buffer, int nmappings, _SMmap * sm);
uint8_t COE_maxSub (uint16_t index);
int COE_throwEmergency (uint16_t errorcode, uint8_t errorregister, uint8_t data[5]);
extern uint32_t ESC_download_post_objecthandler (uint16_t index, uint8_t subindex, uint16_t flags);
extern uint32_t ESC_download_pre_objecthandler (uint16_t index,