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Add function to enter state with error

pull/52/head
Andreas Karlsson 2019-01-30 10:27:07 +01:00 committed by Hans-Erik Floryd
parent c8675af12c
commit 446b79d456
2 changed files with 44 additions and 0 deletions
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42
soes/esc.c
View File

@ -41,6 +41,48 @@ void ESC_ALstatus (uint8_t status)
ESC_write (ESCREG_ALSTATUS, &dummy, sizeof (dummy));
}
/** Write AL Status and AL Status code to the ESC.
* Call pre- and poststate change hook
*
* @param[in] status = Write current slave status to register 0x130 AL Status
* reflecting actual state and error indication if present
* @param[in] errornumber = Write an by EtherCAT specified Error number
* register 0x134 AL Status Code
*/
void ESC_ALstatusgotoerror (uint8_t status, uint16_t errornumber)
{
uint8_t an, as;
if(status & ESCop)
{
/* Erroneous input, ignore */
return;
}
/* Mask error ack of current state */
as = ESCvar.ALstatus & ESCREG_AL_ERRACKMASK;
an = as;
/* Set the state transition, new state in high bits and old in bits */
as = ((status & ESCREG_AL_ERRACKMASK) << 4) | (as & 0x0f);
/* Call post state change hook case it have been configured */
if (ESCvar.pre_state_change_hook != NULL)
{
ESCvar.pre_state_change_hook (&as, &an);
}
/* Stop outputs if active */
if ((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0)
{
ESC_stopoutput();
}
ESC_ALerror(errornumber);
ESC_ALstatus(status);
an = status;
/* Call post state change hook case it have been configured */
if (ESCvar.post_state_change_hook != NULL)
{
ESCvar.post_state_change_hook (&as, &an);
}
}
/** Write ALeventMask register 0x204.
*
* @param[in] n = AL Event Mask

2
soes/esc.h
View File

@ -27,6 +27,7 @@
#define ESCREG_ALEVENT_DC_SYNC0 0x0004
#define ESCREG_ALEVENT_DC_SYNC1 0x0008
#define ESCREG_ALEVENT_EEP 0x0020
#define ESCREG_ALEVENT_WD 0x0040
#define ESCREG_ALEVENT_SM0 0x0100
#define ESCREG_ALEVENT_SM1 0x0200
#define ESCREG_ALEVENT_SM2 0x0400
@ -606,6 +607,7 @@ uint32_t ESC_ALeventread (void);
void ESC_ALeventmaskwrite (uint32_t mask);
uint32_t ESC_ALeventmaskread (void);
void ESC_ALstatus (uint8_t status);
void ESC_ALstatusgotoerror (uint8_t status, uint16_t errornumber);
void ESC_SMstatus (uint8_t n);
uint8_t ESC_WDstatus (void);
uint8_t ESC_claimbuffer (void);