CAN errors & Log

CANopen Errors and System message log. More...

Collaboration diagram for CAN errors & Log:

Files
file	CO_error.h
	CANopenNode Linux socketCAN Error handling.

Data Structures
struct	CO_CANinterfaceErrorhandler_t
	socketCAN interface error handling More...

Macros
#define	CO_CANerror_NOACK_MAX   16
	This is how many NO-ACKs need to be received in a row to assume that no other nodes are connected to a bus and therefore are assuming listen-only.
#define	CO_CANerror_LISTEN_ONLY   10
	This is how long we are going to block transmission if listen-only mode is active.

Enumerations
enum	CO_CANinterfaceState_t { CO_INTERFACE_ACTIVE , CO_INTERFACE_LISTEN_ONLY , CO_INTERFACE_BUS_OFF }
	driver interface state More...

Functions
void	log_printf (int priority, const char *format,...)
	Message logging function.
void	CO_CANerror_init (CO_CANinterfaceErrorhandler_t *CANerrorhandler, int fd, const char *ifname)
	Initialize CAN error handler.
void	CO_CANerror_disable (CO_CANinterfaceErrorhandler_t *CANerrorhandler)
	Reset CAN error handler.
void	CO_CANerror_rxMsg (CO_CANinterfaceErrorhandler_t *CANerrorhandler)
	Message received event.
CO_CANinterfaceState_t	CO_CANerror_txMsg (CO_CANinterfaceErrorhandler_t *CANerrorhandler)
	Check if interface is ready for message transmission.
CO_CANinterfaceState_t	CO_CANerror_rxMsgError (CO_CANinterfaceErrorhandler_t *CANerrorhandler, const struct can_frame *msg)
	Error message received event.

Detailed Description

CANopen Errors and System message log.

Macro Definition Documentation

CO_CANerror_LISTEN_ONLY

#define CO_CANerror_LISTEN_ONLY   10

This is how long we are going to block transmission if listen-only mode is active.

Time is in seconds.

Enumeration Type Documentation

CO_CANinterfaceState_t

enum CO_CANinterfaceState_t

driver interface state

CAN hardware can be in the followning states:

• error active (OK)
• error passive (Can't generate error flags)
• bus off (no influence on bus)

Enumerator
CO_INTERFACE_ACTIVE	CAN error passive/active.
CO_INTERFACE_LISTEN_ONLY	CAN error passive/active, but currently no other device on bus.
CO_INTERFACE_BUS_OFF	CAN bus off.

Function Documentation

log_printf()

void log_printf	(	int	priority,
		const char *	format,
			... )

Message logging function.

Function must be defined by application. It should record log message to some place, for example syslog() call in Linux or logging functionality in CANopen gateway CO_CANopen_309_3.

By default system stores messages in /var/log/syslog file. Log can optionally be configured before, for example to filter out less critical errors than LOG_NOTICE, specify program name, print also process PID and print also to standard error, set 'user' type of program, use:

setlogmask (LOG_UPTO (LOG_NOTICE));
openlog ("exampleprog", LOG_PID | LOG_PERROR, LOG_USER);

Parameters

priority	one of LOG_EMERG, LOG_ALERT, LOG_CRIT, LOG_ERR, LOG_WARNING, LOG_NOTICE, LOG_INFO, LOG_DEBUG
format	format string as in printf

CO_CANerror_init()

void CO_CANerror_init	(	CO_CANinterfaceErrorhandler_t *	CANerrorhandler,
		int	fd,
		const char *	ifname )

Initialize CAN error handler.

We need one error handler per interface

Parameters

CANerrorhandler	This object will be initialized.
fd	interface file descriptor
ifname	interface name as string

CO_CANerror_disable()

void CO_CANerror_disable

(

CO_CANinterfaceErrorhandler_t *

CANerrorhandler

)

Reset CAN error handler.

Parameters

CANerrorhandler

CAN error object.

CO_CANerror_rxMsg()

void CO_CANerror_rxMsg

(

CO_CANinterfaceErrorhandler_t *

CANerrorhandler

)

Message received event.

When a message is received at least one other CAN module is connected. Function clears listenOnly and noackCounter error flags.

Parameters

CANerrorhandler

CAN error object.

CO_CANerror_txMsg()

CO_CANinterfaceState_t CO_CANerror_txMsg

(

CO_CANinterfaceErrorhandler_t *

CANerrorhandler

)

Check if interface is ready for message transmission.

Message mustn't be transmitted if not ready.

Parameters

CANerrorhandler

CAN error object.

Returns

CO_INTERFACE_ACTIVE message transmission ready

CO_CANerror_rxMsgError()

CO_CANinterfaceState_t CO_CANerror_rxMsgError	(	CO_CANinterfaceErrorhandler_t *	CANerrorhandler,
		const struct can_frame *	msg )

Error message received event.

This handles all received error messages.

Parameters

CANerrorhandler	CAN error object.
msg	received error message

Returns

CO_CANinterfaceState_t