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error.c
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error.c
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//
// error.c
//
// Michael Jean <michael.jean@shaw.ca>
//
#include <avr/io.h>
#include <util/delay.h>
#include "can.h"
#include "can_config.h"
#include "error.h"
#include "state.h"
static volatile err_code_t error_code = 0;
err_code_t
error_get_error_code (void)
{
return error_code;
}
void
error_set_error_code (err_code_t new_error_code)
{
error_code = new_error_code;
}
void
error_clear_error_code (void)
{
error_code = 0;
}
void
error_broadcast_error_code (err_severity_t error_severity, err_code_t error_code)
{
uint8_t data[2] = { error_severity, error_code };
can_load_data (mob_out_error, data, 2);
can_ready_to_send (mob_out_error);
}
void
error_fatal_error (void)
{
error_broadcast_error_code (err_sev_fatal, error_code);
can_init (); /* 1 */
while (1)
{
PORTG ^= _BV (PG3);
_delay_ms (250.0);
}
}
void
error_recoverable_error (void)
{
error_broadcast_error_code (err_sev_recoverable, error_code);
state_transition (state_idle);
}