extern void eom_emsappl_hid_userdef_on_exit_RUN(EOMtheEMSappl* p)
{
// EOtheCANservice: set straigth mode and force parsing of all packets in the RX queues.
eo_canserv_SetMode(eo_canserv_GetHandle(), eocanserv_mode_straight);
eo_canserv_ParseAll(eo_canserv_GetHandle());
// stop services
// motion-control
eo_motioncontrol_Stop(eo_motioncontrol_GetHandle());
eo_motioncontrol_Deactivate(eo_motioncontrol_GetHandle());
// stop tx activity of services that may have been started by callback function
// strain... no strain in here
// eo_strain_Stop(eo_strain_GetHandle());
// eo_strain_Deactivate(eo_strain_GetHandle());
// skin
eo_skin_Stop(eo_skin_GetHandle());
eo_skin_Deactivate(eo_skin_GetHandle());
// mais
eo_mais_Stop(eo_mais_GetHandle());
eo_mais_Deactivate(eo_mais_GetHandle());
// inertials
eo_inertials2_Stop(eo_inertials2_GetHandle());
eo_inertials2_Deactivate(eo_inertials2_GetHandle());
}
extern void eom_emsappl_hid_userdef_on_exit_RUN(EOMtheEMSappl* p)
{
eOresult_t res = eores_NOK_generic;
// set run mode straigth. then read all can frames received
eo_canserv_SetMode(eo_canserv_GetHandle(), eocanserv_mode_straight);
const uint8_t maxframes2read = 255; // 255 is the max number possible. the function however exits when all canframes are
eo_canserv_Parse(eo_canserv_GetHandle(), eOcanport1, maxframes2read, NULL);
eo_canserv_Parse(eo_canserv_GetHandle(), eOcanport2, maxframes2read, NULL);
// stop skin. the check whether to stop skin or not is done internally.
eo_skin_DisableTX(eo_skin_GetHandle());
// stop motion control
res = eo_emsapplBody_DisableTxAllJointOnCan(eo_emsapplBody_GetHandle());
if (eores_NOK_generic == res)
{
// handle the error ... not important
}
// stop tx of strain, if present
eo_strain_DisableTX(eo_strain_GetHandle());
}
extern void eom_emsappl_hid_userdef_on_entry_ERR(EOMtheEMSappl* p)
{
// pulse led3 forever at 4 hz.
eo_ledpulser_Start(eo_ledpulser_GetHandle(), eo_ledpulser_led_three, EOK_reltime1sec/4, 0);
// EOtheCANservice: set straight mode and force parsing of all packets in the RX queues.
eo_canserv_SetMode(eo_canserv_GetHandle(), eocanserv_mode_straight);
eo_canserv_ParseAll(eo_canserv_GetHandle());
// stop services which may have been started
// motion-control
eo_motioncontrol_Stop(eo_motioncontrol_GetHandle());
eo_motioncontrol_Deactivate(eo_motioncontrol_GetHandle());
// stop tx activity of services that may have been started by callback function
// strain... no strain in here
// eo_strain_Stop(eo_strain_GetHandle());
// eo_strain_Deactivate(eo_strain_GetHandle());
// skin
eo_skin_Stop(eo_skin_GetHandle());
eo_skin_Deactivate(eo_skin_GetHandle());
// mais
eo_mais_Stop(eo_mais_GetHandle());
eo_mais_Deactivate(eo_mais_GetHandle());
// inertials
eo_inertials2_Stop(eo_inertials2_GetHandle());
eo_inertials2_Deactivate(eo_inertials2_GetHandle());
// inertials3
eo_inertials3_Stop(eo_inertials3_GetHandle());
eo_inertials3_Deactivate(eo_inertials3_GetHandle());
// temperatures
eo_temperatures_Stop(eo_temperatures_GetHandle());
eo_temperatures_Deactivate(eo_temperatures_GetHandle());
}