hal_error.h 文件参考

定义硬件抽象层的错误码 更多...

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宏定义
#define	JOINT_ERRORS
#define	TOOL_ERRORS
#define	PEDSTRAL_ERRORS
#define	SAFETY_INTERFACE_BOARD_ERRORS
#define	HARDWARE_INTERFACE_ERRORS
#define	HAL_ERRORS

详细描述

定义硬件抽象层的错误码

在文件 hal_error.h 中定义.

宏定义说明

#define HAL_ERRORS

值:

JOINT_ERRORS                  \
    SAFETY_INTERFACE_BOARD_ERRORS \
    TOOL_ERRORS                   \
    PEDSTRAL_ERRORS               \
    HARDWARE_INTERFACE_ERRORS

在文件 hal_error.h 第 155 行定义.

#define HARDWARE_INTERFACE_ERRORS

在文件 hal_error.h 第 119 行定义.

#define JOINT_ERRORS

在文件 hal_error.h 第 19 行定义.

#define PEDSTRAL_ERRORS

值:

_D(PKG_LOST, 50001, "Lost package from pedestal", "suggest...") \
    _D(PEDSTRAL_OFFLINE,  50002, "pedestal error: pedestal may be offline", "(a) Check pedestal's hardware. (b) Check pedestal's id.") \
    _D(PEDESTAL_ERR_BOOTLOADER,  50003, "pedestal error: pedestal at bootloader mode", "Retry firmware update. ")

在文件 hal_error.h 第 86 行定义.

#define SAFETY_INTERFACE_BOARD_ERRORS

值:

_D(IFB_ERR_ROBOTTYPE, 20001, "Robot error type!", "suggest...") \
    _D(IFB_ERR_ADXL_SENS, 20002, "Acceleration sensor error!", "suggest...") \
    _D(IFB_ERR_EN_LINE, 20003, "Encoder line error!", "suggest...") \
    _D(IFB_ERR_ENTER_HDG_MODE, 20004, "Robot enter handguide mode!", "suggest...") \
    _D(IFB_ERR_EXIT_HDG_MODE, 20005, "Robot exit handguide mode!", "suggest...") \
    _D(IFB_ERR_MAC_DATA_BREAK, 20006, "MAC data break!", "suggest...") \
    _D(IFB_ERR_DRV_FIRMWARE_VERSION, 20007, "Motor driver firmware version error!", "suggest...") \
    _D(INIT_ERR_EN_DRV, 20008, "Motor driver enable failed!", "suggest...") \
    _D(INIT_ERR_EN_AUTO_BACK, 20009, "Motor driver enable auto back failed!", "suggest...") \
    _D(INIT_ERR_EN_CUR_LOOP, 20010, "Motor driver enable current loop failed!", "suggest...") \
    _D(INIT_ERR_SET_TAG_CUR, 20011, "Motor driver set target current failed!", "suggest...") \
    _D(INIT_ERR_RELEASE_BRAKE, 20012, "Motor driver release brake failed!", "suggest...") \
    _D(INIT_ERR_EN_POS_LOOP, 20013, "Motor driver enable postion loop failed!", "suggest...") \
    _D(INIT_ERR_SET_MAX_ACC, 20014, "Motor set max accelerate failed!", "suggest...") \
    _D(SAFETY_ERR_PROTECTION_STOP_TIMEOUT, 20015, "Protective stop timeout!", "suggest...") \
    _D(SAFETY_ERR_REDUCED_MODE_TIMEOUT, 20016, "Reduced mode timeout!", "suggest...") \
    _D(SYS_ERR_MCU_COM, 20017, "Robot system error: mcu communication error!", "suggest...") \
    _D(SYS_ERR_RS485_COM, 20018, "Robot system error: RS485 communication error!", "suggest...") \
    _D(IFB_ERR_DISCONNECTED, 20019, "Interface board may be disconnected. Please check connection between IPC and Interface board.", "suggest...")\
    _D(IFB_ERR_PAYLOAD_ERROR, 20020, "Payload error.", "suggest...") \
    _D(IFB_OFFLINE,  20021, "ifaceboard error: ifaceboard may be offline", "(a) Check ifaceboard's hardware. (b) Check ifaceboard's id.") \
    _D(IFB_ERR_BOOTLOADER,  20022, "ifaceboard error: ifaceboard at bootloader mode", "Retry firmware update. ") \
    _D(IFB_SLAVE_OFFLINE,  20023, "interface slave board error: interface slave board may be offline", "(a) Check interface slave board's hardware. (b) Check interface slave board's id.") \
    _D(IFB_SLAVE_ERR_BOOTLOADER,  20024, "interface slave board error: interface slave board at bootloader mode", "Retry firmware update. ")

在文件 hal_error.h 第 92 行定义.

#define TOOL_ERRORS

值:

_D(TOOL_FLASH_VERIFY_FAILED, 40001, "Flash write verify failed", "suggest...") \
    _D(TOOL_PROGRAM_CRC_FAILED, 40002, "Program flash checksum failed during bootloading", "suggest...") \
    _D(TOOL_PROGRAM_CRC_FAILED2, 40003, "Program flash checksum failed at runtime", "suggest...") \
    _D(TOOL_ID_UNDIFINED, 40004, "Tool ID is undefined", "suggest...") \
    _D(TOOL_ILLEGAL_BL_CMD, 40005, "Illegal bootloader command", "suggest...") \
    _D(TOOL_FW_WRONG, 40006, "Wrong firmware at the joint", "suggest...") \
    _D(TOOL_HW_INVALID, 40007, "Invalid hardware revision", "suggest...") \
    _D(TOOL_SHORT_CURCUIT_H, 40011, "Short circuit detected on Digital Output: " _PH1_ " high side", "suggest...") \
    _D(TOOL_SHORT_CURCUIT_L, 40012, "Short circuit detected on Digital Output: " _PH1_ " low side", "suggest...") \
    _D(TOOL_AVERAGE_CURR_HIGH, 40013, "10 second Average tool IO Current of " _PH1_ " A is outside of the allowed range.", "suggest...") \
    _D(TOOL_POWER_PIN_OVER_CURR, 40014, "Current of " _PH1_ " A on the POWER pin is outside of the allowed range.", "suggest...") \
    _D(TOOL_DOUT_PIN_OVER_CURR, 40015, "Current of " _PH1_ " A on the Digital Output pins is outside of the allowed range.", "suggest...") \
    _D(TOOL_GROUND_PIN_OVER_CURR, 40016, "Current of " _PH1_ " A on the ground pin is outside of the allowed range.", "suggest...") \
    _D(TOOL_RX_FRAMING, 40021, "RX framing error", "suggest...") \
    _D(TOOL_RX_PARITY, 40022, "RX Parity error", "suggest...") \
    _D(TOOL_48V_LOW, 40031, "48V input is too low", "suggest...") \
    _D(TOOL_48V_HIGH, 40032, "48V input is too high", "suggest...") \
    _D(TOOL_ERR_OFFLINE,  40033, "tool error: tool may be offline", "(a) Check tool's hardware. (b) Check joint's id.") \
    _D(TOOL_ERR_BOOTLOADER,  40034, "tool error: tool at bootloader mode", "Retry firmware update. ")

在文件 hal_error.h 第 64 行定义.