CANopen紧急报文EEC ER MEF定义

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已于 2025-01-16 16:55:29 修改

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文章标签：单片机嵌入式硬件 c语言 stm32 mcu

于 2025-01-07 17:05:14 首次发布

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CANopenNode紧急报文EEC ER MEF定义

放个图

Emergency Error Codes（ECC,紧急报文错误代码）：

/**
 * @defgroup CO_EM_errorCode_t CANopen Error code
 * @{
 *
 * Standard error codes according to CiA DS-301 and DS-401.
 */
#define CO_EMC_NO_ERROR                 0x0000U /**< 0x00xx error Reset or No Error */
#define CO_EMC_GENERIC                  0x1000U /**< 0x10xx Generic Error */
#define CO_EMC_CURRENT                  0x2000U /**< 0x20xx Current */
#define CO_EMC_CURRENT_INPUT            0x2100U /**< 0x21xx Current device input side */
#define CO_EMC_CURRENT_INSIDE           0x2200U /**< 0x22xx Current inside the device */
#define CO_EMC_CURRENT_OUTPUT           0x2300U /**< 0x23xx Current device output side */
#define CO_EMC_VOLTAGE                  0x3000U /**< 0x30xx Voltage */
#define CO_EMC_VOLTAGE_MAINS            0x3100U /**< 0x31xx Mains Voltage */
#define CO_EMC_VOLTAGE_INSIDE           0x3200U /**< 0x32xx Voltage inside the device */
#define CO_EMC_VOLTAGE_OUTPUT           0x3300U /**< 0x33xx Output Voltage */
#define CO_EMC_TEMPERATURE              0x4000U /**< 0x40xx Temperature */
#define CO_EMC_TEMP_AMBIENT             0x4100U /**< 0x41xx Ambient Temperature */
#define CO_EMC_TEMP_DEVICE              0x4200U /**< 0x42xx Device Temperature */
#define CO_EMC_HARDWARE                 0x5000U /**< 0x50xx Device Hardware */
#define CO_EMC_SOFTWARE_DEVICE          0x6000U /**< 0x60xx Device Software */
#define CO_EMC_SOFTWARE_INTERNAL        0x6100U /**< 0x61xx Internal Software */
#define CO_EMC_SOFTWARE_USER            0x6200U /**< 0x62xx User Software */
#define CO_EMC_DATA_SET                 0x6300U /**< 0x63xx Data Set */
#define CO_EMC_ADDITIONAL_MODUL         0x7000U /**< 0x70xx Additional Modules */
#define CO_EMC_MONITORING               0x8000U /**< 0x80xx Monitoring */
#define CO_EMC_COMMUNICATION            0x8100U /**< 0x81xx Communication */
#define CO_EMC_CAN_OVERRUN              0x8110U /**< 0x8110 CAN Overrun (Objects lost) */
#define CO_EMC_CAN_PASSIVE              0x8120U /**< 0x8120 CAN in Error Passive Mode */
#define CO_EMC_HEARTBEAT                0x8130U /**< 0x8130 Life Guard Error or Heartbeat Error */
#define CO_EMC_BUS_OFF_RECOVERED        0x8140U /**< 0x8140 recovered from bus off */
#define CO_EMC_CAN_ID_COLLISION         0x8150U /**< 0x8150 CAN-ID collision */
#define CO_EMC_PROTOCOL_ERROR           0x8200U /**< 0x82xx Protocol Error */
#define CO_EMC_PDO_LENGTH               0x8210U /**< 0x8210 PDO not processed due to length error */
#define CO_EMC_PDO_LENGTH_EXC           0x8220U /**< 0x8220 PDO length exceeded */
#define CO_EMC_DAM_MPDO                 0x8230U /**< 0x8230 DAM MPDO not processed destination object not available */
#define CO_EMC_SYNC_DATA_LENGTH         0x8240U /**< 0x8240 Unexpected SYNC data length */
#define CO_EMC_RPDO_TIMEOUT             0x8250U /**< 0x8250 RPDO timeout */
#define CO_EMC_EXTERNAL_ERROR           0x9000U /**< 0x90xx External Error */
#define CO_EMC_ADDITIONAL_FUNC          0xF000U /**< 0xF0xx Additional Functions */
#define CO_EMC_DEVICE_SPECIFIC          0xFF00U /**< 0xFFxx Device specific */

#define CO_EMC401_OUT_CUR_HI            0x2310U /**< 0x2310 DS401 Current at outputs too high (overload) */
#define CO_EMC401_OUT_SHORTED           0x2320U /**< 0x2320 DS401 Short circuit at outputs */
#define CO_EMC401_OUT_LOAD_DUMP         0x2330U /**< 0x2330 DS401 Load dump at outputs */
#define CO_EMC401_IN_VOLT_HI            0x3110U /**< 0x3110 DS401 Input voltage too high */
#define CO_EMC401_IN_VOLT_LOW           0x3120U /**< 0x3120 DS401 Input voltage too low */
#define CO_EMC401_INTERN_VOLT_HI        0x3210U /**< 0x3210 DS401 Internal voltage too high */
#define CO_EMC401_INTERN_VOLT_LO        0x3220U /**< 0x3220 DS401 Internal voltage too low */
#define CO_EMC401_OUT_VOLT_HIGH         0x3310U /**< 0x3310 DS401 Output voltage too high */
#define CO_EMC401_OUT_VOLT_LOW          0x3320U /**< 0x3320 DS401 Outp

旧版为结构体：

/**
 * CANopen Error code
 *
 * Standard error codes according to CiA DS-301 and DS-401.
 */
typedef enum {
    /** 0x00xx, error Reset or No Error */
    CO_EMC_NO_ERROR = 0x0000U,
    /** 0x10xx, Generic Error */
    CO_EMC_GENERIC = 0x1000U,
    /** 0x20xx, Current */
    CO_EMC_CURRENT = 0x2000U,
    /** 0x21xx, Current, device input side */
    CO_EMC_CURRENT_INPUT = 0x2100U,
    /** 0x22xx, Current inside the device */
    CO_EMC_CURRENT_INSIDE = 0x2200U,
    /** 0x23xx, Current, device output side */
    CO_EMC_CURRENT_OUTPUT = 0x2300U,
    /** 0x30xx, Voltage */
    CO_EMC_VOLTAGE = 0x3000U,
    /** 0x31xx, Mains Voltage */
    CO_EMC_VOLTAGE_MAINS = 0x3100U,
    /** 0x32xx, Voltage inside the device */
    CO_EMC_VOLTAGE_INSIDE = 0x3200U,
    /** 0x33xx, Output Voltage */
    CO_EMC_VOLTAGE_OUTPUT = 0x3300U,
    /** 0x40xx, Temperature */
    CO_EMC_TEMPERATURE = 0x4000U,
    /** 0x41xx, Ambient Temperature */
    CO_EMC_TEMP_AMBIENT = 0x4100U,
    /** 0x42xx, Device Temperature */
    CO_EMC_TEMP_DEVICE = 0x4200U,
    /** 0x50xx, Device Hardware */
    CO_EMC_HARDWARE = 0x5000U,
    /** 0x60xx, Device Software */
    CO_EMC_SOFTWARE_DEVICE = 0x6000U,
    /** 0x61xx, Internal Software */
    CO_EMC_SOFTWARE_INTERNAL = 0x6100U,
    /** 0x62xx, User Software */
    CO_EMC_SOFTWARE_USER = 0x6200U,
    /** 0x63xx, Data Set */
    CO_EMC_DATA_SET = 0x6300U,
    /** 0x70xx, Additional Modules */
    CO_EMC_ADDITIONAL_MODUL = 0x7000U,
    /** 0x80xx, Monitoring */
    CO_EMC_MONITORING = 0x8000U,
    /** 0x81xx, Communication */
    CO_EMC_COMMUNICATION = 0x8100U,
    /** 0x8110, CAN Overrun (Objects lost) */
    CO_EMC_CAN_OVERRUN = 0x8110U,
    /** 0x8120, CAN in Error Passive Mode */
    CO_EMC_CAN_PASSIVE = 0x8120U,
    /** 0x8130, Life Guard Error or Heartbeat Error */
    CO_EMC_HEARTBEAT = 0x8130U,
    /** 0x8140, recovered from bus off */
    CO_EMC_BUS_OFF_RECOVERED = 0x8140U,
    /** 0x8150, CAN-ID collision */
    CO_EMC_CAN_ID_COLLISION = 0x8150U,
    /** 0x82xx, Protocol Error */
    CO_EMC_PROTOCOL_ERROR = 0x8200U,
    /** 0x8210, PDO not processed due to length error */
    CO_EMC_PDO_LENGTH = 0x8210U,
    /** 0x8220, PDO length exceeded */
    CO_EMC_PDO_LENGTH_EXC = 0x8220U,
    /** 0x8230, DAM MPDO not processed, destination object not available */
    CO_EMC_DAM_MPDO = 0x8230U,
    /** 0x8240, Unexpected SYNC data length */
    CO_EMC_SYNC_DATA_LENGTH = 0x8240U,
    /** 0x8250, RPDO timeout */
    CO_EMC_RPDO_TIMEOUT = 0x8250U,
    /** 0x90xx, External Error */
    CO_EMC_EXTERNAL_ERROR = 0x9000U,
    /** 0xF0xx, Additional Functions */
    CO_EMC_ADDITIONAL_FUNC = 0xF000U,
    /** 0xFFxx, Device specific */
    CO_EMC_DEVICE_SPECIFIC = 0xFF00U,
    /** 0x2310, DS401, Current at outputs too high (overload) */
    CO_EMC401_OUT_CUR_HI = 0x2310U,
    /** 0x2320, DS401, Short circuit at outputs */
    CO_EMC401_OUT_SHORTED = 0x2320U,
    /** 0x2330, DS401, Load dump at outputs */
    CO_EMC401_OUT_LOAD_DUMP = 0x2330U,
    /** 0x3110, DS401, Input voltage too high */
    CO_EMC401_IN_VOLT_HI = 0x3110U,
    /** 0x3120, DS401, Input voltage too low */
    CO_EMC401_IN_VOLT_LOW = 0x3120U,
    /** 0x3210, DS401, Internal voltage too high */
    CO_EMC401_INTERN_VOLT_HI = 0x3210U,
    /** 0x3220, DS401, Internal voltage too low */
    CO_EMC401_INTERN_VOLT_LO = 0x3220U,
    /** 0x3310, DS401, Output voltage too high */
    CO_EMC401_OUT_VOLT_HIGH = 0x3310U,
    /** 0x3320, DS401, Output voltage too low */
    CO_EMC401_OUT_VOLT_LOW = 0x3320U,
} CO_EM_errorCode_t;

Error Register（ER,错误寄存器1001h）：

/**
 * @defgroup CO_errorRegister_t CANopen Error register
 * @{
 *
 * Mandatory for CANopen, resides in object dictionary, index 0x1001.
 *
 * Error register is calculated from internal bitfield variable, critical bits. See @ref CO_EM_errorStatusBits_t and
 * @ref CO_STACK_CONFIG_EMERGENCY for error condition macros.
 *
 * Internal errors may prevent device to stay in NMT Operational state and changes may switch between the states. See
 * @ref CO_NMT_control_t for details.
 */
#define CO_ERR_REG_GENERIC_ERR          0x01U /**< bit 0, generic error */
#define CO_ERR_REG_CURRENT              0x02U /**< bit 1, current */
#define CO_ERR_REG_VOLTAGE              0x04U /**< bit 2, voltage */
#define CO_ERR_REG_TEMPERATURE          0x08U /**< bit 3, temperature */
#define CO_ERR_REG_COMMUNICATION        0x10U /**< bit 4, communication error */
#define CO_ERR_REG_DEV_PROFILE          0x20U /**< bit 5, device profile specific */
#define CO_ERR_REG_RESERVED             0x40U /**< bit 6, reserved (always 0) */
#define CO_ERR_REG_MANUFACTURER         0x80U /**< bit 7, manufa

旧版为结构体：

/**
 * CANopen Error register.
 *
 * Mandatory for CANopen, resides in object dictionary, index 0x1001.
 *
 * Error register is calculated from internal bitfield variable, critical bits.
 * See @ref CO_EM_errorStatusBits_t and @ref CO_STACK_CONFIG_EMERGENCY for error
 * condition macros.
 *
 * Internal errors may prevent device to stay in NMT Operational state and
 * changes may switch between the states. See @ref CO_NMT_control_t for details.
 */
typedef enum {
    CO_ERR_REG_GENERIC_ERR   = 0x01U, /**< bit 0, generic error */
    CO_ERR_REG_CURRENT       = 0x02U, /**< bit 1, current */
    CO_ERR_REG_VOLTAGE       = 0x04U, /**< bit 2, voltage */
    CO_ERR_REG_TEMPERATURE   = 0x08U, /**< bit 3, temperature */
    CO_ERR_REG_COMMUNICATION = 0x10U, /**< bit 4, communication error */
    CO_ERR_REG_DEV_PROFILE   = 0x20U, /**< bit 5, device profile specific */
    CO_ERR_REG_RESERVED      = 0x40U, /**< bit 6, reserved (always 0) */
    CO_ERR_REG_MANUFACTURER  = 0x80U  /**< bit 7, manufacturer specific */
} CO_errorRegister_t;

Manufacturer-specific Error Field（MEF,厂商自定义错误代码）：

在CANopenNode中MEF对应名称为Error status bits

/**
 * @defgroup CO_EM_errorStatusBits_t Error status bits
 * @{
 *
 * Bits for internal indication of the error condition. Each error condition is specified by unique index from 0x00 up
 * to 0xFF.
 *
 * If specific error occurs in the stack or in the application, CO_errorReport() sets specific bit in the
 * _errorStatusBit_ variable from @ref CO_EM_t. If bit was already set, function returns without any action. Otherwise
 * it prepares emergency message.
 *
 * Maximum size (in bits) of the _errorStatusBit_ variable is specified by @ref CO_CONFIG_EM_ERR_STATUS_BITS_COUNT (set
 * to 10*8 bits by default). Stack uses first 6 bytes. Additional 4 bytes are pre-defined for manufacturer or device
 * specific error indications, by default.
 */
#define CO_EM_NO_ERROR                  0x00U /**< 0x00 Error Reset or No Error */
#define CO_EM_CAN_BUS_WARNING           0x01U /**< 0x01 communication info CAN bus warning limit reached */
#define CO_EM_RXMSG_WRONG_LENGTH        0x02U /**< 0x02 communication info Wrong data length of the received CAN message */
#define CO_EM_RXMSG_OVERFLOW            0x03U /**< 0x03 communication info Previous received CAN message wasn't processed */
#define CO_EM_RPDO_WRONG_LENGTH         0x04U /**< 0x04 communication info Wrong data length of received PDO */
#define CO_EM_RPDO_OVERFLOW             0x05U /**< 0x05 communication info Previous received PDO wasn't processed yet */
#define CO_EM_CAN_RX_BUS_PASSIVE        0x06U /**< 0x06 communication info CAN receive bus is passive */
#define CO_EM_CAN_TX_BUS_PASSIVE        0x07U /**< 0x07 communication info CAN transmit bus is passive */
#define CO_EM_NMT_WRONG_COMMAND         0x08U /**< 0x08 communication info Wrong NMT command received */
#define CO_EM_TIME_TIMEOUT              0x09U /**< 0x09 communication info TIME message timeout */
#define CO_EM_0A_unused                 0x0AU /**< 0x0A communication info (unused) */
#define CO_EM_0B_unused                 0x0BU /**< 0x0B communication info (unused) */
#define CO_EM_0C_unused                 0x0CU /**< 0x0C communication info (unused) */
#define CO_EM_0D_unused                 0x0DU /**< 0x0D communication info (unused) */
#define CO_EM_0E_unused                 0x0EU /**< 0x0E communication info (unused) */
#define CO_EM_0F_unused                 0x0FU /**< 0x0F communication info (unused) */

#define CO_EM_10_unused                 0x10U /**< 0x10 communication critical (unused) */
#define CO_EM_11_unused                 0x11U /**< 0x11 communication critical (unused) */
#define CO_EM_CAN_TX_BUS_OFF            0x12U /**< 0x12 communication critical CAN transmit bus is off */
#define CO_EM_CAN_RXB_OVERFLOW          0x13U /**< 0x13 communication critical CAN module receive buffer overflowed */
#define CO_EM_CAN_TX_OVERFLOW           0x14U /**< 0x14 communication critical CAN transmit buffer overflowed */
#define CO_EM_TPDO_OUTSIDE_WINDOW       0x15U /**< 0x15 communication critical TPDO is outside SYNC window */
#define CO_EM_16_unused                 0x16U /**< 0x16 communication critical (unused) */
#define CO_EM_RPDO_TIME_OUT             0x17U /**< 0x17 communication critical RPDO message timeout */
#define CO_EM_SYNC_TIME_OUT             0x18U /**< 0x18 communication critical SYNC message timeout */
#define CO_EM_SYNC_LENGTH               0x19U /**< 0x19 communication critical Unexpected SYNC data length */
#define CO_EM_PDO_WRONG_MAPPING         0x1AU /**< 0x1A communication critical Error with PDO mapping */
#define CO_EM_HEARTBEAT_CONSUMER        0x1BU /**< 0x1B communication critical Heartbeat consumer timeout */
#define CO_EM_HB_CONSUMER_REMOTE_RESET  0x1CU /**< 0x1C comm. critical Heartbeat consumer detected remote node reset */
#define CO_EM_SRDO_CONFIGURATION        0x1DU /**< 0x1D communication critical Error in SRDO configuration parameters */
#define CO_EM_1E_unused                 0x1EU /**< 0x1E communication critical (unused) */
#define CO_EM_1F_unused                 0x1FU /**< 0x1F communication critical (unused) */

#define CO_EM_EMERGENCY_BUFFER_FULL     0x20U /**< 0x20 generic info Emergency buffer is full or message wasn't sent */
#define CO_EM_21_unused                 0x21U /**< 0x21 generic info (unused) */
#define CO_EM_MICROCONTROLLER_RESET     0x22U /**< 0x22 generic info Microcontroller has just started */
#define CO_EM_23_unused                 0x23U /**< 0x23 generic info (unused) */
#define CO_EM_24_unused                 0x24U /**< 0x24 generic info (unused) */
#define CO_EM_25_unused                 0x25U /**< 0x25 generic info (unused) */
#define CO_EM_26_unused                 0x26U /**< 0x26 generic info (unused) */
#define CO_EM_NON_VOLATILE_AUTO_SAVE    0x27U /**< 0x27 generic info Automatic store to non-volatile memory failed */

#define CO_EM_WRONG_ERROR_REPORT        0x28U /**< 0x28 generic critical Wrong parameters to CO_errorReport() */
#define CO_EM_ISR_TIMER_OVERFLOW        0x29U /**< 0x29 generic critical Timer task has overflowed */
#define CO_EM_MEMORY_ALLOCATION_ERROR   0x2AU /**< 0x2A generic critical Unable to allocate memory for objects */
#define CO_EM_GENERIC_ERROR             0x2BU /**< 0x2B generic critical Generic error test usage */
#define CO_EM_GENERIC_SOFTWARE_ERROR    0x2CU /**< 0x2C generic critical Software error */
#define CO_EM_INCONSISTENT_OBJECT_DICT  0x2DU /**< 0x2D generic critical Object dict. does not match the software */
#define CO_EM_CALCULATION_OF_PARAMETERS 0x2EU /**< 0x2E generic critical Error in calculation of device parameters */
#define CO_EM_NON_VOLATILE_MEMORY       0x2FU /**< 0x2F generic critical Error with access to non volatile memory */

/**
 * 0x30+ manufacturer info or critical Error status buts free to use by manufacturer. By default bits 0x30..0x3F are set
 * as informational and bits 0x40..0x4F are set as critical. Manufacturer critical bits sets the error register as
 * specified by @ref CO_CONFIG_ERR_CONDITION_MANUFACTURER
 */
#define CO_EM_MANUFACTURER_START        0x30U
/** (@ref CO_CONFIG_EM_ERR_STATUS_BITS_COUNT - 1) largest value of the Error status bit. */
#define CO_EM_MANUFACTURER_END          (CO_CONFIG_EM_ERR_STATUS_BITS_COUNT - 1U)

旧版为结构体：

/**
 * Error status bits
 *
 * Bits for internal indication of the error condition. Each error condition is
 * specified by unique index from 0x00 up to 0xFF.
 *
 * If specific error occurs in the stack or in the application, CO_errorReport()
 * sets specific bit in the _errorStatusBit_ variable from @ref CO_EM_t. If bit
 * was already set, function returns without any action. Otherwise it prepares
 * emergency message.
 *
 * Maximum size (in bits) of the _errorStatusBit_ variable is specified by
 * @ref CO_CONFIG_EM_ERR_STATUS_BITS_COUNT (set to 10*8 bits by default). Stack
 * uses first 6 bytes. Additional 4 bytes are pre-defined for manufacturer
 * or device specific error indications, by default.
 */
typedef enum {
    /** 0x00, Error Reset or No Error */
    CO_EM_NO_ERROR                  = 0x00U,
    /** 0x01, communication, info, CAN bus warning limit reached */
    CO_EM_CAN_BUS_WARNING           = 0x01U,
    /** 0x02, communication, info, Wrong data length of the received CAN
     * message */
    CO_EM_RXMSG_WRONG_LENGTH        = 0x02U,
    /** 0x03, communication, info, Previous received CAN message wasn't
     * processed yet */
    CO_EM_RXMSG_OVERFLOW            = 0x03U,
    /** 0x04, communication, info, Wrong data length of received PDO */
    CO_EM_RPDO_WRONG_LENGTH         = 0x04U,
    /** 0x05, communication, info, Previous received PDO wasn't processed yet */
    CO_EM_RPDO_OVERFLOW             = 0x05U,
    /** 0x06, communication, info, CAN receive bus is passive */
    CO_EM_CAN_RX_BUS_PASSIVE        = 0x06U,
    /** 0x07, communication, info, CAN transmit bus is passive */
    CO_EM_CAN_TX_BUS_PASSIVE        = 0x07U,
    /** 0x08, communication, info, Wrong NMT command received */
    CO_EM_NMT_WRONG_COMMAND         = 0x08U,
    /** 0x09, communication, info, TIME message timeout */
    CO_EM_TIME_TIMEOUT              = 0x09U,
    /** 0x0A, communication, info, (unused) */
    CO_EM_0A_unused                 = 0x0AU,
    /** 0x0B, communication, info, (unused) */
    CO_EM_0B_unused                 = 0x0BU,
    /** 0x0C, communication, info, (unused) */
    CO_EM_0C_unused                 = 0x0CU,
    /** 0x0D, communication, info, (unused) */
    CO_EM_0D_unused                 = 0x0DU,
    /** 0x0E, communication, info, (unused) */
    CO_EM_0E_unused                 = 0x0EU,
    /** 0x0F, communication, info, (unused) */
    CO_EM_0F_unused                 = 0x0FU,

    /** 0x10, communication, critical, (unused) */
    CO_EM_10_unused                 = 0x10U,
    /** 0x11, communication, critical, (unused) */
    CO_EM_11_unused                 = 0x11U,
    /** 0x12, communication, critical, CAN transmit bus is off */
    CO_EM_CAN_TX_BUS_OFF            = 0x12U,
    /** 0x13, communication, critical, CAN module receive buffer has
     * overflowed */
    CO_EM_CAN_RXB_OVERFLOW          = 0x13U,
    /** 0x14, communication, critical, CAN transmit buffer has overflowed */
    CO_EM_CAN_TX_OVERFLOW           = 0x14U,
    /** 0x15, communication, critical, TPDO is outside SYNC window */
    CO_EM_TPDO_OUTSIDE_WINDOW       = 0x15U,
    /** 0x16, communication, critical, (unused) */
    CO_EM_16_unused                 = 0x16U,
    /** 0x17, communication, critical, RPDO message timeout */
    CO_EM_RPDO_TIME_OUT             = 0x17U,
    /** 0x18, communication, critical, SYNC message timeout */
    CO_EM_SYNC_TIME_OUT             = 0x18U,
    /** 0x19, communication, critical, Unexpected SYNC data length */
    CO_EM_SYNC_LENGTH               = 0x19U,
    /** 0x1A, communication, critical, Error with PDO mapping */
    CO_EM_PDO_WRONG_MAPPING         = 0x1AU,
    /** 0x1B, communication, critical, Heartbeat consumer timeout */
    CO_EM_HEARTBEAT_CONSUMER        = 0x1BU,
    /** 0x1C, communication, critical, Heartbeat consumer detected remote node
     * reset */
    CO_EM_HB_CONSUMER_REMOTE_RESET  = 0x1CU,
    /** 0x1D, communication, critical, (unused) */
    CO_EM_1D_unused                 = 0x1DU,
    /** 0x1E, communication, critical, (unused) */
    CO_EM_1E_unused                 = 0x1EU,
    /** 0x1F, communication, critical, (unused) */
    CO_EM_1F_unused                 = 0x1FU,

    /** 0x20, generic, info, Emergency buffer is full, Emergency message wasn't
     * sent */
    CO_EM_EMERGENCY_BUFFER_FULL     = 0x20U,
    /** 0x21, generic, info, (unused) */
    CO_EM_21_unused                 = 0x21U,
    /** 0x22, generic, info, Microcontroller has just started */
    CO_EM_MICROCONTROLLER_RESET     = 0x22U,
    /** 0x23, generic, info, (unused) */
    CO_EM_23_unused                 = 0x23U,
    /** 0x24, generic, info, (unused) */
    CO_EM_24_unused                 = 0x24U,
    /** 0x25, generic, info, (unused) */
    CO_EM_25_unused                 = 0x25U,
    /** 0x26, generic, info, (unused) */
    CO_EM_26_unused                 = 0x26U,
    /** 0x27, generic, info, Automatic store to non-volatile memory failed */
    CO_EM_NON_VOLATILE_AUTO_SAVE    = 0x27U,

    /** 0x28, generic, critical, Wrong parameters to CO_errorReport() function*/
    CO_EM_WRONG_ERROR_REPORT        = 0x28U,
    /** 0x29, generic, critical, Timer task has overflowed */
    CO_EM_ISR_TIMER_OVERFLOW        = 0x29U,
    /** 0x2A, generic, critical, Unable to allocate memory for objects */
    CO_EM_MEMORY_ALLOCATION_ERROR   = 0x2AU,
    /** 0x2B, generic, critical, Generic error, test usage */
    CO_EM_GENERIC_ERROR             = 0x2BU,
    /** 0x2C, generic, critical, Software error */
    CO_EM_GENERIC_SOFTWARE_ERROR    = 0x2CU,
    /** 0x2D, generic, critical, Object dictionary does not match the software*/
    CO_EM_INCONSISTENT_OBJECT_DICT  = 0x2DU,
    /** 0x2E, generic, critical, Error in calculation of device parameters */
    CO_EM_CALCULATION_OF_PARAMETERS = 0x2EU,
    /** 0x2F, generic, critical, Error with access to non volatile device memory
     */
    CO_EM_NON_VOLATILE_MEMORY       = 0x2FU,

    /** 0x30+, manufacturer, info or critical, Error status buts, free to use by
     * manufacturer. By default bits 0x30..0x3F are set as informational and
     * bits 0x40..0x4F are set as critical. Manufacturer critical bits sets the
     * error register, as specified by @ref CO_CONFIG_ERR_CONDITION_MANUFACTURER
     */
    CO_EM_MANUFACTURER_START        = 0x30U,
    /** (@ref CO_CONFIG_EM_ERR_STATUS_BITS_COUNT - 1), largest value of the
     * Error status bit. */
    CO_EM_MANUFACTURER_END          = CO_CONFIG_EM_ERR_STATUS_BITS_COUNT - 1
} CO_EM_errorStatusBits_t;