Error Handling

Overview

This group defines additional CSI specific function return and error codes for the CSI API functions.

All common error codes are defined in err_codes.h

Note

Please remember that all error codes will be returned as negative values. I.e. the error code CSI_ERR_ACC_TOGGLE_BIT will be returned as -CSI_ERR_ACC_TOGGLE_BIT (0xFAFD0000)

Collaboration diagram for Error Handling:

Modules
	CANopen-specific error codes
	maxon specific error codes

Functions
CSI_API const char *	CsiErrorToString (long ErrCode)
	This function converts error code into error string. More...

Function Documentation

CSI_API const char* CsiErrorToString

(

long

ErrCode

)

This function converts error code into error string.

Parameters

[in]

ErrCode

Numeric error code to convert into error message string

Returns

Error string

{
    int32_t middle;
    int32_t left  = 0;
    int32_t right = (sizeof(CsiErrMsgTbl) / sizeof(TCsiErrTblEntry)) - 1;
    
    //
    // we need absolute value
    //
    if (ErrNum < 0)
    {
        ErrNum = 0 - ErrNum;
    }

    //
    // We do a binary search here to be fast
    //
    while (left <= right)
    {
        middle = (left + right) / 2;
        if (CsiErrMsgTbl[middle].ErrId < ErrNum)
        {
            left = middle + 1;
        }
        else if (CsiErrMsgTbl[middle].ErrId > ErrNum)
        {
            right = middle - 1;
        }
        else
        {
            return CsiErrMsgTbl[middle].ErrMsg;
        }
    }

    return ErrorToString(ErrNum);
}

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