Replace type char with uint8_t, where appropriate.

Fix typos and clarify CO_ODinterface.
Remove unnecessary types from CO_driver.h.

301/CO_ODinterface.c

@@ -39,7 +39,7 @@ OD_size_t OD_readOriginal(OD_stream_t *stream, uint8_t subIndex,
     }
 
     OD_size_t dataLenToCopy = stream->dataLength; /* length of OD variable */
-    const char *odData = (const char *)stream->dataObjectOriginal;
+    const uint8_t *odData = stream->dataObjectOriginal;
 
     if (odData == NULL) {
         *returnCode = ODR_SUB_NOT_EXIST;
@@ -49,18 +49,18 @@ OD_size_t OD_readOriginal(OD_stream_t *stream, uint8_t subIndex,
     *returnCode = ODR_OK;
 
     /* If previous read was partial or OD variable length is larger than
-     * current buffer len, then data was (will be) read in several segments */
+     * current buffer size, then data was (will be) read in several segments */
     if (stream->dataOffset > 0 || dataLenToCopy > count) {
         if (stream->dataOffset >= dataLenToCopy) {
             *returnCode = ODR_DEV_INCOMPAT;
             return 0;
         }
-        /* reduce for already copied data */
+        /* Reduce for already copied data */
         dataLenToCopy -= stream->dataOffset;
         odData += stream->dataOffset;
 
         if (dataLenToCopy > count) {
-            /* not enough space in destionation buffer */
+            /* Not enough space in destination buffer */
             dataLenToCopy = count;
             stream->dataOffset += dataLenToCopy;
             *returnCode = ODR_PARTIAL;
@@ -88,7 +88,7 @@ OD_size_t OD_writeOriginal(OD_stream_t *stream, uint8_t subIndex,
     }
 
     OD_size_t dataLenToCopy = stream->dataLength; /* length of OD variable */
-    char *odData = (char *)stream->dataObjectOriginal;
+    uint8_t *odData = stream->dataObjectOriginal;
 
     if (odData == NULL) {
         *returnCode = ODR_SUB_NOT_EXIST;
@@ -98,7 +98,8 @@ OD_size_t OD_writeOriginal(OD_stream_t *stream, uint8_t subIndex,
     *returnCode = ODR_OK;
 
     /* If previous write was partial or OD variable length is larger than
-     * current data len, then data was (will be) written in several segments */
+     * current buffer size, then data was (will be) written in several
+     * segments */
     if (stream->dataOffset > 0 || dataLenToCopy > count) {
         if (stream->dataOffset >= dataLenToCopy) {
             *returnCode = ODR_DEV_INCOMPAT;
@@ -125,12 +126,11 @@ OD_size_t OD_writeOriginal(OD_stream_t *stream, uint8_t subIndex,
         *returnCode = ODR_DATA_LONG;
         return 0;
     }
-    else {
+
-        CO_LOCK_OD();
+    CO_LOCK_OD();
-        memcpy(odData, buf, dataLenToCopy);
+    memcpy(odData, buf, dataLenToCopy);
-        CO_UNLOCK_OD();
+    CO_UNLOCK_OD();
-        return dataLenToCopy;
+    return dataLenToCopy;
-    }
 }
 
 /* Read value from variable from Object Dictionary disabled, see OD_IO_t*/
@@ -158,17 +158,17 @@ static OD_size_t OD_writeDisabled(OD_stream_t *stream, uint8_t subIndex,
 
 /******************************************************************************/
 const OD_entry_t *OD_find(const OD_t *od, uint16_t index) {
-    unsigned int cur;
-    unsigned int min = 0;
-    unsigned int max = od->size - 1;
-
     if (od == NULL || od->size == 0) {
         return NULL;
     }
 
+    uint16_t cur;
+    uint16_t min = 0;
+    uint16_t max = od->size - 1;
+
     /* Fast search in ordered Object Dictionary. If indexes are mixed,
-     * this won't work. If Object Dictionary has up to 2^N entries, then N is
+     * this won't work. If Object Dictionary has up to N entries, then the
-     * max number of loop passes. */
+     * max number of loop passes is log2(N) */
     while (min < max) {
         /* get entry between min and max */
         cur = (min + max) >> 1;
@@ -177,9 +177,9 @@ const OD_entry_t *OD_find(const OD_t *od, uint16_t index) {
         if (index == entry->index) {
             return entry;
         }
-        else if (index < entry->index) {
+
-            max = cur;
+        if (index < entry->index) {
-            if(max > 0) max--;
+            max = (cur > 0) ? (cur - 1) : cur;
         }
         else {
             min = cur + 1;
@@ -239,7 +239,7 @@ ODR_t OD_getSub(const OD_entry_t *entry, uint8_t subIndex,
                 io->stream.dataObjectOriginal = NULL;
             }
             else {
-                char *data = (char *)odo->data;
+                uint8_t *data = odo->data;
                 int i = subIndex - 1;
                 io->stream.dataObjectOriginal = data + odo->dataElementSizeof * i;
             }
@@ -318,7 +318,7 @@ uint32_t OD_getSDOabCode(ODR_t returnCode) {
         0x060A0023UL, /* Resource not available: SDO connection */
         0x08000000UL, /* General error */
         0x08000020UL, /* Data cannot be transferred or stored to application */
-        0x08000021UL, /* Data cannot be transf. because of local control */
+        0x08000021UL, /* Data cannot be transferred because of local control */
         0x08000022UL, /* Data cannot be tran. because of present device state */
         0x08000023UL, /* Object dict. not present or dynamic generation fails */
         0x08000024UL  /* No data available */

301/CO_ODinterface.h

@@ -304,7 +304,7 @@ typedef struct {
      *
      * Write can be restarted with @ref OD_rwRestart() function.
      *
-     * At the moment, when Object Dictionary is initialised, every variable has
+     * At the moment, when Object Dictionary is initialized, every variable has
      * assigned the same "write" function, which simply copies data to Object
      * Dictionary variable. Application can bind its own "write" function,
      * similar as it can bind "read" function.
@@ -426,9 +426,9 @@ static inline uint16_t OD_getIndex(const OD_entry_t *entry) {
 /**
  * Restart read or write operation on OD variable
  *
- * It is not necessary to call this function, if stream was initialised by
+ * It is not necessary to call this function, if stream was initialized by
- * @ref OD_getSub(). It is also not necessary to call this function, if prevous
+ * @ref OD_getSub(). It is also not necessary to call this function, if
- * read or write was successfully finished.
+ * previous read or write was successfully finished.
  *
  * @param stream Object Dictionary stream object.
  */
@@ -448,7 +448,7 @@ uint32_t OD_getSDOabCode(ODR_t returnCode);
 
 
 /**
- * Initialise extended OD object with own read/write functions
+ * Initialize extended OD object with own read/write functions
  *
  * This function works on OD object, which has IO extension enabled. It gives
  * application very powerful tool: definition of own IO access on own OD

301/CO_SDOclient.c

@@ -562,7 +562,7 @@ CO_SDO_return_t CO_SDOclientDownload(CO_SDOclient_t *SDO_C,
         /* write data, in several passes if necessary */
         if (SDO_C->OD_IO.write != NULL) {
             size_t count = CO_fifo_getOccupied(&SDO_C->bufFifo);
-            char buf[count + 2];
+            uint8_t buf[count + 2];
 
             CO_fifo_read(&SDO_C->bufFifo, buf, count, NULL);
             SDO_C->sizeTran += count;
@@ -1213,7 +1213,7 @@ CO_SDO_return_t CO_SDOclientUpload(CO_SDOclient_t *SDO_C,
             OD_size_t countData = SDO_C->OD_IO.stream.dataLength;
             OD_size_t countBuf = (countData > 0 && countData <= countFifo)
                                  ? countData : countFifo;
-            char buf[countBuf + 1];
+            uint8_t buf[countBuf + 1];
             ODR_t odRet;
 
             /* load data from OD variable into the buffer */
@@ -1229,7 +1229,7 @@ CO_SDO_return_t CO_SDOclientUpload(CO_SDOclient_t *SDO_C,
                 /* if data is string, send only data up to null termination */
                 if (countRd > 0 && (SDO_C->attribute & ODA_STR) != 0) {
                     buf[countRd] = 0; /* (buf is one byte larger) */
-                    OD_size_t countStr = strlen(buf);
+                    OD_size_t countStr = strlen((char *)buf);
                     if (countStr == 0) countStr = 1; /* ne zero length */
                     if (countStr < countRd) {
                         /* string terminator found, finish read, shorten data */

301/CO_SDOserver.c

@@ -579,9 +579,7 @@ static bool_t validateAndWriteToOD(CO_SDOserver_t *SDO,
 #if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK
     /* calculate crc on current data */
     if (SDO->block_crcEnabled && crcOperation > 0) {
-        SDO->block_crc = crc16_ccitt((unsigned char *)SDO->buf,
+        SDO->block_crc = crc16_ccitt(SDO->buf, bufOffsetWrOrig, SDO->block_crc);
-                                     bufOffsetWrOrig,
-                                     SDO->block_crc);
         if (crcOperation == 2 && crcClient != SDO->block_crc) {
             *abortCode = CO_SDO_AB_CRC;
             SDO->state = CO_SDO_ST_ABORT;
@@ -650,7 +648,7 @@ static bool_t readFromOd(CO_SDOserver_t *SDO,
 
         /* load data from OD variable into the buffer */
         ODR_t odRet;
-        char *bufShifted = SDO->buf + countRemain;
+        uint8_t *bufShifted = SDO->buf + countRemain;
         OD_size_t countRd = SDO->OD_IO.read(&SDO->OD_IO.stream, SDO->subIndex,
                                             bufShifted,
                                             countRdRequest,
@@ -665,7 +663,7 @@ static bool_t readFromOd(CO_SDOserver_t *SDO,
         /* if data is string, send only data up to null termination */
         if (countRd > 0 && (SDO->attribute & ODA_STR) != 0) {
             bufShifted[countRd] = 0; /* (SDO->buf is one byte larger) */
-            OD_size_t countStr = strlen(bufShifted);
+            OD_size_t countStr = strlen((char *)bufShifted);
             if (countStr == 0) countStr = 1; /* zero length is not allowed */
             if (countStr < countRd) {
                 /* string terminator found, read is finished, shorten data */
@@ -707,9 +705,7 @@ static bool_t readFromOd(CO_SDOserver_t *SDO,
 #if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK
         /* update the crc */
         if (calculateCrc && SDO->block_crcEnabled) {
-            SDO->block_crc = crc16_ccitt((uint8_t *)bufShifted,
+            SDO->block_crc = crc16_ccitt(bufShifted, countRd, SDO->block_crc);
-                                         countRd,
-                                         SDO->block_crc);
         }
 #endif
 
@@ -1098,9 +1094,7 @@ CO_SDO_return_t CO_SDOserver_process(CO_SDOserver_t *SDO,
                 /* data were already loaded from OD variable, verify crc */
                 if ((SDO->CANrxData[0] & 0x04) != 0) {
                     SDO->block_crcEnabled = true;
-                    SDO->block_crc = crc16_ccitt((unsigned char *)SDO->buf,
+                    SDO->block_crc = crc16_ccitt(SDO->buf, SDO->bufOffsetWr, 0);
-                                                 SDO->bufOffsetWr,
-                                                 0);
                 }
                 else {
                     SDO->block_crcEnabled = false;

301/CO_SDOserver.h

@@ -493,7 +493,7 @@ typedef struct {
     /** Timeout timer for SDO communication */
     uint32_t timeoutTimer;
     /** Interim data buffer for segmented or block transfer + byte for '\0' */
-    char buf[CO_CONFIG_SDO_SRV_BUFFER_SIZE + 1];
+    uint8_t buf[CO_CONFIG_SDO_SRV_BUFFER_SIZE + 1];
     /** Offset of next free data byte available for write in the buffer. */
     OD_size_t bufOffsetWr;
     /** Offset of first data available for read in the buffer */

301/CO_driver.h

@@ -110,8 +110,7 @@ extern "C" {
  * @defgroup CO_dataTypes Basic definitions
  * @{
  *
- * Target specific basic definitions and data types according to Misra C
+ * Target specific basic definitions and data types.
- * specification.
  *
  * Must be defined in the **CO_driver_target.h** file.
  *
@@ -138,7 +137,7 @@ extern "C" {
 /** Logical false, for general use */
 #define false 0
 /** Boolean data type for general use */
-typedef unsigned char bool_t;
+typedef uint_fast8_t bool_t;
 /** INTEGER8 in CANopen (0002h), 8-bit signed integer */
 typedef signed char int8_t;
 /** INTEGER16 in CANopen (0003h), 16-bit signed integer */
@@ -159,12 +158,6 @@ typedef unsigned long long int uint64_t;
 typedef float float32_t;
 /** REAL64 in CANopen (0011h), double precision floating point value, 64-bit */
 typedef double float64_t;
-/** VISIBLE_STRING in CANopen (0009h), string of signed 8-bit values */
-typedef char char_t;
-/** OCTET_STRING in CANopen (000Ah), string of unsigned 8-bit values */
-typedef unsigned char oChar_t;
-/** DOMAIN in CANopen (000Fh), used to transfer a large block of data */
-typedef unsigned char domain_t;
 /** @} */
 
 

example/CO_driver_target.h

@@ -185,12 +185,9 @@ extern "C" {
 /* NULL is defined in stddef.h */
 /* true and false are defined in stdbool.h */
 /* int8_t to uint64_t are defined in stdint.h */
-typedef unsigned char           bool_t;
+typedef uint_fast8_t            bool_t;
 typedef float                   float32_t;
 typedef double                  float64_t;
-typedef char                    char_t;
-typedef unsigned char           oChar_t;
-typedef unsigned char           domain_t;
 
 
 /* Access to received CAN message */

socketCAN/CO_driver_target.h

@@ -265,12 +265,9 @@ extern "C" {
 /* NULL is defined in stddef.h */
 /* true and false are defined in stdbool.h */
 /* int8_t to uint64_t are defined in stdint.h */
-typedef unsigned char           bool_t;
+typedef uint_fast8_t            bool_t;
 typedef float                   float32_t;
 typedef double                  float64_t;
-typedef char                    char_t;
-typedef unsigned char           oChar_t;
-typedef unsigned char           domain_t;
 
 
 /* CAN receive message structure as aligned in socketCAN. */