From 82c95a2bc9839e3333908f6f5321c95ff9a43643 Mon Sep 17 00:00:00 2001 From: Janez Date: Sat, 6 Jul 2024 21:48:21 +0200 Subject: [PATCH] Format comments in the .c files. --- 301/CO_Emergency.c | 21 ++++------ 301/CO_HBconsumer.c | 12 +++--- 301/CO_NMT_Heartbeat.c | 17 ++++---- 301/CO_Node_Guarding.c | 13 +++---- 301/CO_ODinterface.c | 12 +++--- 301/CO_PDO.c | 35 +++++++---------- 301/CO_SDOclient.c | 60 ++++++++++++----------------- 301/CO_SDOserver.c | 81 ++++++++++++++++----------------------- 301/CO_SYNC.c | 10 ++--- 301/CO_TIME.c | 7 ++-- 301/CO_fifo.c | 19 ++++----- 304/CO_GFC.c | 2 +- 304/CO_SRDO.c | 10 ++--- 305/CO_LSSmaster.c | 61 ++++++++++++----------------- 305/CO_LSSslave.c | 10 ++--- 309/CO_gateway_ascii.c | 48 +++++++++-------------- CANopen.c | 32 ++++------------ doc/objectDictionary.md | 4 +- example/CO_driver_blank.c | 11 ++---- 19 files changed, 183 insertions(+), 282 deletions(-) diff --git a/301/CO_Emergency.c b/301/CO_Emergency.c index 53d25f2..d0b1ada 100644 --- a/301/CO_Emergency.c +++ b/301/CO_Emergency.c @@ -88,8 +88,7 @@ OD_write_1014(OD_stream_t* stream, const void* buf, OD_size_t count, OD_size_t* return ODR_INVALID_VALUE; } - /* store values. If default CAN-ID is used, then store only value of - * CO_CAN_ID_EMERGENCY without node id. */ + /* store values. If default CAN-ID is used, then store only value of CO_CAN_ID_EMERGENCY without node id. */ em->producerEnabled = newEnabled; em->producerCanId = (newCanId == ((uint16_t)CO_CAN_ID_EMERGENCY + em->nodeId)) ? CO_CAN_ID_EMERGENCY : newCanId; @@ -273,9 +272,8 @@ OD_write_statusBits(OD_stream_t* stream, const void* buf, OD_size_t count, OD_si /* * Read received message from CAN module. * - * Function will be called (by CAN receive interrupt) every time, when CAN - * message with correct identifier will be received. For more information and - * description of parameters see file CO_driver.h. + * Function will be called (by CAN receive interrupt) every time, when CAN message with correct identifier + * will be received. For more information and description of parameters see file CO_driver.h. */ static void CO_EM_receive(void* object, void* msg) { @@ -392,9 +390,8 @@ CO_EM_init(CO_EM_t* em, CO_CANmodule_t* CANdevTx, const OD_entry_t* OD_1001_errR /* following two variables are used inside OD_read_1014 and OD_write_1014 */ em->producerCanId = producerCanId; em->CANdevTxIdx = CANdevTxIdx; - /* if default producerCanId is used, then value of CO_CAN_ID_EMERGENCY - * (0x80) is stored into non-volatile memory. In that case it is necessary - * to add nodeId of this node to the stored value. */ + /* if default producerCanId is used, then value of CO_CAN_ID_EMERGENCY (0x80) is stored into non-volatile + * memory. In that case it is necessary to add nodeId of this node to the stored value. */ if (producerCanId == CO_CAN_ID_EMERGENCY) { producerCanId += nodeId; } @@ -597,8 +594,7 @@ CO_EM_process(CO_EM_t* em, bool_t NMTisPreOrOperational, uint32_t timeDifference fifoPpPtr++; em->fifoPpPtr = (fifoPpPtr < em->fifoSize) ? fifoPpPtr : 0U; - /* verify message buffer overflow. Clear error condition if all - * messages from fifo buffer are processed */ + /* verify message buffer overflow. Clear error condition if all messages from fifo buffer are processed */ if (em->fifoOverflow == 1U) { em->fifoOverflow = 2; CO_errorReport(em, CO_EM_EMERGENCY_BUFFER_FULL, CO_EMC_GENERIC, 0); @@ -673,7 +669,7 @@ CO_error(CO_EM_t* em, bool_t setError, const uint8_t errorBit, uint16_t errorCod } #if ((CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)) != 0 - /* prepare emergency message. Error register will be added in post-process*/ + /* prepare emergency message. Error register will be added in post-process */ uint32_t errMsg = ((uint32_t)errorBit << 24) | CO_SWAP_16(errorCode); #if ((CO_CONFIG_EM)&CO_CONFIG_EM_PRODUCER) != 0 uint32_t infoCodeSwapped = CO_SWAP_32(infoCode); @@ -715,8 +711,7 @@ CO_error(CO_EM_t* em, bool_t setError, const uint8_t errorBit, uint16_t errorCod #if ((CO_CONFIG_EM)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0 #if ((CO_CONFIG_EM)&CO_CONFIG_EM_PRODUCER) != 0 - /* Optional signal to RTOS, which can resume task, which handles - * CO_EM_process */ + /* Optional signal to RTOS, which can resume task, which handles CO_EM_process */ if ((em->pFunctSignalPre != NULL) && em->producerEnabled) { em->pFunctSignalPre(em->functSignalObjectPre); } diff --git a/301/CO_HBconsumer.c b/301/CO_HBconsumer.c index ae24932..1c361db 100644 --- a/301/CO_HBconsumer.c +++ b/301/CO_HBconsumer.c @@ -22,7 +22,7 @@ #if ((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_ENABLE) != 0 -/* Verify HB consumer configuration *******************************************/ +/* Verify HB consumer configuration */ #if (((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_CALLBACK_CHANGE) != 0) \ && (((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_CALLBACK_MULTI) != 0) #error CO_CONFIG_HB_CONS_CALLBACK_CHANGE and CO_CONFIG_HB_CONS_CALLBACK_MULTI cannot be set simultaneously! @@ -31,9 +31,8 @@ /* * Read received message from CAN module. * - * Function will be called (by CAN receive interrupt) every time, when CAN - * message with correct identifier will be received. For more information and - * description of parameters see file CO_driver.h. + * Function will be called (by CAN receive interrupt) every time, when CAN message with correct identifier + * will be received. For more information and description of parameters see file CO_driver.h. */ static void CO_HBcons_receive(void* object, void* msg) { @@ -57,8 +56,7 @@ CO_HBcons_receive(void* object, void* msg) { /* * Initialize one Heartbeat consumer entry * - * This function is called from the @ref CO_HBconsumer_init() or when writing - * to OD entry 1016. + * This function is called from the @ref CO_HBconsumer_init() or when writing to OD entry 1016. * * @param HBcons This object. * @param idx index of the node in HBcons object @@ -317,7 +315,7 @@ CO_HBconsumer_process(CO_HBconsumer_t* HBcons, bool_t NMTisPreOrOperational, uin /* Verify if received message is heartbeat or bootup */ if (CO_FLAG_READ(monitoredNode->CANrxNew)) { if (monitoredNode->NMTstate == CO_NMT_INITIALIZING) { - /* bootup message*/ + /* bootup message */ #if ((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_CALLBACK_MULTI) != 0 if (monitoredNode->pFunctSignalRemoteReset != NULL) { monitoredNode->pFunctSignalRemoteReset(monitoredNode->nodeId, i, diff --git a/301/CO_NMT_Heartbeat.c b/301/CO_NMT_Heartbeat.c index b95cf36..b4505cd 100644 --- a/301/CO_NMT_Heartbeat.c +++ b/301/CO_NMT_Heartbeat.c @@ -23,9 +23,8 @@ /* * Read received message from CAN module. * - * Function will be called (by CAN receive interrupt) every time, when CAN - * message with correct identifier will be received. For more information and - * description of parameters see file CO_driver.h. + * Function will be called (by CAN receive interrupt) every time, when CAN message with correct identifier + * will be received. For more information and description of parameters see file CO_driver.h. */ static void CO_NMT_receive(void* object, void* msg) { @@ -184,7 +183,7 @@ CO_NMT_process(CO_NMT_t* NMT, CO_NMT_internalState_t* NMTstate, uint32_t timeDif /* Send heartbeat producer message if: * - First start, send bootup message or - * - HB producer enabled and: Timer expired or NMT->operatingState changed*/ + * - HB producer enabled and: Timer expired or NMT->operatingState changed */ if (NNTinit || ((NMT->HBproducerTime_us != 0U) && ((NMT->HBproducerTimer == 0U) || (NMTstateCpy != NMT->operatingStatePrev)))) { @@ -197,17 +196,15 @@ CO_NMT_process(CO_NMT_t* NMT, CO_NMT_internalState_t* NMTstate, uint32_t timeDif ? CO_NMT_OPERATIONAL : CO_NMT_PRE_OPERATIONAL; } else { - /* Start timer from the beginning. If OS is slow, time sliding may - * occur. However, heartbeat is not for synchronization, it is for - * health report. In case of initializing, timer is set in the - * CO_NMT_init() function with pre-defined value. */ + /* Start timer from the beginning. If OS is slow, time sliding may occur. However, + * heartbeat is not for synchronization, it is for health report. In case of + * initializing, timer is set in the CO_NMT_init() function with pre-defined value. */ NMT->HBproducerTimer = NMT->HBproducerTime_us; } } NMT->operatingStatePrev = NMTstateCpy; - /* process internal NMT commands, received from CO_NMT_receive() or - * CO_NMT_sendCommand() */ + /* process internal NMT commands, received from CO_NMT_receive() or CO_NMT_sendCommand() */ if (NMT->internalCommand != CO_NMT_NO_COMMAND) { switch (NMT->internalCommand) { case CO_NMT_ENTER_OPERATIONAL: NMTstateCpy = CO_NMT_OPERATIONAL; break; diff --git a/301/CO_Node_Guarding.c b/301/CO_Node_Guarding.c index 8be43de..e7cda3d 100644 --- a/301/CO_Node_Guarding.c +++ b/301/CO_Node_Guarding.c @@ -25,9 +25,8 @@ /* * Read received message from CAN module. * - * Function will be called (by CAN receive interrupt) every time, when CAN - * message with correct identifier will be received. For more information and - * description of parameters see file CO_driver.h. + * Function will be called (by CAN receive interrupt) every time, when CAN message with correct identifier + * will be received. For more information and description of parameters see file CO_driver.h. */ static void CO_ngs_receive(void* object, void* msg) { @@ -235,9 +234,8 @@ CO_nodeGuardingSlave_process(CO_nodeGuardingSlave_t* ngs, CO_NMT_internalState_t /* * Read received message from CAN module. * - * Function will be called (by CAN receive interrupt) every time, when CAN - * message with correct identifier will be received. For more information and - * description of parameters see file CO_driver.h. + * Function will be called (by CAN receive interrupt) every time, when CAN message with correct identifier + * will be received. For more information and description of parameters see file CO_driver.h. * * Function receives messages from CAN identifier from 0x700 to 0x7FF. It * searches matching node->ident from nodes array. @@ -283,8 +281,7 @@ CO_nodeGuardingMaster_init(CO_nodeGuardingMaster_t* ngm, CO_EM_t* em, CO_CANmodu /* Configure object variables */ ngm->em = em; - /* configure CAN reception. One buffer will receive all messages - * from CAN-id 0x700 to 0x7FF. */ + /* configure CAN reception. One buffer will receive all messages from CAN-id 0x700 to 0x7FF. */ ret = CO_CANrxBufferInit(CANdevRx, CANdevRxIdx, CO_CAN_ID_HEARTBEAT, 0x780, false, (void*)ngm, CO_ngm_receive); if (ret != CO_ERROR_NO) { return ret; diff --git a/301/CO_ODinterface.c b/301/CO_ODinterface.c index fcba2a8..605b88b 100644 --- a/301/CO_ODinterface.c +++ b/301/CO_ODinterface.c @@ -78,9 +78,8 @@ OD_writeOriginal(OD_stream_t* stream, const void* buf, OD_size_t count, OD_size_ ODR_t returnCode = ODR_OK; - /* If previous write was partial or OD variable length is larger than - * current buffer size, then data was (will be) written in several - * segments */ + /* If previous write was partial or OD variable length is larger than current buffer size, + * then data was (will be) written in several segments */ if ((stream->dataOffset > 0U) || (dataLenToCopy > count)) { if (stream->dataOffset >= dataLenToCopy) { return ODR_DEV_INCOMPAT; @@ -117,7 +116,7 @@ OD_writeOriginal(OD_stream_t* stream, const void* buf, OD_size_t count, OD_size_ return returnCode; } -/* Read value from variable from Object Dictionary disabled, see OD_IO_t*/ +/* Read value from variable from Object Dictionary disabled, see OD_IO_t */ static ODR_t OD_readDisabled(OD_stream_t* stream, void* buf, OD_size_t count, OD_size_t* countRead) { (void)stream; @@ -146,9 +145,8 @@ OD_find(OD_t* od, uint16_t index) { uint16_t min = 0; uint16_t max = od->size - 1U; - /* Fast search in ordered Object Dictionary. If indexes are mixed, - * this won't work. If Object Dictionary has up to N entries, then the - * max number of loop passes is log2(N) */ + /* Fast search in ordered Object Dictionary. If indexes are mixed, this won't work. If Object + * Dictionary has up to N entries, then the max number of loop passes is log2(N) */ while (min < max) { /* get entry between min and max */ uint16_t cur = (min + max) >> 1; diff --git a/301/CO_PDO.c b/301/CO_PDO.c index c136f8c..c57e01a 100644 --- a/301/CO_PDO.c +++ b/301/CO_PDO.c @@ -70,8 +70,7 @@ OD_read_dummy(OD_stream_t* stream, void* buf, OD_size_t count, OD_size_t* countR /* * Find mapped variable in Object Dictionary and configure entry in RPDO or TPDO * - * @param PDO This object will be configured. If map is erroneous, then it will - * stay unchanged. + * @param PDO This object will be configured. If map is erroneous, then it will stay unchanged. * @param map PDO mapping parameter. * @param mapIndex from 0 to CO_PDO_MAX_MAPPED_ENTRIES * @param isRPDO True for RPDO and false for TPDO. @@ -412,7 +411,7 @@ OD_read_PDO_commParam(OD_stream_t* stream, void* buf, OD_size_t count, OD_size_t /* * @defgroup CO_PDO_receiveErrors_t States for RPDO->receiveError indicates received RPDOs with wrong length. * @{ - * + * */ #define CO_RPDO_RX_ACK_NO_ERROR 0U /* No error */ #define CO_RPDO_RX_ACK_ERROR 1U /* Error is acknowledged */ @@ -421,14 +420,13 @@ OD_read_PDO_commParam(OD_stream_t* stream, void* buf, OD_size_t count, OD_size_t #define CO_RPDO_RX_SHORT 12U /* Too short RPDO received, not acknowledged */ #define CO_RPDO_RX_LONG 13U /* Too long RPDO received, not acknowledged */ -/** @} */ /* CO_PDO_receiveErrors_t */ +/* @} */ /* CO_PDO_receiveErrors_t */ /* * Read received message from CAN module. * - * Function will be called (by CAN receive interrupt) every time, when CAN - * message with correct identifier will be received. For more information and - * description of parameters see file CO_driver.h. + * Function will be called (by CAN receive interrupt) every time, when CAN message with correct identifier + * will be received. For more information and description of parameters see file CO_driver.h. * If new message arrives and previous message wasn't processed yet, then * previous message will be lost and overwritten by the new message. */ @@ -466,8 +464,7 @@ CO_PDO_receive(void* object, void* msg) { CO_FLAG_SET(RPDO->CANrxNew[bufNo]); #if ((CO_CONFIG_PDO)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0 - /* Optional signal to RTOS, which can resume task, which handles - * the RPDO. */ + /* Optional signal to RTOS, which can resume task, which handles the RPDO. */ if (RPDO->pFunctSignalPre != NULL) { RPDO->pFunctSignalPre(RPDO->functSignalObjectPre); } @@ -505,9 +502,8 @@ OD_write_14xx(OD_stream_t* stream, const void* buf, OD_size_t count, OD_size_t* uint16_t CAN_ID = (uint16_t)(COB_ID & 0x7FFU); bool_t valid = (COB_ID & 0x80000000U) == 0U; - /* bits 11...29 must be zero, PDO must be disabled on change, - * CAN_ID == 0 is not allowed, mapping must be configured before - * enabling the PDO */ + /* bits 11...29 must be zero, PDO must be disabled on change, CAN_ID == 0 is + * not allowed, mapping must be configured before enabling the PDO */ if (((COB_ID & 0x3FFFF800U) != 0U) || (valid && PDO->valid && (CAN_ID != PDO->configuredCanId)) || (valid && CO_IS_RESTRICTED_CAN_ID(CAN_ID)) || (valid && (PDO->mappedObjectsCount == 0U))) { return ODR_INVALID_VALUE; @@ -835,7 +831,7 @@ CO_RPDO_process(CO_RPDO_t* RPDO, #endif /* (CO_CONFIG_PDO) & CO_CONFIG_RPDO_TIMERS_ENABLE */ } /* if (PDO->valid && NMTisOperational) */ else { - /* not valid and operational, clear CAN receive flags and timeoutTimer*/ + /* not valid and operational, clear CAN receive flags and timeoutTimer */ #if ((CO_CONFIG_PDO)&CO_CONFIG_PDO_SYNC_ENABLE) != 0 if (!PDO->valid || !NMTisOperational) { CO_FLAG_CLEAR(RPDO->CANrxNew[0]); @@ -882,9 +878,8 @@ OD_write_18xx(OD_stream_t* stream, const void* buf, OD_size_t count, OD_size_t* uint16_t CAN_ID = (uint16_t)(COB_ID & 0x7FFU); bool_t valid = (COB_ID & 0x80000000U) == 0U; - /* bits 11...29 must be zero, PDO must be disabled on change, - * CAN_ID == 0 is not allowed, mapping must be configured before - * enabling the PDO */ + /* bits 11...29 must be zero, PDO must be disabled on change, CAN_ID == 0 is + * not allowed, mapping must be configured before enabling the PDO */ if (((COB_ID & 0x3FFFF800U) != 0U) || (valid && (PDO->valid && (CAN_ID != PDO->configuredCanId))) || (valid && CO_IS_RESTRICTED_CAN_ID(CAN_ID)) || (valid && (PDO->mappedObjectsCount == 0U))) { return ODR_INVALID_VALUE; @@ -1147,8 +1142,7 @@ CO_TPDOsend(CO_TPDO_t* TPDO) { dataTPDOCopy = dataTPDO; } - /* Set stream.dataOffset to zero, perform OD_IO.read() - * and store mappedLength back to stream.dataOffset */ + /* Set stream.dataOffset to zero, perform OD_IO.read() and store mappedLength back to stream.dataOffset */ stream->dataOffset = 0; OD_size_t countRd; OD_IO->read(stream, dataTPDOCopy, ODdataLength, &countRd); @@ -1252,7 +1246,7 @@ CO_TPDO_process(CO_TPDO_t* TPDO, } #endif } -#endif /*((CO_CONFIG_PDO)&CO_CONFIG_TPDO_TIMERS_ENABLE)||(OD_FLAGS_PDO_SIZE>0)*/ +#endif /* ((CO_CONFIG_PDO)&CO_CONFIG_TPDO_TIMERS_ENABLE)||(OD_FLAGS_PDO_SIZE>0) */ /* Send PDO by application request or by Event timer */ if (TPDO->transmissionType >= (uint8_t)CO_PDO_TRANSM_TYPE_SYNC_EVENT_LO) { @@ -1299,8 +1293,7 @@ CO_TPDO_process(CO_TPDO_t* TPDO, TPDO->syncCounter = (TPDO->transmissionType / 2U) + 1U; } } - /* If the syncStartValue is in use, start first TPDO after SYNC - * with matched syncStartValue. */ + /* If the syncStartValue is in use, start first TPDO after SYNC with matched syncStartValue. */ if (TPDO->syncCounter == 254U) { if (TPDO->SYNC->counter == TPDO->syncStartValue) { TPDO->syncCounter = TPDO->transmissionType; diff --git a/301/CO_SDOclient.c b/301/CO_SDOclient.c index 8cad7b5..c86514a 100644 --- a/301/CO_SDOclient.c +++ b/301/CO_SDOclient.c @@ -50,9 +50,8 @@ /* * Read received message from CAN module. * - * Function will be called (by CAN receive interrupt) every time, when CAN - * message with correct identifier will be received. For more information and - * description of parameters see file CO_driver.h. + * Function will be called (by CAN receive interrupt) every time, when CAN message with correct identifier + * will be received. For more information and description of parameters see file CO_driver.h. */ static void CO_SDOclient_receive(void* object, void* msg) { @@ -94,8 +93,7 @@ CO_SDOclient_receive(void* object, void* msg) { /* is this the last segment? */ if ((data[0] & 0x80U) != 0U) { - /* copy data to temporary buffer, because we don't know the - * number of bytes not containing data */ + /* copy data to temporary buffer, because we don't know the number of bytes not containing data */ (void)memcpy((void*)&SDO_C->block_dataUploadLast[0], (const void*)&data[1], 7); SDO_C->finished = true; state = CO_SDO_ST_UPLOAD_BLK_SUBBLOCK_CRSP; @@ -110,9 +108,8 @@ CO_SDOclient_receive(void* object, void* msg) { } } } - /* If message is duplicate or sequence didn't start yet, ignore - * it. Otherwise seqno is wrong, so break sub-block. Data after - * last good seqno will be re-transmitted. */ + /* If message is duplicate or sequence didn't start yet, ignore it. Otherwise seqno is wrong, + * so break sub-block. Data after last good seqno will be re-transmitted. */ else if ((seqno != SDO_C->block_seqno) && (SDO_C->block_seqno != 0U)) { state = CO_SDO_ST_UPLOAD_BLK_SUBBLOCK_CRSP; #ifdef CO_DEBUG_SDO_CLIENT @@ -136,8 +133,7 @@ CO_SDOclient_receive(void* object, void* msg) { CO_FLAG_CLEAR(SDO_C->CANrxNew); SDO_C->state = state; #if ((CO_CONFIG_SDO_CLI)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0 - /* Optional signal to RTOS, which can resume task, which handles - * SDO client processing. */ + /* Optional signal to RTOS, which can resume task, which handles SDO client processing. */ if (SDO_C->pFunctSignal != NULL) { SDO_C->pFunctSignal(SDO_C->functSignalObject); } @@ -383,8 +379,7 @@ CO_SDOclientDownloadInitiate(CO_SDOclient_t* SDO_C, uint16_t index, uint8_t subI CO_fifo_reset(&SDO_C->bufFifo); #if ((CO_CONFIG_SDO_CLI)&CO_CONFIG_SDO_CLI_LOCAL) != 0 - /* if node-ID of the SDO server is the same as node-ID of this node, then - * transfer data within this node */ + /* if node-ID of the SDO server is the same as node-ID of this node, then transfer data within this node */ if ((SDO_C->OD != NULL) && (SDO_C->nodeId != 0U) && (SDO_C->nodeIDOfTheSDOServer == SDO_C->nodeId)) { SDO_C->OD_IO.write = NULL; SDO_C->state = CO_SDO_ST_DOWNLOAD_LOCAL_TRANSFER; @@ -442,7 +437,7 @@ CO_SDOclientDownload(CO_SDOclient_t* SDO_C, uint32_t timeDifference_us, bool_t s ret = CO_SDO_RT_ok_communicationEnd; } #if ((CO_CONFIG_SDO_CLI)&CO_CONFIG_SDO_CLI_LOCAL) != 0 - /* Transfer data locally **************************************************/ + /* Transfer data locally */ else if ((SDO_C->state == CO_SDO_ST_DOWNLOAD_LOCAL_TRANSFER) && !send_abort) { /* search object dictionary in first pass */ if (SDO_C->OD_IO.write == NULL) { @@ -499,10 +494,9 @@ CO_SDOclientDownload(CO_SDOclient_t* SDO_C, uint32_t timeDifference_us, bool_t s #endif OD_size_t sizeInOd = SDO_C->OD_IO.stream.dataLength; - /* If dataType is string, then size of data downloaded may be - * shorter than size of OD data buffer. If so, add two zero - * bytes to terminate (unicode) string. Shorten also OD data - * size, (temporary, send info about EOF into OD_IO.write) */ + /* If dataType is string, then size of data downloaded may be shorter than size of + * OD data buffer. If so, add two zero bytes to terminate (unicode) string. Shorten + * also OD data size, (temporary, send info about EOF into OD_IO.write) */ if (((SDO_C->OD_IO.stream.attribute & (OD_attr_t)ODA_STR) != 0U) && ((sizeInOd == 0U) || (SDO_C->sizeTran < sizeInOd))) { buf[count] = 0; @@ -541,16 +535,14 @@ CO_SDOclientDownload(CO_SDOclient_t* SDO_C, uint32_t timeDifference_us, bool_t s abortCode = (CO_SDO_abortCode_t)OD_getSDOabCode(odRet); ret = CO_SDO_RT_endedWithServerAbort; } - /* error if OD variable was written completely, - * but SDO download still has data */ + /* error if OD variable was written completely, but SDO download still has data */ else if (bufferPartial && (odRet == ODR_OK)) { abortCode = CO_SDO_AB_DATA_LONG; ret = CO_SDO_RT_endedWithClientAbort; } /* is end of transfer? */ else if (!bufferPartial) { - /* error if OD variable was not written completely, but SDO - * download finished */ + /* error if OD variable was not written completely, but SDO download finished */ if (odRet == ODR_PARTIAL) { abortCode = CO_SDO_AB_DATA_SHORT; ret = CO_SDO_RT_endedWithClientAbort; @@ -577,7 +569,7 @@ CO_SDOclientDownload(CO_SDOclient_t* SDO_C, uint32_t timeDifference_us, bool_t s #endif } #endif /* CO_CONFIG_SDO_CLI_LOCAL */ - /* CAN data received ******************************************************/ + /* CAN data received */ else if (CO_FLAG_READ(SDO_C->CANrxNew)) { /* is SDO abort */ if (SDO_C->CANrxData[0] == 0x80U) { @@ -689,8 +681,7 @@ CO_SDOclientDownload(CO_SDOclient_t* SDO_C, uint32_t timeDifference_us, bool_t s if (SDO_C->CANrxData[0] == 0xA2U) { /* check number of segments */ if (SDO_C->CANrxData[1] < SDO_C->block_seqno) { - /* NOT all segments transferred successfully. - * Re-transmit data after erroneous segment. */ + /* NOT all segments transferred successfully. Re-transmit data after erroneous segment. */ size_t cntFailed = (size_t)(SDO_C->block_seqno) - (size_t)(SDO_C->CANrxData[1]); cntFailed = (cntFailed * 7U) - SDO_C->block_noData; SDO_C->sizeTran -= cntFailed; @@ -778,7 +769,7 @@ CO_SDOclientDownload(CO_SDOclient_t* SDO_C, uint32_t timeDifference_us, bool_t s } else { /* MISRA C 2004 14.10 */ } - /* Timeout timers and transmit bufferFull flag ****************************/ + /* Timeout timers and transmit bufferFull flag */ if (ret == CO_SDO_RT_waitingResponse) { if (SDO_C->timeoutTimer < SDO_C->SDOtimeoutTime_us) { SDO_C->timeoutTimer += timeDifference_us; @@ -802,7 +793,7 @@ CO_SDOclientDownload(CO_SDOclient_t* SDO_C, uint32_t timeDifference_us, bool_t s } } - /* Transmit CAN data ******************************************************/ + /* Transmit CAN data */ if (ret == CO_SDO_RT_waitingResponse) { size_t count; (void)memset((void*)&SDO_C->CANtxBuff->data[0], 0, 8); @@ -1070,8 +1061,7 @@ CO_SDOclientUploadInitiate(CO_SDOclient_t* SDO_C, uint16_t index, uint8_t subInd #endif #if ((CO_CONFIG_SDO_CLI)&CO_CONFIG_SDO_CLI_LOCAL) != 0 - /* if node-ID of the SDO server is the same as node-ID of this node, then - * transfer data within this node */ + /* if node-ID of the SDO server is the same as node-ID of this node, then transfer data within this node */ if (((SDO_C->OD != NULL) && (SDO_C->nodeId != 0U)) && (SDO_C->nodeIDOfTheSDOServer == SDO_C->nodeId)) { SDO_C->OD_IO.read = NULL; SDO_C->state = CO_SDO_ST_UPLOAD_LOCAL_TRANSFER; @@ -1107,7 +1097,7 @@ CO_SDOclientUpload(CO_SDOclient_t* SDO_C, uint32_t timeDifference_us, bool_t sen ret = CO_SDO_RT_ok_communicationEnd; } #if ((CO_CONFIG_SDO_CLI)&CO_CONFIG_SDO_CLI_LOCAL) != 0 - /* Transfer data locally **************************************************/ + /* Transfer data locally */ else if ((SDO_C->state == CO_SDO_ST_UPLOAD_LOCAL_TRANSFER) && !send_abort) { /* search object dictionary in first pass */ if (SDO_C->OD_IO.read == NULL) { @@ -1208,7 +1198,7 @@ CO_SDOclientUpload(CO_SDOclient_t* SDO_C, uint32_t timeDifference_us, bool_t sen #endif } #endif /* CO_CONFIG_SDO_CLI_LOCAL */ - /* CAN data received ******************************************************/ + /* CAN data received */ else if (CO_FLAG_READ(SDO_C->CANrxNew)) { /* is SDO abort */ if (SDO_C->CANrxData[0] == 0x80U) { @@ -1481,7 +1471,7 @@ CO_SDOclientUpload(CO_SDOclient_t* SDO_C, uint32_t timeDifference_us, bool_t sen } else { /* MISRA C 2004 14.10 */ } - /* Timeout timers and transmit bufferFull flag ****************************/ + /* Timeout timers and transmit bufferFull flag */ if (ret == CO_SDO_RT_waitingResponse) { if (SDO_C->timeoutTimer < SDO_C->SDOtimeoutTime_us) { SDO_C->timeoutTimer += timeDifference_us; @@ -1516,7 +1506,7 @@ CO_SDOclientUpload(CO_SDOclient_t* SDO_C, uint32_t timeDifference_us, bool_t sen } if (SDO_C->block_timeoutTimer >= SDO_C->block_SDOtimeoutTime_us) { /* SDO_C->state will change, processing will continue in this - * thread. Make memory barrier here with CO_FLAG_CLEAR() call.*/ + * thread. Make memory barrier here with CO_FLAG_CLEAR() call. */ SDO_C->state = CO_SDO_ST_UPLOAD_BLK_SUBBLOCK_CRSP; CO_FLAG_CLEAR(SDO_C->CANrxNew); } @@ -1538,7 +1528,7 @@ CO_SDOclientUpload(CO_SDOclient_t* SDO_C, uint32_t timeDifference_us, bool_t sen } } - /* Transmit CAN data ******************************************************/ + /* Transmit CAN data */ if (ret == CO_SDO_RT_waitingResponse) { #if ((CO_CONFIG_SDO_CLI)&CO_CONFIG_SDO_CLI_BLOCK) != 0 size_t count; @@ -1613,7 +1603,7 @@ CO_SDOclientUpload(CO_SDOclient_t* SDO_C, uint32_t timeDifference_us, bool_t sen SDO_C->block_seqno = 0; SDO_C->block_crc = 0; /* Block segments will be received in different thread. Make memory - * barrier here with CO_FLAG_CLEAR() call. */ + * barrier here with CO_FLAG_CLEAR() call. */ SDO_C->state = CO_SDO_ST_UPLOAD_BLK_SUBBLOCK_SREQ; CO_FLAG_CLEAR(SDO_C->CANrxNew); (void)CO_CANsend(SDO_C->CANdevTx, SDO_C->CANtxBuff); @@ -1666,7 +1656,7 @@ CO_SDOclientUpload(CO_SDOclient_t* SDO_C, uint32_t timeDifference_us, bool_t sen SDO_C->block_blksize = (uint8_t)count; SDO_C->block_seqno = 0; /* Block segments will be received in different thread. Make - * memory barrier here with CO_FLAG_CLEAR() call. */ + * memory barrier here with CO_FLAG_CLEAR() call. */ SDO_C->state = CO_SDO_ST_UPLOAD_BLK_SUBBLOCK_SREQ; CO_FLAG_CLEAR(SDO_C->CANrxNew); } diff --git a/301/CO_SDOserver.c b/301/CO_SDOserver.c index b1a8ede..511db99 100644 --- a/301/CO_SDOserver.c +++ b/301/CO_SDOserver.c @@ -44,9 +44,8 @@ /* * Read received message from CAN module. * - * Function will be called (by CAN receive interrupt) every time, when CAN - * message with correct identifier will be received. For more information and - * description of parameters see file CO_driver.h. + * Function will be called (by CAN receive interrupt) every time, when CAN message with correct identifier + * will be received. For more information and description of parameters see file CO_driver.h. */ static void CO_SDO_receive(void* object, void* msg) { @@ -94,9 +93,8 @@ CO_SDO_receive(void* object, void* msg) { state = CO_SDO_ST_DOWNLOAD_BLK_SUBBLOCK_RSP; } } - /* If message is duplicate or sequence didn't start yet, ignore - * it. Otherwise seqno is wrong, so break sub-block. Data after - * last good seqno will be re-transmitted. */ + /* If message is duplicate or sequence didn't start yet, ignore it. Otherwise seqno is wrong, + * so break sub-block. Data after last good seqno will be re-transmitted. */ else if (seqno != SDO->block_seqno && SDO->block_seqno != 0U) { state = CO_SDO_ST_DOWNLOAD_BLK_SUBBLOCK_RSP; #ifdef CO_DEBUG_SDO_SERVER @@ -114,14 +112,12 @@ CO_SDO_receive(void* object, void* msg) { #endif if (state != CO_SDO_ST_DOWNLOAD_BLK_SUBBLOCK_REQ) { - /* SDO->state has changed, processing will continue in - * another thread. Make memory barrier here with - * CO_FLAG_CLEAR() call. */ + /* SDO->state has changed, processing will continue in another thread. + * Make memory barrier here with CO_FLAG_CLEAR() call. */ CO_FLAG_CLEAR(SDO->CANrxNew); SDO->state = state; #if ((CO_CONFIG_SDO_SRV)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0 - /* Optional signal to RTOS, which can resume task, which - * handles SDO server processing. */ + /* Optional signal to RTOS, which can resume task, which handles SDO server processing. */ if (SDO->pFunctSignalPre != NULL) { SDO->pFunctSignalPre(SDO->functSignalObjectPre); } @@ -133,13 +129,11 @@ CO_SDO_receive(void* object, void* msg) { } #endif /* (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK */ else { - /* copy data and set 'new message' flag, data will be processed in - * CO_SDOserver_process() */ + /* copy data and set 'new message' flag, data will be processed in CO_SDOserver_process() */ (void)memcpy(SDO->CANrxData, data, DLC); CO_FLAG_SET(SDO->CANrxNew); #if ((CO_CONFIG_SDO_SRV)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0 - /* Optional signal to RTOS, which can resume task, which handles - * SDO server processing. */ + /* Optional signal to RTOS, which can resume task, which handles SDO server processing. */ if (SDO->pFunctSignalPre != NULL) { SDO->pFunctSignalPre(SDO->functSignalObjectPre); } @@ -148,7 +142,7 @@ CO_SDO_receive(void* object, void* msg) { } } -/* helper for configuring CANrx and CANtx *************************************/ +/* helper for configuring CANrx and CANtx */ static CO_ReturnError_t CO_SDOserver_init_canRxTx(CO_SDOserver_t* SDO, CO_CANmodule_t* CANdevRx, uint16_t CANdevRxIdx, uint16_t CANdevTxIdx, uint32_t COB_IDClientToServer, uint32_t COB_IDServerToClient) { @@ -189,8 +183,7 @@ CO_SDOserver_init_canRxTx(CO_SDOserver_t* SDO, CO_CANmodule_t* CANdevRx, uint16_ #if ((CO_CONFIG_SDO_SRV)&CO_CONFIG_FLAG_OD_DYNAMIC) != 0 /* - * Custom function for writing OD object _SDO server parameter_, additional - * channels + * Custom function for writing OD object _SDO server parameter_, additional channels * * For more information see file CO_ODinterface.h, OD_IO_t. */ @@ -392,17 +385,15 @@ reverseBytes(void* start, OD_size_t size) { #endif #if ((CO_CONFIG_SDO_SRV)&CO_CONFIG_SDO_SRV_SEGMENTED) != 0 -/** Helper function for writing data to Object dictionary. Function swaps data - * if necessary, calcualtes (and verifies CRC) writes data to OD and verifies - * data lengths. +/* Helper function for writing data to Object dictionary. Function swaps data if necessary, + * calcualtes (and verifies CRC) writes data to OD and verifies data lengths. * * @param SDO SDO server * @param [out] abortCode SDO abort code in case of error * @param crcOperation 0=none, 1=calculate, 2=calculate and compare * @parma crcClient crc checksum to campare with * - * Returns true on success, otherwise write also abortCode and sets state to - * CO_SDO_ST_ABORT */ + * Returns true on success, otherwise write also abortCode and sets state to CO_SDO_ST_ABORT */ static bool_t validateAndWriteToOD(CO_SDOserver_t* SDO, CO_SDO_abortCode_t* abortCode, uint8_t crcOperation, uint16_t crcClient) { OD_size_t bufOffsetWrOrig = SDO->bufOffsetWr; @@ -424,10 +415,9 @@ validateAndWriteToOD(CO_SDOserver_t* SDO, CO_SDO_abortCode_t* abortCode, uint8_t OD_size_t sizeInOd = SDO->OD_IO.stream.dataLength; - /* If dataType is string, then size of data downloaded may be - * shorter than size of OD data buffer. If so, add two zero bytes - * to terminate (unicode) string. Shorten also OD data size, - * (temporary, send information about EOF into OD_IO.write) */ + /* If dataType is string, then size of data downloaded may be shorter than size of the + * OD data buffer. If so, add two zero bytes to terminate (unicode) string. Shorten + * also OD data size, (temporary, send information about EOF into OD_IO.write) */ if (((SDO->OD_IO.stream.attribute & (OD_attr_t)ODA_STR) != 0U) && ((sizeInOd == 0U) || (SDO->sizeTran < sizeInOd)) && ((SDO->bufOffsetWr + 2U) <= CO_CONFIG_SDO_SRV_BUFFER_SIZE)) { @@ -441,7 +431,7 @@ validateAndWriteToOD(CO_SDOserver_t* SDO, CO_SDO_abortCode_t* abortCode, uint8_t } SDO->OD_IO.stream.dataLength = SDO->sizeTran; } - /* Indicate OD data size, if not indicated. Can be used for EOF check.*/ + /* Indicate OD data size, if not indicated. Can be used for EOF check. */ else if (sizeInOd == 0U) { SDO->OD_IO.stream.dataLength = SDO->sizeTran; } @@ -497,7 +487,7 @@ validateAndWriteToOD(CO_SDOserver_t* SDO, CO_SDO_abortCode_t* abortCode, uint8_t SDO->state = CO_SDO_ST_ABORT; return false; } else if (!SDO->finished && (odRet == ODR_OK)) { - /* OD variable was written completely, but SDO download still has data*/ + /* OD variable was written completely, but SDO download still has data */ *abortCode = CO_SDO_AB_DATA_LONG; SDO->state = CO_SDO_ST_ABORT; return false; @@ -507,17 +497,14 @@ validateAndWriteToOD(CO_SDOserver_t* SDO, CO_SDO_abortCode_t* abortCode, uint8_t return true; } -/** Helper function for reading data from Object dictionary. Function also swaps - * data if necessary and calcualtes CRC. +/* Helper function for reading data from Object dictionary. Function also swaps data if necessary and calcualtes CRC. * * @param SDO SDO server * @param [out] abortCode SDO abort code in case of error - * @parma countMinimum if data size in buffer is less than countMinimum, then - * buffer is refilled from OD variable + * @parma countMinimum if data size in buffer is less than countMinimum, then buffer is refilled from OD variable * @param calculateCrc if true, crc is calculated * - * Returns true on success, otherwise write also abortCode and sets state to - * CO_SDO_ST_ABORT */ + * Returns true on success, otherwise write also abortCode and sets state to CO_SDO_ST_ABORT */ static bool_t readFromOd(CO_SDOserver_t* SDO, CO_SDO_abortCode_t* abortCode, OD_size_t countMinimum, bool_t calculateCrc) { #if ((CO_CONFIG_SDO_SRV)&CO_CONFIG_SDO_SRV_BLOCK) == 0 @@ -618,8 +605,7 @@ CO_SDOserver_process(CO_SDOserver_t* SDO, bool_t NMTisPreOrOperational, uint32_t /* Idle and nothing new */ ret = CO_SDO_RT_ok_communicationEnd; } else if (!NMTisPreOrOperational || !SDO->valid) { - /* SDO is allowed only in operational or pre-operational NMT state - * and must be valid */ + /* SDO is allowed only in operational or pre-operational NMT state and must be valid */ SDO->state = CO_SDO_ST_IDLE; CO_FLAG_CLEAR(SDO->CANrxNew); ret = CO_SDO_RT_ok_communicationEnd; @@ -735,10 +721,9 @@ CO_SDOserver_process(CO_SDOserver_t* SDO, bool_t NMTisPreOrOperational, uint32_t } #endif - /* If dataType is string, then size of data downloaded may be - * shorter as size of OD data buffer. If so, add two zero bytes - * to terminate (unicode) string. Shorten also OD data size, - * (temporary, send information about EOF into OD_IO.write) */ + /* If dataType is string, then size of data downloaded may be shorter as size of + * the OD data buffer. If so, add two zero bytes to terminate (unicode) string. + * Shorten also OD data size, (temporary, send information about EOF into OD_IO.write) */ if (((SDO->OD_IO.stream.attribute & (OD_attr_t)ODA_STR) != 0U) && ((sizeInOd == 0U) || (dataSizeToWrite < sizeInOd))) { OD_size_t delta = sizeInOd - dataSizeToWrite; @@ -918,8 +903,7 @@ CO_SDOserver_process(CO_SDOserver_t* SDO, bool_t NMTisPreOrOperational, uint32_t case CO_SDO_ST_DOWNLOAD_BLK_END_REQ: { if ((SDO->CANrxData[0] & 0xE3) == 0xC1) { - /* Get number of data bytes in last segment, that do not - * contain data. Then reduce buffer. */ + /* Get number of data bytes in last segment, that do not contain data. Then reduce buffer. */ uint8_t noData = ((SDO->CANrxData[0] >> 2) & 0x07); if (SDO->bufOffsetWr <= noData) { /* just in case, should never happen */ @@ -950,7 +934,7 @@ CO_SDOserver_process(CO_SDOserver_t* SDO, bool_t NMTisPreOrOperational, uint32_t case CO_SDO_ST_UPLOAD_BLK_INITIATE_REQ: { /* if pst (protocol switch threshold, byte5) is larger than data - * size of OD variable, then switch to segmented transfer */ + * size of OD variable, then switch to segmented transfer */ if (SDO->sizeInd > 0 && SDO->CANrxData[5] > 0 && SDO->CANrxData[5] >= SDO->sizeInd) { SDO->state = CO_SDO_ST_UPLOAD_INITIATE_RSP; } else { @@ -1004,8 +988,7 @@ CO_SDOserver_process(CO_SDOserver_t* SDO, bool_t NMTisPreOrOperational, uint32_t /* check number of segments */ if (SDO->CANrxData[1] < SDO->block_seqno) { - /* NOT all segments transferred successfully. - * Re-transmit data after erroneous segment. */ + /* NOT all segments transferred successfully. Re-transmit data after erroneous segment. */ OD_size_t cntFailed = SDO->block_seqno - SDO->CANrxData[1]; cntFailed = cntFailed * 7 - SDO->block_noData; SDO->bufOffsetRd -= cntFailed; @@ -1109,7 +1092,7 @@ CO_SDOserver_process(CO_SDOserver_t* SDO, bool_t NMTisPreOrOperational, uint32_t } if (SDO->block_timeoutTimer >= SDO->block_SDOtimeoutTime_us) { /* SDO->state will change, processing will continue in this - * thread. Make memory barrier here with CO_FLAG_CLEAR() call.*/ + * thread. Make memory barrier here with CO_FLAG_CLEAR() call. */ SDO->state = CO_SDO_ST_DOWNLOAD_BLK_SUBBLOCK_RSP; CO_FLAG_CLEAR(SDO->CANrxNew); } @@ -1323,7 +1306,7 @@ CO_SDOserver_process(CO_SDOserver_t* SDO, bool_t NMTisPreOrOperational, uint32_t SDO->block_timeoutTimer = 0; /* Block segments will be received in different thread. Make memory - * barrier here with CO_FLAG_CLEAR() call. */ + * barrier here with CO_FLAG_CLEAR() call. */ SDO->state = CO_SDO_ST_DOWNLOAD_BLK_SUBBLOCK_REQ; CO_FLAG_CLEAR(SDO->CANrxNew); (void)CO_CANsend(SDO->CANdevTx, SDO->CANtxBuff); @@ -1362,7 +1345,7 @@ CO_SDOserver_process(CO_SDOserver_t* SDO, bool_t NMTisPreOrOperational, uint32_t SDO->block_blksize = (uint8_t)count; SDO->block_seqno = 0; /* Block segments will be received in different thread. Make - * memory barrier here with CO_FLAG_CLEAR() call. */ + * memory barrier here with CO_FLAG_CLEAR() call. */ SDO->state = CO_SDO_ST_DOWNLOAD_BLK_SUBBLOCK_REQ; CO_FLAG_CLEAR(SDO->CANrxNew); } diff --git a/301/CO_SYNC.c b/301/CO_SYNC.c index 19874b3..a906238 100644 --- a/301/CO_SYNC.c +++ b/301/CO_SYNC.c @@ -25,9 +25,8 @@ /* * Read received message from CAN module. * - * Function will be called (by CAN receive interrupt) every time, when CAN - * message with correct identifier will be received. For more information and - * description of parameters see file CO_driver.h. + * Function will be called (by CAN receive interrupt) every time, when CAN message with correct identifier + * will be received. For more information and description of parameters see file CO_driver.h. */ static void CO_SYNC_receive(void* object, void* msg) { @@ -58,7 +57,7 @@ CO_SYNC_receive(void* object, void* msg) { CO_FLAG_SET(SYNC->CANrxNew); #if ((CO_CONFIG_SYNC)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0 - /* Optional signal to RTOS, which can resume task, which handles SYNC.*/ + /* Optional signal to RTOS, which can resume task, which handles SYNC. */ if (SYNC->pFunctSignalPre != NULL) { SYNC->pFunctSignalPre(SYNC->functSignalObjectPre); } @@ -237,8 +236,7 @@ CO_SYNC_init(CO_SYNC_t* SYNC, CO_EM_t* em, OD_entry_t* OD_1005_cobIdSync, OD_ent return CO_ERROR_OD_PARAMETERS; } - /* get and verify optional "Synchronous counter overflow value" from OD and - * configure extension */ + /* get and verify optional "Synchronous counter overflow value" from OD and configure extension */ uint8_t syncCounterOvf = 0; if (OD_1019_syncCounterOvf != NULL) { diff --git a/301/CO_TIME.c b/301/CO_TIME.c index 8b8e6b2..499271c 100644 --- a/301/CO_TIME.c +++ b/301/CO_TIME.c @@ -27,9 +27,8 @@ /* * Read received message from CAN module. * - * Function will be called (by CAN receive interrupt) every time, when CAN - * message with correct identifier will be received. For more information and - * description of parameters see file CO_driver.h. + * Function will be called (by CAN receive interrupt) every time, when CAN message with correct identifier + * will be received. For more information and description of parameters see file CO_driver.h. */ static void CO_TIME_receive(void* object, void* msg) { @@ -42,7 +41,7 @@ CO_TIME_receive(void* object, void* msg) { CO_FLAG_SET(TIME->CANrxNew); #if ((CO_CONFIG_TIME)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0 - /* Optional signal to RTOS, which can resume task, which handles TIME.*/ + /* Optional signal to RTOS, which can resume task, which handles TIME. */ if (TIME->pFunctSignalPre != NULL) { TIME->pFunctSignalPre(TIME->functSignalObjectPre); } diff --git a/301/CO_fifo.c b/301/CO_fifo.c index e7ccd13..cadb744 100644 --- a/301/CO_fifo.c +++ b/301/CO_fifo.c @@ -430,7 +430,7 @@ CO_fifo_readToken(CO_fifo_t* fifo, char* buf, size_t count, uint8_t* closed, boo *closed = delimCommandFound ? 1U : 0U; } - /* token was larger then size of the buffer, all was cleaned, return empty*/ + /* token was larger then size of the buffer, all was cleaned, return empty */ if (tokenSize == count) { tokenSize = 0; } @@ -444,11 +444,10 @@ CO_fifo_readToken(CO_fifo_t* fifo, char* buf, size_t count, uint8_t* closed, boo #endif /* (CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ASCII_COMMANDS */ #if ((CO_CONFIG_FIFO)&CO_CONFIG_FIFO_ASCII_DATATYPES) != 0 -/* Tables for mime-base64 encoding, as specified in RFC 2045, (without CR-LF, - * but one long string). Base64 is used for encoding binary data into easy - * transferable printable characters. In general, each three bytes of binary - * data are translated into four characters, where characters are selected from - * 64 characters long table. See https://en.wikipedia.org/wiki/Base64 */ +/* Tables for mime-base64 encoding, as specified in RFC 2045, (without CR-LF, but one long string). + * Base64 is used for encoding binary data into easy transferable printable characters. In general, + * each three bytes of binary data are translated into four characters, where characters are + * selected from 64 characters long table. See https://en.wikipedia.org/wiki/Base64 */ static const char base64EncTable[] = "ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789+/"; static const uint8_t base64DecTable[] = { @@ -1257,8 +1256,7 @@ CO_fifo_cpyTok2Vs(CO_fifo_t* dest, CO_fifo_t* src, uint8_t* status) { step = (uint8_t)dest->aux; } - /* repeat until destination space available and no error and not finished - * and source characters available */ + /* repeat until destination space available and no error and not finished and source characters available */ while ((destSpace > 0U) && ((st & CO_fifo_st_errMask) == 0U) && !finished) { uint8_t c; if (!CO_fifo_getc(src, &c)) { @@ -1283,7 +1281,7 @@ CO_fifo_cpyTok2Vs(CO_fifo_t* dest, CO_fifo_t* src, uint8_t* status) { case 2: /* inside string, single word, no quotes */ if (c == DELIM_DQUOTE) { /* double quote found, this may be end of the string or escaped - * double quote (with two double quotes) */ + * double quote (with two double quotes) */ step += 2U; } else if ((isgraph((int)c) == 0) && (step == 2U)) { /* end of single word string */ @@ -1410,8 +1408,7 @@ CO_fifo_cpyTok2B64(CO_fifo_t* dest, CO_fifo_t* src, uint8_t* status) { dword = dest->aux & 0xFFFFFFU; } - /* repeat until destination space available and no error and not finished - * and source characters available */ + /* repeat until destination space available and no error and not finished and source characters available */ while ((destSpace >= 3U) && ((st & CO_fifo_st_errMask) == 0U) && !finished) { uint8_t c; if (!CO_fifo_getc(src, &c)) { diff --git a/304/CO_GFC.c b/304/CO_GFC.c index bbf6dde..86743e3 100644 --- a/304/CO_GFC.c +++ b/304/CO_GFC.c @@ -1,4 +1,4 @@ -/** +/* * CANopen Global fail-safe command protocol. * * @file CO_GFC.c diff --git a/304/CO_SRDO.c b/304/CO_SRDO.c index 003e5e3..f8992f4 100644 --- a/304/CO_SRDO.c +++ b/304/CO_SRDO.c @@ -1,4 +1,4 @@ -/** +/* * CANopen Safety Related Data Object protocol. * * @file CO_SRDO.c @@ -138,7 +138,8 @@ OD_read_dummy(OD_stream_t* stream, void* buf, OD_size_t count, OD_size_t* countR #ifdef CO_CONFORMANCE_TEST_TOOL_ADAPTATION static bool_t OD_not_write_same_value(OD_stream_t* stream, const void* buf, OD_size_t count) { - // The conformance test tool does not recognize CANopen Safety and on all object dictionaty tries to read and write the same value + /* The conformance test tool does not recognize CANopen Safety and on all object + * dictionaty tries to read and write the same value */ OD_size_t countRead = 0; uint8_t bufRead[6] = {0}; if (count > 6U) { @@ -379,8 +380,7 @@ CO_SRDOGuard_init(CO_SRDOGuard_t* SRDOGuard, OD_entry_t* OD_13FE_configurationVa SRDOGuard->OD_13FF_extension.write = OD_write_13FF; (void)OD_extension_init(OD_13FF_safetyConfigurationSignature, &SRDOGuard->OD_13FF_extension); - /* Configure SRDOGuard->OD_IO_configurationValid variable. - * It will be used for writing 0 to OD variable 13FE,00 */ + /* Configure SRDOGuard->OD_IO_configurationValid variable. It will be used for writing 0 to OD variable 13FE,00 */ odRet = OD_getSub(OD_13FE_configurationValid, 0, &SRDOGuard->OD_IO_configurationValid, false); if ((odRet != ODR_OK) || (SRDOGuard->OD_IO_configurationValid.stream.dataLength != 1U)) { if (errInfo != NULL) { @@ -734,7 +734,7 @@ CO_SRDO_process(CO_SRDO_t* SRDO, uint32_t timeDifference_us, uint32_t* timerNext /* Detect transition to NMT operational */ if (!SRDO->NMTisOperationalPrevious) { SRDO->cycleTimer = (SRDO->informationDirection == CO_SRDO_TX) - ? ((uint32_t)SRDO->nodeId * 500U) /* 0.5ms * node-ID delay*/ + ? ((uint32_t)SRDO->nodeId * 500U) /* 0.5ms * node-ID delay */ : SRDO->cycleTime_us; SRDO->validationTimer = SRDO->cycleTime_us; SRDO->internalState = CO_SRDO_state_initializing; diff --git a/305/CO_LSSmaster.c b/305/CO_LSSmaster.c index 1e78c0a..35df239 100644 --- a/305/CO_LSSmaster.c +++ b/305/CO_LSSmaster.c @@ -28,19 +28,17 @@ /* * @defgroup CO_LSSmaster_state_t * @{ - * LSS master slave select state machine. Compared to #CO_LSS_state_t this - * has information if we currently have selected one or all slaves. This - * allows for some basic error checking. + * LSS master slave select state machine. Compared to #CO_LSS_state_t this has information if we + * currently have selected one or all slaves. This allows for some basic error checking. */ #define CO_LSSmaster_STATE_WAITING 0x00U #define CO_LSSmaster_STATE_CFG_SLECTIVE 0x01U #define CO_LSSmaster_STATE_CFG_GLOBAL 0x02U -/** @} */ /* CO_LSSmaster_state_t */ +/* @} */ /* CO_LSSmaster_state_t */ /* * @defgroup CO_LSSmaster_command_t LSS master slave command state machine * @{ - * */ #define CO_LSSmaster_COMMAND_WAITING 0x00U #define CO_LSSmaster_COMMAND_SWITCH_STATE 0x01U @@ -53,7 +51,7 @@ #define CO_LSSmaster_COMMAND_INQUIRE_SERIAL 0x08U #define CO_LSSmaster_COMMAND_INQUIRE 0x09U #define CO_LSSmaster_COMMAND_IDENTIFY_FASTSCAN 0x0AU -/** @} */ /* CO_LSSmaster_command_t */ +/* @} */ /* CO_LSSmaster_command_t */ /* * @defgroup CO_LSSmaster_fs_t LSS master fastscan state machine @@ -63,14 +61,13 @@ #define CO_LSSmaster_FS_STATE_SCAN 0x01U #define CO_LSSmaster_FS_STATE_VERIFY 0x02U -/** @} */ /* CO_LSSmaster_fs_t */ +/* @} */ /* CO_LSSmaster_fs_t */ /* * Read received message from CAN module. * - * Function will be called (by CAN receive interrupt) every time, when CAN - * message with correct identifier will be received. For more information and - * description of parameters see file CO_driver.h. + * Function will be called (by CAN receive interrupt) every time, when CAN message with correct identifier + * will be received. For more information and description of parameters see file CO_driver.h. */ static void CO_LSSmaster_receive(void* object, void* msg) { @@ -80,7 +77,7 @@ CO_LSSmaster_receive(void* object, void* msg) { LSSmaster = (CO_LSSmaster_t*)object; /* this is the correct pointer type of the first argument */ - /* verify message length and message overflow (previous message was not processed yet) */ + /* verify message length and message overflow (previous message was not processed yet). */ if ((DLC == 8U) && !CO_FLAG_READ(LSSmaster->CANrxNew) && (LSSmaster->command != CO_LSSmaster_COMMAND_WAITING)) { /* copy data and set 'new message' flag */ @@ -100,9 +97,8 @@ CO_LSSmaster_receive(void* object, void* msg) { /* * Check LSS timeout. * - * Generally, we do not really care if the message has been received before - * or after the timeout expired. Only if no message has been received we have - * to check for timeouts + * Generally, we do not really care if the message has been received before or after the timeout + * expired. Only if no message has been received we have to check for timeouts. */ static inline CO_LSSmaster_return_t CO_LSSmaster_check_timeout(CO_LSSmaster_t* LSSmaster, uint32_t timeDifference_us) { @@ -304,9 +300,8 @@ CO_LSSmaster_swStateDeselect(CO_LSSmaster_t* LSSmaster) { * - byte 0 -> cs * - byte 1 -> Error Code, where * - 0 = OK - * - 1 .. FE = Values defined by CiA. All currently defined values - * are slave rejects. No further distinction on why the - * slave did reject the request. + * - 1 .. FE = Values defined by CiA. All currently defined values are slave rejects. + * No further distinction on why the slave did reject the request. * - FF = Manufacturer Error Code in byte 2 * - byte 2 -> Manufacturer Error, currently not used * @@ -791,8 +786,7 @@ CO_LSSmaster_FsVerifyInitiate(CO_LSSmaster_t* LSSmaster, uint32_t timeDifference } /* - * Helper function - verify 32 bit LSS address, request node(s) to switch - * their state machine to the next state + * Helper function - verify 32 bit LSS address, request node(s) to switch their state machine to the next state */ static CO_LSSmaster_return_t CO_LSSmaster_FsVerifyWait(CO_LSSmaster_t* LSSmaster, uint32_t timeDifference_us, CO_LSSmaster_scantype_t scan, @@ -833,15 +827,13 @@ CO_LSSmaster_FsSearchNext(CO_LSSmaster_t* LSSmaster, const CO_LSSmaster_fastscan uint8_t i; /* we search for the next LSS address part to scan for, beginning with the - * one after the current one. If there is none remaining, scanning is - * finished */ + * one after the current one. If there is none remaining, scanning is finished */ for (i = LSSmaster->fsLssSub + 1U; i <= CO_LSS_FASTSCAN_SERIAL; i++) { if (fastscan->scan[i] != CO_LSSmaster_FS_SKIP) { return i; } } - /* node selection is triggered by switching node state machine back - * to initial state */ + /* node selection is triggered by switching node state machine back to initial state */ return CO_LSS_FASTSCAN_VENDOR_ID; } @@ -894,7 +886,8 @@ CO_LSSmaster_IdentifyFastscan(CO_LSSmaster_t* LSSmaster, uint32_t timeDifference /* continue with evaluating fastscan state machine */ } - /* evaluate fastscan state machine. The state machine is evaluated as following + /* + * evaluate fastscan state machine. The state machine is evaluated as following * - check for non-configured nodes * - scan for vendor ID * - verify vendor ID, switch node state @@ -904,9 +897,9 @@ CO_LSSmaster_IdentifyFastscan(CO_LSSmaster_t* LSSmaster, uint32_t timeDifference * - verify revision number, switch node state * - scan for serial number * - verify serial number, switch node to LSS configuration mode - * Certain steps can be skipped as mentioned in the function description. - * If one step is not ack'ed by a node, the scanning process is terminated - * and the correspondign error is returned. */ + * Certain steps can be skipped as mentioned in the function description. If one step is + * not ack'ed by a node, the scanning process is terminated and the correspondign error is returned. + */ switch (LSSmaster->fsState) { case CO_LSSmaster_FS_STATE_CHECK: ret = CO_LSSmaster_FsCheckWait(LSSmaster, timeDifference_us); @@ -924,9 +917,8 @@ CO_LSSmaster_IdentifyFastscan(CO_LSSmaster_t* LSSmaster, uint32_t timeDifference case CO_LSSmaster_FS_STATE_SCAN: ret = CO_LSSmaster_FsScanWait(LSSmaster, timeDifference_us, fastscan->scan[LSSmaster->fsLssSub]); if (ret == CO_LSSmaster_SCAN_FINISHED) { - /* scanning finished, initiate verifcation. The verification - * message also contains the node state machine "switch to - * next state" request */ + /* scanning finished, initiate verifcation. The verification message also contains + * the node state machine "switch to next state" request */ next = CO_LSSmaster_FsSearchNext(LSSmaster, fastscan); ret = CO_LSSmaster_FsVerifyInitiate(LSSmaster, timeDifference_us, fastscan->scan[LSSmaster->fsLssSub], fastscan->match.addr[LSSmaster->fsLssSub], next); @@ -940,19 +932,16 @@ CO_LSSmaster_IdentifyFastscan(CO_LSSmaster_t* LSSmaster, uint32_t timeDifference if (ret == CO_LSSmaster_SCAN_FINISHED) { /* verification successful: * - assumed node id is correct - * - node state machine has switched to the requested state, - * mirror that in the local copy */ + * - node state machine has switched to the requested state, mirror that in the local copy */ next = CO_LSSmaster_FsSearchNext(LSSmaster, fastscan); if (next == CO_LSS_FASTSCAN_VENDOR_ID) { - /* fastscan finished, one node is now in LSS configuration - * mode */ + /* fastscan finished, one node is now in LSS configuration mode */ LSSmaster->state = CO_LSSmaster_STATE_CFG_SLECTIVE; } else { /* initiate scan for next part of LSS address */ ret = CO_LSSmaster_FsScanInitiate(LSSmaster, timeDifference_us, fastscan->scan[next], next); if (ret == CO_LSSmaster_SCAN_FINISHED) { - /* Scanning is not requested. Initiate verification - * step in next function call */ + /* Scanning is not requested. Initiate verification step in next function call */ ret = CO_LSSmaster_WAIT_SLAVE; } diff --git a/305/CO_LSSslave.c b/305/CO_LSSslave.c index 10125fe..81d9aae 100644 --- a/305/CO_LSSslave.c +++ b/305/CO_LSSslave.c @@ -36,9 +36,8 @@ /* * Read received message from CAN module. * - * Function will be called (by CAN receive interrupt) every time, when CAN - * message with correct identifier will be received. For more information and - * description of parameters see file CO_driver.h. + * Function will be called (by CAN receive interrupt) every time, when CAN message with correct identifier + * will be received. For more information and description of parameters see file CO_driver.h. */ static void CO_LSSslave_receive(void* object, void* msg) { @@ -58,7 +57,7 @@ CO_LSSslave_receive(void* object, void* msg) { if ((LSSslave->lssState == CO_LSS_STATE_CONFIGURATION) && (LSSslave->activeNodeID == CO_LSS_NODE_ID_ASSIGNMENT) && (*LSSslave->pendingNodeID != CO_LSS_NODE_ID_ASSIGNMENT)) { - /* Slave process function will request NMT Reset comm.*/ + /* Slave process function will request NMT Reset comm. */ LSSslave->service = cs; request_LSSslave_process = true; } @@ -170,8 +169,7 @@ CO_LSSslave_receive(void* object, void* msg) { if (request_LSSslave_process) { CO_FLAG_SET(LSSslave->sendResponse); #if ((CO_CONFIG_LSS)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0 - /* Optional signal to RTOS, which can resume task, - * which handles further processing. */ + /* Optional signal to RTOS, which can resume task, which handles further processing. */ if (LSSslave->pFunctSignalPre != NULL) { LSSslave->pFunctSignalPre(LSSslave->functSignalObjectPre); } diff --git a/309/CO_gateway_ascii.c b/309/CO_gateway_ascii.c index 7fd45c3..b88d17c 100644 --- a/309/CO_gateway_ascii.c +++ b/309/CO_gateway_ascii.c @@ -312,8 +312,8 @@ static const CO_GTWA_dataType_t dataTypes[] = { {(char*)"r32", 4, CO_fifo_readR322a, CO_fifo_cpyTok2R32}, /* REAL32 */ {(char*)"r64", 8, CO_fifo_readR642a, CO_fifo_cpyTok2R64}, /* REAL64 */ {(char*)"vs", 0, CO_fifo_readVs2a, CO_fifo_cpyTok2Vs}, /* VISIBLE_STRING */ - {(char*)"os", 0, CO_fifo_readB642a, CO_fifo_cpyTok2B64}, /* OCTET_STRING base64*/ - {(char*)"us", 0, CO_fifo_readB642a, CO_fifo_cpyTok2B64}, /* UNICODE_STRING base64*/ + {(char*)"os", 0, CO_fifo_readB642a, CO_fifo_cpyTok2B64}, /* OCTET_STRING base64 */ + {(char*)"us", 0, CO_fifo_readB642a, CO_fifo_cpyTok2B64}, /* UNICODE_STRING base64 */ {(char*)"d", 0, CO_fifo_readB642a, CO_fifo_cpyTok2B64} /* DOMAIN - base64 */ }; @@ -577,8 +577,7 @@ CO_GTWA_process(CO_GTWA_t* gtwa, bool_t enable, uint32_t timeDifference_us, uint return; } - /* If there is some more output data for application, read them first. - * Hold on this state, if necessary. */ + /* If there is some more output data for application, read them first. Hold on this state, if necessary. */ if (gtwa->respHold) { timeDifference_us += gtwa->timeDifference_us_cumulative; @@ -606,8 +605,7 @@ CO_GTWA_process(CO_GTWA_t* gtwa, bool_t enable, uint32_t timeDifference_us, uint /* parse mandatory token '"[""]"' */ closed = 0xFFU; n = CO_fifo_readToken(>wa->commFifo, tok, sizeof(tok), &closed, &err); - /* Break if error in token or token was found, but closed with - * command delimiter. */ + /* Break if error in token or token was found, but closed with command delimiter. */ if (err || ((n > 0U) && (closed != 0U))) { err = true; break; @@ -1053,7 +1051,7 @@ CO_GTWA_process(CO_GTWA_t* gtwa, bool_t enable, uint32_t timeDifference_us, uint } } - /* NMT reset (node or communication) - 'reset '*/ + /* NMT reset (node or communication) - 'reset ' */ else if (tok_is_reset) { CO_ReturnError_t ret; bool_t NodeErr = checkNetNode(gtwa, net, node, 0, &respErrorCode); @@ -1208,8 +1206,7 @@ CO_GTWA_process(CO_GTWA_t* gtwa, bool_t enable, uint32_t timeDifference_us, uint break; } - /* First parameter is table selector. We only support the CiA - * bit timing table from CiA301 ("0") */ + /* First parameter is table selector. We only support the CiA bit timing table from CiA301 ("0") */ closed = 0U; (void)CO_fifo_readToken(>wa->commFifo, tok, sizeof(tok), &closed, &err); (void)getU32(tok, 0, 0, &err); @@ -1303,7 +1300,7 @@ CO_GTWA_process(CO_GTWA_t* gtwa, bool_t enable, uint32_t timeDifference_us, uint gtwa->state = CO_GTWA_ST_LSS_INQUIRE_ADDR_ALL; } } - /* LSS inquire node-ID command - 'lss_get_node'*/ + /* LSS inquire node-ID command - 'lss_get_node' */ else if (tok_is_lss_get_node) { bool_t NodeErr = checkNet(gtwa, net, &respErrorCode); @@ -1317,7 +1314,7 @@ CO_GTWA_process(CO_GTWA_t* gtwa, bool_t enable, uint32_t timeDifference_us, uint gtwa->state = CO_GTWA_ST_LSS_INQUIRE; } /* LSS identify fastscan. This is a manufacturer specific command as - * the one in DSP309 is quite useless - '_lss_fastscan []'*/ + * the one in DSP309 is quite useless - '_lss_fastscan []' */ else if (tok_is__lss_fastscan) { bool_t NodeErr = checkNet(gtwa, net, &respErrorCode); uint16_t timeout_ms = 0; @@ -1354,17 +1351,14 @@ CO_GTWA_process(CO_GTWA_t* gtwa, bool_t enable, uint32_t timeDifference_us, uint * * ]]' */ else if (tok_is_lss_allnodes) { - /* Request node enumeration by LSS identify fastscan. - * This initiates node enumeration by the means of LSS fastscan - * mechanism. When this function is finished: - * - All nodes that match the given criteria are assigned a node ID - * beginning with nodeId. If 127 is reached, the process - * is stopped, no matter if there are nodes remaining or not. + /* Request node enumeration by LSS identify fastscan. This initiates node enumeration + * by the means of LSS fastscan mechanism. When this function is finished: + * - All nodes that match the given criteria are assigned a node ID beginning with nodeId. + * If 127 is reached, the process is stopped, no matter if there are nodes remaining or not. * - No IDs are assigned because: * - the given criteria do not match any node, * - all nodes are already configured. - * This function needs that no node is selected when starting the - * scan process. */ + * This function needs that no node is selected when starting the scan process. */ bool_t NodeErr = checkNet(gtwa, net, &respErrorCode); uint16_t timeout_ms = 0; @@ -1389,8 +1383,7 @@ CO_GTWA_process(CO_GTWA_t* gtwa, bool_t enable, uint32_t timeDifference_us, uint gtwa->lssSubState = 0; if (closed == 1U) { - /* No other arguments, as by CiA specification for this command. - * Do full scan. */ + /* No other arguments, as by CiA specification for this command. Do full scan. */ /* use start node ID 2. Should work in most cases */ gtwa->lssNID = 2; /* store node ID in node's NVM */ @@ -1587,10 +1580,10 @@ CO_GTWA_process(CO_GTWA_t* gtwa, bool_t enable, uint32_t timeDifference_us, uint } /* Empty SDO fifo buffer in multiple cycles. Repeat until - * application runs out of space (respHold) or fifo empty. */ + * application runs out of space (respHold) or fifo empty. */ do { /* read SDO fifo (partially) and print specific data type as - * ascii into intermediate respBuf */ + * ascii into intermediate respBuf */ gtwa->respBufCount += gtwa->SDOdataType->dataTypePrint( >wa->SDO_C->bufFifo, >wa->respBuf[gtwa->respBufCount], (CO_GTWA_RESP_BUF_SIZE - 2U) - gtwa->respBufCount, ret == CO_SDO_RT_ok_communicationEnd); @@ -1645,8 +1638,7 @@ CO_GTWA_process(CO_GTWA_t* gtwa, bool_t enable, uint32_t timeDifference_us, uint } } if (gtwa->state == CO_GTWA_ST_WRITE_ABORTED) { - /* Stay in this state, until all data transferred via commFifo - * will be purged. */ + /* Stay in this state, until all data transferred via commFifo will be purged. */ if (!CO_fifo_purge(>wa->SDO_C->bufFifo) || (closed == 1U)) { gtwa->state = CO_GTWA_ST_IDLE; } @@ -1654,8 +1646,7 @@ CO_GTWA_process(CO_GTWA_t* gtwa, bool_t enable, uint32_t timeDifference_us, uint } } /* If not all data were transferred, make sure, there is enough data in - * SDO buffer, to continue communication. Otherwise wait and check for - * timeout */ + * SDO buffer, to continue communication. Otherwise wait and check for timeout */ if (gtwa->SDOdataCopyStatus) { if (CO_fifo_getOccupied(>wa->SDO_C->bufFifo) < (CO_CONFIG_GTW_BLOCK_DL_LOOP * 7U)) { if (gtwa->stateTimeoutTmr > CO_GTWA_STATE_TIMEOUT_TIME_US) { @@ -2001,8 +1992,7 @@ CO_GTWA_process(CO_GTWA_t* gtwa, bool_t enable, uint32_t timeDifference_us, uint } /* switch (gtwa->state) */ } - /* execute next CANopen processing immediately, if idle and more commands - * available */ + /* execute next CANopen processing immediately, if idle and more commands available */ if ((timerNext_us != NULL) && (gtwa->state == CO_GTWA_ST_IDLE)) { if (CO_fifo_CommSearch(>wa->commFifo, false)) { *timerNext_us = 0; diff --git a/CANopen.c b/CANopen.c index 220e97f..39eeac7 100644 --- a/CANopen.c +++ b/CANopen.c @@ -37,8 +37,7 @@ * - calculate number of CANrx and CYNtx messages: CO_RX_CNT_xx and CO_TX_CNT_xx * - set optional undefined OD_ENTRY_Hxxxx to NULL. * - calculate indexes: CO_RX_IDX_xx and CO_TX_IDX_xx - * - calculate total count of CAN message buffers: CO_CNT_ALL_RX_MSGS and - * CO_CNT_ALL_TX_MSGS. */ + * - calculate total count of CAN message buffers: CO_CNT_ALL_RX_MSGS and CO_CNT_ALL_TX_MSGS. */ #if OD_CNT_NMT != 1 #error OD_CNT_NMT from OD.h not correct! #endif @@ -264,9 +263,8 @@ #endif #endif -/* Indexes of CO_CANrx_t and CO_CANtx_t objects in CO_CANmodule_t and total - * number of them. Indexes are sorted in a way, that objects with highest - * priority of the CAN identifier are listed first. */ +/* Indexes of CO_CANrx_t and CO_CANtx_t objects in CO_CANmodule_t and total number of them. Indexes + * are sorted in a way, that objects with highest priority of the CAN identifier are listed first. */ #define CO_RX_IDX_NMT_SLV 0U #define CO_RX_IDX_GFC (CO_RX_IDX_NMT_SLV + (uint16_t)CO_RX_CNT_NMT_SLV) #define CO_RX_IDX_SYNC (CO_RX_IDX_GFC + (uint16_t)CO_RX_CNT_GFC) @@ -315,10 +313,7 @@ #undef CO_free #endif -/* - * Allocate memory for number of elements, each of specific size - * Allocated memory must be reset to all zeros - */ +/* Allocate memory for number of elements, each of specific size Allocated memory must be reset to all zeros */ #define CO_alloc(num, size) calloc((num), (size)) #define CO_free(ptr) free((ptr)) @@ -354,9 +349,7 @@ CO_new(CO_config_t* config, uint32_t* heapMemoryUsed) { * - use config structure * - calculate number of CANrx and CYNtx messages: RX_CNT_xx and TX_CNT_xx * - calculate indexes: RX_IDX_xx and TX_IDX_xx - * - calculate total count of CAN message buffers: CNT_ALL_RX_MSGS and - * CNT_ALL_TX_MSGS. */ - + * - calculate total count of CAN message buffers: CNT_ALL_RX_MSGS and CNT_ALL_TX_MSGS. */ do { #ifdef CO_MULTIPLE_OD /* verify arguments */ @@ -546,9 +539,8 @@ CO_new(CO_config_t* config, uint32_t* heapMemoryUsed) { #endif #ifdef CO_MULTIPLE_OD - /* Indexes of CO_CANrx_t and CO_CANtx_t objects in CO_CANmodule_t and - * total number of them. Indexes are sorted in a way, that objects with - * highest priority of the CAN identifier are listed first. */ + /* Indexes of CO_CANrx_t and CO_CANtx_t objects in CO_CANmodule_t and total number of them. Indexes + * are sorted in a way, that objects with highest priority of the CAN identifier are listed first. */ int16_t idxRx = 0; co->RX_IDX_NMT_SLV = idxRx; idxRx += RX_CNT_NMT_SLV; @@ -930,7 +922,6 @@ CO_isLSSslaveEnabled(CO_t* co) { return en; } -/******************************************************************************/ CO_ReturnError_t CO_CANinit(CO_t* co, void* CANptr, uint16_t bitRate) { CO_ReturnError_t err; @@ -949,7 +940,6 @@ CO_CANinit(CO_t* co, void* CANptr, uint16_t bitRate) { return err; } -/******************************************************************************/ #if ((CO_CONFIG_LSS)&CO_CONFIG_LSS_SLAVE) != 0 CO_ReturnError_t CO_LSSinit(CO_t* co, CO_LSS_address_t* lssAddress, uint8_t* pendingNodeID, uint16_t* pendingBitRate) { @@ -968,7 +958,6 @@ CO_LSSinit(CO_t* co, CO_LSS_address_t* lssAddress, uint8_t* pendingNodeID, uint1 } #endif /* (CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE */ -/******************************************************************************/ CO_ReturnError_t CO_CANopenInit(CO_t* co, CO_NMT_t* NMT, CO_EM_t* em, OD_t* od, OD_entry_t* OD_statusBits, uint16_t NMTcontrol, uint16_t firstHBTime_ms, uint16_t SDOserverTimeoutTime_ms, uint16_t SDOclientTimeoutTime_ms, @@ -1194,7 +1183,6 @@ CO_CANopenInit(CO_t* co, CO_NMT_t* NMT, CO_EM_t* em, OD_t* od, OD_entry_t* OD_st return CO_ERROR_NO; } -/******************************************************************************/ CO_ReturnError_t CO_CANopenInitPDO(CO_t* co, CO_EM_t* em, OD_t* od, uint8_t nodeId, uint32_t* errInfo) { if (co == NULL) { @@ -1267,7 +1255,6 @@ CO_CANopenInitPDO(CO_t* co, CO_EM_t* em, OD_t* od, uint8_t nodeId, uint32_t* err return CO_ERROR_NO; } -/******************************************************************************/ #if (((CO_CONFIG_GFC)&CO_CONFIG_GFC_ENABLE) != 0) || (((CO_CONFIG_SRDO)&CO_CONFIG_SRDO_ENABLE) != 0) CO_ReturnError_t CO_CANopenInitSRDO(CO_t* co, CO_EM_t* em, OD_t* od, uint8_t nodeId, uint32_t* errInfo) { @@ -1320,7 +1307,6 @@ CO_CANopenInitSRDO(CO_t* co, CO_EM_t* em, OD_t* od, uint8_t nodeId, uint32_t* er } #endif -/******************************************************************************/ CO_NMT_reset_cmd_t CO_process(CO_t* co, bool_t enableGateway, uint32_t timeDifference_us, uint32_t* timerNext_us) { (void)enableGateway; /* may be unused */ @@ -1417,7 +1403,6 @@ CO_process(CO_t* co, bool_t enableGateway, uint32_t timeDifference_us, uint32_t* return reset; } -/******************************************************************************/ #if ((CO_CONFIG_SYNC)&CO_CONFIG_SYNC_ENABLE) != 0 bool_t CO_process_SYNC(CO_t* co, uint32_t timeDifference_us, uint32_t* timerNext_us) { @@ -1444,7 +1429,6 @@ CO_process_SYNC(CO_t* co, uint32_t timeDifference_us, uint32_t* timerNext_us) { } #endif -/******************************************************************************/ #if ((CO_CONFIG_PDO)&CO_CONFIG_RPDO_ENABLE) != 0 void CO_process_RPDO(CO_t* co, bool_t syncWas, uint32_t timeDifference_us, uint32_t* timerNext_us) { @@ -1466,7 +1450,6 @@ CO_process_RPDO(CO_t* co, bool_t syncWas, uint32_t timeDifference_us, uint32_t* } #endif -/******************************************************************************/ #if ((CO_CONFIG_PDO)&CO_CONFIG_TPDO_ENABLE) != 0 void CO_process_TPDO(CO_t* co, bool_t syncWas, uint32_t timeDifference_us, uint32_t* timerNext_us) { @@ -1488,7 +1471,6 @@ CO_process_TPDO(CO_t* co, bool_t syncWas, uint32_t timeDifference_us, uint32_t* } #endif -/******************************************************************************/ #if ((CO_CONFIG_SRDO)&CO_CONFIG_SRDO_ENABLE) != 0 CO_SRDO_state_t CO_process_SRDO(CO_t* co, uint32_t timeDifference_us, uint32_t* timerNext_us) { diff --git a/doc/objectDictionary.md b/doc/objectDictionary.md index f2f31ab..d6656c6 100644 --- a/doc/objectDictionary.md +++ b/doc/objectDictionary.md @@ -75,10 +75,10 @@ If OD object has OD extension enabled, then direct access to its OD variables mu #include ODxyz.h void myFuncGlob(void) { - //Direct address instead of OD_find() + /* Direct address instead of OD_find() */ OD_entry_t *entry_errReg = ODxyz_1001_errorRegister; - //Direct access to OD variable + /* Direct access to OD variable */ uint32_t devType = ODxyz_0.x1000_deviceType; ODxyz_0.x1018_identity.serialNumber = 0x12345678; } diff --git a/example/CO_driver_blank.c b/example/CO_driver_blank.c index fef5822..7eeeddc 100644 --- a/example/CO_driver_blank.c +++ b/example/CO_driver_blank.c @@ -134,8 +134,7 @@ CO_CANtxBufferInit(CO_CANmodule_t* CANmodule, uint16_t index, uint16_t ident, bo /* get specific buffer */ buffer = &CANmodule->txArray[index]; - /* CAN identifier, DLC and rtr, bit aligned with CAN module transmit buffer. - * Microcontroller specific. */ + /* CAN identifier, DLC and rtr, bit aligned with CAN module transmit buffer, microcontroller specific. */ buffer->ident = ((uint32_t)ident & 0x07FFU) | ((uint32_t)(((uint32_t)noOfBytes & 0xFU) << 11U)) | ((uint32_t)(rtr ? 0x8000U : 0U)); @@ -182,7 +181,7 @@ CO_CANclearPendingSyncPDOs(CO_CANmodule_t* CANmodule) { CO_LOCK_CAN_SEND(CANmodule); /* Abort message from CAN module, if there is synchronous TPDO. * Take special care with this functionality. */ - if (/*messageIsOnCanBuffer && */ CANmodule->bufferInhibitFlag) { + if (/* messageIsOnCanBuffer && */ CANmodule->bufferInhibitFlag) { /* clear TXREQ */ CANmodule->bufferInhibitFlag = false; tpdoDeleted = 1U; @@ -209,8 +208,7 @@ CO_CANclearPendingSyncPDOs(CO_CANmodule_t* CANmodule) { } } -/* Get error counters from the module. If necessary, function may use - * different way to determine errors. */ +/* Get error counters from the module. If necessary, function may use different way to determine errors. */ static uint16_t rxErrors = 0, txErrors = 0, overflow = 0; void @@ -282,8 +280,7 @@ CO_CANinterrupt(CO_CANmodule_t* CANmodule) { rcvMsg = 0; /* get message from module here */ rcvMsgIdent = rcvMsg->ident; if (CANmodule->useCANrxFilters) { - /* CAN module filters are used. Message with known 11-bit identifier has */ - /* been received */ + /* CAN module filters are used. Message with known 11-bit identifier has been received */ index = 0; /* get index of the received message here. Or something similar */ if (index < CANmodule->rxSize) { buffer = &CANmodule->rxArray[index];