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static analysis: conditional of #if does not evaluate to 0 or 1 [MISRA 2012 Rule 20.8, required]

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temi54c1l8 2024-06-12 09:09:12 +02:00
parent 7399d31447
commit d4e7214f4d
41 changed files with 606 additions and 606 deletions
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72
301/CO_Emergency.c
View file

@ -48,8 +48,8 @@
* to process to process to process full *
******************************************************************************/
#if (CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER
#if (CO_CONFIG_EM) & CO_CONFIG_EM_PROD_CONFIGURABLE
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER) != 0
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_PROD_CONFIGURABLE) != 0
/*
* Custom functions for read/write OD object "COB-ID EMCY"
*
@ -146,7 +146,7 @@ static ODR_t OD_read_1014_default(OD_stream_t *stream, void *buf,
}
#endif /* (CO_CONFIG_EM) & CO_CONFIG_EM_PROD_CONFIGURABLE */
#if (CO_CONFIG_EM) & CO_CONFIG_EM_PROD_INHIBIT
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_PROD_INHIBIT) != 0
/*
* Custom function for writing OD object "Inhibit time EMCY"
*
@ -243,7 +243,7 @@ static ODR_t OD_write_1003(OD_stream_t *stream, const void *buf,
}
#endif /* (CO_CONFIG_EM) & CO_CONFIG_EM_HISTORY */
#if (CO_CONFIG_EM) & CO_CONFIG_EM_STATUS_BITS
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_STATUS_BITS) != 0
/*
* Custom functions for read/write OD object _OD_statusBits_, optional
*
@ -308,7 +308,7 @@ static ODR_t OD_write_statusBits(OD_stream_t *stream, const void *buf,
}
#endif /* (CO_CONFIG_EM) & CO_CONFIG_EM_STATUS_BITS */
#if (CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER) != 0
/*
* Read received message from CAN module.
*
@ -345,24 +345,24 @@ static void CO_EM_receive(void *object, void *msg) {
CO_ReturnError_t CO_EM_init(CO_EM_t *em,
CO_CANmodule_t *CANdevTx,
const OD_entry_t *OD_1001_errReg,
#if (CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)
#if ((CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)) != 0
CO_EM_fifo_t *fifo,
uint8_t fifoSize,
#endif
#if (CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER) != 0
OD_entry_t *OD_1014_cobIdEm,
uint16_t CANdevTxIdx,
#if (CO_CONFIG_EM) & CO_CONFIG_EM_PROD_INHIBIT
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_PROD_INHIBIT) != 0
OD_entry_t *OD_1015_InhTime,
#endif
#endif
#if (CO_CONFIG_EM) & CO_CONFIG_EM_HISTORY
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_HISTORY) != 0
OD_entry_t *OD_1003_preDefErr,
#endif
#if (CO_CONFIG_EM) & CO_CONFIG_EM_STATUS_BITS
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_STATUS_BITS) != 0
OD_entry_t *OD_statusBits,
#endif
#if (CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER) != 0
CO_CANmodule_t *CANdevRx,
uint16_t CANdevRxIdx,
#endif
@ -374,17 +374,17 @@ CO_ReturnError_t CO_EM_init(CO_EM_t *em,
/* verify arguments */
if ((em == NULL) || (OD_1001_errReg == NULL)
#if (CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)
#if ((CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)) != 0
|| ((fifo == NULL) && (fifoSize >= 2U))
#endif
#if (CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER) != 0
|| (OD_1014_cobIdEm == NULL) || (CANdevTx == NULL)
|| (nodeId < 1U) || (nodeId > 127U)
#endif
#if (CO_CONFIG_EM) & CO_CONFIG_EM_HISTORY
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_HISTORY) != 0
|| OD_1003_preDefErr == NULL
#endif
#if (CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER) != 0
|| CANdevRx == NULL
#endif
) {
@ -405,11 +405,11 @@ CO_ReturnError_t CO_EM_init(CO_EM_t *em,
}
*em->errorRegister = 0;
#if (CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)
#if ((CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)) != 0
em->fifo = fifo;
em->fifoSize = fifoSize;
#endif
#if (CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER) != 0
/* get initial and verify "COB-ID EMCY" from Object Dictionary */
uint32_t COB_IDEmergency32;
ODR_t odRet;
@ -420,7 +420,7 @@ CO_ReturnError_t CO_EM_init(CO_EM_t *em,
if (odRet != ODR_OK) { return CO_ERROR_OD_PARAMETERS; }
}
#if (CO_CONFIG_EM) & CO_CONFIG_EM_PROD_CONFIGURABLE
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_PROD_CONFIGURABLE) != 0
uint16_t producerCanId = (uint16_t)(COB_IDEmergency32 & 0x7FF);
em->producerEnabled = (COB_IDEmergency32 & 0x80000000) == 0
&& producerCanId != 0;
@ -469,7 +469,7 @@ CO_ReturnError_t CO_EM_init(CO_EM_t *em,
return CO_ERROR_ILLEGAL_ARGUMENT;
}
#if (CO_CONFIG_EM) & CO_CONFIG_EM_PROD_INHIBIT
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_PROD_INHIBIT) != 0
/* get and verify optional "Inhibit time EMCY" from Object Dictionary */
em->inhibitEmTime_us = 0;
em->inhibitEmTimer = 0;
@ -487,7 +487,7 @@ CO_ReturnError_t CO_EM_init(CO_EM_t *em,
#endif /* (CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER */
#if (CO_CONFIG_EM) & CO_CONFIG_EM_HISTORY
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_HISTORY) != 0
/* If OD entry available, make access to em->preDefErr */
em->OD_1003_extension.object = em;
em->OD_1003_extension.read = OD_read_1003;
@ -496,7 +496,7 @@ CO_ReturnError_t CO_EM_init(CO_EM_t *em,
#endif /* (CO_CONFIG_EM) & CO_CONFIG_EM_HISTORY */
#if (CO_CONFIG_EM) & CO_CONFIG_EM_STATUS_BITS
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_STATUS_BITS) != 0
/* If OD entry available, make access to em->errorStatusBits */
em->OD_statusBits_extension.object = em;
em->OD_statusBits_extension.read = OD_read_statusBits;
@ -505,7 +505,7 @@ CO_ReturnError_t CO_EM_init(CO_EM_t *em,
#endif /* (CO_CONFIG_EM) & CO_CONFIG_EM_STATUS_BITS */
#if (CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER) != 0
em->pFunctSignalRx = NULL;
/* configure SDO server CAN reception */
ret = CO_CANrxBufferInit(
@ -523,7 +523,7 @@ CO_ReturnError_t CO_EM_init(CO_EM_t *em,
/******************************************************************************/
#if (CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER) != 0
void CO_EM_initCallbackRx(CO_EM_t *em,
void (*pFunctSignalRx)(const uint16_t ident,
const uint16_t errorCode,
@ -537,7 +537,7 @@ void CO_EM_initCallbackRx(CO_EM_t *em,
}
#endif
#if (CO_CONFIG_EM) & CO_CONFIG_FLAG_CALLBACK_PRE
#if ((CO_CONFIG_EM) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0
void CO_EM_initCallbackPre(CO_EM_t *em,
void *object,
void (*pFunctSignal)(void *object))
@ -633,11 +633,11 @@ void CO_EM_process(CO_EM_t *em,
}
/* post-process Emergency message in fifo buffer. */
#if (CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER) != 0
if (em->fifoSize >= 2U) {
uint8_t fifoPpPtr = em->fifoPpPtr;
#if (CO_CONFIG_EM) & CO_CONFIG_EM_PROD_INHIBIT
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_PROD_INHIBIT) != 0
if (em->inhibitEmTimer < em->inhibitEmTime_us) {
em->inhibitEmTimer += timeDifference_us;
}
@ -657,7 +657,7 @@ void CO_EM_process(CO_EM_t *em,
sizeof(em->CANtxBuff->data));
CO_CANsend(em->CANdevTx, em->CANtxBuff);
#if (CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER) != 0
/* report also own emergency messages */
if (em->pFunctSignalRx != NULL) {
uint32_t errMsg = em->fifo[fifoPpPtr].msg;
@ -685,8 +685,8 @@ void CO_EM_process(CO_EM_t *em,
}
else { /* MISRA C 2004 14.10 */ }
}
#if (CO_CONFIG_EM) & CO_CONFIG_EM_PROD_INHIBIT
#if (CO_CONFIG_EM) & CO_CONFIG_FLAG_TIMERNEXT
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_PROD_INHIBIT) != 0
#if ((CO_CONFIG_EM) & CO_CONFIG_FLAG_TIMERNEXT) != 0
else if (timerNext_us != NULL
&& em->inhibitEmTimer < em->inhibitEmTime_us)
{
@ -699,7 +699,7 @@ void CO_EM_process(CO_EM_t *em,
#endif
#endif
}
#elif (CO_CONFIG_EM) & CO_CONFIG_EM_HISTORY
#elif ((CO_CONFIG_EM) & CO_CONFIG_EM_HISTORY) != 0
if (em->fifoSize >= 2) {
uint8_t fifoPpPtr = em->fifoPpPtr;
while (fifoPpPtr != em->fifoWrPtr) {
@ -752,10 +752,10 @@ void CO_error(CO_EM_t *em, bool_t setError, const CO_EM_errorStatusBits_t errorB
errorCode = CO_EMC_NO_ERROR;
}
#if (CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)
#if ((CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)) != 0
/* 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
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER) != 0
uint32_t infoCodeSwapped = CO_SWAP_32(infoCode);
#endif
#endif
@ -765,7 +765,7 @@ void CO_error(CO_EM_t *em, bool_t setError, const CO_EM_errorStatusBits_t errorB
if (setError) { *errorStatusBits |= bitmask; }
else { *errorStatusBits &= ~bitmask; }
#if (CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)
#if ((CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)) != 0
if (em->fifoSize >= 2) {
uint8_t fifoWrPtr = em->fifoWrPtr;
uint8_t fifoWrPtrNext = fifoWrPtr + 1;
@ -778,7 +778,7 @@ void CO_error(CO_EM_t *em, bool_t setError, const CO_EM_errorStatusBits_t errorB
}
else {
em->fifo[fifoWrPtr].msg = errMsg;
#if (CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER) != 0
em->fifo[fifoWrPtr].info = infoCodeSwapped;
#endif
em->fifoWrPtr = fifoWrPtrNext;
@ -789,8 +789,8 @@ void CO_error(CO_EM_t *em, bool_t setError, const CO_EM_errorStatusBits_t errorB
CO_UNLOCK_EMCY(em->CANdevTx);
#if (CO_CONFIG_EM) & CO_CONFIG_FLAG_CALLBACK_PRE
#if (CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER
#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 */
if (em->pFunctSignalPre != NULL && em->producerEnabled) {

36
301/CO_Emergency.h
View file

@ -360,14 +360,14 @@ typedef enum {
#if ((CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)) \
#if (((CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)) != 0) \
|| defined CO_DOXYGEN
/**
* Fifo buffer for emergency producer and error history
*/
typedef struct {
uint32_t msg;
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER) || defined CO_DOXYGEN
#if (((CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER) != 0) || defined CO_DOXYGEN
uint32_t info;
#endif
} CO_EM_fifo_t;
@ -387,7 +387,7 @@ typedef struct {
/** From CO_EM_init() */
CO_CANmodule_t *CANdevTx;
#if ((CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)) \
#if (((CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)) != 0) \
|| defined CO_DOXYGEN
/** Internal circular FIFO buffer for storing pre-processed emergency
* messages. Messages are added by @ref CO_error() function. All messages
@ -411,7 +411,7 @@ typedef struct {
uint8_t fifoCount;
#endif /* (CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY) */
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER) || defined CO_DOXYGEN
#if (((CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER) != 0) || defined CO_DOXYGEN
/** True, if emergency producer is enabled, from Object dictionary */
bool_t producerEnabled;
/** Copy of CANopen node ID, from CO_EM_init() */
@ -420,13 +420,13 @@ typedef struct {
CO_CANtx_t *CANtxBuff;
/** Extension for OD object */
OD_extension_t OD_1014_extension;
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_PROD_CONFIGURABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_EM) & CO_CONFIG_EM_PROD_CONFIGURABLE) != 0) || defined CO_DOXYGEN
/** COB ID of emergency message, from Object dictionary */
uint16_t producerCanId;
/** From CO_EM_init() */
uint16_t CANdevTxIdx;
#endif
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_PROD_INHIBIT) || defined CO_DOXYGEN
#if (((CO_CONFIG_EM) & CO_CONFIG_EM_PROD_INHIBIT) != 0) || defined CO_DOXYGEN
/** Inhibit time for emergency message, from Object dictionary */
uint32_t inhibitEmTime_us;
/**< Internal timer for inhibit time */
@ -436,17 +436,17 @@ typedef struct {
#endif
#endif /* (CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER */
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_HISTORY) || defined CO_DOXYGEN
#if (((CO_CONFIG_EM) & CO_CONFIG_EM_HISTORY) != 0) || defined CO_DOXYGEN
/** Extension for OD object */
OD_extension_t OD_1003_extension;
#endif
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_STATUS_BITS) || defined CO_DOXYGEN
#if (((CO_CONFIG_EM) & CO_CONFIG_EM_STATUS_BITS) != 0) || defined CO_DOXYGEN
/** Extension for OD object */
OD_extension_t OD_statusBits_extension;
#endif
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER) || defined CO_DOXYGEN
#if (((CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER) != 0) || defined CO_DOXYGEN
/** From CO_EM_initCallbackRx() or NULL */
void (*pFunctSignalRx)(const uint16_t ident,
const uint16_t errorCode,
@ -455,7 +455,7 @@ typedef struct {
const uint32_t infoCode);
#endif
#if ((CO_CONFIG_EM) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
#if (((CO_CONFIG_EM) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/** From CO_EM_initCallbackPre() or NULL */
void (*pFunctSignalPre)(void *object);
/** From CO_EM_initCallbackPre() or NULL */
@ -501,25 +501,25 @@ typedef struct {
CO_ReturnError_t CO_EM_init(CO_EM_t *em,
CO_CANmodule_t *CANdevTx,
const OD_entry_t *OD_1001_errReg,
#if ((CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)) \
#if (((CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)) != 0) \
|| defined CO_DOXYGEN
CO_EM_fifo_t *fifo,
uint8_t fifoSize,
#endif
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER) || defined CO_DOXYGEN
#if (((CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER) != 0) || defined CO_DOXYGEN
OD_entry_t *OD_1014_cobIdEm,
uint16_t CANdevTxIdx,
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_PROD_INHIBIT) || defined CO_DOXYGEN
#if (((CO_CONFIG_EM) & CO_CONFIG_EM_PROD_INHIBIT) != 0) || defined CO_DOXYGEN
OD_entry_t *OD_1015_InhTime,
#endif
#endif
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_HISTORY) || defined CO_DOXYGEN
#if (((CO_CONFIG_EM) & CO_CONFIG_EM_HISTORY) != 0) || defined CO_DOXYGEN
OD_entry_t *OD_1003_preDefErr,
#endif
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_STATUS_BITS) || defined CO_DOXYGEN
#if (((CO_CONFIG_EM) & CO_CONFIG_EM_STATUS_BITS) != 0) || defined CO_DOXYGEN
OD_entry_t *OD_statusBits,
#endif
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER) || defined CO_DOXYGEN
#if (((CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER) != 0) || defined CO_DOXYGEN
CO_CANmodule_t *CANdevRx,
uint16_t CANdevRxIdx,
#endif
@ -527,7 +527,7 @@ CO_ReturnError_t CO_EM_init(CO_EM_t *em,
uint32_t *errInfo);
#if ((CO_CONFIG_EM) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
#if (((CO_CONFIG_EM) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/**
* Initialize Emergency callback function.
*
@ -548,7 +548,7 @@ void CO_EM_initCallbackPre(CO_EM_t *em,
#endif
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER) || defined CO_DOXYGEN
#if (((CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER) != 0) || defined CO_DOXYGEN
/**
* Initialize Emergency received callback function.
*

42
301/CO_HBconsumer.c
View file

@ -25,11 +25,11 @@
#include "301/CO_HBconsumer.h"
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE) != 0
/* Verify HB consumer configuration *******************************************/
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE \
&& (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI
#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!
#endif
@ -49,7 +49,7 @@ static void CO_HBcons_receive(void *object, void *msg) {
/* copy data and set 'new message' flag. */
HBconsNode->NMTstate = (CO_NMT_internalState_t)data[0];
CO_FLAG_SET(HBconsNode->CANrxNew);
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_FLAG_CALLBACK_PRE
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0
/* Optional signal to RTOS, which can resume task, which handles HBcons. */
if (HBconsNode->pFunctSignalPre != NULL) {
HBconsNode->pFunctSignalPre(HBconsNode->functSignalObjectPre);
@ -77,7 +77,7 @@ static CO_ReturnError_t CO_HBconsumer_initEntry(CO_HBconsumer_t *HBcons,
uint16_t consumerTime_ms);
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_FLAG_OD_DYNAMIC
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_FLAG_OD_DYNAMIC) != 0
/*
* Custom function for writing OD object "Consumer heartbeat time"
*
@ -161,7 +161,7 @@ CO_ReturnError_t CO_HBconsumer_init(CO_HBconsumer_t *HBcons,
}
/* configure extension for OD */
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_FLAG_OD_DYNAMIC
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_FLAG_OD_DYNAMIC) != 0
HBcons->OD_1016_extension.object = HBcons;
HBcons->OD_1016_extension.read = OD_readOriginal;
HBcons->OD_1016_extension.write = OD_write_1016;
@ -207,8 +207,8 @@ static CO_ReturnError_t CO_HBconsumer_initEntry(CO_HBconsumer_t *HBcons,
monitoredNode->nodeId = nodeId;
monitoredNode->time_us = (int32_t)consumerTime_ms * 1000;
monitoredNode->NMTstate = CO_NMT_UNKNOWN;
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE \
|| (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI
#if (((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE) != 0) \
|| (((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI) != 0)
monitoredNode->NMTstatePrev = CO_NMT_UNKNOWN;
#endif
CO_FLAG_CLEAR(monitoredNode->CANrxNew);
@ -237,7 +237,7 @@ static CO_ReturnError_t CO_HBconsumer_initEntry(CO_HBconsumer_t *HBcons,
}
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_FLAG_CALLBACK_PRE
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0
/******************************************************************************/
void CO_HBconsumer_initCallbackPre(
CO_HBconsumer_t *HBcons,
@ -255,7 +255,7 @@ void CO_HBconsumer_initCallbackPre(
#endif
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE) != 0
/******************************************************************************/
void CO_HBconsumer_initCallbackNmtChanged(
CO_HBconsumer_t *HBcons,
@ -276,7 +276,7 @@ void CO_HBconsumer_initCallbackNmtChanged(
#endif
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI) != 0
/******************************************************************************/
void CO_HBconsumer_initCallbackNmtChanged(
CO_HBconsumer_t *HBcons,
@ -379,7 +379,7 @@ void CO_HBconsumer_process(
if (CO_FLAG_READ(monitoredNode->CANrxNew)) {
if (monitoredNode->NMTstate == CO_NMT_INITIALIZING) {
/* bootup message*/
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI) != 0
if (monitoredNode->pFunctSignalRemoteReset != NULL) {
monitoredNode->pFunctSignalRemoteReset(
monitoredNode->nodeId, i,
@ -396,7 +396,7 @@ void CO_HBconsumer_process(
}
else {
/* heartbeat message */
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI) != 0
if (monitoredNode->HBstate != CO_HBconsumer_ACTIVE &&
monitoredNode->pFunctSignalHbStarted != NULL) {
monitoredNode->pFunctSignalHbStarted(
@ -418,7 +418,7 @@ void CO_HBconsumer_process(
if (monitoredNode->timeoutTimer >= monitoredNode->time_us) {
/* timeout expired */
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI) != 0
if (monitoredNode->pFunctSignalTimeout!=NULL) {
monitoredNode->pFunctSignalTimeout(
monitoredNode->nodeId, i,
@ -431,7 +431,7 @@ void CO_HBconsumer_process(
monitoredNode->HBstate = CO_HBconsumer_TIMEOUT;
}
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_FLAG_TIMERNEXT
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_FLAG_TIMERNEXT) != 0
else if (timerNext_us != NULL) {
/* Calculate timerNext_us for next timeout checking. */
uint32_t diff = monitoredNode->time_us
@ -449,11 +449,11 @@ void CO_HBconsumer_process(
if (monitoredNode->NMTstate != CO_NMT_OPERATIONAL) {
allMonitoredOperationalCurrent = false;
}
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE \
|| (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI
#if (((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE) != 0) \
|| (((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI) != 0)
/* Verify, if NMT state of monitored node changed */
if(monitoredNode->NMTstate != monitoredNode->NMTstatePrev) {
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE) != 0
if (HBcons->pFunctSignalNmtChanged != NULL) {
HBcons->pFunctSignalNmtChanged(
monitoredNode->nodeId, i, monitoredNode->NMTstate,
@ -475,8 +475,8 @@ void CO_HBconsumer_process(
for(uint8_t i=0; i<HBcons->numberOfMonitoredNodes; i++) {
CO_HBconsNode_t * const monitoredNode = &HBcons->monitoredNodes[i];
monitoredNode->NMTstate = CO_NMT_UNKNOWN;
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE \
|| (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI
#if (((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE) != 0) \
|| (((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI) != 0)
monitoredNode->NMTstatePrev = CO_NMT_UNKNOWN;
#endif
CO_FLAG_CLEAR(monitoredNode->CANrxNew);
@ -502,7 +502,7 @@ void CO_HBconsumer_process(
}
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_QUERY_FUNCT
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_QUERY_FUNCT) != 0
/******************************************************************************/
int8_t CO_HBconsumer_getIdxByNodeId(
CO_HBconsumer_t *HBcons,

24
301/CO_HBconsumer.h
View file

@ -39,7 +39,7 @@
CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
#endif
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE) != 0) || defined CO_DOXYGEN
#ifdef __cplusplus
extern "C" {
@ -91,19 +91,19 @@ typedef struct {
uint32_t time_us;
/** Indication if new Heartbeat message received from the CAN bus */
volatile void *CANrxNew;
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
#if (((CO_CONFIG_HB_CONS) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/** From CO_HBconsumer_initCallbackPre() or NULL */
void (*pFunctSignalPre)(void *object);
/** From CO_HBconsumer_initCallbackPre() or NULL */
void *functSignalObjectPre;
#endif
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE) \
|| ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI) \
#if (((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE) != 0) \
|| (((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI) != 0) \
|| defined CO_DOXYGEN
/** Previous value of the remote node (Heartbeat payload) */
CO_NMT_internalState_t NMTstatePrev;
#endif
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI) || defined CO_DOXYGEN
#if (((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI) != 0) || defined CO_DOXYGEN
/** Callback for remote NMT changed event.
* From CO_HBconsumer_initCallbackNmtChanged() or NULL. */
void (*pFunctSignalNmtChanged)(uint8_t nodeId, uint8_t idx,
@ -156,11 +156,11 @@ typedef struct {
CO_CANmodule_t *CANdevRx;
/** From CO_HBconsumer_init() */
uint16_t CANdevRxIdxStart;
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_FLAG_OD_DYNAMIC) || defined CO_DOXYGEN
#if (((CO_CONFIG_HB_CONS) & CO_CONFIG_FLAG_OD_DYNAMIC) != 0) || defined CO_DOXYGEN
/** Extension for OD object */
OD_extension_t OD_1016_extension;
#endif
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE) || defined CO_DOXYGEN
#if (((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE) != 0) || defined CO_DOXYGEN
/** Callback for remote NMT changed event.
* From CO_HBconsumer_initCallbackNmtChanged() or NULL. */
void (*pFunctSignalNmtChanged)(uint8_t nodeId, uint8_t idx,
@ -201,7 +201,7 @@ CO_ReturnError_t CO_HBconsumer_init(CO_HBconsumer_t *HBcons,
uint32_t *errInfo);
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
#if (((CO_CONFIG_HB_CONS) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/**
* Initialize Heartbeat consumer callback function.
*
@ -219,8 +219,8 @@ void CO_HBconsumer_initCallbackPre(
void (*pFunctSignal)(void *object));
#endif
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE) \
|| ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI) \
#if (((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE) != 0) \
|| (((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI) != 0) \
|| defined CO_DOXYGEN
/**
* Initialize Heartbeat consumer NMT changed callback function.
@ -244,7 +244,7 @@ void CO_HBconsumer_initCallbackNmtChanged(
void *object));
#endif
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI) || defined CO_DOXYGEN
#if (((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI) != 0) || defined CO_DOXYGEN
/**
* Initialize Heartbeat consumer started callback function.
*
@ -317,7 +317,7 @@ void CO_HBconsumer_process(
uint32_t *timerNext_us);
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_QUERY_FUNCT) || defined CO_DOXYGEN
#if (((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_QUERY_FUNCT) != 0) || defined CO_DOXYGEN
/**
* Get the heartbeat producer object index by node ID
*

18
301/CO_NMT_Heartbeat.c
View file

@ -44,7 +44,7 @@ static void CO_NMT_receive(void *object, void *msg) {
if ((DLC == 2U) && ((nodeId == 0U) || (nodeId == NMT->nodeId))) {
NMT->internalCommand = command;
#if (CO_CONFIG_NMT) & CO_CONFIG_FLAG_CALLBACK_PRE
#if ((CO_CONFIG_NMT) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0
/* Optional signal to RTOS, which can resume task, which handles NMT. */
if (NMT->pFunctSignalPre != NULL) {
NMT->pFunctSignalPre(NMT->functSignalObjectPre);
@ -89,7 +89,7 @@ CO_ReturnError_t CO_NMT_init(CO_NMT_t *NMT,
CO_CANmodule_t *NMT_CANdevRx,
uint16_t NMT_rxIdx,
uint16_t CANidRxNMT,
#if (CO_CONFIG_NMT) & CO_CONFIG_NMT_MASTER
#if ((CO_CONFIG_NMT) & CO_CONFIG_NMT_MASTER) != 0
CO_CANmodule_t *NMT_CANdevTx,
uint16_t NMT_txIdx,
uint16_t CANidTxNMT,
@ -104,7 +104,7 @@ CO_ReturnError_t CO_NMT_init(CO_NMT_t *NMT,
/* verify arguments */
if ((NMT == NULL) || (OD_1017_ProducerHbTime == NULL) || (em == NULL)
|| (NMT_CANdevRx == NULL) || (HB_CANdevTx == NULL)
#if (CO_CONFIG_NMT) & CO_CONFIG_NMT_MASTER
#if ((CO_CONFIG_NMT) & CO_CONFIG_NMT_MASTER) != 0
|| (NMT_CANdevTx == NULL)
#endif
) {
@ -157,7 +157,7 @@ CO_ReturnError_t CO_NMT_init(CO_NMT_t *NMT,
return ret;
}
#if (CO_CONFIG_NMT) & CO_CONFIG_NMT_MASTER
#if ((CO_CONFIG_NMT) & CO_CONFIG_NMT_MASTER) != 0
/* configure NMT CAN transmission */
NMT->NMT_CANdevTx = NMT_CANdevTx;
NMT->NMT_TXbuff = CO_CANtxBufferInit(
@ -189,7 +189,7 @@ CO_ReturnError_t CO_NMT_init(CO_NMT_t *NMT,
}
#if (CO_CONFIG_NMT) & CO_CONFIG_FLAG_CALLBACK_PRE
#if ((CO_CONFIG_NMT) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0
void CO_NMT_initCallbackPre(CO_NMT_t *NMT,
void *object,
void (*pFunctSignal)(void *object))
@ -202,7 +202,7 @@ void CO_NMT_initCallbackPre(CO_NMT_t *NMT,
#endif
#if (CO_CONFIG_NMT) & CO_CONFIG_NMT_CALLBACK_CHANGE
#if ((CO_CONFIG_NMT) & CO_CONFIG_NMT_CALLBACK_CHANGE) != 0
/******************************************************************************/
void CO_NMT_initCallbackChanged(CO_NMT_t *NMT,
void (*pFunctNMT)(CO_NMT_internalState_t state))
@ -300,7 +300,7 @@ CO_NMT_reset_cmd_t CO_NMT_process(CO_NMT_t *NMT,
}
else { /* MISRA C 2004 14.10 */ }
#if (CO_CONFIG_NMT) & CO_CONFIG_NMT_CALLBACK_CHANGE
#if ((CO_CONFIG_NMT) & CO_CONFIG_NMT_CALLBACK_CHANGE) != 0
/* Notify operating state change */
if (NMT->operatingStatePrev != NMTstateCpy || NNTinit) {
if (NMT->pFunctNMT != NULL) {
@ -309,7 +309,7 @@ CO_NMT_reset_cmd_t CO_NMT_process(CO_NMT_t *NMT,
}
#endif
#if (CO_CONFIG_NMT) & CO_CONFIG_FLAG_TIMERNEXT
#if ((CO_CONFIG_NMT) & CO_CONFIG_FLAG_TIMERNEXT) != 0
/* Calculate, when next Heartbeat needs to be send */
if (NMT->HBproducerTime_us != 0 && timerNext_us != NULL) {
if (NMT->operatingStatePrev != NMTstateCpy) {
@ -328,7 +328,7 @@ CO_NMT_reset_cmd_t CO_NMT_process(CO_NMT_t *NMT,
}
#if (CO_CONFIG_NMT) & CO_CONFIG_NMT_MASTER
#if ((CO_CONFIG_NMT) & CO_CONFIG_NMT_MASTER) != 0
/******************************************************************************/
CO_ReturnError_t CO_NMT_sendCommand(CO_NMT_t *NMT,
CO_NMT_command_t command,

12
301/CO_NMT_Heartbeat.h
View file

@ -181,7 +181,7 @@ typedef struct {
OD_extension_t OD_1017_extension;
/** From CO_NMT_init() */
CO_EM_t *em;
#if ((CO_CONFIG_NMT) & CO_CONFIG_NMT_MASTER) || defined CO_DOXYGEN
#if (((CO_CONFIG_NMT) & CO_CONFIG_NMT_MASTER) != 0) || defined CO_DOXYGEN
/** From CO_NMT_init() */
CO_CANmodule_t *NMT_CANdevTx;
/** CAN transmit buffer for NMT master message */
@ -191,13 +191,13 @@ typedef struct {
CO_CANmodule_t *HB_CANdevTx;
/** CAN transmit buffer for heartbeat message */
CO_CANtx_t *HB_TXbuff;
#if ((CO_CONFIG_NMT) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
#if (((CO_CONFIG_NMT) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/** From CO_NMT_initCallbackPre() or NULL */
void (*pFunctSignalPre)(void *object);
/** From CO_NMT_initCallbackPre() or NULL */
void *functSignalObjectPre;
#endif
#if ((CO_CONFIG_NMT) & CO_CONFIG_NMT_CALLBACK_CHANGE) || defined CO_DOXYGEN
#if (((CO_CONFIG_NMT) & CO_CONFIG_NMT_CALLBACK_CHANGE) != 0) || defined CO_DOXYGEN
/** From CO_NMT_initCallbackChanged() or NULL */
void (*pFunctNMT)(CO_NMT_internalState_t state);
#endif
@ -242,7 +242,7 @@ CO_ReturnError_t CO_NMT_init(CO_NMT_t *NMT,
CO_CANmodule_t *NMT_CANdevRx,
uint16_t NMT_rxIdx,
uint16_t CANidRxNMT,
#if ((CO_CONFIG_NMT) & CO_CONFIG_NMT_MASTER) || defined CO_DOXYGEN
#if (((CO_CONFIG_NMT) & CO_CONFIG_NMT_MASTER) != 0) || defined CO_DOXYGEN
CO_CANmodule_t *NMT_CANdevTx,
uint16_t NMT_txIdx,
uint16_t CANidTxNMT,
@ -253,7 +253,7 @@ CO_ReturnError_t CO_NMT_init(CO_NMT_t *NMT,
uint32_t *errInfo);
#if ((CO_CONFIG_NMT) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
#if (((CO_CONFIG_NMT) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/**
* Initialize NMT callback function after message preprocessed.
*
@ -272,7 +272,7 @@ void CO_NMT_initCallbackPre(CO_NMT_t *NMT,
#endif
#if ((CO_CONFIG_NMT) & CO_CONFIG_NMT_CALLBACK_CHANGE) || defined CO_DOXYGEN
#if (((CO_CONFIG_NMT) & CO_CONFIG_NMT_CALLBACK_CHANGE) != 0) || defined CO_DOXYGEN
/**
* Initialize NMT callback function.
*

8
301/CO_Node_Guarding.c
View file

@ -25,7 +25,7 @@
#include "301/CO_Node_Guarding.h"
#if (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE
#if ((CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE) != 0
/*
* Read received message from CAN module.
@ -240,7 +240,7 @@ void CO_nodeGuardingSlave_process(CO_nodeGuardingSlave_t *ngs,
else if (ngs->lifeTimer > 0U) {
if (timeDifference_us < ngs->lifeTimer) {
ngs->lifeTimer -= timeDifference_us;
#if (CO_CONFIG_NMT) & CO_CONFIG_FLAG_TIMERNEXT
#if ((CO_CONFIG_NMT) & CO_CONFIG_FLAG_TIMERNEXT) != 0
/* Calculate, when timeout expires */
if (timerNext_us != NULL && *timerNext_us > ngs->lifeTimer) {
*timerNext_us = ngs->lifeTimer;
@ -265,7 +265,7 @@ void CO_nodeGuardingSlave_process(CO_nodeGuardingSlave_t *ngs,
#if (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_MASTER_ENABLE
#if ((CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_MASTER_ENABLE) != 0
/*
* Read received message from CAN module.
*
@ -402,7 +402,7 @@ void CO_nodeGuardingMaster_process(CO_nodeGuardingMaster_t *ngm,
if (node->guardTime_us > 0 && node->ident > CO_CAN_ID_HEARTBEAT) {
if (timeDifference_us < node->guardTimer) {
node->guardTimer -= timeDifference_us;
#if (CO_CONFIG_NMT) & CO_CONFIG_FLAG_TIMERNEXT
#if ((CO_CONFIG_NMT) & CO_CONFIG_FLAG_TIMERNEXT) != 0
/* Calculate, when timeout expires */
if (timerNext_us != NULL && *timerNext_us > node->guardTimer) {
*timerNext_us = node->guardTimer;

4
301/CO_Node_Guarding.h
View file

@ -39,7 +39,7 @@
#define CO_CONFIG_NODE_GUARDING_MASTER_COUNT 0x7F
#endif
#if ((CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE) != 0) || defined CO_DOXYGEN
#ifdef __cplusplus
extern "C" {
@ -186,7 +186,7 @@ static inline bool_t CO_nodeGuardingSlave_isTimeout(CO_nodeGuardingSlave_t *ngs)
#if ((CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_MASTER_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_MASTER_ENABLE) != 0) || defined CO_DOXYGEN
#if CO_CONFIG_NODE_GUARDING_MASTER_COUNT < 1 || CO_CONFIG_NODE_GUARDING_MASTER_COUNT > 127
#error CO_CONFIG_NODE_GUARDING_MASTER_COUNT value is wrong!

98
301/CO_PDO.c
View file

@ -27,15 +27,15 @@
#include "301/CO_PDO.h"
#if (CO_CONFIG_PDO) & (CO_CONFIG_RPDO_ENABLE | CO_CONFIG_TPDO_ENABLE)
#if ((CO_CONFIG_PDO) & (CO_CONFIG_RPDO_ENABLE | CO_CONFIG_TPDO_ENABLE)) != 0
#if (CO_CONFIG_PDO) & CO_CONFIG_FLAG_OD_DYNAMIC
#if ((CO_CONFIG_PDO) & CO_CONFIG_FLAG_OD_DYNAMIC) != 0
#if ((CO_CONFIG_PDO) & CO_CONFIG_PDO_OD_IO_ACCESS) == 0
#error Dynamic PDO mapping is not possible without CO_CONFIG_PDO_OD_IO_ACCESS
#endif
#endif
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_OD_IO_ACCESS
#if ((CO_CONFIG_PDO) & CO_CONFIG_PDO_OD_IO_ACCESS) != 0
/*
* Custom function for write dummy OD object. Will be used only from RPDO.
*
@ -222,7 +222,7 @@ static CO_ReturnError_t PDO_initMapping(CO_PDO_common_t *PDO,
return CO_ERROR_NO;
}
#if (CO_CONFIG_PDO) & CO_CONFIG_FLAG_OD_DYNAMIC
#if ((CO_CONFIG_PDO) & CO_CONFIG_FLAG_OD_DYNAMIC) != 0
/*
* Custom function for writing OD object "PDO mapping parameter"
*
@ -404,7 +404,7 @@ static CO_ReturnError_t PDO_initMapping(CO_PDO_common_t *PDO,
#endif /* ((CO_CONFIG_PDO) & CO_CONFIG_PDO_OD_IO_ACCESS) == 0 */
#if (CO_CONFIG_PDO) & CO_CONFIG_FLAG_OD_DYNAMIC
#if ((CO_CONFIG_PDO) & CO_CONFIG_FLAG_OD_DYNAMIC) != 0
/*
* Custom function for reading OD object "PDO communication parameter"
*
@ -441,7 +441,7 @@ static ODR_t OD_read_PDO_commParam(OD_stream_t *stream, void *buf,
/*******************************************************************************
* R P D O
******************************************************************************/
#if (CO_CONFIG_PDO) & CO_CONFIG_RPDO_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_RPDO_ENABLE) != 0
/*
* States for RPDO->receiveError indicates received RPDOs with wrong length.
*/
@ -482,7 +482,7 @@ static void CO_PDO_receive(void *object, void *msg) {
/* Determine, to which of the two rx buffers copy the message. */
uint8_t bufNo = 0;
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) != 0
if (RPDO->synchronous && (RPDO->SYNC != NULL)
&& RPDO->SYNC->CANrxToggle
) {
@ -494,7 +494,7 @@ static void CO_PDO_receive(void *object, void *msg) {
(void)memcpy(RPDO->CANrxData[bufNo], data,sizeof(RPDO->CANrxData[bufNo]));
CO_FLAG_SET(RPDO->CANrxNew[bufNo]);
#if (CO_CONFIG_PDO) & CO_CONFIG_FLAG_CALLBACK_PRE
#if ((CO_CONFIG_PDO) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0
/* Optional signal to RTOS, which can resume task, which handles
* the RPDO. */
if (RPDO->pFunctSignalPre != NULL) {
@ -512,7 +512,7 @@ static void CO_PDO_receive(void *object, void *msg) {
}
#if (CO_CONFIG_PDO) & CO_CONFIG_FLAG_OD_DYNAMIC
#if ((CO_CONFIG_PDO) & CO_CONFIG_FLAG_OD_DYNAMIC) != 0
/*
* Custom function for writing OD object "RPDO communication parameter"
*
@ -574,7 +574,7 @@ static ODR_t OD_write_14xx(OD_stream_t *stream, const void *buf,
else {
PDO->valid = false;
CO_FLAG_CLEAR(RPDO->CANrxNew[0]);
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) != 0
CO_FLAG_CLEAR(RPDO->CANrxNew[1]);
#endif
if (ret != CO_ERROR_NO) {
@ -587,7 +587,7 @@ static ODR_t OD_write_14xx(OD_stream_t *stream, const void *buf,
case 2: { /* transmission type */
uint8_t transmissionType = CO_getUint8(buf);
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) != 0
if ((transmissionType > (uint8_t)CO_PDO_TRANSM_TYPE_SYNC_240)
&& (transmissionType < (uint8_t)CO_PDO_TRANSM_TYPE_SYNC_EVENT_LO)
) {
@ -609,7 +609,7 @@ static ODR_t OD_write_14xx(OD_stream_t *stream, const void *buf,
break;
}
#if (CO_CONFIG_PDO) & CO_CONFIG_RPDO_TIMERS_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_RPDO_TIMERS_ENABLE) != 0
case 5: { /* event-timer */
uint32_t eventTime = CO_getUint16(buf);
RPDO->timeoutTime_us = eventTime * 1000U;
@ -632,7 +632,7 @@ static ODR_t OD_write_14xx(OD_stream_t *stream, const void *buf,
CO_ReturnError_t CO_RPDO_init(CO_RPDO_t *RPDO,
OD_t *OD,
CO_EM_t *em,
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) != 0
CO_SYNC_t *SYNC,
#endif
uint16_t preDefinedCanId,
@ -720,7 +720,7 @@ CO_ReturnError_t CO_RPDO_init(CO_RPDO_t *RPDO,
/* Configure communication parameter - transmission type */
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) != 0
uint8_t transmissionType = CO_PDO_TRANSM_TYPE_SYNC_EVENT_LO;
odRet = OD_get_u8(OD_14xx_RPDOCommPar, 2, &transmissionType, true);
if (odRet != ODR_OK) {
@ -736,7 +736,7 @@ CO_ReturnError_t CO_RPDO_init(CO_RPDO_t *RPDO,
/* Configure communication parameter - event-timer (optional) */
#if (CO_CONFIG_PDO) & CO_CONFIG_RPDO_TIMERS_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_RPDO_TIMERS_ENABLE) != 0
uint16_t eventTime = 0;
odRet = OD_get_u16(OD_14xx_RPDOCommPar, 5, &eventTime, true);
RPDO->timeoutTime_us = (uint32_t)eventTime * 1000U;
@ -744,7 +744,7 @@ CO_ReturnError_t CO_RPDO_init(CO_RPDO_t *RPDO,
/* Configure OD extensions */
#if (CO_CONFIG_PDO) & CO_CONFIG_FLAG_OD_DYNAMIC
#if ((CO_CONFIG_PDO) & CO_CONFIG_FLAG_OD_DYNAMIC) != 0
PDO->isRPDO = true;
PDO->OD = OD;
PDO->CANdevIdx = CANdevRxIdx;
@ -764,7 +764,7 @@ CO_ReturnError_t CO_RPDO_init(CO_RPDO_t *RPDO,
}
#if (CO_CONFIG_PDO) & CO_CONFIG_FLAG_CALLBACK_PRE
#if ((CO_CONFIG_PDO) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0
void CO_RPDO_initCallbackPre(CO_RPDO_t *RPDO,
void *object,
void (*pFunctSignalPre)(void *object))
@ -779,7 +779,7 @@ void CO_RPDO_initCallbackPre(CO_RPDO_t *RPDO,
/******************************************************************************/
void CO_RPDO_process(CO_RPDO_t *RPDO,
#if (CO_CONFIG_PDO) & CO_CONFIG_RPDO_TIMERS_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_RPDO_TIMERS_ENABLE) != 0
uint32_t timeDifference_us,
uint32_t *timerNext_us,
#endif
@ -790,7 +790,7 @@ void CO_RPDO_process(CO_RPDO_t *RPDO,
CO_PDO_common_t *PDO = &RPDO->PDO_common;
if (PDO->valid && NMTisOperational
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) != 0
&& (syncWas || !RPDO->synchronous)
#endif
) {
@ -807,7 +807,7 @@ void CO_RPDO_process(CO_RPDO_t *RPDO,
/* Determine, which of the two rx buffers contains relevant message. */
uint8_t bufNo = 0;
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) != 0
if (RPDO->synchronous && (RPDO->SYNC != NULL)
&& !RPDO->SYNC->CANrxToggle) {
bufNo = 1;
@ -824,7 +824,7 @@ void CO_RPDO_process(CO_RPDO_t *RPDO,
* by receive thread, then copy the latest data again. */
CO_FLAG_CLEAR(RPDO->CANrxNew[bufNo]);
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_OD_IO_ACCESS
#if ((CO_CONFIG_PDO) & CO_CONFIG_PDO_OD_IO_ACCESS) != 0
for (uint8_t i = 0; i < PDO->mappedObjectsCount; i++) {
OD_IO_t *OD_IO = &PDO->OD_IO[i];
@ -884,7 +884,7 @@ void CO_RPDO_process(CO_RPDO_t *RPDO,
/* verify RPDO timeout */
(void) rpdoReceived;
#if (CO_CONFIG_PDO) & CO_CONFIG_RPDO_TIMERS_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_RPDO_TIMERS_ENABLE) != 0
if (RPDO->timeoutTime_us > 0U) {
if (rpdoReceived) {
if (RPDO->timeoutTimer > RPDO->timeoutTime_us) {
@ -905,7 +905,7 @@ void CO_RPDO_process(CO_RPDO_t *RPDO,
}
}
else { /* MISRA C 2004 14.10 */ }
#if (CO_CONFIG_PDO) & CO_CONFIG_FLAG_TIMERNEXT
#if ((CO_CONFIG_PDO) & CO_CONFIG_FLAG_TIMERNEXT) != 0
if (timerNext_us != NULL
&& RPDO->timeoutTimer < RPDO->timeoutTime_us
) {
@ -920,17 +920,17 @@ void CO_RPDO_process(CO_RPDO_t *RPDO,
} /* if (PDO->valid && NMTisOperational) */
else {
/* not valid and operational, clear CAN receive flags and timeoutTimer*/
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) != 0
if (!PDO->valid || !NMTisOperational) {
CO_FLAG_CLEAR(RPDO->CANrxNew[0]);
CO_FLAG_CLEAR(RPDO->CANrxNew[1]);
#if (CO_CONFIG_PDO) & CO_CONFIG_RPDO_TIMERS_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_RPDO_TIMERS_ENABLE) != 0
RPDO->timeoutTimer = 0;
#endif
}
#else
CO_FLAG_CLEAR(RPDO->CANrxNew[0]);
#if (CO_CONFIG_PDO) & CO_CONFIG_RPDO_TIMERS_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_RPDO_TIMERS_ENABLE) != 0
RPDO->timeoutTimer = 0;
#endif
#endif
@ -942,8 +942,8 @@ void CO_RPDO_process(CO_RPDO_t *RPDO,
/*******************************************************************************
* T P D O
******************************************************************************/
#if (CO_CONFIG_PDO) & CO_CONFIG_TPDO_ENABLE
#if (CO_CONFIG_PDO) & CO_CONFIG_FLAG_OD_DYNAMIC
#if ((CO_CONFIG_PDO) & CO_CONFIG_TPDO_ENABLE) != 0
#if ((CO_CONFIG_PDO) & CO_CONFIG_FLAG_OD_DYNAMIC) != 0
/*
* Custom function for writing OD object "TPDO communication parameter"
*
@ -1011,7 +1011,7 @@ static ODR_t OD_write_18xx(OD_stream_t *stream, const void *buf,
case 2: { /* transmission type */
uint8_t transmissionType = CO_getUint8(buf);
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) != 0
if ((transmissionType > (uint8_t)CO_PDO_TRANSM_TYPE_SYNC_240)
&& (transmissionType < (uint8_t)CO_PDO_TRANSM_TYPE_SYNC_EVENT_LO)
) {
@ -1027,13 +1027,13 @@ static ODR_t OD_write_18xx(OD_stream_t *stream, const void *buf,
#endif
TPDO->transmissionType = transmissionType;
TPDO->sendRequest = true;
#if (CO_CONFIG_PDO) & CO_CONFIG_TPDO_TIMERS_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_TPDO_TIMERS_ENABLE) != 0
TPDO->inhibitTimer = TPDO->eventTimer = 0;
#endif
break;
}
#if (CO_CONFIG_PDO) & CO_CONFIG_TPDO_TIMERS_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_TPDO_TIMERS_ENABLE) != 0
case 3: { /* inhibit time */
if (PDO->valid) {
return ODR_INVALID_VALUE;
@ -1052,7 +1052,7 @@ static ODR_t OD_write_18xx(OD_stream_t *stream, const void *buf,
}
#endif
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) != 0
case 6: { /* SYNC start value */
uint8_t syncStartValue = CO_getUint8(buf);
@ -1078,7 +1078,7 @@ static ODR_t OD_write_18xx(OD_stream_t *stream, const void *buf,
CO_ReturnError_t CO_TPDO_init(CO_TPDO_t *TPDO,
OD_t *OD,
CO_EM_t *em,
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) != 0
CO_SYNC_t *SYNC,
#endif
uint16_t preDefinedCanId,
@ -1128,7 +1128,7 @@ CO_ReturnError_t CO_TPDO_init(CO_TPDO_t *TPDO,
return CO_ERROR_OD_PARAMETERS;
}
if ((transmissionType < (uint8_t)CO_PDO_TRANSM_TYPE_SYNC_EVENT_LO)
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) != 0
&& (transmissionType > (uint8_t)CO_PDO_TRANSM_TYPE_SYNC_240)
#endif
) {
@ -1184,7 +1184,7 @@ CO_ReturnError_t CO_TPDO_init(CO_TPDO_t *TPDO,
/* Configure communication parameter - inhibit time and event-timer (opt) */
#if (CO_CONFIG_PDO) & CO_CONFIG_TPDO_TIMERS_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_TPDO_TIMERS_ENABLE) != 0
uint16_t inhibitTime = 0;
uint16_t eventTime = 0;
odRet = OD_get_u16(OD_18xx_TPDOCommPar, 3, &inhibitTime, true);
@ -1195,7 +1195,7 @@ CO_ReturnError_t CO_TPDO_init(CO_TPDO_t *TPDO,
/* Configure communication parameter - SYNC start value (optional) */
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) != 0
TPDO->syncStartValue = 0;
odRet = OD_get_u8(OD_18xx_TPDOCommPar, 6, &TPDO->syncStartValue, true);
TPDO->SYNC = SYNC;
@ -1204,7 +1204,7 @@ CO_ReturnError_t CO_TPDO_init(CO_TPDO_t *TPDO,
/* Configure OD extensions */
#if (CO_CONFIG_PDO) & CO_CONFIG_FLAG_OD_DYNAMIC
#if ((CO_CONFIG_PDO) & CO_CONFIG_FLAG_OD_DYNAMIC) != 0
PDO->isRPDO = false;
PDO->OD = OD;
PDO->CANdevIdx = CANdevTxIdx;
@ -1243,7 +1243,7 @@ static CO_ReturnError_t CO_TPDOsend(CO_TPDO_t *TPDO) {
|| (TPDO->transmissionType >= (uint8_t)CO_PDO_TRANSM_TYPE_SYNC_EVENT_LO));
#endif
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_OD_IO_ACCESS
#if ((CO_CONFIG_PDO) & CO_CONFIG_PDO_OD_IO_ACCESS) != 0
for (uint8_t i = 0; i < PDO->mappedObjectsCount; i++) {
OD_IO_t *OD_IO = &PDO->OD_IO[i];
OD_stream_t *stream = &OD_IO->stream;
@ -1317,7 +1317,7 @@ static CO_ReturnError_t CO_TPDOsend(CO_TPDO_t *TPDO) {
#endif /* (CO_CONFIG_PDO) & CO_CONFIG_PDO_OD_IO_ACCESS */
TPDO->sendRequest = false;
#if (CO_CONFIG_PDO) & CO_CONFIG_TPDO_TIMERS_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_TPDO_TIMERS_ENABLE) != 0
TPDO->eventTimer = TPDO->eventTime_us;
TPDO->inhibitTimer = TPDO->inhibitTime_us;
#endif
@ -1327,7 +1327,7 @@ static CO_ReturnError_t CO_TPDOsend(CO_TPDO_t *TPDO) {
/******************************************************************************/
void CO_TPDO_process(CO_TPDO_t *TPDO,
#if ((CO_CONFIG_PDO) & CO_CONFIG_TPDO_TIMERS_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_PDO) & CO_CONFIG_TPDO_TIMERS_ENABLE) != 0) || defined CO_DOXYGEN
uint32_t timeDifference_us,
uint32_t *timerNext_us,
#endif
@ -1335,7 +1335,7 @@ void CO_TPDO_process(CO_TPDO_t *TPDO,
bool_t syncWas)
{
CO_PDO_common_t *PDO = &TPDO->PDO_common;
#if ((CO_CONFIG_PDO) & CO_CONFIG_TPDO_TIMERS_ENABLE)
#if (((CO_CONFIG_PDO) & CO_CONFIG_TPDO_TIMERS_ENABLE)) != 0
(void) timerNext_us;
#endif
(void) syncWas;
@ -1343,19 +1343,19 @@ void CO_TPDO_process(CO_TPDO_t *TPDO,
if (PDO->valid && NMTisOperational) {
/* check for event timer or application event */
#if ((CO_CONFIG_PDO) & CO_CONFIG_TPDO_TIMERS_ENABLE) || (OD_FLAGS_PDO_SIZE > 0)
#if (((CO_CONFIG_PDO) & CO_CONFIG_TPDO_TIMERS_ENABLE) != 0) || (OD_FLAGS_PDO_SIZE > 0)
if ((TPDO->transmissionType == (uint8_t)CO_PDO_TRANSM_TYPE_SYNC_ACYCLIC)
|| (TPDO->transmissionType >= (uint8_t)CO_PDO_TRANSM_TYPE_SYNC_EVENT_LO)
) {
/* event timer */
#if (CO_CONFIG_PDO) & CO_CONFIG_TPDO_TIMERS_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_TPDO_TIMERS_ENABLE) != 0
if (TPDO->eventTime_us != 0U) {
TPDO->eventTimer = (TPDO->eventTimer > timeDifference_us)
? (TPDO->eventTimer - timeDifference_us) : 0U;
if (TPDO->eventTimer == 0U) {
TPDO->sendRequest = true;
}
#if (CO_CONFIG_PDO) & CO_CONFIG_FLAG_TIMERNEXT
#if ((CO_CONFIG_PDO) & CO_CONFIG_FLAG_TIMERNEXT) != 0
if (timerNext_us != NULL && *timerNext_us > TPDO->eventTimer) {
/* Schedule for next event time */
*timerNext_us = TPDO->eventTimer;
@ -1383,7 +1383,7 @@ void CO_TPDO_process(CO_TPDO_t *TPDO,
/* Send PDO by application request or by Event timer */
if (TPDO->transmissionType >= (uint8_t)CO_PDO_TRANSM_TYPE_SYNC_EVENT_LO) {
#if (CO_CONFIG_PDO) & CO_CONFIG_TPDO_TIMERS_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_TPDO_TIMERS_ENABLE) != 0
TPDO->inhibitTimer = (TPDO->inhibitTimer > timeDifference_us)
? (TPDO->inhibitTimer - timeDifference_us) : 0U;
@ -1392,7 +1392,7 @@ void CO_TPDO_process(CO_TPDO_t *TPDO,
CO_TPDOsend(TPDO);
}
#if (CO_CONFIG_PDO) & CO_CONFIG_FLAG_TIMERNEXT
#if ((CO_CONFIG_PDO) & CO_CONFIG_FLAG_TIMERNEXT) != 0
if (TPDO->sendRequest
&& timerNext_us != NULL && *timerNext_us > TPDO->inhibitTimer
) {
@ -1408,7 +1408,7 @@ void CO_TPDO_process(CO_TPDO_t *TPDO,
} /* if (TPDO->transmissionType >= CO_PDO_TRANSM_TYPE_SYNC_EVENT_LO) */
/* Synchronous PDOs */
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) != 0
else if ((TPDO->SYNC != NULL) && syncWas) {
/* send synchronous acyclic TPDO */
if (TPDO->transmissionType == (uint8_t)CO_PDO_TRANSM_TYPE_SYNC_ACYCLIC) {
@ -1452,10 +1452,10 @@ void CO_TPDO_process(CO_TPDO_t *TPDO,
else {
/* Not operational or valid, reset triggers */
TPDO->sendRequest = true;
#if (CO_CONFIG_PDO) & CO_CONFIG_TPDO_TIMERS_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_TPDO_TIMERS_ENABLE) != 0
TPDO->inhibitTimer = TPDO->eventTimer = 0;
#endif
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) != 0
TPDO->syncCounter = 255;
#endif
}

32
301/CO_PDO.h
View file

@ -43,7 +43,7 @@
CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
#endif
#if ((CO_CONFIG_PDO) & (CO_CONFIG_RPDO_ENABLE | CO_CONFIG_TPDO_ENABLE)) || defined CO_DOXYGEN
#if (((CO_CONFIG_PDO) & (CO_CONFIG_RPDO_ENABLE | CO_CONFIG_TPDO_ENABLE)) != 0) || defined CO_DOXYGEN
#ifdef __cplusplus
extern "C" {
@ -197,7 +197,7 @@ typedef struct {
CO_PDO_size_t dataLength;
/** Number of mapped objects in PDO */
uint8_t mappedObjectsCount;
#if ((CO_CONFIG_PDO) & CO_CONFIG_PDO_OD_IO_ACCESS) || defined CO_DOXYGEN
#if (((CO_CONFIG_PDO) & CO_CONFIG_PDO_OD_IO_ACCESS) != 0) || defined CO_DOXYGEN
/** Object dictionary interface for all mapped entries. OD_IO.dataOffset has
* special usage with PDO. It stores information about mappedLength of
* the variable. mappedLength can be less or equal to the OD_IO.dataLength.
@ -219,7 +219,7 @@ typedef struct {
uint8_t flagPDObitmask[CO_PDO_MAX_SIZE];
#endif
#endif
#if ((CO_CONFIG_PDO) & CO_CONFIG_FLAG_OD_DYNAMIC) || defined CO_DOXYGEN
#if (((CO_CONFIG_PDO) & CO_CONFIG_FLAG_OD_DYNAMIC) != 0) || defined CO_DOXYGEN
/** True for RPDO, false for TPDO */
bool_t isRPDO;
/** From CO_xPDO_init() */
@ -241,11 +241,11 @@ typedef struct {
/*******************************************************************************
* R P D O
******************************************************************************/
#if ((CO_CONFIG_PDO) & CO_CONFIG_RPDO_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_PDO) & CO_CONFIG_RPDO_ENABLE) != 0) || defined CO_DOXYGEN
/**
* Number of buffers for received CAN message for RPDO
*/
#if ((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) != 0) || defined CO_DOXYGEN
#define CO_RPDO_CAN_BUFFERS_COUNT 2
#else
#define CO_RPDO_CAN_BUFFERS_COUNT 1
@ -264,20 +264,20 @@ typedef struct {
uint8_t CANrxData[CO_RPDO_CAN_BUFFERS_COUNT][CO_PDO_MAX_SIZE];
/** Indication of RPDO length errors, use with CO_PDO_receiveErrors_t */
uint8_t receiveError;
#if ((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) != 0) || defined CO_DOXYGEN
/** From CO_RPDO_init() */
CO_SYNC_t *SYNC;
/** True if transmissionType <= 240 */
bool_t synchronous;
#endif
#if ((CO_CONFIG_PDO) & CO_CONFIG_RPDO_TIMERS_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_PDO) & CO_CONFIG_RPDO_TIMERS_ENABLE) != 0) || defined CO_DOXYGEN
/** Maximum timeout time between received PDOs in microseconds. Configurable
* by OD variable RPDO communication parameter, event-timer. */
uint32_t timeoutTime_us;
/** Timeout timer variable in microseconds */
uint32_t timeoutTimer;
#endif
#if ((CO_CONFIG_PDO) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
#if (((CO_CONFIG_PDO) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/** From CO_RPDO_initCallbackPre() or NULL */
void (*pFunctSignalPre)(void *object);
/** From CO_RPDO_initCallbackPre() or NULL */
@ -312,7 +312,7 @@ typedef struct {
CO_ReturnError_t CO_RPDO_init(CO_RPDO_t *RPDO,
OD_t *OD,
CO_EM_t *em,
#if ((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) != 0) || defined CO_DOXYGEN
CO_SYNC_t *SYNC,
#endif
uint16_t preDefinedCanId,
@ -323,7 +323,7 @@ CO_ReturnError_t CO_RPDO_init(CO_RPDO_t *RPDO,
uint32_t *errInfo);
#if ((CO_CONFIG_PDO) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
#if (((CO_CONFIG_PDO) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/**
* Initialize RPDO callback function.
*
@ -357,7 +357,7 @@ void CO_RPDO_initCallbackPre(CO_RPDO_t *RPDO,
* transmitted.
*/
void CO_RPDO_process(CO_RPDO_t *RPDO,
#if ((CO_CONFIG_PDO) & CO_CONFIG_RPDO_TIMERS_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_PDO) & CO_CONFIG_RPDO_TIMERS_ENABLE) != 0) || defined CO_DOXYGEN
uint32_t timeDifference_us,
uint32_t *timerNext_us,
#endif
@ -369,7 +369,7 @@ void CO_RPDO_process(CO_RPDO_t *RPDO,
/*******************************************************************************
* T P D O
******************************************************************************/
#if ((CO_CONFIG_PDO) & CO_CONFIG_TPDO_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_PDO) & CO_CONFIG_TPDO_ENABLE) != 0) || defined CO_DOXYGEN
/**
* TPDO object.
*/
@ -383,7 +383,7 @@ typedef struct {
/** If this flag is set and TPDO is event driven (transmission type is 0,
* 254 or 255), then PDO will be sent by CO_TPDO_process(). */
bool_t sendRequest;
#if ((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) != 0) || defined CO_DOXYGEN
/** From CO_TPDO_init() */
CO_SYNC_t *SYNC;
/** Copy of the variable from object dictionary */
@ -391,7 +391,7 @@ typedef struct {
/** SYNC counter used for PDO sending */
uint8_t syncCounter;
#endif
#if ((CO_CONFIG_PDO) & CO_CONFIG_TPDO_TIMERS_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_PDO) & CO_CONFIG_TPDO_TIMERS_ENABLE) != 0) || defined CO_DOXYGEN
/** Inhibit time from object dictionary translated to microseconds */
uint32_t inhibitTime_us;
/** Event time from object dictionary translated to microseconds */
@ -430,7 +430,7 @@ typedef struct {
CO_ReturnError_t CO_TPDO_init(CO_TPDO_t *TPDO,
OD_t *OD,
CO_EM_t *em,
#if ((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) != 0) || defined CO_DOXYGEN
CO_SYNC_t *SYNC,
#endif
uint16_t preDefinedCanId,
@ -469,7 +469,7 @@ static inline void CO_TPDOsendRequest(CO_TPDO_t *TPDO) {
* transmitted.
*/
void CO_TPDO_process(CO_TPDO_t *TPDO,
#if ((CO_CONFIG_PDO) & CO_CONFIG_TPDO_TIMERS_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_PDO) & CO_CONFIG_TPDO_TIMERS_ENABLE) != 0) || defined CO_DOXYGEN
uint32_t timeDifference_us,
uint32_t *timerNext_us,
#endif

94
301/CO_SDOclient.c
View file

@ -26,23 +26,23 @@
#include "301/CO_SDOclient.h"
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_ENABLE
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_ENABLE) != 0
/* verify configuration */
#if CO_CONFIG_SDO_CLI_BUFFER_SIZE < 7
#error CO_CONFIG_SDO_CLI_BUFFER_SIZE must be set to 7 or more.
#endif
#if !((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ENABLE)
#if ((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ENABLE) == 0
#error CO_CONFIG_FIFO_ENABLE must be enabled.
#endif
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK
#if !((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_SEGMENTED)
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK) != 0
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_SEGMENTED) == 0
#error CO_CONFIG_SDO_CLI_SEGMENTED must be enabled.
#endif
#if !((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ALT_READ)
#if ((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ALT_READ) == 0
#error CO_CONFIG_FIFO_ALT_READ must be enabled.
#endif
#if !((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_CRC16_CCITT)
#if ((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_CRC16_CCITT) == 0
#error CO_CONFIG_FIFO_CRC16_CCITT must be enabled.
#endif
#endif
@ -70,7 +70,7 @@ static void CO_SDOclient_receive(void *object, void *msg) {
if ((SDO_C->state != CO_SDO_ST_IDLE) && (DLC == 8U)
&& (!CO_FLAG_READ(SDO_C->CANrxNew) || (data[0] == 0x80U))
) {
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK) != 0
if ((data[0] == 0x80U) /* abort from server */
|| ((SDO_C->state != CO_SDO_ST_UPLOAD_BLK_SUBBLOCK_SREQ)
&& (SDO_C->state != CO_SDO_ST_UPLOAD_BLK_SUBBLOCK_CRSP))
@ -79,7 +79,7 @@ static void CO_SDOclient_receive(void *object, void *msg) {
/* copy data and set 'new message' flag */
(void)memcpy((void *)&SDO_C->CANrxData[0], (const void *)&data[0], 8);
CO_FLAG_SET(SDO_C->CANrxNew);
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_CALLBACK_PRE
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0
/* Optional signal to RTOS, which can resume task, which handles
* SDO client processing. */
if (SDO_C->pFunctSignal != NULL) {
@ -87,7 +87,7 @@ static void CO_SDOclient_receive(void *object, void *msg) {
}
#endif
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK) != 0
}
else if (SDO_C->state == CO_SDO_ST_UPLOAD_BLK_SUBBLOCK_SREQ) {
/* block upload, copy data directly */
@ -153,7 +153,7 @@ static void CO_SDOclient_receive(void *object, void *msg) {
* barrier here with CO_FLAG_CLEAR() call. */
CO_FLAG_CLEAR(SDO_C->CANrxNew);
SDO_C->state = state;
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_CALLBACK_PRE
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0
/* Optional signal to RTOS, which can resume task, which handles
* SDO client processing. */
if (SDO_C->pFunctSignal != NULL) {
@ -167,7 +167,7 @@ static void CO_SDOclient_receive(void *object, void *msg) {
}
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_OD_DYNAMIC
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_OD_DYNAMIC) != 0
/*
* Custom function for writing OD object _SDO client parameter_
*
@ -267,7 +267,7 @@ CO_ReturnError_t CO_SDOclient_init(CO_SDOclient_t *SDO_C,
}
/* Configure object variables */
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_LOCAL
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_LOCAL) != 0
SDO_C->OD = OD;
SDO_C->nodeId = nodeId;
#endif
@ -275,7 +275,7 @@ CO_ReturnError_t CO_SDOclient_init(CO_SDOclient_t *SDO_C,
SDO_C->CANdevRxIdx = CANdevRxIdx;
SDO_C->CANdevTx = CANdevTx;
SDO_C->CANdevTxIdx = CANdevTxIdx;
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_CALLBACK_PRE
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0
SDO_C->pFunctSignal = NULL;
SDO_C->functSignalObject = NULL;
#endif
@ -299,7 +299,7 @@ CO_ReturnError_t CO_SDOclient_init(CO_SDOclient_t *SDO_C,
return CO_ERROR_OD_PARAMETERS;
}
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_OD_DYNAMIC
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_OD_DYNAMIC) != 0
SDO_C->OD_1280_extension.object = SDO_C;
SDO_C->OD_1280_extension.read = OD_readOriginal;
SDO_C->OD_1280_extension.write = OD_write_1280;
@ -328,7 +328,7 @@ CO_ReturnError_t CO_SDOclient_init(CO_SDOclient_t *SDO_C,
}
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_CALLBACK_PRE
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0
/******************************************************************************/
void CO_SDOclient_initCallbackPre(CO_SDOclient_t *SDOclient,
void *object,
@ -341,7 +341,7 @@ void CO_SDOclient_initCallbackPre(CO_SDOclient_t *SDOclient,
}
#endif
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_LOCAL) && defined CO_BIG_ENDIAN
#if (((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_LOCAL) != 0) && defined CO_BIG_ENDIAN
static inline void reverseBytes(void *start, OD_size_t size) {
uint8_t *lo = (uint8_t *)start;
uint8_t *hi = (uint8_t *)start + size - 1;
@ -371,7 +371,7 @@ CO_SDO_return_t CO_SDOclient_setup(CO_SDOclient_t *SDO_C,
CO_FLAG_CLEAR(SDO_C->CANrxNew);
SDO_C->nodeIDOfTheSDOServer = nodeIDOfTheSDOServer;
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_OD_DYNAMIC
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_OD_DYNAMIC) != 0
/* proceed only, if parameters change */
if ((COB_IDClientToServer == SDO_C->COB_IDClientToServer)
&& (COB_IDServerToClient == SDO_C->COB_IDServerToClient)
@ -451,7 +451,7 @@ CO_SDO_return_t CO_SDOclientDownloadInitiate(CO_SDOclient_t *SDO_C,
SDO_C->timeoutTimer = 0;
CO_fifo_reset(&SDO_C->bufFifo);
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_LOCAL
#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 ((SDO_C->OD != NULL) && (SDO_C->nodeId != 0U)
@ -462,7 +462,7 @@ CO_SDO_return_t CO_SDOclientDownloadInitiate(CO_SDOclient_t *SDO_C,
}
else
#endif
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK) != 0
if (blockEnable && ((sizeIndicated == 0U) ||
(sizeIndicated > CO_CONFIG_SDO_CLI_PST))
) {
@ -485,7 +485,7 @@ void CO_SDOclientDownloadInitiateSize(CO_SDOclient_t *SDO_C,
{
if (SDO_C != NULL) {
SDO_C->sizeInd = sizeIndicated;
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK) != 0
if ((SDO_C->state == CO_SDO_ST_DOWNLOAD_BLK_INITIATE_REQ)
&& (sizeIndicated > 0U) && (sizeIndicated <= CO_CONFIG_SDO_CLI_PST)
) {
@ -530,7 +530,7 @@ CO_SDO_return_t CO_SDOclientDownload(CO_SDOclient_t *SDO_C,
else if (SDO_C->state == CO_SDO_ST_IDLE) {
ret = CO_SDO_RT_ok_communicationEnd;
}
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_LOCAL
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_LOCAL) != 0
/* Transfer data locally **************************************************/
else if ((SDO_C->state == CO_SDO_ST_DOWNLOAD_LOCAL_TRANSFER) && !abort) {
/* search object dictionary in first pass */
@ -661,7 +661,7 @@ CO_SDO_return_t CO_SDOclientDownload(CO_SDOclient_t *SDO_C,
if (ret != CO_SDO_RT_waitingLocalTransfer) {
SDO_C->state = CO_SDO_ST_IDLE;
}
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_TIMERNEXT
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_TIMERNEXT) != 0
/* Inform OS to call this function again without delay. */
else if (timerNext_us != NULL) {
*timerNext_us = 0;
@ -699,7 +699,7 @@ CO_SDO_return_t CO_SDOclientDownload(CO_SDOclient_t *SDO_C,
break;
}
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_SEGMENTED
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_SEGMENTED) != 0
if (SDO_C->finished) {
/* expedited transfer */
SDO_C->state = CO_SDO_ST_IDLE;
@ -723,7 +723,7 @@ CO_SDO_return_t CO_SDOclientDownload(CO_SDOclient_t *SDO_C,
break;
}
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_SEGMENTED
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_SEGMENTED) != 0
case CO_SDO_ST_DOWNLOAD_SEGMENT_RSP: {
if ((SDO_C->CANrxData[0] & 0xEFU) == 0x20U) {
/* verify and alternate toggle bit */
@ -752,7 +752,7 @@ CO_SDO_return_t CO_SDOclientDownload(CO_SDOclient_t *SDO_C,
}
#endif /* (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_SEGMENTED */
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK) != 0
case CO_SDO_ST_DOWNLOAD_BLK_INITIATE_RSP: {
if ((SDO_C->CANrxData[0] & 0xFBU) == 0xA0U) {
/* verify index and subindex */
@ -862,7 +862,7 @@ CO_SDO_return_t CO_SDOclientDownload(CO_SDOclient_t *SDO_C,
abortCode = CO_SDO_AB_TIMEOUT;
SDO_C->state = CO_SDO_ST_ABORT;
}
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_TIMERNEXT
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_TIMERNEXT) != 0
else if (timerNext_us != NULL) {
/* check again after timeout time elapsed */
uint32_t diff = SDO_C->SDOtimeoutTime_us - SDO_C->timeoutTimer;
@ -917,7 +917,7 @@ CO_SDO_return_t CO_SDOclientDownload(CO_SDOclient_t *SDO_C,
SDO_C->finished = true;
}
else {
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_SEGMENTED
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_SEGMENTED) != 0
/* segmented transfer, indicate data size */
if (SDO_C->sizeInd > 0U) {
uint32_t size = CO_SWAP_32((uint32_t)SDO_C->sizeInd);
@ -939,7 +939,7 @@ CO_SDO_return_t CO_SDOclientDownload(CO_SDOclient_t *SDO_C,
break;
}
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_SEGMENTED
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_SEGMENTED) != 0
case CO_SDO_ST_DOWNLOAD_SEGMENT_REQ: {
/* fill data bytes */
count = CO_fifo_read(&SDO_C->bufFifo,
@ -977,7 +977,7 @@ CO_SDO_return_t CO_SDOclientDownload(CO_SDOclient_t *SDO_C,
}
#endif /* (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_SEGMENTED */
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK) != 0
case CO_SDO_ST_DOWNLOAD_BLK_INITIATE_REQ: {
SDO_C->CANtxBuff->data[0] = 0xC4;
SDO_C->CANtxBuff->data[1] = (uint8_t)SDO_C->index;
@ -1034,7 +1034,7 @@ CO_SDO_return_t CO_SDOclientDownload(CO_SDOclient_t *SDO_C,
else if (SDO_C->block_seqno >= SDO_C->block_blksize) {
SDO_C->state = CO_SDO_ST_DOWNLOAD_BLK_SUBBLOCK_RSP;
}
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_TIMERNEXT
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_TIMERNEXT) != 0
else {
/* Inform OS to call this function again without delay. */
if (timerNext_us != NULL) {
@ -1081,7 +1081,7 @@ CO_SDO_return_t CO_SDOclientDownload(CO_SDOclient_t *SDO_C,
SDO_C->state = CO_SDO_ST_IDLE;
ret = CO_SDO_RT_endedWithClientAbort;
}
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK) != 0
else if (SDO_C->state == CO_SDO_ST_DOWNLOAD_BLK_SUBBLOCK_REQ) {
ret = CO_SDO_RT_blockDownldInProgress;
}
@ -1122,11 +1122,11 @@ CO_SDO_return_t CO_SDOclientUploadInitiate(CO_SDOclient_t *SDO_C,
CO_fifo_reset(&SDO_C->bufFifo);
SDO_C->SDOtimeoutTime_us = (uint32_t)SDOtimeoutTime_ms * 1000U;
SDO_C->timeoutTimer = 0;
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK) != 0
SDO_C->block_SDOtimeoutTime_us = (uint32_t)SDOtimeoutTime_ms * 700U;
#endif
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_LOCAL
#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 (((SDO_C->OD != NULL) && (SDO_C->nodeId != 0U))
@ -1137,7 +1137,7 @@ CO_SDO_return_t CO_SDOclientUploadInitiate(CO_SDOclient_t *SDO_C,
}
else
#endif
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK) != 0
if (blockEnable) {
SDO_C->state = CO_SDO_ST_UPLOAD_BLK_INITIATE_REQ;
}
@ -1174,7 +1174,7 @@ CO_SDO_return_t CO_SDOclientUpload(CO_SDOclient_t *SDO_C,
else if (SDO_C->state == CO_SDO_ST_IDLE) {
ret = CO_SDO_RT_ok_communicationEnd;
}
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_LOCAL
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_LOCAL)
/* Transfer data locally **************************************************/
else if ((SDO_C->state == CO_SDO_ST_UPLOAD_LOCAL_TRANSFER) && !abort) {
/* search object dictionary in first pass */
@ -1276,7 +1276,7 @@ CO_SDO_return_t CO_SDOclientUpload(CO_SDOclient_t *SDO_C,
) {
SDO_C->state = CO_SDO_ST_IDLE;
}
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_TIMERNEXT
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_TIMERNEXT) != 0
/* Inform OS to call this function again without delay. */
else if (timerNext_us != NULL) {
*timerNext_us = 0;
@ -1330,7 +1330,7 @@ CO_SDO_return_t CO_SDOclientUpload(CO_SDOclient_t *SDO_C,
ret = CO_SDO_RT_ok_communicationEnd;
}
else {
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_SEGMENTED
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_SEGMENTED) != 0
/* segmented transfer, is size indicated? */
if (SDO_C->CANrxData[0] & 0x01U) {
uint32_t size;
@ -1352,7 +1352,7 @@ CO_SDO_return_t CO_SDOclientUpload(CO_SDOclient_t *SDO_C,
break;
}
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_SEGMENTED
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_SEGMENTED) != 0
case CO_SDO_ST_UPLOAD_SEGMENT_RSP: {
if ((SDO_C->CANrxData[0] & 0xE0U) == 0x00U) {
size_t count, countWr;
@ -1414,7 +1414,7 @@ CO_SDO_return_t CO_SDOclientUpload(CO_SDOclient_t *SDO_C,
}
#endif /* (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_SEGMENTED */
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK) != 0
case CO_SDO_ST_UPLOAD_BLK_INITIATE_RSP: {
if ((SDO_C->CANrxData[0] & 0xF9U) == 0xC0U) {
uint16_t index;
@ -1570,7 +1570,7 @@ CO_SDO_return_t CO_SDOclientUpload(CO_SDOclient_t *SDO_C,
}
SDO_C->state = CO_SDO_ST_ABORT;
}
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_TIMERNEXT
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_TIMERNEXT) != 0
else if (timerNext_us != NULL) {
/* check again after timeout time elapsed */
uint32_t diff = SDO_C->SDOtimeoutTime_us - SDO_C->timeoutTimer;
@ -1580,7 +1580,7 @@ CO_SDO_return_t CO_SDOclientUpload(CO_SDOclient_t *SDO_C,
}
#endif
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK) != 0
/* Timeout for sub-block reception */
if (SDO_C->state == CO_SDO_ST_UPLOAD_BLK_SUBBLOCK_SREQ) {
if (SDO_C->block_timeoutTimer < SDO_C->block_SDOtimeoutTime_us) {
@ -1592,7 +1592,7 @@ CO_SDO_return_t CO_SDOclientUpload(CO_SDOclient_t *SDO_C,
SDO_C->state = CO_SDO_ST_UPLOAD_BLK_SUBBLOCK_CRSP;
CO_FLAG_CLEAR(SDO_C->CANrxNew);
}
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_TIMERNEXT
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_TIMERNEXT) != 0
else if (timerNext_us != NULL) {
/* check again after timeout time elapsed */
uint32_t diff = SDO_C->block_SDOtimeoutTime_us -
@ -1612,7 +1612,7 @@ CO_SDO_return_t CO_SDOclientUpload(CO_SDOclient_t *SDO_C,
/* Transmit CAN data ******************************************************/
if (ret == CO_SDO_RT_waitingResponse) {
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK) != 0
size_t count;
#endif
(void)memset((void *)&SDO_C->CANtxBuff->data[0], 0, 8);
@ -1631,7 +1631,7 @@ CO_SDO_return_t CO_SDOclientUpload(CO_SDOclient_t *SDO_C,
break;
}
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_SEGMENTED
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_SEGMENTED) != 0
case CO_SDO_ST_UPLOAD_SEGMENT_REQ: {
/* verify, if there is enough space in data buffer */
if (CO_fifo_getSpace(&SDO_C->bufFifo) < 7U) {
@ -1648,7 +1648,7 @@ CO_SDO_return_t CO_SDOclientUpload(CO_SDOclient_t *SDO_C,
}
#endif /* (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_SEGMENTED */
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK) != 0
case CO_SDO_ST_UPLOAD_BLK_INITIATE_REQ: {
SDO_C->CANtxBuff->data[0] = 0xA4;
SDO_C->CANtxBuff->data[1] = (uint8_t)SDO_C->index;
@ -1729,7 +1729,7 @@ CO_SDO_return_t CO_SDOclientUpload(CO_SDOclient_t *SDO_C,
CO_DEBUG_SDO_CLIENT(msg);
}
#endif
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_TIMERNEXT
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_TIMERNEXT) != 0
/* Inform OS to call this function again without delay. */
if (timerNext_us != NULL) {
*timerNext_us = 0;
@ -1792,7 +1792,7 @@ CO_SDO_return_t CO_SDOclientUpload(CO_SDOclient_t *SDO_C,
SDO_C->state = CO_SDO_ST_IDLE;
ret = CO_SDO_RT_endedWithClientAbort;
}
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK) != 0
else if (SDO_C->state == CO_SDO_ST_UPLOAD_BLK_SUBBLOCK_SREQ) {
ret = CO_SDO_RT_blockUploadInProgress;
}

16
301/CO_SDOclient.h
View file

@ -37,14 +37,14 @@
#define CO_CONFIG_SDO_CLI (0)
#endif
#ifndef CO_CONFIG_SDO_CLI_BUFFER_SIZE
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK) != 0
#define CO_CONFIG_SDO_CLI_BUFFER_SIZE 1000
#else
#define CO_CONFIG_SDO_CLI_BUFFER_SIZE 32
#endif
#endif
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_ENABLE) != 0) || defined CO_DOXYGEN
#ifdef __cplusplus
extern "C" {
@ -174,7 +174,7 @@ CO_SDO_abortCode_t write_SDO(CO_SDOclient_t *SDO_C, uint8_t nodeId,
* SDO client object
*/
typedef struct {
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_LOCAL) || defined CO_DOXYGEN
#if (((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_LOCAL) != 0) || defined CO_DOXYGEN
/** From CO_SDOclient_init() */
OD_t *OD;
/** From CO_SDOclient_init() */
@ -192,7 +192,7 @@ typedef struct {
uint16_t CANdevTxIdx;
/** CAN transmit buffer inside CANdevTx for CAN tx message */
CO_CANtx_t *CANtxBuff;
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_OD_DYNAMIC) || defined CO_DOXYGEN
#if (((CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_OD_DYNAMIC) != 0) || defined CO_DOXYGEN
/** Copy of CANopen COB_ID Client -> Server, meaning of the specific bits:
- Bit 0...10: 11-bit CAN identifier.
- Bit 11..30: reserved, must be 0.
@ -234,17 +234,17 @@ typedef struct {
volatile void *CANrxNew;
/** 8 data bytes of the received message */
uint8_t CANrxData[8];
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
#if (((CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/** From CO_SDOclient_initCallbackPre() or NULL */
void (*pFunctSignal)(void *object);
/** From CO_SDOclient_initCallbackPre() or NULL */
void *functSignalObject;
#endif
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_SEGMENTED) || defined CO_DOXYGEN
#if (((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_SEGMENTED) != 0) || defined CO_DOXYGEN
/** Toggle bit toggled in each segment in segmented transfer */
uint8_t toggle;
#endif
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK) || defined CO_DOXYGEN
#if (((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK) != 0) || defined CO_DOXYGEN
/** Timeout time for SDO sub-block upload, half of #SDOtimeoutTime_us */
uint32_t block_SDOtimeoutTime_us;
/** Timeout timer for SDO sub-block upload */
@ -297,7 +297,7 @@ CO_ReturnError_t CO_SDOclient_init(CO_SDOclient_t *SDO_C,
uint32_t *errInfo);
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
#if (((CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/**
* Initialize SDOclient callback function.
*

76
301/CO_SDOserver.c
View file

@ -29,16 +29,16 @@
#include "301/crc16-ccitt.h"
/* verify configuration */
#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED) != 0
#if CO_CONFIG_SDO_SRV_BUFFER_SIZE < 20
#error CO_CONFIG_SDO_SRV_BUFFER_SIZE must be greater or equal than 20.
#endif
#endif
#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK
#if !((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED)
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK) != 0
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED) == 0
#error CO_CONFIG_SDO_SRV_SEGMENTED must be enabled.
#endif
#if !((CO_CONFIG_CRC16) & CO_CONFIG_CRC16_ENABLE)
#if ((CO_CONFIG_CRC16) & CO_CONFIG_CRC16_ENABLE) == 0
#error CO_CONFIG_CRC16_ENABLE must be enabled.
#endif
#if CO_CONFIG_SDO_SRV_BUFFER_SIZE < 900
@ -67,7 +67,7 @@ static void CO_SDO_receive(void *object, void *msg) {
else if (CO_FLAG_READ(SDO->CANrxNew)) {
/* ignore message if previous message was not processed yet */
}
#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK) != 0
else if (SDO->state == CO_SDO_ST_UPLOAD_BLK_END_CRSP && data[0]==0xA1) {
/* SDO block download successfully transferred, just make idle */
SDO->state = CO_SDO_ST_IDLE;
@ -132,7 +132,7 @@ static void CO_SDO_receive(void *object, void *msg) {
* CO_FLAG_CLEAR() call. */
CO_FLAG_CLEAR(SDO->CANrxNew);
SDO->state = state;
#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_CALLBACK_PRE
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0
/* Optional signal to RTOS, which can resume task, which
* handles SDO server processing. */
if (SDO->pFunctSignalPre != NULL) {
@ -151,7 +151,7 @@ static void CO_SDO_receive(void *object, void *msg) {
* CO_SDOserver_process() */
(void)memcpy(SDO->CANrxData, data, DLC);
CO_FLAG_SET(SDO->CANrxNew);
#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_CALLBACK_PRE
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0
/* Optional signal to RTOS, which can resume task, which handles
* SDO server processing. */
if (SDO->pFunctSignalPre != NULL) {
@ -171,7 +171,7 @@ static CO_ReturnError_t CO_SDOserver_init_canRxTx(CO_SDOserver_t *SDO,
uint32_t COB_IDClientToServer,
uint32_t COB_IDServerToClient)
{
#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_OD_DYNAMIC
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_OD_DYNAMIC) != 0
/* proceed only, if parameters change */
if ((COB_IDClientToServer == SDO->COB_IDClientToServer)
&& (COB_IDServerToClient == SDO->COB_IDServerToClient)
@ -225,7 +225,7 @@ static CO_ReturnError_t CO_SDOserver_init_canRxTx(CO_SDOserver_t *SDO,
}
#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_OD_DYNAMIC
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_OD_DYNAMIC) != 0
/*
* Custom function for writing OD object _SDO server parameter_, additional
* channels
@ -332,15 +332,15 @@ CO_ReturnError_t CO_SDOserver_init(CO_SDOserver_t *SDO,
/* Configure object variables */
SDO->OD = OD;
SDO->nodeId = nodeId;
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED)
#if (((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED)) != 0
SDO->SDOtimeoutTime_us = (uint32_t)SDOtimeoutTime_ms * 1000U;
#endif
#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK) != 0
SDO->block_SDOtimeoutTime_us = (uint32_t)SDOtimeoutTime_ms * 700;
#endif
SDO->state = CO_SDO_ST_IDLE;
#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_CALLBACK_PRE
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0
SDO->pFunctSignalPre = NULL;
SDO->functSignalObjectPre = NULL;
#endif
@ -399,7 +399,7 @@ CO_ReturnError_t CO_SDOserver_init(CO_SDOserver_t *SDO,
CanId_ServerToClient = ((COB_IDServerToClient32 & 0x80000000U) == 0U)
? (uint16_t)(COB_IDServerToClient32 & 0x7FFU) : 0U;
#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_OD_DYNAMIC
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_OD_DYNAMIC) != 0
SDO->OD_1200_extension.object = SDO;
SDO->OD_1200_extension.read = OD_readOriginal;
SDO->OD_1200_extension.write = OD_write_1201_additional;
@ -418,7 +418,7 @@ CO_ReturnError_t CO_SDOserver_init(CO_SDOserver_t *SDO,
CO_FLAG_CLEAR(SDO->CANrxNew);
/* store the parameters and configure CANrx and CANtx */
#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_OD_DYNAMIC
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_OD_DYNAMIC) != 0
SDO->CANdevRx = CANdevRx;
SDO->CANdevRxIdx = CANdevRxIdx;
SDO->CANdevTxIdx = CANdevTxIdx;
@ -437,7 +437,7 @@ CO_ReturnError_t CO_SDOserver_init(CO_SDOserver_t *SDO,
}
#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_CALLBACK_PRE
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0
/******************************************************************************/
void CO_SDOserver_initCallbackPre(CO_SDOserver_t *SDO,
void *object,
@ -464,7 +464,7 @@ static inline void reverseBytes(void *start, OD_size_t size) {
#endif
#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED
#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.
@ -539,7 +539,7 @@ static bool_t validateAndWriteToOD(CO_SDOserver_t *SDO,
}
}
#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK) != 0
/* calculate crc on current data */
if (SDO->block_crcEnabled && crcOperation > 0) {
SDO->block_crc = crc16_ccitt(SDO->buf, bufOffsetWrOrig, SDO->block_crc);
@ -671,7 +671,7 @@ static bool_t readFromOd(CO_SDOserver_t *SDO,
}
#endif
#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK) != 0
/* update the crc */
if (calculateCrc && SDO->block_crcEnabled) {
SDO->block_crc = crc16_ccitt(bufShifted, countRd, SDO->block_crc);
@ -724,7 +724,7 @@ CO_SDO_return_t CO_SDOserver_process(CO_SDOserver_t *SDO,
upload = true;
SDO->state = CO_SDO_ST_UPLOAD_INITIATE_REQ;
}
#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK) != 0
else if ((SDO->CANrxData[0] & 0xF9) == 0xC0) {
SDO->state = CO_SDO_ST_DOWNLOAD_BLK_INITIATE_REQ;
}
@ -772,7 +772,7 @@ CO_SDO_return_t CO_SDOserver_process(CO_SDOserver_t *SDO,
}
}
#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED) != 0
/* load data from object dictionary, if upload and no error */
if (upload && (abortCode == CO_SDO_AB_NONE)) {
SDO->bufOffsetRd = SDO->bufOffsetWr = 0;
@ -872,13 +872,13 @@ CO_SDO_return_t CO_SDOserver_process(CO_SDOserver_t *SDO,
}
else {
SDO->state = CO_SDO_ST_DOWNLOAD_INITIATE_RSP;
#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED) != 0
SDO->finished = true;
#endif
}
}
else {
#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED) != 0
/* segmented transfer, is size indicated? */
if (SDO->CANrxData[0] & 0x01U) {
uint32_t size;
@ -918,7 +918,7 @@ CO_SDO_return_t CO_SDOserver_process(CO_SDOserver_t *SDO,
break;
}
#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED) != 0
case CO_SDO_ST_DOWNLOAD_SEGMENT_REQ: {
if ((SDO->CANrxData[0] & 0xE0U) == 0x00U) {
SDO->finished = (SDO->CANrxData[0] & 0x01U) != 0U;
@ -970,7 +970,7 @@ CO_SDO_return_t CO_SDOserver_process(CO_SDOserver_t *SDO,
break;
}
#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED) != 0
case CO_SDO_ST_UPLOAD_SEGMENT_REQ: {
if ((SDO->CANrxData[0] & 0xEFU) == 0x60U) {
/* verify and alternate toggle bit */
@ -990,7 +990,7 @@ CO_SDO_return_t CO_SDOserver_process(CO_SDOserver_t *SDO,
}
#endif /* (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED */
#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK) != 0
case CO_SDO_ST_DOWNLOAD_BLK_INITIATE_REQ: {
SDO->block_crcEnabled = (SDO->CANrxData[0] & 0x04) != 0;
@ -1168,7 +1168,7 @@ CO_SDO_return_t CO_SDOserver_process(CO_SDOserver_t *SDO,
}
} /* switch (SDO->state) */
} /* if (SDO->state != CO_SDO_ST_IDLE && SDO->state != CO_SDO_ST_ABORT) */
#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED) != 0
SDO->timeoutTimer = 0;
#endif
timeDifference_us = 0;
@ -1177,7 +1177,7 @@ CO_SDO_return_t CO_SDOserver_process(CO_SDOserver_t *SDO,
else { /* MISRA C 2004 14.10 */ }
/* Timeout timers and transmit bufferFull flag ****************************/
#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED) != 0
if (ret == CO_SDO_RT_waitingResponse) {
if (SDO->timeoutTimer < SDO->SDOtimeoutTime_us) {
SDO->timeoutTimer += timeDifference_us;
@ -1186,7 +1186,7 @@ CO_SDO_return_t CO_SDOserver_process(CO_SDOserver_t *SDO,
abortCode = CO_SDO_AB_TIMEOUT;
SDO->state = CO_SDO_ST_ABORT;
}
#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_TIMERNEXT
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_TIMERNEXT) != 0
else if (timerNext_us != NULL) {
/* check again after timeout time elapsed */
uint32_t diff = SDO->SDOtimeoutTime_us - SDO->timeoutTimer;
@ -1196,7 +1196,7 @@ CO_SDO_return_t CO_SDOserver_process(CO_SDOserver_t *SDO,
}
#endif
#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK) != 0
/* Timeout for sub-block transmission */
if (SDO->state == CO_SDO_ST_DOWNLOAD_BLK_SUBBLOCK_REQ) {
if (SDO->block_timeoutTimer < SDO->block_SDOtimeoutTime_us) {
@ -1208,7 +1208,7 @@ CO_SDO_return_t CO_SDOserver_process(CO_SDOserver_t *SDO,
SDO->state = CO_SDO_ST_DOWNLOAD_BLK_SUBBLOCK_RSP;
CO_FLAG_CLEAR(SDO->CANrxNew);
}
#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_TIMERNEXT
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_TIMERNEXT) != 0
else if (timerNext_us != NULL) {
/* check again after timeout time elapsed */
uint32_t diff = SDO->block_SDOtimeoutTime_us -
@ -1240,11 +1240,11 @@ CO_SDO_return_t CO_SDOserver_process(CO_SDOserver_t *SDO,
SDO->CANtxBuff->data[3] = SDO->subIndex;
/* reset timeout timer and send message */
#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED) != 0
SDO->timeoutTimer = 0;
#endif
CO_CANsend(SDO->CANdevTx, SDO->CANtxBuff);
#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED) != 0
if (SDO->finished) {
SDO->state = CO_SDO_ST_IDLE;
ret = CO_SDO_RT_ok_communicationEnd;
@ -1263,7 +1263,7 @@ CO_SDO_return_t CO_SDOserver_process(CO_SDOserver_t *SDO,
break;
}
#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED) != 0
case CO_SDO_ST_DOWNLOAD_SEGMENT_RSP: {
SDO->CANtxBuff->data[0] = 0x20U | SDO->toggle;
SDO->toggle = (SDO->toggle == 0x00U) ? 0x10U : 0x00U;
@ -1283,7 +1283,7 @@ CO_SDO_return_t CO_SDOserver_process(CO_SDOserver_t *SDO,
#endif
case CO_SDO_ST_UPLOAD_INITIATE_RSP: {
#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED) != 0
/* data were already loaded from OD variable */
if ((SDO->sizeInd > 0U) && (SDO->sizeInd <= 4U)) {
/* expedited transfer */
@ -1351,7 +1351,7 @@ CO_SDO_return_t CO_SDOserver_process(CO_SDOserver_t *SDO,
break;
}
#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED) != 0
case CO_SDO_ST_UPLOAD_SEGMENT_RSP: {
/* refill the data buffer if necessary */
if (!readFromOd(SDO, &abortCode, 7, false)) {
@ -1406,7 +1406,7 @@ CO_SDO_return_t CO_SDOserver_process(CO_SDOserver_t *SDO,
}
#endif /* (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED */
#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK) != 0
case CO_SDO_ST_DOWNLOAD_BLK_INITIATE_RSP: {
SDO->CANtxBuff->data[0] = 0xA4;
SDO->CANtxBuff->data[1] = (uint8_t)SDO->index;
@ -1564,7 +1564,7 @@ CO_SDO_return_t CO_SDOserver_process(CO_SDOserver_t *SDO,
) {
SDO->state = CO_SDO_ST_UPLOAD_BLK_SUBBLOCK_CRSP;
}
#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_TIMERNEXT
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_TIMERNEXT) != 0
else {
/* Inform OS to call this function again without delay. */
if (timerNext_us != NULL) {
@ -1611,7 +1611,7 @@ CO_SDO_return_t CO_SDOserver_process(CO_SDOserver_t *SDO,
SDO->state = CO_SDO_ST_IDLE;
ret = CO_SDO_RT_endedWithServerAbort;
}
#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK) != 0
else if (SDO->state == CO_SDO_ST_DOWNLOAD_BLK_SUBBLOCK_REQ) {
ret = CO_SDO_RT_blockDownldInProgress;
}

10
301/CO_SDOserver.h
View file

@ -463,7 +463,7 @@ typedef struct {
volatile void *CANrxNew;
/** 8 data bytes of the received message */
uint8_t CANrxData[8];
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_OD_DYNAMIC) || defined CO_DOXYGEN
#if (((CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_OD_DYNAMIC) != 0) || defined CO_DOXYGEN
/** From CO_SDOserver_init() */
CO_CANmodule_t *CANdevRx;
/** From CO_SDOserver_init() */
@ -480,7 +480,7 @@ typedef struct {
/** Extension for OD object */
OD_extension_t OD_1200_extension;
#endif
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED) || defined CO_DOXYGEN
#if (((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED) != 0) || defined CO_DOXYGEN
/** Size of data, which will be transferred. It is optionally indicated by
* client in case of download or by server in case of upload. */
OD_size_t sizeInd;
@ -502,7 +502,7 @@ typedef struct {
/** Offset of first data available for read in the buffer */
OD_size_t bufOffsetRd;
#endif
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK) || defined CO_DOXYGEN
#if (((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK) != 0) || defined CO_DOXYGEN
/** Timeout time for SDO sub-block download, half of #SDOtimeoutTime_us */
uint32_t block_SDOtimeoutTime_us;
/** Timeout timer for SDO sub-block download */
@ -518,7 +518,7 @@ typedef struct {
/** Calculated CRC checksum */
uint16_t block_crc;
#endif
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
#if (((CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/** From CO_SDOserver_initCallbackPre() or NULL */
void (*pFunctSignalPre)(void *object);
/** From CO_SDOserver_initCallbackPre() or NULL */
@ -561,7 +561,7 @@ CO_ReturnError_t CO_SDOserver_init(CO_SDOserver_t *SDO,
uint32_t *errInfo);
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
#if (((CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/**
* Initialize SDOrx callback function.
*

42
301/CO_SYNC.c
View file

@ -25,7 +25,7 @@
#include "301/CO_SYNC.h"
#if (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE
#if ((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE) != 0
/*
* Read received message from CAN module.
@ -64,7 +64,7 @@ static void CO_SYNC_receive(void *object, void *msg) {
CO_FLAG_SET(SYNC->CANrxNew);
#if (CO_CONFIG_SYNC) & CO_CONFIG_FLAG_CALLBACK_PRE
#if ((CO_CONFIG_SYNC) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0
/* Optional signal to RTOS, which can resume task, which handles SYNC.*/
if (SYNC->pFunctSignalPre != NULL) {
SYNC->pFunctSignalPre(SYNC->functSignalObjectPre);
@ -74,7 +74,7 @@ static void CO_SYNC_receive(void *object, void *msg) {
}
#if (CO_CONFIG_SYNC) & CO_CONFIG_FLAG_OD_DYNAMIC
#if ((CO_CONFIG_SYNC) & CO_CONFIG_FLAG_OD_DYNAMIC) != 0
/*
* Custom function for writing OD object "COB-ID sync message"
*
@ -94,7 +94,7 @@ static ODR_t OD_write_1005(OD_stream_t *stream, const void *buf,
uint16_t CAN_ID = (uint16_t)(cobIdSync & 0x7FFU);
/* verify written value */
#if (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER
#if ((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER) != 0
bool_t isProducer = (cobIdSync & 0x40000000) != 0;
if ((cobIdSync & 0xBFFFF800) != 0 || CO_IS_RESTRICTED_CAN_ID(CAN_ID)
|| (SYNC->isProducer && isProducer && CAN_ID != SYNC->CAN_ID)
@ -122,7 +122,7 @@ static ODR_t OD_write_1005(OD_stream_t *stream, const void *buf,
return ODR_DEV_INCOMPAT;
}
#if (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER
#if ((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER) != 0
SYNC->CANtxBuff = CO_CANtxBufferInit(
SYNC->CANdevTx, /* CAN device */
SYNC->CANdevTxIdx, /* index of specific buffer inside CAN module */
@ -140,7 +140,7 @@ static ODR_t OD_write_1005(OD_stream_t *stream, const void *buf,
SYNC->CAN_ID = CAN_ID;
}
#if (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER
#if ((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER) != 0
SYNC->isProducer = isProducer;
if (isProducer) {
SYNC->counter = 0;
@ -152,7 +152,7 @@ static ODR_t OD_write_1005(OD_stream_t *stream, const void *buf,
return OD_writeOriginal(stream, buf, count, countWritten);
}
#if (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER
#if ((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER) != 0
/*
* Custom function for writing OD object "Synchronous counter overflow value"
*
@ -210,7 +210,7 @@ CO_ReturnError_t CO_SYNC_init(CO_SYNC_t *SYNC,
OD_entry_t *OD_1019_syncCounterOvf,
CO_CANmodule_t *CANdevRx,
uint16_t CANdevRxIdx,
#if (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER
#if ((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER) != 0
CO_CANmodule_t *CANdevTx,
uint16_t CANdevTxIdx,
#endif
@ -220,7 +220,7 @@ CO_ReturnError_t CO_SYNC_init(CO_SYNC_t *SYNC,
/* verify arguments */
if ((SYNC == NULL) || (em == NULL) || (OD_1005_cobIdSync == NULL)
#if (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER
#if ((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER) != 0
|| (OD_1006_commCyclePeriod == NULL) || (CANdevTx == NULL)
#endif
|| (CANdevRx == NULL)
@ -239,7 +239,7 @@ CO_ReturnError_t CO_SYNC_init(CO_SYNC_t *SYNC,
if (errInfo != NULL) { *errInfo = OD_getIndex(OD_1005_cobIdSync); }
return CO_ERROR_OD_PARAMETERS;
}
#if (CO_CONFIG_SYNC) & CO_CONFIG_FLAG_OD_DYNAMIC
#if ((CO_CONFIG_SYNC) & CO_CONFIG_FLAG_OD_DYNAMIC) != 0
SYNC->OD_1005_extension.object = SYNC;
SYNC->OD_1005_extension.read = OD_readOriginal;
SYNC->OD_1005_extension.write = OD_write_1005;
@ -249,7 +249,7 @@ CO_ReturnError_t CO_SYNC_init(CO_SYNC_t *SYNC,
/* get and verify "Communication cycle period" from OD */
SYNC->OD_1006_period = OD_getPtr(OD_1006_commCyclePeriod, 0,
sizeof(uint32_t), NULL);
#if (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER
#if ((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER) != 0
if (SYNC->OD_1006_period == NULL) {
if (errInfo != NULL) {
*errInfo = OD_getIndex(OD_1006_commCyclePeriod);
@ -291,8 +291,8 @@ CO_ReturnError_t CO_SYNC_init(CO_SYNC_t *SYNC,
else if (syncCounterOvf > 240U) { syncCounterOvf = 240; }
else { /* MISRA C 2004 14.10 */ }
#if (CO_CONFIG_SYNC) & CO_CONFIG_FLAG_OD_DYNAMIC
#if (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER
#if ((CO_CONFIG_SYNC) & CO_CONFIG_FLAG_OD_DYNAMIC) != 0
#if ((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER) != 0
SYNC->OD_1019_extension.object = SYNC;
SYNC->OD_1019_extension.read = OD_readOriginal;
SYNC->OD_1019_extension.write = OD_write_1019;
@ -304,14 +304,14 @@ CO_ReturnError_t CO_SYNC_init(CO_SYNC_t *SYNC,
/* Configure object variables */
SYNC->em = em;
#if (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER
#if ((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER) != 0
SYNC->isProducer = (cobIdSync & 0x40000000U) != 0U;
#endif
#if (CO_CONFIG_SYNC) & CO_CONFIG_FLAG_OD_DYNAMIC
#if ((CO_CONFIG_SYNC) & CO_CONFIG_FLAG_OD_DYNAMIC) != 0
SYNC->CAN_ID = cobIdSync & 0x7FFU;
SYNC->CANdevRx = CANdevRx;
SYNC->CANdevRxIdx = CANdevRxIdx;
#if (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER
#if ((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER) != 0
SYNC->CANdevTx = CANdevTx;
SYNC->CANdevTxIdx = CANdevTxIdx;
#endif
@ -330,7 +330,7 @@ CO_ReturnError_t CO_SYNC_init(CO_SYNC_t *SYNC,
return ret;
}
#if (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER
#if ((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER) != 0
SYNC->CANtxBuff = CO_CANtxBufferInit(
CANdevTx, /* CAN device */
CANdevTxIdx, /* index of specific buffer inside CAN module */
@ -348,7 +348,7 @@ CO_ReturnError_t CO_SYNC_init(CO_SYNC_t *SYNC,
}
#if (CO_CONFIG_SYNC) & CO_CONFIG_FLAG_CALLBACK_PRE
#if ((CO_CONFIG_SYNC) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0
/******************************************************************************/
void CO_SYNC_initCallbackPre(
CO_SYNC_t *SYNC,
@ -389,13 +389,13 @@ CO_SYNC_status_t CO_SYNC_process(CO_SYNC_t *SYNC,
? *SYNC->OD_1006_period : 0U;
if (OD_1006_period > 0U) {
#if (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER
#if ((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER) != 0
if (SYNC->isProducer) {
if (SYNC->timer >= OD_1006_period) {
syncStatus = CO_SYNC_RX_TX;
CO_SYNCsend(SYNC);
}
#if (CO_CONFIG_SYNC) & CO_CONFIG_FLAG_TIMERNEXT
#if ((CO_CONFIG_SYNC) & CO_CONFIG_FLAG_TIMERNEXT) != 0
/* Calculate when next SYNC needs to be sent */
if (timerNext_us != NULL) {
uint32_t diff = OD_1006_period - SYNC->timer;
@ -421,7 +421,7 @@ CO_SYNC_status_t CO_SYNC_process(CO_SYNC_t *SYNC,
CO_EMC_COMMUNICATION, SYNC->timer);
SYNC->timeoutError = 2;
}
#if (CO_CONFIG_SYNC) & CO_CONFIG_FLAG_TIMERNEXT
#if ((CO_CONFIG_SYNC) & CO_CONFIG_FLAG_TIMERNEXT) != 0
else if (timerNext_us != NULL) {
uint32_t diff = periodTimeout - SYNC->timer;
if (*timerNext_us > diff) {

14
301/CO_SYNC.h
View file

@ -40,7 +40,7 @@
CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
#endif
#if ((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE) != 0) || defined CO_DOXYGEN
#ifdef __cplusplus
extern "C" {
@ -106,7 +106,7 @@ typedef struct {
/** Pointer to variable in OD, "Synchronous window length" in microseconds*/
uint32_t *OD_1007_window;
#if ((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER) || defined CO_DOXYGEN
#if (((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER) != 0) || defined CO_DOXYGEN
/** True, if device is SYNC producer. Calculated from _COB ID SYNC Message_
variable from Object dictionary (index 0x1005). */
bool_t isProducer;
@ -124,7 +124,7 @@ typedef struct {
/** CAN ID of the SYNC message. Calculated from _COB ID SYNC Message_
variable from Object dictionary (index 0x1005). */
uint16_t CAN_ID;
#if ((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER) || defined CO_DOXYGEN
#if (((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER) != 0) || defined CO_DOXYGEN
/** From CO_SYNC_init() */
CO_CANmodule_t *CANdevTx;
/** From CO_SYNC_init() */
@ -134,7 +134,7 @@ typedef struct {
#endif
#endif
#if ((CO_CONFIG_SYNC) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
#if (((CO_CONFIG_SYNC) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/** From CO_SYNC_initCallbackPre() or NULL */
void (*pFunctSignalPre)(void *object);
/** From CO_SYNC_initCallbackPre() or NULL */
@ -185,14 +185,14 @@ CO_ReturnError_t CO_SYNC_init(CO_SYNC_t *SYNC,
OD_entry_t *OD_1019_syncCounterOvf,
CO_CANmodule_t *CANdevRx,
uint16_t CANdevRxIdx,
#if ((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER) || defined CO_DOXYGEN
#if (((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER) != 0) || defined CO_DOXYGEN
CO_CANmodule_t *CANdevTx,
uint16_t CANdevTxIdx,
#endif
uint32_t *errInfo);
#if ((CO_CONFIG_SYNC) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
#if (((CO_CONFIG_SYNC) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/**
* Initialize SYNC callback function.
*
@ -210,7 +210,7 @@ void CO_SYNC_initCallbackPre(CO_SYNC_t *SYNC,
#endif
#if ((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER) || defined CO_DOXYGEN
#if (((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER) != 0) || defined CO_DOXYGEN
/**
* Send SYNC message.
*

18
301/CO_TIME.c
View file

@ -27,7 +27,7 @@
#include "301/CO_TIME.h"
#if (CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE
#if ((CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE) != 0
/*
* Read received message from CAN module.
@ -45,7 +45,7 @@ static void CO_TIME_receive(void *object, void *msg) {
(void)memcpy(TIME->timeStamp, data, sizeof(TIME->timeStamp));
CO_FLAG_SET(TIME->CANrxNew);
#if (CO_CONFIG_TIME) & CO_CONFIG_FLAG_CALLBACK_PRE
#if ((CO_CONFIG_TIME) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0
/* Optional signal to RTOS, which can resume task, which handles TIME.*/
if (TIME->pFunctSignalPre != NULL) {
TIME->pFunctSignalPre(TIME->functSignalObjectPre);
@ -55,7 +55,7 @@ static void CO_TIME_receive(void *object, void *msg) {
}
#if (CO_CONFIG_TIME) & CO_CONFIG_FLAG_OD_DYNAMIC
#if ((CO_CONFIG_TIME) & CO_CONFIG_FLAG_OD_DYNAMIC) != 0
/*
* Custom function for writing OD object "COB-ID time stamp"
*
@ -93,7 +93,7 @@ CO_ReturnError_t CO_TIME_init(CO_TIME_t *TIME,
OD_entry_t *OD_1012_cobIdTimeStamp,
CO_CANmodule_t *CANdevRx,
uint16_t CANdevRxIdx,
#if (CO_CONFIG_TIME) & CO_CONFIG_TIME_PRODUCER
#if ((CO_CONFIG_TIME) & CO_CONFIG_TIME_PRODUCER) != 0
CO_CANmodule_t *CANdevTx,
uint16_t CANdevTxIdx,
#endif
@ -101,7 +101,7 @@ CO_ReturnError_t CO_TIME_init(CO_TIME_t *TIME,
{
/* verify arguments */
if ((TIME == NULL) || (OD_1012_cobIdTimeStamp == NULL) || (CANdevRx == NULL)
#if (CO_CONFIG_TIME) & CO_CONFIG_TIME_PRODUCER
#if ((CO_CONFIG_TIME) & CO_CONFIG_TIME_PRODUCER) != 0
|| CANdevTx == NULL
#endif
) {
@ -117,7 +117,7 @@ CO_ReturnError_t CO_TIME_init(CO_TIME_t *TIME,
if (errInfo != NULL) { *errInfo = OD_getIndex(OD_1012_cobIdTimeStamp); }
return CO_ERROR_OD_PARAMETERS;
}
#if (CO_CONFIG_TIME) & CO_CONFIG_FLAG_OD_DYNAMIC
#if ((CO_CONFIG_TIME) & CO_CONFIG_FLAG_OD_DYNAMIC) != 0
TIME->OD_1012_extension.object = TIME;
TIME->OD_1012_extension.read = OD_readOriginal;
TIME->OD_1012_extension.write = OD_write_1012;
@ -145,7 +145,7 @@ CO_ReturnError_t CO_TIME_init(CO_TIME_t *TIME,
}
}
#if (CO_CONFIG_TIME) & CO_CONFIG_TIME_PRODUCER
#if ((CO_CONFIG_TIME) & CO_CONFIG_TIME_PRODUCER) != 0
/* configure TIME producer message transmission */
TIME->CANdevTx = CANdevTx;
TIME->CANtxBuff = CO_CANtxBufferInit(
@ -165,7 +165,7 @@ CO_ReturnError_t CO_TIME_init(CO_TIME_t *TIME,
}
#if (CO_CONFIG_TIME) & CO_CONFIG_FLAG_CALLBACK_PRE
#if ((CO_CONFIG_TIME) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0
void CO_TIME_initCallbackPre(CO_TIME_t *TIME,
void *object,
void (*pFunctSignalPre)(void *object))
@ -214,7 +214,7 @@ bool_t CO_TIME_process(CO_TIME_t *TIME,
}
}
#if (CO_CONFIG_TIME) & CO_CONFIG_TIME_PRODUCER
#if ((CO_CONFIG_TIME) & CO_CONFIG_TIME_PRODUCER) != 0
if (NMTisPreOrOperational && TIME->isProducer
&& TIME->producerInterval_ms > 0
) {

14
301/CO_TIME.h
View file

@ -38,7 +38,7 @@
CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
#endif
#if ((CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE) != 0) || defined CO_DOXYGEN
#ifdef __cplusplus
extern "C" {
@ -95,7 +95,7 @@ typedef struct {
bool_t isProducer;
/** Variable indicates, if new TIME message received from CAN bus */
volatile void *CANrxNew;
#if ((CO_CONFIG_TIME) & CO_CONFIG_TIME_PRODUCER) || defined CO_DOXYGEN
#if (((CO_CONFIG_TIME) & CO_CONFIG_TIME_PRODUCER) != 0) || defined CO_DOXYGEN
/** Interval for time producer in milli seconds */
uint32_t producerInterval_ms;
/** Sync producer timer */
@ -105,13 +105,13 @@ typedef struct {
/** CAN transmit buffer */
CO_CANtx_t *CANtxBuff;
#endif
#if ((CO_CONFIG_TIME) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
#if (((CO_CONFIG_TIME) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/** From CO_TIME_initCallbackPre() or NULL */
void (*pFunctSignalPre)(void *object);
/** From CO_TIME_initCallbackPre() or NULL */
void *functSignalObjectPre;
#endif
#if ((CO_CONFIG_TIME) & CO_CONFIG_FLAG_OD_DYNAMIC) || defined CO_DOXYGEN
#if (((CO_CONFIG_TIME) & CO_CONFIG_FLAG_OD_DYNAMIC) != 0) || defined CO_DOXYGEN
/** Extension for OD object */
OD_extension_t OD_1012_extension;
#endif
@ -138,14 +138,14 @@ CO_ReturnError_t CO_TIME_init(CO_TIME_t *TIME,
OD_entry_t *OD_1012_cobIdTimeStamp,
CO_CANmodule_t *CANdevRx,
uint16_t CANdevRxIdx,
#if ((CO_CONFIG_TIME) & CO_CONFIG_TIME_PRODUCER) || defined CO_DOXYGEN
#if (((CO_CONFIG_TIME) & CO_CONFIG_TIME_PRODUCER) != 0) || defined CO_DOXYGEN
CO_CANmodule_t *CANdevTx,
uint16_t CANdevTxIdx,
#endif
uint32_t *errInfo);
#if ((CO_CONFIG_TIME) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
#if (((CO_CONFIG_TIME) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/**
* Initialize TIME callback function.
*
@ -182,7 +182,7 @@ static inline void CO_TIME_set(CO_TIME_t *TIME,
TIME->residual_us = 0;
TIME->ms = ms;
TIME->days = days;
#if ((CO_CONFIG_TIME) & CO_CONFIG_TIME_PRODUCER)
#if ((CO_CONFIG_TIME) & CO_CONFIG_TIME_PRODUCER) != 0
TIME->producerTimer_ms = TIME->producerInterval_ms =producerInterval_ms;
#endif
}

20
301/CO_fifo.c
View file

@ -25,14 +25,14 @@
#include "301/CO_fifo.h"
#if (CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ENABLE
#if ((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ENABLE) != 0
#include <string.h>
#include <ctype.h>
#include <stdlib.h>
#include "crc16-ccitt.h"
#if (CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ASCII_COMMANDS
#if ((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ASCII_COMMANDS) != 0
#include <stdio.h>
#include <inttypes.h>
@ -45,8 +45,8 @@
#endif /* (CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ASCII_COMMANDS */
/* verify configuration */
#if (CO_CONFIG_FIFO) & CO_CONFIG_FIFO_CRC16_CCITT
#if !((CO_CONFIG_CRC16) & CO_CONFIG_CRC16_ENABLE)
#if ((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_CRC16_CCITT) != 0
#if ((CO_CONFIG_CRC16) & CO_CONFIG_CRC16_ENABLE) == 0
#error CO_CONFIG_CRC16_ENABLE must be enabled.
#endif
#endif
@ -104,7 +104,7 @@ size_t CO_fifo_write(CO_fifo_t *fifo,
*bufDest = *buf;
#if (CO_CONFIG_FIFO) & CO_CONFIG_FIFO_CRC16_CCITT
#if ((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_CRC16_CCITT) != 0
if (crc != NULL) {
crc16_ccitt_single(crc, *buf);
}
@ -159,7 +159,7 @@ size_t CO_fifo_read(CO_fifo_t *fifo, uint8_t *buf, size_t count, bool_t *eof) {
}
i--;
#if (CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ASCII_COMMANDS
#if ((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ASCII_COMMANDS) != 0
/* is delimiter? */
if ((eof != NULL) && (c == DELIM_COMMAND)) {
*eof = true;
@ -172,7 +172,7 @@ size_t CO_fifo_read(CO_fifo_t *fifo, uint8_t *buf, size_t count, bool_t *eof) {
}
#if (CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ALT_READ
#if ((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ALT_READ) != 0
/******************************************************************************/
size_t CO_fifo_altBegin(CO_fifo_t *fifo, size_t offset) {
size_t i;
@ -209,7 +209,7 @@ void CO_fifo_altFinish(CO_fifo_t *fifo, uint16_t *crc) {
else {
const uint8_t *bufSrc = &fifo->buf[fifo->readPtr];
while (fifo->readPtr != fifo->altReadPtr) {
#if (CO_CONFIG_FIFO) & CO_CONFIG_FIFO_CRC16_CCITT
#if ((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_CRC16_CCITT) != 0
crc16_ccitt_single(crc, *bufSrc);
#endif
/* increment variable */
@ -254,7 +254,7 @@ size_t CO_fifo_altRead(CO_fifo_t *fifo, uint8_t *buf, size_t count) {
#endif /* (CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ALT_READ */
#if (CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ASCII_COMMANDS
#if ((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ASCII_COMMANDS) != 0
/******************************************************************************/
bool_t CO_fifo_CommSearch(CO_fifo_t *fifo, bool_t clear) {
bool_t newCommand = false;
@ -465,7 +465,7 @@ size_t CO_fifo_readToken(CO_fifo_t *fifo,
#endif /* (CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ASCII_COMMANDS */
#if (CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ASCII_DATATYPES
#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

14
301/CO_fifo.h
View file

@ -33,7 +33,7 @@
#define CO_CONFIG_FIFO (0)
#endif
#if ((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ENABLE) != 0) || defined CO_DOXYGEN
#ifdef __cplusplus
extern "C" {
@ -68,11 +68,11 @@ typedef struct {
size_t writePtr;
/** Location in the buffer, which will be next read. */
size_t readPtr;
#if ((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ALT_READ) || defined CO_DOXYGEN
#if (((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ALT_READ) != 0) || defined CO_DOXYGEN
/** Location in the buffer, which will be next read. */
size_t altReadPtr;
#endif
#if ((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ASCII_DATATYPES) || defined CO_DOXYGEN
#if (((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ASCII_DATATYPES) != 0) || defined CO_DOXYGEN
/** helper variable, set to false in CO_fifo_reset(), used in some
* functions. */
bool_t started;
@ -103,7 +103,7 @@ static inline void CO_fifo_reset(CO_fifo_t *fifo) {
if (fifo != NULL) {
fifo->readPtr = 0;
fifo->writePtr = 0;
#if (CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ASCII_DATATYPES
#if ((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ASCII_DATATYPES) != 0
fifo->started = false;
#endif
}
@ -267,7 +267,7 @@ size_t CO_fifo_write(CO_fifo_t *fifo,
size_t CO_fifo_read(CO_fifo_t *fifo, uint8_t *buf, size_t count, bool_t *eof);
#if ((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ALT_READ) || defined CO_DOXYGEN
#if (((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ALT_READ) != 0) || defined CO_DOXYGEN
/**
* Initializes alternate read with #CO_fifo_altRead
*
@ -326,7 +326,7 @@ size_t CO_fifo_altRead(CO_fifo_t *fifo, uint8_t *buf, size_t count);
#endif /* #if (CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ALT_READ */
#if ((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ASCII_COMMANDS) || defined CO_DOXYGEN
#if (((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ASCII_COMMANDS) != 0) || defined CO_DOXYGEN
/**
* Search command inside FIFO
*
@ -416,7 +416,7 @@ size_t CO_fifo_readToken(CO_fifo_t *fifo,
#endif /* (CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ASCII_COMMANDS */
#if ((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ASCII_DATATYPES) || defined CO_DOXYGEN
#if (((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ASCII_DATATYPES) != 0) || defined CO_DOXYGEN
/**
* Read uint8_t variable from fifo and output as ascii string.
*

4
301/crc16-ccitt.c
View file

@ -25,8 +25,8 @@
#include "301/crc16-ccitt.h"
#if (CO_CONFIG_CRC16) & CO_CONFIG_CRC16_ENABLE
#if !((CO_CONFIG_CRC16) & CO_CONFIG_CRC16_EXTERNAL)
#if ((CO_CONFIG_CRC16) & CO_CONFIG_CRC16_ENABLE) != 0
#if ((CO_CONFIG_CRC16) & CO_CONFIG_CRC16_EXTERNAL) == 0
/*
* CRC table calculated by the following algorithm:

2
301/crc16-ccitt.h
View file

@ -34,7 +34,7 @@
#define CO_CONFIG_CRC16 (0)
#endif
#if ((CO_CONFIG_CRC16) & CO_CONFIG_CRC16_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_CRC16) & CO_CONFIG_CRC16_ENABLE) != 0) || defined CO_DOXYGEN
#ifdef __cplusplus
extern "C" {

4
303/CO_LEDs.c
View file

@ -25,7 +25,7 @@
#include "303/CO_LEDs.h"
#if (CO_CONFIG_LEDS) & CO_CONFIG_LEDS_ENABLE
#if ((CO_CONFIG_LEDS) & CO_CONFIG_LEDS_ENABLE) != 0
/******************************************************************************/
CO_ReturnError_t CO_LEDs_init(CO_LEDs_t *LEDs) {
@ -142,7 +142,7 @@ void CO_LEDs_process(CO_LEDs_t *LEDs,
LEDs->LEDgreen = gr;
} /* if (tick) */
#if (CO_CONFIG_LEDS) & CO_CONFIG_FLAG_TIMERNEXT
#if ((CO_CONFIG_LEDS) & CO_CONFIG_FLAG_TIMERNEXT) != 0
if (timerNext_us != NULL) {
uint32_t diff = 50000 - LEDs->LEDtmr50ms;
if (*timerNext_us > diff) {

2
303/CO_LEDs.h
View file

@ -35,7 +35,7 @@
CO_CONFIG_GLOBAL_FLAG_TIMERNEXT)
#endif
#if ((CO_CONFIG_LEDS) & CO_CONFIG_LEDS_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_LEDS) & CO_CONFIG_LEDS_ENABLE) != 0) || defined CO_DOXYGEN
#ifdef __cplusplus
extern "C" {

10
304/CO_GFC.c
View file

@ -26,7 +26,7 @@
#include "304/CO_GFC.h"
#if (CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE
#if ((CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE) != 0
/*
* Custom function for reading or writing OD object.
@ -52,7 +52,7 @@ OD_write_1300(OD_stream_t* stream, const void* buf, OD_size_t count, OD_size_t*
return OD_writeOriginal(stream, buf, count, countWritten);
}
#if (CO_CONFIG_GFC) & CO_CONFIG_GFC_CONSUMER
#if ((CO_CONFIG_GFC) & CO_CONFIG_GFC_CONSUMER) != 0
static void
CO_GFC_receive(void* object, void* msg) {
CO_GFC_t* GFC;
@ -98,7 +98,7 @@ CO_GFC_init(CO_GFC_t* GFC, OD_entry_t* OD_1300_gfcParameter, CO_CANmodule_t* GFC
GFC->OD_gfcParam_ext.write = OD_write_1300;
(void)OD_extension_init(OD_1300_gfcParameter, &GFC->OD_gfcParam_ext);
#if (CO_CONFIG_GFC) & CO_CONFIG_GFC_PRODUCER
#if ((CO_CONFIG_GFC) & CO_CONFIG_GFC_PRODUCER) != 0
GFC->CANdevTx = GFC_CANdevTx;
GFC->CANtxBuff = CO_CANtxBufferInit(GFC->CANdevTx, /* CAN device */
GFC_txIdx, /* index of specific buffer inside CAN module */
@ -115,7 +115,7 @@ CO_GFC_init(CO_GFC_t* GFC, OD_entry_t* OD_1300_gfcParameter, CO_CANmodule_t* GFC
(void)CANidTxGFC; /* unused */
#endif
#if (CO_CONFIG_GFC) & CO_CONFIG_GFC_CONSUMER
#if ((CO_CONFIG_GFC) & CO_CONFIG_GFC_CONSUMER) != 0
GFC->functSignalObjectSafe = NULL;
GFC->pFunctSignalSafe = NULL;
const CO_ReturnError_t r = CO_CANrxBufferInit(GFC_CANdevRx, /* CAN device */
@ -136,7 +136,7 @@ CO_GFC_init(CO_GFC_t* GFC, OD_entry_t* OD_1300_gfcParameter, CO_CANmodule_t* GFC
return CO_ERROR_NO;
}
#if (CO_CONFIG_GFC) & CO_CONFIG_GFC_PRODUCER
#if ((CO_CONFIG_GFC) & CO_CONFIG_GFC_PRODUCER) != 0
CO_ReturnError_t
CO_GFCsend(CO_GFC_t* GFC) {
if (GFC->valid) {

10
304/CO_GFC.h
View file

@ -35,7 +35,7 @@
#define CO_CONFIG_GFC (0)
#endif
#if ((CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE) != 0) || defined CO_DOXYGEN
#ifdef __cplusplus
extern "C" {
@ -60,11 +60,11 @@ extern "C" {
typedef struct {
bool_t valid; /**< From OD parameter 1300 */
OD_extension_t OD_gfcParam_ext; /**< Extension for OD object */
#if ((CO_CONFIG_GFC) & CO_CONFIG_GFC_PRODUCER) || defined CO_DOXYGEN
#if (((CO_CONFIG_GFC) & CO_CONFIG_GFC_PRODUCER) != 0) || defined CO_DOXYGEN
CO_CANmodule_t* CANdevTx; /**< From CO_GFC_init() */
CO_CANtx_t* CANtxBuff; /**< CAN transmit buffer inside CANdevTx */
#endif
#if ((CO_CONFIG_GFC) & CO_CONFIG_GFC_CONSUMER) || defined CO_DOXYGEN
#if (((CO_CONFIG_GFC) & CO_CONFIG_GFC_CONSUMER) != 0) || defined CO_DOXYGEN
/** From CO_GFC_initCallbackEnterSafeState() or NULL */
void (*pFunctSignalSafe)(void* object);
/** From CO_GFC_initCallbackEnterSafeState() or NULL */
@ -93,7 +93,7 @@ CO_ReturnError_t CO_GFC_init(CO_GFC_t* GFC, OD_entry_t* OD_1300_gfcParameter,
CO_CANmodule_t* GFC_CANdevRx, uint16_t GFC_rxIdx, uint16_t CANidRxGFC,
CO_CANmodule_t* GFC_CANdevTx, uint16_t GFC_txIdx, uint16_t CANidTxGFC);
#if ((CO_CONFIG_GFC) & CO_CONFIG_GFC_CONSUMER) || defined CO_DOXYGEN
#if (((CO_CONFIG_GFC) & CO_CONFIG_GFC_CONSUMER) != 0) || defined CO_DOXYGEN
/**
* Initialize GFC callback function.
*
@ -108,7 +108,7 @@ CO_ReturnError_t CO_GFC_init(CO_GFC_t* GFC, OD_entry_t* OD_1300_gfcParameter,
void CO_GFC_initCallbackEnterSafeState(CO_GFC_t* GFC, void* object, void (*pFunctSignalSafe)(void* object));
#endif
#if ((CO_CONFIG_GFC) & CO_CONFIG_GFC_PRODUCER) || defined CO_DOXYGEN
#if (((CO_CONFIG_GFC) & CO_CONFIG_GFC_PRODUCER) != 0) || defined CO_DOXYGEN
/**
* Send GFC message.
*

16
304/CO_SRDO.c
View file

@ -27,12 +27,12 @@
#include "304/CO_SRDO.h"
#if (CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE
#if ((CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE) != 0
#include "301/crc16-ccitt.h"
/* verify configuration */
#if !((CO_CONFIG_CRC16) & CO_CONFIG_CRC16_ENABLE)
#if ((CO_CONFIG_CRC16) & CO_CONFIG_CRC16_ENABLE) == 0
#error CO_CONFIG_CRC16_ENABLE must be enabled.
#endif
@ -60,7 +60,7 @@ CO_SRDO_receive_normal(void* object, void* msg) {
(void)memcpy(SRDO->CANrxData[0], data, sizeof(SRDO->CANrxData[0]));
CO_FLAG_SET(SRDO->CANrxNew[0]);
#if (CO_CONFIG_SRDO) & CO_CONFIG_FLAG_CALLBACK_PRE
#if ((CO_CONFIG_SRDO) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0
/* Optional signal to RTOS, which can resume task, which handles SRDO. */
if (SRDO->pFunctSignalPre != NULL) {
SRDO->pFunctSignalPre(SRDO->functSignalObjectPre);
@ -84,7 +84,7 @@ CO_SRDO_receive_inverted(void* object, void* msg) {
(void)memcpy(SRDO->CANrxData[1], data, sizeof(SRDO->CANrxData[1]));
CO_FLAG_SET(SRDO->CANrxNew[1]);
#if (CO_CONFIG_SRDO) & CO_CONFIG_FLAG_CALLBACK_PRE
#if ((CO_CONFIG_SRDO) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0
/* Optional signal to RTOS, which can resume task, which handles SRDO. */
if (SRDO->pFunctSignalPre != NULL) {
SRDO->pFunctSignalPre(SRDO->functSignalObjectPre);
@ -341,7 +341,7 @@ OD_write_13FF(OD_stream_t* stream, const void* buf, OD_size_t count, OD_size_t*
return OD_writeOriginal(stream, buf, count, countWritten);
}
#if (CO_CONFIG_SRDO) & CO_CONFIG_FLAG_CALLBACK_PRE
#if ((CO_CONFIG_SRDO) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0
void
CO_SRDO_initCallbackPre(CO_SRDO_t* SRDO, void* object, void (*pFunctSignalPre)(void* object)) {
if (SRDO != NULL) {
@ -828,7 +828,7 @@ CO_SRDO_process(CO_SRDO_t* SRDO, uint32_t timeDifference_us, uint32_t* timerNext
}
else {
bool_t data_ok = true;
#if (CO_CONFIG_SRDO) & CO_CONFIG_SRDO_CHECK_TX
#if ((CO_CONFIG_SRDO) & CO_CONFIG_SRDO_CHECK_TX) != 0
/* check data before sending (optional) */
for (uint8_t i = 0; i < SRDO->dataLength; i++) {
if ((uint8_t)(~SRDO->CANtxBuff[0]->data[i]) != SRDO->CANtxBuff[1]->data[i]) {
@ -858,7 +858,7 @@ CO_SRDO_process(CO_SRDO_t* SRDO, uint32_t timeDifference_us, uint32_t* timerNext
}
SRDO->nextIsNormal = !SRDO->nextIsNormal;
}
#if (CO_CONFIG_SRDO) & CO_CONFIG_FLAG_TIMERNEXT
#if ((CO_CONFIG_SRDO) & CO_CONFIG_FLAG_TIMERNEXT) != 0
if (timerNext_us != NULL) {
if (*timerNext_us > SRDO->cycleTimer) {
*timerNext_us = SRDO->cycleTimer; /* Schedule for the next message timer */
@ -980,7 +980,7 @@ CO_SRDO_process(CO_SRDO_t* SRDO, uint32_t timeDifference_us, uint32_t* timerNext
else {
/* MISRA C 2004 14.10 */
}
#if (CO_CONFIG_SRDO) & CO_CONFIG_FLAG_TIMERNEXT
#if ((CO_CONFIG_SRDO) & CO_CONFIG_FLAG_TIMERNEXT) != 0
if (timerNext_us != NULL) {
if (*timerNext_us > SRDO->cycleTimer) {
*timerNext_us = SRDO->cycleTimer; /* Schedule for the next message timer */

6
304/CO_SRDO.h
View file

@ -39,7 +39,7 @@
#define CO_CONFIG_SRDO_MINIMUM_DELAY 0U
#endif
#if ((CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE) != 0) || defined CO_DOXYGEN
#ifdef __cplusplus
extern "C" {
@ -185,7 +185,7 @@ typedef struct {
OD_extension_t OD_communicationParam_ext;
/** Extension for OD object */
OD_extension_t OD_mappingParam_extension;
#if ((CO_CONFIG_SRDO) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
#if (((CO_CONFIG_SRDO) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/** From CO_SRDO_initCallbackPre() or NULL */
void (*pFunctSignalPre)(void* object);
/** From CO_SRDO_initCallbackPre() or NULL */
@ -259,7 +259,7 @@ CO_ReturnError_t CO_SRDO_init(CO_SRDO_t* SRDO, uint8_t SRDO_Index, CO_SRDOGuard_
CO_CANmodule_t* CANdevTxNormal, CO_CANmodule_t* CANdevTxInverted,
uint16_t CANdevTxIdxNormal, uint16_t CANdevTxIdxInverted, uint32_t* errInfo);
#if ((CO_CONFIG_SRDO) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
#if (((CO_CONFIG_SRDO) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/**
* Initialize SRDO callback function.
*

2
305/CO_LSS.h
View file

@ -35,7 +35,7 @@
CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE)
#endif
#if ((CO_CONFIG_LSS) & (CO_CONFIG_LSS_SLAVE | CO_CONFIG_LSS_MASTER)) || defined CO_DOXYGEN
#if (((CO_CONFIG_LSS) & (CO_CONFIG_LSS_SLAVE | CO_CONFIG_LSS_MASTER)) != 0) || defined CO_DOXYGEN
#ifdef __cplusplus
extern "C" {

8
305/CO_LSSmaster.c
View file

@ -26,7 +26,7 @@
#include "305/CO_LSSmaster.h"
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_MASTER
#if ((CO_CONFIG_LSS) & CO_CONFIG_LSS_MASTER) != 0
#include <string.h>
@ -91,7 +91,7 @@ static void CO_LSSmaster_receive(void *object, void *msg)
CO_FLAG_SET(LSSmaster->CANrxNew);
#if (CO_CONFIG_LSS) & CO_CONFIG_FLAG_CALLBACK_PRE
#if ((CO_CONFIG_LSS) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0
/* Optional signal to RTOS, which can resume task, which handles further processing. */
if(LSSmaster->pFunctSignal != NULL) {
LSSmaster->pFunctSignal(LSSmaster->functSignalObject);
@ -147,7 +147,7 @@ CO_ReturnError_t CO_LSSmaster_init(
LSSmaster->timeoutTimer = 0;
CO_FLAG_CLEAR(LSSmaster->CANrxNew);
(void)memset(LSSmaster->CANrxData, 0, sizeof(LSSmaster->CANrxData));
#if (CO_CONFIG_LSS) & CO_CONFIG_FLAG_CALLBACK_PRE
#if ((CO_CONFIG_LSS) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0
LSSmaster->pFunctSignal = NULL;
LSSmaster->functSignalObject = NULL;
#endif
@ -191,7 +191,7 @@ void CO_LSSmaster_changeTimeout(
}
#if (CO_CONFIG_LSS) & CO_CONFIG_FLAG_CALLBACK_PRE
#if ((CO_CONFIG_LSS) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0
/******************************************************************************/
void CO_LSSmaster_initCallbackPre(
CO_LSSmaster_t *LSSmaster,

6
305/CO_LSSmaster.h
View file

@ -29,7 +29,7 @@
#include "305/CO_LSS.h"
#if ((CO_CONFIG_LSS) & CO_CONFIG_LSS_MASTER) || defined CO_DOXYGEN
#if (((CO_CONFIG_LSS) & CO_CONFIG_LSS_MASTER) != 0) || defined CO_DOXYGEN
#ifdef __cplusplus
extern "C" {
@ -117,7 +117,7 @@ typedef struct{
volatile void *CANrxNew; /**< Indication if new LSS message is received from CAN bus. It needs to be cleared when received message is completely processed. */
uint8_t CANrxData[8]; /**< 8 data bytes of the received message */
#if ((CO_CONFIG_LSS) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
#if (((CO_CONFIG_LSS) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
void (*pFunctSignal)(void *object); /**< From CO_LSSmaster_initCallbackPre() or NULL */
void *functSignalObject;/**< Pointer to object */
#endif
@ -185,7 +185,7 @@ void CO_LSSmaster_changeTimeout(
uint16_t timeout_ms);
#if ((CO_CONFIG_LSS) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
#if (((CO_CONFIG_LSS) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/**
* Initialize LSSmasterRx callback function.
*

8
305/CO_LSSslave.c
View file

@ -27,7 +27,7 @@
#include "305/CO_LSSslave.h"
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE
#if ((CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE) != 0
#include <string.h>
@ -161,7 +161,7 @@ static void CO_LSSslave_receive(void *object, void *msg)
}
else { /* MISRA C 2004 14.10 */ }
if (ack) {
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE_FASTSCAN_DIRECT_RESPOND
#if ((CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE_FASTSCAN_DIRECT_RESPOND) != 0
LSSslave->TXbuff->data[0] = CO_LSS_IDENT_SLAVE;
(void)memset(&LSSslave->TXbuff->data[1], 0,
sizeof(LSSslave->TXbuff->data) - 1);
@ -187,7 +187,7 @@ static void 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
#if ((CO_CONFIG_LSS) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0
/* Optional signal to RTOS, which can resume task,
* which handles further processing. */
if (LSSslave->pFunctSignalPre != NULL) {
@ -265,7 +265,7 @@ CO_ReturnError_t CO_LSSslave_init(
}
#if (CO_CONFIG_LSS) & CO_CONFIG_FLAG_CALLBACK_PRE
#if ((CO_CONFIG_LSS) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0
/******************************************************************************/
void CO_LSSslave_initCallbackPre(
CO_LSSslave_t *LSSslave,

6
305/CO_LSSslave.h
View file

@ -30,7 +30,7 @@
#include "305/CO_LSS.h"
#if ((CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE) || defined CO_DOXYGEN
#if (((CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE) != 0) || defined CO_DOXYGEN
#ifdef __cplusplus
extern "C" {
@ -102,7 +102,7 @@ typedef struct{
CO_LSS_cs_t service; /**< Service, which will have to be processed by mainline processing function */
uint8_t CANdata[8]; /**< Received CAN data, which will be processed by mainline processing function */
#if ((CO_CONFIG_LSS) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
#if (((CO_CONFIG_LSS) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
void (*pFunctSignalPre)(void *object); /**< From CO_LSSslave_initCallbackPre() or NULL */
void *functSignalObjectPre;/**< Pointer to object */
#endif
@ -194,7 +194,7 @@ static inline CO_LSS_state_t CO_LSSslave_getState(CO_LSSslave_t *LSSslave) {
}
#if ((CO_CONFIG_LSS) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
#if (((CO_CONFIG_LSS) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
/**
* Initialize LSSslaveRx callback function.
*

82
309/CO_gateway_ascii.c
View file

@ -26,7 +26,7 @@
#include "309/CO_gateway_ascii.h"
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII) != 0
#include <stdlib.h>
#include <string.h>
@ -35,32 +35,32 @@
#include <stdio.h>
/* verify configuration */
#if !((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ENABLE)
#if ((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ENABLE) == 0
#error CO_CONFIG_FIFO_ENABLE must be enabled.
#endif
#if !((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ASCII_COMMANDS)
#if ((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ASCII_COMMANDS) == 0
#error CO_CONFIG_FIFO_ASCII_COMMANDS must be enabled.
#endif
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO
#if !((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ASCII_DATATYPES)
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO) != 0
#if ((CO_CONFIG_FIFO) & CO_CONFIG_FIFO_ASCII_DATATYPES) == 0
#error CO_CONFIG_FIFO_ASCII_DATATYPES must be enabled.
#endif
#endif
/******************************************************************************/
CO_ReturnError_t CO_GTWA_init(CO_GTWA_t* gtwa,
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO) || defined CO_DOXYGEN
#if (((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO) != 0) || defined CO_DOXYGEN
CO_SDOclient_t* SDO_C,
uint16_t SDOclientTimeoutTime_ms,
bool_t SDOclientBlockTransfer,
#endif
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_NMT) || defined CO_DOXYGEN
#if (((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_NMT) != 0) || defined CO_DOXYGEN
CO_NMT_t *NMT,
#endif
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LSS) || defined CO_DOXYGEN
#if (((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LSS) != 0) || defined CO_DOXYGEN
CO_LSSmaster_t *LSSmaster,
#endif
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS) || defined CO_DOXYGEN
#if (((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS) != 0) || defined CO_DOXYGEN
CO_LEDs_t *LEDs,
#endif
uint8_t dummy)
@ -68,16 +68,16 @@ CO_ReturnError_t CO_GTWA_init(CO_GTWA_t* gtwa,
(void)dummy;
/* verify arguments */
if (gtwa == NULL
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO) != 0
|| SDO_C == NULL || SDOclientTimeoutTime_ms == 0
#endif
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_NMT
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_NMT) != 0
|| NMT == NULL
#endif
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LSS
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LSS) != 0
|| LSSmaster == NULL
#endif
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS) != 0
|| LEDs == NULL
#endif
) {
@ -88,18 +88,18 @@ CO_ReturnError_t CO_GTWA_init(CO_GTWA_t* gtwa,
(void)memset(gtwa, 0, sizeof(CO_GTWA_t));
/* initialize variables */
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO) != 0
gtwa->SDO_C = SDO_C;
gtwa->SDOtimeoutTime = SDOclientTimeoutTime_ms;
gtwa->SDOblockTransferEnable = SDOclientBlockTransfer;
#endif
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_NMT
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_NMT) != 0
gtwa->NMT = NMT;
#endif
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LSS
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LSS) != 0
gtwa->LSSmaster = LSSmaster;
#endif
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS) != 0
gtwa->LEDs = LEDs;
#endif
gtwa->net_default = -1;
@ -111,7 +111,7 @@ CO_ReturnError_t CO_GTWA_init(CO_GTWA_t* gtwa,
&gtwa->commBuf[0],
CO_CONFIG_GTWA_COMM_BUF_SIZE + 1);
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LOG
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LOG) != 0
CO_fifo_init(&gtwa->logFifo,
&gtwa->logBuf[0],
CO_CONFIG_GTWA_LOG_BUF_SIZE + 1);
@ -137,7 +137,7 @@ void CO_GTWA_initRead(CO_GTWA_t* gtwa,
/******************************************************************************/
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LOG
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LOG) != 0
void CO_GTWA_log_print(CO_GTWA_t* gtwa, const char *message) {
if ((gtwa != NULL) && (message != NULL)) {
const char *c;
@ -153,7 +153,7 @@ void CO_GTWA_log_print(CO_GTWA_t* gtwa, const char *message) {
/*******************************************************************************
* HELPER FUNCTIONS
******************************************************************************/
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_HELP
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_HELP) != 0
/* help strings ("\n" is used between string, "\r\n" closes the response.) */
static const char CO_GTWA_helpString[] =
"\nCommand strings start with '\"[\"<sequence>\"]\"' followed by:\n" \
@ -224,7 +224,7 @@ static const char CO_GTWA_helpStringLss[] =
"* <scanType>: 0=fastscan, 1=ignore, 2=match value in next parameter\r\n";
#endif
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS) != 0
#define CO_GTWA_LED_PRINTOUTS_SIZE 5
static const char *CO_GTWA_LED_PRINTOUTS[CO_GTWA_LED_PRINTOUTS_SIZE] = {
" CANopen status LEDs: R G \r",
@ -266,7 +266,7 @@ static bool_t checkNetNode(CO_GTWA_t *gtwa,
eCode = CO_GTWA_respErrorUnsupportedNode;
e = true;
}
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_MULTI_NET
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_MULTI_NET) != 0
else if (net == -1) {
eCode = CO_GTWA_respErrorNoDefaultNetSet;
e = true;
@ -291,7 +291,7 @@ static bool_t checkNetNode(CO_GTWA_t *gtwa,
static bool_t checkNet(CO_GTWA_t *gtwa, int32_t net,
CO_GTWA_respErrorCode_t *errCode)
{
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_MULTI_NET
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_MULTI_NET) != 0
bool_t e = false;
CO_GTWA_respErrorCode_t eCode;
@ -321,7 +321,7 @@ static bool_t checkNet(CO_GTWA_t *gtwa, int32_t net,
}
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO) != 0
/* data types for SDO read or write */
static const CO_GTWA_dataType_t dataTypes[] = {
{"hex", 0, CO_fifo_readHex2a, CO_fifo_cpyTok2Hex}, /* hex, non-standard */
@ -401,7 +401,7 @@ static bool_t respBufTransfer(CO_GTWA_t *gtwa) {
}
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_ERROR_DESC
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_ERROR_DESC) != 0
#ifndef CO_CONFIG_GTW_ASCII_ERROR_DESC_STRINGS
#define CO_CONFIG_GTW_ASCII_ERROR_DESC_STRINGS
typedef struct {
@ -438,7 +438,7 @@ static const errorDescs_t errorDescs[] = {
{505, "LSS command failed because of media error."},
{600, "Running out of memory."}
};
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO) != 0
static const errorDescs_t errorDescsSDO[] = {
{0x00000000, "No abort."},
{0x05030000, "Toggle bit not altered."},
@ -496,7 +496,7 @@ static void responseWithError(CO_GTWA_t *gtwa,
respBufTransfer(gtwa);
}
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO) != 0
static void responseWithErrorSDO(CO_GTWA_t *gtwa,
CO_SDO_abortCode_t abortCode,
bool_t postponed)
@ -537,7 +537,7 @@ static inline void responseWithError(CO_GTWA_t *gtwa,
respBufTransfer(gtwa);
}
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO) != 0
static inline void responseWithErrorSDO(CO_GTWA_t *gtwa,
CO_SDO_abortCode_t abortCode,
bool_t postponed)
@ -574,7 +574,7 @@ static inline void responseWithEmpty(CO_GTWA_t *gtwa) {
}
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LSS
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LSS) != 0
static void responseLSS(CO_GTWA_t *gtwa, CO_LSSmaster_return_t lss_ret) {
if (lss_ret == CO_LSSmaster_OK) {
responseWithOK(gtwa);
@ -804,7 +804,7 @@ void CO_GTWA_process(CO_GTWA_t *gtwa,
gtwa->node_default = value;
responseWithOK(gtwa);
}
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO) != 0
/* 'set sdo_timeout <value_ms>' */
else if (strcmp(tok, "sdo_timeout") == 0) {
bool_t NodeErr = checkNet(gtwa, net, &respErrorCode);
@ -853,7 +853,7 @@ void CO_GTWA_process(CO_GTWA_t *gtwa,
}
}
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO) != 0
/* Upload SDO command - 'r[ead] <index> <subindex> <datatype>' */
else if ((strcmp(tok, "r") == 0) || (strcmp(tok, "read") == 0)) {
uint16_t idx;
@ -1011,7 +1011,7 @@ void CO_GTWA_process(CO_GTWA_t *gtwa,
}
#endif /* (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO */
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_NMT
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_NMT) != 0
/* NMT start node - 'start' */
else if (strcmp(tok, "start") == 0) {
CO_ReturnError_t ret;
@ -1121,7 +1121,7 @@ void CO_GTWA_process(CO_GTWA_t *gtwa,
}
#endif /* (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_NMT */
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LSS
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LSS) != 0
/* Switch state global command - 'lss_switch_glob <0|1>' */
else if (strcmp(tok, "lss_switch_glob") == 0) {
bool_t NodeErr = checkNet(gtwa, net, &respErrorCode);
@ -1463,7 +1463,7 @@ void CO_GTWA_process(CO_GTWA_t *gtwa,
}
#endif /* (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LSS */
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LOG
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LOG) != 0
/* Print message log */
else if (strcmp(tok, "log") == 0) {
if (closed == 0) {
@ -1474,7 +1474,7 @@ void CO_GTWA_process(CO_GTWA_t *gtwa,
}
#endif /* (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LOG */
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_HELP
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_HELP) != 0
/* Print help */
else if (strcmp(tok, "help") == 0) {
if (closed == 1) {
@ -1504,7 +1504,7 @@ void CO_GTWA_process(CO_GTWA_t *gtwa,
}
#endif /* (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_HELP */
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS) != 0
/* Print status led diodes */
else if (strcmp(tok, "led") == 0) {
if (closed == 0) {
@ -1548,7 +1548,7 @@ void CO_GTWA_process(CO_GTWA_t *gtwa,
return; /* skip timerNext_us calculation */
}
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO) != 0
/* SDO upload state */
case CO_GTWA_ST_READ: {
CO_SDO_abortCode_t abortCode;
@ -1708,7 +1708,7 @@ void CO_GTWA_process(CO_GTWA_t *gtwa,
}
#endif /* (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO */
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LSS
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LSS) != 0
case CO_GTWA_ST_LSS_SWITCH_GLOB: {
CO_LSSmaster_return_t ret;
ret = CO_LSSmaster_switchStateSelect(gtwa->LSSmaster,
@ -1985,7 +1985,7 @@ void CO_GTWA_process(CO_GTWA_t *gtwa,
} /* CO_GTWA_ST_LSS_ALLNODES */
#endif /* (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LSS */
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LOG
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LOG) != 0
/* print message log */
case CO_GTWA_ST_LOG: {
do {
@ -2003,7 +2003,7 @@ void CO_GTWA_process(CO_GTWA_t *gtwa,
}
#endif /* (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LOG */
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_HELP
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_HELP) != 0
/* Print help string (in multiple segments if necessary) */
case CO_GTWA_ST_HELP: {
size_t lenBuf = CO_GTWA_RESP_BUF_SIZE;
@ -2030,7 +2030,7 @@ void CO_GTWA_process(CO_GTWA_t *gtwa,
}
#endif
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS) != 0
/* print CANopen status LED diodes */
case CO_GTWA_ST_LED: {
uint8_t i;

26
309/CO_gateway_ascii.h
View file

@ -39,7 +39,7 @@
#define CO_CONFIG_GTW (0)
#endif
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII) || defined CO_DOXYGEN
#if (((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII) != 0) || defined CO_DOXYGEN
#ifdef __cplusplus
extern "C" {
@ -263,7 +263,7 @@ typedef enum {
} CO_GTWA_state_t;
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO) || defined CO_DOXYGEN
#if (((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO) != 0) || defined CO_DOXYGEN
/*
* CANopen Gateway-ascii data types structure
*/
@ -343,7 +343,7 @@ typedef struct {
CO_GTWA_state_t state;
/** Timeout timer for the current state */
uint32_t stateTimeoutTmr;
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO) || defined CO_DOXYGEN
#if (((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO) != 0) || defined CO_DOXYGEN
/** SDO client object from CO_GTWA_init() */
CO_SDOclient_t *SDO_C;
/** Timeout time for SDO transfer in milliseconds, if no response */
@ -357,11 +357,11 @@ typedef struct {
/** Data type of variable in current SDO communication */
const CO_GTWA_dataType_t *SDOdataType;
#endif
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_NMT) || defined CO_DOXYGEN
#if (((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_NMT) != 0) || defined CO_DOXYGEN
/** NMT object from CO_GTWA_init() */
CO_NMT_t *NMT;
#endif
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LSS) || defined CO_DOXYGEN
#if (((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LSS) != 0) || defined CO_DOXYGEN
/** LSSmaster object from CO_GTWA_init() */
CO_LSSmaster_t *LSSmaster;
/** 128 bit number, uniquely identifying each node */
@ -383,18 +383,18 @@ typedef struct {
/** LSS allnodes timeout parameter */
uint16_t lssTimeout_ms;
#endif
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LOG) || defined CO_DOXYGEN
#if (((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LOG) != 0) || defined CO_DOXYGEN
/** Message log buffer of usable size @ref CO_CONFIG_GTWA_LOG_BUF_SIZE */
uint8_t logBuf[CO_CONFIG_GTWA_LOG_BUF_SIZE + 1];
/** CO_fifo_t object for message log (not pointer) */
CO_fifo_t logFifo;
#endif
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_HELP) || defined CO_DOXYGEN
#if (((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_HELP) != 0) || defined CO_DOXYGEN
/** Offset, when printing help text */
const char *helpString;
size_t helpStringOffset;
#endif
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS) || defined CO_DOXYGEN
#if (((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS) != 0) || defined CO_DOXYGEN
/** CO_LEDs_t object for CANopen status LEDs imitation from CO_GTWA_init()*/
CO_LEDs_t *LEDs;
uint8_t ledStringPreviousIndex;
@ -417,18 +417,18 @@ typedef struct {
* @return #CO_ReturnError_t: CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT
*/
CO_ReturnError_t CO_GTWA_init(CO_GTWA_t* gtwa,
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO) || defined CO_DOXYGEN
#if (((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO) != 0) || defined CO_DOXYGEN
CO_SDOclient_t* SDO_C,
uint16_t SDOclientTimeoutTime_ms,
bool_t SDOclientBlockTransfer,
#endif
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_NMT) || defined CO_DOXYGEN
#if (((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_NMT) != 0) || defined CO_DOXYGEN
CO_NMT_t *NMT,
#endif
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LSS) || defined CO_DOXYGEN
#if (((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LSS) != 0) || defined CO_DOXYGEN
CO_LSSmaster_t *LSSmaster,
#endif
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS) || defined CO_DOXYGEN
#if (((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS) != 0) || defined CO_DOXYGEN
CO_LEDs_t *LEDs,
#endif
uint8_t dummy);
@ -491,7 +491,7 @@ static inline size_t CO_GTWA_write(CO_GTWA_t* gtwa,
}
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LOG) || defined CO_DOXYGEN
#if (((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LOG) != 0) || defined CO_DOXYGEN
/**
* Print message log string into fifo buffer
*

306
CANopen.c
View file

@ -48,7 +48,7 @@
#error OD_CNT_NMT from OD.h not correct!
#endif
#define CO_RX_CNT_NMT_SLV OD_CNT_NMT
#if (CO_CONFIG_NMT) & CO_CONFIG_NMT_MASTER
#if ((CO_CONFIG_NMT) & CO_CONFIG_NMT_MASTER) != 0
#define CO_TX_CNT_NMT_MST 1
#else
#define CO_TX_CNT_NMT_MST 0
@ -63,7 +63,7 @@
#elif OD_CNT_HB_CONS < 0 || OD_CNT_HB_CONS > 1
#error OD_CNT_HB_CONS from OD.h not correct!
#endif
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE) && OD_CNT_HB_CONS == 1
#if (((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE) != 0) && OD_CNT_HB_CONS == 1
#if OD_CNT_ARR_1016 < 1 || OD_CNT_ARR_1016 > 127
#error OD_CNT_ARR_1016 is not defined in Object Dictionary or value is wrong!
#endif
@ -72,14 +72,14 @@
#define CO_RX_CNT_HB_CONS 0
#endif
#if (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE
#if ((CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE) != 0
#define CO_RX_CNT_NG_SLV 1
#define CO_TX_CNT_NG_SLV 1
#else
#define CO_RX_CNT_NG_SLV 0
#define CO_TX_CNT_NG_SLV 0
#endif
#if (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_MASTER_ENABLE
#if ((CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_MASTER_ENABLE) != 0
#define CO_RX_CNT_NG_MST 1
#define CO_TX_CNT_NG_MST 1
#else
@ -96,7 +96,7 @@
#ifndef OD_CNT_ARR_1003
#define OD_CNT_ARR_1003 8
#endif
#if (CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER) != 0
#if OD_CNT_EM_PROD == 1
#define CO_TX_CNT_EM_PROD OD_CNT_EM_PROD
#else
@ -108,7 +108,7 @@
#else
#define CO_TX_CNT_EM_PROD 0
#endif
#if (CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER) != 0
#define CO_RX_CNT_EM_CONS 1
#else
#define CO_RX_CNT_EM_CONS 0
@ -123,7 +123,7 @@
#define CO_RX_CNT_SDO_SRV OD_CNT_SDO_SRV
#define CO_TX_CNT_SDO_SRV OD_CNT_SDO_SRV
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_ENABLE
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_ENABLE) != 0
#if !defined OD_CNT_SDO_CLI
#define OD_CNT_SDO_CLI 0
#define OD_ENTRY_H1280 NULL
@ -137,7 +137,7 @@
#define CO_TX_CNT_SDO_CLI 0
#endif
#if (CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE
#if ((CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE) != 0
#if !defined OD_CNT_TIME
#define OD_CNT_TIME 0
#define OD_ENTRY_H1012 NULL
@ -145,7 +145,7 @@
#error OD_CNT_TIME from OD.h not correct!
#endif
#define CO_RX_CNT_TIME OD_CNT_TIME
#if (CO_CONFIG_TIME) & CO_CONFIG_TIME_PRODUCER
#if ((CO_CONFIG_TIME) & CO_CONFIG_TIME_PRODUCER) != 0
#define CO_TX_CNT_TIME OD_CNT_TIME
#else
#define CO_TX_CNT_TIME 0
@ -155,7 +155,7 @@
#define CO_TX_CNT_TIME 0
#endif
#if (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE
#if ((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE) != 0
#if !defined OD_CNT_SYNC
#define OD_CNT_SYNC 0
#define OD_ENTRY_H1005 NULL
@ -164,7 +164,7 @@
#error OD_CNT_SYNC from OD.h not correct!
#endif
#define CO_RX_CNT_SYNC OD_CNT_SYNC
#if (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER
#if ((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER) != 0
#define CO_TX_CNT_SYNC OD_CNT_SYNC
#else
#define CO_TX_CNT_SYNC 0
@ -180,7 +180,7 @@
#define CO_TX_CNT_SYNC 0
#endif
#if (CO_CONFIG_PDO) & CO_CONFIG_RPDO_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_RPDO_ENABLE) != 0
#if !defined OD_CNT_RPDO
#define OD_CNT_RPDO 0
#define OD_ENTRY_H1400 NULL
@ -193,7 +193,7 @@
#define CO_RX_CNT_RPDO 0
#endif
#if (CO_CONFIG_PDO) & CO_CONFIG_TPDO_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_TPDO_ENABLE) != 0
#if !defined OD_CNT_TPDO
#define OD_CNT_TPDO 0
#define OD_ENTRY_H1800 NULL
@ -206,11 +206,11 @@
#define CO_TX_CNT_TPDO 0
#endif
#if (CO_CONFIG_LEDS) & CO_CONFIG_LEDS_ENABLE
#if ((CO_CONFIG_LEDS) & CO_CONFIG_LEDS_ENABLE) != 0
#define OD_CNT_LEDS 1
#endif
#if (CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE
#if ((CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE) != 0
#if !defined OD_CNT_GFC
#define OD_CNT_GFC 0
#define OD_ENTRY_H1300 NULL
@ -224,7 +224,7 @@
#define CO_TX_CNT_GFC 0
#endif
#if (CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE
#if ((CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE) != 0
#if !defined OD_CNT_SRDO
#define OD_CNT_SRDO 0
#define OD_ENTRY_H1301 NULL
@ -241,7 +241,7 @@
#define CO_TX_CNT_SRDO 0
#endif
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE
#if ((CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE) != 0
#define OD_CNT_LSS_SLV 1
#else
#define OD_CNT_LSS_SLV 0
@ -249,7 +249,7 @@
#define CO_RX_CNT_LSS_SLV OD_CNT_LSS_SLV
#define CO_TX_CNT_LSS_SLV OD_CNT_LSS_SLV
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_MASTER
#if ((CO_CONFIG_LSS) & CO_CONFIG_LSS_MASTER) != 0
#define OD_CNT_LSS_MST 1
#else
#define OD_CNT_LSS_MST 0
@ -257,7 +257,7 @@
#define CO_RX_CNT_LSS_MST OD_CNT_LSS_MST
#define CO_TX_CNT_LSS_MST OD_CNT_LSS_MST
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII) != 0
#define OD_CNT_GTWA 1
#endif
@ -388,13 +388,13 @@ CO_t *CO_new(CO_config_t *config, uint32_t *heapMemoryUsed) {
if (CO_GET_CNT(NMT) == 1) {
CO_alloc_break_on_fail(co->NMT, CO_GET_CNT(NMT), sizeof(*co->NMT));
ON_MULTI_OD(RX_CNT_NMT_SLV = 1);
#if (CO_CONFIG_NMT) & CO_CONFIG_NMT_MASTER
#if ((CO_CONFIG_NMT) & CO_CONFIG_NMT_MASTER) != 0
ON_MULTI_OD(TX_CNT_NMT_MST = 1);
#endif
ON_MULTI_OD(TX_CNT_HB_PROD = 1);
}
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE) != 0
ON_MULTI_OD(uint8_t RX_CNT_HB_CONS = 0);
if (CO_GET_CNT(HB_CONS) == 1) {
uint8_t countOfMonitoredNodes = CO_GET_CNT(ARR_1016);
@ -405,10 +405,10 @@ CO_t *CO_new(CO_config_t *config, uint32_t *heapMemoryUsed) {
#endif
/* Node guarding */
#if (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE
#if ((CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE) != 0
CO_alloc_break_on_fail(co->NGslave, 1, sizeof(*co->NGslave));
#endif
#if (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_MASTER_ENABLE
#if ((CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_MASTER_ENABLE) != 0
CO_alloc_break_on_fail(co->NGmaster, 1, sizeof(*co->NGmaster));
#endif
@ -417,13 +417,13 @@ CO_t *CO_new(CO_config_t *config, uint32_t *heapMemoryUsed) {
ON_MULTI_OD(uint8_t TX_CNT_EM_PROD = 0);
if (CO_GET_CNT(EM) == 1) {
CO_alloc_break_on_fail(co->em, CO_GET_CNT(EM), sizeof(*co->em));
#if (CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER) != 0
ON_MULTI_OD(RX_CNT_EM_CONS = 1);
#endif
#if (CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER) != 0
ON_MULTI_OD(TX_CNT_EM_PROD = 1);
#endif
#if (CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)
#if ((CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)) != 0
uint8_t fifoSize = CO_GET_CNT(ARR_1003) + 1;
if (fifoSize >= 2) {
CO_alloc_break_on_fail(co->em_fifo, fifoSize, sizeof(*co->em_fifo));
@ -440,7 +440,7 @@ CO_t *CO_new(CO_config_t *config, uint32_t *heapMemoryUsed) {
ON_MULTI_OD(TX_CNT_SDO_SRV = config->CNT_SDO_SRV);
}
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_ENABLE
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_ENABLE) != 0
ON_MULTI_OD(uint8_t RX_CNT_SDO_CLI = 0);
ON_MULTI_OD(uint8_t TX_CNT_SDO_CLI = 0);
if (CO_GET_CNT(SDO_CLI) > 0) {
@ -450,31 +450,31 @@ CO_t *CO_new(CO_config_t *config, uint32_t *heapMemoryUsed) {
}
#endif
#if (CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE
#if ((CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE) != 0
ON_MULTI_OD(uint8_t RX_CNT_TIME = 0);
ON_MULTI_OD(uint8_t TX_CNT_TIME = 0);
if (CO_GET_CNT(TIME) == 1) {
CO_alloc_break_on_fail(co->TIME, CO_GET_CNT(TIME), sizeof(*co->TIME));
ON_MULTI_OD(RX_CNT_TIME = 1);
#if (CO_CONFIG_TIME) & CO_CONFIG_TIME_PRODUCER
#if ((CO_CONFIG_TIME) & CO_CONFIG_TIME_PRODUCER) != 0
ON_MULTI_OD(TX_CNT_TIME = 1);
#endif
}
#endif
#if (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE
#if ((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE) != 0
ON_MULTI_OD(uint8_t RX_CNT_SYNC = 0);
ON_MULTI_OD(uint8_t TX_CNT_SYNC = 0);
if (CO_GET_CNT(SYNC) == 1) {
CO_alloc_break_on_fail(co->SYNC, CO_GET_CNT(SYNC), sizeof(*co->SYNC));
ON_MULTI_OD(RX_CNT_SYNC = 1);
#if (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER
#if ((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER) != 0
ON_MULTI_OD(TX_CNT_SYNC = 1);
#endif
}
#endif
#if (CO_CONFIG_PDO) & CO_CONFIG_RPDO_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_RPDO_ENABLE) != 0
ON_MULTI_OD(uint16_t RX_CNT_RPDO = 0);
if (CO_GET_CNT(RPDO) > 0) {
CO_alloc_break_on_fail(co->RPDO, CO_GET_CNT(RPDO), sizeof(*co->RPDO));
@ -482,7 +482,7 @@ CO_t *CO_new(CO_config_t *config, uint32_t *heapMemoryUsed) {
}
#endif
#if (CO_CONFIG_PDO) & CO_CONFIG_TPDO_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_TPDO_ENABLE) != 0
ON_MULTI_OD(uint16_t TX_CNT_TPDO = 0);
if (CO_GET_CNT(TPDO) > 0) {
CO_alloc_break_on_fail(co->TPDO, CO_GET_CNT(TPDO), sizeof(*co->TPDO));
@ -490,13 +490,13 @@ CO_t *CO_new(CO_config_t *config, uint32_t *heapMemoryUsed) {
}
#endif
#if (CO_CONFIG_LEDS) & CO_CONFIG_LEDS_ENABLE
#if ((CO_CONFIG_LEDS) & CO_CONFIG_LEDS_ENABLE) != 0
if (CO_GET_CNT(LEDS) == 1) {
CO_alloc_break_on_fail(co->LEDs, CO_GET_CNT(LEDS), sizeof(*co->LEDs));
}
#endif
#if (CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE
#if (CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE) != 0
ON_MULTI_OD(uint8_t RX_CNT_GFC = 0);
ON_MULTI_OD(uint8_t TX_CNT_GFC = 0);
if (CO_GET_CNT(GFC) == 1) {
@ -506,7 +506,7 @@ CO_t *CO_new(CO_config_t *config, uint32_t *heapMemoryUsed) {
}
#endif
#if (CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE
#if ((CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE) != 0
ON_MULTI_OD(uint8_t RX_CNT_SRDO = 0);
ON_MULTI_OD(uint8_t TX_CNT_SRDO = 0);
if (CO_GET_CNT(SRDO) > 0) {
@ -517,7 +517,7 @@ CO_t *CO_new(CO_config_t *config, uint32_t *heapMemoryUsed) {
}
#endif
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE
#if ((CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE) != 0
ON_MULTI_OD(uint8_t RX_CNT_LSS_SLV = 0);
ON_MULTI_OD(uint8_t TX_CNT_LSS_SLV = 0);
if (CO_GET_CNT(LSS_SLV) == 1) {
@ -527,7 +527,7 @@ CO_t *CO_new(CO_config_t *config, uint32_t *heapMemoryUsed) {
}
#endif
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_MASTER
#if ((CO_CONFIG_LSS) & CO_CONFIG_LSS_MASTER) != 0
ON_MULTI_OD(uint8_t RX_CNT_LSS_MST = 0);
ON_MULTI_OD(uint8_t TX_CNT_LSS_MST = 0);
if (CO_GET_CNT(LSS_MST) == 1) {
@ -537,7 +537,7 @@ CO_t *CO_new(CO_config_t *config, uint32_t *heapMemoryUsed) {
}
#endif
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII) != 0
if (CO_GET_CNT(GTWA) == 1) {
CO_alloc_break_on_fail(co->gtwa, CO_GET_CNT(GTWA), sizeof(*co->gtwa));
}
@ -555,76 +555,76 @@ CO_t *CO_new(CO_config_t *config, uint32_t *heapMemoryUsed) {
* highest priority of the CAN identifier are listed first. */
int16_t idxRx = 0;
co->RX_IDX_NMT_SLV = idxRx; idxRx += RX_CNT_NMT_SLV;
#if (CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE
#if ((CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE) != 0
co->RX_IDX_GFC = idxRx; idxRx += RX_CNT_GFC;
#endif
#if (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE
#if ((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE) != 0
co->RX_IDX_SYNC = idxRx; idxRx += RX_CNT_SYNC;
#endif
co->RX_IDX_EM_CONS = idxRx; idxRx += RX_CNT_EM_CONS;
#if (CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE
#if ((CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE) != 0
co->RX_IDX_TIME = idxRx; idxRx += RX_CNT_TIME;
#endif
#if (CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE
#if ((CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE) != 0
co->RX_IDX_SRDO = idxRx; idxRx += RX_CNT_SRDO * 2;
#endif
#if (CO_CONFIG_PDO) & CO_CONFIG_RPDO_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_RPDO_ENABLE) != 0
co->RX_IDX_RPDO = idxRx; idxRx += RX_CNT_RPDO;
#endif
co->RX_IDX_SDO_SRV = idxRx; idxRx += RX_CNT_SDO_SRV;
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_ENABLE
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_ENABLE) != 0
co->RX_IDX_SDO_CLI = idxRx; idxRx += RX_CNT_SDO_CLI;
#endif
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE) != 0
co->RX_IDX_HB_CONS = idxRx; idxRx += RX_CNT_HB_CONS;
#endif
#if (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE
#if ((CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE) != 0
co->RX_IDX_NG_SLV = idxRx; idxRx += 1;
#endif
#if (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_MASTER_ENABLE
#if ((CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_MASTER_ENABLE) != 0
co->RX_IDX_NG_MST = idxRx; idxRx += 1;
#endif
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE
#if ((CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE) != 0
co->RX_IDX_LSS_SLV = idxRx; idxRx += RX_CNT_LSS_SLV;
#endif
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_MASTER
#if ((CO_CONFIG_LSS) & CO_CONFIG_LSS_MASTER) != 0
co->RX_IDX_LSS_MST = idxRx; idxRx += RX_CNT_LSS_MST;
#endif
co->CNT_ALL_RX_MSGS = idxRx;
int16_t idxTx = 0;
co->TX_IDX_NMT_MST = idxTx; idxTx += TX_CNT_NMT_MST;
#if (CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE
#if ((CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE) != 0
co->TX_IDX_GFC = idxTx; idxTx += TX_CNT_GFC;
#endif
#if (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE
#if ((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE) != 0
co->TX_IDX_SYNC = idxTx; idxTx += TX_CNT_SYNC;
#endif
co->TX_IDX_EM_PROD = idxTx; idxTx += TX_CNT_EM_PROD;
#if (CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE
#if ((CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE) != 0
co->TX_IDX_TIME = idxTx; idxTx += TX_CNT_TIME;
#endif
#if (CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE
#if ((CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE) != 0
co->TX_IDX_SRDO = idxTx; idxTx += TX_CNT_SRDO * 2;
#endif
#if (CO_CONFIG_PDO) & CO_CONFIG_TPDO_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_TPDO_ENABLE) != 0
co->TX_IDX_TPDO = idxTx; idxTx += TX_CNT_TPDO;
#endif
co->TX_IDX_SDO_SRV = idxTx; idxTx += TX_CNT_SDO_SRV;
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_ENABLE
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_ENABLE) != 0
co->TX_IDX_SDO_CLI = idxTx; idxTx += TX_CNT_SDO_CLI;
#endif
co->TX_IDX_HB_PROD = idxTx; idxTx += TX_CNT_HB_PROD;
#if (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE
#if ((CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE) != 0
co->TX_IDX_NG_SLV = idxTx; idxTx += 1;
#endif
#if (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_MASTER_ENABLE
#if ((CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_MASTER_ENABLE) != 0
co->TX_IDX_NG_MST = idxTx; idxTx += 1;
#endif
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE
#if ((CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE) != 0
co->TX_IDX_LSS_SLV = idxTx; idxTx += TX_CNT_LSS_SLV;
#endif
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_MASTER
#if ((CO_CONFIG_LSS) & CO_CONFIG_LSS_MASTER) != 0
co->TX_IDX_LSS_MST = idxTx; idxTx += TX_CNT_LSS_MST;
#endif
co->CNT_ALL_TX_MSGS = idxTx;
@ -669,48 +669,48 @@ void CO_delete(CO_t *co) {
CO_free(co->trace);
#endif
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII) != 0
CO_free(co->gtwa);
#endif
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_MASTER
#if ((CO_CONFIG_LSS) & CO_CONFIG_LSS_MASTER) != 0
CO_free(co->LSSmaster);
#endif
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE
#if ((CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE) != 0
CO_free(co->LSSslave);
#endif
#if (CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE
#if ((CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE) != 0
CO_free(co->SRDO);
CO_free(co->SRDOGuard);
#endif
#if (CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE
#if ((CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE) != 0
CO_free(co->GFC);
#endif
#if (CO_CONFIG_LEDS) & CO_CONFIG_LEDS_ENABLE
#if ((CO_CONFIG_LEDS) & CO_CONFIG_LEDS_ENABLE) != 0
CO_free(co->LEDs);
#endif
#if (CO_CONFIG_PDO) & CO_CONFIG_TPDO_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_TPDO_ENABLE) != 0
CO_free(co->TPDO);
#endif
#if (CO_CONFIG_PDO) & CO_CONFIG_RPDO_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_RPDO_ENABLE) != 0
CO_free(co->RPDO);
#endif
#if (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE
#if ((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE) != 0
CO_free(co->SYNC);
#endif
#if (CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE
#if ((CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE) != 0
CO_free(co->TIME);
#endif
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_ENABLE
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_ENABLE) != 0
free(co->SDOclient);
#endif
@ -719,18 +719,18 @@ void CO_delete(CO_t *co) {
/* Emergency */
CO_free(co->em);
#if (CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)
#if ((CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)) != 0
CO_free(co->em_fifo);
#endif
#if (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE
#if ((CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE) != 0
CO_free(co->NGslave);
#endif
#if (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_MASTER_ENABLE
#if ((CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_MASTER_ENABLE) != 0
CO_free(co->NGmaster);
#endif
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE) != 0)
CO_free(co->HBconsMonitoredNodes);
CO_free(co->HBcons);
#endif
@ -754,56 +754,56 @@ void CO_delete(CO_t *co) {
static CO_CANrx_t COO_CANmodule_rxArray[CO_CNT_ALL_RX_MSGS];
static CO_CANtx_t COO_CANmodule_txArray[CO_CNT_ALL_TX_MSGS];
static CO_NMT_t COO_NMT;
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE) != 0
static CO_HBconsumer_t COO_HBcons;
static CO_HBconsNode_t COO_HBconsMonitoredNodes[OD_CNT_ARR_1016];
#endif
#if (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE
#if ((CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE) != 0
static CO_nodeGuardingSlave_t COO_NGslave;
#endif
#if (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_MASTER_ENABLE
#if ((CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_MASTER_ENABLE) != 0
static CO_nodeGuardingMaster_t COO_NGmaster;
#endif
static CO_EM_t COO_EM;
#if (CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)
#if ((CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)) != 0
static CO_EM_fifo_t COO_EM_FIFO[CO_GET_CNT(ARR_1003) + 1U];
#endif
static CO_SDOserver_t COO_SDOserver[OD_CNT_SDO_SRV];
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_ENABLE
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_ENABLE) != 0
static CO_SDOclient_t COO_SDOclient[OD_CNT_SDO_CLI];
#endif
#if (CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE
#if ((CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE) != 0
static CO_TIME_t COO_TIME;
#endif
#if (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE
#if ((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE) != 0
static CO_SYNC_t COO_SYNC;
#endif
#if (CO_CONFIG_PDO) & CO_CONFIG_RPDO_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_RPDO_ENABLE) != 0
static CO_RPDO_t COO_RPDO[OD_CNT_RPDO];
#endif
#if (CO_CONFIG_PDO) & CO_CONFIG_TPDO_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_TPDO_ENABLE) != 0
static CO_TPDO_t COO_TPDO[OD_CNT_TPDO];
#endif
#if (CO_CONFIG_LEDS) & CO_CONFIG_LEDS_ENABLE
#if ((CO_CONFIG_LEDS) & CO_CONFIG_LEDS_ENABLE) != 0
static CO_LEDs_t COO_LEDs;
#endif
#if (CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE
#if ((CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE) != 0
static CO_GFC_t COO_GFC;
#endif
#if (CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE
#if ((CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE) != 0
static CO_SRDOGuard_t COO_SRDOGuard;
static CO_SRDO_t COO_SRDO[OD_CNT_SRDO];
#endif
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE
#if ((CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE) != 0
static CO_LSSslave_t COO_LSSslave;
#endif
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_MASTER
#if ((CO_CONFIG_LSS) & CO_CONFIG_LSS_MASTER) != 0
static CO_LSSmaster_t COO_LSSmaster;
#endif
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII) != 0
static CO_GTWA_t COO_gtwa;
#endif
#if (CO_CONFIG_TRACE) & CO_CONFIG_TRACE_ENABLE
#if ((CO_CONFIG_TRACE) & CO_CONFIG_TRACE_ENABLE) != 0
#ifndef CO_TRACE_BUFFER_SIZE_FIXED
#define CO_TRACE_BUFFER_SIZE_FIXED 100
#endif
@ -822,56 +822,56 @@ CO_t *CO_new(CO_config_t *config, uint32_t *heapMemoryUsed) {
co->CANtx = &COO_CANmodule_txArray[0];
co->NMT = &COO_NMT;
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE) != 0
co->HBcons = &COO_HBcons;
co->HBconsMonitoredNodes = &COO_HBconsMonitoredNodes[0];
#endif
#if (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE
#if ((CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE) != 0
co->NGslave = &COO_NGslave;
#endif
#if (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_MASTER_ENABLE
#if ((CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_MASTER_ENABLE) != 0
co->NGmaster = &COO_NGmaster;
#endif
co->em = &COO_EM;
#if (CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)
#if ((CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)) != 0
co->em_fifo = &COO_EM_FIFO[0];
#endif
co->SDOserver = &COO_SDOserver[0];
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_ENABLE
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_ENABLE) != 0
co->SDOclient = &COO_SDOclient[0];
#endif
#if (CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE
#if ((CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE) != 0
co->TIME = &COO_TIME;
#endif
#if (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE
#if ((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE) != 0
co->SYNC = &COO_SYNC;
#endif
#if (CO_CONFIG_PDO) & CO_CONFIG_RPDO_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_RPDO_ENABLE) != 0
co->RPDO = &COO_RPDO[0];
#endif
#if (CO_CONFIG_PDO) & CO_CONFIG_TPDO_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_TPDO_ENABLE) != 0
co->TPDO = &COO_TPDO[0];
#endif
#if (CO_CONFIG_LEDS) & CO_CONFIG_LEDS_ENABLE
#if ((CO_CONFIG_LEDS) & CO_CONFIG_LEDS_ENABLE) != 0
co->LEDs = &COO_LEDs;
#endif
#if (CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE
#if ((CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE) != 0
co->GFC = &COO_GFC;
#endif
#if (CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE
#if ((CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE) != 0
co->SRDOGuard = &COO_SRDOGuard;
co->SRDO = &COO_SRDO[0];
#endif
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE
#if ((CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE) != 0
co->LSSslave = &COO_LSSslave;
#endif
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_MASTER
#if ((CO_CONFIG_LSS) & CO_CONFIG_LSS_MASTER) != 0
co->LSSmaster = &COO_LSSmaster;
#endif
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII) != 0
co->gtwa = &COO_gtwa;
#endif
#if (CO_CONFIG_TRACE) & CO_CONFIG_TRACE_ENABLE
#if ((CO_CONFIG_TRACE) & CO_CONFIG_TRACE_ENABLE) != 0
co->trace = &COO_trace[0];
co->traceTimeBuffers = &COO_traceTimeBuffers[0][0];
co->traceValueBuffers = &COO_traceValueBuffers[0][0];
@ -894,7 +894,7 @@ void CO_delete(CO_t *co) {
bool_t CO_isLSSslaveEnabled(CO_t *co) {
(void) co; /* may be unused */
bool_t en = false;
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE
#if ((CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE) != 0
if (CO_GET_CNT(LSS_SLV) == 1U) { en = true; }
#endif
return en;
@ -923,7 +923,7 @@ CO_ReturnError_t CO_CANinit(CO_t *co, void *CANptr, uint16_t bitRate) {
/******************************************************************************/
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE
#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,
@ -986,7 +986,7 @@ CO_ReturnError_t CO_CANopenInit(CO_t *co,
/* Verify CANopen Node-ID */
co->nodeIdUnconfigured = false;
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE
#if ((CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE) != 0
if ((CO_GET_CNT(LSS_SLV) == 1U) && (nodeId == CO_LSS_NODE_ID_ASSIGNMENT)) {
co->nodeIdUnconfigured = true;
}
@ -997,7 +997,7 @@ CO_ReturnError_t CO_CANopenInit(CO_t *co,
}
else { /* MISRA C 2004 14.10 */ }
#if (CO_CONFIG_LEDS) & CO_CONFIG_LEDS_ENABLE
#if ((CO_CONFIG_LEDS) & CO_CONFIG_LEDS_ENABLE) != 0
if (CO_GET_CNT(LEDS) == 1U) {
err = CO_LEDs_init(co->LEDs);
if (err) { return err; }
@ -1014,24 +1014,24 @@ CO_ReturnError_t CO_CANopenInit(CO_t *co,
err = CO_EM_init(co->em,
co->CANmodule,
OD_GET(H1001, OD_H1001_ERR_REG),
#if (CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)
#if ((CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)) != 0
co->em_fifo,
(CO_GET_CNT(ARR_1003) + 1U),
#endif
#if (CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_PRODUCER) != 0
OD_GET(H1014, OD_H1014_COBID_EMERGENCY),
CO_GET_CO(TX_IDX_EM_PROD),
#if (CO_CONFIG_EM) & CO_CONFIG_EM_PROD_INHIBIT
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_PROD_INHIBIT) != 0
OD_GET(H1015, OD_H1015_INHIBIT_TIME_EMCY),
#endif
#endif
#if (CO_CONFIG_EM) & CO_CONFIG_EM_HISTORY
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_HISTORY) != 0
OD_GET(H1003, OD_H1003_PREDEF_ERR_FIELD),
#endif
#if (CO_CONFIG_EM) & CO_CONFIG_EM_STATUS_BITS
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_STATUS_BITS) != 0
OD_statusBits,
#endif
#if (CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER
#if ((CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER) != 0
co->CANmodule,
CO_GET_CO(RX_IDX_EM_CONS),
#endif
@ -1051,7 +1051,7 @@ CO_ReturnError_t CO_CANopenInit(CO_t *co,
co->CANmodule,
CO_GET_CO(RX_IDX_NMT_SLV),
CO_CAN_ID_NMT_SERVICE,
#if (CO_CONFIG_NMT) & CO_CONFIG_NMT_MASTER
#if ((CO_CONFIG_NMT) & CO_CONFIG_NMT_MASTER) != 0
co->CANmodule,
CO_GET_CO(TX_IDX_NMT_MST),
CO_CAN_ID_NMT_SERVICE,
@ -1063,7 +1063,7 @@ CO_ReturnError_t CO_CANopenInit(CO_t *co,
if (err) { return err; }
}
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE) != 0
if (CO_GET_CNT(HB_CONS) == 1U) {
err = CO_HBconsumer_init(co->HBcons,
em,
@ -1077,7 +1077,7 @@ CO_ReturnError_t CO_CANopenInit(CO_t *co,
}
#endif
#if (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE
#if ((CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE) != 0
err = CO_nodeGuardingSlave_init(co->NGslave,
OD_GET(H100C, OD_H100C_GUARD_TIME),
OD_GET(H100D, OD_H100D_LIFETIME_FACTOR),
@ -1090,7 +1090,7 @@ CO_ReturnError_t CO_CANopenInit(CO_t *co,
errInfo);
if (err) { return err; }
#endif
#if (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_MASTER_ENABLE
#if ((CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_MASTER_ENABLE) != 0
err = CO_nodeGuardingMaster_init(co->NGmaster,
em,
co->CANmodule,
@ -1118,7 +1118,7 @@ CO_ReturnError_t CO_CANopenInit(CO_t *co,
}
}
#if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_ENABLE
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_ENABLE) != 0
if (CO_GET_CNT(SDO_CLI) > 0) {
OD_entry_t *SDOcliPar = OD_GET(H1280, OD_H1280_SDO_CLIENT_1_PARAM);
for (uint16_t i = 0; i < CO_GET_CNT(SDO_CLI); i++) {
@ -1136,13 +1136,13 @@ CO_ReturnError_t CO_CANopenInit(CO_t *co,
}
#endif
#if (CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE
#if ((CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE) != 0
if (CO_GET_CNT(TIME) == 1U) {
err = CO_TIME_init(co->TIME,
OD_GET(H1012, OD_H1012_COBID_TIME),
co->CANmodule,
CO_GET_CO(RX_IDX_TIME),
#if (CO_CONFIG_TIME) & CO_CONFIG_TIME_PRODUCER
#if ((CO_CONFIG_TIME) & CO_CONFIG_TIME_PRODUCER) != 0
co->CANmodule,
CO_GET_CO(TX_IDX_TIME),
#endif
@ -1151,7 +1151,7 @@ CO_ReturnError_t CO_CANopenInit(CO_t *co,
}
#endif
#if (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE
#if ((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE) != 0
if (CO_GET_CNT(SYNC) == 1U) {
err = CO_SYNC_init(co->SYNC,
em,
@ -1161,7 +1161,7 @@ CO_ReturnError_t CO_CANopenInit(CO_t *co,
OD_GET(H1019, OD_H1019_SYNC_CNT_OVERFLOW),
co->CANmodule,
CO_GET_CO(RX_IDX_SYNC),
#if (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER
#if ((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_PRODUCER) != 0
co->CANmodule,
CO_GET_CO(TX_IDX_SYNC),
#endif
@ -1170,7 +1170,7 @@ CO_ReturnError_t CO_CANopenInit(CO_t *co,
}
#endif
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_MASTER
#if ((CO_CONFIG_LSS) & CO_CONFIG_LSS_MASTER) != 0
if (CO_GET_CNT(LSS_MST) == 1) {
err = CO_LSSmaster_init(co->LSSmaster,
CO_LSSmaster_DEFAULT_TIMEOUT,
@ -1184,21 +1184,21 @@ CO_ReturnError_t CO_CANopenInit(CO_t *co,
}
#endif
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII) != 0
if (CO_GET_CNT(GTWA) == 1) {
err = CO_GTWA_init(co->gtwa,
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO) != 0
&co->SDOclient[0],
SDOclientTimeoutTime_ms,
SDOclientBlockTransfer,
#endif
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_NMT
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_NMT) != 0
co->NMT,
#endif
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LSS
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LSS) != 0
co->LSSmaster,
#endif
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS) != 0
co->LEDs,
#endif
0);
@ -1249,7 +1249,7 @@ CO_ReturnError_t CO_CANopenInitPDO(CO_t *co,
? CO_ERROR_NODE_ID_UNCONFIGURED_LSS : CO_ERROR_ILLEGAL_ARGUMENT;
}
#if (CO_CONFIG_PDO) & CO_CONFIG_RPDO_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_RPDO_ENABLE) != 0
if (CO_GET_CNT(RPDO) > 0U) {
OD_entry_t *RPDOcomm = OD_GET(H1400, OD_H1400_RXPDO_1_PARAM);
OD_entry_t *RPDOmap = OD_GET(H1600, OD_H1600_RXPDO_1_MAPPING);
@ -1269,7 +1269,7 @@ CO_ReturnError_t CO_CANopenInitPDO(CO_t *co,
err = CO_RPDO_init(&co->RPDO[i],
od,
em,
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) != 0
co->SYNC,
#endif
preDefinedCanId,
@ -1283,7 +1283,7 @@ CO_ReturnError_t CO_CANopenInitPDO(CO_t *co,
}
#endif
#if (CO_CONFIG_PDO) & CO_CONFIG_TPDO_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_TPDO_ENABLE) != 0
if (CO_GET_CNT(TPDO) > 0U) {
OD_entry_t *TPDOcomm = OD_GET(H1800, OD_H1800_TXPDO_1_PARAM);
OD_entry_t *TPDOmap = OD_GET(H1A00, OD_H1A00_TXPDO_1_MAPPING);
@ -1303,7 +1303,7 @@ CO_ReturnError_t CO_CANopenInitPDO(CO_t *co,
err = CO_TPDO_init(&co->TPDO[i],
od,
em,
#if (CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) != 0
co->SYNC,
#endif
preDefinedCanId,
@ -1322,7 +1322,7 @@ CO_ReturnError_t CO_CANopenInitPDO(CO_t *co,
/******************************************************************************/
#if ((CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE) || ((CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE)
#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,
@ -1338,7 +1338,7 @@ CO_ReturnError_t CO_CANopenInitSRDO(CO_t *co,
}
#if (CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE
#if ((CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE) != 0
if (CO_GET_CNT(GFC) == 1) {
CO_ReturnError_t err;
err = CO_GFC_init(co->GFC,
@ -1353,7 +1353,7 @@ CO_ReturnError_t CO_CANopenInitSRDO(CO_t *co,
}
#endif
#if (CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE
#if ((CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE) != 0
if (CO_GET_CNT(SRDO) > 0U) {
CO_ReturnError_t err;
err = CO_SRDO_init_start(co->SRDOGuard,
@ -1414,7 +1414,7 @@ CO_NMT_reset_cmd_t CO_process(CO_t *co,
/* CAN module */
CO_CANmodule_process(co->CANmodule);
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE
#if ((CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE)
if (CO_GET_CNT(LSS_SLV) == 1U) {
if (CO_LSSslave_process(co->LSSslave)) {
reset = CO_RESET_COMM;
@ -1422,11 +1422,11 @@ CO_NMT_reset_cmd_t CO_process(CO_t *co,
}
#endif
#if (CO_CONFIG_LEDS) & CO_CONFIG_LEDS_ENABLE
#if ((CO_CONFIG_LEDS) & CO_CONFIG_LEDS_ENABLE) != 0
bool_t unc = co->nodeIdUnconfigured;
uint16_t CANerrorStatus = co->CANmodule->CANerrorStatus;
bool_t LSSslave_configuration = false;
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE
#if ((CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE) != 0
if ((CO_GET_CNT(LSS_SLV) == 1U)
&& (CO_LSSslave_getState(co->LSSslave) == CO_LSS_STATE_CONFIGURATION)
) {
@ -1486,7 +1486,7 @@ CO_NMT_reset_cmd_t CO_process(CO_t *co,
timerNext_us);
}
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE) != 0
if (CO_GET_CNT(HB_CONS) == 1U) {
CO_HBconsumer_process(co->HBcons,
NMTisPreOrOperational,
@ -1495,26 +1495,26 @@ CO_NMT_reset_cmd_t CO_process(CO_t *co,
}
#endif
#if (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE
#if ((CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE) != 0
CO_nodeGuardingSlave_process(co->NGslave,
NMTstate,
(co->NMT->HBproducerTime_us > 0U),
timeDifference_us,
timerNext_us);
#endif
#if (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_MASTER_ENABLE
#if ((CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_MASTER_ENABLE) != 0
CO_nodeGuardingMaster_process(co->NGmaster,
timeDifference_us,
timerNext_us);
#endif
#if (CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE
#if ((CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE) != 0
if (CO_GET_CNT(TIME) == 1U) {
CO_TIME_process(co->TIME, NMTisPreOrOperational, timeDifference_us);
}
#endif
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII) != 0
if (CO_GET_CNT(GTWA) == 1) {
CO_GTWA_process(co->gtwa,
enableGateway,
@ -1528,7 +1528,7 @@ CO_NMT_reset_cmd_t CO_process(CO_t *co,
/******************************************************************************/
#if (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE
#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)
@ -1566,7 +1566,7 @@ bool_t CO_process_SYNC(CO_t *co,
/******************************************************************************/
#if (CO_CONFIG_PDO) & CO_CONFIG_RPDO_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_RPDO_ENABLE) != 0
void CO_process_RPDO(CO_t *co,
bool_t syncWas,
uint32_t timeDifference_us,
@ -1582,7 +1582,7 @@ void CO_process_RPDO(CO_t *co,
for (uint16_t i = 0; i < CO_GET_CNT(RPDO); i++) {
CO_RPDO_process(&co->RPDO[i],
#if (CO_CONFIG_PDO) & CO_CONFIG_RPDO_TIMERS_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_RPDO_TIMERS_ENABLE) != 0
timeDifference_us,
timerNext_us,
#endif
@ -1594,7 +1594,7 @@ void CO_process_RPDO(CO_t *co,
/******************************************************************************/
#if (CO_CONFIG_PDO) & CO_CONFIG_TPDO_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_TPDO_ENABLE) != 0
void CO_process_TPDO(CO_t *co,
bool_t syncWas,
uint32_t timeDifference_us,
@ -1610,7 +1610,7 @@ void CO_process_TPDO(CO_t *co,
for (uint16_t i = 0; i < CO_GET_CNT(TPDO); i++) {
CO_TPDO_process(&co->TPDO[i],
#if (CO_CONFIG_PDO) & CO_CONFIG_TPDO_TIMERS_ENABLE
#if ((CO_CONFIG_PDO) & CO_CONFIG_TPDO_TIMERS_ENABLE) != 0
timeDifference_us,
timerNext_us,
#endif
@ -1622,7 +1622,7 @@ void CO_process_TPDO(CO_t *co,
/******************************************************************************/
#if (CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE
#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)

42
CANopen.h
View file

@ -300,7 +300,7 @@ typedef struct {
uint16_t TX_IDX_NMT_MST; /**< Start index in CANtx. */
uint16_t TX_IDX_HB_PROD; /**< Start index in CANtx. */
#endif
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE) != 0) || defined CO_DOXYGEN
/** Heartbeat consumer object, initialised by @ref CO_HBconsumer_init() */
CO_HBconsumer_t *HBcons;
/** Object for monitored nodes, initialised by @ref CO_HBconsumer_init() */
@ -309,7 +309,7 @@ typedef struct {
uint16_t RX_IDX_HB_CONS; /**< Start index in CANrx. */
#endif
#endif
#if ((CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE) != 0) || defined CO_DOXYGEN
/** Node guarding slave object, initialised by @ref CO_nodeGuardingSlave_init() */
CO_nodeGuardingSlave_t *NGslave;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
@ -317,7 +317,7 @@ typedef struct {
uint16_t TX_IDX_NG_SLV; /**< Start index in CANtx. */
#endif
#endif
#if ((CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_MASTER_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_MASTER_ENABLE) != 0) || defined CO_DOXYGEN
/** Node guarding master object, initialised by @ref CO_nodeGuardingMaster_init() */
CO_nodeGuardingMaster_t *NGmaster;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
@ -331,7 +331,7 @@ typedef struct {
uint16_t RX_IDX_EM_CONS; /**< Start index in CANrx. */
uint16_t TX_IDX_EM_PROD; /**< Start index in CANtx. */
#endif
#if ((CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)) \
#if (((CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)) != 0) \
|| defined CO_DOXYGEN
/** FIFO for emergency object, initialised by @ref CO_EM_init() */
CO_EM_fifo_t *em_fifo;
@ -342,7 +342,7 @@ typedef struct {
uint16_t RX_IDX_SDO_SRV; /**< Start index in CANrx. */
uint16_t TX_IDX_SDO_SRV; /**< Start index in CANtx. */
#endif
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_ENABLE) != 0) || defined CO_DOXYGEN
/** SDO client objects, initialised by @ref CO_SDOclient_init() */
CO_SDOclient_t *SDOclient;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
@ -350,7 +350,7 @@ typedef struct {
uint16_t TX_IDX_SDO_CLI; /**< Start index in CANtx. */
#endif
#endif
#if ((CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE) != 0) || defined CO_DOXYGEN
/** TIME object, initialised by @ref CO_TIME_init() */
CO_TIME_t *TIME;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
@ -358,7 +358,7 @@ typedef struct {
uint16_t TX_IDX_TIME; /**< Start index in CANtx. */
#endif
#endif
#if ((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE) != 0) || defined CO_DOXYGEN
/** SYNC object, initialised by @ref CO_SYNC_init() */
CO_SYNC_t *SYNC;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
@ -366,25 +366,25 @@ typedef struct {
uint16_t TX_IDX_SYNC; /**< Start index in CANtx. */
#endif
#endif
#if ((CO_CONFIG_PDO) & CO_CONFIG_RPDO_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_PDO) & CO_CONFIG_RPDO_ENABLE) != 0) || defined CO_DOXYGEN
/** RPDO objects, initialised by @ref CO_RPDO_init() */
CO_RPDO_t *RPDO;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
uint16_t RX_IDX_RPDO; /**< Start index in CANrx. */
#endif
#endif
#if ((CO_CONFIG_PDO) & CO_CONFIG_TPDO_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_PDO) & CO_CONFIG_TPDO_ENABLE) != 0) || defined CO_DOXYGEN
/** TPDO objects, initialised by @ref CO_TPDO_init() */
CO_TPDO_t *TPDO;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
uint16_t TX_IDX_TPDO; /**< Start index in CANtx. */
#endif
#endif
#if ((CO_CONFIG_LEDS) & CO_CONFIG_LEDS_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_LEDS) & CO_CONFIG_LEDS_ENABLE) != 0) || defined CO_DOXYGEN
/** LEDs object, initialised by @ref CO_LEDs_init() */
CO_LEDs_t *LEDs;
#endif
#if ((CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE) != 0) || defined CO_DOXYGEN
/** GFC object, initialised by @ref CO_GFC_init() */
CO_GFC_t *GFC;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
@ -392,7 +392,7 @@ typedef struct {
uint16_t TX_IDX_GFC; /**< Start index in CANtx. */
#endif
#endif
#if ((CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE) != 0) || defined CO_DOXYGEN
/** SRDO guard object, initialised by @ref CO_SRDO_init_start(), single
* SRDOGuard object is included inside all SRDO objects */
CO_SRDOGuard_t *SRDOGuard;
@ -403,7 +403,7 @@ typedef struct {
uint16_t TX_IDX_SRDO; /**< Start index in CANtx. */
#endif
#endif
#if ((CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE) || defined CO_DOXYGEN
#if (((CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE) != 0) || defined CO_DOXYGEN
/** LSS slave object, initialised by @ref CO_LSSslave_init(). */
CO_LSSslave_t *LSSslave;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
@ -411,7 +411,7 @@ typedef struct {
uint16_t TX_IDX_LSS_SLV; /**< Start index in CANtx. */
#endif
#endif
#if ((CO_CONFIG_LSS) & CO_CONFIG_LSS_MASTER) || defined CO_DOXYGEN
#if (((CO_CONFIG_LSS) & CO_CONFIG_LSS_MASTER) != 0) || defined CO_DOXYGEN
/** LSS master object, initialised by @ref CO_LSSmaster_init(). */
CO_LSSmaster_t *LSSmaster;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
@ -419,7 +419,7 @@ typedef struct {
uint16_t TX_IDX_LSS_MST; /**< Start index in CANtx. */
#endif
#endif
#if ((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII) || defined CO_DOXYGEN
#if (((CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII) != 0) || defined CO_DOXYGEN
/** Gateway-ascii object, initialised by @ref CO_GTWA_init(). */
CO_GTWA_t *gtwa;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
@ -486,7 +486,7 @@ bool_t CO_isLSSslaveEnabled(CO_t *co);
CO_ReturnError_t CO_CANinit(CO_t *co, void *CANptr, uint16_t bitRate);
#if ((CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE) || defined CO_DOXYGEN
#if (((CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE) != 0) || defined CO_DOXYGEN
/**
* Initialize CANopen LSS slave
*
@ -596,7 +596,7 @@ CO_ReturnError_t CO_CANopenInitPDO(CO_t *co,
*
* @return CO_ERROR_NO in case of success.
*/
#if ((CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE) || ((CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE)
#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,
@ -633,7 +633,7 @@ CO_NMT_reset_cmd_t CO_process(CO_t *co,
uint32_t *timerNext_us);
#if ((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE) != 0) || defined CO_DOXYGEN
/**
* Process CANopen SYNC objects.
*
@ -654,7 +654,7 @@ bool_t CO_process_SYNC(CO_t *co,
#endif
#if ((CO_CONFIG_PDO) & CO_CONFIG_RPDO_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_PDO) & CO_CONFIG_RPDO_ENABLE) != 0) || defined CO_DOXYGEN
/**
* Process CANopen RPDO objects.
*
@ -676,7 +676,7 @@ void CO_process_RPDO(CO_t *co,
#endif
#if ((CO_CONFIG_PDO) & CO_CONFIG_TPDO_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_PDO) & CO_CONFIG_TPDO_ENABLE) != 0) || defined CO_DOXYGEN
/**
* Process CANopen TPDO objects.
*
@ -698,7 +698,7 @@ void CO_process_TPDO(CO_t *co,
#endif
#if ((CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE) != 0) || defined CO_DOXYGEN
/**
* Process CANopen SRDO objects.
*

2
storage/CO_storage.c
View file

@ -24,7 +24,7 @@
#include "storage/CO_storage.h"
#if (CO_CONFIG_STORAGE) & CO_CONFIG_STORAGE_ENABLE
#if ((CO_CONFIG_STORAGE) & CO_CONFIG_STORAGE_ENABLE) != 0
/*
* Custom function for writing OD object "Store parameters"

2
storage/CO_storage.h
View file

@ -34,7 +34,7 @@
#define CO_CONFIG_STORAGE (CO_CONFIG_STORAGE_ENABLE)
#endif
#if ((CO_CONFIG_STORAGE) & CO_CONFIG_STORAGE_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_STORAGE) & CO_CONFIG_STORAGE_ENABLE) != 0) || defined CO_DOXYGEN
#ifdef __cplusplus
extern "C" {

2
storage/CO_storageEeprom.c
View file

@ -26,7 +26,7 @@
#include "storage/CO_eeprom.h"
#include "301/crc16-ccitt.h"
#if (CO_CONFIG_STORAGE) & CO_CONFIG_STORAGE_ENABLE
#if ((CO_CONFIG_STORAGE) & CO_CONFIG_STORAGE_ENABLE) != 0
/*
* Function for writing data on "Store parameters" command - OD object 1010

2
storage/CO_storageEeprom.h
View file

@ -28,7 +28,7 @@
#include "storage/CO_storage.h"
#if ((CO_CONFIG_STORAGE) & CO_CONFIG_STORAGE_ENABLE) || defined CO_DOXYGEN
#if (((CO_CONFIG_STORAGE) & CO_CONFIG_STORAGE_ENABLE) != 0) || defined CO_DOXYGEN
#ifdef __cplusplus
extern "C" {