nikon/CANopenNode
1
0
Fork 0
Code Activity Actions

clang-format: ReflowComments: true

Browse source
This commit is contained in:
Janez 2024-07-07 01:05:10 +02:00
parent b87fad2195
commit f46f1e2733
14 changed files with 201 additions and 196 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

2
.clang-format
View file

@ -135,7 +135,7 @@ PenaltyIndentedWhitespace: 0
PointerAlignment: Left
PPIndentWidth: -1
ReferenceAlignment: Pointer
ReflowComments: false
ReflowComments: true
RemoveBracesLLVM: false
SeparateDefinitionBlocks: Always
ShortNamespaceLines: 1

12
301/CO_Emergency.h
View file

@ -210,7 +210,8 @@ extern "C" {
#define CO_EM_10_unused 0x10U /**< 0x10 communication critical (unused) */
#define CO_EM_11_unused 0x11U /**< 0x11 communication critical (unused) */
#define CO_EM_CAN_TX_BUS_OFF 0x12U /**< 0x12 communication critical CAN transmit bus is off */
#define CO_EM_CAN_RXB_OVERFLOW 0x13U /**< 0x13 communication critical CAN module receive buffer has overflowed */
#define CO_EM_CAN_RXB_OVERFLOW 0x13U /**< 0x13 communication critical CAN module receive buffer has overflowed \
*/
#define CO_EM_CAN_TX_OVERFLOW 0x14U /**< 0x14 communication critical CAN transmit buffer has overflowed */
#define CO_EM_TPDO_OUTSIDE_WINDOW 0x15U /**< 0x15 communication critical TPDO is outside SYNC window */
#define CO_EM_16_unused 0x16U /**< 0x16 communication critical (unused) */
@ -221,7 +222,8 @@ extern "C" {
#define CO_EM_HEARTBEAT_CONSUMER 0x1BU /**< 0x1B communication critical Heartbeat consumer timeout */
#define CO_EM_HB_CONSUMER_REMOTE_RESET \
0x1CU /**< 0x1C communication critical Heartbeat consumer detected remote node reset */
#define CO_EM_SRDO_CONFIGURATION 0x1DU /**< 0x1D communication critical Error in SRDO configuration parameters. */
#define CO_EM_SRDO_CONFIGURATION 0x1DU /**< 0x1D communication critical Error in SRDO configuration parameters. \
*/
#define CO_EM_1E_unused 0x1EU /**< 0x1E communication critical (unused) */
#define CO_EM_1F_unused 0x1FU /**< 0x1F communication critical (unused) */
@ -233,9 +235,11 @@ extern "C" {
#define CO_EM_24_unused 0x24U /**< 0x24 generic info (unused) */
#define CO_EM_25_unused 0x25U /**< 0x25 generic info (unused) */
#define CO_EM_26_unused 0x26U /**< 0x26 generic info (unused) */
#define CO_EM_NON_VOLATILE_AUTO_SAVE 0x27U /**< 0x27 generic info Automatic store to non-volatile memory failed */
#define CO_EM_NON_VOLATILE_AUTO_SAVE 0x27U /**< 0x27 generic info Automatic store to non-volatile memory failed \
*/
#define CO_EM_WRONG_ERROR_REPORT 0x28U /**< 0x28 generic critical Wrong parameters to CO_errorReport() function*/
#define CO_EM_WRONG_ERROR_REPORT 0x28U /**< 0x28 generic critical Wrong parameters to CO_errorReport() \
function*/
#define CO_EM_ISR_TIMER_OVERFLOW 0x29U /**< 0x29 generic critical Timer task has overflowed */
#define CO_EM_MEMORY_ALLOCATION_ERROR 0x2AU /**< 0x2A generic critical Unable to allocate memory for objects */
#define CO_EM_GENERIC_ERROR 0x2BU /**< 0x2B generic critical Generic error test usage */

2
301/CO_NMT_Heartbeat.h
View file

@ -118,7 +118,7 @@ typedef enum {
/**
* @defgroup CO_NMT_control_t NMT control bitfield for NMT internal state.
* @{
*
*
*
* Variable of this type is passed to @ref CO_NMT_init() function. It
* controls behavior of the @ref CO_NMT_internalState_t of the device according

4
301/CO_ODinterface.h
View file

@ -133,8 +133,8 @@ typedef enum {
*/
typedef enum {
/* !!!! WARNING !!!!
* If changing these values, change also OD_getSDOabCode() function!
*/
* If changing these values, change also OD_getSDOabCode() function!
*/
/** Read/write is only partial, make more calls */
ODR_PARTIAL = -1,
/** SDO abort 0x00000000 - Read/write successfully finished */

2
301/CO_SDOclient.c
View file

@ -73,7 +73,7 @@ CO_SDOclient_receive(void* object, void* msg) {
CO_FLAG_SET(SDO_C->CANrxNew);
#if ((CO_CONFIG_SDO_CLI)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0
/* Optional signal to RTOS, which can resume task, which handles
* SDO client processing. */
* SDO client processing. */
if (SDO_C->pFunctSignal != NULL) {
SDO_C->pFunctSignal(SDO_C->functSignalObject);
}

2
301/CO_SDOserver.c
View file

@ -79,7 +79,7 @@ CO_SDO_receive(void* object, void* msg) {
SDO->block_seqno = seqno;
/* Copy data. There is always enough space in buffer,
* because block_blksize was calculated before */
* because block_blksize was calculated before */
(void)memcpy(SDO->buf + SDO->bufOffsetWr, &data[1], 7);
SDO->bufOffsetWr += 7;
SDO->sizeTran += 7;

332
301/CO_SDOserver.h
View file

@ -97,224 +97,224 @@ extern "C" {
*/
typedef enum {
/**
* - SDO client may start new download to or upload from specified node,
* specified index and specified subindex. It can start normal or block
* communication.
* - SDO server is waiting for client request. */
* - SDO client may start new download to or upload from specified node,
* specified index and specified subindex. It can start normal or block
* communication.
* - SDO server is waiting for client request. */
CO_SDO_ST_IDLE = 0x00U,
/**
* - SDO client or server may send SDO abort message in case of error:
* - byte 0: @b 10000000 binary.
* - byte 1..3: Object index and subIndex.
* - byte 4..7: #CO_SDO_abortCode_t. */
* - SDO client or server may send SDO abort message in case of error:
* - byte 0: @b 10000000 binary.
* - byte 1..3: Object index and subIndex.
* - byte 4..7: #CO_SDO_abortCode_t. */
CO_SDO_ST_ABORT = 0x01U,
/**
* - SDO client: Node-ID of the SDO server is the same as node-ID of this node,
* SDO client is the same device as SDO server. Transfer data directly without
* communication on CAN.
* - SDO server does not use this state. */
* - SDO client: Node-ID of the SDO server is the same as node-ID of this node,
* SDO client is the same device as SDO server. Transfer data directly without
* communication on CAN.
* - SDO server does not use this state. */
CO_SDO_ST_DOWNLOAD_LOCAL_TRANSFER = 0x10U,
/**
* - SDO client initiates SDO download:
* - byte 0: @b 0010nnes binary: (nn: if e=s=1, number of data bytes, that do
* @b not contain data; e=1 for expedited transfer; s=1 if data size is
* indicated.)
* - byte 1..3: Object index and subIndex.
* - byte 4..7: If e=1, expedited data are here. If e=0 s=1, size of data for
* segmented transfer is indicated here.
* - SDO server is in #CO_SDO_ST_IDLE state and waits for client request. */
* - SDO client initiates SDO download:
* - byte 0: @b 0010nnes binary: (nn: if e=s=1, number of data bytes, that do
* @b not contain data; e=1 for expedited transfer; s=1 if data size is
* indicated.)
* - byte 1..3: Object index and subIndex.
* - byte 4..7: If e=1, expedited data are here. If e=0 s=1, size of data for
* segmented transfer is indicated here.
* - SDO server is in #CO_SDO_ST_IDLE state and waits for client request. */
CO_SDO_ST_DOWNLOAD_INITIATE_REQ = 0x11U,
/**
* - SDO client waits for response.
* - SDO server responses:
* - byte 0: @b 01100000 binary.
* - byte 1..3: Object index and subIndex.
* - byte 4..7: Reserved.
* - In case of expedited transfer communication ends here. */
* - SDO client waits for response.
* - SDO server responses:
* - byte 0: @b 01100000 binary.
* - byte 1..3: Object index and subIndex.
* - byte 4..7: Reserved.
* - In case of expedited transfer communication ends here. */
CO_SDO_ST_DOWNLOAD_INITIATE_RSP = 0x12U,
/**
* - SDO client sends SDO segment:
* - byte 0: @b 000tnnnc binary: (t: toggle bit, set to 0 in first segment;
* nnn: number of data bytes, that do @b not contain data; c=1 if this is the
* last segment).
* - byte 1..7: Data segment.
* - SDO server waits for segment. */
* - SDO client sends SDO segment:
* - byte 0: @b 000tnnnc binary: (t: toggle bit, set to 0 in first segment;
* nnn: number of data bytes, that do @b not contain data; c=1 if this is the
* last segment).
* - byte 1..7: Data segment.
* - SDO server waits for segment. */
CO_SDO_ST_DOWNLOAD_SEGMENT_REQ = 0x13U,
/**
* - SDO client waits for response.
* - SDO server responses:
* - byte 0: @b 001t0000 binary: (t: toggle bit, set to 0 in first segment).
* - byte 1..7: Reserved.
* - If c was set to 1, then communication ends here. */
* - SDO client waits for response.
* - SDO server responses:
* - byte 0: @b 001t0000 binary: (t: toggle bit, set to 0 in first segment).
* - byte 1..7: Reserved.
* - If c was set to 1, then communication ends here. */
CO_SDO_ST_DOWNLOAD_SEGMENT_RSP = 0x14U,
/**
* - SDO client: Node-ID of the SDO server is the same as node-ID of this node,
* SDO client is the same device as SDO server. Transfer data directly without
* communication on CAN.
* - SDO server does not use this state. */
* - SDO client: Node-ID of the SDO server is the same as node-ID of this node,
* SDO client is the same device as SDO server. Transfer data directly without
* communication on CAN.
* - SDO server does not use this state. */
CO_SDO_ST_UPLOAD_LOCAL_TRANSFER = 0x20U,
/**
* - SDO client initiates SDO upload:
* - byte 0: @b 01000000 binary.
* - byte 1..3: Object index and subIndex.
* - byte 4..7: Reserved.
* - SDO server is in #CO_SDO_ST_IDLE state and waits for client request. */
* - SDO client initiates SDO upload:
* - byte 0: @b 01000000 binary.
* - byte 1..3: Object index and subIndex.
* - byte 4..7: Reserved.
* - SDO server is in #CO_SDO_ST_IDLE state and waits for client request. */
CO_SDO_ST_UPLOAD_INITIATE_REQ = 0x21U,
/**
* - SDO client waits for response.
* - SDO server responses:
* - byte 0: @b 0100nnes binary: (nn: if e=s=1, number of data bytes, that do
* @b not contain data; e=1 for expedited transfer; s=1 if data size is
* indicated).
* - byte 1..3: Object index and subIndex.
* - byte 4..7: If e=1, expedited data are here. If e=0 s=1, size of data for
* segmented transfer is indicated here.
* - In case of expedited transfer communication ends here. */
* - SDO client waits for response.
* - SDO server responses:
* - byte 0: @b 0100nnes binary: (nn: if e=s=1, number of data bytes, that do
* @b not contain data; e=1 for expedited transfer; s=1 if data size is
* indicated).
* - byte 1..3: Object index and subIndex.
* - byte 4..7: If e=1, expedited data are here. If e=0 s=1, size of data for
* segmented transfer is indicated here.
* - In case of expedited transfer communication ends here. */
CO_SDO_ST_UPLOAD_INITIATE_RSP = 0x22U,
/**
* - SDO client requests SDO segment:
* - byte 0: @b 011t0000 binary: (t: toggle bit, set to 0 in first segment).
* - byte 1..7: Reserved.
* - SDO server waits for segment request. */
* - SDO client requests SDO segment:
* - byte 0: @b 011t0000 binary: (t: toggle bit, set to 0 in first segment).
* - byte 1..7: Reserved.
* - SDO server waits for segment request. */
CO_SDO_ST_UPLOAD_SEGMENT_REQ = 0x23U,
/**
* - SDO client waits for response.
* - SDO server responses with data:
* - byte 0: @b 000tnnnc binary: (t: toggle bit, set to 0 in first segment;
* nnn: number of data bytes, that do @b not contain data; c=1 if this is the
* last segment).
* - byte 1..7: Data segment.
* - If c is set to 1, then communication ends here. */
* - SDO client waits for response.
* - SDO server responses with data:
* - byte 0: @b 000tnnnc binary: (t: toggle bit, set to 0 in first segment;
* nnn: number of data bytes, that do @b not contain data; c=1 if this is the
* last segment).
* - byte 1..7: Data segment.
* - If c is set to 1, then communication ends here. */
CO_SDO_ST_UPLOAD_SEGMENT_RSP = 0x24U,
/**
* - SDO client initiates SDO block download:
* - byte 0: @b 11000rs0 binary: (r=1 if client supports generating CRC on
* data; s=1 if data size is indicated.)
* - byte 1..3: Object index and subIndex.
* - byte 4..7: If s=1, then size of data for block download is indicated here.
* - SDO server is in #CO_SDO_ST_IDLE state and waits for client request. */
* - SDO client initiates SDO block download:
* - byte 0: @b 11000rs0 binary: (r=1 if client supports generating CRC on
* data; s=1 if data size is indicated.)
* - byte 1..3: Object index and subIndex.
* - byte 4..7: If s=1, then size of data for block download is indicated here.
* - SDO server is in #CO_SDO_ST_IDLE state and waits for client request. */
CO_SDO_ST_DOWNLOAD_BLK_INITIATE_REQ = 0x51U,
/**
* - SDO client waits for response.
* - SDO server responses:
* - byte 0: @b 10100r00 binary: (r=1 if server supports generating CRC on
* data.)
* - byte 1..3: Object index and subIndex.
* - byte 4: blksize: Number of segments per block that shall be used by the
* client for the following block download with 0 < blksize < 128.
* - byte 5..7: Reserved. */
* - SDO client waits for response.
* - SDO server responses:
* - byte 0: @b 10100r00 binary: (r=1 if server supports generating CRC on
* data.)
* - byte 1..3: Object index and subIndex.
* - byte 4: blksize: Number of segments per block that shall be used by the
* client for the following block download with 0 < blksize < 128.
* - byte 5..7: Reserved. */
CO_SDO_ST_DOWNLOAD_BLK_INITIATE_RSP = 0x52U,
/**
* - SDO client sends 'blksize' segments of data in sequence:
* - byte 0: @b cnnnnnnn binary: (c=1 if no more segments to be downloaded,
* enter SDO block download end phase; nnnnnnn is sequence number of segment,
* 1..127.
* - byte 1..7: At most 7 bytes of segment data to be downloaded.
* - SDO server reads sequence of 'blksize' blocks. */
* - SDO client sends 'blksize' segments of data in sequence:
* - byte 0: @b cnnnnnnn binary: (c=1 if no more segments to be downloaded,
* enter SDO block download end phase; nnnnnnn is sequence number of segment,
* 1..127.
* - byte 1..7: At most 7 bytes of segment data to be downloaded.
* - SDO server reads sequence of 'blksize' blocks. */
CO_SDO_ST_DOWNLOAD_BLK_SUBBLOCK_REQ = 0x53U,
/**
* - SDO client waits for response.
* - SDO server responses:
* - byte 0: @b 10100010 binary.
* - byte 1: ackseq: sequence number of last segment that was received
* successfully during the last block download. If ackseq is set to 0 the
* server indicates the client that the segment with the sequence number 1
* was not received correctly and all segments shall be retransmitted by the
* client.
* - byte 2: Number of segments per block that shall be used by the client for
* the following block download with 0 < blksize < 128.
* - byte 3..7: Reserved.
* - If c was set to 1, then communication enters SDO block download end phase.
*/
* - SDO client waits for response.
* - SDO server responses:
* - byte 0: @b 10100010 binary.
* - byte 1: ackseq: sequence number of last segment that was received
* successfully during the last block download. If ackseq is set to 0 the
* server indicates the client that the segment with the sequence number 1
* was not received correctly and all segments shall be retransmitted by the
* client.
* - byte 2: Number of segments per block that shall be used by the client for
* the following block download with 0 < blksize < 128.
* - byte 3..7: Reserved.
* - If c was set to 1, then communication enters SDO block download end phase.
*/
CO_SDO_ST_DOWNLOAD_BLK_SUBBLOCK_RSP = 0x54U,
/**
* - SDO client sends SDO block download end:
* - byte 0: @b 110nnn01 binary: (nnn: number of data bytes, that do @b not
* contain data)
* - byte 1..2: 16 bit CRC for the data set, if enabled by client and server.
* - byte 3..7: Reserved.
* - SDO server waits for client request. */
* - SDO client sends SDO block download end:
* - byte 0: @b 110nnn01 binary: (nnn: number of data bytes, that do @b not
* contain data)
* - byte 1..2: 16 bit CRC for the data set, if enabled by client and server.
* - byte 3..7: Reserved.
* - SDO server waits for client request. */
CO_SDO_ST_DOWNLOAD_BLK_END_REQ = 0x55U,
/**
* - SDO client waits for response.
* - SDO server responses:
* - byte 0: @b 10100001 binary.
* - byte 1..7: Reserved.
* - Block download successfully ends here.
*/
* - SDO client waits for response.
* - SDO server responses:
* - byte 0: @b 10100001 binary.
* - byte 1..7: Reserved.
* - Block download successfully ends here.
*/
CO_SDO_ST_DOWNLOAD_BLK_END_RSP = 0x56U,
/**
* - SDO client initiates SDO block upload:
* - byte 0: @b 10100r00 binary: (r=1 if client supports generating CRC on
* data.)
* - byte 1..3: Object index and subIndex.
* - byte 4: blksize: Number of segments per block with 0 < blksize < 128.
* - byte 5: pst - protocol switch threshold. If pst > 0 and size of the data
* in bytes is less or equal pst, then the server may switch to the SDO
* upload protocol #CO_SDO_ST_UPLOAD_INITIATE_RSP.
* - byte 6..7: Reserved.
* - SDO server is in #CO_SDO_ST_IDLE state and waits for client request. */
* - SDO client initiates SDO block upload:
* - byte 0: @b 10100r00 binary: (r=1 if client supports generating CRC on
* data.)
* - byte 1..3: Object index and subIndex.
* - byte 4: blksize: Number of segments per block with 0 < blksize < 128.
* - byte 5: pst - protocol switch threshold. If pst > 0 and size of the data
* in bytes is less or equal pst, then the server may switch to the SDO
* upload protocol #CO_SDO_ST_UPLOAD_INITIATE_RSP.
* - byte 6..7: Reserved.
* - SDO server is in #CO_SDO_ST_IDLE state and waits for client request. */
CO_SDO_ST_UPLOAD_BLK_INITIATE_REQ = 0x61U,
/**
* - SDO client waits for response.
* - SDO server responses:
* - byte 0: @b 11000rs0 binary: (r=1 if server supports generating CRC on
* data; s=1 if data size is indicated. )
* - byte 1..3: Object index and subIndex.
* - byte 4..7: If s=1, then size of data for block upload is indicated here.
* - If enabled by pst, then server may alternatively response with
* #CO_SDO_ST_UPLOAD_INITIATE_RSP */
* - SDO client waits for response.
* - SDO server responses:
* - byte 0: @b 11000rs0 binary: (r=1 if server supports generating CRC on
* data; s=1 if data size is indicated. )
* - byte 1..3: Object index and subIndex.
* - byte 4..7: If s=1, then size of data for block upload is indicated here.
* - If enabled by pst, then server may alternatively response with
* #CO_SDO_ST_UPLOAD_INITIATE_RSP */
CO_SDO_ST_UPLOAD_BLK_INITIATE_RSP = 0x62U,
/**
* - SDO client sends second initiate for SDO block upload:
* - byte 0: @b 10100011 binary.
* - byte 1..7: Reserved.
* - SDO server waits for client request. */
* - SDO client sends second initiate for SDO block upload:
* - byte 0: @b 10100011 binary.
* - byte 1..7: Reserved.
* - SDO server waits for client request. */
CO_SDO_ST_UPLOAD_BLK_INITIATE_REQ2 = 0x63U,
/**
* - SDO client reads sequence of 'blksize' blocks.
* - SDO server sends 'blksize' segments of data in sequence:
* - byte 0: @b cnnnnnnn binary: (c=1 if no more segments to be uploaded,
* enter SDO block upload end phase; nnnnnnn is sequence number of segment,
* 1..127.
* - byte 1..7: At most 7 bytes of segment data to be uploaded. */
* - SDO client reads sequence of 'blksize' blocks.
* - SDO server sends 'blksize' segments of data in sequence:
* - byte 0: @b cnnnnnnn binary: (c=1 if no more segments to be uploaded,
* enter SDO block upload end phase; nnnnnnn is sequence number of segment,
* 1..127.
* - byte 1..7: At most 7 bytes of segment data to be uploaded. */
CO_SDO_ST_UPLOAD_BLK_SUBBLOCK_SREQ = 0x64U,
/**
* - SDO client responses:
* - byte 0: @b 10100010 binary.
* - byte 1: ackseq: sequence number of last segment that was received
* successfully during the last block upload. If ackseq is set to 0 the
* client indicates the server that the segment with the sequence number 1
* was not received correctly and all segments shall be retransmitted by the
* server.
* - byte 2: Number of segments per block that shall be used by the server for
* the following block upload with 0 < blksize < 128.
* - byte 3..7: Reserved.
* - SDO server waits for response.
* - If c was set to 1 and all segments were successfull received, then
* communication enters SDO block upload end phase. */
* - SDO client responses:
* - byte 0: @b 10100010 binary.
* - byte 1: ackseq: sequence number of last segment that was received
* successfully during the last block upload. If ackseq is set to 0 the
* client indicates the server that the segment with the sequence number 1
* was not received correctly and all segments shall be retransmitted by the
* server.
* - byte 2: Number of segments per block that shall be used by the server for
* the following block upload with 0 < blksize < 128.
* - byte 3..7: Reserved.
* - SDO server waits for response.
* - If c was set to 1 and all segments were successfull received, then
* communication enters SDO block upload end phase. */
CO_SDO_ST_UPLOAD_BLK_SUBBLOCK_CRSP = 0x65U,
/**
* - SDO client waits for server request.
* - SDO server sends SDO block upload end:
* - byte 0: @b 110nnn01 binary: (nnn: number of data bytes, that do @b not
* contain data)
* - byte 1..2: 16 bit CRC for the data set, if enabled by client and server.
* - byte 3..7: Reserved. */
* - SDO client waits for server request.
* - SDO server sends SDO block upload end:
* - byte 0: @b 110nnn01 binary: (nnn: number of data bytes, that do @b not
* contain data)
* - byte 1..2: 16 bit CRC for the data set, if enabled by client and server.
* - byte 3..7: Reserved. */
CO_SDO_ST_UPLOAD_BLK_END_SREQ = 0x66U,
/**
* - SDO client responses:
* - byte 0: @b 10100001 binary.
* - byte 1..7: Reserved.
* - SDO server waits for response.
* - Block download successfully ends here. Note that this communication ends
* with client response. Client may then start next SDO communication
* immediately.
*/
* - SDO client responses:
* - byte 0: @b 10100001 binary.
* - byte 1..7: Reserved.
* - SDO server waits for response.
* - Block download successfully ends here. Note that this communication ends
* with client response. Client may then start next SDO communication
* immediately.
*/
CO_SDO_ST_UPLOAD_BLK_END_CRSP = 0x67U,
} CO_SDO_state_t;

5
301/CO_fifo.h
View file

@ -453,10 +453,11 @@ size_t CO_fifo_readB642a(CO_fifo_t* fifo, char* buf, size_t count, bool_t end);
/**
* @defgroup uint8_t Bitfields for status argument from CO_fifo_cpyTok2U8 function and similar
* @{
*/
*/
#define CO_fifo_st_closed 0x01U /**< Bit is set, if command delimiter is reached in src */
#define CO_fifo_st_partial \
0x02U /**< Bit is set, if copy was partial and more data are available. If unset and no error, then all data was successfully copied. */
0x02U /**< Bit is set, if copy was partial and more data are available. If unset and no error, then all data was \
successfully copied. */
#define CO_fifo_st_errTok 0x10U /**< Bit is set, if no valid token found */
#define CO_fifo_st_errVal 0x20U /**< Bit is set, if value is not valid or out of limits */
#define CO_fifo_st_errBuf 0x40U /**< Bit is set, if destination buffer is to small */

2
303/CO_LEDs.h
View file

@ -70,7 +70,7 @@ extern "C" {
/**
* @defgroup CO_LED_BITFIELD_t Bitfield for combining with red or green led
* @{
*
*
*/
#define CO_LED_flicker 0x01U /**< LED flickering 10Hz */
#define CO_LED_blink 0x02U /**< LED blinking 2,5Hz */

6
304/CO_SRDO.c
View file

@ -780,7 +780,7 @@ CO_SRDO_process(CO_SRDO_t* SRDO, uint32_t timeDifference_us, uint32_t* timerNext
}
/* Set stream.dataOffset to zero, perform OD_IO.read()
* and store mappedLength back to stream.dataOffset */
* and store mappedLength back to stream.dataOffset */
stream->dataOffset = 0;
OD_size_t countRd;
OD_IO->read(stream, dataSRDOCopy, ODdataLength, &countRd);
@ -905,7 +905,7 @@ CO_SRDO_process(CO_SRDO_t* SRDO, uint32_t timeDifference_us, uint32_t* timerNext
ODdataLength = CO_SRDO_MAX_SIZE;
}
/* Prepare data for writing into OD variable. If mappedLength
* is smaller than ODdataLength, then use auxiliary buffer */
* is smaller than ODdataLength, then use auxiliary buffer */
uint8_t buf[CO_SRDO_MAX_SIZE];
uint8_t* dataOD;
if (ODdataLength > mappedLength) {
@ -930,7 +930,7 @@ CO_SRDO_process(CO_SRDO_t* SRDO, uint32_t timeDifference_us, uint32_t* timerNext
#endif
/* Set stream.dataOffset to zero, perform OD_IO.write()
* and store mappedLength back to stream.dataOffset */
* and store mappedLength back to stream.dataOffset */
*dataOffset = 0;
OD_size_t countWritten;
OD_IO->write(&OD_IO->stream, dataOD, ODdataLength, &countWritten);

12
304/CO_SRDO.h
View file

@ -47,10 +47,10 @@ extern "C" {
* @ingroup CO_CANopen_304
* @{
* Safety Related Data Object protocol is specified by standard EN 50325-5:2010 (formerly CiA304).
* Its functionality is very similar to that of the PDOs. The main differences is every message is send and received twice.
* The second message must be bitwise inverted. The delay between the two messages and between each message pair is monitored.
* The distinction between sending and receiving SRDO is made at runtime (for PDO it is compile time).
* If the security protocol is used, at least one SRDO is mandatory.
* Its functionality is very similar to that of the PDOs. The main differences is every message is send and received
* twice. The second message must be bitwise inverted. The delay between the two messages and between each message pair
* is monitored. The distinction between sending and receiving SRDO is made at runtime (for PDO it is compile time). If
* the security protocol is used, at least one SRDO is mandatory.
*
* If there is erroneous structure of OD entries for SRDO parameters, then @CO_SRDO_init() function
* returns error and CANopen device doesn't work. It is necessary to repair Object Dictionary and reprogram the device.
@ -65,8 +65,8 @@ extern "C" {
*
* @CO_SRDO_process() must be executed cyclically, similar as PDO processing. Function is fast, no time consuming tasks.
* Function returns @CO_SRDO_state_t value, which may be used to determine working-state or safe-state of safety related
* device. If return values from all SRDO objects are >= CO_SRDO_state_communicationEstablished, then working state is allowed.
* Otherwise SR device must be in safe state.
* device. If return values from all SRDO objects are >= CO_SRDO_state_communicationEstablished, then working state is
* allowed. Otherwise SR device must be in safe state.
*
* Requirement for mapped objects:
* - @OD_attributes_t must have set bit ODA_RSRDO or ODA_RSRDO or ODA_TRSRDO (by CANopenEditor).

6
305/CO_LSSmaster.h
View file

@ -109,9 +109,9 @@ typedef struct {
uint8_t fsBitChecked; /**< Current scan bit position */
uint32_t fsIdNumber; /**< Current scan result */
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 */
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) != 0) || defined CO_DOXYGEN
void (*pFunctSignal)(void* object); /**< From CO_LSSmaster_initCallbackPre() or NULL */
void* functSignalObject; /**< Pointer to object */

2
305/CO_LSSslave.c
View file

@ -274,7 +274,7 @@ CO_LSSslave_process(CO_LSSslave_t* LSSslave) {
switch (LSSslave->service) {
case CO_LSS_SWITCH_STATE_GLOBAL: {
/* Node-Id was unconfigured before, now it is configured,
* enter the NMT Reset communication autonomously. */
* enter the NMT Reset communication autonomously. */
resetCommunication = true;
break;
}

8
309/CO_gateway_ascii.c
View file

@ -591,8 +591,8 @@ CO_GTWA_process(CO_GTWA_t* gtwa, bool_t enable, uint32_t timeDifference_us, uint
}
/***************************************************************************
* COMMAND PARSER
***************************************************************************/
* COMMAND PARSER
***************************************************************************/
/* if idle, search for new command, skip comments or empty lines */
while (CO_fifo_CommSearch(&gtwa->commFifo, false) && (gtwa->state == CO_GTWA_ST_IDLE)) {
char tok[20];
@ -1531,8 +1531,8 @@ CO_GTWA_process(CO_GTWA_t* gtwa, bool_t enable, uint32_t timeDifference_us, uint
} /* while CO_GTWA_ST_IDLE && CO_fifo_CommSearch */
/***************************************************************************
* STATE MACHINE
***************************************************************************/
* STATE MACHINE
***************************************************************************/
/* If error, generate error response */
if (err) {
if (respErrorCode == CO_GTWA_respErrorNone) {