diff --git a/.clang-format b/.clang-format index 3a8fd1e..1e6be92 100644 --- a/.clang-format +++ b/.clang-format @@ -135,7 +135,7 @@ PenaltyIndentedWhitespace: 0 PointerAlignment: Left PPIndentWidth: -1 ReferenceAlignment: Pointer -ReflowComments: false +ReflowComments: true RemoveBracesLLVM: false SeparateDefinitionBlocks: Always ShortNamespaceLines: 1 diff --git a/301/CO_Emergency.h b/301/CO_Emergency.h index 80791b1..4fd62e6 100644 --- a/301/CO_Emergency.h +++ b/301/CO_Emergency.h @@ -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 */ diff --git a/301/CO_NMT_Heartbeat.h b/301/CO_NMT_Heartbeat.h index c95d9c5..dad353b 100644 --- a/301/CO_NMT_Heartbeat.h +++ b/301/CO_NMT_Heartbeat.h @@ -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 diff --git a/301/CO_ODinterface.h b/301/CO_ODinterface.h index d9034fb..dcf07ce 100644 --- a/301/CO_ODinterface.h +++ b/301/CO_ODinterface.h @@ -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 */ diff --git a/301/CO_SDOclient.c b/301/CO_SDOclient.c index c86514a..8114631 100644 --- a/301/CO_SDOclient.c +++ b/301/CO_SDOclient.c @@ -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); } diff --git a/301/CO_SDOserver.c b/301/CO_SDOserver.c index 511db99..369168b 100644 --- a/301/CO_SDOserver.c +++ b/301/CO_SDOserver.c @@ -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; diff --git a/301/CO_SDOserver.h b/301/CO_SDOserver.h index 3e29a9e..5f87fdd 100644 --- a/301/CO_SDOserver.h +++ b/301/CO_SDOserver.h @@ -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; diff --git a/301/CO_fifo.h b/301/CO_fifo.h index 8c1a9ca..d588ea2 100644 --- a/301/CO_fifo.h +++ b/301/CO_fifo.h @@ -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 */ diff --git a/303/CO_LEDs.h b/303/CO_LEDs.h index 7cb4d9a..39331ba 100644 --- a/303/CO_LEDs.h +++ b/303/CO_LEDs.h @@ -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 */ diff --git a/304/CO_SRDO.c b/304/CO_SRDO.c index f8992f4..2632084 100644 --- a/304/CO_SRDO.c +++ b/304/CO_SRDO.c @@ -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); diff --git a/304/CO_SRDO.h b/304/CO_SRDO.h index 82de455..a02f086 100644 --- a/304/CO_SRDO.h +++ b/304/CO_SRDO.h @@ -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). diff --git a/305/CO_LSSmaster.h b/305/CO_LSSmaster.h index 39c8479..ef3456c 100644 --- a/305/CO_LSSmaster.h +++ b/305/CO_LSSmaster.h @@ -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 */ diff --git a/305/CO_LSSslave.c b/305/CO_LSSslave.c index 81d9aae..fa74caa 100644 --- a/305/CO_LSSslave.c +++ b/305/CO_LSSslave.c @@ -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; } diff --git a/309/CO_gateway_ascii.c b/309/CO_gateway_ascii.c index b88d17c..ed1a1fd 100644 --- a/309/CO_gateway_ascii.c +++ b/309/CO_gateway_ascii.c @@ -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(>wa->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) {