- example/main.c updated to microsecond time base.
- NMT master moved from CANopen.h/.c into 301/CO_NMT_Heartbeat.h/.c.
- CANopen.h/.c files revised, changes in interface, compare example/main.c.
- Removed CO_init() from CANopen.h/.c. Use separate functions instead.
- CO_USE_GLOBALS and global definitions removed from CANopen.c.
- CO_USE_OWN_CRC16 removed from CANopen.c. Use CO_driver_target.h.
- Necessary to update Time base in OS too - call to CO_process() function.
- timerNext_us info to OS implemented in in all objects.
- CO_NMT_blinkingProcess50ms() moved inside CO_NMT_process().
- CO_HBconsumer_process() function optimized and revised.
- Bugfix "timeDifference_us = 0;" inside the for loop.
- Keep example code CO_driver_target.h also in CO_driver.h (for doxygen).
- Add extra members into enum CO_ReturnError_t
- Move enum CO_Default_CAN_ID_t from CANopen.h into CO_driver.h
- Make files in 'stack' directory independent form CANopen.h.
CANopen.h file is more part of the application example than the stack.
- Second argument to receive callback function is 'void*' instead of
'const CO_CANrxMsg_t*'. New (macros) are introduced:
CO_CANrxMsg_readIdent(), CO_CANrxMsg_readDLC() and CO_CANrxMsg_readData()
CAN receive functions in all source files are updated.
- IS_CANrxNew, SET_CANrxNew and CLEAR_CANrxNew renamed to CO_CANrxNew_READ,
CO_CANrxNew_SET and CO_CANrxNew_CLEAR. Replace broken link in doc.
- Doxyfile: parameter change 'INPUT = README.md stack'. CANopen.h is
excluded and updated. Doxywizard saved file to newer version of doxygen.
- Documentation in CO_driver.h is updated.
- Full documentation for CO_driver_target.h file is added to CO_driver.h.
- used clang-format on the CO_driver.h
* fix NMTstartup handling if device is NOT the NMT Master and now OD_NMTStartup (0x1F80 OD) can be optional
issue #149
* Correctly use of NMTstartup to self start slave
According to DSP302, part2, V4.1.0, 2009 for object 1F80h (NMT startup):
bit0=0 - "CANopen device is not NMT master. The entries of the object 1F81h shall be ignored. All other bits of object 1F80h shall be ignored with the exception: value = 00000000 00000000 00000000 00001000b - "NMT slave that shall enter the NMT state Operational after the NMT state Initialisation autonomously (self starting)"
* All Warnings omitted
Now all warnings that came up in previous versions are fixed in a clean way directly in the code.
Inlcudes:
Shadowing
Missing default cases
Missing cases in switch statements
unused variables
Pointer problems
Function declarations' visibility
* Default case for NMTsendCommand
Default case was not catched before and could led to errors.
* fix typo when omitting warnings
* Omitting more warnings, and fix TIME->CANrxNew nulling
Inlcudes:
large integer implicitly truncated to unsigned type
this statement may fall through
* rename CO_this to co
* fix CO_process_SYNC name (CANopenNode master merging issue)
Co-authored-by: Michele B. <MicheleBlank@gmx-topmail.de>
----
Verified before merge. It is cleanup, no deep changes.
