diff --git a/.gitmodules b/.gitmodules index 0aa1c0b..b9caa3b 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,13 +1,16 @@ [submodule "legacy/libs/lwmem"] - path = legacy/libs/lwmem - url = https://github.com/MaJerle/lwmem + path = legacy/libs/lwmem + url = https://github.com/MaJerle/lwmem + branch = main [submodule "legacy/libs/lwprintf"] - path = legacy/libs/lwprintf - url = https://github.com/MaJerle/lwprintf + path = legacy/libs/lwprintf + url = https://github.com/MaJerle/lwprintf + branch = main [submodule "legacy/libs/lwrb"] - path = legacy/libs/lwrb - url = https://github.com/MaJerle/lwrb + path = legacy/libs/lwrb + url = https://github.com/MaJerle/lwrb + branch = main [submodule "CANopenNode"] - path = CANopenNode - url = https://github.com/CANopenNode/CANopenNode - branch = master \ No newline at end of file + path = CANopenNode + url = https://github.com/CANopenNode/CANopenNode + branch = master diff --git a/CANopenNode b/CANopenNode index 8c7d852..4bac78f 160000 --- a/CANopenNode +++ b/CANopenNode @@ -1 +1 @@ -Subproject commit 8c7d852902b2d307e8b91a43332c14e366641e00 +Subproject commit 4bac78f83644eb3bfa6b53ce48e34282a06a96ae diff --git a/CANopenNode_STM32/CO_app_STM32.c b/CANopenNode_STM32/CO_app_STM32.c index ec16162..4dd9017 100644 --- a/CANopenNode_STM32/CO_app_STM32.c +++ b/CANopenNode_STM32/CO_app_STM32.c @@ -28,7 +28,6 @@ #include "CANopen.h" #include "main.h" #include -#include #include "CO_storageBlank.h" #include "OD.h" @@ -40,14 +39,26 @@ CANopenNodeSTM32* #define log_printf(macropar_message, ...) printf(macropar_message, ##__VA_ARGS__) /* default values for CO_CANopenInit() */ +#ifndef NMT_CONTROL #define NMT_CONTROL \ CO_NMT_STARTUP_TO_OPERATIONAL \ | CO_NMT_ERR_ON_ERR_REG | CO_ERR_REG_GENERIC_ERR | CO_ERR_REG_COMMUNICATION +#endif +#ifndef FIRST_HB_TIME #define FIRST_HB_TIME 500 +#endif +#ifndef SDO_SRV_TIMEOUT_TIME #define SDO_SRV_TIMEOUT_TIME 1000 +#endif +#ifndef SDO_CLI_TIMEOUT_TIME #define SDO_CLI_TIMEOUT_TIME 500 +#endif +#ifndef SDO_CLI_BLOCK #define SDO_CLI_BLOCK false +#endif +#ifndef OD_STATUS_BITS #define OD_STATUS_BITS NULL +#endif /* Global variables and objects */ CO_t* CO = NULL; /* CANopen object */ @@ -91,7 +102,7 @@ canopen_app_init(CANopenNodeSTM32* _canopenNodeSTM32) { log_printf("Error: Can't allocate memory\n"); return 1; } else { - log_printf("Allocated %" PRIu32 " bytes for CANopen objects\n", heapMemoryUsed); + log_printf("Allocated %lu bytes for CANopen objects\n", heapMemoryUsed); } canopenNodeSTM32->canOpenStack = CO; @@ -156,7 +167,7 @@ canopen_app_resetCommunication() { canopenNodeSTM32->activeNodeID, &errInfo); if (err != CO_ERROR_NO && err != CO_ERROR_NODE_ID_UNCONFIGURED_LSS) { if (err == CO_ERROR_OD_PARAMETERS) { - log_printf("Error: Object Dictionary entry 0x%" PRIx32 "\n", errInfo); + log_printf("Error: Object Dictionary entry 0x%lX\n", errInfo); } else { log_printf("Error: CANopen initialization failed: %d\n", err); } @@ -166,7 +177,7 @@ canopen_app_resetCommunication() { err = CO_CANopenInitPDO(CO, CO->em, OD, canopenNodeSTM32->activeNodeID, &errInfo); if (err != CO_ERROR_NO && err != CO_ERROR_NODE_ID_UNCONFIGURED_LSS) { if (err == CO_ERROR_OD_PARAMETERS) { - log_printf("Error: Object Dictionary entry 0x%" PRIx32 "\n", errInfo); + log_printf("Error: Object Dictionary entry 0x%lX\n", errInfo); } else { log_printf("Error: PDO initialization failed: %d\n", err); } @@ -190,6 +201,10 @@ canopen_app_resetCommunication() { log_printf("CANopenNode - Node-id not initialized\n"); } +#if (CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_CALLBACK_PRE + CO_InitCallbacks(); +#endif + /* start CAN */ CO_CANsetNormalMode(CO->CANmodule); @@ -199,18 +214,253 @@ canopen_app_resetCommunication() { return 0; } +void debug_irq_state(void) +{ + uint32_t primask = __get_PRIMASK(); + uint32_t basepri = __get_BASEPRI(); + uint32_t faultmask = __get_FAULTMASK(); + uint32_t ipsr = __get_IPSR(); + uint32_t icsr = SCB->ICSR; + + if (primask || basepri || faultmask) { + + log_printf("IRQ BLOCKED!\r\n"); + log_printf("PRIMASK = %lu\r\n", primask); + log_printf("BASEPRI = %lu\r\n", basepri); + log_printf("FAULTMASK = %lu\r\n", faultmask); + log_printf("IPSR = %lu\r\n", ipsr); + log_printf("ACTIVE IRQ= %lu\r\n", icsr & 0x1FF); + + } +} + + +void FDCAN_checkErrors(FDCAN_HandleTypeDef *hfdcan) +{ + uint32_t ir = hfdcan->Instance->IR; + uint32_t psr = hfdcan->Instance->PSR; + uint32_t ecr = hfdcan->Instance->ECR; + uint32_t err = ir & FDCAN_IR_ALL_ERROR_MASK; + + if (err == 0) return; + + log_printf("\r\n--- FDCAN ERROR ---\r\n"); + + /* --- Bus State --- */ + if (psr & FDCAN_PSR_BO) + log_printf("BUS-OFF: Controller ist vom Bus getrennt (TX deaktiviert!)\r\n"); + + if (psr & FDCAN_PSR_EP) + log_printf("ERROR PASSIVE: Controller reduziert Aktivität (verzoegertes TX)\r\n"); + + if (psr & FDCAN_PSR_EW) + log_printf("ERROR WARNING: Fehlerzaehler ueber Schwellwert\r\n"); + + /* --- Protocol Errors --- */ + if (err & FDCAN_IR_PED) + log_printf("PROTOCOL DATA ERROR: Bitfehler in Datenphase (Signalstoerung / Timingproblem)\r\n"); + + if (err & FDCAN_IR_PEA) + log_printf("PROTOCOL ARBITRATION ERROR: Arbitration verloren oder Bitfehler im Identifier\r\n"); + + /* --- FIFO / RX Probleme --- */ + if (err & FDCAN_IR_RF0L) + log_printf("RX FIFO0 OVERFLOW: Nachricht verloren (ISR oder Main zu langsam!)\r\n"); + + if (err & FDCAN_IR_RF1L) + log_printf("RX FIFO1 OVERFLOW: Nachricht verloren (hohe Buslast / schlechtes Timing)\r\n"); + + /* --- RAM / Zugriff --- */ + if (err & FDCAN_IR_MRAF) + log_printf("MESSAGE RAM ACCESS FAILURE: Zugriff zu langsam oder falsche RAM-Konfiguration\r\n"); + + if (err & FDCAN_IR_ARA) + log_printf("ACCESS TO RESERVED ADDRESS: Ungueltiger RAM-Zugriff (Konfigurations- oder Timingfehler!)\r\n"); + + /* --- Erweiterte / seltene Fehler --- */ + if (err & FDCAN_IR_ELO) + log_printf("ERROR LOG OVERFLOW: Zu viele Fehler in kurzer Zeit → Details teilweise verloren\r\n"); + + if (err & FDCAN_IR_WDI) + log_printf("WATCHDOG INTERRUPT: Message RAM wurde nicht rechtzeitig bedient → evtl. CPU/IRQ blockiert\r\n"); + + if (err & FDCAN_IR_TOO) + log_printf("TIMEOUT OCCURRED: Timeout bei TX/RX → Bus blockiert oder Gegenstelle reagiert nicht\r\n"); + + /* --- Error Counter --- */ + uint8_t tx_err = (ecr >> 8) & 0xFF; + uint8_t rx_err = (ecr >> 0) & 0xFF; + + log_printf("Error Counter: TX=%u RX=%u\r\n", tx_err, rx_err); + + /* --- Rohwerte (sehr hilfreich!) --- */ + log_printf("IR=0x%08lX PSR=0x%08lX ECR=0x%08lX\r\n", ir, psr, ecr); + + /* ✅ Fehlerflags löschen */ + hfdcan->Instance->IR = err; +} + +typedef struct +{ + /* CANopen */ + uint8_t nmt_state; + uint8_t can_normal; + uint16_t can_error; + + /* RX FIFO Status */ + uint8_t f0_fl; + uint8_t f0_full; + uint8_t f0_fgi; + uint8_t f0_fpi; + + /* FDCAN Register */ + uint32_t IE; + uint32_t ILE; + uint32_t IR; + uint32_t PSR; + uint32_t ECR; + + /* Software */ + int32_t fifo_cnt; + +} fdcan_snapshot_t; + + +#define SNAPSHOT_SIZE 255 +static uint16_t fdcan_count = 0; +static fdcan_snapshot_t fdcan_buffer[SNAPSHOT_SIZE]; +static uint16_t fdcan_index = 0; + +static inline void fdcan_log_snapshot(int fifo_cnt) +{ + uint32_t rxf0s = FDCAN1->RXF0S; + + fdcan_buffer[fdcan_index].nmt_state = CO->NMT->operatingState; + fdcan_buffer[fdcan_index].can_normal = CO->CANmodule->CANnormal; + fdcan_buffer[fdcan_index].can_error = CO->CANmodule->CANerrorStatus; + + fdcan_buffer[fdcan_index].f0_fl = rxf0s & 0x7F; + fdcan_buffer[fdcan_index].f0_full = (rxf0s >> 25) & 0x1; + fdcan_buffer[fdcan_index].f0_fgi = (rxf0s >> 8) & 0x3F; + fdcan_buffer[fdcan_index].f0_fpi = (rxf0s >> 16) & 0x3F; + + fdcan_buffer[fdcan_index].IE = FDCAN1->IE; + fdcan_buffer[fdcan_index].ILE = FDCAN1->ILE; + fdcan_buffer[fdcan_index].IR = FDCAN1->IR; + fdcan_buffer[fdcan_index].PSR = FDCAN1->PSR; + fdcan_buffer[fdcan_index].ECR = FDCAN1->ECR; + + fdcan_buffer[fdcan_index].fifo_cnt = fifo_cnt; + + if (fdcan_count < SNAPSHOT_SIZE) + fdcan_count++; + + fdcan_index = (fdcan_index + 1) % SNAPSHOT_SIZE; +} +void fdcan_print_log(void) +{ + printf("\r\n--- FDCAN LOG (%u) ---\r\n", fdcan_count); + + uint16_t idx = fdcan_index; + + for (uint16_t i = 0; i < fdcan_count; i++) + { + idx = (idx == 0) ? (SNAPSHOT_SIZE - 1) : (idx - 1); + + printf("%d; %d; 0x%04X; %u; %u; %u; %u; 0x%08lX; 0x%08lX; 0x%08lX; 0x%08lX; 0x%08lX; %ld\r\n", + fdcan_buffer[idx].nmt_state, + fdcan_buffer[idx].can_normal, + fdcan_buffer[idx].can_error, + fdcan_buffer[idx].f0_fl, + fdcan_buffer[idx].f0_full, + fdcan_buffer[idx].f0_fgi, + fdcan_buffer[idx].f0_fpi, + fdcan_buffer[idx].IE, + fdcan_buffer[idx].ILE, + fdcan_buffer[idx].IR, + fdcan_buffer[idx].PSR, + fdcan_buffer[idx].ECR, + fdcan_buffer[idx].fifo_cnt); + } +} + + +void fdcan_print_once(void) +{ + static uint8_t already_printed = 0; + + if (!already_printed) + { + fdcan_print_log(); + already_printed = 1; + } +} + void canopen_app_process() { + + + + /* loop for normal program execution ******************************************/ /* get time difference since last function call */ time_current = HAL_GetTick(); - + static int cnt = 0 ; + static int fifo_cnt=0; if ((time_current - time_old) > 0) { // Make sure more than 1ms elapsed /* CANopen process */ CO_NMT_reset_cmd_t reset_status; uint32_t timeDifference_us = (time_current - time_old) * 1000; time_old = time_current; + + FDCAN_checkErrors(canopenNodeSTM32->CANHandle); + debug_irq_state(); + + if((CO_nodeGuardingSlave_TimeLeft(CO->NGslave) <100000) ){ // 100 ms vor Ablauf des Guardings, starten wir mal neu + if( CO_nodeGuardingSlave_TimeLeft(CO->NGslave) >0){ + fdcan_log_snapshot( fifo_cnt); + if (cnt<=15){ + if (cnt==0) + log_printf("NMT state; CANnormal; CANerrorStatus; RXF0 fill; RXF0 lost; RXF0 get_idx; RXF0 put_idx; FDCAN IE; FDCAN ILE ;FDCAN IR; FDCAN PSR; FDCAN ECR\r\n"); + + log_printf("%d; %d; 0x%04X; %lu; %lu; %lu; %lu; 0x%08lX; 0x%08lX; 0x%08lX; 0x%08lX; 0x%08lX; %d\r\n" , CO->NMT->operatingState, CO->CANmodule->CANnormal, CO->CANmodule->CANerrorStatus, \ + FDCAN1->RXF0S & 0x7F, (FDCAN1->RXF0S >> 25) & 1, (FDCAN1->RXF0S >> 8) & 0x3F, (FDCAN1->RXF0S >> 16) & 0x3F, FDCAN1->IE, FDCAN1->ILE, FDCAN1->IR, FDCAN1->PSR, FDCAN1->ECR, fifo_cnt ); + + + } + cnt++; + + if (cnt>=10){ +// canopen_app_resetCommunication(); + clear_all_can_errorFlags(canopenNodeSTM32->CANHandle); + log_printf("ERRORS CLEARD! %d; %d; 0x%04X; %lu; %lu; %lu; %lu; 0x%08lX; 0x%08lX; 0x%08lX; 0x%08lX; 0x%08lX; %d\r\n" , CO->NMT->operatingState, CO->CANmodule->CANnormal, CO->CANmodule->CANerrorStatus, \ + FDCAN1->RXF0S & 0x7F, (FDCAN1->RXF0S >> 25) & 1, (FDCAN1->RXF0S >> 8) & 0x3F, (FDCAN1->RXF0S >> 16) & 0x3F, FDCAN1->IE, FDCAN1->ILE, FDCAN1->IR, FDCAN1->PSR, FDCAN1->ECR, fifo_cnt); + __NOP(); + if (cnt<15) + cnt++; + } + } + } else + cnt=0; + +#ifdef CANFIFO + /* ? 1. Alle RX Messages aus Ringbuffer verarbeiten */ + CO_CANrxMsg_t msg; + while (rb_pop(&msg, &fifo_cnt)) { + handle_can_received_msg(&msg); + } + +// /* ? RX Overflow zur�cksetzen, wenn stabil */ +// if (HAL_FDCAN_GetRxFifoFillLevel(hfdcan, FDCAN_RX_FIFO0) == 0 && +// HAL_FDCAN_GetRxFifoFillLevel(hfdcan, FDCAN_RX_FIFO1) == 0) { +// +// CANModule_local->CANerrorStatus &= ~CO_CAN_ERRRX_OVERFLOW; +// } +// +#endif + reset_status = CO_process(CO, false, timeDifference_us, NULL); + canopenNodeSTM32->outStatusLEDRed = CO_LED_RED(CO->LEDs, CO_LED_CANopen); canopenNodeSTM32->outStatusLEDGreen = CO_LED_GREEN(CO->LEDs, CO_LED_CANopen); diff --git a/CANopenNode_STM32/CO_app_STM32.h b/CANopenNode_STM32/CO_app_STM32.h index 16ef037..ba2eda7 100644 --- a/CANopenNode_STM32/CO_app_STM32.h +++ b/CANopenNode_STM32/CO_app_STM32.h @@ -24,7 +24,6 @@ extern "C" { #endif - typedef struct { uint8_t desiredNodeID; /*This is the Node ID that you ask the CANOpen stack to assign to your device, although it might not always @@ -56,16 +55,26 @@ typedef struct { // In order to use CANOpenSTM32, you'll have it have a canopenNodeSTM32 structure somewhere in your codes, it is usually residing in CO_app_STM32.c extern CANopenNodeSTM32* canopenNodeSTM32; +extern CO_t* CO; /* This function will initialize the required CANOpen Stack objects, allocate the memory and prepare stack for communication reset*/ int canopen_app_init(CANopenNodeSTM32* canopenSTM32); /* This function will reset the CAN communication periperhal and also the CANOpen stack variables */ -int canopen_app_resetCommunication(); +int canopen_app_resetCommunication(void); /* This function will check the input buffers and any outstanding tasks that are not time critical, this function should be called regurarly from your code (i.e from your while(1))*/ -void canopen_app_process(); +void canopen_app_process(void); /* Thread function executes in constant intervals, this function can be called from FreeRTOS tasks or Timers ********/ void canopen_app_interrupt(void); +void CO_InitCallbacks(void); + + +#ifdef CANFIFO +//int rb_pop(CO_CANrxMsg_t *msg); +int rb_pop(CO_CANrxMsg_t *msg, int *used); +void handle_can_received_msg(CO_CANrxMsg_t *rcvMsg); +#endif +void clear_all_can_errorFlags(FDCAN_HandleTypeDef *hfdcan); #ifdef __cplusplus } diff --git a/CANopenNode_STM32/CO_driver_STM32.c b/CANopenNode_STM32/CO_driver_STM32.c index 24b1806..6e0ad3a 100644 --- a/CANopenNode_STM32/CO_driver_STM32.c +++ b/CANopenNode_STM32/CO_driver_STM32.c @@ -3,7 +3,7 @@ * * This file is a template for other microcontrollers. * - * @file CO_driver.c + * @file CO_driver_STM32.c * @ingroup CO_driver * @author Hamed Jafarzadeh 2022 * Tilen Marjerle 2021 @@ -28,106 +28,278 @@ * * Implementation Author: Tilen Majerle */ + #include "301/CO_driver.h" #include "CO_app_STM32.h" /* Local CAN module object */ -static CO_CANmodule_t* CANModule_local = NULL; /* Local instance of global CAN module */ +static CO_CANmodule_t *CANModule_local = NULL; /* Local instance of global CAN module */ /* CAN masks for identifiers */ #define CANID_MASK 0x07FF /*!< CAN standard ID mask */ #define FLAG_RTR 0x8000 /*!< RTR flag, part of identifier */ + +#ifdef CANFIFO +#define RX_BUFFER_SIZE 32 // must be 2^n (importent!) + +typedef struct { + CO_CANrxMsg_t msg; +} RxBufferEntry; + +static volatile uint32_t head = 0; // write index (ISR) +static volatile uint32_t tail = 0; // read index (Main) + +static RxBufferEntry rxBuffer[RX_BUFFER_SIZE]; + /******************************************************************************/ -void -CO_CANsetConfigurationMode(void* CANptr) { - /* Put CAN module in configuration mode */ - if (CANptr != NULL) { +/** + * \brief Push CAN message to software FIFO + * + * \param[in] *msg: Poniter to CAN Message + */ +static inline void rb_push(const CO_CANrxMsg_t *msg) { + uint32_t next = (head + 1) & (RX_BUFFER_SIZE - 1); + + if (next == tail) { + // 🔴 Buffer full → discard oldest element + CANModule_local->CANerrorStatus |= CO_CAN_ERRRX_OVERFLOW; + tail = (tail + 1) & (RX_BUFFER_SIZE - 1); + } + + rxBuffer[head].msg = *msg; // copy + head = next; +} + +/******************************************************************************/ +/** + * \brief Pop CAN message from software FIFO + * + * \param[in] *msg: Poniter to CAN Message + * \return leer = 0, n Elemente = n, voll (overwrite-Design) maximal = RX_BUFFER_SIZE möglich, aber praktisch ≤ SIZE-1 nach Pop + */ +int rb_pop(CO_CANrxMsg_t *msg, int *used) +{ + if (tail == head) + { + *used = 0; + return 0; + } + + *msg = rxBuffer[tail].msg; + tail = (tail + 1) & (RX_BUFFER_SIZE - 1); + + *used = (head - tail) & (RX_BUFFER_SIZE - 1); + + return 1; +} +//int rb_pop(CO_CANrxMsg_t *msg) { +// if (tail == head) +// return 0; // empty +// +// *msg = rxBuffer[tail].msg; +// tail = (tail + 1) & (RX_BUFFER_SIZE - 1); +// +// return 1; +//} +/******************************************************************************/ +/** + * \brief Check if received message is for this node + * if true: push it on software FIFO + * + * \param[in] hfdcan: pointer to an FDCAN_HandleTypeDef structure that contains + * the configuration information for the specified FDCAN. + * \param[in] RxFifo0ITs: indicates which Rx FIFO 0 interrupts are signaled. + */ +static void +prv_read_can_received_msg_push(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo1ITs) +{ + CO_CANrxMsg_t rcvMsg; + FDCAN_RxHeaderTypeDef rx_hdr; + + /* Read received message */ + if (HAL_FDCAN_GetRxMessage(hfdcan, RxFifo1ITs, &rx_hdr, rcvMsg.data) != HAL_OK) { + return; + } + + /* Setup identifier */ + rcvMsg.ident = + (rx_hdr.Identifier & CANID_MASK) | + (rx_hdr.RxFrameType == FDCAN_REMOTE_FRAME ? FLAG_RTR : 0); + + /* DLC */ + switch (rx_hdr.DataLength) { + case FDCAN_DLC_BYTES_0: rcvMsg.dlc = 0; break; + case FDCAN_DLC_BYTES_1: rcvMsg.dlc = 1; break; + case FDCAN_DLC_BYTES_2: rcvMsg.dlc = 2; break; + case FDCAN_DLC_BYTES_3: rcvMsg.dlc = 3; break; + case FDCAN_DLC_BYTES_4: rcvMsg.dlc = 4; break; + case FDCAN_DLC_BYTES_5: rcvMsg.dlc = 5; break; + case FDCAN_DLC_BYTES_6: rcvMsg.dlc = 6; break; + case FDCAN_DLC_BYTES_7: rcvMsg.dlc = 7; break; + case FDCAN_DLC_BYTES_8: rcvMsg.dlc = 8; break; + default: rcvMsg.dlc = 0; break; + } + + /* ✅ Prüfen: ist Message für uns relevant? */ + CO_CANrx_t *buffer = CANModule_local->rxArray; + uint16_t index; + uint8_t messageFound = 0; + + for (index = CANModule_local->rxSize; index > 0U; --index, ++buffer) { + if (((rcvMsg.ident ^ buffer->ident) & buffer->mask) == 0U) { + messageFound = 1; + break; + } + } + + /* ✅ Nur relevante Messages pushen */ + if (messageFound) { + rb_push(&rcvMsg); + } +} +/******************************************************************************/ +/** + * \brief Handles received CAN message + * + * \param[in] *rcvMsg: Poniter to received CAN Message + * \return int 0 if FIFO empty, 1 if not empty + */ +void handle_can_received_msg(CO_CANrxMsg_t *rcvMsg) +{ + CO_CANrx_t *buffer = CANModule_local->rxArray; + uint16_t index; + + for (index = CANModule_local->rxSize; index > 0U; --index, ++buffer) { + if (((rcvMsg->ident ^ buffer->ident) & buffer->mask) == 0U) { + + if (buffer->CANrx_callback != NULL) { + buffer->CANrx_callback(buffer->object, (void*) rcvMsg); // + } + + break; + } + } +} + +#endif + #ifdef CO_STM32_FDCAN_Driver - HAL_FDCAN_Stop(((CANopenNodeSTM32*)CANptr)->CANHandle); + +/******************************************************************************/ +/** + * \brief Clears All Error Flags + * + * \param[in] hfdcan: pointer to an FDCAN_HandleTypeDef structure that contains + * the configuration information for the specified FDCAN. + */ +void clear_all_can_errorFlags(FDCAN_HandleTypeDef *hfdcan) +{ + uint32_t ir; + + ir = hfdcan->Instance->IR; + + hfdcan->Instance->IR = ir & FDCAN_IR_ALL_ERROR_MASK; +} +#endif + +/******************************************************************************/ +void CO_CANsetConfigurationMode(void *CANptr) { + /* Put CAN module in configuration mode */ + if (CANptr != NULL) { +#ifdef CO_STM32_FDCAN_Driver + HAL_FDCAN_Stop(((CANopenNodeSTM32*) CANptr)->CANHandle); #else HAL_CAN_Stop(((CANopenNodeSTM32*)CANptr)->CANHandle); #endif - } + } } /******************************************************************************/ -void -CO_CANsetNormalMode(CO_CANmodule_t* CANmodule) { - /* Put CAN module in normal mode */ - if (CANmodule->CANptr != NULL) { +void CO_CANsetNormalMode(CO_CANmodule_t *CANmodule) { + /* Put CAN module in normal mode */ + if (CANmodule->CANptr != NULL) { #ifdef CO_STM32_FDCAN_Driver - if (HAL_FDCAN_Start(((CANopenNodeSTM32*)CANmodule->CANptr)->CANHandle) == HAL_OK) + if (HAL_FDCAN_Start(((CANopenNodeSTM32*) CANmodule->CANptr)->CANHandle) + == HAL_OK) #else if (HAL_CAN_Start(((CANopenNodeSTM32*)CANmodule->CANptr)->CANHandle) == HAL_OK) #endif - { - CANmodule->CANnormal = true; - } - } + { + CANmodule->CANnormal = true; + } + } } /******************************************************************************/ -CO_ReturnError_t -CO_CANmodule_init(CO_CANmodule_t* CANmodule, void* CANptr, CO_CANrx_t rxArray[], uint16_t rxSize, CO_CANtx_t txArray[], - uint16_t txSize, uint16_t CANbitRate) { - - /* verify arguments */ - if (CANmodule == NULL || rxArray == NULL || txArray == NULL) { - return CO_ERROR_ILLEGAL_ARGUMENT; - } - - /* Hold CANModule variable */ - CANmodule->CANptr = CANptr; - - /* Keep a local copy of CANModule */ - CANModule_local = CANmodule; - - /* Configure object variables */ - CANmodule->rxArray = rxArray; - CANmodule->rxSize = rxSize; - CANmodule->txArray = txArray; - CANmodule->txSize = txSize; - CANmodule->CANerrorStatus = 0; - CANmodule->CANnormal = false; - CANmodule->useCANrxFilters = false; /* Do not use HW filters */ - CANmodule->bufferInhibitFlag = false; - CANmodule->firstCANtxMessage = true; - CANmodule->CANtxCount = 0U; - CANmodule->errOld = 0U; - - /* Reset all variables */ - for (uint16_t i = 0U; i < rxSize; i++) { - rxArray[i].ident = 0U; - rxArray[i].mask = 0xFFFFU; - rxArray[i].object = NULL; - rxArray[i].CANrx_callback = NULL; - } - for (uint16_t i = 0U; i < txSize; i++) { - txArray[i].bufferFull = false; - } - - /***************************************/ - /* STM32 related configuration */ - /***************************************/ - ((CANopenNodeSTM32*)CANptr)->HWInitFunction(); - - /* - * Configure global filter that is used as last check if message did not pass any of other filters: - * - * We do not rely on hardware filters in this example - * and are performing software filters instead - * - * Accept non-matching standard ID messages - * Reject non-matching extended ID messages - */ +CO_ReturnError_t CO_CANmodule_init(CO_CANmodule_t *CANmodule, void *CANptr, + CO_CANrx_t rxArray[], uint16_t rxSize, CO_CANtx_t txArray[], + uint16_t txSize, uint16_t CANbitRate) { + + /* verify arguments */ + if (CANmodule == NULL || rxArray == NULL || txArray == NULL) { + return CO_ERROR_ILLEGAL_ARGUMENT; + } + + /* Hold CANModule variable */ + CANmodule->CANptr = CANptr; + + /* Keep a local copy of CANModule */ + CANModule_local = CANmodule; + + /* Configure object variables */ + CANmodule->rxArray = rxArray; + CANmodule->rxSize = rxSize; + CANmodule->txArray = txArray; + CANmodule->txSize = txSize; + CANmodule->CANerrorStatus = 0; + CANmodule->CANnormal = false; + CANmodule->useCANrxFilters = false; /* Do not use HW filters */ + CANmodule->bufferInhibitFlag = false; + CANmodule->firstCANtxMessage = true; + CANmodule->CANtxCount = 0U; + CANmodule->errOld = 0U; + + /* Reset all variables */ + for (uint16_t i = 0U; i < rxSize; i++) { + rxArray[i].ident = 0U; + rxArray[i].mask = 0xFFFFU; + rxArray[i].object = NULL; + rxArray[i].CANrx_callback = NULL; + } + for (uint16_t i = 0U; i < txSize; i++) { + txArray[i].bufferFull = false; + } + + /***************************************/ + /* STM32 related configuration */ + /***************************************/ + ((CANopenNodeSTM32*) CANptr)->HWInitFunction(); + + /* + * Configure global filter that is used as last check if message did not pass any of other filters: + * + * We do not rely on hardware filters in this example + * and are performing software filters instead + * + * Accept non-matching standard ID messages + * Reject non-matching extended ID messages + */ #ifdef CO_STM32_FDCAN_Driver - if (HAL_FDCAN_ConfigGlobalFilter(((CANopenNodeSTM32*)CANptr)->CANHandle, FDCAN_ACCEPT_IN_RX_FIFO0, FDCAN_REJECT, - FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE) - != HAL_OK) { - return CO_ERROR_ILLEGAL_ARGUMENT; - } +#if ((CO_CONFIG_NODE_GUARDING)&CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE) != 0 + if (HAL_FDCAN_ConfigGlobalFilter(((CANopenNodeSTM32*) CANptr)->CANHandle, + FDCAN_ACCEPT_IN_RX_FIFO0, FDCAN_REJECT, + FDCAN_ACCEPT_IN_RX_FIFO0, FDCAN_ACCEPT_IN_RX_FIFO0) != HAL_OK) { + return CO_ERROR_ILLEGAL_ARGUMENT; + } +#else + if (HAL_FDCAN_ConfigGlobalFilter(((CANopenNodeSTM32*) CANptr)->CANHandle, + FDCAN_ACCEPT_IN_RX_FIFO0, FDCAN_REJECT, + FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE) != HAL_OK) { + return CO_ERROR_ILLEGAL_ARGUMENT; + } +#endif #else CAN_FilterTypeDef FilterConfig; #if defined(CAN) @@ -154,18 +326,17 @@ CO_CANmodule_init(CO_CANmodule_t* CANmodule, void* CANptr, CO_CANrx_t rxArray[], return CO_ERROR_ILLEGAL_ARGUMENT; } #endif - /* Enable notifications */ - /* Activate the CAN notification interrupts */ + /* Enable notifications */ + /* Activate the CAN notification interrupts */ #ifdef CO_STM32_FDCAN_Driver - if (HAL_FDCAN_ActivateNotification(((CANopenNodeSTM32*)CANptr)->CANHandle, - 0 | FDCAN_IT_RX_FIFO0_NEW_MESSAGE | FDCAN_IT_RX_FIFO1_NEW_MESSAGE - | FDCAN_IT_TX_COMPLETE | FDCAN_IT_TX_FIFO_EMPTY | FDCAN_IT_BUS_OFF - | FDCAN_IT_ARB_PROTOCOL_ERROR | FDCAN_IT_DATA_PROTOCOL_ERROR - | FDCAN_IT_ERROR_PASSIVE | FDCAN_IT_ERROR_WARNING, - 0xFFFFFFFF) - != HAL_OK) { - return CO_ERROR_ILLEGAL_ARGUMENT; - } + if (HAL_FDCAN_ActivateNotification(((CANopenNodeSTM32*) CANptr)->CANHandle, + 0 | FDCAN_IT_RX_FIFO0_NEW_MESSAGE | FDCAN_IT_RX_FIFO1_NEW_MESSAGE + | FDCAN_IT_TX_COMPLETE | FDCAN_IT_TX_FIFO_EMPTY + | FDCAN_IT_BUS_OFF | FDCAN_IT_ARB_PROTOCOL_ERROR + | FDCAN_IT_DATA_PROTOCOL_ERROR | FDCAN_IT_ERROR_PASSIVE + | FDCAN_IT_ERROR_WARNING, 0xFFFFFFFF) != HAL_OK) { + return CO_ERROR_ILLEGAL_ARGUMENT; + } #else if (HAL_CAN_ActivateNotification(((CANopenNodeSTM32*)CANptr)->CANHandle, CAN_IT_RX_FIFO0_MSG_PENDING | CAN_IT_RX_FIFO1_MSG_PENDING @@ -175,70 +346,71 @@ CO_CANmodule_init(CO_CANmodule_t* CANmodule, void* CANptr, CO_CANrx_t rxArray[], } #endif - return CO_ERROR_NO; + return CO_ERROR_NO; } /******************************************************************************/ -void -CO_CANmodule_disable(CO_CANmodule_t* CANmodule) { - if (CANmodule != NULL && CANmodule->CANptr != NULL) { +void CO_CANmodule_disable(CO_CANmodule_t *CANmodule) { + if (CANmodule != NULL && CANmodule->CANptr != NULL) { #ifdef CO_STM32_FDCAN_Driver - HAL_FDCAN_Stop(((CANopenNodeSTM32*)CANmodule->CANptr)->CANHandle); + HAL_FDCAN_Stop(((CANopenNodeSTM32*) CANmodule->CANptr)->CANHandle); #else HAL_CAN_Stop(((CANopenNodeSTM32*)CANmodule->CANptr)->CANHandle); #endif - } + } } /******************************************************************************/ -CO_ReturnError_t -CO_CANrxBufferInit(CO_CANmodule_t* CANmodule, uint16_t index, uint16_t ident, uint16_t mask, bool_t rtr, void* object, - void (*CANrx_callback)(void* object, void* message)) { - CO_ReturnError_t ret = CO_ERROR_NO; +CO_ReturnError_t CO_CANrxBufferInit(CO_CANmodule_t *CANmodule, uint16_t index, + uint16_t ident, uint16_t mask, bool_t rtr, void *object, + void (*CANrx_callback)(void *object, void *message)) { + CO_ReturnError_t ret = CO_ERROR_NO; - if (CANmodule != NULL && object != NULL && CANrx_callback != NULL && index < CANmodule->rxSize) { - CO_CANrx_t* buffer = &CANmodule->rxArray[index]; + if (CANmodule != NULL && object != NULL && CANrx_callback != NULL + && index < CANmodule->rxSize) { + CO_CANrx_t *buffer = &CANmodule->rxArray[index]; - /* Configure object variables */ - buffer->object = object; - buffer->CANrx_callback = CANrx_callback; - - /* - * Configure global identifier, including RTR bit - * - * This is later used for RX operation match case - */ - buffer->ident = (ident & CANID_MASK) | (rtr ? FLAG_RTR : 0x00); - buffer->mask = (mask & CANID_MASK) | FLAG_RTR; - - /* Set CAN hardware module filter and mask. */ - if (CANmodule->useCANrxFilters) { - __NOP(); - } - } else { - ret = CO_ERROR_ILLEGAL_ARGUMENT; - } + /* Configure object variables */ + buffer->object = object; + buffer->CANrx_callback = CANrx_callback; - return ret; + /* + * Configure global identifier, including RTR bit + * + * This is later used for RX operation match case + */ + buffer->ident = (ident & CANID_MASK) | (rtr ? FLAG_RTR : 0x00); + buffer->mask = (mask & CANID_MASK) | FLAG_RTR; + + /* Set CAN hardware module filter and mask. */ + if (CANmodule->useCANrxFilters) { + __NOP(); + } + } else { + ret = CO_ERROR_ILLEGAL_ARGUMENT; + } + + return ret; } /******************************************************************************/ CO_CANtx_t* -CO_CANtxBufferInit(CO_CANmodule_t* CANmodule, uint16_t index, uint16_t ident, bool_t rtr, uint8_t noOfBytes, - bool_t syncFlag) { - CO_CANtx_t* buffer = NULL; - - if (CANmodule != NULL && index < CANmodule->txSize) { - buffer = &CANmodule->txArray[index]; - - /* CAN identifier, DLC and rtr, bit aligned with CAN module transmit buffer */ - buffer->ident = ((uint32_t)ident & CANID_MASK) | ((uint32_t)(rtr ? FLAG_RTR : 0x00)); - buffer->DLC = noOfBytes; - buffer->bufferFull = false; - buffer->syncFlag = syncFlag; - } - return buffer; +CO_CANtxBufferInit(CO_CANmodule_t *CANmodule, uint16_t index, uint16_t ident, + bool_t rtr, uint8_t noOfBytes, bool_t syncFlag) { + CO_CANtx_t *buffer = NULL; + + if (CANmodule != NULL && index < CANmodule->txSize) { + buffer = &CANmodule->txArray[index]; + + /* CAN identifier, DLC and rtr, bit aligned with CAN module transmit buffer */ + buffer->ident = ((uint32_t) ident & CANID_MASK) + | ((uint32_t) (rtr ? FLAG_RTR : 0x00)); + buffer->DLC = noOfBytes; + buffer->bufferFull = false; + buffer->syncFlag = syncFlag; + } + return buffer; } /** @@ -248,65 +420,73 @@ CO_CANtxBufferInit(CO_CANmodule_t* CANmodule, uint16_t index, uint16_t ident, bo * \param[in] CANmodule: CAN module instance * \param[in] buffer: Pointer to buffer to transmit */ -static uint8_t -prv_send_can_message(CO_CANmodule_t* CANmodule, CO_CANtx_t* buffer) { +static uint8_t prv_send_can_message(CO_CANmodule_t *CANmodule, + CO_CANtx_t *buffer) { - uint8_t success = 0; + uint8_t success = 0; - /* Check if TX FIFO is ready to accept more messages */ + /* Check if TX FIFO is ready to accept more messages */ #ifdef CO_STM32_FDCAN_Driver - static FDCAN_TxHeaderTypeDef tx_hdr; - if (HAL_FDCAN_GetTxFifoFreeLevel(((CANopenNodeSTM32*)CANmodule->CANptr)->CANHandle) > 0) { - /* - * RTR flag is part of identifier value - * hence it needs to be properly decoded - */ - tx_hdr.Identifier = buffer->ident & CANID_MASK; - tx_hdr.TxFrameType = (buffer->ident & FLAG_RTR) ? FDCAN_REMOTE_FRAME : FDCAN_DATA_FRAME; - tx_hdr.IdType = FDCAN_STANDARD_ID; - tx_hdr.FDFormat = FDCAN_CLASSIC_CAN; - tx_hdr.BitRateSwitch = FDCAN_BRS_OFF; - tx_hdr.MessageMarker = 0; - tx_hdr.ErrorStateIndicator = FDCAN_ESI_ACTIVE; - tx_hdr.TxEventFifoControl = FDCAN_NO_TX_EVENTS; - - switch (buffer->DLC) { - case 0: - tx_hdr.DataLength = FDCAN_DLC_BYTES_0; - break; - case 1: - tx_hdr.DataLength = FDCAN_DLC_BYTES_1; - break; - case 2: - tx_hdr.DataLength = FDCAN_DLC_BYTES_2; - break; - case 3: - tx_hdr.DataLength = FDCAN_DLC_BYTES_3; - break; - case 4: - tx_hdr.DataLength = FDCAN_DLC_BYTES_4; - break; - case 5: - tx_hdr.DataLength = FDCAN_DLC_BYTES_5; - break; - case 6: - tx_hdr.DataLength = FDCAN_DLC_BYTES_6; - break; - case 7: - tx_hdr.DataLength = FDCAN_DLC_BYTES_7; - break; - case 8: - tx_hdr.DataLength = FDCAN_DLC_BYTES_8; - break; - default: /* Hard error... */ - break; - } - - /* Now add message to FIFO. Should not fail */ - success = - HAL_FDCAN_AddMessageToTxFifoQ(((CANopenNodeSTM32*)CANmodule->CANptr)->CANHandle, &tx_hdr, buffer->data) - == HAL_OK; - } + static FDCAN_TxHeaderTypeDef tx_hdr; + if (HAL_FDCAN_GetTxFifoFreeLevel( + ((CANopenNodeSTM32*) CANmodule->CANptr)->CANHandle) > 0) { + /* + * RTR flag is part of identifier value + * hence it needs to be properly decoded + */ + tx_hdr.Identifier = buffer->ident & CANID_MASK; + tx_hdr.TxFrameType = (buffer->ident & FLAG_RTR) ? + FDCAN_REMOTE_FRAME : + FDCAN_DATA_FRAME; + tx_hdr.IdType = FDCAN_STANDARD_ID; + tx_hdr.FDFormat = FDCAN_CLASSIC_CAN; + tx_hdr.BitRateSwitch = FDCAN_BRS_OFF; + tx_hdr.MessageMarker = 0; + tx_hdr.ErrorStateIndicator = FDCAN_ESI_ACTIVE; + tx_hdr.TxEventFifoControl = FDCAN_NO_TX_EVENTS; + + switch (buffer->DLC) { + case 0: + tx_hdr.DataLength = FDCAN_DLC_BYTES_0; + break; + case 1: + tx_hdr.DataLength = FDCAN_DLC_BYTES_1; + break; + case 2: + tx_hdr.DataLength = FDCAN_DLC_BYTES_2; + break; + case 3: + tx_hdr.DataLength = FDCAN_DLC_BYTES_3; + break; + case 4: + tx_hdr.DataLength = FDCAN_DLC_BYTES_4; + break; + case 5: + tx_hdr.DataLength = FDCAN_DLC_BYTES_5; + break; + case 6: + tx_hdr.DataLength = FDCAN_DLC_BYTES_6; + break; + case 7: + tx_hdr.DataLength = FDCAN_DLC_BYTES_7; + break; + case 8: + tx_hdr.DataLength = FDCAN_DLC_BYTES_8; + break; + default: /* Hard error... */ + break; + } + + /* Now add message to FIFO. Should not fail */ + success = HAL_FDCAN_AddMessageToTxFifoQ( + ((CANopenNodeSTM32*) CANmodule->CANptr)->CANHandle, &tx_hdr, + buffer->data) == HAL_OK; + + if (!success) { + CANmodule->CANerrorStatus |= CO_CAN_ERRTX_OVERFLOW; + } + + } #else static CAN_TxHeaderTypeDef tx_hdr; /* Check if TX FIFO is ready to accept more messages */ @@ -329,118 +509,136 @@ prv_send_can_message(CO_CANmodule_t* CANmodule, CO_CANtx_t* buffer) { == HAL_OK; } #endif - return success; + return success; } /******************************************************************************/ -CO_ReturnError_t -CO_CANsend(CO_CANmodule_t* CANmodule, CO_CANtx_t* buffer) { - CO_ReturnError_t err = CO_ERROR_NO; - - /* Verify overflow */ - if (buffer->bufferFull) { - if (!CANmodule->firstCANtxMessage) { - /* don't set error, if bootup message is still on buffers */ - CANmodule->CANerrorStatus |= CO_CAN_ERRTX_OVERFLOW; - } - err = CO_ERROR_TX_OVERFLOW; - } - - /* - * Send message to CAN network - * - * Lock interrupts for atomic operation - */ - CO_LOCK_CAN_SEND(CANmodule); - if (prv_send_can_message(CANmodule, buffer)) { - CANmodule->bufferInhibitFlag = buffer->syncFlag; - } else { - /* Only increment count if buffer wasn't already full */ - if (!buffer->bufferFull) { - buffer->bufferFull = true; - CANmodule->CANtxCount++; - } - } - CO_UNLOCK_CAN_SEND(CANmodule); - - return err; +CO_ReturnError_t CO_CANsend(CO_CANmodule_t *CANmodule, CO_CANtx_t *buffer) { + CO_ReturnError_t err = CO_ERROR_NO; + + /* Verify overflow */ + if (buffer->bufferFull) { + if (!CANmodule->firstCANtxMessage) { + /* don't set error, if bootup message is still on buffers */ + CANmodule->CANerrorStatus |= CO_CAN_ERRTX_OVERFLOW; + } + err = CO_ERROR_TX_OVERFLOW; + } + + /* + * Send message to CAN network + * + * Lock interrupts for atomic operation + */ + CO_LOCK_CAN_SEND(CANmodule); + if (prv_send_can_message(CANmodule, buffer)) { + CANmodule->bufferInhibitFlag = buffer->syncFlag; + } else { + /* Only increment count if buffer wasn't already full */ + if (!buffer->bufferFull) { + buffer->bufferFull = true; + CANmodule->CANtxCount++; + } + } + CO_UNLOCK_CAN_SEND(CANmodule); + + return err; } /******************************************************************************/ -void -CO_CANclearPendingSyncPDOs(CO_CANmodule_t* CANmodule) { - uint32_t tpdoDeleted = 0U; - - CO_LOCK_CAN_SEND(CANmodule); - /* Abort message from CAN module, if there is synchronous TPDO. - * Take special care with this functionality. */ - if (/*messageIsOnCanBuffer && */ CANmodule->bufferInhibitFlag) { - /* clear TXREQ */ - CANmodule->bufferInhibitFlag = false; - tpdoDeleted = 1U; - } - /* delete also pending synchronous TPDOs in TX buffers */ - if (CANmodule->CANtxCount > 0) { - for (uint16_t i = CANmodule->txSize; i > 0U; --i) { - if (CANmodule->txArray[i].bufferFull) { - if (CANmodule->txArray[i].syncFlag) { - CANmodule->txArray[i].bufferFull = false; - CANmodule->CANtxCount--; - tpdoDeleted = 2U; - } - } - } - } - CO_UNLOCK_CAN_SEND(CANmodule); - if (tpdoDeleted) { - CANmodule->CANerrorStatus |= CO_CAN_ERRTX_PDO_LATE; - } +void CO_CANclearPendingSyncPDOs(CO_CANmodule_t *CANmodule) { + uint32_t tpdoDeleted = 0U; + + CO_LOCK_CAN_SEND(CANmodule); + /* Abort message from CAN module, if there is synchronous TPDO. + * Take special care with this functionality. */ + if (/*messageIsOnCanBuffer && */CANmodule->bufferInhibitFlag) { + /* clear TXREQ */ + CANmodule->bufferInhibitFlag = false; + tpdoDeleted = 1U; + } + /* delete also pending synchronous TPDOs in TX buffers */ + if (CANmodule->CANtxCount > 0) { +// for (uint16_t i = CANmodule->txSize; i > 0U; --i) { // !!!! Out-of-bounds access! Max index = txSize - 1, but txArray[txSize] is being accessed here !!!! + for (uint16_t i = CANmodule->txSize; i-- > 0U;) { // Bugfix Out-of-bounds access! + if (CANmodule->txArray[i].bufferFull) { + if (CANmodule->txArray[i].syncFlag) { + CANmodule->txArray[i].bufferFull = false; + CANmodule->CANtxCount--; + tpdoDeleted = 2U; + } + } + } + } + CO_UNLOCK_CAN_SEND(CANmodule); + if (tpdoDeleted) { + CANmodule->CANerrorStatus |= CO_CAN_ERRTX_PDO_LATE; + } } /******************************************************************************/ /* Get error counters from the module. If necessary, function may use - * different way to determine errors. */ -static uint16_t rxErrors = 0, txErrors = 0, overflow = 0; + * different way to determine errors. */ -void -CO_CANmodule_process(CO_CANmodule_t* CANmodule) { - uint32_t err = 0; +void CO_CANmodule_process(CO_CANmodule_t *CANmodule) { + uint32_t err = 0; - // CANOpen just care about Bus_off, Warning, Passive and Overflow - // I didn't find overflow error register in STM32, if you find it please let me know + // CANOpen just care about Bus_off, Warning, Passive and Overflow + // I didn't find overflow error register in STM32, if you find it please let me know // DW !!Implemented!! #ifdef CO_STM32_FDCAN_Driver - err = ((FDCAN_HandleTypeDef*)((CANopenNodeSTM32*)CANmodule->CANptr)->CANHandle)->Instance->PSR - & (FDCAN_PSR_BO | FDCAN_PSR_EW | FDCAN_PSR_EP); + FDCAN_HandleTypeDef *hfdcan = + ((CANopenNodeSTM32*) CANmodule->CANptr)->CANHandle; - if (CANmodule->errOld != err) { + uint32_t ir = hfdcan->Instance->IR; - uint16_t status = CANmodule->CANerrorStatus; + err = hfdcan->Instance->PSR & (FDCAN_PSR_BO | FDCAN_PSR_EW | FDCAN_PSR_EP); - CANmodule->errOld = err; + if (CANmodule->errOld != err) { - if (err & FDCAN_PSR_BO) { - status |= CO_CAN_ERRTX_BUS_OFF; - // In this driver we expect that the controller is automatically handling the protocol exceptions. + uint16_t status = CANmodule->CANerrorStatus; - } else { - /* recalculate CANerrorStatus, first clear some flags */ - status &= 0xFFFF - ^ (CO_CAN_ERRTX_BUS_OFF | CO_CAN_ERRRX_WARNING | CO_CAN_ERRRX_PASSIVE | CO_CAN_ERRTX_WARNING - | CO_CAN_ERRTX_PASSIVE); + CANmodule->errOld = err; - if (err & FDCAN_PSR_EW) { - status |= CO_CAN_ERRRX_WARNING | CO_CAN_ERRTX_WARNING; - } + if (err & FDCAN_PSR_BO) { + status |= CO_CAN_ERRTX_BUS_OFF; + // In this driver we expect that the controller is automatically handling the protocol exceptions. + + } else { + /* recalculate CANerrorStatus, first clear some flags */ + status &= 0xFFFF + ^ (CO_CAN_ERRTX_BUS_OFF | CO_CAN_ERRRX_WARNING + | CO_CAN_ERRRX_PASSIVE | CO_CAN_ERRTX_WARNING + | CO_CAN_ERRTX_PASSIVE); + + if (err & FDCAN_PSR_EW) { + status |= CO_CAN_ERRRX_WARNING | CO_CAN_ERRTX_WARNING; + } + + if (err & FDCAN_PSR_EP) { + status |= CO_CAN_ERRRX_PASSIVE | CO_CAN_ERRTX_PASSIVE; + } + } + + CANmodule->CANerrorStatus = status; + } + + /* --- check for overflow --- */ + if (ir & (FDCAN_IR_RF0L | FDCAN_IR_RF1L)) { + + CANmodule->CANerrorStatus |= CO_CAN_ERRRX_OVERFLOW; + + /* delete flags (write 1 to clear!) */ + hfdcan->Instance->IR = (FDCAN_IR_RF0L | FDCAN_IR_RF1L); + } + /* --- check for suspisious error ARA --- */ + if(canopenNodeSTM32->CANHandle->Instance->IR & FDCAN_IR_ARA){ + __NOP(); + log_printf("ARA Error detected! FDCAN1 IR: 0x%08lX\r\n", FDCAN1->IR); - if (err & FDCAN_PSR_EP) { - status |= CO_CAN_ERRRX_PASSIVE | CO_CAN_ERRTX_PASSIVE; - } } - CANmodule->CANerrorStatus = status; - } #else err = ((CAN_HandleTypeDef*)((CANopenNodeSTM32*)CANmodule->CANptr)->CANHandle)->Instance->ESR @@ -478,6 +676,8 @@ CO_CANmodule_process(CO_CANmodule_t* CANmodule) { #endif } +uint32_t elapsedRxTime = 0; /* elapsed HAL time [ms] since last message received */ + /** * \brief Read message from RX FIFO * \param hfdcan: pointer to an FDCAN_HandleTypeDef structure that contains @@ -485,170 +685,252 @@ CO_CANmodule_process(CO_CANmodule_t* CANmodule) { * \param[in] fifo: Fifo number to use for read * \param[in] fifo_isrs: List of interrupts for respected FIFO */ +#ifndef CANFIFO #ifdef CO_STM32_FDCAN_Driver static void -prv_read_can_received_msg(FDCAN_HandleTypeDef* hfdcan, uint32_t fifo, uint32_t fifo_isrs) +prv_read_can_received_msg(FDCAN_HandleTypeDef *hfdcan, uint32_t fifo, uint32_t fifo_isrs) #else static void prv_read_can_received_msg(CAN_HandleTypeDef* hcan, uint32_t fifo, uint32_t fifo_isrs) #endif { - CO_CANrxMsg_t rcvMsg; - CO_CANrx_t* buffer = NULL; /* receive message buffer from CO_CANmodule_t object. */ - uint16_t index; /* index of received message */ - uint32_t rcvMsgIdent; /* identifier of the received message */ - uint8_t messageFound = 0; + CO_CANrxMsg_t rcvMsg; + CO_CANrx_t *buffer = NULL; /* receive message buffer from CO_CANmodule_t object. */ + uint16_t index; /* index of received message */ + uint32_t rcvMsgIdent; /* identifier of the received message */ + uint8_t messageFound = 0; + static uint32_t lastRxTime = 0; /* HAL time [ms] last message received */ + uint32_t actRxTime; /* actual HAL time [ms] */ #ifdef CO_STM32_FDCAN_Driver - static FDCAN_RxHeaderTypeDef rx_hdr; - /* Read received message from FIFO */ - if (HAL_FDCAN_GetRxMessage(hfdcan, fifo, &rx_hdr, rcvMsg.data) != HAL_OK) { - return; - } - /* Setup identifier (with RTR) and length */ - rcvMsg.ident = rx_hdr.Identifier | (rx_hdr.RxFrameType == FDCAN_REMOTE_FRAME ? FLAG_RTR : 0x00); - switch (rx_hdr.DataLength) { - case FDCAN_DLC_BYTES_0: - rcvMsg.dlc = 0; - break; - case FDCAN_DLC_BYTES_1: - rcvMsg.dlc = 1; - break; - case FDCAN_DLC_BYTES_2: - rcvMsg.dlc = 2; - break; - case FDCAN_DLC_BYTES_3: - rcvMsg.dlc = 3; - break; - case FDCAN_DLC_BYTES_4: - rcvMsg.dlc = 4; - break; - case FDCAN_DLC_BYTES_5: - rcvMsg.dlc = 5; - break; - case FDCAN_DLC_BYTES_6: - rcvMsg.dlc = 6; - break; - case FDCAN_DLC_BYTES_7: - rcvMsg.dlc = 7; - break; - case FDCAN_DLC_BYTES_8: - rcvMsg.dlc = 8; - break; - default: - rcvMsg.dlc = 0; - break; /* Invalid length when more than 8 */ - } - rcvMsgIdent = rcvMsg.ident; + static FDCAN_RxHeaderTypeDef rx_hdr; + /* Read received message from FIFO */ + if (HAL_FDCAN_GetRxMessage(hfdcan, fifo, &rx_hdr, rcvMsg.data) != HAL_OK) { + return; + } + + /* calculate time since last received message for AutoRecover */ + actRxTime = HAL_GetTick(); + elapsedRxTime = actRxTime - lastRxTime; + lastRxTime = actRxTime; + + /* Setup identifier (with RTR) and length */ + rcvMsg.ident = rx_hdr.Identifier + | (rx_hdr.RxFrameType == FDCAN_REMOTE_FRAME ? FLAG_RTR : 0x00); + switch (rx_hdr.DataLength) { + case FDCAN_DLC_BYTES_0: + rcvMsg.dlc = 0; + break; + case FDCAN_DLC_BYTES_1: + rcvMsg.dlc = 1; + break; + case FDCAN_DLC_BYTES_2: + rcvMsg.dlc = 2; + break; + case FDCAN_DLC_BYTES_3: + rcvMsg.dlc = 3; + break; + case FDCAN_DLC_BYTES_4: + rcvMsg.dlc = 4; + break; + case FDCAN_DLC_BYTES_5: + rcvMsg.dlc = 5; + break; + case FDCAN_DLC_BYTES_6: + rcvMsg.dlc = 6; + break; + case FDCAN_DLC_BYTES_7: + rcvMsg.dlc = 7; + break; + case FDCAN_DLC_BYTES_8: + rcvMsg.dlc = 8; + break; + default: + rcvMsg.dlc = 0; + break; /* Invalid length when more than 8 */ + } + rcvMsgIdent = rcvMsg.ident; #else static CAN_RxHeaderTypeDef rx_hdr; /* Read received message from FIFO */ if (HAL_CAN_GetRxMessage(hcan, fifo, &rx_hdr, rcvMsg.data) != HAL_OK) { return; } + + /* calculate time since last received message for AutoRecover */ + actRxTime = HAL_GetTick(); + elapsedRxTime = actRxTime - lastRxTime; + lastRxTime = actRxTime; + /* Setup identifier (with RTR) and length */ rcvMsg.ident = rx_hdr.StdId | (rx_hdr.RTR == CAN_RTR_REMOTE ? FLAG_RTR : 0x00); rcvMsg.dlc = rx_hdr.DLC; rcvMsgIdent = rcvMsg.ident; #endif - /* - * Hardware filters are not used for the moment - * \todo: Implement hardware filters... - */ - if (CANModule_local->useCANrxFilters) { - __BKPT(0); - } else { - /* - * We are not using hardware filters, hence it is necessary - * to manually match received message ID with all buffers - */ - buffer = CANModule_local->rxArray; - for (index = CANModule_local->rxSize; index > 0U; --index, ++buffer) { - if (((rcvMsgIdent ^ buffer->ident) & buffer->mask) == 0U) { - messageFound = 1; - break; - } - } - } - - /* Call specific function, which will process the message */ - if (messageFound && buffer != NULL && buffer->CANrx_callback != NULL) { - buffer->CANrx_callback(buffer->object, (void*)&rcvMsg); - } + /* + * Hardware filters are not used for the moment + * \todo: Implement hardware filters... + */ + if (CANModule_local->useCANrxFilters) { + __BKPT(0); + } else { + /* + * We are not using hardware filters, hence it is necessary + * to manually match received message ID with all buffers + */ + buffer = CANModule_local->rxArray; + for (index = CANModule_local->rxSize; index > 0U; --index, ++buffer) { + if (((rcvMsgIdent ^ buffer->ident) & buffer->mask) == 0U) { + messageFound = 1; + break; + } + } + } + + /* Call specific function, which will process the message */ + if (messageFound && buffer != NULL && buffer->CANrx_callback != NULL) { + buffer->CANrx_callback(buffer->object, (void*) &rcvMsg); + } } - +#endif #ifdef CO_STM32_FDCAN_Driver /** * \brief Rx FIFO 0 callback. * \param[in] hfdcan: pointer to an FDCAN_HandleTypeDef structure that contains * the configuration information for the specified FDCAN. * \param[in] RxFifo0ITs: indicates which Rx FIFO 0 interrupts are signaled. + * \return Elapsed time since last received Message */ -void -HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef* hfdcan, uint32_t RxFifo0ITs) { - if (RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) { - prv_read_can_received_msg(hfdcan, FDCAN_RX_FIFO0, RxFifo0ITs); +void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs) +{ +#ifdef DEBUG + static uint32_t overflowCnt = 0; + static uint32_t fifoFullCnt = 0; + static uint32_t maxFillLevel = 0; + + uint32_t level = HAL_FDCAN_GetRxFifoFillLevel(hfdcan, FDCAN_RX_FIFO0); + + if (level > maxFillLevel) { + maxFillLevel = level; + } + + if (RxFifo0ITs & FDCAN_IT_RX_FIFO0_MESSAGE_LOST) { + overflowCnt++; } + + if (RxFifo0ITs & FDCAN_IT_RX_FIFO0_FULL) { + fifoFullCnt++; + } + +#else + /* 🔴 Overflow erkannt */ + if (RxFifo0ITs & (FDCAN_IT_RX_FIFO0_MESSAGE_LOST | FDCAN_IT_RX_FIFO0_FULL)) { + CANModule_local->CANerrorStatus |= CO_CAN_ERRRX_OVERFLOW; + } +#endif + +#ifdef CANFIFO + /* ✅ HW FIFO komplett leerziehen */ + while (HAL_FDCAN_GetRxFifoFillLevel(hfdcan, FDCAN_RX_FIFO0) > 0) { + prv_read_can_received_msg_push(hfdcan, FDCAN_RX_FIFO0); + } +#else + prv_read_can_received_msg(hfdcan, FDCAN_RX_FIFO0, RxFifo0ITs); +#endif } + /** * \brief Rx FIFO 1 callback. * \param[in] hfdcan: pointer to an FDCAN_HandleTypeDef structure that contains * the configuration information for the specified FDCAN. * \param[in] RxFifo1ITs: indicates which Rx FIFO 0 interrupts are signaled. + * \return Elapsed time since last received Message */ -void -HAL_FDCAN_RxFifo1Callback(FDCAN_HandleTypeDef* hfdcan, uint32_t RxFifo1ITs) { - if (RxFifo1ITs & FDCAN_IT_RX_FIFO1_NEW_MESSAGE) { - prv_read_can_received_msg(hfdcan, FDCAN_RX_FIFO1, RxFifo1ITs); +void HAL_FDCAN_RxFifo1Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo1ITs) +{ +#ifdef DEBUG + static uint32_t overflowCnt = 0; + static uint32_t fifoFullCnt = 0; + static uint32_t maxFillLevel = 0; + + uint32_t level = HAL_FDCAN_GetRxFifoFillLevel(hfdcan, FDCAN_RX_FIFO1); + + if (level > maxFillLevel) { + maxFillLevel = level; } + + if (RxFifo1ITs & FDCAN_IT_RX_FIFO1_MESSAGE_LOST) { + overflowCnt++; + } + + if (RxFifo1ITs & FDCAN_IT_RX_FIFO1_FULL) { + fifoFullCnt++; + } +#else + if (RxFifo1ITs & (FDCAN_IT_RX_FIFO1_MESSAGE_LOST | FDCAN_IT_RX_FIFO1_FULL)) { + CANModule_local->CANerrorStatus |= CO_CAN_ERRRX_OVERFLOW; + } +#endif + +#ifdef CANFIFO + /* ✅ HW FIFO komplett leerziehen */ + while (HAL_FDCAN_GetRxFifoFillLevel(hfdcan, FDCAN_RX_FIFO1) > 0) { + prv_read_can_received_msg_push(hfdcan, FDCAN_RX_FIFO1); + } +#else + prv_read_can_received_msg(hfdcan, FDCAN_RX_FIFO1, RxFifo1ITs); +#endif } + /** * \brief TX buffer has been well transmitted callback * \param[in] hfdcan: pointer to an FDCAN_HandleTypeDef structure that contains * the configuration information for the specified FDCAN. * \param[in] BufferIndexes: Bits of successfully sent TX buffers */ -void -HAL_FDCAN_TxBufferCompleteCallback(FDCAN_HandleTypeDef* hfdcan, uint32_t BufferIndexes) { - CANModule_local->firstCANtxMessage = false; /* First CAN message (bootup) was sent successfully */ - CANModule_local->bufferInhibitFlag = false; /* Clear flag from previous message */ - if (CANModule_local->CANtxCount > 0U) { /* Are there any new messages waiting to be send */ - CO_CANtx_t* buffer = &CANModule_local->txArray[0]; /* Start with first buffer handle */ - uint16_t i; - - /* - * Try to send more buffers, process all empty ones - * - * This function is always called from interrupt, - * however to make sure no preemption can happen, interrupts are anyway locked - * (unless you can guarantee no higher priority interrupt will try to access to FDCAN instance and send data, - * then no need to lock interrupts..) - */ - CO_LOCK_CAN_SEND(CANModule_local); - for (i = CANModule_local->txSize; i > 0U; --i, ++buffer) { - /* Try to send message */ - if (buffer->bufferFull) { - if (prv_send_can_message(CANModule_local, buffer)) { - buffer->bufferFull = false; - CANModule_local->CANtxCount--; - CANModule_local->bufferInhibitFlag = buffer->syncFlag; - } else { - break; // if we could not send the message, break out of the loop (the tx buffers are full) - } - } - } - CO_UNLOCK_CAN_SEND(CANModule_local); - } +void HAL_FDCAN_TxBufferCompleteCallback(FDCAN_HandleTypeDef *hfdcan, + uint32_t BufferIndexes) { + CANModule_local->firstCANtxMessage = false; /* First CAN message (bootup) was sent successfully */ + CANModule_local->bufferInhibitFlag = false; /* Clear flag from previous message */ + if (CANModule_local->CANtxCount > 0U) { /* Are there any new messages waiting to be send */ + CO_CANtx_t *buffer = &CANModule_local->txArray[0]; /* Start with first buffer handle */ + uint16_t i; + + /* + * Try to send more buffers, process all empty ones + * + * This function is always called from interrupt, + * however to make sure no preemption can happen, interrupts are anyway locked + * (unless you can guarantee no higher priority interrupt will try to access to FDCAN instance and send data, + * then no need to lock interrupts..) + */ + CO_LOCK_CAN_SEND(CANModule_local); + //for (i = CANModule_local->txSize; i > 0U; --i, ++buffer) { + for (i = CANModule_local->txSize; i > 0U && CANModule_local->CANtxCount > 0; --i, ++buffer){ + /* Try to send message */ + if (buffer->bufferFull) { + if (prv_send_can_message(CANModule_local, buffer)) { + buffer->bufferFull = false; + CANModule_local->CANtxCount--; + CANModule_local->bufferInhibitFlag = buffer->syncFlag; + } else { + break; // if we could not send the message, break out of the loop (the tx buffers are full) + } + } + } + CO_UNLOCK_CAN_SEND(CANModule_local); + } } #else /** * \brief Rx FIFO 0 callback. * \param[in] hcan: pointer to an CAN_HandleTypeDef structure that contains * the configuration information for the specified CAN. + * \return Elapsed time since last received Message */ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef* hcan) { @@ -659,6 +941,7 @@ HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef* hcan) { * \brief Rx FIFO 1 callback. * \param[in] hcan: pointer to an CAN_HandleTypeDef structure that contains * the configuration information for the specified CAN. + * \return Elapsed time since last received Message */ void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef* hcan) { diff --git a/CANopenNode_STM32/CO_driver_target.h b/CANopenNode_STM32/CO_driver_target.h index 90855ab..52db7cb 100644 --- a/CANopenNode_STM32/CO_driver_target.h +++ b/CANopenNode_STM32/CO_driver_target.h @@ -35,7 +35,6 @@ #include #include -// Determining the CANOpen Driver #if defined(FDCAN) || defined(FDCAN1) || defined(FDCAN2) || defined(FDCAN3) #define CO_STM32_FDCAN_Driver 1 @@ -47,6 +46,9 @@ #undef CO_CONFIG_STORAGE_ENABLE // We don't need Storage option, implement based on your use case and remove this line from here +#define CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE (0x1000) // If Callback for SDO needed + + #ifdef CO_DRIVER_CUSTOM #include "CO_driver_custom.h" #endif @@ -82,6 +84,22 @@ typedef struct { uint8_t data[8]; /*!< Received data */ } CO_CANrxMsg_t; +#ifdef CO_STM32_FDCAN_Driver +#define FDCAN_IR_ALL_ERROR_MASK ( \ + FDCAN_IR_ELO \ + | FDCAN_IR_BO \ + | FDCAN_IR_EP \ + | FDCAN_IR_EW \ + | FDCAN_IR_PEA \ + | FDCAN_IR_PED \ + | FDCAN_IR_ARA \ + | FDCAN_IR_MRAF \ + | FDCAN_IR_WDI \ + | FDCAN_IR_TOO \ + | FDCAN_IR_RF0L \ + | FDCAN_IR_RF1L ) +#endif + /* Access to received CAN message */ #define CO_CANrxMsg_readIdent(msg) ((uint16_t)(((CO_CANrxMsg_t*)(msg)))->ident) #define CO_CANrxMsg_readDLC(msg) ((uint8_t)(((CO_CANrxMsg_t*)(msg)))->dlc) @@ -136,14 +154,15 @@ typedef struct { void* addrNV; } CO_storage_entry_t; -/* (un)lock critical section in CO_CANsend() */ -// Why disabling the whole Interrupt -#define CO_LOCK_CAN_SEND(CAN_MODULE) \ - do { \ - (CAN_MODULE)->primask_send = __get_PRIMASK(); \ - __disable_irq(); \ - } while (0) -#define CO_UNLOCK_CAN_SEND(CAN_MODULE) __set_PRIMASK((CAN_MODULE)->primask_send) + /* (un)lock critical section in CO_CANsend() */ + // Why disabling the whole Interrupt + #define CO_LOCK_CAN_SEND(CAN_MODULE) \ + do { \ + (CAN_MODULE)->primask_send = __get_PRIMASK(); \ + __disable_irq(); \ + } while (0) + #define CO_UNLOCK_CAN_SEND(CAN_MODULE) __set_PRIMASK((CAN_MODULE)->primask_send) + /* (un)lock critical section in CO_errorReport() or CO_errorReset() */ #define CO_LOCK_EMCY(CAN_MODULE) \ @@ -176,6 +195,7 @@ typedef struct { } while (0) + #ifdef __cplusplus } #endif /* __cplusplus */ diff --git a/Doxyfile b/Doxyfile new file mode 100644 index 0000000..1466895 --- /dev/null +++ b/Doxyfile @@ -0,0 +1,2913 @@ +# Doxyfile 1.11.0 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project. +# +# All text after a double hash (##) is considered a comment and is placed in +# front of the TAG it is preceding. +# +# All text after a single hash (#) is considered a comment and will be ignored. +# The format is: +# TAG = value [value, ...] +# For lists, items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (\" \"). +# +# Note: +# +# Use doxygen to compare the used configuration file with the template +# configuration file: +# doxygen -x [configFile] +# Use doxygen to compare the used configuration file with the template +# configuration file without replacing the environment variables or CMake type +# replacement variables: +# doxygen -x_noenv [configFile] + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# This tag specifies the encoding used for all characters in the configuration +# file that follow. The default is UTF-8 which is also the encoding used for all +# text before the first occurrence of this tag. Doxygen uses libiconv (or the +# iconv built into libc) for the transcoding. See +# https://www.gnu.org/software/libiconv/ for the list of possible encodings. +# The default value is: UTF-8. + +DOXYFILE_ENCODING = UTF-8 + +# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by +# double-quotes, unless you are using Doxywizard) that should identify the +# project for which the documentation is generated. This name is used in the +# title of most generated pages and in a few other places. +# The default value is: My Project. + +PROJECT_NAME = CANopenNode + +# The PROJECT_NUMBER tag can be used to enter a project or revision number. 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When you need a literal { or } or , in the value part of an alias you +# have to escape them by means of a backslash (\), this can lead to conflicts +# with the commands \{ and \} for these it is advised to use the version @{ and +# @} or use a double escape (\\{ and \\}) + +ALIASES = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources +# only. Doxygen will then generate output that is more tailored for C. For +# instance, some of the names that are used will be different. The list of all +# members will be omitted, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_FOR_C = YES + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or +# Python sources only. Doxygen will then generate output that is more tailored +# for that language. For instance, namespaces will be presented as packages, +# qualified scopes will look different, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_JAVA = NO + +# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran +# sources. Doxygen will then generate output that is tailored for Fortran. +# The default value is: NO. + +OPTIMIZE_FOR_FORTRAN = NO + +# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL +# sources. Doxygen will then generate output that is tailored for VHDL. +# The default value is: NO. + +OPTIMIZE_OUTPUT_VHDL = NO + +# Set the OPTIMIZE_OUTPUT_SLICE tag to YES if your project consists of Slice +# sources only. Doxygen will then generate output that is more tailored for that +# language. For instance, namespaces will be presented as modules, types will be +# separated into more groups, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_SLICE = NO + +# Doxygen selects the parser to use depending on the extension of the files it +# parses. With this tag you can assign which parser to use for a given +# extension. Doxygen has a built-in mapping, but you can override or extend it +# using this tag. The format is ext=language, where ext is a file extension, and +# language is one of the parsers supported by doxygen: IDL, Java, JavaScript, +# Csharp (C#), C, C++, Lex, D, PHP, md (Markdown), Objective-C, Python, Slice, +# VHDL, Fortran (fixed format Fortran: FortranFixed, free formatted Fortran: +# FortranFree, unknown formatted Fortran: Fortran. In the later case the parser +# tries to guess whether the code is fixed or free formatted code, this is the +# default for Fortran type files). For instance to make doxygen treat .inc files +# as Fortran files (default is PHP), and .f files as C (default is Fortran), +# use: inc=Fortran f=C. +# +# Note: For files without extension you can use no_extension as a placeholder. +# +# Note that for custom extensions you also need to set FILE_PATTERNS otherwise +# the files are not read by doxygen. When specifying no_extension you should add +# * to the FILE_PATTERNS. +# +# Note see also the list of default file extension mappings. + +EXTENSION_MAPPING = + +# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments +# according to the Markdown format, which allows for more readable +# documentation. See https://daringfireball.net/projects/markdown/ for details. +# The output of markdown processing is further processed by doxygen, so you can +# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in +# case of backward compatibilities issues. +# The default value is: YES. + +MARKDOWN_SUPPORT = YES + +# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up +# to that level are automatically included in the table of contents, even if +# they do not have an id attribute. +# Note: This feature currently applies only to Markdown headings. +# Minimum value: 0, maximum value: 99, default value: 6. +# This tag requires that the tag MARKDOWN_SUPPORT is set to YES. + +TOC_INCLUDE_HEADINGS = 6 + +# The MARKDOWN_ID_STYLE tag can be used to specify the algorithm used to +# generate identifiers for the Markdown headings. Note: Every identifier is +# unique. +# Possible values are: DOXYGEN use a fixed 'autotoc_md' string followed by a +# sequence number starting at 0 and GITHUB use the lower case version of title +# with any whitespace replaced by '-' and punctuation characters removed. +# The default value is: DOXYGEN. +# This tag requires that the tag MARKDOWN_SUPPORT is set to YES. + +MARKDOWN_ID_STYLE = DOXYGEN + +# When enabled doxygen tries to link words that correspond to documented +# classes, or namespaces to their corresponding documentation. Such a link can +# be prevented in individual cases by putting a % sign in front of the word or +# globally by setting AUTOLINK_SUPPORT to NO. +# The default value is: YES. + +AUTOLINK_SUPPORT = YES + +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want +# to include (a tag file for) the STL sources as input, then you should set this +# tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); +# versus func(std::string) {}). This also makes the inheritance and +# collaboration diagrams that involve STL classes more complete and accurate. +# The default value is: NO. + +BUILTIN_STL_SUPPORT = NO + +# If you use Microsoft's C++/CLI language, you should set this option to YES to +# enable parsing support. +# The default value is: NO. + +CPP_CLI_SUPPORT = NO + +# Set the SIP_SUPPORT tag to YES if your project consists of sip (see: +# https://www.riverbankcomputing.com/software) sources only. Doxygen will parse +# them like normal C++ but will assume all classes use public instead of private +# inheritance when no explicit protection keyword is present. +# The default value is: NO. + +SIP_SUPPORT = NO + +# For Microsoft's IDL there are propget and propput attributes to indicate +# getter and setter methods for a property. Setting this option to YES will make +# doxygen to replace the get and set methods by a property in the documentation. +# This will only work if the methods are indeed getting or setting a simple +# type. If this is not the case, or you want to show the methods anyway, you +# should set this option to NO. +# The default value is: YES. + +IDL_PROPERTY_SUPPORT = YES + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. +# The default value is: NO. + +DISTRIBUTE_GROUP_DOC = NO + +# If one adds a struct or class to a group and this option is enabled, then also +# any nested class or struct is added to the same group. By default this option +# is disabled and one has to add nested compounds explicitly via \ingroup. +# The default value is: NO. + +GROUP_NESTED_COMPOUNDS = NO + +# Set the SUBGROUPING tag to YES to allow class member groups of the same type +# (for instance a group of public functions) to be put as a subgroup of that +# type (e.g. under the Public Functions section). Set it to NO to prevent +# subgrouping. Alternatively, this can be done per class using the +# \nosubgrouping command. +# The default value is: YES. + +SUBGROUPING = YES + +# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions +# are shown inside the group in which they are included (e.g. using \ingroup) +# instead of on a separate page (for HTML and Man pages) or section (for LaTeX +# and RTF). +# +# Note that this feature does not work in combination with +# SEPARATE_MEMBER_PAGES. +# The default value is: NO. + +INLINE_GROUPED_CLASSES = NO + +# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions +# with only public data fields or simple typedef fields will be shown inline in +# the documentation of the scope in which they are defined (i.e. file, +# namespace, or group documentation), provided this scope is documented. If set +# to NO, structs, classes, and unions are shown on a separate page (for HTML and +# Man pages) or section (for LaTeX and RTF). +# The default value is: NO. + +INLINE_SIMPLE_STRUCTS = NO + +# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or +# enum is documented as struct, union, or enum with the name of the typedef. So +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct +# with name TypeT. When disabled the typedef will appear as a member of a file, +# namespace, or class. And the struct will be named TypeS. This can typically be +# useful for C code in case the coding convention dictates that all compound +# types are typedef'ed and only the typedef is referenced, never the tag name. +# The default value is: NO. + +TYPEDEF_HIDES_STRUCT = NO + +# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This +# cache is used to resolve symbols given their name and scope. Since this can be +# an expensive process and often the same symbol appears multiple times in the +# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small +# doxygen will become slower. If the cache is too large, memory is wasted. The +# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range +# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536 +# symbols. At the end of a run doxygen will report the cache usage and suggest +# the optimal cache size from a speed point of view. +# Minimum value: 0, maximum value: 9, default value: 0. + +LOOKUP_CACHE_SIZE = 0 + +# The NUM_PROC_THREADS specifies the number of threads doxygen is allowed to use +# during processing. When set to 0 doxygen will based this on the number of +# cores available in the system. You can set it explicitly to a value larger +# than 0 to get more control over the balance between CPU load and processing +# speed. At this moment only the input processing can be done using multiple +# threads. Since this is still an experimental feature the default is set to 1, +# which effectively disables parallel processing. Please report any issues you +# encounter. Generating dot graphs in parallel is controlled by the +# DOT_NUM_THREADS setting. +# Minimum value: 0, maximum value: 32, default value: 1. + +NUM_PROC_THREADS = 1 + +# If the TIMESTAMP tag is set different from NO then each generated page will +# contain the date or date and time when the page was generated. Setting this to +# NO can help when comparing the output of multiple runs. +# Possible values are: YES, NO, DATETIME and DATE. +# The default value is: NO. + +TIMESTAMP = NO + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in +# documentation are documented, even if no documentation was available. Private +# class members and static file members will be hidden unless the +# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES. +# Note: This will also disable the warnings about undocumented members that are +# normally produced when WARNINGS is set to YES. +# The default value is: NO. + +EXTRACT_ALL = NO + +# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will +# be included in the documentation. +# The default value is: NO. + +EXTRACT_PRIVATE = NO + +# If the EXTRACT_PRIV_VIRTUAL tag is set to YES, documented private virtual +# methods of a class will be included in the documentation. +# The default value is: NO. + +EXTRACT_PRIV_VIRTUAL = NO + +# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal +# scope will be included in the documentation. +# The default value is: NO. + +EXTRACT_PACKAGE = NO + +# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be +# included in the documentation. +# The default value is: NO. + +EXTRACT_STATIC = YES + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined +# locally in source files will be included in the documentation. If set to NO, +# only classes defined in header files are included. Does not have any effect +# for Java sources. +# The default value is: YES. + +EXTRACT_LOCAL_CLASSES = YES + +# This flag is only useful for Objective-C code. If set to YES, local methods, +# which are defined in the implementation section but not in the interface are +# included in the documentation. If set to NO, only methods in the interface are +# included. +# The default value is: NO. + +EXTRACT_LOCAL_METHODS = NO + +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base name of +# the file that contains the anonymous namespace. By default anonymous namespace +# are hidden. +# The default value is: NO. + +EXTRACT_ANON_NSPACES = NO + +# If this flag is set to YES, the name of an unnamed parameter in a declaration +# will be determined by the corresponding definition. By default unnamed +# parameters remain unnamed in the output. +# The default value is: YES. + +RESOLVE_UNNAMED_PARAMS = YES + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all +# undocumented members inside documented classes or files. If set to NO these +# members will be included in the various overviews, but no documentation +# section is generated. This option has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_MEMBERS = YES + +# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. If set +# to NO, these classes will be included in the various overviews. This option +# will also hide undocumented C++ concepts if enabled. This option has no effect +# if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_CLASSES = YES + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend +# declarations. If set to NO, these declarations will be included in the +# documentation. +# The default value is: NO. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any +# documentation blocks found inside the body of a function. If set to NO, these +# blocks will be appended to the function's detailed documentation block. +# The default value is: NO. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation that is typed after a +# \internal command is included. If the tag is set to NO then the documentation +# will be excluded. Set it to YES to include the internal documentation. +# The default value is: NO. + +INTERNAL_DOCS = NO + +# With the correct setting of option CASE_SENSE_NAMES doxygen will better be +# able to match the capabilities of the underlying filesystem. In case the +# filesystem is case sensitive (i.e. it supports files in the same directory +# whose names only differ in casing), the option must be set to YES to properly +# deal with such files in case they appear in the input. For filesystems that +# are not case sensitive the option should be set to NO to properly deal with +# output files written for symbols that only differ in casing, such as for two +# classes, one named CLASS and the other named Class, and to also support +# references to files without having to specify the exact matching casing. On +# Windows (including Cygwin) and MacOS, users should typically set this option +# to NO, whereas on Linux or other Unix flavors it should typically be set to +# YES. +# Possible values are: SYSTEM, NO and YES. +# The default value is: SYSTEM. + +CASE_SENSE_NAMES = YES + +# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with +# their full class and namespace scopes in the documentation. If set to YES, the +# scope will be hidden. +# The default value is: NO. + +HIDE_SCOPE_NAMES = NO + +# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will +# append additional text to a page's title, such as Class Reference. If set to +# YES the compound reference will be hidden. +# The default value is: NO. + +HIDE_COMPOUND_REFERENCE= NO + +# If the SHOW_HEADERFILE tag is set to YES then the documentation for a class +# will show which file needs to be included to use the class. +# The default value is: YES. + +SHOW_HEADERFILE = YES + +# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of +# the files that are included by a file in the documentation of that file. +# The default value is: YES. + +SHOW_INCLUDE_FILES = YES + +# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each +# grouped member an include statement to the documentation, telling the reader +# which file to include in order to use the member. +# The default value is: NO. + +SHOW_GROUPED_MEMB_INC = NO + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include +# files with double quotes in the documentation rather than with sharp brackets. +# The default value is: NO. + +FORCE_LOCAL_INCLUDES = NO + +# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the +# documentation for inline members. +# The default value is: YES. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the +# (detailed) documentation of file and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. +# The default value is: YES. + +SORT_MEMBER_DOCS = NO + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief +# descriptions of file, namespace and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. Note that +# this will also influence the order of the classes in the class list. +# The default value is: NO. + +SORT_BRIEF_DOCS = NO + +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the +# (brief and detailed) documentation of class members so that constructors and +# destructors are listed first. If set to NO the constructors will appear in the +# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS. +# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief +# member documentation. +# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting +# detailed member documentation. +# The default value is: NO. + +SORT_MEMBERS_CTORS_1ST = NO + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy +# of group names into alphabetical order. If set to NO the group names will +# appear in their defined order. +# The default value is: NO. + +SORT_GROUP_NAMES = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by +# fully-qualified names, including namespaces. If set to NO, the class list will +# be sorted only by class name, not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the alphabetical +# list. +# The default value is: NO. + +SORT_BY_SCOPE_NAME = NO + +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper +# type resolution of all parameters of a function it will reject a match between +# the prototype and the implementation of a member function even if there is +# only one candidate or it is obvious which candidate to choose by doing a +# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still +# accept a match between prototype and implementation in such cases. +# The default value is: NO. + +STRICT_PROTO_MATCHING = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo +# list. This list is created by putting \todo commands in the documentation. +# The default value is: YES. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test +# list. This list is created by putting \test commands in the documentation. +# The default value is: YES. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug +# list. This list is created by putting \bug commands in the documentation. +# The default value is: YES. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO) +# the deprecated list. This list is created by putting \deprecated commands in +# the documentation. +# The default value is: YES. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional documentation +# sections, marked by \if ... \endif and \cond +# ... \endcond blocks. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the +# initial value of a variable or macro / define can have for it to appear in the +# documentation. If the initializer consists of more lines than specified here +# it will be hidden. Use a value of 0 to hide initializers completely. The +# appearance of the value of individual variables and macros / defines can be +# controlled using \showinitializer or \hideinitializer command in the +# documentation regardless of this setting. +# Minimum value: 0, maximum value: 10000, default value: 30. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at +# the bottom of the documentation of classes and structs. If set to YES, the +# list will mention the files that were used to generate the documentation. +# The default value is: YES. + +SHOW_USED_FILES = YES + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This +# will remove the Files entry from the Quick Index and from the Folder Tree View +# (if specified). +# The default value is: YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces +# page. This will remove the Namespaces entry from the Quick Index and from the +# Folder Tree View (if specified). +# The default value is: YES. + +SHOW_NAMESPACES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command command input-file, where command is the value of the +# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided +# by doxygen. Whatever the program writes to standard output is used as the file +# version. For an example see the documentation. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. To create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. You can +# optionally specify a file name after the option, if omitted DoxygenLayout.xml +# will be used as the name of the layout file. See also section "Changing the +# layout of pages" for information. +# +# Note that if you run doxygen from a directory containing a file called +# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE +# tag is left empty. + +LAYOUT_FILE = + +# The CITE_BIB_FILES tag can be used to specify one or more bib files containing +# the reference definitions. This must be a list of .bib files. The .bib +# extension is automatically appended if omitted. This requires the bibtex tool +# to be installed. See also https://en.wikipedia.org/wiki/BibTeX for more info. +# For LaTeX the style of the bibliography can be controlled using +# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the +# search path. See also \cite for info how to create references. + +CITE_BIB_FILES = + +#--------------------------------------------------------------------------- +# Configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated to +# standard output by doxygen. If QUIET is set to YES this implies that the +# messages are off. +# The default value is: NO. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES +# this implies that the warnings are on. +# +# Tip: Turn warnings on while writing the documentation. +# The default value is: YES. + +WARNINGS = YES + +# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate +# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag +# will automatically be disabled. +# The default value is: YES. + +WARN_IF_UNDOCUMENTED = YES + +# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as documenting some parameters in +# a documented function twice, or documenting parameters that don't exist or +# using markup commands wrongly. +# The default value is: YES. + +WARN_IF_DOC_ERROR = YES + +# If WARN_IF_INCOMPLETE_DOC is set to YES, doxygen will warn about incomplete +# function parameter documentation. If set to NO, doxygen will accept that some +# parameters have no documentation without warning. +# The default value is: YES. + +WARN_IF_INCOMPLETE_DOC = YES + +# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that +# are documented, but have no documentation for their parameters or return +# value. If set to NO, doxygen will only warn about wrong parameter +# documentation, but not about the absence of documentation. If EXTRACT_ALL is +# set to YES then this flag will automatically be disabled. See also +# WARN_IF_INCOMPLETE_DOC +# The default value is: NO. + +WARN_NO_PARAMDOC = NO + +# If WARN_IF_UNDOC_ENUM_VAL option is set to YES, doxygen will warn about +# undocumented enumeration values. If set to NO, doxygen will accept +# undocumented enumeration values. If EXTRACT_ALL is set to YES then this flag +# will automatically be disabled. +# The default value is: NO. + +WARN_IF_UNDOC_ENUM_VAL = NO + +# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when +# a warning is encountered. If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS +# then doxygen will continue running as if WARN_AS_ERROR tag is set to NO, but +# at the end of the doxygen process doxygen will return with a non-zero status. +# If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS_PRINT then doxygen behaves +# like FAIL_ON_WARNINGS but in case no WARN_LOGFILE is defined doxygen will not +# write the warning messages in between other messages but write them at the end +# of a run, in case a WARN_LOGFILE is defined the warning messages will be +# besides being in the defined file also be shown at the end of a run, unless +# the WARN_LOGFILE is defined as - i.e. standard output (stdout) in that case +# the behavior will remain as with the setting FAIL_ON_WARNINGS. +# Possible values are: NO, YES, FAIL_ON_WARNINGS and FAIL_ON_WARNINGS_PRINT. +# The default value is: NO. + +WARN_AS_ERROR = NO + +# The WARN_FORMAT tag determines the format of the warning messages that doxygen +# can produce. The string should contain the $file, $line, and $text tags, which +# will be replaced by the file and line number from which the warning originated +# and the warning text. Optionally the format may contain $version, which will +# be replaced by the version of the file (if it could be obtained via +# FILE_VERSION_FILTER) +# See also: WARN_LINE_FORMAT +# The default value is: $file:$line: $text. + +WARN_FORMAT = "$file:$line: $text" + +# In the $text part of the WARN_FORMAT command it is possible that a reference +# to a more specific place is given. To make it easier to jump to this place +# (outside of doxygen) the user can define a custom "cut" / "paste" string. +# Example: +# WARN_LINE_FORMAT = "'vi $file +$line'" +# See also: WARN_FORMAT +# The default value is: at line $line of file $file. + +WARN_LINE_FORMAT = "at line $line of file $file" + +# The WARN_LOGFILE tag can be used to specify a file to which warning and error +# messages should be written. If left blank the output is written to standard +# error (stderr). In case the file specified cannot be opened for writing the +# warning and error messages are written to standard error. When as file - is +# specified the warning and error messages are written to standard output +# (stdout). + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# Configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag is used to specify the files and/or directories that contain +# documented source files. You may enter file names like myfile.cpp or +# directories like /usr/src/myproject. Separate the files or directories with +# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING +# Note: If this tag is empty the current directory is searched. + +INPUT = README.md \ + MISRA.md \ + doc \ + example/DS301_profile.md \ + CANopen.h \ + 301 \ + 303 \ + 304 \ + 305 \ + 309 \ + storage \ + extra + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses +# libiconv (or the iconv built into libc) for the transcoding. See the libiconv +# documentation (see: +# https://www.gnu.org/software/libiconv/) for the list of possible encodings. +# See also: INPUT_FILE_ENCODING +# The default value is: UTF-8. + +INPUT_ENCODING = UTF-8 + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses The INPUT_FILE_ENCODING tag can be used to specify +# character encoding on a per file pattern basis. Doxygen will compare the file +# name with each pattern and apply the encoding instead of the default +# INPUT_ENCODING) if there is a match. The character encodings are a list of the +# form: pattern=encoding (like *.php=ISO-8859-1). +# See also: INPUT_ENCODING for further information on supported encodings. + +INPUT_FILE_ENCODING = + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and +# *.h) to filter out the source-files in the directories. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# read by doxygen. +# +# Note the list of default checked file patterns might differ from the list of +# default file extension mappings. +# +# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cxxm, +# *.cpp, *.cppm, *.ccm, *.c++, *.c++m, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, +# *.idl, *.ddl, *.odl, *.h, *.hh, *.hxx, *.hpp, *.h++, *.ixx, *.l, *.cs, *.d, +# *.php, *.php4, *.php5, *.phtml, *.inc, *.m, *.markdown, *.md, *.mm, *.dox (to +# be provided as doxygen C comment), *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, +# *.f18, *.f, *.for, *.vhd, *.vhdl, *.ucf, *.qsf and *.ice. + +FILE_PATTERNS = *.c \ + *.cc \ + *.cxx \ + *.cxxm \ + *.cpp \ + *.cppm \ + *.ccm \ + *.c++ \ + *.c++m \ + *.java \ + *.ii \ + *.ixx \ + *.ipp \ + *.i++ \ + *.inl \ + *.idl \ + *.ddl \ + *.odl \ + *.h \ + *.hh \ + *.hxx \ + *.hpp \ + *.h++ \ + *.ixx \ + *.l \ + *.cs \ + *.d \ + *.php \ + *.php4 \ + *.php5 \ + *.phtml \ + *.inc \ + *.m \ + *.markdown \ + *.md \ + *.mm \ + *.dox \ + *.py \ + *.pyw \ + *.f90 \ + *.f95 \ + *.f03 \ + *.f08 \ + *.f18 \ + *.f \ + *.for \ + *.vhd \ + *.vhdl \ + *.ucf \ + *.qsf \ + *.ice + +# The RECURSIVE tag can be used to specify whether or not subdirectories should +# be searched for input files as well. +# The default value is: NO. + +RECURSIVE = NO + +# The EXCLUDE tag can be used to specify files and/or directories that should be +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. +# +# Note that relative paths are relative to the directory from which doxygen is +# run. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded +# from the input. +# The default value is: NO. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories for example use the pattern */test/* + +EXCLUDE_PATTERNS = + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# ANamespace::AClass, ANamespace::*Test + +EXCLUDE_SYMBOLS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or directories +# that contain example code fragments that are included (see the \include +# command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and +# *.h) to filter out the source-files in the directories. If left blank all +# files are included. + +EXAMPLE_PATTERNS = * + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude commands +# irrespective of the value of the RECURSIVE tag. +# The default value is: NO. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or directories +# that contain images that are to be included in the documentation (see the +# \image command). + +IMAGE_PATH = + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command: +# +# +# +# where is the value of the INPUT_FILTER tag, and is the +# name of an input file. Doxygen will then use the output that the filter +# program writes to standard output. If FILTER_PATTERNS is specified, this tag +# will be ignored. +# +# Note that the filter must not add or remove lines; it is applied before the +# code is scanned, but not when the output code is generated. If lines are added +# or removed, the anchors will not be placed correctly. +# +# Note that doxygen will use the data processed and written to standard output +# for further processing, therefore nothing else, like debug statements or used +# commands (so in case of a Windows batch file always use @echo OFF), should be +# written to standard output. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. The filters are a list of the form: pattern=filter +# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how +# filters are used. If the FILTER_PATTERNS tag is empty or if none of the +# patterns match the file name, INPUT_FILTER is applied. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will also be used to filter the input files that are used for +# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES). +# The default value is: NO. + +FILTER_SOURCE_FILES = NO + +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and +# it is also possible to disable source filtering for a specific pattern using +# *.ext= (so without naming a filter). +# This tag requires that the tag FILTER_SOURCE_FILES is set to YES. + +FILTER_SOURCE_PATTERNS = + +# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that +# is part of the input, its contents will be placed on the main page +# (index.html). This can be useful if you have a project on for instance GitHub +# and want to reuse the introduction page also for the doxygen output. + +USE_MDFILE_AS_MAINPAGE = ./README.md + +# The Fortran standard specifies that for fixed formatted Fortran code all +# characters from position 72 are to be considered as comment. A common +# extension is to allow longer lines before the automatic comment starts. The +# setting FORTRAN_COMMENT_AFTER will also make it possible that longer lines can +# be processed before the automatic comment starts. +# Minimum value: 7, maximum value: 10000, default value: 72. + +FORTRAN_COMMENT_AFTER = 72 + +#--------------------------------------------------------------------------- +# Configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will be +# generated. Documented entities will be cross-referenced with these sources. +# +# Note: To get rid of all source code in the generated output, make sure that +# also VERBATIM_HEADERS is set to NO. +# The default value is: NO. + +SOURCE_BROWSER = NO + +# Setting the INLINE_SOURCES tag to YES will include the body of functions, +# multi-line macros, enums or list initialized variables directly into the +# documentation. +# The default value is: NO. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any +# special comment blocks from generated source code fragments. Normal C, C++ and +# Fortran comments will always remain visible. +# The default value is: YES. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES then for each documented +# entity all documented functions referencing it will be listed. +# The default value is: NO. + +REFERENCED_BY_RELATION = NO + +# If the REFERENCES_RELATION tag is set to YES then for each documented function +# all documented entities called/used by that function will be listed. +# The default value is: NO. + +REFERENCES_RELATION = NO + +# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set +# to YES then the hyperlinks from functions in REFERENCES_RELATION and +# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will +# link to the documentation. +# The default value is: YES. + +REFERENCES_LINK_SOURCE = YES + +# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the +# source code will show a tooltip with additional information such as prototype, +# brief description and links to the definition and documentation. Since this +# will make the HTML file larger and loading of large files a bit slower, you +# can opt to disable this feature. +# The default value is: YES. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +SOURCE_TOOLTIPS = YES + +# If the USE_HTAGS tag is set to YES then the references to source code will +# point to the HTML generated by the htags(1) tool instead of doxygen built-in +# source browser. The htags tool is part of GNU's global source tagging system +# (see https://www.gnu.org/software/global/global.html). You will need version +# 4.8.6 or higher. +# +# To use it do the following: +# - Install the latest version of global +# - Enable SOURCE_BROWSER and USE_HTAGS in the configuration file +# - Make sure the INPUT points to the root of the source tree +# - Run doxygen as normal +# +# Doxygen will invoke htags (and that will in turn invoke gtags), so these +# tools must be available from the command line (i.e. in the search path). +# +# The result: instead of the source browser generated by doxygen, the links to +# source code will now point to the output of htags. +# The default value is: NO. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a +# verbatim copy of the header file for each class for which an include is +# specified. Set to NO to disable this. +# See also: Section \class. +# The default value is: YES. + +VERBATIM_HEADERS = YES + +# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the +# clang parser (see: +# http://clang.llvm.org/) for more accurate parsing at the cost of reduced +# performance. This can be particularly helpful with template rich C++ code for +# which doxygen's built-in parser lacks the necessary type information. +# Note: The availability of this option depends on whether or not doxygen was +# generated with the -Duse_libclang=ON option for CMake. +# The default value is: NO. + +CLANG_ASSISTED_PARSING = NO + +# If the CLANG_ASSISTED_PARSING tag is set to YES and the CLANG_ADD_INC_PATHS +# tag is set to YES then doxygen will add the directory of each input to the +# include path. +# The default value is: YES. +# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES. + +CLANG_ADD_INC_PATHS = YES + +# If clang assisted parsing is enabled you can provide the compiler with command +# line options that you would normally use when invoking the compiler. Note that +# the include paths will already be set by doxygen for the files and directories +# specified with INPUT and INCLUDE_PATH. +# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES. + +CLANG_OPTIONS = + +# If clang assisted parsing is enabled you can provide the clang parser with the +# path to the directory containing a file called compile_commands.json. This +# file is the compilation database (see: +# http://clang.llvm.org/docs/HowToSetupToolingForLLVM.html) containing the +# options used when the source files were built. This is equivalent to +# specifying the -p option to a clang tool, such as clang-check. These options +# will then be passed to the parser. Any options specified with CLANG_OPTIONS +# will be added as well. +# Note: The availability of this option depends on whether or not doxygen was +# generated with the -Duse_libclang=ON option for CMake. + +CLANG_DATABASE_PATH = + +#--------------------------------------------------------------------------- +# Configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all +# compounds will be generated. Enable this if the project contains a lot of +# classes, structs, unions or interfaces. +# The default value is: YES. + +ALPHABETICAL_INDEX = YES + +# The IGNORE_PREFIX tag can be used to specify a prefix (or a list of prefixes) +# that should be ignored while generating the index headers. The IGNORE_PREFIX +# tag works for classes, function and member names. The entity will be placed in +# the alphabetical list under the first letter of the entity name that remains +# after removing the prefix. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output +# The default value is: YES. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of +# it. +# The default directory is: html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_OUTPUT = html + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each +# generated HTML page (for example: .htm, .php, .asp). +# The default value is: .html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a user-defined HTML header file for +# each generated HTML page. If the tag is left blank doxygen will generate a +# standard header. +# +# To get valid HTML the header file that includes any scripts and style sheets +# that doxygen needs, which is dependent on the configuration options used (e.g. +# the setting GENERATE_TREEVIEW). It is highly recommended to start with a +# default header using +# doxygen -w html new_header.html new_footer.html new_stylesheet.css +# YourConfigFile +# and then modify the file new_header.html. See also section "Doxygen usage" +# for information on how to generate the default header that doxygen normally +# uses. +# Note: The header is subject to change so you typically have to regenerate the +# default header when upgrading to a newer version of doxygen. For a description +# of the possible markers and block names see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each +# generated HTML page. If the tag is left blank doxygen will generate a standard +# footer. See HTML_HEADER for more information on how to generate a default +# footer and what special commands can be used inside the footer. See also +# section "Doxygen usage" for information on how to generate the default footer +# that doxygen normally uses. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style +# sheet that is used by each HTML page. It can be used to fine-tune the look of +# the HTML output. If left blank doxygen will generate a default style sheet. +# See also section "Doxygen usage" for information on how to generate the style +# sheet that doxygen normally uses. +# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as +# it is more robust and this tag (HTML_STYLESHEET) will in the future become +# obsolete. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_STYLESHEET = + +# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined +# cascading style sheets that are included after the standard style sheets +# created by doxygen. Using this option one can overrule certain style aspects. +# This is preferred over using HTML_STYLESHEET since it does not replace the +# standard style sheet and is therefore more robust against future updates. +# Doxygen will copy the style sheet files to the output directory. +# Note: The order of the extra style sheet files is of importance (e.g. the last +# style sheet in the list overrules the setting of the previous ones in the +# list). +# Note: Since the styling of scrollbars can currently not be overruled in +# Webkit/Chromium, the styling will be left out of the default doxygen.css if +# one or more extra stylesheets have been specified. So if scrollbar +# customization is desired it has to be added explicitly. For an example see the +# documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_STYLESHEET = + +# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the HTML output directory. Note +# that these files will be copied to the base HTML output directory. Use the +# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these +# files. In the HTML_STYLESHEET file, use the file name only. Also note that the +# files will be copied as-is; there are no commands or markers available. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_FILES = + +# The HTML_COLORSTYLE tag can be used to specify if the generated HTML output +# should be rendered with a dark or light theme. +# Possible values are: LIGHT always generates light mode output, DARK always +# generates dark mode output, AUTO_LIGHT automatically sets the mode according +# to the user preference, uses light mode if no preference is set (the default), +# AUTO_DARK automatically sets the mode according to the user preference, uses +# dark mode if no preference is set and TOGGLE allows a user to switch between +# light and dark mode via a button. +# The default value is: AUTO_LIGHT. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE = AUTO_LIGHT + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen +# will adjust the colors in the style sheet and background images according to +# this color. Hue is specified as an angle on a color-wheel, see +# https://en.wikipedia.org/wiki/Hue for more information. For instance the value +# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 +# purple, and 360 is red again. +# Minimum value: 0, maximum value: 359, default value: 220. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_HUE = 220 + +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors +# in the HTML output. For a value of 0 the output will use gray-scales only. A +# value of 255 will produce the most vivid colors. +# Minimum value: 0, maximum value: 255, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_SAT = 100 + +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the +# luminance component of the colors in the HTML output. Values below 100 +# gradually make the output lighter, whereas values above 100 make the output +# darker. The value divided by 100 is the actual gamma applied, so 80 represents +# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not +# change the gamma. +# Minimum value: 40, maximum value: 240, default value: 80. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_GAMMA = 80 + +# If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML +# documentation will contain a main index with vertical navigation menus that +# are dynamically created via JavaScript. If disabled, the navigation index will +# consists of multiple levels of tabs that are statically embedded in every HTML +# page. Disable this option to support browsers that do not have JavaScript, +# like the Qt help browser. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_DYNAMIC_MENUS = YES + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_DYNAMIC_SECTIONS = YES + +# If the HTML_CODE_FOLDING tag is set to YES then classes and functions can be +# dynamically folded and expanded in the generated HTML source code. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_CODE_FOLDING = YES + +# If the HTML_COPY_CLIPBOARD tag is set to YES then doxygen will show an icon in +# the top right corner of code and text fragments that allows the user to copy +# its content to the clipboard. Note this only works if supported by the browser +# and the web page is served via a secure context (see: +# https://www.w3.org/TR/secure-contexts/), i.e. using the https: or file: +# protocol. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COPY_CLIPBOARD = YES + +# Doxygen stores a couple of settings persistently in the browser (via e.g. +# cookies). By default these settings apply to all HTML pages generated by +# doxygen across all projects. The HTML_PROJECT_COOKIE tag can be used to store +# the settings under a project specific key, such that the user preferences will +# be stored separately. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_PROJECT_COOKIE = + +# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries +# shown in the various tree structured indices initially; the user can expand +# and collapse entries dynamically later on. Doxygen will expand the tree to +# such a level that at most the specified number of entries are visible (unless +# a fully collapsed tree already exceeds this amount). So setting the number of +# entries 1 will produce a full collapsed tree by default. 0 is a special value +# representing an infinite number of entries and will result in a full expanded +# tree by default. +# Minimum value: 0, maximum value: 9999, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_INDEX_NUM_ENTRIES = 35 + +# If the GENERATE_DOCSET tag is set to YES, additional index files will be +# generated that can be used as input for Apple's Xcode 3 integrated development +# environment (see: +# https://developer.apple.com/xcode/), introduced with OSX 10.5 (Leopard). To +# create a documentation set, doxygen will generate a Makefile in the HTML +# output directory. Running make will produce the docset in that directory and +# running make install will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at +# startup. See https://developer.apple.com/library/archive/featuredarticles/Doxy +# genXcode/_index.html for more information. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_DOCSET = NO + +# This tag determines the name of the docset feed. A documentation feed provides +# an umbrella under which multiple documentation sets from a single provider +# (such as a company or product suite) can be grouped. +# The default value is: Doxygen generated docs. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# This tag determines the URL of the docset feed. A documentation feed provides +# an umbrella under which multiple documentation sets from a single provider +# (such as a company or product suite) can be grouped. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_FEEDURL = + +# This tag specifies a string that should uniquely identify the documentation +# set bundle. This should be a reverse domain-name style string, e.g. +# com.mycompany.MyDocSet. Doxygen will append .docset to the name. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style +# string, e.g. com.mycompany.MyDocSet.documentation. +# The default value is: org.doxygen.Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_ID = org.doxygen.Publisher + +# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher. +# The default value is: Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_NAME = Publisher + +# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three +# additional HTML index files: index.hhp, index.hhc, and index.hhk. The +# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop +# on Windows. In the beginning of 2021 Microsoft took the original page, with +# a.o. the download links, offline the HTML help workshop was already many years +# in maintenance mode). You can download the HTML help workshop from the web +# archives at Installation executable (see: +# http://web.archive.org/web/20160201063255/http://download.microsoft.com/downlo +# ad/0/A/9/0A939EF6-E31C-430F-A3DF-DFAE7960D564/htmlhelp.exe). +# +# The HTML Help Workshop contains a compiler that can convert all HTML output +# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML +# files are now used as the Windows 98 help format, and will replace the old +# Windows help format (.hlp) on all Windows platforms in the future. Compressed +# HTML files also contain an index, a table of contents, and you can search for +# words in the documentation. The HTML workshop also contains a viewer for +# compressed HTML files. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_HTMLHELP = NO + +# The CHM_FILE tag can be used to specify the file name of the resulting .chm +# file. You can add a path in front of the file if the result should not be +# written to the html output directory. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_FILE = + +# The HHC_LOCATION tag can be used to specify the location (absolute path +# including file name) of the HTML help compiler (hhc.exe). If non-empty, +# doxygen will try to run the HTML help compiler on the generated index.hhp. +# The file has to be specified with full path. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +HHC_LOCATION = + +# The GENERATE_CHI flag controls if a separate .chi index file is generated +# (YES) or that it should be included in the main .chm file (NO). +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +GENERATE_CHI = NO + +# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc) +# and project file content. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_INDEX_ENCODING = + +# The BINARY_TOC flag controls whether a binary table of contents is generated +# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it +# enables the Previous and Next buttons. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members to +# the table of contents of the HTML help documentation and to the tree view. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +TOC_EXPAND = NO + +# The SITEMAP_URL tag is used to specify the full URL of the place where the +# generated documentation will be placed on the server by the user during the +# deployment of the documentation. The generated sitemap is called sitemap.xml +# and placed on the directory specified by HTML_OUTPUT. In case no SITEMAP_URL +# is specified no sitemap is generated. For information about the sitemap +# protocol see https://www.sitemaps.org +# This tag requires that the tag GENERATE_HTML is set to YES. + +SITEMAP_URL = + +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that +# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help +# (.qch) of the generated HTML documentation. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify +# the file name of the resulting .qch file. The path specified is relative to +# the HTML output folder. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help +# Project output. For more information please see Qt Help Project / Namespace +# (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#namespace). +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt +# Help Project output. For more information please see Qt Help Project / Virtual +# Folders (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#virtual-folders). +# The default value is: doc. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_VIRTUAL_FOLDER = doc + +# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom +# filter to add. For more information please see Qt Help Project / Custom +# Filters (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see Qt Help Project / Custom +# Filters (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's filter section matches. Qt Help Project / Filter Attributes (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#filter-attributes). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_SECT_FILTER_ATTRS = + +# The QHG_LOCATION tag can be used to specify the location (absolute path +# including file name) of Qt's qhelpgenerator. If non-empty doxygen will try to +# run qhelpgenerator on the generated .qhp file. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be +# generated, together with the HTML files, they form an Eclipse help plugin. To +# install this plugin and make it available under the help contents menu in +# Eclipse, the contents of the directory containing the HTML and XML files needs +# to be copied into the plugins directory of eclipse. The name of the directory +# within the plugins directory should be the same as the ECLIPSE_DOC_ID value. +# After copying Eclipse needs to be restarted before the help appears. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the Eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have this +# name. Each documentation set should have its own identifier. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# If you want full control over the layout of the generated HTML pages it might +# be necessary to disable the index and replace it with your own. The +# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top +# of each HTML page. A value of NO enables the index and the value YES disables +# it. Since the tabs in the index contain the same information as the navigation +# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +DISABLE_INDEX = NO + +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. If the tag +# value is set to YES, a side panel will be generated containing a tree-like +# index structure (just like the one that is generated for HTML Help). For this +# to work a browser that supports JavaScript, DHTML, CSS and frames is required +# (i.e. any modern browser). Windows users are probably better off using the +# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can +# further fine tune the look of the index (see "Fine-tuning the output"). As an +# example, the default style sheet generated by doxygen has an example that +# shows how to put an image at the root of the tree instead of the PROJECT_NAME. +# Since the tree basically has the same information as the tab index, you could +# consider setting DISABLE_INDEX to YES when enabling this option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_TREEVIEW = NO + +# When both GENERATE_TREEVIEW and DISABLE_INDEX are set to YES, then the +# FULL_SIDEBAR option determines if the side bar is limited to only the treeview +# area (value NO) or if it should extend to the full height of the window (value +# YES). Setting this to YES gives a layout similar to +# https://docs.readthedocs.io with more room for contents, but less room for the +# project logo, title, and description. If either GENERATE_TREEVIEW or +# DISABLE_INDEX is set to NO, this option has no effect. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FULL_SIDEBAR = NO + +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that +# doxygen will group on one line in the generated HTML documentation. +# +# Note that a value of 0 will completely suppress the enum values from appearing +# in the overview section. +# Minimum value: 0, maximum value: 20, default value: 4. +# This tag requires that the tag GENERATE_HTML is set to YES. + +ENUM_VALUES_PER_LINE = 4 + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used +# to set the initial width (in pixels) of the frame in which the tree is shown. +# Minimum value: 0, maximum value: 1500, default value: 250. +# This tag requires that the tag GENERATE_HTML is set to YES. + +TREEVIEW_WIDTH = 250 + +# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to +# external symbols imported via tag files in a separate window. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +EXT_LINKS_IN_WINDOW = NO + +# If the OBFUSCATE_EMAILS tag is set to YES, doxygen will obfuscate email +# addresses. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +OBFUSCATE_EMAILS = YES + +# If the HTML_FORMULA_FORMAT option is set to svg, doxygen will use the pdf2svg +# tool (see https://github.com/dawbarton/pdf2svg) or inkscape (see +# https://inkscape.org) to generate formulas as SVG images instead of PNGs for +# the HTML output. These images will generally look nicer at scaled resolutions. +# Possible values are: png (the default) and svg (looks nicer but requires the +# pdf2svg or inkscape tool). +# The default value is: png. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FORMULA_FORMAT = png + +# Use this tag to change the font size of LaTeX formulas included as images in +# the HTML documentation. When you change the font size after a successful +# doxygen run you need to manually remove any form_*.png images from the HTML +# output directory to force them to be regenerated. +# Minimum value: 8, maximum value: 50, default value: 10. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_FONTSIZE = 10 + +# The FORMULA_MACROFILE can contain LaTeX \newcommand and \renewcommand commands +# to create new LaTeX commands to be used in formulas as building blocks. See +# the section "Including formulas" for details. + +FORMULA_MACROFILE = + +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see +# https://www.mathjax.org) which uses client side JavaScript for the rendering +# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX +# installed or if you want to formulas look prettier in the HTML output. When +# enabled you may also need to install MathJax separately and configure the path +# to it using the MATHJAX_RELPATH option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +USE_MATHJAX = NO + +# With MATHJAX_VERSION it is possible to specify the MathJax version to be used. +# Note that the different versions of MathJax have different requirements with +# regards to the different settings, so it is possible that also other MathJax +# settings have to be changed when switching between the different MathJax +# versions. +# Possible values are: MathJax_2 and MathJax_3. +# The default value is: MathJax_2. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_VERSION = MathJax_2 + +# When MathJax is enabled you can set the default output format to be used for +# the MathJax output. For more details about the output format see MathJax +# version 2 (see: +# http://docs.mathjax.org/en/v2.7-latest/output.html) and MathJax version 3 +# (see: +# http://docs.mathjax.org/en/latest/web/components/output.html). +# Possible values are: HTML-CSS (which is slower, but has the best +# compatibility. This is the name for Mathjax version 2, for MathJax version 3 +# this will be translated into chtml), NativeMML (i.e. MathML. Only supported +# for MathJax 2. For MathJax version 3 chtml will be used instead.), chtml (This +# is the name for Mathjax version 3, for MathJax version 2 this will be +# translated into HTML-CSS) and SVG. +# The default value is: HTML-CSS. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_FORMAT = HTML-CSS + +# When MathJax is enabled you need to specify the location relative to the HTML +# output directory using the MATHJAX_RELPATH option. The destination directory +# should contain the MathJax.js script. For instance, if the mathjax directory +# is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax +# Content Delivery Network so you can quickly see the result without installing +# MathJax. However, it is strongly recommended to install a local copy of +# MathJax from https://www.mathjax.org before deployment. The default value is: +# - in case of MathJax version 2: https://cdn.jsdelivr.net/npm/mathjax@2 +# - in case of MathJax version 3: https://cdn.jsdelivr.net/npm/mathjax@3 +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_RELPATH = https://cdn.jsdelivr.net/npm/mathjax@2 + +# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax +# extension names that should be enabled during MathJax rendering. For example +# for MathJax version 2 (see +# https://docs.mathjax.org/en/v2.7-latest/tex.html#tex-and-latex-extensions): +# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols +# For example for MathJax version 3 (see +# http://docs.mathjax.org/en/latest/input/tex/extensions/index.html): +# MATHJAX_EXTENSIONS = ams +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_EXTENSIONS = + +# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces +# of code that will be used on startup of the MathJax code. See the MathJax site +# (see: +# http://docs.mathjax.org/en/v2.7-latest/output.html) for more details. For an +# example see the documentation. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_CODEFILE = + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box for +# the HTML output. The underlying search engine uses javascript and DHTML and +# should work on any modern browser. Note that when using HTML help +# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) +# there is already a search function so this one should typically be disabled. +# For large projects the javascript based search engine can be slow, then +# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to +# search using the keyboard; to jump to the search box use + S +# (what the is depends on the OS and browser, but it is typically +# , /