canfestival: comparison src/sdo.c

equal deleted inserted replaced

-:f36f09f08b62
+:95cd3376cc9f
 You should have received a copy of the GNU Lesser General Public
 License along with this library; if not, write to the Free Software
 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 */
-//#define DEBUG_WAR_CONSOLE_ON
+/* #define DEBUG_WAR_CONSOLE_ON */
-//#define DEBUG_ERR_CONSOLE_ON
+/* #define DEBUG_ERR_CONSOLE_ON */
 #include "objacces.h"
 #include "sdo.h"
+/* Uncomment if your compiler does not support inline functions */
+#define NO_INLINE
+#ifdef NO_INLINE
+#define INLINE
+#else
+	#define INLINE inline
+#endif
 /*Internals prototypes*/
 /** Called by writeNetworkDict */
-inline UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
+INLINE UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
 		       UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback);
 /** Called by readNetworkDict */
-inline UNS8 _readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex,
+INLINE UNS8 _readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex,
 	UNS8 dataType, SDOCallback_t Callback);
 /***************************************************************************/
-// SDO (un)packing macros
+/* SDO (un)packing macros */
 /** Returns the command specifier (cs, ccs, scs) from the first byte of the SDO
 */
 #define getSDOcs(byte) (byte >> 5)
 */
 #define getSDOindex(byte1, byte2) ((byte2 << 8) | (byte1))
 /** Returns the subIndex from the byte 3 of the SDO
 */
 #define getSDOsubIndex(byte3) (byte3)
 /***************************************************************************
 **
 */
 {
 MSG_ERR(0x1A01, "SDO timeout. SDO response not received.", 0);
 MSG_WAR(0x2A02, "server node : ", d->transfers[id].nodeId);
 MSG_WAR(0x2A02, "      index : ", d->transfers[id].index);
 MSG_WAR(0x2A02, "   subIndex : ", d->transfers[id].subIndex);
-// Reset timer handler
+/* Reset timer handler */
 d->transfers[id].timer = TIMER_NONE;
-// Call the user function to inform of the problem.
+/* Call the user function to inform of the problem.*/
 (*d->SDOtimeoutError)(id);
-// Sending a SDO abort
+/* Sending a SDO abort */
 sendSDOabort(d, d->transfers[id].whoami,
 		 d->transfers[id].index, d->transfers[id].subIndex, SDOABT_TIMED_OUT);
-// Reset the line
+/* Reset the line*/
 resetSDOline(d, id);
 }
 #define StopSDO_TIMER(id) \
 MSG_WAR(0x3A05, "StopSDO_TIMER for line : ", line);\
 return errorCode;
 d->transfers[line].count = size;
 d->transfers[line].offset = 0;
 #if 0
-// Me laisser ça, please ! (FD)
+/*Me laisser ça, please ! (FD)*/
 {
 UNS8 i;
 for (i = 0 ; i < 10 ; i++) {
 MSG_WAR(i, "data= ", d->transfers[line].data[i]);
 }
 		UNS8 subIndex, UNS32 abortCode)
 {
 UNS8 err;
 UNS8 line;
 err = getSDOlineOnUse( d, nodeId, whoami, &line );
-if (!err) // If a line on use have been found.
+if (!err) /* If a line on use have been found.*/
 MSG_WAR(0x3A20, "FailedSDO : line found : ", line);
 if ((! err) && (whoami == SDO_SERVER)) {
 resetSDOline( d, line );
 MSG_WAR(0x3A21, "FailedSDO : line released : ", line);
 }
 for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
 if ( d->transfers[i].state == SDO_RESET ) {
 *line = i;
 d->transfers[i].whoami = whoami;
 return 0;
-} // end if
+} /* end if */
-} // end for
+} /* end for */
 MSG_ERR(0x1A25, "Too many SDO in progress. Aborted.", i);
 return 0xFF;
 }
 /***************************************************************************/
 }
 /***************************************************************************/
 UNS8 getSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 * nbBytes)
 {
-if (d->transfers[line].count == 0) // if received initiate SDO protocol with e=0 and s=0
+if (d->transfers[line].count == 0) /* if received initiate SDO protocol with e=0 and s=0 */
 * nbBytes = 0;
 else
 * nbBytes = d->transfers[line].count - d->transfers[line].offset;
 return 0;
 }
 pwCobId = d->objdict[offset].pSubindex[1].pObject;
 }
 /* message copy for sending */
 m.cob_id.w = *pwCobId;
 m.rtr = NOT_A_REQUEST;
-//the length of SDO must be 8
+/* the length of SDO must be 8 */
 m.len = 8;
 for (i = 0 ; i < 8 ; i++) {
 m.data[i] =  sdo.body.data[i];
 }
 return (*d->canSend)(&m);
 s_SDO sdo;
 UNS8 ret;
 MSG_WAR(0x2A50,"Sending SDO abort ", abortCode);
 sdo.nodeId = *d->bDeviceNodeId;
 sdo.body.data[0] = 0x80;
-// Index
+/* Index */
-sdo.body.data[1] = index & 0xFF; // LSB
+sdo.body.data[1] = index & 0xFF; /* LSB */
-sdo.body.data[2] = (index >> 8) & 0xFF; // MSB
+sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
-// Subindex
+/* Subindex */
 sdo.body.data[3] = subIndex;
-// Data
+/* Data */
 sdo.body.data[4] = (UNS8)(abortCode & 0xFF);
 sdo.body.data[5] = (UNS8)((abortCode >> 8) & 0xFF);
 sdo.body.data[6] = (UNS8)((abortCode >> 16) & 0xFF);
 sdo.body.data[7] = (UNS8)((abortCode >> 24) & 0xFF);
 ret = sendSDO(d, whoami, sdo);
 /***************************************************************************/
 UNS8 proceedSDO (CO_Data* d, Message *m)
 {
 UNS8 err;
 UNS8 line;
-UNS8 nbBytes; // received or to be transmited.
+UNS8 nbBytes; /* received or to be transmited. */
-UNS8 nodeId = 0;  // The node from which the SDO is received
+UNS8 nodeId = 0;  /* The node from which the SDO is received */
 UNS8 *pNodeId = NULL;
-UNS8 whoami = SDO_UNKNOWN;  // SDO_SERVER or SDO_CLIENT.
+UNS8 whoami = SDO_UNKNOWN;  /* SDO_SERVER or SDO_CLIENT.*/
-UNS32 errorCode; // while reading or writing in the local object dictionary.
+UNS32 errorCode; /* while reading or writing in the local object dictionary.*/
-s_SDO sdo;    // SDO to transmit
+s_SDO sdo;    /* SDO to transmit */
 UNS16 index;
 UNS8 subIndex;
 UNS32 abortCode;
 UNS8 i,j;
 UNS32 *     pCobId = NULL;
 pSize = &size;
 MSG_WAR(0x3A60, "proceedSDO ", 0);
 whoami = SDO_UNKNOWN;
-// Looking for the cobId in the object dictionary.
+/* Looking for the cobId in the object dictionary. */
-// Am-I a server ?
+/* Am-I a server ? */
 offset = d->firstIndex->SDO_SVR;
 lastIndex = d->lastIndex->SDO_SVR;
 j = 0;
 if(offset) while (offset <= lastIndex) {
 if (d->objdict[offset].bSubCount <= 1) {
 	}
 pCobId = d->objdict[offset].pSubindex[1].pObject;
 if ( *pCobId == (*m).cob_id.w ) {
 	whoami = SDO_SERVER;
 	MSG_WAR(0x3A62, "proceedSDO. I am server. index : ", 0x1200 + j);
-	// In case of server, the node id of the client may be unknown. So we put the index minus offset
+	/* In case of server, the node id of the client may be unknown. So we put the index minus offset */
-	// 0x1200 where the cobid received is defined.
+	/* 0x1200 where the cobid received is defined. */
 	nodeId = j;
 	break;
 }
 j++;
 offset++;
-} // end while
+} /* end while */
 if (whoami == SDO_UNKNOWN) {
-// Am-I client ?
+/* Am-I client ? */
 offset = d->firstIndex->SDO_CLT;
 lastIndex = d->lastIndex->SDO_CLT;
 j = 0;
 if(offset) while (offset <= lastIndex) {
 if (d->objdict[offset].bSubCount <= 3) {
 	 MSG_ERR(0x1A63, "Subindex 3  not found at index ", 0x1280 + j);
 	 return 0xFF;
 }
-// a) Looking for the cobid received.
+/* a) Looking for the cobid received. */
 pCobId = d->objdict[offset].pSubindex[2].pObject;
 if (*pCobId == (*m).cob_id.w ) {
-	 // b) cobid found, so reading the node id of the server.
+	 /* b) cobid found, so reading the node id of the server. */
 	 pNodeId = d->objdict[offset].pSubindex[3].pObject;
 	 whoami = SDO_CLIENT;
 	 nodeId = *pNodeId;
 	 MSG_WAR(0x3A64, "proceedSDO. I am server. index : ", 0x1280 + j);
 	 MSG_WAR(0x3A65, "                 Server nodeId : ", nodeId);
 	 break;
 	}
 j++;
 offset++;
-} // end while
+} /* end while */
 }
 if (whoami == SDO_UNKNOWN) {
-return 0xFF;// This SDO was not for us !
+return 0xFF;/* This SDO was not for us ! */
 }
-// Test if the size of the SDO is ok
+/* Test if the size of the SDO is ok */
 if ( (*m).len != 8) {
 MSG_ERR(0x1A67, "Error size SDO. CobId  : ", (*m).cob_id.w);
 failedSDO(d, nodeId, whoami, 0, 0, SDOABT_GENERAL_ERROR);
 return 0xFF;
 }
 }
 else {
 MSG_WAR(0x3A69, "I am SERVER. Received SDO cobId : ", (*m).cob_id.w);
 }
-// Testing the command specifier
+/* Testing the command specifier */
-// Allowed : cs = 0, 1, 2, 3, 4. (=  all except those for block tranfert).
+/* Allowed : cs = 0, 1, 2, 3, 4. (=  all except those for block tranfert). */
-// cs = other : Not allowed -> abort.
+/* cs = other : Not allowed -> abort. */
 switch (getSDOcs(m->data[0])) {
 case 0:
-// I am SERVER
+/* I am SERVER */
 if (whoami == SDO_SERVER) {
-// Receiving a download segment data.
+/* Receiving a download segment data. */
-// A SDO transfert should have been yet initiated.
+/* A SDO transfert should have been yet initiated. */
 err = getSDOlineOnUse( d, nodeId, whoami, &line );
 if (!err)
 	err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
 if (err) {
 	MSG_ERR(0x1A70, "SDO error : Received download segment for unstarted trans. index 0x1200 + ",
 		nodeId);
 	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
 	return 0xFF;
 }
-// Reset the wathdog
+/* Reset the wathdog */
 RestartSDO_TIMER(line)
 MSG_WAR(0x3A71, "Received SDO download segment defined at index 0x1200 + ", nodeId);
 index = d->transfers[line].index;
 subIndex = d->transfers[line].subIndex;
-// Toggle test.
+/* Toggle test. */
 if (d->transfers[line].toggle != getSDOt(m->data[0])) {
 	MSG_ERR(0x1A72, "SDO error : Toggle error : ", getSDOt(m->data[0]));
 	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
 	return 0xFF;
 }
-// Nb of data to be downloaded
+/* Nb of data to be downloaded */
 nbBytes = 7 - getSDOn3(m->data[0]);
-// Store the data in the transfert structure.
+/* Store the data in the transfert structure. */
 err = SDOtoLine(d, line, nbBytes, (*m).data + 1);
 if (err) {
 	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
 	return 0xFF;
 }
-// Sending the SDO response, CS = 1
+/* Sending the SDO response, CS = 1 */
-sdo.nodeId = *d->bDeviceNodeId; // The node id of the server, (here it is the sender).
+sdo.nodeId = *d->bDeviceNodeId; /* The node id of the server, (here it is the sender). */
 sdo.body.data[0] = (1 << 5) | (d->transfers[line].toggle << 4);
 for (i = 1 ; i < 8 ; i++)
 	sdo.body.data[i] = 0;
 MSG_WAR(0x3A73, "SDO. Send response to download request defined at index 0x1200 + ", nodeId);
 sendSDO(d, whoami, sdo);
-// Inverting the toggle for the next segment.
+/* Inverting the toggle for the next segment. */
 d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
-// If it was the last segment,
+/* If it was the last segment, */
 if (getSDOc(m->data[0])) {
-	// Transfering line data to object dictionary.
+	/* Transfering line data to object dictionary. */
-	// The code does not use the "d" of initiate frame. So it is safe if e=s=0
+	/* The code does not use the "d" of initiate frame. So it is safe if e=s=0 */
 	errorCode = SDOlineToObjdict(d, line);
 	if (errorCode) {
 	  MSG_ERR(0x1A54, "SDO error : Unable to copy the data in the object dictionary", 0);
 	  failedSDO(d, nodeId, whoami, index, subIndex, errorCode);
 	  return 0xFF;
 	}
-	// Release of the line
+	/* Release of the line */
 	resetSDOline(d, line);
 	MSG_WAR(0x3A74, "SDO. End of download defined at index 0x1200 + ", nodeId);
 }
-} // end if SERVER
+} /* end if SERVER */
-else { // if CLIENT
+else { /* if CLIENT */
-// I am CLIENT
+/* I am CLIENT */
-// It is a request for a previous upload segment. We should find a line opened for this.
+/* It is a request for a previous upload segment. We should find a line opened for this.*/
 err = getSDOlineOnUse( d, nodeId, whoami, &line);
 if (!err)
 	err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
 if (err) {
 	MSG_ERR(0x1A75, "SDO error : Received segment response for unknown trans. from nodeId", nodeId);
 	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
 	return 0xFF;
 }
-// Reset the wathdog
+/* Reset the wathdog */
 RestartSDO_TIMER(line)
 index = d->transfers[line].index;
 subIndex = d->transfers[line].subIndex;
-// test of the toggle;
+/* test of the toggle; */
 if (d->transfers[line].toggle != getSDOt(m->data[0])) {
 	MSG_ERR(0x1A76, "SDO error : Received segment response Toggle error. from nodeId", nodeId);
 	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
 	return 0xFF;
 }
-// nb of data to be uploaded
+/* nb of data to be uploaded */
 nbBytes = 7 - getSDOn3(m->data[0]);
-// Storing the data in the line structure.
+/* Storing the data in the line structure. */
 err = SDOtoLine(d, line, nbBytes, (*m).data + 1);
 if (err) {
 	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
 	return 0xFF;
 }
-// Inverting the toggle for the next segment.
+/* Inverting the toggle for the next segment. */
 d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
-// If it was the last segment,
+/* If it was the last segment,*/
 if ( getSDOc(m->data[0])) {
-	// Put in state finished
+	/* Put in state finished */
-	// The code is safe for the case e=s=0 in initiate frame.
+	/* The code is safe for the case e=s=0 in initiate frame. */
 	StopSDO_TIMER(line)
 	d->transfers[line].state = SDO_FINISHED;
 	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
 	MSG_WAR(0x3A77, "SDO. End of upload from node : ", nodeId);
 }
-else { // more segments to receive
+else { /* more segments to receive */
-	     // Sending the request for the next segment.
+	     /* Sending the request for the next segment. */
 	sdo.nodeId = nodeId;
 	sdo.body.data[0] = (3 << 5) | (d->transfers[line].toggle << 4);
 	for (i = 1 ; i < 8 ; i++)
 	  sdo.body.data[i] = 0;
 	sendSDO(d, whoami, sdo);
 	MSG_WAR(0x3A78, "SDO send upload segment request to nodeId", nodeId);
 }
-} // End if CLIENT
+} /* End if CLIENT */
 break;
 case 1:
-// I am SERVER
+/* I am SERVER */
-// Receive of an initiate download
+/* Receive of an initiate download */
 if (whoami == SDO_SERVER) {
 index = getSDOindex(m->data[1],m->data[2]);
 subIndex = getSDOsubIndex(m->data[3]);
 MSG_WAR(0x3A79, "Received SDO Initiate Download (to store data) defined at index 0x1200 + ",
 	      nodeId);
 MSG_WAR(0x3A80, "Writing at index : ", index);
 MSG_WAR(0x3A80, "Writing at subIndex : ", subIndex);
-// Search if a SDO transfert have been yet initiated
+/* Search if a SDO transfert have been yet initiated */
 err = getSDOlineOnUse( d, nodeId, whoami, &line );
 if (! err) {
 	MSG_ERR(0x1A81, "SDO error : Transmission yet started.", 0);
 	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
 	return 0xFF;
 }
-// No line on use. Great !
+/* No line on use. Great ! */
-// Try to open a new line.
+/* Try to open a new line. */
 err = getSDOfreeLine( d, whoami, &line );
 if (err) {
 	MSG_ERR(0x1A82, "SDO error : No line free, too many SDO in progress. Aborted.", 0);
 	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
 	return 0xFF;
 }
 initSDOline(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS);
-if (getSDOe(m->data[0])) { // If SDO expedited
+if (getSDOe(m->data[0])) { /* If SDO expedited */
-	// nb of data to be downloaded
+	/* nb of data to be downloaded */
 	nbBytes = 4 - getSDOn2(m->data[0]);
-	// Storing the data in the line structure.
+	/* Storing the data in the line structure. */
 	d->transfers[line].count = nbBytes;
 	err = SDOtoLine(d, line, nbBytes, (*m).data + 4);
 	if (err) {
 	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
 	  return 0xFF;
 	}
-	// SDO expedited -> transfert finished. Data can be stored in the dictionary.
+	/* SDO expedited -> transfert finished. Data can be stored in the dictionary. */
-	// The line will be reseted when it is downloading in the dictionary.
+	/* The line will be reseted when it is downloading in the dictionary. */
 	MSG_WAR(0x3A83, "SDO Initiate Download is an expedited transfert. Finished.: ", nodeId);
-	// Transfering line data to object dictionary.
+	/* Transfering line data to object dictionary. */
 	errorCode = SDOlineToObjdict(d, line);
 	if (errorCode) {
 	  MSG_ERR(0x1A84, "SDO error : Unable to copy the data in the object dictionary", 0);
 	  failedSDO(d, nodeId, whoami, index, subIndex, errorCode);
 	  return 0xFF;
 	}
-	// Release of the line.
+	/* Release of the line. */
 	resetSDOline(d, line);
 }
-else {// So, if it is not an expedited transfert
+else {/* So, if it is not an expedited transfert */
 	if (getSDOs(m->data[0])) {
-	  // TODO : if e and s = 0, not reading m->data[4] but put nbBytes = 0
+	  /* TODO : if e and s = 0, not reading m->data[4] but put nbBytes = 0 */
-	  nbBytes = m->data[4]; // Transfert limited to 255 bytes.
+	  nbBytes = m->data[4]; /* Transfert limited to 255 bytes. */
 	  err = setSDOlineRestBytes(d, nodeId, nbBytes);
 	  if (err) {
 	    failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
 	    return 0xFF;
 	  }
 	}
 }
-//Sending a SDO, cs=3
+/*Sending a SDO, cs=3*/
-sdo.nodeId = *d->bDeviceNodeId; // The node id of the server, (here it is the sender).
+sdo.nodeId = *d->bDeviceNodeId; /* The node id of the server, (here it is the sender).*/
 sdo.body.data[0] = 3 << 5;
-sdo.body.data[1] = index & 0xFF;        // LSB
+sdo.body.data[1] = index & 0xFF;        /* LSB */
-sdo.body.data[2] = (index >> 8) & 0xFF; // MSB
+sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
 sdo.body.data[3] = subIndex;
 for (i = 4 ; i < 8 ; i++)
 		sdo.body.data[i] = 0;
 sendSDO(d, whoami, sdo);
-} // end if I am SERVER
+} /* end if I am SERVER */
 else {
-// I am CLIENT
+/* I am CLIENT */
-// It is a response for a previous download segment. We should find a line opened for this.
+/* It is a response for a previous download segment. We should find a line opened for this. */
 err = getSDOlineOnUse( d, nodeId, whoami, &line);
 if (!err)
 	err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
 if (err) {
 	MSG_ERR(0x1A85, "SDO error : Received segment response for unknown trans. from nodeId", nodeId);
 	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
 	return 0xFF;
 }
-// Reset the wathdog
+/* Reset the wathdog */
 RestartSDO_TIMER(line)
 index = d->transfers[line].index;
 subIndex = d->transfers[line].subIndex;
-// test of the toggle;
+/* test of the toggle; */
 if (d->transfers[line].toggle != getSDOt(m->data[0])) {
 	MSG_ERR(0x1A86, "SDO error : Received segment response Toggle error. from nodeId", nodeId);
 	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
 	return 0xFF;
 }
-// End transmission or downloading next segment. We need to know if it will be the last one.
+/* End transmission or downloading next segment. We need to know if it will be the last one. */
 getSDOlineRestBytes(d, line, &nbBytes);
 if (nbBytes == 0) {
 	MSG_WAR(0x3A87, "SDO End download. segment response received. OK. from nodeId", nodeId);
 	StopSDO_TIMER(line)
 	d->transfers[line].state = SDO_FINISHED;
 	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
 	return 0x00;
 }
-// At least one transfer to send.
+/* At least one transfer to send.	*/
 if (nbBytes > 7) {
-	// several segments to download.
+	/* several segments to download.*/
-	// code to send the next segment. (cs = 0; c = 0)
+	/* code to send the next segment. (cs = 0; c = 0) */
 	d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
-	sdo.nodeId = nodeId; // The server node Id;
+	sdo.nodeId = nodeId; /* The server node Id; */
 	sdo.body.data[0] = (d->transfers[line].toggle << 4);
 	err = lineToSDO(d, line, 7, sdo.body.data + 1);
 	if (err) {
 	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
 	  return 0xFF;
 	}
 }
 else {
-	// Last segment.
+	/* Last segment. */
-	// code to send the last segment. (cs = 0; c = 1)
+	/* code to send the last segment. (cs = 0; c = 1)*/
 	d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
-	sdo.nodeId = nodeId; // The server node Id;
+	sdo.nodeId = nodeId; /* The server node Id; */
 	sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1;
 	err = lineToSDO(d, line, nbBytes, sdo.body.data + 1);
 	if (err) {
 	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
 	  return 0xFF;
 	for (i = nbBytes + 1 ; i < 8 ; i++)
 	  sdo.body.data[i] = 0;
 }
 MSG_WAR(0x3A88, "SDO sending download segment to nodeId", nodeId);
 sendSDO(d, whoami, sdo);
-} // end if I am a CLIENT
+} /* end if I am a CLIENT */
 break;
 case 2:
-// I am SERVER
+/* I am SERVER */
-// Receive of an initiate upload.
+/* Receive of an initiate upload.*/
 if (whoami == SDO_SERVER) {
 index = getSDOindex(m->data[1],m->data[2]);
 subIndex = getSDOsubIndex(m->data[3]);
 MSG_WAR(0x3A89, "Received SDO Initiate upload (to send data) defined at index 0x1200 + ",
 	      nodeId);
 MSG_WAR(0x3A90, "Reading at index : ", index);
 MSG_WAR(0x3A91, "Reading at subIndex : ", subIndex);
-// Search if a SDO transfert have been yet initiated
+/* Search if a SDO transfert have been yet initiated*/
 err = getSDOlineOnUse( d, nodeId, whoami, &line );
 if (! err) {
 	    MSG_ERR(0x1A92, "SDO error : Transmission yet started at line : ", line);
 MSG_WAR(0x3A93, "nodeId = ", nodeId);
 	    failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
 	    return 0xFF;
 }
-// No line on use. Great !
+/* No line on use. Great !*/
-// Try to open a new line.
+/* Try to open a new line.*/
 err = getSDOfreeLine( d, whoami, &line );
 if (err) {
 	MSG_ERR(0x1A71, "SDO error : No line free, too many SDO in progress. Aborted.", 0);
 	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
 	return 0xFF;
 }
 initSDOline(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS);
-// Transfer data from dictionary to the line structure.
+/* Transfer data from dictionary to the line structure. */
 errorCode = objdictToSDOline(d, line);
 if (errorCode) {
 	MSG_ERR(0x1A94, "SDO error : Unable to copy the data from object dictionary. Err code : ",
 		errorCode);
 	failedSDO(d, nodeId, whoami, index, subIndex, errorCode);
 	return 0xFF;
 	}
-// Preparing the response.
+/* Preparing the response.*/
-getSDOlineRestBytes(d, line, &nbBytes);	// Nb bytes to transfer ?
+getSDOlineRestBytes(d, line, &nbBytes);	/* Nb bytes to transfer ? */
-sdo.nodeId = nodeId; // The server node Id;
+sdo.nodeId = nodeId; /* The server node Id; */
 if (nbBytes > 4) {
-	// normal transfert. (segmented).
+	/* normal transfert. (segmented). */
-	// code to send the initiate upload response. (cs = 2)
+	/* code to send the initiate upload response. (cs = 2) */
 	sdo.body.data[0] = (2 << 5) | 1;
-	sdo.body.data[1] = index & 0xFF;        // LSB
+	sdo.body.data[1] = index & 0xFF;        /* LSB */
-	sdo.body.data[2] = (index >> 8) & 0xFF; // MSB
+	sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
 	sdo.body.data[3] = subIndex;
-sdo.body.data[4] = nbBytes; // Limitation of canfestival2 : Max tranfert is 256 bytes.
+sdo.body.data[4] = nbBytes; /* Limitation of canfestival2 : Max tranfert is 256 bytes.*/
-	// It takes too much memory to upgrate to 2^32 because the size of data is also coded
+	/* It takes too much memory to upgrate to 2^32 because the size of data is also coded */
-	// in the object dictionary, at every index and subindex.
+	/* in the object dictionary, at every index and subindex. */
 	for (i = 5 ; i < 8 ; i++)
 	  sdo.body.data[i] = 0;
 	MSG_WAR(0x3A95, "SDO. Sending normal upload initiate response defined at index 0x1200 + ", nodeId);
 	sendSDO(d, whoami, sdo);
 }
 else {
-	// Expedited upload. (cs = 2 ; e = 1)
+	/* Expedited upload. (cs = 2 ; e = 1) */
 	sdo.body.data[0] = (2 << 5) | ((4 - nbBytes) << 2) | 3;
-	sdo.body.data[1] = index & 0xFF;        // LSB
+	sdo.body.data[1] = index & 0xFF;        /* LSB */
-	sdo.body.data[2] = (index >> 8) & 0xFF; // MSB
+	sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
 	sdo.body.data[3] = subIndex;
 	err = lineToSDO(d, line, nbBytes, sdo.body.data + 4);
 	if (err) {
 	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
 	  return 0xFF;
 	for (i = 4 + nbBytes ; i < 8 ; i++)
 	  sdo.body.data[i] = 0;
 	MSG_WAR(0x3A96, "SDO. Sending expedited upload initiate response defined at index 0x1200 + ",
 		nodeId);
 	sendSDO(d, whoami, sdo);
-	// Release the line.
+	/* Release the line.*/
 	resetSDOline(d, line);
 }
-} // end if I am SERVER
+} /* end if I am SERVER*/
 else {
-// I am CLIENT
+/* I am CLIENT */
-// It is the response for the previous initiate upload request.
+/* It is the response for the previous initiate upload request.*/
-// We should find a line opened for this.
+/* We should find a line opened for this. */
 err = getSDOlineOnUse( d, nodeId, whoami, &line);
 if (!err)
 	err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
 if (err) {
 	MSG_ERR(0x1A97, "SDO error : Received response for unknown upload request from nodeId", nodeId);
 	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
 	return 0xFF;
 }
-// Reset the wathdog
+/* Reset the wathdog */
 RestartSDO_TIMER(line)
 index = d->transfers[line].index;
 subIndex = d->transfers[line].subIndex;
-if (getSDOe(m->data[0])) { // If SDO expedited
+if (getSDOe(m->data[0])) { /* If SDO expedited */
-	// nb of data to be uploaded
+	/* nb of data to be uploaded */
 	  nbBytes = 4 - getSDOn2(m->data[0]);
-	// Storing the data in the line structure.
+	/* Storing the data in the line structure. */
 	err = SDOtoLine(d, line, nbBytes, (*m).data + 4);
 	if (err) {
 	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
 	  return 0xFF;
 	}
-	// SDO expedited -> transfert finished. data are available via  getReadResultNetworkDict().
+	/* SDO expedited -> transfert finished. data are available via  getReadResultNetworkDict(). */
 	MSG_WAR(0x3A98, "SDO expedited upload finished. Response received from node : ", nodeId);
 	StopSDO_TIMER(line)
 	d->transfers[line].count = nbBytes;
 	d->transfers[line].state = SDO_FINISHED;
 	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
 	return 0;
 }
-else { // So, if it is not an expedited transfert
+else { /* So, if it is not an expedited transfert */
-	// Storing the nb of data to receive.
+	/* Storing the nb of data to receive. */
 	if (getSDOs(m->data[0])) {
-	  nbBytes = m->data[4]; // Remember the limitation to 255 bytes to transfert
+	  nbBytes = m->data[4]; /* Remember the limitation to 255 bytes to transfert */
 	  err = setSDOlineRestBytes(d, line, nbBytes);
 	  if (err) {
 	    failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
 	    return 0xFF;
 	  }
 	}
-	// Requesting next segment. (cs = 3)
+	/* Requesting next segment. (cs = 3) */
 	sdo.nodeId = nodeId;
 	sdo.body.data[0] = 3 << 5;
 	for (i = 1 ; i < 8 ; i++)
 	  sdo.body.data[i] = 0;
 	MSG_WAR(0x3A99, "SDO. Sending upload segment request to node : ", nodeId);
 	sendSDO(d, whoami, sdo);
 }
-} // End if CLIENT
+} /* End if CLIENT */
 break;
 case 3:
-// I am SERVER
+/* I am SERVER */
 if (whoami == SDO_SERVER) {
-// Receiving a upload segment.
+/* Receiving a upload segment. */
-// A SDO transfert should have been yet initiated.
+/* A SDO transfert should have been yet initiated. */
 err = getSDOlineOnUse( d, nodeId, whoami, &line );
 if (!err)
 	err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
 if (err) {
 	MSG_ERR(0x1AA0, "SDO error : Received upload segment for unstarted trans. index 0x1200 + ",
 		nodeId);
 	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
 	return 0xFF;
 }
-// Reset the wathdog
+/* Reset the wathdog */
 RestartSDO_TIMER(line)
 MSG_WAR(0x3AA1, "Received SDO upload segment defined at index 0x1200 + ", nodeId);
 index = d->transfers[line].index;
 subIndex = d->transfers[line].subIndex;
-// Toggle test.
+/* Toggle test.*/
 if (d->transfers[line].toggle != getSDOt(m->data[0])) {
 	MSG_ERR(0x1AA2, "SDO error : Toggle error : ", getSDOt(m->data[0]));
 	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
 	return 0xFF;
 }
-// Uploading next segment. We need to know if it will be the last one.
+/* Uploading next segment. We need to know if it will be the last one. */
 getSDOlineRestBytes(d, line, &nbBytes);
 if (nbBytes > 7) {
-	// The segment to transfer is not the last one.
+	/* The segment to transfer is not the last one.*/
-	// code to send the next segment. (cs = 0; c = 0)
+	/* code to send the next segment. (cs = 0; c = 0) */
-	sdo.nodeId = nodeId; // The server node Id;
+	sdo.nodeId = nodeId; /* The server node Id; */
 	sdo.body.data[0] = (d->transfers[line].toggle << 4);
 	err = lineToSDO(d, line, 7, sdo.body.data + 1);
 	if (err) {
 	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
 	  return 0xFF;
 	}
-	// Inverting the toggle for the next tranfert.
+	/* Inverting the toggle for the next tranfert. */
 	d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
 	MSG_WAR(0x3AA3, "SDO. Sending upload segment defined at index 0x1200 + ", nodeId);
 	sendSDO(d, whoami, sdo);
 }
 else {
-	// Last segment.
+	/* Last segment. */
-	// code to send the last segment. (cs = 0; c = 1)
+	/* code to send the last segment. (cs = 0; c = 1) */
-	sdo.nodeId = nodeId; // The server node Id;
+	sdo.nodeId = nodeId; /* The server node Id; */
 	sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1;
 	err = lineToSDO(d, line, nbBytes, sdo.body.data + 1);
 	if (err) {
 	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
 	  return 0xFF;
 	}
 	for (i = nbBytes + 1 ; i < 8 ; i++)
 	  sdo.body.data[i] = 0;
 	MSG_WAR(0x3AA4, "SDO. Sending last upload segment defined at index 0x1200 + ", nodeId);
 	sendSDO(d, whoami, sdo);
-	// Release the line
+	/* Release the line */
 	resetSDOline(d, line);
 }
-} // end if SERVER
+} /* end if SERVER*/
 else {
-// I am CLIENT
+/* I am CLIENT */
-// It is the response for the previous initiate download request.
+/* It is the response for the previous initiate download request. */
-// We should find a line opened for this.
+/* We should find a line opened for this. */
 err = getSDOlineOnUse( d, nodeId, whoami, &line);
 if (!err)
 	err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
 if (err) {
 	MSG_ERR(0x1AA5, "SDO error : Received response for unknown download request from nodeId", nodeId);
 	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
 	return 0xFF;
 }
-// Reset the wathdog
+/* Reset the wathdog */
 RestartSDO_TIMER(line)
 index = d->transfers[line].index;
 subIndex = d->transfers[line].subIndex;
-// End transmission or requesting  next segment.
+/* End transmission or requesting  next segment. */
 getSDOlineRestBytes(d, line, &nbBytes);
 if (nbBytes == 0) {
 	MSG_WAR(0x3AA6, "SDO End download expedited. Response received. from nodeId", nodeId);
 	StopSDO_TIMER(line)
 	d->transfers[line].state = SDO_FINISHED;
 	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
 	return 0x00;
 }
 if (nbBytes > 7) {
-	// more than one request to send
+	/* more than one request to send */
-	// code to send the next segment. (cs = 0; c = 0)
+	/* code to send the next segment. (cs = 0; c = 0)	*/
-	sdo.nodeId = nodeId; // The server node Id;
+	sdo.nodeId = nodeId; /* The server node Id; */
 	sdo.body.data[0] = (d->transfers[line].toggle << 4);
 	err = lineToSDO(d, line, 7, sdo.body.data + 1);
 	if (err) {
 	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
 	  return 0xFF;
 	}
 }
 else {
-	// Last segment.
+	/* Last segment.*/
-	// code to send the last segment. (cs = 0; c = 1)
+	/* code to send the last segment. (cs = 0; c = 1)	*/
-	sdo.nodeId = nodeId; // The server node Id;
+	sdo.nodeId = nodeId; /* The server node Id; */
 	sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1;
 	err = lineToSDO(d, line, nbBytes, sdo.body.data + 1);
 	if (err) {
 	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
 	  return 0xFF;
 	  sdo.body.data[i] = 0;
 }
 MSG_WAR(0x3AA7, "SDO sending download segment to nodeId", nodeId);
 sendSDO(d, whoami, sdo);
-} // end if I am a CLIENT
+} /* end if I am a CLIENT		*/
 break;
 case 4:
 abortCode = (*m).data[3] |
 (m->data[5] << 8) |
 (m->data[6] << 16) |
 (m->data[7] << 24);
-// Received SDO abort.
+/* Received SDO abort. */
-// Looking for the line concerned.
+/* Looking for the line concerned. */
 if (whoami == SDO_SERVER) {
 err = getSDOlineOnUse( d, nodeId, whoami, &line );
 if (!err) {
 	resetSDOline( d, line );
 	MSG_WAR(0x3AA8, "SD0. Received SDO abort. Line released. Code : ", abortCode);
 }
 else
 	MSG_WAR(0x3AA9, "SD0. Received SDO abort. No line found. Code : ", abortCode);
-// Tips : The end user has no way to know that the server node has received an abort SDO.
+/* Tips : The end user has no way to know that the server node has received an abort SDO. */
-// Its is ok, I think.
+/* Its is ok, I think.*/
 }
-else { // If I am CLIENT
+else { /* If I am CLIENT */
 err = getSDOlineOnUse( d, nodeId, whoami, &line );
 if (!err) {
-	// The line *must* be released by the core program.
+	/* The line *must* be released by the core program. */
 	StopSDO_TIMER(line)
 	d->transfers[line].state = SDO_ABORTED_RCV;
 	MSG_WAR(0x3AB0, "SD0. Received SDO abort. Line state ABORTED. Code : ", abortCode);
 }
 else
 	MSG_WAR(0x3AB1, "SD0. Received SDO abort. No line found. Code : ", abortCode);
 }
 break;
 default:
-// Error : Unknown cs
+/* Error : Unknown cs */
 MSG_ERR(0x1AB2, "SDO. Received unknown command specifier : ", getSDOcs(m->data[0]));
 return 0xFF;
-} // End switch
+} /* End switch */
 return 0;
 }
 /*******************************************************************)******/
-inline UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
+INLINE UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
 		       UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback)
 {
 UNS8 err;
 UNS8 SDOfound = 0;
 UNS8 line;
-s_SDO sdo;    // SDO to transmit
+s_SDO sdo;    /* SDO to transmit */
 UNS8 i, j;
 UNS8 *    pSize;
 UNS8      size;
 UNS16     lastIndex;
 UNS16     offset;
 MSG_WAR(0x3AC0, "Send SDO to write in the dictionary of node : ", nodeId);
 MSG_WAR(0x3AC1, "                                   At index : ", index);
 MSG_WAR(0x3AC2, "                                   subIndex : ", subIndex);
 MSG_WAR(0x3AC3, "                                   nb bytes : ", count);
-// Verify that there is no SDO communication yet.
+/* Verify that there is no SDO communication yet. */
 err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
 if (!err) {
 MSG_ERR(0x1AC4, "SDO error : Communication yet established. with node : ", nodeId);
 return 0xFF;
 }
-// Taking the line ...
+/* Taking the line ... */
 err = getSDOfreeLine( d, SDO_CLIENT, &line );
 if (err) {
 MSG_ERR(0x1AC5, "SDO error : No line free, too many SDO in progress. Aborted for node : ", nodeId);
 return (0xFF);
 }
-// Check which SDO to use to communicate with the node
+/* Check which SDO to use to communicate with the node */
 offset = d->firstIndex->SDO_CLT;
 lastIndex = d->lastIndex->SDO_CLT;
 if (offset == 0) {
 MSG_ERR(0x1AC6, "writeNetworkDict : No SDO client index found", 0);
 return 0xFF;
 while (offset <= lastIndex) {
 if (d->objdict[offset].bSubCount <= 3) {
 	 MSG_ERR(0x1AC8, "Subindex 3  not found at index ", 0x1280 + i);
 	 return 0xFF;
 }
-// looking for the nodeId server
+/* looking for the nodeId server */
 pNodeIdServer = d->objdict[offset].pSubindex[3].pObject;
 nodeIdServer = *pNodeIdServer;
 MSG_WAR(0x1AD2, "index : ", 0x1280 + i);
 MSG_WAR(0x1AD3, "nodeIdServer : ", nodeIdServer);
 SDOfound = 1;
 break;
 }
 offset++;
 i++;
-} // end while
+} /* end while */
 if (!SDOfound) {
 MSG_ERR(0x1AC9, "SDO. Error. No client found to communicate with node : ", nodeId);
 return 0xFF;
 }
 MSG_WAR(0x3AD0,"        SDO client defined at index  : ", 0x1280 + i);
 initSDOline(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS);
 d->transfers[line].count = count;
 d->transfers[line].dataType = dataType;
-// Copy data to transfers structure.
+/* Copy data to transfers structure. */
 for (j = 0 ; j < count ; j++) {
 # ifdef CANOPEN_BIG_ENDIAN
 if (dataType == 0)
 d->transfers[line].data[count - 1 - j] = ((char *)data)[j];
-else // String of bytes.
+else /* String of bytes. */
 d->transfers[line].data[j] = ((char *)data)[j];
 #  else
 d->transfers[line].data[j] = ((char *)data)[j];
 #  endif
 }
-// Send the SDO to the server. Initiate download, cs=1.
+/* Send the SDO to the server. Initiate download, cs=1. */
 sdo.nodeId = nodeId;
-if (count <= 4) { // Expedited transfert
+if (count <= 4) { /* Expedited transfert */
 sdo.body.data[0] = (1 << 5) | ((4 - count) << 2) | 3;
 for (i = 4 ; i < 8 ; i++)
 sdo.body.data[i] = d->transfers[line].data[i - 4];
 d->transfers[line].offset = count;
 }
-else { // Normal transfert
+else { /* Normal transfert */
 sdo.body.data[0] = (1 << 5) | 1;
-sdo.body.data[4] = count; // nb of byte to transmit. Max = 255. (canfestival2 limitation).
+sdo.body.data[4] = count; /* nb of byte to transmit. Max = 255. (canfestival2 limitation). */
 for (i = 5 ; i < 8 ; i++)
 sdo.body.data[i] = 0;
 }
-sdo.body.data[1] = index & 0xFF;        // LSB
+sdo.body.data[1] = index & 0xFF;        /* LSB */
-sdo.body.data[2] = (index >> 8) & 0xFF; // MSB
+sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
 sdo.body.data[3] = subIndex;
 err = sendSDO(d, SDO_CLIENT, sdo);
 if (err) {
 MSG_ERR(0x1AD1, "SDO. Error while sending SDO to node : ", nodeId);
-// release the line
+/* release the line */
 resetSDOline(d, line);
 return 0xFF;
 }
 d->transfers[line].Callback = Callback;
 return 0;
 	return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, Callback);
 }
 /***************************************************************************/
-inline UNS8 _readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback)
+INLINE UNS8 _readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback)
 {
 UNS8 err;
 UNS8 SDOfound = 0;
 UNS8 i;
 UNS8 line;
 UNS8 *    pSize;
 UNS8      size;
-s_SDO sdo;    // SDO to transmit
+s_SDO sdo;    /* SDO to transmit */
 UNS8      *pNodeIdServer;
 UNS8      nodeIdServer;
 UNS16     offset;
 UNS16     lastIndex;
 pSize = &size;
 MSG_WAR(0x3AD5, "Send SDO to read in the dictionary of node : ", nodeId);
 MSG_WAR(0x3AD6, "                                  At index : ", index);
 MSG_WAR(0x3AD7, "                                  subIndex : ", subIndex);
-// Verify that there is no SDO communication yet.
+/* Verify that there is no SDO communication yet. */
 err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
 if (!err) {
 MSG_ERR(0x1AD8, "SDO error : Communication yet established. with node : ", nodeId);
 return 0xFF;
 }
-// Taking the line ...
+/* Taking the line ... */
 err = getSDOfreeLine( d, SDO_CLIENT, &line );
 if (err) {
 MSG_ERR(0x1AD9, "SDO error : No line free, too many SDO in progress. Aborted for node : ", nodeId);
 return (0xFF);
 }
 else
 MSG_WAR(0x3AE0, "Transmission on line : ", line);
-// Check which SDO to use to communicate with the node
+/* Check which SDO to use to communicate with the node */
 offset = d->firstIndex->SDO_CLT;
 lastIndex = d->lastIndex->SDO_CLT;
 if (offset == 0) {
 MSG_ERR(0x1AE1, "writeNetworkDict : No SDO client index found", 0);
 return 0xFF;
 while (offset <= lastIndex) {
 if (d->objdict[offset].bSubCount <= 3) {
 	 MSG_ERR(0x1AE2, "Subindex 3  not found at index ", 0x1280 + i);
 	 return 0xFF;
 }
-// looking for the nodeId server
+/* looking for the nodeId server */
 pNodeIdServer = d->objdict[offset].pSubindex[3].pObject;
 nodeIdServer = *pNodeIdServer;
 if(nodeIdServer == nodeId) {
 SDOfound = 1;
 break;
 }
 offset++;
 i++;
-} // end while
+} /* end while */
 if (!SDOfound) {
 MSG_ERR(0x1AE3, "SDO. Error. No client found to communicate with node : ", nodeId);
 return 0xFF;
 }
 MSG_WAR(0x3AE4,"        SDO client defined at index  : ", 0x1280 + i);
 initSDOline(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS);
 getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
 sdo.nodeId = nodeId;
-// Send the SDO to the server. Initiate upload, cs=2.
+/* Send the SDO to the server. Initiate upload, cs=2. */
 d->transfers[line].dataType = dataType;
 sdo.body.data[0] = (2 << 5);
-sdo.body.data[1] = index & 0xFF;        // LSB
+sdo.body.data[1] = index & 0xFF;        /* LSB */
-sdo.body.data[2] = (index >> 8) & 0xFF; // MSB
+sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
 sdo.body.data[3] = subIndex;
 for (i = 4 ; i < 8 ; i++)
 sdo.body.data[i] = 0;
 err = sendSDO(d, SDO_CLIENT, sdo);
 if (err) {
 MSG_ERR(0x1AE5, "SDO. Error while sending SDO to node : ", nodeId);
-// release the line
+/* release the line */
 resetSDOline(d, line);
 return 0xFF;
 }
 d->transfers[line].Callback = Callback;
 return 0;
 UNS8 i;
 UNS8 err;
 UNS8 line;
 * size = 0;
-// Looking for the line tranfert.
+/* Looking for the line tranfert. */
 err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
 if (err) {
 MSG_ERR(0x1AF0, "SDO error : No line found for communication with node : ", nodeId);
 return SDO_ABORTED_INTERNAL;
 }
 if (d->transfers[line].state != SDO_FINISHED)
 return d->transfers[line].state;
-// Transfert is finished. Put the value in the data.
+/* Transfert is finished. Put the value in the data. */
 * size = d->transfers[line].count;
 for  ( i = 0 ; i < *size ; i++) {
 # ifdef CANOPEN_BIG_ENDIAN
 if (d->transfers[line].dataType != visible_string)
 ( (char *) data)[*size - 1 - i] = d->transfers[line].data[i];
-else // String of bytes.
+else /* String of bytes. */
 ( (char *) data)[i] = d->transfers[line].data[i];
 # else
 ( (char *) data)[i] = d->transfers[line].data[i];
 # endif
 }
 {
 UNS8 line = 0;
 UNS8 err;
 * abortCode = 0;
-// Looking for the line tranfert.
+/* Looking for the line tranfert. */
 err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
 if (err) {
 MSG_ERR(0x1AF1, "SDO error : No line found for communication with node : ", nodeId);
 return SDO_ABORTED_INTERNAL;
 }

changeset 71	95cd3376cc9f
parent 53	73bc47a0db55
child 82	81505425b1e5