text: /**
   * Configuration macros for CANopenNode.
   *
   * @file        CO_config.h
   * @ingroup     CO_STACK_CONFIG
   * @author      Janez Paternoster
   * @copyright   2020 Janez Paternoster
   *
   * This file is part of CANopenNode, an opensource CANopen Stack.
   * Project home page is <https://github.com/CANopenNode/CANopenNode>.
   * For more information on CANopen see <http://www.can-cia.org/>.
   *
   * Licensed under the Apache License, Version 2.0 (the "License");
   * you may not use this file except in compliance with the License.
   * You may obtain a copy of the License at
   *
   *     http://www.apache.org/licenses/LICENSE-2.0
   *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   */
  
  
  #ifndef CO_CONFIG_FLAGS_H
  #define CO_CONFIG_FLAGS_H
  
  #ifdef __cplusplus
  extern "C" {
  #endif
  
  /**
   * @defgroup CO_STACK_CONFIG Stack configuration
   * Stack configuration and enabling macros.
   *
   * @ingroup CO_driver
   *
   * Default values for stack configuration macros are set in corresponding
   * header files. The same default values are also provided in this file, but
   * only for documentation generator. Default values can be overridden by
   * CO_driver_target.h file. If specified so, they can further be overridden by
   * CO_driver_custom.h file.
   *
   * Stack configuration macro is specified as bits, where each bit
   * enables/disables some part of the configurable CANopenNode object. Flags are
   * used for enabling or checking specific bit. Multiple flags can be ORed
   * together.
   *
   * Some functionalities of CANopenNode objects, enabled by configuration macros,
   * requires some objects from Object Dictionary to exist. Object Dictionary
   * configuration must match @ref CO_STACK_CONFIG.
   * @{
   */
  
  
  /**
   * @defgroup CO_STACK_CONFIG_COMMON Common definitions
   * Constants for common definitions.
   * @{
   */
  /**
   * Enable custom callback after CAN receive
   *
   * Flag enables optional callback functions, which are part of some CANopenNode
   * objects. Callbacks can optionally be registered by application, which
   * configures threads in operating system. Callbacks are called after something
   * has been preprocessed by higher priority thread and must be further
   * processed by lower priority thread. For example when CAN message is received
   * and preprocessed, callback should wake up mainline processing function.
   * See also @ref CO_process() function.
   *
   * If callback functions are used, they must be initialized separately, after
   * the object initialization.
   *
   * This flag is common to multiple configuration macros.
   */
  #define CO_CONFIG_FLAG_CALLBACK_PRE 0x1000
  
  /**
   * Enable calculation of timerNext_us variable.
   *
   * Calculation of the timerNext_us variable is useful for smooth operation on
   * operating system. See also @ref CO_process() function.
   *
   * This flag is common to multiple configuration macros.
   */
  #define CO_CONFIG_FLAG_TIMERNEXT 0x2000
  
  /**
   * Enable dynamic behaviour of Object Dictionary variables
   *
   * Some CANopen objects uses Object Dictionary variables as arguments to
   * initialization functions, which are processed in communication reset section.
   * If this flag is set, then writing to OD variable will reconfigure
   * corresponding CANopen object also during CANopen normal operation.
   *
   * This flag is common to multiple configuration macros.
   */
  #define CO_CONFIG_FLAG_OD_DYNAMIC 0x4000
  
  /** This flag may be set globally for mainline objects to
   * @ref CO_CONFIG_FLAG_CALLBACK_PRE */
  #ifdef CO_DOXYGEN
  #define CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE (0)
  #endif
  
  /** This flag may be set globally for Real-Time objects (SYNC, PDO) to
   * @ref CO_CONFIG_FLAG_CALLBACK_PRE */
  #ifdef CO_DOXYGEN
  #define CO_CONFIG_GLOBAL_RT_FLAG_CALLBACK_PRE (0)
  #endif
  
  /** This flag may be set globally to @ref CO_CONFIG_FLAG_TIMERNEXT */
  #ifdef CO_DOXYGEN
  #define CO_CONFIG_GLOBAL_FLAG_TIMERNEXT (0)
  #endif
  
  /** This flag may be set globally to (0) */
  #ifdef CO_DOXYGEN
  #define CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC CO_CONFIG_FLAG_OD_DYNAMIC
  #endif
  /** @} */ /* CO_STACK_CONFIG_COMMON */
  
  
  /**
   * @defgroup CO_STACK_CONFIG_NMT_HB NMT master/slave and HB producer/consumer
   * Specified in standard CiA 301
   * @{
   */
  /**
   * Configuration of @ref CO_NMT_Heartbeat.
   *
   * Possible flags, can be ORed:
   * - CO_CONFIG_NMT_CALLBACK_CHANGE - Enable custom callback after NMT
   *   state changes. Callback is configured by
   *   CO_NMT_initCallbackChanged().
   * - CO_CONFIG_NMT_MASTER - Enable simple NMT master
   * - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
   *   received NMT CAN message.
   *   Callback is configured by CO_NMT_initCallbackPre().
   * - #CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable
   *   inside CO_NMT_process().
   */
  #ifdef CO_DOXYGEN
  #define CO_CONFIG_NMT (CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT)
  #endif
  #define CO_CONFIG_NMT_CALLBACK_CHANGE 0x01
  #define CO_CONFIG_NMT_MASTER 0x02
  
  /**
   * Configuration of @ref CO_HBconsumer
   *
   * Possible flags, can be ORed:
   * - CO_CONFIG_HB_CONS_ENABLE - Enable heartbeat consumer.
   * - CO_CONFIG_HB_CONS_CALLBACK_CHANGE - Enable custom common callback after NMT
   *   state of the monitored node changes. Callback is configured by
   *   CO_HBconsumer_initCallbackNmtChanged().
   * - CO_CONFIG_HB_CONS_CALLBACK_MULTI - Enable multiple custom callbacks, which
   *   can be configured individually for each monitored node. Callbacks are
   *   configured by CO_HBconsumer_initCallbackNmtChanged(),
   *   CO_HBconsumer_initCallbackHeartbeatStarted(),
   *   CO_HBconsumer_initCallbackTimeout() and
   *   CO_HBconsumer_initCallbackRemoteReset() functions.
   * - CO_CONFIG_HB_CONS_QUERY_FUNCT - Enable functions for query HB state or
   *   NMT state of the specific monitored node.
   * - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
   *   received heartbeat CAN message.
   *   Callback is configured by CO_HBconsumer_initCallbackPre().
   * - #CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable
   *   inside CO_HBconsumer_process().
   * - #CO_CONFIG_FLAG_OD_DYNAMIC - Enable dynamic configuration of monitored
   *   nodes (Writing to object 0x1016 re-configures the monitored nodes).
   *
   * @warning CO_CONFIG_HB_CONS_CALLBACK_CHANGE and
   * CO_CONFIG_HB_CONS_CALLBACK_MULTI cannot be set simultaneously.
   */
  #ifdef CO_DOXYGEN
  #define CO_CONFIG_HB_CONS (CO_CONFIG_HB_CONS_ENABLE | CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT | CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
  #endif
  #define CO_CONFIG_HB_CONS_ENABLE 0x01
  #define CO_CONFIG_HB_CONS_CALLBACK_CHANGE 0x02
  #define CO_CONFIG_HB_CONS_CALLBACK_MULTI 0x04
  #define CO_CONFIG_HB_CONS_QUERY_FUNCT 0x08
  /** @} */ /* CO_STACK_CONFIG_NMT_HB */
  
  
  /**
   * @defgroup CO_STACK_CONFIG_EMERGENCY Emergency producer/consumer
   * Specified in standard CiA 301
   * @{
   */
  /**
   * Configuration of @ref CO_Emergency
   *
   * Possible flags, can be ORed:
   * - CO_CONFIG_EM_PRODUCER - Enable emergency producer.
   * - CO_CONFIG_EM_PROD_CONFIGURABLE - Emergency producer COB-ID is configurable,
   *   OD object 0x1014. If not configurable, then 0x1014 is read-only, COB_ID
   *   is set to CO_CAN_ID_EMERGENCY + nodeId and write is not verified.
   * - CO_CONFIG_EM_PROD_INHIBIT - Enable inhibit timer on emergency producer,
   *   OD object 0x1015.
   * - CO_CONFIG_EM_HISTORY - Enable error history, OD object 0x1003,
   *   "Pre-defined error field"
   * - CO_CONFIG_EM_CONSUMER - Enable simple emergency consumer with callback.
   * - CO_CONFIG_EM_STATUS_BITS - Access @ref CO_EM_errorStatusBits_t from OD.
   * - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
   *   emergency condition by CO_errorReport() or CO_errorReset() call.
   *   Callback is configured by CO_EM_initCallbackPre().
   * - #CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable
   *   inside CO_EM_process().
   */
  #ifdef CO_DOXYGEN
  #define CO_CONFIG_EM (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY | CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT)
  #endif
  #define CO_CONFIG_EM_PRODUCER 0x01
  #define CO_CONFIG_EM_PROD_CONFIGURABLE 0x02
  #define CO_CONFIG_EM_PROD_INHIBIT 0x04
  #define CO_CONFIG_EM_HISTORY 0x08
  #define CO_CONFIG_EM_STATUS_BITS 0x10
  #define CO_CONFIG_EM_CONSUMER 0x20
  
  /**
   * Maximum number of @ref CO_EM_errorStatusBits_t
   *
   * Stack uses 6*8 = 48 @ref CO_EM_errorStatusBits_t, others are free to use by
   * manufacturer. Allowable value range is from 48 to 256 bits in steps of 8.
   * Default is 80.
   */
  #ifdef CO_DOXYGEN
  #define CO_CONFIG_EM_ERR_STATUS_BITS_COUNT (10*8)
  #endif
  
  /**
   * Condition for calculating CANopen Error register, "generic" error bit.
   *
   * Condition must observe suitable @ref CO_EM_errorStatusBits_t and use
   * corresponding member of errorStatusBits array from CO_EM_t to calculate the
   * condition. See also @ref CO_errorRegister_t.
   *
   * @warning Size of @ref CO_CONFIG_EM_ERR_STATUS_BITS_COUNT must be large
   * enough. (CO_CONFIG_EM_ERR_STATUS_BITS_COUNT/8) must be larger than index of
   * array member in em->errorStatusBits[index].
   *
   * em->errorStatusBits[5] should be included in the condition, because they are
   * used by the stack.
   */
  #ifdef CO_DOXYGEN
  #define CO_CONFIG_ERR_CONDITION_GENERIC (em->errorStatusBits[5] != 0)
  #endif
  
  /**
   * Condition for calculating CANopen Error register, "current" error bit.
   * See @ref CO_CONFIG_ERR_CONDITION_GENERIC for description.
   * Macro is not defined by default, so no error is verified.
   */
  #ifdef CO_DOXYGEN
  #define CO_CONFIG_ERR_CONDITION_CURRENT
  #endif
  
  /**
   * Condition for calculating CANopen Error register, "voltage" error bit.
   * See @ref CO_CONFIG_ERR_CONDITION_GENERIC for description.
   * Macro is not defined by default, so no error is verified.
   */
  #ifdef CO_DOXYGEN
  #define CO_CONFIG_ERR_CONDITION_VOLTAGE
  #endif
  
  /**
   * Condition for calculating CANopen Error register, "temperature" error bit.
   * See @ref CO_CONFIG_ERR_CONDITION_GENERIC for description.
   * Macro is not defined by default, so no error is verified.
   */
  #ifdef CO_DOXYGEN
  #define CO_CONFIG_ERR_CONDITION_TEMPERATURE
  #endif
  
  /**
   * Condition for calculating CANopen Error register, "communication" error bit.
   * See @ref CO_CONFIG_ERR_CONDITION_GENERIC for description.
   *
   * em->errorStatusBits[2] and em->errorStatusBits[3] must be included in the
   * condition, because they are used by the stack.
   */
  #ifdef CO_DOXYGEN
  #define CO_CONFIG_ERR_CONDITION_COMMUNICATION (em->errorStatusBits[2] || em->errorStatusBits[3])
  #endif
  
  /**
   * Condition for calculating CANopen Error register, "device profile" error bit.
   * See @ref CO_CONFIG_ERR_CONDITION_GENERIC for description.
   * Macro is not defined by default, so no error is verified.
   */
  #ifdef CO_DOXYGEN
  #define CO_CONFIG_ERR_CONDITION_DEV_PROFILE
  #endif
  
  /**
   * Condition for calculating CANopen Error register, "manufacturer" error bit.
   * See @ref CO_CONFIG_ERR_CONDITION_GENERIC for description.
   *
   * em->errorStatusBits[8] and em->errorStatusBits[8] are pre-defined, but can
   * be changed.
   */
  #ifdef CO_DOXYGEN
  #define CO_CONFIG_ERR_CONDITION_MANUFACTURER (em->errorStatusBits[8] || em->errorStatusBits[9])
  #endif
  /** @} */ /* CO_STACK_CONFIG_EMERGENCY */
  
  
  /**
   * @defgroup CO_STACK_CONFIG_SDO SDO server/client
   * Specified in standard CiA 301
   * @{
   */
  /**
   * Configuration of @ref CO_SDOserver
   *
   * Possible flags, can be ORed:
   * - CO_CONFIG_SDO_SRV_SEGMENTED - Enable SDO server segmented transfer.
   * - CO_CONFIG_SDO_SRV_BLOCK - Enable SDO server block transfer. If set, then
   *   CO_CONFIG_SDO_SRV_SEGMENTED must also be set.
   * - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
   *   received SDO CAN message.
   *   Callback is configured by CO_SDOserver_initCallbackPre().
   * - #CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable
   *   inside CO_SDOserver_process().
   * - #CO_CONFIG_FLAG_OD_DYNAMIC - Enable dynamic configuration of additional SDO
   *   servers (Writing to object 0x1201+ re-configures the additional server).
   */
  #ifdef CO_DOXYGEN
  #define CO_CONFIG_SDO_SRV (CO_CONFIG_SDO_SRV_SEGMENTED | CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT | CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
  #endif
  #define CO_CONFIG_SDO_SRV_SEGMENTED 0x02
  #define CO_CONFIG_SDO_SRV_BLOCK 0x04
  
  /**
   * Size of the internal data buffer for the SDO server.
   *
   * If size is less than size of some variables in Object Dictionary, then data
   * will be transferred to internal buffer in several segments. Minimum size is
   * 8 or 899 (127*7) for block transfer.
   */
  #ifdef CO_DOXYGEN
  #define CO_CONFIG_SDO_SRV_BUFFER_SIZE 32
  #endif
  
  /**
   * Configuration of @ref CO_SDOclient
   *
   * Possible flags, can be ORed:
   * - CO_CONFIG_SDO_CLI_ENABLE - Enable SDO client.
   * - CO_CONFIG_SDO_CLI_SEGMENTED - Enable SDO client segmented transfer.
   * - CO_CONFIG_SDO_CLI_BLOCK - Enable SDO client block transfer. If set, then
   *   CO_CONFIG_SDO_CLI_SEGMENTED, CO_CONFIG_FIFO_ALT_READ and
   *   CO_CONFIG_FIFO_CRC16_CCITT must also be set.
   * - CO_CONFIG_SDO_CLI_LOCAL - Enable local transfer, if Node-ID of the SDO
   *   server is the same as node-ID of the SDO client. (SDO client is the same
   *   device as SDO server.) Transfer data directly without communication on CAN.
   * - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
   *   received SDO CAN message.
   *   Callback is configured by CO_SDOclient_initCallbackPre().
   * - #CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable
   *   inside CO_SDOclientDownloadInitiate(), CO_SDOclientDownload(),
   *   CO_SDOclientUploadInitiate(), CO_SDOclientUpload().
   * - #CO_CONFIG_FLAG_OD_DYNAMIC - Enable dynamic configuration of SDO clients
   *   (Writing to object 0x1280+ re-configures the client).
   */
  #ifdef CO_DOXYGEN
  #define CO_CONFIG_SDO_CLI (0)
  #endif
  #define CO_CONFIG_SDO_CLI_ENABLE 0x01
  #define CO_CONFIG_SDO_CLI_SEGMENTED 0x02
  #define CO_CONFIG_SDO_CLI_BLOCK 0x04
  #define CO_CONFIG_SDO_CLI_LOCAL 0x08
  
  /**
   * Size of the internal data buffer for the SDO client.
   *
   * Circular buffer is used for SDO communication. It can be read or written
   * between successive SDO calls. So size of the buffer can be lower than size of
   * the actual size of data transferred. If only segmented transfer is used, then
   * buffer size can be as low as 7 bytes, if data are read/written each cycle. If
   * block transfer is used, buffer size should be set to at least 1000 bytes, so
   * maximum blksize can be used (blksize is calculated from free buffer space).
   * Default value for block transfer is 1000, otherwise 32.
   */
  #ifdef CO_DOXYGEN
  #define CO_CONFIG_SDO_CLI_BUFFER_SIZE 32
  #endif
  /** @} */ /* CO_STACK_CONFIG_SDO */
  
  
  /**
   * @defgroup CO_STACK_CONFIG_TIME Time producer/consumer
   * Specified in standard CiA 301
   * @{
   */
  /**
   * Configuration of @ref CO_TIME
   *
   * Possible flags, can be ORed:
   * - CO_CONFIG_TIME_ENABLE - Enable TIME object and TIME consumer.
   * - CO_CONFIG_TIME_PRODUCER - Enable TIME producer.
   * - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
   *   received TIME CAN message.
   *   Callback is configured by CO_TIME_initCallbackPre().
   * - #CO_CONFIG_FLAG_OD_DYNAMIC - Enable dynamic configuration - writing to
   *   object 0x1012 enables / disables time producer or consumer.
   */
  #ifdef CO_DOXYGEN
  #define CO_CONFIG_TIME (CO_CONFIG_TIME_ENABLE | CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
  #endif
  #define CO_CONFIG_TIME_ENABLE 0x01
  #define CO_CONFIG_TIME_PRODUCER 0x02
  /** @} */ /* CO_STACK_CONFIG_TIME */
  
  
  /**
   * @defgroup CO_STACK_CONFIG_SYNC_PDO SYNC and PDO producer/consumer
   * Specified in standard CiA 301
   * @{
   */
  /**
   * Configuration of @ref CO_SYNC
   *
   * Possible flags, can be ORed:
   * - CO_CONFIG_SYNC_ENABLE - Enable SYNC object and SYNC consumer.
   * - CO_CONFIG_SYNC_PRODUCER - Enable SYNC producer.
   * - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
   *   received SYNC CAN message.
   *   Callback is configured by CO_SYNC_initCallbackPre().
   * - #CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable
   *   inside CO_SYNC_process().
   * - #CO_CONFIG_FLAG_OD_DYNAMIC - Enable dynamic configuration of SYNC.
   */
  #ifdef CO_DOXYGEN
  #define CO_CONFIG_SYNC (CO_CONFIG_SYNC_ENABLE | CO_CONFIG_SYNC_PRODUCER | CO_CONFIG_GLOBAL_RT_FLAG_CALLBACK_PRE | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT | CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
  #endif
  #define CO_CONFIG_SYNC_ENABLE 0x01
  #define CO_CONFIG_SYNC_PRODUCER 0x02
  
  /**
   * Configuration of @ref CO_PDO
   *
   * Possible flags, can be ORed:
   * - CO_CONFIG_RPDO_ENABLE - Enable receive PDO objects.
   * - CO_CONFIG_TPDO_ENABLE - Enable transmit PDO objects.
   * - CO_CONFIG_RPDO_TIMERS_ENABLE - Enable RPDO timers: RPDO timeout monitoring
   *   with event timer.
   * - CO_CONFIG_TPDO_TIMERS_ENABLE - Enable TPDO timers: TPDO inhibit and event
   *   timers.
   * - CO_CONFIG_PDO_SYNC_ENABLE - Enable SYNC in PDO objects.
   * - CO_CONFIG_PDO_OD_IO_ACCESS - For OD variables mapped to PDO use read/write
   *   function access with @ref OD_IO_t. This option enables much more
   *   flexibility for application program, but consumes some additional memory
   *   and processor resources. If this option is not enabled, then data from OD
   *   variables are fetched directly from memory allocated by Object dictionary.
   * - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
   *   received RPDO CAN message.
   *   Callback is configured by CO_RPDO_initCallbackPre().
   * - #CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable
   *   inside CO_TPDO_process().
   * - #CO_CONFIG_FLAG_OD_DYNAMIC - Enable dynamic configuration of PDO.
   */
  #ifdef CO_DOXYGEN
  #define CO_CONFIG_PDO (CO_CONFIG_RPDO_ENABLE | CO_CONFIG_TPDO_ENABLE | CO_CONFIG_RPDO_TIMERS_ENABLE | CO_CONFIG_TPDO_TIMERS_ENABLE | CO_CONFIG_PDO_SYNC_ENABLE | CO_CONFIG_PDO_OD_IO_ACCESS | CO_CONFIG_GLOBAL_RT_FLAG_CALLBACK_PRE | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT | CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
  #endif
  #define CO_CONFIG_RPDO_ENABLE 0x01
  #define CO_CONFIG_TPDO_ENABLE 0x02
  #define CO_CONFIG_RPDO_TIMERS_ENABLE 0x04
  #define CO_CONFIG_TPDO_TIMERS_ENABLE 0x08
  #define CO_CONFIG_PDO_SYNC_ENABLE 0x10
  #define CO_CONFIG_PDO_OD_IO_ACCESS 0x20
  /** @} */ /* CO_STACK_CONFIG_SYNC_PDO */
  
  
  /**
   * @defgroup CO_STACK_CONFIG_STORAGE Data storage
   * Data storage with CANopen OD objects 1010 and 1011, CiA 301
   * @{
   */
  /**
   * Configuration of @ref CO_storage
   *
   * Possible flags, can be ORed:
   * - CO_CONFIG_STORAGE_ENABLE - Enable data storage
   */
  #ifdef CO_DOXYGEN
  #define CO_CONFIG_STORAGE (CO_CONFIG_STORAGE_ENABLE)
  #endif
  #define CO_CONFIG_STORAGE_ENABLE 0x01
  /** @} */ /* CO_STACK_CONFIG_STORAGE */
  
  
  /**
   * @defgroup CO_STACK_CONFIG_LEDS CANopen LED diodes
   * Specified in standard CiA 303-3
   * @{
   */
  /**
   * Configuration of @ref CO_LEDs
   *
   * Possible flags, can be ORed:
   * - CO_CONFIG_LEDS_ENABLE - Enable calculation of the CANopen LED indicators.
   * - #CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable
   *   inside CO_NMT_process().
   */
  #ifdef CO_DOXYGEN
  #define CO_CONFIG_LEDS (CO_CONFIG_LEDS_ENABLE | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT)
  #endif
  #define CO_CONFIG_LEDS_ENABLE 0x01
  /** @} */ /* CO_STACK_CONFIG_LEDS */
  
  
  /**
   * @defgroup CO_STACK_CONFIG_SRDO Safety Related Data Objects (SRDO)
   * Specified in standard EN 50325-5 (CiA 304)
   * @{
   */
  /**
   * Configuration of @ref CO_GFC
   *
   * Possible flags, can be ORed:
   * - CO_CONFIG_GFC_ENABLE - Enable the GFC object
   * - CO_CONFIG_GFC_CONSUMER - Enable the GFC consumer
   * - CO_CONFIG_GFC_PRODUCER - Enable the GFC producer
   */
  #ifdef CO_DOXYGEN
  #define CO_CONFIG_GFC (0)
  #endif
  #define CO_CONFIG_GFC_ENABLE 0x01
  #define CO_CONFIG_GFC_CONSUMER 0x02
  #define CO_CONFIG_GFC_PRODUCER 0x04
  
  /**
   * Configuration of @ref CO_SRDO
   *
   * Possible flags, can be ORed:
   * - CO_CONFIG_SRDO_ENABLE - Enable the SRDO object.
   * - CO_CONFIG_SRDO_CHECK_TX - Enable checking data before sending.
   * - CO_CONFIG_RSRDO_CALLS_EXTENSION - Enable calling configured extension
   *   callbacks when received RSRDO CAN message modifies OD entries.
   * - CO_CONFIG_TRSRDO_CALLS_EXTENSION - Enable calling configured extension
   *   callbacks before TSRDO CAN message is sent.
   * - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
   *   received RSRDO CAN message.
   *   Callback is configured by CO_SRDO_initCallbackPre().
   * - #CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable
   *   inside CO_SRDO_process() (Tx SRDO only).
   */
  #ifdef CO_DOXYGEN
  #define CO_CONFIG_SRDO (0)
  #endif
  #define CO_CONFIG_SRDO_ENABLE 0x01
  #define CO_CONFIG_SRDO_CHECK_TX 0x02
  #define CO_CONFIG_RSRDO_CALLS_EXTENSION 0x04
  #define CO_CONFIG_TSRDO_CALLS_EXTENSION 0x08
  
  /**
   * SRDO Tx time delay
   *
   * minimum time between the first and second SRDO (Tx) message
   * in us
   */
  #ifdef CO_DOXYGEN
  #define CO_CONFIG_SRDO_MINIMUM_DELAY 0
  #endif
  /** @} */ /* CO_STACK_CONFIG_SRDO */
  
  
  /**
   * @defgroup CO_STACK_CONFIG_LSS LSS master/slave
   * Specified in standard CiA 305
   * @{
   */
  /**
   * Configuration of @ref CO_LSS
   *
   * Possible flags, can be ORed:
   * - CO_CONFIG_LSS_SLAVE - Enable LSS slave
   * - CO_CONFIG_LSS_SLAVE_FASTSCAN_DIRECT_RESPOND - Send LSS fastscan respond
   *   directly from CO_LSSslave_receive() function.
   * - CO_CONFIG_LSS_MASTER - Enable LSS master
   * - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
   *   received CAN message.
   *   Callback is configured by CO_LSSmaster_initCallbackPre().
   */
  #ifdef CO_DOXYGEN
  #define CO_CONFIG_LSS (CO_CONFIG_LSS_SLAVE | CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE)
  #endif
  #define CO_CONFIG_LSS_SLAVE 0x01
  #define CO_CONFIG_LSS_SLAVE_FASTSCAN_DIRECT_RESPOND 0x02
  #define CO_CONFIG_LSS_MASTER 0x10
  /** @} */ /* CO_STACK_CONFIG_LSS */
  
  
  /**
   * @defgroup CO_STACK_CONFIG_GATEWAY CANopen gateway
   * Specified in standard CiA 309
   * @{
   */
  /**
   * Configuration of @ref CO_CANopen_309_3
   *
   * Gateway object is covered by standard CiA 309 - CANopen access from other
   * networks. It enables usage of the NMT master, SDO client and LSS master as a
   * gateway device.
   *
   * Possible flags, can be ORed:
   * - CO_CONFIG_GTW_MULTI_NET - Enable multiple network interfaces in gateway
   *   device. This functionality is currently not implemented.
   * - CO_CONFIG_GTW_ASCII - Enable gateway device with ASCII mapping (CiA 309-3)
   *   If set, then CO_CONFIG_FIFO_ASCII_COMMANDS must also be set.
   * - CO_CONFIG_GTW_ASCII_SDO - Enable SDO client. If set, then
   *   CO_CONFIG_FIFO_ASCII_DATATYPES must also be set.
   * - CO_CONFIG_GTW_ASCII_NMT - Enable NMT master
   * - CO_CONFIG_GTW_ASCII_LSS - Enable LSS master
   * - CO_CONFIG_GTW_ASCII_LOG - Enable non-standard message log read
   * - CO_CONFIG_GTW_ASCII_ERROR_DESC - Print error description as additional
   *   comments in gateway-ascii device for SDO and gateway errors.
   * - CO_CONFIG_GTW_ASCII_PRINT_HELP - use non-standard command "help" to print
   *   help usage.
   * - CO_CONFIG_GTW_ASCII_PRINT_LEDS - Display "red" and "green" CANopen status
   *   LED diodes on terminal.
   */
  #ifdef CO_DOXYGEN
  #define CO_CONFIG_GTW (0)
  #endif
  #define CO_CONFIG_GTW_MULTI_NET 0x01
  #define CO_CONFIG_GTW_ASCII 0x02
  #define CO_CONFIG_GTW_ASCII_SDO 0x04
  #define CO_CONFIG_GTW_ASCII_NMT 0x08
  #define CO_CONFIG_GTW_ASCII_LSS 0x10
  #define CO_CONFIG_GTW_ASCII_LOG 0x20
  #define CO_CONFIG_GTW_ASCII_ERROR_DESC 0x40
  #define CO_CONFIG_GTW_ASCII_PRINT_HELP 0x80
  #define CO_CONFIG_GTW_ASCII_PRINT_LEDS 0x100
  
  /**
   * Number of loops of #CO_SDOclientDownload() in case of block download
   *
   * If SDO clint has block download in progress and OS has buffer for CAN tx
   * messages, then #CO_SDOclientDownload() functionion can be called multiple
   * times within own loop (up to 127). This can speed-up SDO block transfer.
   */
  #ifdef CO_DOXYGEN
  #define CO_CONFIG_GTW_BLOCK_DL_LOOP 1
  #endif
  
  /**
   * Size of command buffer in ASCII gateway object.
   *
   * If large amount of data is transferred (block transfer), then this should be
   * increased to 1000 or more. Buffer may be refilled between the block transfer.
   */
  #ifdef CO_DOXYGEN
  #define CO_CONFIG_GTWA_COMM_BUF_SIZE 200
  #endif
  
  /**
   * Size of message log buffer in ASCII gateway object.
   */
  #ifdef CO_DOXYGEN
  #define CO_CONFIG_GTWA_LOG_BUF_SIZE 2000
  #endif
  /** @} */ /* CO_STACK_CONFIG_GATEWAY */
  
  
  /**
   * @defgroup CO_STACK_CONFIG_CRC16 CRC 16 calculation
   * Helper object for CRC-16 checksum
   * @{
   */
  /**
   * Configuration of @ref CO_crc16_ccitt calculation
   *
   * Possible flags, can be ORed:
   * - CO_CONFIG_CRC16_ENABLE - Enable CRC16 calculation
   * - CO_CONFIG_CRC16_EXTERNAL - CRC functions are defined externally
   */
  #ifdef CO_DOXYGEN
  #define CO_CONFIG_CRC16 (0)
  #endif
  #define CO_CONFIG_CRC16_ENABLE 0x01
  #define CO_CONFIG_CRC16_EXTERNAL 0x02
  /** @} */ /* CO_STACK_CONFIG_CRC16 */
  
  
  /**
   * @defgroup CO_STACK_CONFIG_FIFO FIFO buffer
   * Helper object for FIFO buffer
   * @{
   */
  /**
   * Configuration of @ref CO_CANopen_301_fifo
   *
   * FIFO buffer is basically a simple first-in first-out circular data buffer. It
   * is used by the SDO client and by the CANopen gateway. It has additional
   * advanced functions for data passed to FIFO.
   *
   *
   * Possible flags, can be ORed:
   * - CO_CONFIG_FIFO_ENABLE - Enable FIFO buffer
   * - CO_CONFIG_FIFO_ALT_READ - This must be enabled, when SDO client has
   *   CO_CONFIG_SDO_CLI_BLOCK enabled. See @ref CO_fifo_altRead().
   * - CO_CONFIG_FIFO_CRC16_CCITT - This must be enabled, when SDO client has
   *   CO_CONFIG_SDO_CLI_BLOCK enabled. It enables CRC calculation on data.
   * - CO_CONFIG_FIFO_ASCII_COMMANDS - This must be enabled, when CANopen gateway
   *   has CO_CONFIG_GTW_ASCII enabled. It adds command handling functions.
   * - CO_CONFIG_FIFO_ASCII_DATATYPES - This must be enabled, when CANopen gateway
   *   has CO_CONFIG_GTW_ASCII and CO_CONFIG_GTW_ASCII_SDO enabled. It adds
   *   datatype transform functions between binary and ascii, which are necessary
   *   for SDO client.
   */
  #ifdef CO_DOXYGEN
  #define CO_CONFIG_FIFO (0)
  #endif
  #define CO_CONFIG_FIFO_ENABLE 0x01
  #define CO_CONFIG_FIFO_ALT_READ 0x02
  #define CO_CONFIG_FIFO_CRC16_CCITT 0x04
  #define CO_CONFIG_FIFO_ASCII_COMMANDS 0x08
  #define CO_CONFIG_FIFO_ASCII_DATATYPES 0x10
  /** @} */ /* CO_STACK_CONFIG_FIFO */
  
  
  /**
   * @defgroup CO_STACK_CONFIG_TRACE Trace recorder
   * Non standard object
   * @{
   */
  /**
   * Configuration of @ref CO_trace for recording variables over time.
   *
   * Possible flags, can be ORed:
   * - CO_CONFIG_TRACE_ENABLE - Enable Trace recorder
   * - CO_CONFIG_TRACE_OWN_INTTYPES - If set, then macros PRIu32("u" or "lu")
   *   and PRId32("d" or "ld") must be set. (File inttypes.h can not be included).
   */
  #ifdef CO_DOXYGEN
  #define CO_CONFIG_TRACE (0)
  #endif
  #define CO_CONFIG_TRACE_ENABLE 0x01
  #define CO_CONFIG_TRACE_OWN_INTTYPES 0x02
  /** @} */ /* CO_STACK_CONFIG_TRACE */
  
  
  /**
   * @defgroup CO_STACK_CONFIG_DEBUG Debug messages
   * Messages from different parts of the stack.
   * @{
   */
  /**
   * Configuration of debug messages from different parts of the stack, which can
   * be logged according to target specific function.
   *
   * Possible flags, can be ORed:
   * - CO_CONFIG_DEBUG_COMMON - Define default CO_DEBUG_COMMON(msg) macro. This
   *   macro is target specific. This macro is then used as default macro in all
   *   other defined CO_DEBUG_XXX(msg) macros.
   * - CO_CONFIG_DEBUG_SDO_CLIENT - Define default CO_DEBUG_SDO_CLIENT(msg) macro.
   * - CO_CONFIG_DEBUG_SDO_SERVER - Define default CO_DEBUG_SDO_SERVER(msg) macro.
   */
  #ifdef CO_DOXYGEN
  #define CO_CONFIG_DEBUG (0)
  #endif
  #define CO_CONFIG_DEBUG_COMMON 0x01
  #define CO_CONFIG_DEBUG_SDO_CLIENT 0x02
  #define CO_CONFIG_DEBUG_SDO_SERVER 0x04
  /** @} */ /* CO_STACK_CONFIG_DEBUG */
  
  /** @} */ /* CO_STACK_CONFIG */
  
  #ifdef __cplusplus
  }
  #endif /* __cplusplus */
  
  #endif /* CO_CONFIG_FLAGS_H */
  