Most enums were replaced with constants, according to MISRA

libuavcan/src/driver/uc_can.cpp

@@ -63,7 +63,7 @@ std::string CanFrame::toString(StringRepresentation mode) const
 
     assert(mode == StrTight || mode == StrAligned);
 
-    static const int ASCII_COLUMN_OFFSET = 36;
+    static const unsigned AsciiColumnOffset = 36U;
 
     char buf[50];
     char* wpos = buf;
@@ -96,7 +96,7 @@ std::string CanFrame::toString(StringRepresentation mode) const
             wpos += snprintf(wpos, epos - wpos, " %02x", unsigned(data[dlen]));
         }
 
-        while (mode == StrAligned && wpos < buf + ASCII_COLUMN_OFFSET)        // alignment
+        while ((mode == StrAligned) && (wpos < buf + AsciiColumnOffset))        // alignment
         {
             *wpos++ = ' ';
         }

libuavcan/src/marshal/uc_bit_stream.cpp

@@ -9,13 +9,16 @@
 namespace uavcan
 {
 
+const unsigned BitStream::MaxBytesPerRW;
+const unsigned BitStream::MaxBitsPerRW;
+
 int BitStream::write(const uint8_t* bytes, const int bitlen)
 {
     // Temporary buffer is needed to merge new bits with cached unaligned bits from the last write() (see byte_cache_)
     uint8_t tmp[MaxBytesPerRW + 1];
 
     // Tmp space must be large enough to accomodate new bits AND unaligned bits from the last write()
-    const int bytelen = bitlenToBytelen(bitlen + (bit_offset_ % 8));
+    const unsigned bytelen = bitlenToBytelen(bitlen + (bit_offset_ % 8));
     assert(MaxBytesPerRW >= bytelen);
     tmp[0] = tmp[bytelen - 1] = 0;
 
@@ -40,7 +43,7 @@ int BitStream::write(const uint8_t* bytes, const int bitlen)
     {
         return write_res;
     }
-    if (write_res < bytelen)
+    if (static_cast<unsigned>(write_res) < bytelen)
     {
         return ResultOutOfBuffer;
     }
@@ -53,7 +56,7 @@ int BitStream::read(uint8_t* bytes, const int bitlen)
 {
     uint8_t tmp[MaxBytesPerRW + 1];
 
-    const int bytelen = bitlenToBytelen(bitlen + (bit_offset_ % 8));
+    const unsigned bytelen = bitlenToBytelen(bitlen + (bit_offset_ % 8));
     assert(MaxBytesPerRW >= bytelen);
 
     const int read_res = buf_.read(bit_offset_ / 8, tmp, bytelen);
@@ -61,7 +64,7 @@ int BitStream::read(uint8_t* bytes, const int bitlen)
     {
         return read_res;
     }
-    if (read_res < bytelen)
+    if (static_cast<unsigned>(read_res) < bytelen)
     {
         return ResultOutOfBuffer;
     }

libuavcan/src/protocol/uc_node_status_monitor.cpp

@@ -11,6 +11,8 @@
 namespace uavcan
 {
 
+const unsigned NodeStatusMonitor::TimerPeriodMs100;
+
 NodeStatusMonitor::Entry& NodeStatusMonitor::getEntry(NodeID node_id) const
 {
     if (node_id.get() < 1 || node_id.get() > NodeID::Max)
@@ -55,7 +57,7 @@ void NodeStatusMonitor::handleNodeStatus(const ReceivedDataStructure<protocol::N
 
 void NodeStatusMonitor::handleTimerEvent(const TimerEvent&)
 {
-    enum { OfflineTimeoutMs100 = protocol::NodeStatus::OFFLINE_TIMEOUT_MS / 100 };
+    const int OfflineTimeoutMs100 = protocol::NodeStatus::OFFLINE_TIMEOUT_MS / 100;
 
     for (int i = 1; i <= NodeID::Max; i++)
     {

libuavcan/src/transport/uc_transfer.cpp

@@ -8,9 +8,19 @@
 
 namespace uavcan
 {
+/**
+ * TransferID
+ */
+const uint8_t TransferID::BitLen;
+const uint8_t TransferID::Max;
+
 /**
  * NodeID
  */
+const uint8_t NodeID::ValueBroadcast;
+const uint8_t NodeID::ValueInvalid;
+const uint8_t NodeID::BitLen;
+const uint8_t NodeID::Max;
 const NodeID NodeID::Broadcast(ValueBroadcast);
 
 /**

libuavcan/src/transport/uc_transfer_receiver.cpp

@@ -15,6 +15,7 @@ namespace uavcan
 const uint32_t TransferReceiver::MinTransferIntervalUSec;
 const uint32_t TransferReceiver::MaxTransferIntervalUSec;
 const uint32_t TransferReceiver::DefaultTransferIntervalUSec;
+const uint8_t TransferReceiver::IfaceIndexNotSet;
 
 void TransferReceiver::registerError() const
 {

libuavcan/src/uc_data_type.cpp

@@ -9,6 +9,11 @@
 
 namespace uavcan
 {
+/*
+ * DataTypeID
+ */
+const uint16_t DataTypeID::Max;
+
 /*
  * DataTypeSignatureCRC
  */
@@ -71,6 +76,8 @@ TransferCRC DataTypeSignature::toTransferCRC() const
 /*
  * DataTypeDescriptor
  */
+const unsigned DataTypeDescriptor::MaxFullNameLen;
+
 bool DataTypeDescriptor::match(DataTypeKind kind, const char* name) const
 {
     return (kind_ == kind) && !std::strcmp(full_name_, name);