SdoRes

原文地址：http://blog.csdn.net/huangxianxinalice/article/details/9973951

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1. /  
2. /** 
3.  \param    abort                 SDO接近的结果 
4.  \param    command       SDO的命令索引 
5.  \param    completeAccess        指示是否完成接近是需要的 
6.  \param    dataSize              响应对象数据的大小 
7.  \param    objLength             对象的完成的大小 
8.  \param     pSdoRes              邮箱缓存的指针 
9.  
10.  \brief    这个函数被调用当SDO响应应该被发送 
11. *////  
12.   
13. void SdoRes(UINT8 abort, UINT8 command, UINT8 completeAccess, UINT16 dataSize, UINT32 objLength, TINITSDOMBX MBXMEM *pSdoRes)  
14. {  
15.     /* 当上传响应，toggle bit 应该被覆盖 */  
16.     if ((command != SDOSERVICE_UPLOADSEGMENTREQ) && (command != SDOSERVICE_DOWNLOADSEGMENTREQ))  
17.     {  
18.         pSdoRes->SdoHeader.Sdo[SDOHEADER_COMMANDOFFSET] = 0;  
19.     }  
20.     if ( abort == 0 )  
21.     {  
22.         /* SDO-Download or SDO-Upload 成功, 产生SDO和CoE的数据包头 */  
23.         pSdoRes->CoeHeader &= ~COEHEADER_COESERVICEMASK;  
24.         pSdoRes->CoeHeader |= ((UINT16)COESERVICE_SDORESPONSE) << COEHEADER_COESERVICESHIFT;  
25.         if ( command == SDOSERVICE_INITIATEUPLOADREQ )  
26.         {  
27.             // HBu 06.02.06: Complete Access Bit in the SDO-Upload-Response too */  
28.             if ( (objLength <= 4) && (objLength > 0) )  
29.             {  
30.                 /* 快速上传响应 */  
31.                 pSdoRes->MbxHeader.Length             =         EXPEDITED_FRAME_SIZE;  
32.                 pSdoRes->SdoHeader.Sdo[SDOHEADER_COMMANDOFFSET]    |=     SDOHEADER_SIZEINDICATOR     |  
33.                                                                                         SDOHEADER_TRANSFERTYPE        |  
34.                                                                                         completeAccess |  
35.                                                                                         ((MAX_EXPEDITED_DATA - ((UINT8)objLength)) << SDOHEADERSHIFT_DATASETSIZE) |  
36.                                                                                         SDOSERVICE_INITIATEUPLOADRES;  
37.             }  
38.             else  
39.             {  
40.                 /* 普通和分段上传响应 */  
41. #if SEGMENTED_SDO_SUPPORTED  
42. /*ECATCHANGE_START(V5.01) SDO3*/  
43.                 if (((dataSize < MBX_HEADER_SIZE + UPLOAD_NORM_RES_SIZE)) || (objLength > (UINT32)(dataSize - MBX_HEADER_SIZE - UPLOAD_NORM_RES_SIZE)) )  
44. /*ECATCHANGE_END(V5.01) SDO3*/  
45.                 {  
46.                     pSdoRes->MbxHeader.Length         =         SWAPWORD(UPLOAD_NORM_RES_SIZE+dataSize);  
47.                 }  
48.                 else  
49. #endif  
50.                 {  
51.                     pSdoRes->MbxHeader.Length         =         SWAPWORD(UPLOAD_NORM_RES_SIZE+((UINT16)objLength));  
52.                 }  
53.                    ((TINITSDOUPLOADNORMRESMBX MBXMEM *) pSdoRes)->CompleteSize[0] = SWAPWORD((UINT16)objLength);  
54.                    ((TINITSDOUPLOADNORMRESMBX MBXMEM *) pSdoRes)->CompleteSize[1] = SWAPWORD((UINT16)(objLength>>16));  
55.                 pSdoRes->SdoHeader.Sdo[SDOHEADER_COMMANDOFFSET]    |=     SDOHEADER_SIZEINDICATOR     |  
56.                                                                                         completeAccess |  
57.                                                                                         SDOSERVICE_INITIATEUPLOADRES;  
58.             }  
59.         }  
60.         /* 对于分段响应，命令是错误的在响应当中 */  
61.         else if ( command == SDOSERVICE_DOWNLOADSEGMENTREQ )  
62.         {  
63.             /* Download segmented response */  
64.             pSdoRes->MbxHeader.Length         = DOWNLOAD_NORM_RES_SIZE;  
65.             pSdoRes->SdoHeader.Sdo[SDOHEADER_COMMANDOFFSET]    |= SDOSERVICE_DOWNLOADSEGMENTRES;  
66.       }  
67.         else if ( command != SDOSERVICE_UPLOADSEGMENTREQ )  
68.         {  
69.             /* Download response */  
70.             pSdoRes->MbxHeader.Length         = DOWNLOAD_NORM_RES_SIZE;  
71.             pSdoRes->SdoHeader.Sdo[SDOHEADER_COMMANDOFFSET]    |= SDOSERVICE_INITIATEDOWNLOADRES;  
72.         }  
73.     }  
74.     else  
75.     {  
76.         /* 产生SDO-Abort-产生 */  
77.         pSdoRes->MbxHeader.Length         = ABORT_NORM_RES_SIZE;  
78.         pSdoRes->CoeHeader &= ~COEHEADER_COESERVICEMASK;  
79.         pSdoRes->CoeHeader |= ((UINT16)COESERVICE_SDOREQUEST) << COEHEADER_COESERVICESHIFT;  
80.         pSdoRes->SdoHeader.Sdo[SDOHEADER_COMMANDOFFSET]    = SDOSERVICE_ABORTTRANSFER;  
81.         ((TABORTSDOTRANSFERREQMBX MBXMEM *) pSdoRes)->AbortCode = SWAPDWORD(cAbortCode[abort]);  
82.     }  
83.   
84.     // HBu 02.05.06: 如果CoE响应，不应该被发送，因为发送邮箱是满的，它应该被存储  
85.     if (MBX_MailboxSendReq((TMBX MBXMEM *) pSdoRes, COE_SERVICE) != 0)  
86.     {  
87.         /* 我们存储CoE邮箱服务应该晚一点发送它，当邮箱被读  
88.         pCoeSendStored = (TMBX MBXMEM *) pSdoRes;  
89.     }  
90. }