COE_Main（）函数

原文地址http://blog.csdn.net/huangxianxinalice/article/details/9936181

[cpp]  view plain  copy

1. /  
2. /** 
3.  
4.  \brief    这个函数是在背后调用的，它不影响ECAT_Application在同步模式 
5. *////  
6.   
7. void COE_Main(void)  
8. {  
9. #if SDO_RES_INTERFACE  
10. /* ECATCHANGE_START(V5.01) SDO6*/  
11.      UINT8 abort = 0;  
12.     if(pSdoPendFunc != NULL)  
13.     {  
14.         abort = pSdoPendFunc(u16StoreIndex,u8StoreSubindex,u32StoreDataSize,pStoreData,bStoreCompleteAccess);  
15.   
16.         if(abort != ABORTIDX_WORKING)  
17.         {  
18.             switch(u8PendingSdo)  
19.             {  
20. #if SEGMENTED_SDO_SUPPORTED  
21.                 case SDO_PENDING_SEG_WRITE:  
22.                     if(pSdoSegData)  
23.                     {  
24.                         /* 分配的缓存将被释放 */  
25.                         FREEMEM( (UINT16 VARMEM *) pSdoSegData );  
26.                         pSdoSegData = NULL;  
27.                     }  
28. #endif  
29.                 case SDO_PENDING_WRITE:  
30.                      /*发送SDO的下载响应*/  
31.                     SDOS_SdoRes(abort, 0, NULL);  
32.                 break;  
33.   
34.                 case SDO_PENDING_SEG_READ:  
35.                 case SDO_PENDING_READ:  
36.                     /* 发送SDO的上传响应 */  
37.                       SDOS_SdoRes(abort, u32StoreDataSize, pStoreData);  
38.                     break;  
39.   
40.             }  
41.   
42.             u8PendingSdo = 0;  
43.             u16StoreIndex = 0;  
44.             u8StoreSubindex = 0;  
45.             u32StoreDataSize = 0;  
46.             pStoreData = NULL;  
47.             bStoreCompleteAccess = 0;  
48.             pSdoPendFunc = NULL;  
49.         }  
50.     }  
51. /* ECATCHANGE_END(V5.01) SDO6*/  
52. #endif  
53. }  
54. /** @} */  
55.   
56. #endif //#if COE_SUPPORTED  

[cpp]  view plain  copy

1. /  
2. /** 
3.  \param    abort                SDO的接入结果 
4.  \param    objLength            对象的总长度 
5.  \param    pData                指向邮箱缓存的指针 
6.  
7.  \brief    这个函数被调用当SDO响应应该被发送的时候 
8. *////  
9.   
10. void SDOS_SdoRes(UINT8 abort, UINT32 objLength, UINT16 MBXMEM *pData)  
11. {  
12.     UINT16 dataSize = 0;  
13.   
14.     if (bSdoInWork)  
15.     {  
16.         /* SDO-Response is expected */  
17.         UINT8 command = pSdoResStored->SdoHeader.Sdo[SDOHEADER_COMMANDOFFSET] & SDOHEADER_COMMAND;  
18.         UINT8 completeAccess = pSdoResStored->SdoHeader.Sdo[SDOHEADER_COMMANDOFFSET] & SDOHEADER_COMPLETEACCESS;  
19.   
20.         if ( command == SDOSERVICE_INITIATEUPLOADREQ )  
21.         {  
22. #if SEGMENTED_SDO_SUPPORTED  
23.             /* dataSize contains the available size in one mailbox */  
24.             dataSize = u16SendMbxSize - MBX_HEADER_SIZE - UPLOAD_NORM_RES_SIZE;  
25.             if ( dataSize < objLength )  
26.             {  
27.                 /* Segmented Upload, the variables for the segmented transfer should be initialized */  
28.                 bSdoSegFollows         = TRUE;  
29.                 bSdoSegLastToggle     = 1;  
30. #if COMPLETE_ACCESS_SUPPORTED  
31.                 bSdoSegAccess             = completeAccess;  
32. #endif  
33.                 nSdoSegCompleteSize    = objLength;  
34.                 nSdoSegService            = SDOSERVICE_UPLOADSEGMENTREQ;  
35.                 pSdoSegData                = (UINT16 VARMEM *) pData;  
36.                 /* the first segment shall be copied */  
37.                 MBXMEMCPY(((TINITSDOUPLOADNORMRESMBX MBXMEM *) pSdoResStored)->Data, pData, dataSize);  
38. /* ECATCHANGE_START(V5.01) SDO6*/  
39.                 nSdoSegBytesToHandle = dataSize;  
40. /* ECATCHANGE_END(V5.01) SDO6*/  
41.             }  
42.             else  
43. #endif  
44.             if ( (objLength <= 4) && (objLength > 0) )  
45.             {  
46.                 /* Expedited response */  
47.                 if ( pData != ((TINITSDOUPLOADEXPRESMBX MBXMEM *) pSdoResStored)->Data )  
48.                 {  
49.                     /* the data is not in the response buffer yet, it shall be copied */  
50.                     MBXMEMCPY(((TINITSDOUPLOADEXPRESMBX MBXMEM *) pSdoResStored)->Data, pData, objLength);  
51.                 }  
52.             }  
53.             else  
54.             {  
55.                 /* Normal response */  
56.                 if ( pData != ((TINITSDOUPLOADNORMRESMBX MBXMEM *) pSdoResStored)->Data )  
57.                 {  
58.                     /* the data is not in the response buffer yet, it shall be copied */  
59.                     MBXMEMCPY(((TINITSDOUPLOADNORMRESMBX MBXMEM *) pSdoResStored)->Data, pData, objLength);  
60.                 }  
61.             }  
62.         }  
63.   
64.         /* SDO access is finished, send the response */  
65.         bSdoInWork = FALSE;  
66.         SdoRes(abort, command, completeAccess, dataSize, objLength, pSdoResStored);  
67.     }  
68. }  
69. #endif // SDO_RES_INTERFACE