SDO处理（二）

原文地址：http://blog.csdn.net/huangxianxinalice/article/details/9324611

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1. \brief    当SDO响应需要被发送的时候，这个函数将会被调用  

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1. void SdoRes(UINT8 abort, UINT8 command, UINT8 completeAccess, UINT16 dataSize, UINT32 objLength, TINITSDOMBX MBXMEM *pSdoRes)  
2. {  
3.     /* 对于上传分段响应，这个转换位将会被设置 */  
4.     if ((command != SDOSERVICE_UPLOADSEGMENTREQ) && (command != SDOSERVICE_DOWNLOADSEGMENTREQ))  
5.     {  
6.         pSdoRes->SdoHeader.Sdo[SDOHEADER_COMMANDOFFSET] = 0;  
7.     }  
8.     if ( abort == 0 )  
9.     {  
10.         /* SDO-Download or SDO-Upload was successful, generate the SDO- and CoE-Header 如果SDO下载和SDO上传操作成功，则需要产生SDO和CoE的数据报头*/  
11.         pSdoRes->CoeHeader &= ~COEHEADER_COESERVICEMASK;  
12.         pSdoRes->CoeHeader |= ((UINT16)COESERVICE_SDORESPONSE) << COEHEADER_COESERVICESHIFT;  
13.         if ( command == SDOSERVICE_INITIATEUPLOADREQ )//如果SDO服务是Initiateuploadreq  
14.         {  
15.             // HBu 06.02.06: Complete Access Bit in the SDO-Upload-Response too *///判断是否为快速上传响应？  
16.             if ( (objLength <= 4) && (objLength > 0) )  
17.             {  
18.                 /* Expedited Upload Response *///则是快速上传响应  
19.                 pSdoRes->MbxHeader.Length             =         EXPEDITED_FRAME_SIZE;  
20.                 pSdoRes->SdoHeader.Sdo[SDOHEADER_COMMANDOFFSET]    |=     SDOHEADER_SIZEINDICATOR     |  
21.                                                                                         SDOHEADER_TRANSFERTYPE        |  
22.                                                                                         completeAccess |  
23.                                                                                         ((MAX_EXPEDITED_DATA - ((UINT8)objLength)) << SDOHEADERSHIFT_DATASETSIZE) |  
24.                                                                                         SDOSERVICE_INITIATEUPLOADRES;<span>     </span>  

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1.             }  
2.             else  
3.             {  
4.                 /* Normal or Segmented Upload Response *///普通上传或者分段上传模式响应  
5. #if SEGMENTED_SDO_SUPPORTED  
6. /*ECATCHANGE_START(V5.01) SDO3*/  
7.                 if (((dataSize < MBX_HEADER_SIZE + UPLOAD_NORM_RES_SIZE)) || (objLength > (UINT32)(dataSize - MBX_HEADER_SIZE - UPLOAD_NORM_RES_SIZE)) <span> </span>/*ECATCHANGE_END(V5.01) SDO3*/  

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1.                 {  
2.                     pSdoRes->MbxHeader.Length         =         SWAPWORD(UPLOAD_NORM_RES_SIZE+dataSize);  
3.                 }  
4.                 else  
5. #endif  
6.                 {  
7.                     pSdoRes->MbxHeader.Length         =         SWAPWORD(UPLOAD_NORM_RES_SIZE+((UINT16)objLength));  
8.                 }  
9.                    ((TINITSDOUPLOADNORMRESMBX MBXMEM *) pSdoRes)->CompleteSize[0] = SWAPWORD((UINT16)objLength);  
10.                    ((TINITSDOUPLOADNORMRESMBX MBXMEM *) pSdoRes)->CompleteSize[1] = SWAPWORD((UINT16)(objLength>>16));  
11.                 pSdoRes->SdoHeader.Sdo[SDOHEADER_COMMANDOFFSET]    |=     SDOHEADER_SIZEINDICATOR     |  
12.                                                                                         completeAccess |  
13.                                                                                         SDOSERVICE_INITIATEUPLOADRES;  
14.             }  
15.         }  
16.         /* for a segmented response the command was wrong in the response *///对于分段响应，命令是错误的响应  
17.         else if ( command == SDOSERVICE_DOWNLOADSEGMENTREQ )  
18.         {  
19.             /* Download segmented response */  
20.             pSdoRes->MbxHeader.Length         = DOWNLOAD_NORM_RES_SIZE;  
21.             pSdoRes->SdoHeader.Sdo[SDOHEADER_COMMANDOFFSET]    |= SDOSERVICE_DOWNLOADSEGMENTRES;  
22.       }  
23.         else if ( command != SDOSERVICE_UPLOADSEGMENTREQ )  
24.         {  
25.             /* Download response */  
26.             pSdoRes->MbxHeader.Length         = DOWNLOAD_NORM_RES_SIZE;  
27.             pSdoRes->SdoHeader.Sdo[SDOHEADER_COMMANDOFFSET]    |= SDOSERVICE_INITIATEDOWNLOADRES;  
28.         }  
29.     }  
30.     else//当about 不是等于0  
31.     {  
32.         /* generate a SDO-Abort-Request */  
33.         pSdoRes->MbxHeader.Length         = ABORT_NORM_RES_SIZE;  
34.         pSdoRes->CoeHeader &= ~COEHEADER_COESERVICEMASK;  
35.         pSdoRes->CoeHeader |= ((UINT16)COESERVICE_SDOREQUEST) << COEHEADER_COESERVICESHIFT;  
36.         pSdoRes->SdoHeader.Sdo[SDOHEADER_COMMANDOFFSET]    = SDOSERVICE_ABORTTRANSFER;  
37. #if BIG_ENDIAN_16BIT  
38.         ((UINT16 MBXMEM *) &((TABORTSDOTRANSFERREQMBX MBXMEM *) pSdoRes)->AbortCode)[0] = ((UINT16 *) &cAbortCode[abort])[1];  
39.         ((UINT16 MBXMEM *) &((TABORTSDOTRANSFERREQMBX MBXMEM *) pSdoRes)->AbortCode)[1] = ((UINT16 *) &cAbortCode[abort])[0];  
40. #else  
41.         ((TABORTSDOTRANSFERREQMBX MBXMEM *) pSdoRes)->AbortCode = SWAPDWORD(cAbortCode[abort]);  
42. #endif  
43.     }  
44.   
45.     // HBu 02.05.06: if the CoE-response could not be sent because the  
46.     //               send mailbox is full it should be stored//如果CoE-response不可以被发送，因为发送邮箱已经满了，那么它应该被存储  
47.     if (MBX_MailboxSendReq((TMBX MBXMEM *) pSdoRes, COE_SERVICE) != 0)  
48.     {  
49.         /* we store the CoE mailbox service to send it later (in COE_ContinueInd) when the mailbox is read */  
50.         pCoeSendStored = (TMBX MBXMEM *) pSdoRes;  
51.     }  
52. }