CANOpen服务数据对象报文
2024-05-10 15:41:24
SDO是服务数据对象接口(ServiceData Object)的缩写，顾名思义提供服务数据的访问接口，所谓服务数据指一些实时性要求不高的数据，一般是指节点配置参数，因此，SDO一般用来配置和获得节点的配置参数，充当OD对外的接口。
SDO基于CS模式，所有报文都需要确认。通常从节点作为SDO服务器，主节点作为客户端。客户端通过索引和子索引，访问服务器上的任意对象字典，SDO的上传与下载，是从server的角度去理解的，上传：client对server的OD进行读操作；下载：client对server的OD进行写操作。
传送机制有两种：域传送和块传送。
SDO报文格式如下：
SDO域传输一共实现了5个请求/应答协议：启动域下载，启动域上传，域分段下载，域分段上传，域传送中止。
SDO命令字包含如下信息：该报文是上传还是下载，该报文是请求还是应答，该报文是分段还是加速，CAN帧数据字节长度，后续分段的触发位。
块传输这里不进行详细讨论，只给出块下载流程：
1.客户端：初始化传输通道
发送块下载初始化指令，包括索引、子索引、字节数
2.服务器：初始化传输通道
发送块下载初始化响应，包括索引、子索引、一次传输块数量
3.客户端：复位传输超时定时器
发送多个数据包块下载，包括是否最后一块、序列号、数据
4.服务器：复位传输超时定时器
将数据拷贝到传输通道
发送数据包块下载响应，包括序列号、一次传输块数量
5.客户端：如果没有下载完，重复步骤3、4
如果下载完，发送块下载结束指令，包括最后一块补零数
6.服务器：发送块下载结束响应
将数据拷贝到字典中
复位传输通道
7.客户端：停止传输超时定时器
设置传输通道为完成状态
调用传输完成回调函数
#include <stdlib.h>
#include "canfestival.h"
#include "sysdep.h"#define NO_INLINE#ifdef NO_INLINE
#define INLINE
#else
#define INLINE inline
#endif/* 通过节点号查找客户端号 */
UNS8 GetSDOClientFromNodeId(CO_Data *d, UNS8 nodeId);/* 写服务器字典 */
INLINE UNS8 _writeNetworkDict(CO_Data *d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize, UNS8 useBlockMode);/* 读服务器字典 */
INLINE UNS8 _readNetworkDict(CO_Data *d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback, UNS8 useBlockMode);#define getSDOcs(byte) (byte >> 5)
#define getSDOn2(byte) ((byte >> 2) & 3)
#define getSDOn3(byte) ((byte >> 1) & 7)
#define getSDOe(byte) ((byte >> 1) & 1)
#define getSDOs(byte) (byte & 1)
#define getSDOc(byte) (byte & 1)
#define getSDOt(byte) ((byte >> 4) & 1)
#define getSDOindex(byte1, byte2) (((UNS16)byte2 << 8) | ((UNS16)byte1))
#define getSDOsubIndex(byte3) (byte3)
#define getSDOblockSC(byte) (byte & 3)/* sdo传输超时回调函数 */
void SDOTimeoutAlarm(CO_Data *d, UNS32 id)
{UNS16 offset;UNS8 nodeId;/* 第一个sdo客户端在字典中的下标 */offset = d->firstIndex->SDO_CLT;if((offset == 0) || ((offset + d->transfers[id].CliServNbr) > d->lastIndex->SDO_CLT)) {return;}/* 从字典中取出服务器节点id */nodeId = (UNS8)*((UNS32*)d->objdict[offset + d->transfers[id].CliServNbr].pSubindex[3].pObject);MSG_ERR(0x1A01, "SDO timeout. SDO response not received.", 0);MSG_WAR(0x2A02, "server node id : ", nodeId);MSG_WAR(0x2A02, " index : ", d->transfers[id].index);MSG_WAR(0x2A02, " subIndex : ", d->transfers[id].subIndex);/* 传输通道超时定时器置空 */d->transfers[id].timer = TIMER_NONE;/* 传输通道状态设置为内部中止 */d->transfers[id].state = SDO_ABORTED_INTERNAL;/* 向主站发送中止报文 */sendSDOabort(d, d->transfers[id].whoami, d->transfers[id].CliServNbr, d->transfers[id].index, d->transfers[id].subIndex, SDOABT_TIMED_OUT);/* 错误码设置为超时 */d->transfers[id].abortCode = SDOABT_TIMED_OUT;/* 如果传输通道超时，则调用回调函数 */if(d->transfers[id].Callback)(*d->transfers[id].Callback)(d, nodeId);/* 复位sdo传输通道 */if(d->transfers[id].abortCode == SDOABT_TIMED_OUT) resetSDOline(d, (UNS8)id);
}/* 停止sdo超时定时器 */
#define StopSDO_TIMER(id) \MSG_WAR(0x3A05, "StopSDO_TIMER for line : ", line);\
d->transfers[id].timer = DelAlarm(d->transfers[id].timer);/* 启动sdo超时定时器 */
#define StartSDO_TIMER(id) \MSG_WAR(0x3A06, "StartSDO_TIMER for line : ", line);\d->transfers[id].timer = SetAlarm(d, id, &SDOTimeoutAlarm,MS_TO_TIMEVAL(SDO_TIMEOUT_MS),0);/* 重启sdo超时定时器 */
#define RestartSDO_TIMER(id) \MSG_WAR(0x3A07, "restartSDO_TIMER for line : ", line);\
if(d->transfers[id].timer != TIMER_NONE) { StopSDO_TIMER(id) StartSDO_TIMER(id) }/* 复位所有sdo传输通道 */
void resetSDO(CO_Data *d)
{UNS8 j;/* 复位所有sdo传输通道 */for(j = 0; j < SDO_MAX_SIMULTANEOUS_TRANSFERS; j++){resetSDOline(d, j);}
}/* 将数据从传输通道缓冲区拷贝到字典中 */
UNS32 SDOlineToObjdict(CO_Data *d, UNS8 line)
{UNS32 size;UNS32 errorCode;MSG_WAR(0x3A08, "Enter in SDOlineToObjdict ", line);/* 确定该传输通道传输了多少字节 */if(d->transfers[line].count == 0){d->transfers[line].count = d->transfers[line].offset;}size = d->transfers[line].count;/* 将数据拷贝到字典中 */
#ifdef SDO_DYNAMIC_BUFFER_ALLOCATIONif(size > SDO_MAX_LENGTH_TRANSFER){errorCode = setODentry(d, d->transfers[line].index, d->transfers[line].subIndex, (void *)d->transfers[line].dynamicData, &size, 1);}else{errorCode = setODentry(d, d->transfers[line].index, d->transfers[line].subIndex,(void *)d->transfers[line].data, &size, 1);}
#elseerrorCode = setODentry(d, d->transfers[line].index, d->transfers[line].subIndex,(void *)d->transfers[line].data, &size, 1);
#endifif(errorCode != OD_SUCCESSFUL)return errorCode;MSG_WAR(0x3A08, "exit of SDOlineToObjdict ", line);return 0;}/* 将数据从字典中拷贝到传输通道缓冲区 */
UNS32 objdictToSDOline(CO_Data *d, UNS8 line)
{UNS32 size = SDO_MAX_LENGTH_TRANSFER;UNS8 dataType;UNS32 errorCode;MSG_WAR(0x3A05, "objdict->line index : ", d->transfers[line].index);MSG_WAR(0x3A06, " subIndex : ", d->transfers[line].subIndex);/* 支持动态内存分配 */
#ifdef SDO_DYNAMIC_BUFFER_ALLOCATION/* 从字典中将数据拷贝出来 */errorCode = getODentry(d, d->transfers[line].index, d->transfers[line].subIndex, (void *)d->transfers[line].data, &size, &dataType, 1);/* 如果内存不够拷贝 */if(errorCode == SDOABT_OUT_OF_MEMORY) {if(size <= SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE) {/* 动态分配内存 */d->transfers[line].dynamicData = (UNS8 *)malloc(size * sizeof(UNS8));if(d->transfers[line].dynamicData != NULL) {d->transfers[line].dynamicDataSize = size;/* 从字典中将数据拷贝出来 */errorCode = getODentry(d, d->transfers[line].index, d->transfers[line].subIndex, (void *)d->transfers[line].dynamicData,&d->transfers[line].dynamicDataSize, &dataType, 1);}}}
#else/* 从字典中将数据拷贝出来 */errorCode = getODentry(d, d->transfers[line].index, d->transfers[line].subIndex, (void *)d->transfers[line].data, &size, &dataType, 1);
#endifif(errorCode != OD_SUCCESSFUL)return errorCode;d->transfers[line].count = size;d->transfers[line].offset = 0;return 0;
}/* 将数据从传输通道缓冲区拷贝出来 */
UNS8 lineToSDO(CO_Data *d, UNS8 line, UNS32 nbBytes, UNS8 *data)
{UNS8 i;UNS32 offset;#ifndef SDO_DYNAMIC_BUFFER_ALLOCATION/* 如果不支持内存动态分配，并且字节数大于静态缓冲区，则报错 */if((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFER) {MSG_ERR(0x1A10,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFER", nbBytes);return 0xFF;}
#endif/* 如果传输通道字节数大于配置的大小 */if((d->transfers[line].offset + nbBytes) > d->transfers[line].count) {MSG_ERR(0x1A11,"SDO Size of data too large. Exceed count", nbBytes);return 0xFF;}offset = d->transfers[line].offset;
#ifdef SDO_DYNAMIC_BUFFER_ALLOCATION/* 如果说sdo传输通道字节数小于静态缓冲区 */if(d->transfers[line].count <= SDO_MAX_LENGTH_TRANSFER){/* 将数据从静态缓冲区拷贝出来 */for(i = 0; i < nbBytes; i++)*(data + i) = d->transfers[line].data[offset + i];}/* 如果说sdo传输通道字节数大于静态缓冲区 */else{if(d->transfers[line].dynamicData == NULL){MSG_ERR(0x1A11,"SDO's dynamic buffer not allocated. Line", line);return 0xFF;}/* 将数据从动态缓冲区拷贝出来 */for(i = 0; i < nbBytes; i++)*(data + i) = d->transfers[line].dynamicData[offset + i];}
#else/* 将数据拷贝出来 */for(i = 0; i < nbBytes; i++)*(data + i) = d->transfers[line].data[offset + i];
#endif/* 偏移量增大 */d->transfers[line].offset = d->transfers[line].offset + nbBytes;return 0;
}/* 将数据拷贝到传输通道缓冲区 */
UNS8 SDOtoLine(CO_Data *d, UNS8 line, UNS32 nbBytes, UNS8 *data)
{UNS8 i;UNS32 offset;#ifndef SDO_DYNAMIC_BUFFER_ALLOCATION/* 不允许动态分配时数据量不能大于缓冲区 */if((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFER) {MSG_ERR(0x1A15,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFER", nbBytes);return 0xFF;}
#endif/* 缓冲区偏移量 */offset = d->transfers[line].offset;#ifdef SDO_DYNAMIC_BUFFER_ALLOCATION{UNS8 *lineData = d->transfers[line].data;/* 当数据量大于缓冲区时 */if((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFER) {/* 如果还没有动态分配内存 */if(d->transfers[line].dynamicData == NULL) {/* 动态分配内存 */d->transfers[line].dynamicData = (UNS8 *)malloc(SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE);d->transfers[line].dynamicDataSize = SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE;if(d->transfers[line].dynamicData == NULL) {MSG_ERR(0x1A15,"SDO allocating dynamic buffer failed, size", SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE);return 0xFF;}/* 将静态缓冲区数据拷贝到动态内存区 */memcpy(d->transfers[line].dynamicData, d->transfers[line].data, offset);}/* 如果已经动态分配内存，则要重新分配 */else if((d->transfers[line].offset + nbBytes) > d->transfers[line].dynamicDataSize){UNS8 *newDynamicBuffer = (UNS8*)realloc(d->transfers[line].dynamicData, d->transfers[line].dynamicDataSize + SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE);if(newDynamicBuffer == NULL) {MSG_ERR(0x1A15,"SDO reallocating dynamic buffer failed, size", d->transfers[line].dynamicDataSize + SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE);return 0xFF;}d->transfers[line].dynamicData = newDynamicBuffer;d->transfers[line].dynamicDataSize += SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE;}lineData = d->transfers[line].dynamicData;}/* 将数据拷贝到缓冲区 */for(i = 0; i < nbBytes; i++){lineData[offset + i] = *(data + i);}}
#else/* 将数据拷贝到缓冲区 */for (i = 0; i < nbBytes; i++)d->transfers[line].data[offset + i] = *(data + i);
#endif/* 缓冲区偏移量增加 */d->transfers[line].offset = d->transfers[line].offset + nbBytes;return 0;
}/* sdo传输通道失败 */
UNS8 failedSDO(CO_Data *d, UNS8 CliServNbr, UNS8 whoami, UNS16 index, UNS8 subIndex, UNS32 abortCode)
{UNS8 err;UNS8 line;/* 通过客户端/服务器号获取sdo传输通道号 */err = getSDOlineOnUse(d, CliServNbr, whoami, &line);if(!err){MSG_WAR(0x3A20, "FailedSDO : line found : ", line);}/* 如果自身是服务器，直接复位传输通道 */if((!err) && (whoami == SDO_SERVER)) {resetSDOline(d, line);MSG_WAR(0x3A21, "FailedSDO : line released : ", line);}/* 如果自身是客户端，则停止sdo传输超时定时器并将状态置为中止并设置错误码 */if((!err) && (whoami == SDO_CLIENT)) {StopSDO_TIMER(line);d->transfers[line].state = SDO_ABORTED_INTERNAL;d->transfers[line].abortCode = abortCode;}MSG_WAR(0x3A22, "Sending SDO abort ", 0);/* 发送sdo中止报文 */err = sendSDOabort(d, whoami, CliServNbr, index, subIndex, abortCode);if(err) {MSG_WAR(0x3A23, "Unable to send the SDO abort", 0);return 0xFF;}return 0;
}/* 复位sdo通道 */
void resetSDOline(CO_Data *d, UNS8 line)
{UNS32 i;MSG_WAR(0x3A25, "reset SDO line nb : ", line);/* 初始化sdo通道 */initSDOline(d, line, 0, 0, 0, SDO_RESET);/* 将sdo传输通道缓冲区清空 */for(i = 0; i < SDO_MAX_LENGTH_TRANSFER; i++)d->transfers[line].data[i] = 0;/* 传输通道归属(服务器/客户端)清空 */d->transfers[line].whoami = 0;/* 传输通道错误码清空 */d->transfers[line].abortCode = 0;
}/* 初始化sdo传输通道 */
UNS8 initSDOline(CO_Data *d, UNS8 line, UNS8 CliServNbr, UNS16 index, UNS8 subIndex, UNS8 state)
{MSG_WAR(0x3A25, "init SDO line nb : ", line);/* 判断是否该SDO传输通道在域下载/域上传/块下载/块上传过程中 */if(state == SDO_DOWNLOAD_IN_PROGRESS || state == SDO_UPLOAD_IN_PROGRESS || state == SDO_BLOCK_DOWNLOAD_IN_PROGRESS || state == SDO_BLOCK_UPLOAD_IN_PROGRESS){/* 开启sdo定时器，通讯超时做相应处理 */StartSDO_TIMER(line)}/* 不在传输过程中，关闭定时器 */else{StopSDO_TIMER(line)}/* 初始化客户端/服务器号 */d->transfers[line].CliServNbr = CliServNbr;/* 初始化对象索引 */d->transfers[line].index = index;/* 初始化对象子索引 */d->transfers[line].subIndex = subIndex;/* 初始化传输通道状态 */d->transfers[line].state = state;d->transfers[line].toggle = 0;/* 初始化字节数 */d->transfers[line].count = 0;d->transfers[line].offset = 0;d->transfers[line].peerCRCsupport = 0;d->transfers[line].blksize = 0;d->transfers[line].ackseq = 0;d->transfers[line].objsize = 0;d->transfers[line].lastblockoffset = 0;d->transfers[line].seqno = 0;d->transfers[line].endfield = 0;/* 初始化块传输接收状态 */d->transfers[line].rxstep = RXSTEP_INIT;d->transfers[line].dataType = 0;/* 超时回调函数 */d->transfers[line].Callback = NULL;
#ifdef SDO_DYNAMIC_BUFFER_ALLOCATIONfree(d->transfers[line].dynamicData);d->transfers[line].dynamicData = 0;d->transfers[line].dynamicDataSize = 0;
#endifreturn 0;
}/* 获取空闲的sdo传输通道 */
UNS8 getSDOfreeLine(CO_Data *d, UNS8 whoami, UNS8 *line)
{UNS8 i;/* 遍历所有传输通道，查找空闲的传输通道 */for(i = 0; i < SDO_MAX_SIMULTANEOUS_TRANSFERS; i++){if(d->transfers[i].state == SDO_RESET) {*line = i;d->transfers[i].whoami = whoami;return 0;}}MSG_ERR(0x1A25, "Too many SDO in progress. Aborted.", i);return 0xFF;
}/* 通过客户端/服务器号获取sdo传输通道号 */
UNS8 getSDOlineOnUse(CO_Data *d, UNS8 CliServNbr, UNS8 whoami, UNS8 *line)
{UNS8 i;/* 遍历所有sdo传输通道 */for(i = 0; i < SDO_MAX_SIMULTANEOUS_TRANSFERS; i++){/* 如果该通道处于正常状态并且客户端/服务器号匹配，则说明找到了该通道 */if((d->transfers[i].state != SDO_RESET) &&(d->transfers[i].state != SDO_ABORTED_INTERNAL) &&(d->transfers[i].CliServNbr == CliServNbr) &&(d->transfers[i].whoami == whoami)) {/* 获取该通道号 */if(line){ *line = i;}return 0;}}return 0xFF;
}/* 通过客户端/服务器号获取sdo传输通道号 */
UNS8 getSDOlineToClose(CO_Data *d, UNS8 CliServNbr, UNS8 whoami, UNS8 *line)
{UNS8 i;for(i = 0; i < SDO_MAX_SIMULTANEOUS_TRANSFERS; i++){if((d->transfers[i].state != SDO_RESET) &&(d->transfers[i].CliServNbr == CliServNbr) &&(d->transfers[i].whoami == whoami)) {if(line) *line = i;return 0;}}return 0xFF;
}/* 关闭sdo传输通道 */
UNS8 closeSDOtransfer(CO_Data *d, UNS8 nodeId, UNS8 whoami)
{UNS8 err;UNS8 line;UNS8 CliNbr;/* 通过节点号查找客户端号 */CliNbr = GetSDOClientFromNodeId(d, nodeId);if(CliNbr >= 0xFE)return SDO_ABORTED_INTERNAL;/* 通过客户端/服务器号获取sdo传输通道号 */err = getSDOlineToClose(d, CliNbr, whoami, &line);if(err) {MSG_WAR(0x2A30, "No SDO communication to close", 0);return 0xFF;}/* 复位sdo通道 */resetSDOline(d, line);return 0;
}/* 获取传输通道剩余字节数 */
UNS8 getSDOlineRestBytes(CO_Data *d, UNS8 line, UNS32 *nbBytes)
{if(d->transfers[line].count == 0)*nbBytes = 0;else*nbBytes = d->transfers[line].count - d->transfers[line].offset;return 0;
}/* sdo传输通道剩余字节数 */
UNS8 setSDOlineRestBytes(CO_Data *d, UNS8 line, UNS32 nbBytes)
{
#ifndef SDO_DYNAMIC_BUFFER_ALLOCATIONif(nbBytes > SDO_MAX_LENGTH_TRANSFER) {MSG_ERR(0x1A35,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFER", nbBytes);return 0xFF;}
#endifd->transfers[line].count = nbBytes;return 0;
}/* 发送sdo报文 */
UNS8 sendSDO(CO_Data *d, UNS8 whoami, UNS8 CliServNbr, UNS8 *pData)
{UNS16 offset;UNS8 i;Message m;MSG_WAR(0x3A38, "sendSDO",0);/* 运行态或预运行态才可以使用sdo报文 */if(!((d->nodeState == Operational) || (d->nodeState == Pre_operational))) {MSG_WAR(0x2A39, "unable to send the SDO (not in op or pre-op mode", d->nodeState);return 0xFF;}/* 服务器端发送sdo报文 */if(whoami == SDO_SERVER) {/* 取出sdo服务器端的发送cob_id */offset = d->firstIndex->SDO_SVR;if((offset == 0) || ((offset + CliServNbr) > d->lastIndex->SDO_SVR)) {MSG_ERR(0x1A42, "SendSDO : SDO server not found", 0);return 0xFF;}m.cob_id = (UNS16)*((UNS32*)d->objdict[offset + CliServNbr].pSubindex[2].pObject);MSG_WAR(0x3A41, "I am server Tx cobId : ", m.cob_id);}/* 客户端发送sdo报文 */else {/* 取出sdo客户端发送cob_id */offset = d->firstIndex->SDO_CLT;if((offset == 0) || ((offset+CliServNbr) > d->lastIndex->SDO_CLT)) {MSG_ERR(0x1A42, "SendSDO : SDO client not found", 0);return 0xFF;}m.cob_id = (UNS16)*((UNS32*)d->objdict[offset + CliServNbr].pSubindex[1].pObject);MSG_WAR(0x3A41, "I am client Tx cobId : ", m.cob_id);}/* 数据帧 */m.rtr = NOT_A_REQUEST;/* sdo报文固定8字节 */m.len = 8;/* 数据 */for(i = 0; i < 8; i++) {m.data[i] = pData[i];}/* 发送报文 */return canSend(d->canHandle,&m);
}/* 发送sdo中止报文 */
UNS8 sendSDOabort(CO_Data* d, UNS8 whoami, UNS8 CliServNbr, UNS16 index, UNS8 subIndex, UNS32 abortCode)
{UNS8 data[8];UNS8 ret;MSG_WAR(0x2A50,"Sending SDO abort ", abortCode);data[0] = 0x80;data[1] = index & 0xFF;data[2] = (index >> 8) & 0xFF;data[3] = subIndex;data[4] = (UNS8)(abortCode & 0xFF);data[5] = (UNS8)((abortCode >> 8) & 0xFF);data[6] = (UNS8)((abortCode >> 16) & 0xFF);data[7] = (UNS8)((abortCode >> 24) & 0xFF);/* 发送sdo报文 */ret = sendSDO(d, whoami, CliServNbr, data);return ret;
}/* 处理sdo报文 */
UNS8 proceedSDO(CO_Data *d, Message *m)
{UNS8 err;UNS8 cs;UNS8 line;UNS32 nbBytes;UNS8 nodeId = 0;UNS8 CliServNbr;UNS8 whoami = SDO_UNKNOWN;UNS32 errorCode;UNS8 data[8];UNS16 index;UNS8 subIndex;UNS32 abortCode;UNS32 i;UNS8 j;UNS32 *pCobId = NULL;UNS16 offset;UNS16 lastIndex;UNS8 SubCommand;UNS8 SeqNo;UNS8 AckSeq;UNS8 NbBytesNoData;MSG_WAR(0x3A60, "proceedSDO ", 0);whoami = SDO_UNKNOWN;/* 第一个sdo服务器在字典中的下标 */offset = d->firstIndex->SDO_SVR;/* 最后一个sdo服务器在字典中的下标 */lastIndex = d->lastIndex->SDO_SVR;j = 0;/* 如果字典中配置了sdo服务器 */if(offset) {/* 遍历所有sdo服务器 */while(offset <= lastIndex) {/* 服务器端子索引不能低于1个 */if(d->objdict[offset].bSubCount <= 1) {MSG_ERR(0x1A61, "Subindex 1 not found at index ", 0x1200 + j);return 0xFF;}/* 取出服务器端的接收CobId */pCobId = (UNS32*)d->objdict[offset].pSubindex[1].pObject;/* 如果和接收到的报文匹配 */if(*pCobId == UNS16_LE(m->cob_id)) {/* 说明自己是服务器 */whoami = SDO_SERVER;MSG_WAR(0x3A62, "proceedSDO. I am server. index : ", 0x1200 + j);/* 客户端/服务器号 */CliServNbr = j;break;}j++;offset++;}}/* 如果不是服务器，判断自己是不是客户端 */if(whoami == SDO_UNKNOWN) {/* 第一个客户端在字典中的下标 */offset = d->firstIndex->SDO_CLT;/* 最后一个客户端在字典中的下标 */lastIndex = d->lastIndex->SDO_CLT;j = 0;/* 如果配置了客户端 */if(offset) {/* 遍历所有sdo客户端 */while(offset <= lastIndex) {/* 子索引不可以低于3个 */if(d->objdict[offset].bSubCount <= 3) {MSG_ERR(0x1A63, "Subindex 3 not found at index ", 0x1280 + j);return 0xFF;}/* 取出客户端的接收CobId */pCobId = (UNS32*)d->objdict[offset].pSubindex[2].pObject;/* 如果和接收到的报文匹配 */if(*pCobId == UNS16_LE(m->cob_id)) {/* 自己为客户端 */whoami = SDO_CLIENT;MSG_WAR(0x3A64, "proceedSDO. I am client index : ", 0x1280 + j);/* 服务器/客户端号 */CliServNbr = j;/* 服务器端的节点号 */nodeId = *((UNS8*) d->objdict[offset].pSubindex[3].pObject);break;}j++;offset++;}}}/* 如果没有配置服务器，也没有配置客户端，则不用处理该保文 */if(whoami == SDO_UNKNOWN) {return 0xFF;}/* SDO报文一定是8字节 */if((*m).len != 8) {MSG_ERR(0x1A67, "Error size SDO", 0);failedSDO(d, CliServNbr, whoami, 0, 0, SDOABT_GENERAL_ERROR);return 0xFF;}if(whoami == SDO_CLIENT) {MSG_WAR(0x3A68, "I am CLIENT number ", CliServNbr);}else {MSG_WAR(0x3A69, "I am SERVER number ", CliServNbr);}/* 通服务器/客户端号获取通道号 */err = getSDOlineOnUse(d, CliServNbr, whoami, &line);cs = 0xFF; if(!err) {/* 客户端->服务器：块下载过程中 服务器->客户端：上传过程中 */if(((whoami == SDO_SERVER) && (d->transfers[line].state == SDO_BLOCK_DOWNLOAD_IN_PROGRESS)) ||((whoami == SDO_CLIENT) && (d->transfers[line].state == SDO_BLOCK_UPLOAD_IN_PROGRESS))) {if(m->data[0] == 0x80)cs = 4;elsecs = 6;}}if(cs == 0xFF){cs = getSDOcs(m->data[0]);}/* 判断指令 */switch(cs) {/* 客户端->服务器:域分段下载/服务器->客户端:域分段上传 */case 0:/* 客户端->服务器的域分段下载 */if(whoami == SDO_SERVER) {/* 验证传输通道是否在域分段下载中 */if(!err){err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;}if(err) {MSG_ERR(0x1A70, "SDO error : Received download segment for unstarted trans. index 0x1200 + ", CliServNbr);failedSDO(d, CliServNbr, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);return 0xFF;}/* 重启传输通道超时定时器 */RestartSDO_TIMER(line)MSG_WAR(0x3A71, "Received SDO download segment defined at index 0x1200 + ", CliServNbr);/* 取出索引号 */index = d->transfers[line].index;/* 取出子索引号 */subIndex = d->transfers[line].subIndex;/* 校验触发位是否同步 */if(d->transfers[line].toggle != getSDOt(m->data[0])) {MSG_ERR(0x1A72, "SDO error : Toggle error : ", getSDOt(m->data[0]));failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);return 0xFF;}/* 取出字节数 */nbBytes = 7 - getSDOn3(m->data[0]);/* 将数据从sdo数据包中拷贝到传输通道缓冲区 */err = SDOtoLine(d, line, nbBytes, (*m).data + 1);if(err){failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);return 0xFF;}/* 构建响应包 */data[0] = (1 << 5) | (d->transfers[line].toggle << 4);for(i = 1 ; i < 8 ; i++){data[i] = 0;}MSG_WAR(0x3A73, "SDO. Send response to download request defined at index 0x1200 + ", CliServNbr);/* 发送响应包 */sendSDO(d, whoami, CliServNbr, data);/* 触发位取反 */d->transfers[line].toggle = !d->transfers[line].toggle & 1;/* 检查该段是否是最后一段 */if(getSDOc(m->data[0])) {/* 将数据从sdo传输通道缓冲区拷贝到字典中 */errorCode = SDOlineToObjdict(d, line);if(errorCode) {MSG_ERR(0x1A54, "SDO error : Unable to copy the data in the object dictionary", 0);/* sdo传输失败 */failedSDO(d, CliServNbr, whoami, index, subIndex, errorCode);return 0xFF;}/* 复位sdo传输通道 */resetSDOline(d, line);MSG_WAR(0x3A74, "SDO. End of download defined at index 0x1200 + ", CliServNbr);}}/* 服务器->客户端:域分段上传 */else {/* 验证传输通道是否在域分段上传中 */if(!err){err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;}if(err) {MSG_ERR(0x1A75, "SDO error : Received segment response for unknown trans. from nodeId", nodeId);failedSDO(d, CliServNbr, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);return 0xFF;}/* 重启传输通道超时定时器 */RestartSDO_TIMER(line)/* 取出索引号 */index = d->transfers[line].index;/* 取出子索引号 */subIndex = d->transfers[line].subIndex;/* 校验触发位是否同步 */if(d->transfers[line].toggle != getSDOt(m->data[0])) {MSG_ERR(0x1A76, "SDO error : Received segment response Toggle error. from nodeId", nodeId);failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);return 0xFF;}/* 取出字节数 */nbBytes = 7 - getSDOn3(m->data[0]);/* 将数据从sdo数据包中拷贝到传输通道缓冲区 */err = SDOtoLine(d, line, nbBytes, (*m).data + 1);if(err) {failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);return 0xFF;}/* 触发位取反 */d->transfers[line].toggle = ! d->transfers[line].toggle & 1;/* 检查该段是否是最后一段 */if(getSDOc(m->data[0])) {/* 停止超时定时器 */StopSDO_TIMER(line)/* 传输完成 */d->transfers[line].state = SDO_FINISHED;/* 传输完成回调函数 */if(d->transfers[line].Callback){(*d->transfers[line].Callback)(d,nodeId);}MSG_WAR(0x3A77, "SDO. End of upload from node : ", nodeId);}/* 如果不是最后一段，继续请求上传 */else {data[0] = (3 << 5) | (d->transfers[line].toggle << 4);for(i = 1; i < 8; i++)data[i] = 0;sendSDO(d, whoami, CliServNbr, data);MSG_WAR(0x3A78, "SDO send upload segment request to nodeId", nodeId);}}break;/* 客户端->服务器:启动域下载/服务器->客户端:域分段下载 */case 1:/* 客户端->服务器:启动域下载 */if(whoami == SDO_SERVER) {/* 索引 */index = getSDOindex(m->data[1], m->data[2]);/* 子索引 */subIndex = getSDOsubIndex(m->data[3]);MSG_WAR(0x3A79, "Received SDO Initiate Download (to store data) defined at index 0x1200 + ", CliServNbr);MSG_WAR(0x3A80, "Writing at index : ", index);MSG_WAR(0x3A80, "Writing at subIndex : ", subIndex);if(!err) {MSG_ERR(0x1A81, "SDO error : Transmission yet started.", 0);failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);return 0xFF;}/* 查找空闲传输通道 */err = getSDOfreeLine(d, whoami, &line);if(err) {MSG_ERR(0x1A82, "SDO error : No line free, too many SDO in progress. Aborted.", 0);failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);return 0xFF;}/* 初始化sdo传输通道 */initSDOline(d, line, CliServNbr, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS);/* 如果是快速传输 */if(getSDOe(m->data[0])) {/* 取出字节数 */nbBytes = 4 - getSDOn2(m->data[0]);/* 存储字节数 */d->transfers[line].count = nbBytes;/* 将数据数据拷贝到传输通道缓冲区 */err = SDOtoLine(d, line, nbBytes, (*m).data + 4);if(err) {failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);return 0xFF;}MSG_WAR(0x3A83, "SDO Initiate Download is an expedited transfer. Finished. ", 0);/* 将数据从传输通道缓冲区拷贝到字典中 */errorCode = SDOlineToObjdict(d, line);if(errorCode) {MSG_ERR(0x1A84, "SDO error : Unable to copy the data in the object dictionary", 0);failedSDO(d, CliServNbr, whoami, index, subIndex, errorCode);return 0xFF;}/* 复位sdo通道 */resetSDOline(d, line);}/* 如果是正常传输 */else {/* 数据字节为字节计数器 */if(getSDOs(m->data[0])) {/* 取出字节数 */nbBytes = (m->data[4]) + ((UNS32)(m->data[5])<<8) + ((UNS32)(m->data[6])<<16) + ((UNS32)(m->data[7])<<24);/* 设置sdo传输通道字节数剩余 */err = setSDOlineRestBytes(d, line, nbBytes);if(err){failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);return 0xFF;}}}/* 发送启动域下载响应 */data[0] = 3 << 5;data[1] = index & 0xFF;data[2] = (index >> 8) & 0xFF;data[3] = subIndex;for(i = 4 ; i < 8 ; i++)data[i] = 0;sendSDO(d, whoami, CliServNbr, data);}/* 服务器->客户端:域分段下载 */else {/* 验证传输通道是否在域分段下载中 */if(!err)err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;if(err) {MSG_ERR(0x1A85, "SDO error : Received segment response for unknown trans. from nodeId", nodeId);failedSDO(d, CliServNbr, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);return 0xFF;}/* 重启传输通道超时定时器 */RestartSDO_TIMER(line)/* 索引 */ index = d->transfers[line].index;/* 子索引 */subIndex = d->transfers[line].subIndex;/* 校验触发位是否同步 */if(d->transfers[line].toggle != getSDOt(m->data[0])) {MSG_ERR(0x1A86, "SDO error : Received segment response Toggle error. from nodeId", nodeId);failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);return 0xFF;}/* 获取传输通道剩余字节数 */getSDOlineRestBytes(d, line, &nbBytes);/* 如果已经传输完 */if(nbBytes == 0) {MSG_WAR(0x3A87, "SDO End download. segment response received. OK. from nodeId", nodeId);/* 停止超时定时器 */StopSDO_TIMER(line)/* 将状态置为完成 */d->transfers[line].state = SDO_FINISHED;/* 传输完成回调函数 */if(d->transfers[line].Callback) {(*d->transfers[line].Callback)(d,nodeId);}return 0x00;}/* 如果至少还有7个字节没传输完毕 */if(nbBytes > 7) {/* 触发位取反 */d->transfers[line].toggle = ! d->transfers[line].toggle & 1;/* 构建报文 */data[0] = (d->transfers[line].toggle << 4);/* 将数据从传输通道缓冲区拷贝到sdo报文中 */err = lineToSDO(d, line, 7, data + 1);if(err) {failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);return 0xFF;}}/* 如果数据量小于7个字节 */else {/* 触发位取反 */d->transfers[line].toggle = !d->transfers[line].toggle & 1;/* 构建报文 */data[0] = (UNS8)((d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1);/* 将数据从传输通道缓冲区拷贝到sdo报文中 */err = lineToSDO(d, line, nbBytes, data + 1);if(err) {failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);return 0xFF;}/* 剩余字节填0 */for(i = nbBytes + 1; i < 8; i++){data[i] = 0;}}MSG_WAR(0x3A88, "SDO sending download segment to nodeId", nodeId);/* 发送sdo报文 */sendSDO(d, whoami, CliServNbr, data);}break;/* 客户端->服务器:启动域上传/服务器->客户端:启动域上传 */case 2:/* 客户端->服务器:启动域上传 */if(whoami == SDO_SERVER) {/* 索引 */index = getSDOindex(m->data[1], m->data[2]);/* 子索引 */subIndex = getSDOsubIndex(m->data[3]);MSG_WAR(0x3A89, "Received SDO Initiate upload (to send data) defined at index 0x1200 + ", CliServNbr);MSG_WAR(0x3A90, "Reading at index : ", index);MSG_WAR(0x3A91, "Reading at subIndex : ", subIndex);if(!err) {MSG_ERR(0x1A92, "SDO error : Transmission yet started at line : ", line);MSG_WAR(0x3A93, "Server Nbr = ", CliServNbr);failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);return 0xFF;}/* 获取sdo空闲传输通道 */err = getSDOfreeLine(d, whoami, &line);if(err) {MSG_ERR(0x1A71, "SDO error : No line free, too many SDO in progress. Aborted.", 0);failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);return 0xFF;}/* 初始化传输通道 */initSDOline(d, line, CliServNbr, index, subIndex, SDO_UPLOAD_IN_PROGRESS);/* 将数据从字典中拷贝到传输通道缓冲区 */errorCode = objdictToSDOline(d, line);if(errorCode) {MSG_ERR(0x1A94, "SDO error : Unable to copy the data from object dictionary. Err code : ", errorCode);failedSDO(d, CliServNbr, whoami, index, subIndex, errorCode);return 0xFF;}/* 获取传输通道剩余字节数 */getSDOlineRestBytes(d, line, &nbBytes);/* 字节数大于4，正常传输 */if(nbBytes > 4) {/* 命令 */data[0] = (2 << 5) | 1;/* 索引 */data[1] = index & 0xFF;data[2] = (index >> 8) & 0xFF;/* 子索引 */data[3] = subIndex;/* 字节计数器 */data[4] = (UNS8)nbBytes;data[5] = (UNS8)(nbBytes >> 8);data[6] = (UNS8)(nbBytes >> 16);data[7] = (UNS8)(nbBytes >> 24);MSG_WAR(0x3A95, "SDO. Sending normal upload initiate response defined at index 0x1200 + ", nodeId);/* 发送sdo报文 */sendSDO(d, whoami, CliServNbr, data);}/* 字节数不高于4，快速传输 */else{/* 命令 */data[0] = (UNS8)((2 << 5) | ((4 - nbBytes) << 2) | 3);/* 索引 */data[1] = index & 0xFF;data[2] = (index >> 8) & 0xFF;/* 子索引 */data[3] = subIndex;/* 将数据从传输通道缓冲区拷贝到sdo报文 */err = lineToSDO(d, line, nbBytes, data + 4);if(err) {failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);return 0xFF;}/* 不足8字节填0 */for(i = 4 + nbBytes; i < 8; i++){data[i] = 0;}MSG_WAR(0x3A96, "SDO. Sending expedited upload initiate response defined at index 0x1200 + ", CliServNbr);/* 发送sdo报文 */sendSDO(d, whoami, CliServNbr, data);/* 复位sdo传输通道 */resetSDOline(d, line);}}/* 服务器->客户端:启动域上传 */else {/* 验证传输通道是否在域上传中 */if(!err)err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;if(err) {MSG_ERR(0x1A97, "SDO error : Received response for unknown upload request from nodeId", nodeId);failedSDO(d, CliServNbr, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);return 0xFF;}/* 重置传输超时定时器 */RestartSDO_TIMER(line)/* 索引 */index = d->transfers[line].index;/* 子索引 */subIndex = d->transfers[line].subIndex;/* 加速传输完成 */if(getSDOe(m->data[0])) {/* 字节数 */nbBytes = 4 - getSDOn2(m->data[0]);/* 将数据拷贝到传输通道缓冲区 */err = SDOtoLine(d, line, nbBytes, (*m).data + 4);if(err) {failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);return 0xFF;}MSG_WAR(0x3A98, "SDO expedited upload finished. Response received from node : ", nodeId);/* 停止sdo传输通道超时定时器 */StopSDO_TIMER(line)/* 接收到的字节数 */d->transfers[line].count = nbBytes;/* sdo传输通道传输完成 */d->transfers[line].state = SDO_FINISHED;/* 传输完成后调用回调函数 */if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);return 0;}/* 正常传输 */else {if(getSDOs(m->data[0])) {/* 字节计数器 */nbBytes = m->data[4] + ((UNS32)(m->data[5]) << 8) + ((UNS32)(m->data[6]) << 16) + ((UNS32)(m->data[7]) << 24);/* 设置sdo传输通道剩余字节数 */err = setSDOlineRestBytes(d, line, nbBytes);if(err) {failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);return 0xFF;}}/* 请求：域分段上传 */data[0] = 3 << 5;for(i = 1; i < 8; i++)data[i] = 0;MSG_WAR(0x3A99, "SDO. Sending upload segment request to node : ", nodeId);/* 发送报文 */sendSDO(d, whoami, CliServNbr, data);}}break;/* 客户端->服务器：域分段上传/服务器->客户端：启动域下载 */case 3:/* 客户端->服务器：域分段上传 */if(whoami == SDO_SERVER) {if(!err)err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;if(err) {MSG_ERR(0x1AA0, "SDO error : Received upload segment for unstarted trans. index 0x1200 + ", CliServNbr);failedSDO(d, CliServNbr, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);return 0xFF;}/* 复位sdo传输通道超时定时器 */RestartSDO_TIMER(line)MSG_WAR(0x3AA1, "Received SDO upload segment defined at index 0x1200 + ", CliServNbr);/* 索引 */index = d->transfers[line].index;/* 子索引 */subIndex = d->transfers[line].subIndex;/* 校验触发位是否同步 */if(d->transfers[line].toggle != getSDOt(m->data[0])) {MSG_ERR(0x1AA2, "SDO error : Toggle error : ", getSDOt(m->data[0]));failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);return 0xFF;}/* 获取传输通道剩余字节数 */getSDOlineRestBytes(d, line, &nbBytes);/* 如果至少还有7个字节没传输完毕 */if(nbBytes > 7) {/* 构建报文 */data[0] = (d->transfers[line].toggle << 4);/* 将数据从sdo传输通道缓冲区拷贝到sdo报文中 */err = lineToSDO(d, line, 7, data + 1);if(err) {failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);return 0xFF;}/* 将触发位取反 */d->transfers[line].toggle = !d->transfers[line].toggle & 1;MSG_WAR(0x3AA3, "SDO. Sending upload segment defined at index 0x1200 + ", CliServNbr);/* 发送报文 */sendSDO(d, whoami, CliServNbr, data);}/* 不大于7字节，则说明是最后一段 */else {/* 构建报文 */data[0] = (UNS8)((d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1);/* 将数据从sdo传输通道缓冲区拷贝到sdo报文中 */err = lineToSDO(d, line, nbBytes, data + 1);if (err) {failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);return 0xFF;}/* 不满8字节补0 */for(i = nbBytes + 1; i < 8; i++)data[i] = 0;MSG_WAR(0x3AA4, "SDO. Sending last upload segment defined at index 0x1200 + ", CliServNbr);/* 发送报文 */sendSDO(d, whoami, CliServNbr, data);/* 复位传输通道 */resetSDOline(d, line);}}/* 服务器->客户端：启动域下载 */else {/* 校验传输通道是否在域下载过程中 */if(!err)err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;if(err) {MSG_ERR(0x1AA5, "SDO error : Received response for unknown download request from nodeId", nodeId);failedSDO(d, CliServNbr, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);return 0xFF;}/* 复位sdo传输通道定时器 */RestartSDO_TIMER(line)/* 索引 */index = d->transfers[line].index;/* 子索引 */subIndex = d->transfers[line].subIndex;/* 获取sdo传输通道剩余字节数 */getSDOlineRestBytes(d, line, &nbBytes);/* 传输完成 */if(nbBytes == 0) {MSG_WAR(0x3AA6, "SDO End download expedited. Response received. from nodeId", nodeId);/* 停止传输通道超时定时器 */StopSDO_TIMER(line)/* 将传输通道状态设置为完成 */d->transfers[line].state = SDO_FINISHED;/* 传输完成回调函数 */if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);return 0x00;}/* 剩余字节数大于7个：域分段下载 */if(nbBytes > 7) {/* 构建报文 */data[0] = (d->transfers[line].toggle << 4);/* 将数据从传输通道中拷贝到sdo报文中 */err = lineToSDO(d, line, 7, data + 1);if(err) {failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);return 0xFF;}}/* 剩余字节数不大于7个：域分段下载，最后一段 */else {/* 构建报文 */data[0] = (UNS8)((d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1);/* 将数据从传输通道中拷贝到sdo报文中 */err = lineToSDO(d, line, nbBytes, data + 1);if(err) {failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);return 0xFF;}/* 不足8字节补0 */for(i = nbBytes + 1; i < 8; i++)data[i] = 0;}MSG_WAR(0x3AA7, "SDO sending download segment to nodeId", nodeId);/* 发送sdo报文 */sendSDO(d, whoami, CliServNbr, data);}break;/* 中止 */case 4:/* 中止码 */abortCode = (UNS32)m->data[4] | ((UNS32)m->data[5] << 8) | ((UNS32)m->data[6] << 16) | ((UNS32)m->data[7] << 24);/* 客户端->服务器：中止 */if(whoami == SDO_SERVER) {/* 复位sdo传输通道 */if(!err) {resetSDOline(d, line);MSG_WAR(0x3AA8, "SD0. Received SDO abort. Line released. Code : ", abortCode);}elseMSG_WAR(0x3AA9, "SD0. Received SDO abort. No line found. Code : ", abortCode);}/* 服务器->客户端：中止 */else {if(!err) {/* 停止sdo传输通道超时定时器 */StopSDO_TIMER(line)/* 将传输通道状态设置为中止 */d->transfers[line].state = SDO_ABORTED_RCV;/* 中止码 */d->transfers[line].abortCode = abortCode;MSG_WAR(0x3AB0, "SD0. Received SDO abort. Line state ABORTED. Code : ", abortCode);/* 传输结束调用回调函数 */if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d, nodeId);}elseMSG_WAR(0x3AB1, "SD0. Received SDO abort. No line found. Code : ", abortCode);}break;/* 服务器->客户端：块下载初始化/服务器->客户端：块下载/服务器->客户端：块下载结束 *//* 客户端->服务器：块上传初始化/客户端->服务器：块上传开始命令/客户端->服务器：块上传/客户端->服务器：块上传结束 */case 5:/* 子命令 */SubCommand = getSDOblockSC(m->data[0]);/* 客户端->服务器：块上传初始化/客户端->服务器：块上传/客户端->服务器：块上传结束 */if(whoami == SDO_SERVER) {/* 客户端->服务器：块上传初始化 */if(SubCommand == SDO_BCS_INITIATE_UPLOAD_REQUEST) {/* 索引 */index = getSDOindex(m->data[1], m->data[2]);/* 子索引 */subIndex = getSDOsubIndex(m->data[3]);MSG_WAR(0x3AB2, "Received SDO Initiate block upload defined at index 0x1200 + ", CliServNbr);MSG_WAR(0x3AB3, "Reading at index : ", index);MSG_WAR(0x3AB4, "Reading at subIndex : ", subIndex);if(!err) {MSG_ERR(0x1A93, "SDO error : Transmission yet started at line : ", line);MSG_WAR(0x3AB5, "Server Nbr = ", CliServNbr);failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);return 0xFF;}/* 获取sdo空闲传输通道 */err = getSDOfreeLine(d, whoami, &line);if(err) {MSG_ERR(0x1A73, "SDO error : No line free, too many SDO in progress. Aborted.", 0);failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);return 0xFF;}/* 初始化sdo传输通道 */initSDOline(d, line, CliServNbr, index, subIndex, SDO_BLOCK_UPLOAD_IN_PROGRESS);/* 是否支持crc校验 */d->transfers[line].peerCRCsupport = ((m->data[0]) >> 2) & 1;/* 块数量 */d->transfers[line].blksize = m->data[4];/* 将数据从字典中拷贝到sdo传输通道缓冲区 */errorCode = objdictToSDOline(d, line);if(errorCode) {MSG_ERR(0x1A95, "SDO error : Unable to copy the data from object dictionary. Err code : ", errorCode);failedSDO(d, CliServNbr, whoami, index, subIndex, errorCode);return 0xFF;}/* 获取sdo传输剩余字节数 */getSDOlineRestBytes(d, line, &nbBytes);/* 设置对象大小 */d->transfers[line].objsize = nbBytes;/* sdo块上传初始化响应 */data[0] = (6 << 5) | (1 << 1) | SDO_BSS_INITIATE_UPLOAD_RESPONSE;/* 索引 */data[1] = index & 0xFF;data[2] = (index >> 8) & 0xFF;/* 子索引 */data[3] = subIndex;/* 字节数 */data[4] = (UNS8)nbBytes;data[5] = (UNS8)(nbBytes >> 8);data[6] = (UNS8)(nbBytes >> 16);data[7] = (UNS8)(nbBytes >> 24);MSG_WAR(0x3A9A, "SDO. Sending normal block upload initiate response defined at index 0x1200 + ", nodeId);/* 发送sdo报文 */sendSDO(d, whoami, CliServNbr, data);}/* 客户端->服务器：块上传结束响应 */else if(SubCommand == SDO_BCS_END_UPLOAD_REQUEST) {MSG_WAR(0x3AA2, "Received SDO block END upload request defined at index 0x1200 + ", CliServNbr);/* 校验是否在块上传过程中 */if(!err)err = d->transfers[line].state != SDO_BLOCK_UPLOAD_IN_PROGRESS;if(err) {MSG_ERR(0x1AA1, "SDO error : Received block upload request for unstarted trans. index 0x1200 + ", CliServNbr);failedSDO(d, CliServNbr, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);return 0xFF;}/* 复位sdo传输通道 */resetSDOline(d, line);}/* 客户端->服务器：块上传/客户端->服务器：块上传开始命令 */else if((SubCommand == SDO_BCS_UPLOAD_RESPONSE) || (SubCommand == SDO_BCS_START_UPLOAD)) {/* 校验是否在块上传过程中 */if(!err)err = d->transfers[line].state != SDO_BLOCK_UPLOAD_IN_PROGRESS;if(err) {MSG_ERR(0x1AA1, "SDO error : Received block upload response for unstarted trans. index 0x1200 + ", CliServNbr);failedSDO(d, CliServNbr, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);return 0xFF;}/* 重启传输通道超时定时器 */RestartSDO_TIMER(line);/* 索引 */index = d->transfers[line].index;/* 子索引 */subIndex = d->transfers[line].subIndex;/* 块上传响应 */if(SubCommand == SDO_BCS_UPLOAD_RESPONSE) {MSG_WAR(0x3AA2, "Received SDO block upload response defined at index 0x1200 + ", CliServNbr);/* 一次最大上传块数 */d->transfers[line].blksize = m->data[2];/* 响应序列号 */AckSeq = (m->data[1]) & 0x7f;/* 获取剩余字节数 */getSDOlineRestBytes(d, line, &nbBytes);/* 如果传输完 */if((nbBytes == 0) && (AckSeq == d->transfers[line].seqno)){/* 上传结束指令 */data[0] = (6 << 5) | ((d->transfers[line].endfield) << 2) | SDO_BSS_END_UPLOAD_RESPONSE;for(i = 1; i < 8; i++)data[i] = 0;MSG_WAR(0x3AA5, "SDO. Sending block END upload response defined at index 0x1200 + ", CliServNbr);/* 发送sdo报文 */sendSDO(d, whoami, CliServNbr, data);break;}elsed->transfers[line].offset = d->transfers[line].lastblockoffset + 7 * AckSeq;if(d->transfers[line].offset > d->transfers[line].count) {MSG_ERR(0x1AA1, "SDO error : Received upload response with bad ackseq index 0x1200 + ", CliServNbr);failedSDO(d, CliServNbr, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);return 0xFF;}}elseMSG_WAR(0x3AA2, "Received SDO block START upload defined at index 0x1200 + ", CliServNbr);/* 上一次块传输后数据偏移量 */d->transfers[line].lastblockoffset = (UNS8) d->transfers[line].offset;/* 进行一次块上传数据 */for(SeqNo = 1; SeqNo <= d->transfers[line].blksize; SeqNo++) {/* 块序列号 */d->transfers[line].seqno = SeqNo;/* 获取传输通道剩余字节数 */getSDOlineRestBytes(d, line, &nbBytes);/* 如果大于7字节，则说明不是最后一块数据 */if(nbBytes > 7) {/* 块序列号 */data[0] = SeqNo;/* 将传输通道上的数据拷贝到sdo报文中 */err = lineToSDO(d, line, 7, data + 1);if(err) {failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);return 0xFF;}MSG_WAR(0x3AA5, "SDO. Sending upload segment defined at index 0x1200 + ", CliServNbr);/* 发送sdo报文 */sendSDO(d, whoami, CliServNbr, data);}/* 如果不大于7字节，则说明是最后一块数据 */else {/* 块序列号，最高位表示最后一块 */data[0] = 0x80 | SeqNo;/* 将传输通道上的数据拷贝到sdo报文中 */err = lineToSDO(d, line, nbBytes, data + 1);if(err) {failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);return 0xFF;}/* 不满8字节补0 */for(i = nbBytes + 1 ; i < 8 ; i++)data[i] = 0;MSG_WAR(0x3AA5, "SDO. Sending last upload segment defined at index 0x1200 + ", CliServNbr);/* 发送sdo报文 */sendSDO(d, whoami, CliServNbr, data);/* 记录补零个数 */d->transfers[line].endfield = (UNS8)(7 - nbBytes);break;}}}}/* 服务器->客户端：块下载初始化/服务器->客户端：块下载/服务器->客户端：块下载结束 */else {/* 服务器->客户端：块下载初始化/服务器->客户端：块下载 */if((SubCommand == SDO_BSS_INITIATE_DOWNLOAD_RESPONSE) || (SubCommand == SDO_BSS_DOWNLOAD_RESPONSE)) {/* 判断sdo传输通道是否在块下载过程中 */if(!err)err = d->transfers[line].state != SDO_BLOCK_DOWNLOAD_IN_PROGRESS;if(err){MSG_ERR(0x1AAA, "SDO error : Received response for unknown block download request from node id", nodeId);failedSDO(d, CliServNbr, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);return 0xFF;}/* 复位sdo传输超时定时器 */RestartSDO_TIMER(line)/* 服务器->客户端：块下载初始化 */if(SubCommand == SDO_BSS_INITIATE_DOWNLOAD_RESPONSE) {/* 索引 */index = d->transfers[line].index;/* 子索引 */subIndex = d->transfers[line].subIndex;/* 是否支持crc校验 */d->transfers[line].peerCRCsupport = ((m->data[0])>>2) & 1;/* 块数量 */d->transfers[line].blksize = m->data[4];}/* 服务器->客户端：块下载 */else {/* 块数量 */d->transfers[line].blksize = m->data[2];/* 序列号 */AckSeq = (m->data[1]) & 0x7f;/* 获取sdo传输通道缓冲区剩余字节数 */getSDOlineRestBytes(d, line, &nbBytes);/* 如果剩余字节数为0，并且序列号校验通过 */if((nbBytes == 0) && (AckSeq == d->transfers[line].seqno)){/* 块下载结束 */data[0] = (6 << 5) | ((d->transfers[line].endfield) << 2) | SDO_BCS_END_DOWNLOAD_REQUEST;/* 数据填0 */for(i = 1; i < 8; i++)data[i] = 0;MSG_WAR(0x3AA5, "SDO. Sending block END download request defined at index 0x1200 + ", CliServNbr);/* 发送sdo报文 */sendSDO(d, whoami, CliServNbr, data);break;}/* 如果剩余字节数不为0 */elsed->transfers[line].offset = d->transfers[line].lastblockoffset + 7 * AckSeq;if(d->transfers[line].offset > d->transfers[line].count) {MSG_ERR(0x1AA1, "SDO error : Received upload segment with bad ackseq index 0x1200 + ", CliServNbr);failedSDO(d, CliServNbr, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);return 0xFF;}}/* 上一次内存块发送完后传输通道的偏移量 */d->transfers[line].lastblockoffset = (UNS8)d->transfers[line].offset;/* 将数据分块发送出去，不能超过从站指定的最大块数量 */for(SeqNo = 1; SeqNo <= d->transfers[line].blksize; SeqNo++) {/* 块序列号 */d->transfers[line].seqno = SeqNo;/* 获取传输通道剩余字节数 */getSDOlineRestBytes(d, line, &nbBytes);/* 如果剩余字节数大于7 */if(nbBytes > 7) {/* 块序列号，最高位表示是否最后一块 */data[0] = SeqNo;/* 将传输通道缓冲区数据拷贝到sdo报文中 */err = lineToSDO(d, line, 7, data + 1);if(err) {failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);return 0xFF;}MSG_WAR(0x3AAB, "SDO. Sending download segment to node id ", nodeId);/* 发送报文 */sendSDO(d, whoami, CliServNbr, data);}/* 如果剩余字节数不大于7，说明这是最后一块 */else {/* 块序列号，最高位表示是否最后一块 */data[0] = 0x80 | SeqNo;/* 将传输通道缓冲区数据拷贝到sdo报文中 */err = lineToSDO(d, line, nbBytes, data + 1);if(err) {failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);return 0xFF;}/* 不足8字节补0 */for(i = nbBytes + 1; i < 8; i++)data[i] = 0;MSG_WAR(0x3AAB, "SDO. Sending last download segment to node id ", nodeId);/* 发送报文 */sendSDO(d, whoami, CliServNbr, data);/* 最后一个块数据包中，补0的字节数 */d->transfers[line].endfield = (UNS8)(7 - nbBytes);break;}}}/* 服务器->客户端：块下载结束 */else if(SubCommand == SDO_BSS_END_DOWNLOAD_RESPONSE) {MSG_WAR(0x3AAC, "SDO End block download response from nodeId", nodeId);/* 停止sdo传输超时定时器 */StopSDO_TIMER(line)/* 传输通道状态置为传输完成 */d->transfers[line].state = SDO_FINISHED;/* 传输完成调用回调函数 */if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d, nodeId);return 0x00;}/* 错误指令 */else {MSG_ERR(0x1AAB, "SDO error block download : Received wrong subcommand from nodeId", nodeId);failedSDO(d, CliServNbr, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);return 0xFF;}}break;/* 客户端->服务器：块下载初始化/客户端->服务器：块下载/客户端->服务器：块下载结束 *//* 服务器->客户端：块上传初始化/服务器->客户端：块上传/服务器->客户端：块上传结束 */case 6:/* 客户端->服务器：块下载初始化/客户端->服务器：块下载/客户端->服务器：块下载结束 */if(whoami == SDO_SERVER) {/* 如果传输通道未建立，则说明客户端->服务器：块下载初始化 */if(err) {/* 取出子命令，判断是否为块下载初始化 */SubCommand = (m->data[0]) & 1;if(SubCommand != SDO_BCS_INITIATE_DOWNLOAD_REQUEST) {MSG_ERR(0x1AAC, "SDO error block download : Received wrong subcommand from node id", nodeId);failedSDO(d, CliServNbr, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);return 0xFF;}/* 取出索引 */index = getSDOindex(m->data[1], m->data[2]);/* 取出子索引 */subIndex = getSDOsubIndex(m->data[3]);MSG_WAR(0x3A9B, "Received SDO block download initiate defined at index 0x1200 + ", CliServNbr);MSG_WAR(0x3A9B, "Writing at index : ", index);MSG_WAR(0x3A9B, "Writing at subIndex : ", subIndex);/* 获取空闲的sdo传输通道 */err = getSDOfreeLine(d, whoami, &line);if(err) {MSG_ERR(0x1A89, "SDO error : No line free, too many SDO in progress. Aborted.", 0);failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);return 0xFF;}/* 初始化sdo传输通道 */initSDOline(d, line, CliServNbr, index, subIndex, SDO_BLOCK_DOWNLOAD_IN_PROGRESS);/* 块传输接收状态 */d->transfers[line].rxstep = RXSTEP_STARTED;/* 是否crc校验 */d->transfers[line].peerCRCsupport = ((m->data[0]) >> 2) & 1;/* 是否指明字节大小 */if((m->data[0]) & 2){d->transfers[line].objsize = (UNS32)m->data[4] + (UNS32)m->data[5] * 256 + (UNS32)m->data[6] * 256 * 256 + (UNS32)m->data[7] * 256 * 256 * 256;}/* 块下载初始化响应 */data[0] = (5 << 5) | SDO_BSS_INITIATE_DOWNLOAD_RESPONSE;/* 索引 */data[1] = (UNS8)index;data[2] = (UNS8)(index >> 8);/* 子索引 */data[3] = subIndex;/* 块数量 */data[4] = SDO_BLOCK_SIZE;/* 不足8字节补0 */data[5] = data[6] = data[7] = 0;MSG_WAR(0x3AAD, "SDO. Sending block download initiate response - index 0x1200 + ", CliServNbr);/* 发送sdo报文 */sendSDO(d, whoami, CliServNbr, data);}/* 客户端->服务器：块下载 */else if(d->transfers[line].rxstep == RXSTEP_STARTED) {MSG_WAR(0x3A9B, "Received SDO block download data segment - index 0x1200 + ", CliServNbr);/* 重启sdo传输通道超时定时器 */RestartSDO_TIMER(line)/* 取出序列号 */SeqNo = m->data[0] & 0x7F;/* 检查是否最后一块 */if(m->data[0] & 0x80) {/* 对序列号进行校验 */if(SeqNo == (d->transfers[line].seqno + 1)) {/* 接收结束 */d->transfers[line].rxstep = RXSTEP_END;/* 设置序列号 */d->transfers[line].seqno = SeqNo;/* 将数据拷贝到传输通道临时数据缓冲 */memcpy(d->transfers[line].tmpData, m->data, 8);}/* 块传输响应 */data[0] = (5 << 5) | SDO_BSS_DOWNLOAD_RESPONSE;/* 序列号 */data[1] = d->transfers[line].seqno;/* 块数量 */data[2] = SDO_BLOCK_SIZE;/* 不足8字节补0 */data[3] = data[4] = data[5] = data[6] = data[7] = 0;MSG_WAR(0x3AAE, "SDO. Sending block download response - index 0x1200 + ", CliServNbr);/* 发送sdo数据包 */sendSDO(d, whoami, CliServNbr, data);/* 将序列号置0 */d->transfers[line].seqno = 0;}/* 如果不是最后一块 */else {/* 对序列号进行校验 */if(SeqNo == (d->transfers[line].seqno + 1)) {/* 设置序列号 */d->transfers[line].seqno = SeqNo;/* 将数据从sdo报文中拷贝到传输通道缓冲区*/err = SDOtoLine(d, line, 7, (*m).data + 1);if(err) {failedSDO(d, CliServNbr, whoami, d->transfers[line].index, d->transfers[line].subIndex, SDOABT_GENERAL_ERROR);return 0xFF;}}/* 如果一次传输还不够传，则响应 */if(SeqNo == SDO_BLOCK_SIZE) {/* 块传输响应 */data[0] = (5 << 5) | SDO_BSS_DOWNLOAD_RESPONSE;/* 序列号 */data[1] = d->transfers[line].seqno;/* 块数量 */data[2] = SDO_BLOCK_SIZE;/* 不足8字节补0 */data[3] = data[4] = data[5] = data[6] = data[7] = 0;MSG_WAR(0x3AAE, "SDO. Sending block download response - index 0x1200 + ", CliServNbr);/* 发送sdo数据包 */sendSDO(d, whoami, CliServNbr, data);/* 将序列号置0 */d->transfers[line].seqno = 0;}}}/* 客户端->服务器：块下载结束 */else if(d->transfers[line].rxstep == RXSTEP_END) {MSG_WAR(0x3A9B, "Received SDO block download end request - index 0x1200 + ", CliServNbr);/* 验证数据包是不是块下载结束 */if((m->data[0] & 1) != SDO_BCS_END_DOWNLOAD_REQUEST) {MSG_ERR(0x1AAD, "SDO error block download : Received wrong subcommand - index 0x1200 + ", CliServNbr);failedSDO(d, CliServNbr, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);return 0xFF;}/* 重启sdo传输通道超时定时器 */RestartSDO_TIMER(line)/* 取出补零个数 */NbBytesNoData = (m->data[0] >> 2) & 0x07;/* 将数据从传输通道临时缓冲区拷贝到传输通道缓冲区 */err = SDOtoLine(d, line, 7 - NbBytesNoData, d->transfers[line].tmpData + 1);if(err) {failedSDO(d, CliServNbr, whoami, d->transfers[line].index, d->transfers[line].subIndex, SDOABT_GENERAL_ERROR);return 0xFF;}/* 判断接收到的数据和初始化发过来的数据个数是否一致 */if(d->transfers[line].objsize){if(d->transfers[line].objsize != d->transfers[line].offset){MSG_ERR(0x1AAE, "SDO error block download : sizes do not match - index 0x1200 + ", CliServNbr);failedSDO(d, CliServNbr, whoami, d->transfers[line].index, d->transfers[line].subIndex, SDOABT_LOCAL_CTRL_ERROR);return 0xFF;}}/* 块下载传输结束 */data[0] = (5 << 5) | SDO_BSS_END_DOWNLOAD_RESPONSE;/* 数据填0 */for(i = 1; i < 8; i++)data[i] = 0;MSG_WAR(0x3AAF, "SDO. Sending block download end response - index 0x1200 + ", CliServNbr);/* 发送sdo报文 */sendSDO(d, whoami, CliServNbr, data);/* 将数据从sdo传输通道拷贝到字典中 */errorCode = SDOlineToObjdict(d, line);if(errorCode) {MSG_ERR(0x1AAF, "SDO error : Unable to copy the data in the object dictionary", 0);failedSDO(d, CliServNbr, whoami, d->transfers[line].index, d->transfers[line].subIndex, errorCode);return 0xFF;}/* 复位sdo传输通道 */resetSDOline(d, line);MSG_WAR(0x3AAF, "SDO. End of block download defined at index 0x1200 + ", CliServNbr);}}/* 服务器->客户端：块上传初始化/服务器->客户端：块上传/服务器->客户端：块上传结束 */else{if(err) {MSG_ERR(0x1AAD, "SDO error block upload : no transmission started", nodeId);failedSDO(d, CliServNbr, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);return 0xFF;}/* 重启传输通道超时定时器 */RestartSDO_TIMER(line)/* 服务器->客户端：块上传初始化 */if(d->transfers[line].rxstep == RXSTEP_INIT) {/* 校验数据包是不是块上传响应 */if((m->data[0] & 1) == SDO_BSS_INITIATE_UPLOAD_RESPONSE) {MSG_WAR(0x3A9C, "Received SDO block upload response from node id ", nodeId);/* 块传输开始 */d->transfers[line].rxstep = RXSTEP_STARTED;/* 是否支持crc */d->transfers[line].peerCRCsupport = ((m->data[0]) >> 2) & 1;/* 是否指明数据长度 */if((m->data[0]) & 2){d->transfers[line].objsize = (UNS32)m->data[4] + (UNS32)m->data[5] * 256 + (UNS32)m->data[6] * 256 * 256 + (UNS32)m->data[7] * 256 * 256 * 256;}/* 开始上传请求 */data[0] = (5 << 5) | SDO_BCS_START_UPLOAD;for(i = 1; i < 8; i++)data[i] = 0;MSG_WAR(0x3AB6, "SDO. Sending block upload start to node id ", nodeId);/* 发送手动报文 */sendSDO(d, whoami, CliServNbr, data);}}/* 服务器->客户端：块上传 */else if(d->transfers[line].rxstep == RXSTEP_STARTED) {/* 序列号 */SeqNo = m->data[0] & 0x7F;/* 最后一块 */if(m->data[0] & 0x80) {/* 校验序列号，如果通过则将状态置为结束 */if(SeqNo == (d->transfers[line].seqno + 1)) {d->transfers[line].rxstep = RXSTEP_END;d->transfers[line].seqno = SeqNo;/* 将数据拷贝到传输通道临时缓冲区 */memcpy(d->transfers[line].tmpData, m->data, 8);}/* 对块传输进行相应 */data[0] = (5 << 5) | SDO_BCS_UPLOAD_RESPONSE;/* 序列号 */data[1] = d->transfers[line].seqno;/* 一次传输最大块数量 */data[2] = SDO_BLOCK_SIZE;/* 补零 */data[3] = data[4] = data[5] = data[6] = data[7] = 0;MSG_WAR(0x3AB7, "SDO. Sending block upload response to node id ", nodeId);/* 发送报文 */sendSDO(d, whoami, CliServNbr, data);/* 序列号置零 */ d->transfers[line].seqno = 0;}/* 如果不是最后一块 */else {/* 校验序列号，如果通过则将数据拷贝到传输通道 */if(SeqNo == (d->transfers[line].seqno + 1)) { d->transfers[line].seqno = SeqNo;/* 将数据拷贝到传输通道 */err = SDOtoLine(d, line, 7, (*m).data + 1);if(err) {failedSDO(d, CliServNbr, whoami, d->transfers[line].index, d->transfers[line].subIndex, SDOABT_GENERAL_ERROR);return 0xFF;}}/* 如果一次传输结束 */if(SeqNo == SDO_BLOCK_SIZE) {/* 响应 */data[0] = (5 << 5) | SDO_BCS_UPLOAD_RESPONSE;data[1] = d->transfers[line].seqno;data[2] = SDO_BLOCK_SIZE;data[3] = data[4] = data[5] = data[6] = data[7] = 0;MSG_WAR(0x3AAE, "SDO. Sending block upload response to node id ", nodeId);sendSDO(d, whoami, CliServNbr, data);d->transfers[line].seqno = 0;}}}/* 服务器->客户端：块上传结束 */else if(d->transfers[line].rxstep == RXSTEP_END) {/* 校验上传结束 */if((m->data[0] & 1) != SDO_BSS_END_UPLOAD_RESPONSE) {MSG_ERR(0x1AAD, "SDO error block upload : Received wrong subcommand from node id ", nodeId);failedSDO(d, CliServNbr, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);return 0xFF;}/* 补零字节数 */NbBytesNoData = (m->data[0] >> 2) & 0x07;/* 将数据从sdo报文中拷贝到传输通道缓冲区 */err = SDOtoLine(d, line, 7 - NbBytesNoData, d->transfers[line].tmpData + 1);if(err) {failedSDO(d, CliServNbr, whoami, d->transfers[line].index, d->transfers[line].subIndex, SDOABT_GENERAL_ERROR);return 0xFF;}/* 校验一下数据长度 */if(d->transfers[line].objsize){if(d->transfers[line].objsize != d->transfers[line].offset){MSG_ERR(0x1AAE, "SDO error block download : sizes do not match - from node id ", nodeId);failedSDO(d, CliServNbr, whoami, d->transfers[line].index, d->transfers[line].subIndex, SDOABT_LOCAL_CTRL_ERROR);return 0xFF;}}/* 块上传结束请求 */data[0] = (5 << 5) | SDO_BCS_END_UPLOAD_REQUEST;for(i = 1; i < 8; i++)data[i] = 0;MSG_WAR(0x3AAF, "SDO. Sending block upload end request to node id ", nodeId);/* 发送数据包 */sendSDO(d, whoami, CliServNbr, data);MSG_WAR(0x3AAF, "SDO. End of block upload request", 0);/* 停止超时定时器 */StopSDO_TIMER(line)/* 传输完成 */d->transfers[line].state = SDO_FINISHED;/* 调用回调函数 */if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);}}break;default:MSG_ERR(0x1AB2, "SDO. Received unknown command specifier : ", cs);return 0xFF;} return 0;
}/* 通过节点号查找客户端号 */
UNS8 GetSDOClientFromNodeId(CO_Data *d, UNS8 nodeId)
{UNS8 SDOfound = 0;UNS8 CliNbr;UNS16 lastIndex;UNS16 offset;UNS8 nodeIdServer;/* 第一个sdo客户端在字典中的下标 */offset = d->firstIndex->SDO_CLT;/* 最后一个sdo客户端在字典中的下标 */lastIndex = d->lastIndex->SDO_CLT;if(offset == 0) {MSG_ERR(0x1AC6, "No SDO client index found for nodeId ", nodeId);return 0xFF;}/* 客户端号置零 */CliNbr = 0;/* 遍历字典中所有客户端条目 */while(offset <= lastIndex){/* 客户端条目中子索引个数大于3 */if(d->objdict[offset].bSubCount <= 3){MSG_ERR(0x1AC8, "Subindex 3 not found at index ", 0x1280 + CliNbr);return 0xFF;}/* 从字典中取出服务器节点id */nodeIdServer = *((UNS8*)d->objdict[offset].pSubindex[3].pObject);MSG_WAR(0x1AD2, "index : ", 0x1280 + CliNbr);MSG_WAR(0x1AD3, "nodeIdServer : ", nodeIdServer);/* 如果节点id和服务器节点id匹配，相当于找到了对应的客户端号，因为每个客户端对应一个服务器 */if(nodeIdServer == nodeId) {SDOfound = 1;break;}offset++;CliNbr++;}/* 如果没找到对应的服务器。则退出 */if(!SDOfound) {MSG_WAR(0x1AC9, "SDO No preset client found to communicate with node : ", nodeId);return 0xFE;}MSG_WAR(0x3AD0, " SDO client defined at index : ", 0x1280 + CliNbr);return CliNbr;
}/* 写服务器字典 */
INLINE UNS8 _writeNetworkDict(CO_Data *d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize, UNS8 useBlockMode)
{UNS8 err;UNS8 line;UNS8 CliNbr;UNS32 j;UNS8 i;UNS8 buf[8];MSG_WAR(0x3AC0, "Send SDO to write in the dictionary of node : ", nodeId);MSG_WAR(0x3AC1, " At index : ", index);MSG_WAR(0x3AC2, " subIndex : ", subIndex);MSG_WAR(0x3AC3, " nb bytes : ", count);/* 通过服务器节点ID查找客户端号 */CliNbr = GetSDOClientFromNodeId(d, nodeId);/* 客户端不能大于等于254个 */if(CliNbr >= 0xFE)return CliNbr;/* 通过客户端号获取sdo传输通道，检查该客户端是否正在传输过程中，如果在直接退出 */err = getSDOlineOnUse(d, CliNbr, SDO_CLIENT, &line);if(!err){MSG_ERR(0x1AC4, "SDO error : Communication yet established. with node : ", nodeId);return 0xFF;}/* 获取空闲的sdo传输通道 */err = getSDOfreeLine(d, SDO_CLIENT, &line);if(err) {MSG_ERR(0x1AC5, "SDO error : No line free, too many SDO in progress. Aborted for node : ", nodeId);return (0xFF);}else{MSG_WAR(0x3AE1, "Transmission on line : ", line);}/* 块模式 */if(useBlockMode) {/* 初始化sdo传输通道 */initSDOline(d, line, CliNbr, index, subIndex, SDO_BLOCK_DOWNLOAD_IN_PROGRESS);d->transfers[line].objsize = count;}else{/* 初始化sdo传输通道 */initSDOline(d, line, CliNbr, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS);}/* 字节数 */d->transfers[line].count = count;/* 数据类型 */d->transfers[line].dataType = dataType;/* 支持内存动态分配 */
#ifdef SDO_DYNAMIC_BUFFER_ALLOCATION{/* 缓冲区指针 */UNS8 *lineData = d->transfers[line].data;/* 如果字节数大于缓冲区长度 */if(count > SDO_MAX_LENGTH_TRANSFER){/* 动态分配内存 */d->transfers[line].dynamicData = (UNS8*)malloc(count);d->transfers[line].dynamicDataSize = count;if(d->transfers[line].dynamicData == NULL){MSG_ERR(0x1AC9, "SDO. Error. Could not allocate enough bytes : ", count);return 0xFE;}lineData = d->transfers[line].dynamicData;}
#endif/* 将数据拷贝到缓冲区 */for(j = 0; j < count; j++) {
#ifdef SDO_DYNAMIC_BUFFER_ALLOCATION
#ifdef CANOPEN_BIG_ENDIANif(dataType == 0 && endianize)lineData[count - 1 - j] = ((char *)data)[j];elselineData[j] = ((char *)data)[j];
#elselineData[j] = ((char *)data)[j];
#endif}
#else
#ifdef CANOPEN_BIG_ENDIANif(dataType == 0 && endianize)d->transfers[line].data[count - 1 - j] = ((char *)data)[j];elsed->transfers[line].data[j] = ((char *)data)[j];
#elsed->transfers[line].data[j] = ((char *)data)[j];
#endif
#endif}/* 块下载 */if(useBlockMode) {/* 块下载：110 */buf[0] = (6 << 5) | (1 << 1);/* 字节数 */for(i = 0; i < 4; i++){buf[i + 4] = (UNS8)((count >> (i << 3)));}}/* 域下载 */else{/* 字节数少于4字节，加速下载 */if(count <= 4){/* 下载：001 + 无意义字节数 + 加速下载 + 指明数据长度 */buf[0] = (UNS8)((1 << 5) | ((4 - count) << 2) | 3);/* 拷贝数据 */for(i = 4; i < 8; i++)buf[i] = d->transfers[line].data[i - 4];d->transfers[line].offset = count;}/* 字节数大于4字节，正常下载 */else{/* 下载：001 + 数据字节为字节计数器 */buf[0] = (1 << 5) | 1;/* 数据字节数 */for(i = 0; i < 4; i++)buf[i + 4] = (UNS8)((count >> (i << 3)));}}/* 索引 */buf[1] = index & 0xFF;buf[2] = (index >> 8) & 0xFF;/* 子索引 */buf[3] = subIndex;/* 注册传输完成回调函数 */d->transfers[line].Callback = Callback;/* 发送sdo报文 */err = sendSDO(d, SDO_CLIENT, CliNbr, buf);if(err) {MSG_ERR(0x1AD1, "SDO. Error while sending SDO to node : ", nodeId);/* 复位该sdo传输通道 */resetSDOline(d, line);return 0xFF;}return 0;
}/* 写服务器字典 */
UNS8 writeNetworkDict(CO_Data *d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, UNS8 useBlockMode)
{return _writeNetworkDict(d, nodeId, index, subIndex, count, dataType, data, NULL, 1, useBlockMode);
}/* 写服务器字典，写完调用回调函数 */
UNS8 writeNetworkDictCallBack(CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 useBlockMode)
{return _writeNetworkDict(d, nodeId, index, subIndex, count, dataType, data, Callback, 1, useBlockMode);
}/* 自动初始化客户端，并且写服务器字典 */
UNS8 writeNetworkDictCallBackAI(CO_Data *d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize, UNS8 useBlockMode)
{UNS8 ret;UNS16 lastIndex;UNS16 offset;UNS8 nodeIdServer;/* 写服务器字典 */ret = _writeNetworkDict(d, nodeId, index, subIndex, count, dataType, data, Callback, endianize, useBlockMode);/* 如果写失败 */if(ret == 0xFE){/* 自动初始化客户端，并且写字典 */offset = d->firstIndex->SDO_CLT;lastIndex = d->lastIndex->SDO_CLT;if(offset == 0){MSG_ERR(0x1AC6, "writeNetworkDict : No SDO client index found", 0);return 0xFF;}while(offset <= lastIndex){if(d->objdict[offset].bSubCount <= 3){MSG_ERR(0x1AC8, "Subindex 3 not found at index ", 0x1280 + i);return 0xFF;}nodeIdServer = *(UNS8*) d->objdict[offset].pSubindex[3].pObject;if(nodeIdServer == 0){*(UNS32*)d->objdict[offset].pSubindex[1].pObject = (UNS32)(0x600 + nodeId);*(UNS32*)d->objdict[offset].pSubindex[2].pObject = (UNS32)(0x580 + nodeId);*(UNS8*) d->objdict[offset].pSubindex[3].pObject = nodeId;return _writeNetworkDict(d, nodeId, index, subIndex, count, dataType, data, Callback, endianize, useBlockMode);}offset++;}return 0xFF;}else if(ret == 0){return 0;}else{return 0xFF;}
}/* 读服务器字典 */
INLINE UNS8 _readNetworkDict(CO_Data *d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback, UNS8 useBlockMode)
{UNS8 err;UNS8 i;UNS8 CliNbr;UNS8 line;UNS8 data[8];MSG_WAR(0x3AD5, "Send SDO to read in the dictionary of node : ", nodeId);MSG_WAR(0x3AD6, " At index : ", index);MSG_WAR(0x3AD7, " subIndex : ", subIndex);/* 通过节点号查找客户端号 */CliNbr = GetSDOClientFromNodeId(d, nodeId);if(CliNbr >= 0xFE)return CliNbr;/* 通过客户端/服务器号获取sdo传输通道号，检查客户端是否在通讯中 */err = getSDOlineOnUse(d, CliNbr, SDO_CLIENT, &line);if(!err) {MSG_ERR(0x1AD8, "SDO error : Communication yet established. with node : ", nodeId);return 0xFF;}/* 获取空闲的sdo传输通道 */err = getSDOfreeLine(d, SDO_CLIENT, &line );if(err) {MSG_ERR(0x1AD9, "SDO error : No line free, too many SDO in progress. Aborted for node : ", nodeId);return (0xFF);}elseMSG_WAR(0x3AE0, "Transmission on line : ", line);/* 块传输模式 */if(useBlockMode) {/* 初始化sdo传输通道 */initSDOline(d, line, CliNbr, index, subIndex, SDO_BLOCK_UPLOAD_IN_PROGRESS);/* 设置数据类型 */d->transfers[line].dataType = dataType;/* 块上传初始化 */data[0] = (5 << 5) | SDO_BCS_INITIATE_UPLOAD_REQUEST;/* 索引 */data[1] = index & 0xFF;data[2] = (index >> 8) & 0xFF;/* 子索引 */data[3] = subIndex;/* 块数量 */data[4] = SDO_BLOCK_SIZE;/* 不足8字节部分填0 */for(i = 5; i < 8; i++)data[i] = 0;}else {/* 初始化sdo传输通道 */initSDOline(d, line, CliNbr, index, subIndex, SDO_UPLOAD_IN_PROGRESS);/* 设置数据类型 */d->transfers[line].dataType = dataType;/* 启动域上传 */data[0] = (2 << 5);/* 索引 */data[1] = index & 0xFF;data[2] = (index >> 8) & 0xFF;/* 子索引 */data[3] = subIndex;/* 不足8字节部分填0 */for(i = 4; i < 8; i++)data[i] = 0;}/* 注册传输完成回调函数 */d->transfers[line].Callback = Callback;/* 发送sdo数据包 */err = sendSDO(d, SDO_CLIENT, CliNbr, data);if(err) {MSG_ERR(0x1AE5, "SDO. Error while sending SDO to node : ", nodeId);resetSDOline(d, line);return 0xFF;}return 0;
}/* 读服务器字典 */
UNS8 readNetworkDict(CO_Data *d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, UNS8 useBlockMode)
{return _readNetworkDict(d, nodeId, index, subIndex, dataType, NULL, useBlockMode);
}/* 读服务器字典，完成调用回调函数 */
UNS8 readNetworkDictCallback (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback, UNS8 useBlockMode)
{return _readNetworkDict (d, nodeId, index, subIndex, dataType, Callback, useBlockMode);
}/* 自动初始化客户端，并且读服务器字典 */
UNS8 readNetworkDictCallbackAI(CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback, UNS8 useBlockMode)
{UNS8 ret;UNS16 lastIndex;UNS16 offset;UNS8 nodeIdServer;/* 读服务器字典 */ret = _readNetworkDict(d, nodeId, index, subIndex, dataType, Callback, useBlockMode);/* 如果读失败 */if(ret == 0xFE){/* 自动初始化客户端，并且读字典 */offset = d->firstIndex->SDO_CLT;lastIndex = d->lastIndex->SDO_CLT;if(offset == 0){MSG_ERR(0x1AC6, "writeNetworkDict : No SDO client index found", 0);return 0xFF;}while(offset <= lastIndex){if (d->objdict[offset].bSubCount <= 3){MSG_ERR(0x1AC8, "Subindex 3 not found at index ", 0x1280 + i);return 0xFF;}nodeIdServer = *(UNS8*)d->objdict[offset].pSubindex[3].pObject;if(nodeIdServer == 0){*(UNS32*)d->objdict[offset].pSubindex[1].pObject = (UNS32)(0x600 + nodeId);*(UNS32*)d->objdict[offset].pSubindex[2].pObject = (UNS32)(0x580 + nodeId);*(UNS8*)d->objdict[offset].pSubindex[3].pObject = nodeId;return _readNetworkDict(d, nodeId, index, subIndex, dataType, Callback, useBlockMode);}offset++;}return 0xFF;}else if(ret == 0){return 0;}else{return 0xFF;}
}/* 获取读服务器字典结果 */
UNS8 getReadResultNetworkDict(CO_Data *d, UNS8 nodeId, void *data, UNS32 *size, UNS32 *abortCode)
{UNS32 i;UNS8 err;UNS8 CliNbr;UNS8 line;*abortCode = 0;/* 通过节点号查找客户端号 */CliNbr = GetSDOClientFromNodeId(d, nodeId);if(CliNbr >= 0xFE) {*size = 0;return SDO_ABORTED_INTERNAL;}/* 通过客户端/服务器号获取sdo传输通道号 */err = getSDOlineOnUse(d, CliNbr, SDO_CLIENT, &line);if(err) {MSG_ERR(0x1AF0, "SDO error : No line found for communication with node : ", nodeId);*size = 0;return SDO_ABORTED_INTERNAL;}/* 如果写字典未完成，则返回传输通道状态 */if(d->transfers[line].state != SDO_FINISHED) {if((d->transfers[line].state == SDO_ABORTED_RCV) || (d->transfers[line].state == SDO_ABORTED_INTERNAL)) {*abortCode = d->transfers[line].abortCode;*size = 0;}return d->transfers[line].state;}/* 检查数据传输是否完整 */if(d->transfers[line].count == 0)d->transfers[line].count = d->transfers[line].offset;if(*size < d->transfers[line].count) {*size = 0;return SDO_PROVIDED_BUFFER_TOO_SMALL;}/* 把字节数传回去 */*size = d->transfers[line].count;/* 将数据传回去 */
#ifdef SDO_DYNAMIC_BUFFER_ALLOCATION{UNS8 *lineData = d->transfers[line].data;if(d->transfers[line].dynamicData && d->transfers[line].dynamicDataSize){lineData = d->transfers[line].dynamicData;}for(i = 0; i < *size; i++) {
#ifdef CANOPEN_BIG_ENDIANif(d->transfers[line].dataType != visible_string)((char *)data)[*size - 1 - i] = lineData[i];else((char *)data)[i] = lineData[i];
#else((char *)data)[i] = lineData[i];
#endif}}
#elsefor(i = 0 ; i < *size; i++) {
#ifdef CANOPEN_BIG_ENDIANif(d->transfers[line].dataType != visible_string)((char *)data)[*size - 1 - i] = d->transfers[line].data[i];else((char *)data)[i] = d->transfers[line].data[i];
#else((char *)data)[i] = d->transfers[line].data[i];
#endif}
#endif/* 复位sdo传输通道 */resetSDOline(d, line);/* 返回传输完成 */return SDO_FINISHED;
}/* 获取写服务器字典结果 */
UNS8 getWriteResultNetworkDict(CO_Data *d, UNS8 nodeId, UNS32 *abortCode)
{UNS8 line = 0;UNS8 err;UNS8 CliNbr;*abortCode = 0;/* 通过节点号查找客户端号 */CliNbr = GetSDOClientFromNodeId(d, nodeId);if(CliNbr >= 0xFE)return SDO_ABORTED_INTERNAL;/* 通过客户端/服务器号获取sdo传输通道号 */err = getSDOlineOnUse(d, CliNbr, SDO_CLIENT, &line);if(err) {MSG_ERR(0x1AF1, "SDO error : No line found for communication with node : ", nodeId);return SDO_ABORTED_INTERNAL;}/* 中止码 */*abortCode = d->transfers[line].abortCode;/* 如果写字典未完成，则返回传输通道状态 */if(d->transfers[line].state != SDO_FINISHED)return d->transfers[line].state;/* 复位sdo传输通道 */resetSDOline(d, line);/* 返回传输完成 */return SDO_FINISHED;
}
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