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<div id="projectname">ECAT_Slave_in_ПЧ2П_c402
&#160;<span id="projectnumber">0.8</span>
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<div id="projectbrief">Реализация EtherCAT Slave для CM TMS320F28388D</div>
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<a href="#define-members">Макросы</a> &#124;
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<div class="title">Файл sdoserv.c<div class="ingroups"><a class="el" href="../../d3/d82/group___co_e.html">CAN Application Profile over EtherCAT</a></div></div> </div>
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<p>Implementation The SDO server handles all sdo and sdo information services.
<a href="#details">Подробнее...</a></p>
<div class="textblock"><code>#include &quot;<a class="el" href="../../de/d55/ecat__def_8h_source.html">ecat_def.h</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="../../d9/d8b/ecatslv_8h_source.html">ecatslv.h</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="../../d0/de3/objdef_8h_source.html">objdef.h</a>&quot;</code><br />
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Макросы</h2></td></tr>
<tr class="memitem:ga7894d24f5d8ce66a22b7875b9dcb0347"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d82/group___co_e.html#ga7894d24f5d8ce66a22b7875b9dcb0347">_SDOSERV_</a>&#160;&#160;&#160;1</td></tr>
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Функции</h2></td></tr>
<tr class="memitem:ga5ed6bfe12297ff96319a8aa9b64322c5"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../de/d55/ecat__def_8h.html#ab1922c2d8643eb7da964d427604e992e">UINT16</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d82/group___co_e.html#ga5ed6bfe12297ff96319a8aa9b64322c5">OBJ_GetDesc</a> (<a class="el" href="../../de/d55/ecat__def_8h.html#ab1922c2d8643eb7da964d427604e992e">UINT16</a> index, <a class="el" href="../../de/d55/ecat__def_8h.html#ad8ce12d83f204245685f98caf9d03944">UINT8</a> subindex, <a class="el" href="../../de/d55/ecat__def_8h.html#aeb2d050a4083b9665d2b51e92354425d">OBJCONST</a> <a class="el" href="../../d3/d82/group___co_e.html#gaebe543e4118abf5849010c83c95603ba">TOBJECT</a> <a class="el" href="../../de/d55/ecat__def_8h.html#aa92b0aa3ecb6650a091247376f0e874e">OBJMEM</a> *pObjEntry, <a class="el" href="../../de/d55/ecat__def_8h.html#ab1922c2d8643eb7da964d427604e992e">UINT16</a> <a class="el" href="../../de/d55/ecat__def_8h.html#aa0fddd0a6a2fbcad8e365fbb1e7a50fa">MBXMEM</a> *pData)</td></tr>
<tr class="memdesc:ga5ed6bfe12297ff96319a8aa9b64322c5"><td class="mdescLeft">&#160;</td><td class="mdescRight">The function returns size and description string of the requested entry. <a href="../../d3/d82/group___co_e.html#ga5ed6bfe12297ff96319a8aa9b64322c5">Подробнее...</a><br /></td></tr>
<tr class="separator:ga5ed6bfe12297ff96319a8aa9b64322c5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga0bfc9f7ce524dc5b66bb54e150e6e26d"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../de/d55/ecat__def_8h.html#aeb2d050a4083b9665d2b51e92354425d">OBJCONST</a> <a class="el" href="../../db/dec/group___sdo_header_data.html#ga9b1d0d77bf88bbdddf58a4f6d6a479dc">TSDOINFOENTRYDESC</a> <a class="el" href="../../de/d55/ecat__def_8h.html#aa92b0aa3ecb6650a091247376f0e874e">OBJMEM</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d82/group___co_e.html#ga0bfc9f7ce524dc5b66bb54e150e6e26d">OBJ_GetEntryDesc</a> (<a class="el" href="../../de/d55/ecat__def_8h.html#aeb2d050a4083b9665d2b51e92354425d">OBJCONST</a> <a class="el" href="../../d3/d82/group___co_e.html#gaebe543e4118abf5849010c83c95603ba">TOBJECT</a> <a class="el" href="../../de/d55/ecat__def_8h.html#aa92b0aa3ecb6650a091247376f0e874e">OBJMEM</a> *pObjEntry, <a class="el" href="../../de/d55/ecat__def_8h.html#ad8ce12d83f204245685f98caf9d03944">UINT8</a> Subindex)</td></tr>
<tr class="memdesc:ga0bfc9f7ce524dc5b66bb54e150e6e26d"><td class="mdescLeft">&#160;</td><td class="mdescRight">The function returns the Entry-Desc of a subindex to allow the application to define the object dictionary independent of the sdoserv-files. <a href="../../d3/d82/group___co_e.html#ga0bfc9f7ce524dc5b66bb54e150e6e26d">Подробнее...</a><br /></td></tr>
<tr class="separator:ga0bfc9f7ce524dc5b66bb54e150e6e26d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga84c10b0b41cf926e82872533caa95e90"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../de/d55/ecat__def_8h.html#aeb2d050a4083b9665d2b51e92354425d">OBJCONST</a> <a class="el" href="../../db/dec/group___sdo_header_data.html#gad833de358dede3f6b6aa3d84137625df">TSDOINFOOBJDESC</a> <a class="el" href="../../de/d55/ecat__def_8h.html#aa92b0aa3ecb6650a091247376f0e874e">OBJMEM</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d82/group___co_e.html#ga84c10b0b41cf926e82872533caa95e90">OBJ_GetObjDesc</a> (<a class="el" href="../../de/d55/ecat__def_8h.html#aeb2d050a4083b9665d2b51e92354425d">OBJCONST</a> <a class="el" href="../../d3/d82/group___co_e.html#gaebe543e4118abf5849010c83c95603ba">TOBJECT</a> <a class="el" href="../../de/d55/ecat__def_8h.html#aa92b0aa3ecb6650a091247376f0e874e">OBJMEM</a> *pObjEntry)</td></tr>
<tr class="memdesc:ga84c10b0b41cf926e82872533caa95e90"><td class="mdescLeft">&#160;</td><td class="mdescRight">The function returns the Obj-Desc of an object to allow the application to define the object dictionary independent of the sdoserv-files. <a href="../../d3/d82/group___co_e.html#ga84c10b0b41cf926e82872533caa95e90">Подробнее...</a><br /></td></tr>
<tr class="separator:ga84c10b0b41cf926e82872533caa95e90"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gadf3e4233e53be264db201a3d39489646"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d82/group___co_e.html#gadf3e4233e53be264db201a3d39489646">SdoRes</a> (<a class="el" href="../../de/d55/ecat__def_8h.html#ad8ce12d83f204245685f98caf9d03944">UINT8</a> abort, <a class="el" href="../../de/d55/ecat__def_8h.html#ad8ce12d83f204245685f98caf9d03944">UINT8</a> command, <a class="el" href="../../de/d55/ecat__def_8h.html#ad8ce12d83f204245685f98caf9d03944">UINT8</a> completeAccess, <a class="el" href="../../de/d55/ecat__def_8h.html#ab1922c2d8643eb7da964d427604e992e">UINT16</a> dataSize, <a class="el" href="../../de/d55/ecat__def_8h.html#a69afa2e50b905f4eab1f2df8a3fd9f23">UINT32</a> objLength, <a class="el" href="../../db/dec/group___sdo_header_data.html#gaaa8f63bac6acaa31dcf81fad83f84429">TINITSDOMBX</a> <a class="el" href="../../de/d55/ecat__def_8h.html#aa0fddd0a6a2fbcad8e365fbb1e7a50fa">MBXMEM</a> *pSdoRes)</td></tr>
<tr class="memdesc:gadf3e4233e53be264db201a3d39489646"><td class="mdescLeft">&#160;</td><td class="mdescRight">This function is called when a SDO response shall be sent. <a href="../../d3/d82/group___co_e.html#gadf3e4233e53be264db201a3d39489646">Подробнее...</a><br /></td></tr>
<tr class="separator:gadf3e4233e53be264db201a3d39489646"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga0394abd53279e9d89c617f253ae70716"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../de/d55/ecat__def_8h.html#ad8ce12d83f204245685f98caf9d03944">UINT8</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d82/group___co_e.html#ga0394abd53279e9d89c617f253ae70716">SDOS_SdoInd</a> (<a class="el" href="../../db/dec/group___sdo_header_data.html#gaaa8f63bac6acaa31dcf81fad83f84429">TINITSDOMBX</a> <a class="el" href="../../de/d55/ecat__def_8h.html#aa0fddd0a6a2fbcad8e365fbb1e7a50fa">MBXMEM</a> *pSdoInd)</td></tr>
<tr class="memdesc:ga0394abd53279e9d89c617f253ae70716"><td class="mdescLeft">&#160;</td><td class="mdescRight">This function is called when a SDO request service is received from the master and calls depending from the command the concerning function. <a href="../../d3/d82/group___co_e.html#ga0394abd53279e9d89c617f253ae70716">Подробнее...</a><br /></td></tr>
<tr class="separator:ga0394abd53279e9d89c617f253ae70716"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gaea424209fa91887e00766d2f2e1dcc6a"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../de/d55/ecat__def_8h.html#ad8ce12d83f204245685f98caf9d03944">UINT8</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d82/group___co_e.html#gaea424209fa91887e00766d2f2e1dcc6a">SDOS_SdoInfoInd</a> (<a class="el" href="../../db/dec/group___sdo_header_data.html#ga31d4e01ceb60162c7046ed888aa9ac56">TSDOINFORMATION</a> <a class="el" href="../../de/d55/ecat__def_8h.html#aa0fddd0a6a2fbcad8e365fbb1e7a50fa">MBXMEM</a> *pSdoInfoInd)</td></tr>
<tr class="memdesc:gaea424209fa91887e00766d2f2e1dcc6a"><td class="mdescLeft">&#160;</td><td class="mdescRight">This function is called when a SDO-Info request service is received from the master and calls depending from the opcode the concerning function. <a href="../../d3/d82/group___co_e.html#gaea424209fa91887e00766d2f2e1dcc6a">Подробнее...</a><br /></td></tr>
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Переменные</h2></td></tr>
<tr class="memitem:ga78825e093309e86197837638fe58eec5"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../de/d55/ecat__def_8h.html#aeb2d050a4083b9665d2b51e92354425d">OBJCONST</a> <a class="el" href="../../d3/d82/group___co_e.html#gaebe543e4118abf5849010c83c95603ba">TOBJECT</a> <a class="el" href="../../de/d55/ecat__def_8h.html#aa92b0aa3ecb6650a091247376f0e874e">OBJMEM</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d82/group___co_e.html#ga78825e093309e86197837638fe58eec5">asObjDef</a> []</td></tr>
<tr class="separator:ga78825e093309e86197837638fe58eec5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga9eed037df23a67607dd0bce07da72ebb"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="../../de/d55/ecat__def_8h.html#a69afa2e50b905f4eab1f2df8a3fd9f23">UINT32</a> <a class="el" href="../../de/d55/ecat__def_8h.html#aa0fddd0a6a2fbcad8e365fbb1e7a50fa">MBXMEM</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d82/group___co_e.html#ga9eed037df23a67607dd0bce07da72ebb">cAbortCode</a> []</td></tr>
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<tr class="memitem:gad1c97295e77856c59b46db4983f707a7"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../de/d55/ecat__def_8h.html#ab1922c2d8643eb7da964d427604e992e">UINT16</a> <a class="el" href="../../de/d55/ecat__def_8h.html#a84527a924255a85b1c926448ee2eddc2">VARMEM</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d82/group___co_e.html#gad1c97295e77856c59b46db4983f707a7">nSdoInfoIndex</a></td></tr>
<tr class="separator:gad1c97295e77856c59b46db4983f707a7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga91fc58d214fff7a648f2dad97536c3bf"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../de/d55/ecat__def_8h.html#aeb2d050a4083b9665d2b51e92354425d">OBJCONST</a> <a class="el" href="../../d3/d82/group___co_e.html#gaebe543e4118abf5849010c83c95603ba">TOBJECT</a> <a class="el" href="../../de/d55/ecat__def_8h.html#aa92b0aa3ecb6650a091247376f0e874e">OBJMEM</a> *<a class="el" href="../../de/d55/ecat__def_8h.html#a84527a924255a85b1c926448ee2eddc2">VARMEM</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d82/group___co_e.html#ga91fc58d214fff7a648f2dad97536c3bf">pSdoInfoObjEntry</a></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Подробное описание</h2>
<div class="textblock"><p>Implementation The SDO server handles all sdo and sdo information services. </p>
<dl class="section author"><dt>Автор</dt><dd><a href="#" onclick="location.href='mai'+'lto:'+'Eth'+'er'+'cat'+'SS'+'C@b'+'ec'+'kho'+'ff'+'.co'+'m'; return false;">Ether<span style="display: none;">.nosp@m.</span>catS<span style="display: none;">.nosp@m.</span>SC@be<span style="display: none;">.nosp@m.</span>ckho<span style="display: none;">.nosp@m.</span>ff.co<span style="display: none;">.nosp@m.</span>m</a></dd></dl>
<dl class="section version"><dt>Версия</dt><dd>5.13</dd></dl>
<p><br />
Changes to version V5.12:<br />
V5.13 COE5: handle complete access if segmented transfer is required, handle unsupported segmented uploads<br />
<br />
Changes to version V5.11:<br />
V5.12 COE2: do not clear the object index low byte in case of creating a SDO Abort<br />
V5.12 COE5: updates in case of MBX_16BIT_ACCESS == 0<br />
V5.12 COE6: handle get object length in case of an out of range subindex<br />
V5.12 ECAT2: big endian changes<br />
V5.12 EOE4: handle 16bit only acceess, move ethernet protocol defines and structures to application header files<br />
V5.12 MBX3: handle incomplete mailbox communication<br />
V5.12 TEST3: Send ping request or invalid mbx data in case of access to idx 0x1009<br />
<br />
Changes to version V5.10:<br />
V5.11 ECAT10: change PROTO handling to prevent compiler errors<br />
V5.11 ECAT7: add missing big endian swapping<br />
V5.11 SDO10: add new SDO abort code 0x6010004 (complete access not supported)<br />
V5.11 SDO4: "if insufficient memory is available on complete download access return ""unsupported access"""<br />
<br />
Changes to version V5.01:<br />
V5.10 ESC5: Add missing swapping<br />
V5.10 MBX1: Remove multiple swapping of length filed in mailbox header<br />
V5.10 SDO3: Add new SDO Abort Code (0x06090033)<br />
V5.10 SDO4: Block SDO Info services for indices less 0x1000<br />
V5.10 SDO7: Correct mailbox length calculation on segmented or normal SDO upload response<br />
V5.10 SDO8: Fix invalid fragment calculation on SdoInfo list response<br />
V5.10 TEST5: test 0x2020.1 change limit from 10 to 16 Byte <br />
Add test object 0x3009/0x300A (huge array and record objects)<br />
<br />
Changes to version V5.0:<br />
V5.01 MBX1: Allocate always complete 16Bit memory areas<br />
V5.01 SDO2: Prevent invalid memory access in case of 8Bit mailbox memory handling<br />
V5.01 SDO3: Update mailbox data length calculation<br />
V5.01 SDO4: Update length calculation in case of an segmented SDO list response<br />
V5.01 SDO6: Update SDO response interface handling. (used if the object access function returns "ABORTIDX_WORKING" and SDO_RES_INTERFACE is active)<br />
V5.01 TEST2: Change Test 0x2020.1 (force Segmented transfer) to 16Byte<br />
<br />
Changes to version V4.40:<br />
V5.0 TEST1: Add test application. see Application Note ET9300 for more details.<br />
V5.0 MBX3: Calculate MBX datagram length independent of SM size.<br />
V5.0 SDO2: SDO toggle bit don not do be cleared for segmented communication.<br />
V5.0 SDO3: Set SDO OpCode in list response.<br />
V5.0 SDO4: Update abort code for "BIG_ENDIAN_16BIT" configuration.<br />
V5.0 SDO5: Object code was calculated wrong for SDO Info service.<br />
V5.0 SDO6: Handle SDO segmented transfer if only 16Bit MBX memory access is allowed. <br />
<br />
Changes to version V4.20:<br />
V4.40 SDO1: change size calculation for SDO services<br />
V4.40 MBX1: Prevent accessing odd address<br />
V4.40 COE1: Abort code is set in <a class="el" href="../../d3/d82/group___co_e.html#ga65b22bbfb0cf22f30f4d7727aea493f5" title="The function copies (the part of) the object list in the mailbox buffer.">OBJ_GetObjectList()</a><br />
<br />
Changes to version V4.11:<br />
V4.20 PIC24: Add EL9800_4 (PIC24) required source code<br />
V4.20 SDO 2: SDO mask value bug<br />
V4.20 SDO 1: check zero size object length<br />
<br />
Changes to version V4.10:<br />
V4.11 SDO 1: fixed calculation of frame fragments during a object dictionary array list request<br />
V4.11 SDO 2-3: fixed size of entry description<br />
V4.11 SDO 4-7: add STRUCT_PACKED defines<br />
<br />
Changes to version V4.08:<em></em> <br />
V4.10 SDO 1: fixed zero size SDO comparison<br />
V4.10 SDO 2: set SdoService_CommandOffset to 0<br />
V4.10 SDO 3: fixed zero size SDO comparison<br />
V4.10 SDO 4: fixed struct_packed definition<br />
<br />
Changes to version V4.07:<br />
V4.08 SDO 1: For an upload segment response the toggle bit was overwritten<br />
V4.08 SDO 2: For a segmented response the command was wrong in the response<br />
<br />
Changes to version V4.06:<br />
V4.07 SDO 1: In SdoRes the command specifier was not set correctly in case of an abort<br />
V4.07 ECAT 1: The sources for SPI and MCI were merged (in <a class="el" href="../../de/d55/ecat__def_8h.html">ecat_def.h</a><br />
set the switch MCI_HW to 1 when using the MCI,<br />
set the switch SPI_HW to 1 when using the SPI<br />
<br />
Changes to version V4.05:<br />
V4.06 SDO 1: The variable dataSize was used wrong in function SdoRes<br />
<br />
Changes to version V4.03:<br />
V4.04 SDO 1: The SDO interface was changed in that way that a SDO response<br />
could be sent by the application to a later time. In that case<br />
the functions OBJ_Read and OBJ_Write shall return the value<br />
ABORTIDX_WORKING. To send the SDO response the new function SDOS_SdoRes<br />
has to be called by the application. While waiting for the call<br />
of SDOS_SdoRes the SDO interface will answer to another SDO request<br />
with the error MBXERR_SERVICEINWORK in the mailbox protocol <br />
<br />
Changes to version V3.20:<br />
V4.00 SDO 1: The size of the written data in case of a SDO Download will be<br />
in the function OBJ_Write to be more flexible<br />
V4.00 SDO 2: The object lists will be generated in the functions OBJ_GetNoOfObjects<br />
and OBJ_GetObjectList in <a class="el" href="../../d5/dc6/objdef_8c.html" title="Implementation This file contains the object dictionary access functions.">objdef.c</a> to decouple the SDO services from<br />
the implementation of the object dictionary<br />
V4.00 SDO 3: The name of an object or entry description will only be transmitted<br />
if it fits in the mailbox because the fragmentation is not supported in the sample code.<br />
V4.00 SDO 4: SDOs with size greater than 65535 were not handled correctly, that is fixed now </p>
<p class="definition">См. определение в файле <a class="el" href="../../d7/da6/sdoserv_8c_source.html">sdoserv.c</a></p>
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