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<a name="l00352"></a>00352 <span class="keywordflow">if</span>( !err ) err = WaitForTransfer( size );<a name="l00353"></a>00353 <a name="l00354"></a>00354 mutex.<a class="code" href="classMutex.html#a3">Unlock</a>();<a name="l00355"></a>00355 <span class="keywordflow">return</span> err;<a name="l00356"></a>00356 }<a name="l00357"></a>00357 <a name="l00358"></a>00358 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00359"></a>00359 <span class="comment">/**</span><a name="l00360"></a>00360 <span class="comment">Upload data using this SDO. The value of the object is uploaded from the</span><a name="l00361"></a>00361 <span class="comment">object dictionary of a node on the CANopen network using this SDO. The </span><a name="l00362"></a>00362 <span class="comment">results of the upload are stored in the passed buffer.</span><a name="l00363"></a>00363 <span class="comment"></span><a name="l00364"></a>00364 <span class="comment">@param index The index of the object to be uploaded.</span><a name="l00365"></a>00365 <span class="comment">@param sub The sub-index of the object to be uploaded.</span><a name="l00366"></a>00366 <span class="comment">@param size On entry, this gives the maximum number of bytes of data to </span><a name="l00367"></a>00367 <span class="comment"> be uploaded. On successful return, it gives the actual number of</span><a name="l00368"></a>00368 <span class="comment"> bytes received.</span><a name="l00369"></a>00369 <span class="comment">@param data A character array which will store the uploaded data.</span><a name="l00370"></a>00370 <span class="comment">@return A valid CANopen error object.</span><a name="l00371"></a>00371 <span class="comment">*/</span><a name="l00372"></a>00372 <span class="comment">/***************************************************************************/</span><a name="l00373"></a><a class="code" href="classSDO.html#a5">00373</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classSDO.html#a5">SDO::Upload</a>( <a class="code" href="CML__Utils_8h.html#a7">int16</a> index, <a class="code" href="CML__Utils_8h.html#a7">int16</a> sub, <a class="code" href="CML__Utils_8h.html#a9">int32</a> &size, <a class="code" href="CML__Utils_8h.html#a2">byte</a> *data )<a name="l00374"></a>00374 {<a name="l00375"></a>00375 <a class="code" href="structCanFrame.html">CanFrame</a> frame;<a name="l00376"></a>00376 <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *err;<a name="l00377"></a>00377 <a name="l00378"></a>00378 <span class="comment">// Use a block upload if it makes sense to do so</span><a name="l00379"></a>00379 <span class="keywordflow">if</span>( <a class="code" href="classSDO.html#o0">blkUpldOK</a> && size >= <a class="code" href="CML__SDO_8h.html#a30">SDO_BLK_UPLD_THRESHOLD</a> )<a name="l00380"></a>00380 <span class="keywordflow">return</span> <a class="code" href="classSDO.html#a7">BlockUpld</a>( index, sub, size, data );<a name="l00381"></a>00381 <a name="l00382"></a>00382 <span class="comment">// Make sure the SDO has been initialized</span><a name="l00383"></a>00383 <span class="keywordflow">if</span>( !<a class="code" href="classReceiver.html#p0">co</a> ) <span class="keywordflow">return</span> &<a class="code" href="classCanOpenError.html#s8">CanOpenError::NotInitialized</a>;<a name="l00384"></a>00384 <a name="l00385"></a>00385 mutex.<a class="code" href="classMutex.html#a2">Lock</a>();<a name="l00386"></a>00386 <a name="l00387"></a>00387 <span class="keywordflow">if</span>( state != <a class="code" href="SDO_8cpp.html#a0">SDO_STATE_IDLE</a> )<a name="l00388"></a>00388 err = &<a class="code" href="classCanOpenError.html#s2">CanOpenError::SDO_Busy</a>;<a name="l00389"></a>00389 <a name="l00390"></a>00390 <span class="keywordflow">else</span> <span class="keywordflow">if</span>( size <= 0 )<a name="l00391"></a>00391 err = &<a class="code" href="classCanOpenError.html#s1">CanOpenError::BadParam</a>;<a name="l00392"></a>00392 <a name="l00393"></a>00393 <span class="keywordflow">else</span><a name="l00394"></a>00394 {<a name="l00395"></a>00395 <span class="comment">// send an "Initiate SDO upload" message.</span><a name="l00396"></a>00396 frame.<a class="code" href="structCanFrame.html#o1">id</a> = xmitID;<a name="l00397"></a>00397 frame.<a class="code" href="structCanFrame.html#o0">type</a> = <a class="code" href="CML__Can_8h.html#a3a0">CAN_FRAME_DATA</a>;<a name="l00398"></a>00398 frame.<a class="code" href="structCanFrame.html#o2">length</a> = 8;<a name="l00399"></a>00399 <a name="l00400"></a>00400 frame.<a class="code" href="structCanFrame.html#o3">data</a>[0] = 0x40;<a name="l00401"></a>00401 <a name="l00402"></a>00402 <span class="comment">// Copy the object multiplexor to the frame</span><a name="l00403"></a>00403 <span class="comment">// and also make a local copy.</span><a name="l00404"></a>00404 frame.<a class="code" href="structCanFrame.html#o3">data</a>[1] = mplex[0] = <a class="code" href="CML__Utils_8h.html#a0">ByteCast</a>(index);<a name="l00405"></a>00405 frame.<a class="code" href="structCanFrame.html#o3">data</a>[2] = mplex[1] = <a class="code" href="CML__Utils_8h.html#a0">ByteCast</a>(index>>8);<a name="l00406"></a>00406 frame.<a class="code" href="structCanFrame.html#o3">data</a>[3] = mplex[2] = <a class="code" href="CML__Utils_8h.html#a0">ByteCast</a>(sub);<a name="l00407"></a>00407 <a name="l00408"></a>00408 <span class="comment">// Clear out the reserved bytes</span><a name="l00409"></a>00409 <span class="keywordflow">for</span>( <span class="keywordtype">int</span> i=4; i<8; i++ )<a name="l00410"></a>00410 frame.<a class="code" href="structCanFrame.html#o3">data</a>[i] = 0;<a name="l00411"></a>00411 <a name="l00412"></a>00412 remain = size;<a name="l00413"></a>00413 <a name="l00414"></a>00414 <span class="comment">// Keep a pointer to the data buffer and reset the toggle bit</span><a name="l00415"></a>00415 dataPtr = data;<a name="l00416"></a>00416 toggle = 0;<a name="l00417"></a>00417 <a name="l00418"></a>00418 state = <a class="code" href="SDO_8cpp.html#a4">SDO_STATE_SENT_UPLD_INIT</a>;<a name="l00419"></a>00419 err = <a class="code" href="classReceiver.html#p0">co</a>-><a class="code" href="classCanOpen.html#a5">Xmit</a>( frame, timeout );<a name="l00420"></a>00420 <span class="keywordflow">if</span>( err ) state = <a class="code" href="SDO_8cpp.html#a0">SDO_STATE_IDLE</a>;<a name="l00421"></a>00421 }<a name="l00422"></a>00422 <a name="l00423"></a>00423 <span class="comment">// If the upload was started successfully, sit waiting for the</span><a name="l00424"></a>00424 <span class="comment">// state to change to one that indicates success or failure.</span><a name="l00425"></a>00425 <span class="keywordflow">if</span>( !err ) err = WaitForTransfer( size );<a name="l00426"></a>00426 mutex.<a class="code" href="classMutex.html#a3">Unlock</a>();<a name="l00427"></a>00427 <span class="keywordflow">return</span> err;<a name="l00428"></a>00428 }<a name="l00429"></a>00429 <a name="l00430"></a>00430 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00431"></a>00431 <span class="comment">/**</span><a name="l00432"></a>00432 <span class="comment">Upload data using this SDO. This function uses a block upload protocol</span><a name="l00433"></a>00433 <span class="comment">which makes sending large blocks of data more efficient. The specified</span><a name="l00434"></a>00434 <span class="comment">object is upload from the CANopen node's object dictionary and stored in </span><a name="l00435"></a>00435 <span class="comment">the array passed to this function.</span><a name="l00436"></a>00436 <span class="comment"> </span><a name="l00437"></a>00437 <span class="comment">@param index The index of the object to be uploaded.</span><a name="l00438"></a>00438 <span class="comment">@param sub The sub-index of the object to be uploaded.</span><a name="l00439"></a>00439 <span class="comment">@param size On entry, this should be the maximum number of bytes</span><a name="l00440"></a>00440 <span class="comment"> to upload, on successful return, this is the number of bytes</span><a name="l00441"></a>00441 <span class="comment"> actually received.</span><a name="l00442"></a>00442 <span class="comment">@param data A character array which will store the uploaded data.</span><a name="l00443"></a>00443 <span class="comment">@return A valid CANopen error object.</span><a name="l00444"></a>00444 <span class="comment">*/</span><a name="l00445"></a>00445 <span class="comment">/***************************************************************************/</span><a name="l00446"></a><a class="code" href="classSDO.html#a7">00446</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classSDO.html#a7">SDO::BlockUpld</a>( <a class="code" href="CML__Utils_8h.html#a7">int16</a> index, <a class="code" href="CML__Utils_8h.html#a7">int16</a> sub, <a class="code" href="CML__Utils_8h.html#a9">int32</a> &size, <a class="code" href="CML__Utils_8h.html#a2">byte</a> *data )<a name="l00447"></a>00447 {<a name="l00448"></a>00448 <a class="code" href="structCanFrame.html">CanFrame</a> frame;<a name="l00449"></a>00449 <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *err;<a name="l00450"></a>00450 <a name="l00451"></a>00451 <span class="comment">// Make sure the SDO has been initialized</span><a name="l00452"></a>00452 <span class="keywordflow">if</span>( !<a class="code" href="classReceiver.html#p0">co</a> ) <span class="keywordflow">return</span> &<a class="code" href="classCanOpenError.html#s8">CanOpenError::NotInitialized</a>;<a name="l00453"></a>00453 <a name="l00454"></a>00454 mutex.<a class="code" href="classMutex.html#a2">Lock</a>();<a name="l00455"></a>00455 <a name="l00456"></a>00456 <span class="keywordflow">if</span>( state != <a class="code" href="SDO_8cpp.html#a0">SDO_STATE_IDLE</a> )<a name="l00457"></a>00457 err = &<a class="code" href="classCanOpenError.html#s2">CanOpenError::SDO_Busy</a>;<a name="l00458"></a>00458 <a name="l00459"></a>00459 <span class="keywordflow">else</span> <span class="keywordflow">if</span>( size <= 0 )<a name="l00460"></a>00460 err = &<a class="code" href="classCanOpenError.html#s1">CanOpenError::BadParam</a>;<a name="l00461"></a>00461 <a name="l00462"></a>00462 <span class="keywordflow">else</span><a name="l00463"></a>00463 {<a name="l00464"></a>00464 <span class="comment">// send an "Initiate block upload" message.</span><a name="l00465"></a>00465 frame.<a class="code" href="structCanFrame.html#o1">id</a> = xmitID;<a name="l00466"></a>00466 frame.<a class="code" href="structCanFrame.html#o0">type</a> = <a class="code" href="CML__Can_8h.html#a3a0">CAN_FRAME_DATA</a>;<a name="l00467"></a>00467 frame.<a class="code" href="structCanFrame.html#o2">length</a> = 8;<a name="l00468"></a>00468 <a name="l00469"></a>00469 <span class="comment">// BUG: I don't support CRC checking at the moment</span><a name="l00470"></a>00470 frame.<a class="code" href="structCanFrame.html#o3">data</a>[0] = 0xA0;<a name="l00471"></a>00471 ⌨️ 快捷键说明
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