CANopen 块传输通信详解1.块上传详解(读取) 这里以图2为例子， 进行说明假设主节点为01，待读取节点为0x1b读取的数据是UNS8 g_upgrade_buf_appbin[258]="bbbcccddd111222333444555666777888999AAA\0";/* Mapped at index 0x2007, subindex 0x01 */ 1).主节点：发送读取数据初始化发送：A0 07 20 01 10 00 00 00data[0] = (5data[1] = index & 0xFF; /* LSB */data[2] = (index >> 8) & 0xFF; /* MSB */data[3] = subIndex;data[4] = SDO_BLOCK_SIZE;for (i = 5 ; idata[i] = 0; 2).从节点：服务器端响应”需要读取的总数据包字节数” 接收：C2 07 20 01 27 00 00 00data[0] = (6data[1] = index & 0xFF; /* LSB */data[2] = (index >> 8) & 0xFF; /* MSB */data[3] = subIndex;data[4] = (UNS8) nbBytes;data[5] = (UNS8) (nbBytes >> 8);data[6] = (UNS8) (nbBytes >> 16);data[7] = (UNS8) (nbBytes >> 24); 3).主节点：收到响应后，发送命令，表示可以开始传输了发送：A3 00 00 00 00 00 00 00data[0] = (5for (i = 1 ; idata[i] = 0; 4).从节点：开始循环向主节点发送数据包接收：01 62 62 62 63 63 63 6402 64 64 31 31 31 32 3203 32 33 33 33 34 34 3404 35 35 35 36 36 36 3705 37 37 38 38 38 39 3986 39 41 41 41 00 00 00data[0] = SeqNo;err = lineToSDO(d, line, 7, data + 1); 5).主节点：告诉从节点，我收到了多少条包！发送：A2 06 10 00 00 00 00 00 data[0] = (5data[1] = d->transfers[line].seqno;data[2] = SDO_BLOCK_SIZE;data[3] = data[4] = data[5] = data[6] = data[7] = 0; 6).从节点：告诉主节点，已经发送完毕接收：Cd 00 00 00 00 00 00 00data[0] = (6 transfers[line].endfield)for (i = 1 ; idata[i] = 0; 7).主节点：告诉从节点，我也接收完毕了，整个传输完成!发送：A1 00 00 00 00 00 00 00data[0] = (5for (i = 1 ; idata[i] = 0; 2.块下载详解（写入） 图3这里以图3为例子， 进行说明假设主节点为01，待写入节点为0x1b假如待写入的数据是UUNS8 write_net_block_buf[] = "0123456789aaabbbcccddd\0";/* Mapped at index 0x2007, subindex 0x01 */ 1).主节点：告诉从节点我要写入多少个字节数发送：C2 07 20 01 18 00 00 00buf[0] = (6buf[1] = index & 0xFF; /* LSB */buf[2] = (index >> 8) & 0xFF; /* MSB */buf[3] = subIndex;for (i = 0 ; ibuf[i+4] = (UNS8)((count >> (i 2).从节点：我准备好了，可以写入数据接收：A0 07 20 01 10 00 00 00data[0] = (5data[1] = (UNS8) index; /* LSB */data[2] = (UNS8) (index >> 8); /* MSB */data[3] = subIndex;data[4] = SDO_BLOCK_SIZE;data[5] = data[6] = data[7] = 0; 3).主节点：收到响应后，开始逐条发送数据，无需响应发送：01 30 31 32 33 34 35 3602 37 38 39 61 61 61 6203 62 62 63 63 63 64 6584 64 00 00 00 00 00 00当实际发送字节大于7个字节时：data[0] = SeqNo;err = lineToSDO(d, line, 7, data + 1);剩余的小于7个字节的发送时：data[0] = 0x80 | SeqNo;err = lineToSDO(d, line, nbBytes, data + 1); //实际的剩余字节for (i = nbBytes + 1 ; i 多余的空间填0 data[i] = 0; 4).从节点：告诉主节点我收到了多少条接收：A2 04 10 00 00 00 00 00data[0] = (5data[1] = d->transfers[line].seqno;data[2] = SDO_BLOCK_SIZE;data[3] = data[4] = data[5] = data[6] = data[7] = 0; 5).主节点：告诉从节点，写入完毕！发送：D1 00 00 00 00 00 00 00data[0] = (6 transfers[line].endfield)for (i = 1 ; idata[i] = 0; 6).从节点：告诉主节点，我知道写入完毕了将传输结构体里面的数据拷贝到数据字典里，并复位SDO传输!接收：A1 00 00 00 00 00 00 00data[0] = (5for (i = 1 ; idata[i] = 0;
