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这篇文章主要是记录CANopen 块传输协议的基本思路，具体代码各位可以根据思路跟进源码阅读，这里只贴出主要内容代码~ 目录 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 00 data[0] = (5 << 5) | SDO_BCS_INITIATE_UPLOAD_REQUEST; data[1] = index & 0xFF; /* LSB */ data[2] = (index >> 8) & 0xFF; /* MSB */ data[3] = subIndex; data[4] = SDO_BLOCK_SIZE; for (i = 5 ; i < 8 ; i++) data[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 00 data[0] = (6 << 5) | (1 << 1) | SDO_BSS_INITIATE_UPLOAD_RESPONSE; data[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 00 data[0] = (5 << 5) | SDO_BCS_START_UPLOAD; for (i = 1 ; i < 8 ; i++) data[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 64 02 64 64 31 31 31 32 32 03 32 33 33 33 34 34 34 04 35 35 35 36 36 36 37 05 37 37 38 38 38 39 39 86 39 41 41 41 00 00 00 data[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] = (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;
6).从节点：告诉主节点，已经发送完毕接收： Cd 00 00 00 00 00 00 00 data[0] = (6 << 5) | ((d->transfers[line].endfield) << 2)|SDO_BCS_END_DOWNLOAD_REQUEST; for (i = 1 ; i < 8 ; i++) data[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 00 data[0] = (5 << 5) | SDO_BCS_END_UPLOAD_REQUEST; for (i = 1 ; i < 8 ; i++) data[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 00 buf[0] = (6 << 5) | (1 << 1 ); /* CCS = 6 , CC = 0 , S = 1 , CS = 0 */ buf[1] = index & 0xFF; /* LSB */ buf[2] = (index >> 8) & 0xFF; /* MSB */ buf[3] = subIndex; for (i = 0 ; i < 4 ; i++) buf[i+4] = (UNS8)((count >> (i<<3))); /* i*8 */
2).从节点：我准备好了，可以写入数据接收： A0 07 20 01 10 00 00 00 data[0] = (5 << 5) | SDO_BSS_INITIATE_DOWNLOAD_RESPONSE; data[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 36 02 37 38 39 61 61 61 62 03 62 62 63 63 63 64 65 84 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 < 8 ; 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 00 data[0] = (5 << 5) | SDO_BSS_DOWNLOAD_RESPONSE; data[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 00 data[0] = (6 << 5) | ((d->transfers[line].endfield) << 2) | SDO_BCS_END_DOWNLOAD_REQUEST; for (i = 1 ; i < 8 ; i++) data[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 00 data[0] = (5 << 5) | SDO_BSS_END_DOWNLOAD_RESPONSE; for (i = 1 ; i < 8 ; i++) data[i] = 0;
本文原创，转载请注明出处！！！谢谢
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