int pdo_config(uint16 i)
{
uint16 value16 = 0;
uint32 value32 = 0;
value16 = 0;
ec_SDOwrite(i,0x1C12,0,FALSE,sizeof(value16),&value16,EC_TIMEOUTRXM);
ec_SDOwrite(i,0x1C13,0,FALSE,sizeof(value16),&value16,EC_TIMEOUTRXM);
value16 = 0;
ec_SDOwrite(i,0x1A00,0,FALSE,sizeof(value16),&value16,EC_TIMEOUTRXM);
value32 = 0x60410010;
ec_SDOwrite(i,0x1A00,1,FALSE,sizeof(value32),&value32,EC_TIMEOUTRXM);
value32 = 0x60640020;
ec_SDOwrite(i,0x1A00,2,FALSE,sizeof(value32),&value32,EC_TIMEOUTRXM);
value16 = 2;
ec_SDOwrite(i,0x1A00,0,FALSE,sizeof(value16),&value16,EC_TIMEOUTRXM);
value16 = 0;
ec_SDOwrite(i,0x1600,0,FALSE,sizeof(value16),&value16,EC_TIMEOUTRXM);
value32 = 0x60400010;
ec_SDOwrite(i,0x1600,1,FALSE,sizeof(value32),&value32,EC_TIMEOUTRXM);
value32 = 0x60600008;
ec_SDOwrite(i,0x1600,2,FALSE,sizeof(value32),&value32,EC_TIMEOUTRXM);
value32 = 0x607A0020;
ec_SDOwrite(i,0x1600,3,FALSE,sizeof(value32),&value32,EC_TIMEOUTRXM);
//value32 = 0x60FF0020;
value32 = 0x60810020;
ec_SDOwrite(i,0x1600,4,FALSE,sizeof(value32),&value32,EC_TIMEOUTRXM);
value16 = 4;
ec_SDOwrite(i,0x1600,0,FALSE,sizeof(value16),&value16,EC_TIMEOUTRXM);
value16 = 1;
ec_SDOwrite(i,0x1C12,0,FALSE,sizeof(value16),&value16,EC_TIMEOUTRXM);
ec_SDOwrite(i,0x1C13,0,FALSE,sizeof(value16),&value16,EC_TIMEOUTRXM);
return 0;
}
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原文链接:https://blog.youkuaiyun.com/qq_43530144/article/details/135344309
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