Ethercat系列（7）SOEM主站PV模式控制电机

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已于 2024-06-20 14:32:39 修改

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分类专栏：产品应用积累文章标签：网络协议

于 2023-02-20 19:57:47 首次发布

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#include <stdio.h>
#include <string.h>

#include "osal.h"
#include "ethercattype.h"
#include "nicdrv.h"
#include "ethercatbase.h"
#include "ethercatmain.h"
#include "ethercatdc.h"
#include "ethercatcoe.h"
#include "ethercatfoe.h"
#include "ethercatconfig.h"
#include "ethercatprint.h"

#define EC_TIMEOUTMON 500

#define NSEC_PER_SEC 1000000000

#define SWAP_WORD(l) (LO_WORD(l) << 16 | HI_WORD(l) & 0xffff)


char IOmap[4096];
uint16 nControl;

int i;
char run = 1;

int expectedWKC;

int state;

typedef struct PACKED
{
   uint16_t Controlword;
   int16_t TargetVel;
   int16_t Reserved;
//   uint32_t Accelerate; //

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