Ethercat系列（8）雷赛EC507_PP模式SOEM主站驱动应用程序

CoderIsArt

于 2024-06-20 14:16:42 发布

阅读量343

点赞数 3

分类专栏：产品应用积累文章标签： Ethercat SOEM

本文链接：https://blog.youkuaiyun.com/zkmrobot/article/details/129137629

版权

产品应用积累专栏收录该内容

41 篇文章 ¥19.90 ¥99.00

订阅专栏

超级会员免费看


#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;   //control word
   int16_t TargetPosLow;   //target pos int32
   int16