ECAT_Init接口初始化函数

/
/**

 \brief    This function initialize the EtherCAT Slave Interface.这个函数初始化EtherCAT从站的接口
*

void ECAT_Init(void)
{
    UINT8 i;
    /*Get Maximum Number of SyncManagers获得SM最大的数目*/
    HW_EscReadByte(nMaxSyncMan, ESC_SM_CHANNELS_OFFSET);

    /* disable all Sync Manager channels 去使能所有的SM通道*/
    for (i = 0; i < nMaxSyncMan; i++)
        HW_DisableSyncManChannel(i);

    /* initialize the mailbox handler 初始化所有的邮箱处理*/
    MBX_Init();

    /* initialize variables 初始化变量*/
     bApplEsmPending = FALSE;
     bEcatWaitForAlControlRes = FALSE;
     bEcatFirstOutputsReceived = FALSE;
     bEcatOutputUpdateRunning = FALSE;
     bEcatInputUpdateRunning = FALSE;

    bWdTrigger = FALSE;
    EcatWdValue = 0;

    Sync0WdCounter = 0;
    Sync0WdValue = 0;
    bDcSyncActive = FALSE;
    bLocalErrorFlag = FALSE;
    u16LocalErrorCode = 0x00;

    u16ALEventMask = 0;

    /* initialize the AL Status register初始化AL状态寄存器 */
    nAlStatus    = STATE_INIT;
    SetALStatus(nAlStatus, 0);
    nEcatStateTrans = 0;
#if LEDS_SUPPORTED || ESC_SUPPORT_ECAT_LED
    u8EcatErrorLed = LED_OFF;
#endif

    bEscIntEnabled = FALSE;

#if COE_SUPPORTED
    /* 初始化COE的部分 */
    COE_Init();
#endif

}