/
/**
\return 0 if initialization was successful
\brief This function initialize the EtherCAT Slave Interface.
*
UINT16 HW_Init(void)
{
UINT32 intMask = 0;
/* 初始化:
1、同ESC的存储接口
2、ESC中断
3、ECAT看门狗时钟*/
/* 初始化ESC DPRAM与单片机的指针ESC的物理内存的开始*/
pEsc = MAKE_PTR_TO_ESC;
{
UINT16 u16PdiCtrl = 0;
/*宏定义:ESC_PDI_CONTROL_OFFSET 对应地址为0x0140;
0x0140:PDI控制寄存器 使能/终止DC单单元*/
do
{
HW_EscReadWord(u16PdiCtrl,ESC_PDI_CONTROL_OFFSET); //将u16PdiCtrl
/**
\return 0 if initialization was successful
\brief This function initialize the EtherCAT Slave Interface.
*
UINT16 HW_Init(void)
{
UINT32 intMask = 0;
/* 初始化:
1、同ESC的存储接口
2、ESC中断
3、ECAT看门狗时钟*/
/* 初始化ESC DPRAM与单片机的指针ESC的物理内存的开始*/
pEsc = MAKE_PTR_TO_ESC;
{
UINT16 u16PdiCtrl = 0;
/*宏定义:ESC_PDI_CONTROL_OFFSET 对应地址为0x0140;
0x0140:PDI控制寄存器 使能/终止DC单单元*/
do
{
HW_EscReadWord(u16PdiCtrl,ESC_PDI_CONTROL_OFFSET); //将u16PdiCtrl