SOES implementation i.c.w. ET1100 (Beckhoff ASIC)
Dependencies: KL25Z_ClockControl MODSERIAL mbed
Fork of EtherCAT-XbusMaster by
Diff: soes.cpp
- Revision:
- 7:8c15bbc49f64
- Parent:
- 6:3ccb89a58ff8
--- a/soes.cpp Thu Dec 11 23:19:54 2014 +0000 +++ b/soes.cpp Thu Dec 11 23:35:57 2014 +0000 @@ -195,9 +195,9 @@ rawFrontLeft = adcFrontLeft; rawFrontRight = adcFrontRight; rawBackLeft = adcBackLeft; - rawBackRight = adcBackRight; - + rawBackRight = adcBackRight; } + int main(void) { /*!< At this stage the microcontroller clock setting is already configured, @@ -208,7 +208,6 @@ */ Ticker adc_sampler; cpuinit(); - adc_sampler.attach(sample,0.001); TXPDOsize = sizeTXPDO(); RXPDOsize = sizeRXPDO(); wait_ms(200); @@ -216,6 +215,7 @@ //Eb.setting16 = 0xABCD; //Eb.setting8 = 111; // wait until ESC is started up + adc_sampler.attach(sample,0.1); while ((ESCvar.DLstatus & 0x0001) == 0) ESC_read(ESCREG_DLSTATUS, &ESCvar.DLstatus, sizeof(ESCvar.DLstatus), &ESCvar.ALevent);