SOES implementation i.c.w. ET1100 (Beckhoff ASIC)
Dependencies: KL25Z_ClockControl MODSERIAL mbed
Fork of EtherCAT-XbusMaster by
Diff: soes.cpp
- Revision:
- 41:e307b3dcab55
- Parent:
- 40:0528d79e63f2
- Child:
- 42:ef78d11f2bd7
diff -r 0528d79e63f2 -r e307b3dcab55 soes.cpp --- a/soes.cpp Fri Sep 11 15:15:46 2015 +0000 +++ b/soes.cpp Fri Sep 11 15:27:57 2015 +0000 @@ -272,9 +272,10 @@ { for(int sensor = 0; sensor < 3 ; sensor++) { - const int num_bytes = 50;//4 floats * 4 bytes + const int num_bytes_quat = 4*4;//sizeof(float);//4 floats * 4 bytes + const int num_bytes_msg = num_bytes_quat + 2; //timestamp //memcpy_byteswap((uint8_t *)&local_Rb.first.timestamp ,&xbus_master.rx.buffer[4], 2); - //memcpy_floatswap((uint8_t *)&local_Rb.xsens_imu[sensor].q0,&xbus_master.rx.buffer[6+(sensor*num_bytes)], num_bytes); + memcpy_floatswap((uint8_t *)&local_Rb.xsens_imu[sensor].q0,&xbus_master.rx.buffer[6+(sensor*num_bytes_msg)], num_bytes_quat); //memcpy_byteswap((uint8_t *)&local_Rb.xsens_imu[sensor].samplecounter,&xbus_master.rx.buffer[6+num_bytes+(sensor*num_bytes)],2); //pc.printf("%x %x\n",Rb.timestamp, *((uint16_t *)(&xbus_master.rx.buffer[4]))); //PLOEP;