Revision 42:ef78d11f2bd7, committed 2015-09-11

Comitter:

vsluiter

Date:

Fri Sep 11 15:33:31 2015 +0000

Parent:

41:e307b3dcab55

Commit message:

Also implemented samplecounter

Changed in this revision

diff -r e307b3dcab55 -r ef78d11f2bd7 soes.cpp
--- a/soes.cpp	Fri Sep 11 15:27:57 2015 +0000
+++ b/soes.cpp	Fri Sep 11 15:33:31 2015 +0000
@@ -273,8 +273,9 @@
         			for(int sensor = 0; sensor < 3 ; sensor++)
         			{
         				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);
+        				const int num_bytes_timestamp = 2;
+        				const int num_bytes_msg = num_bytes_quat + num_bytes_timestamp; //timestamp
+	        			memcpy_byteswap((uint8_t *)&local_Rb.xsens_imu[sensor].samplecounter   ,&xbus_master.rx.buffer[6]+num_bytes_quat, num_bytes_timestamp);
 	        			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])));