HC Voort / Mbed 2 deprecated EtherCAT-XbusMaster

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Dependencies:   KL25Z_ClockControl MODSERIAL mbed

Fork of EtherCAT-XbusMaster by First Last

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;