First Last / Mbed 2 deprecated EtherCAT-XbusMaster

EtherCAT slave that reads 3 Xsens IMU's connected to a Xbus Master

Dependencies:   MODSERIAL mbed KL25Z_ClockControl

Fork of EtherCAT by First Last

Diff: soes.cpp

Revision:
8:09dcef3ed467
Parent:
5:6d75f432a41f
Child:
9:33673e05639f
--- a/soes.cpp	Thu Dec 11 23:12:11 2014 +0000
+++ b/soes.cpp	Fri Dec 12 00:31:22 2014 +0000
@@ -138,16 +138,18 @@
         if (ESCvar.ALevent & ESCREG_ALEVENT_SM2) // SM2 trigger ?
         {
           ESCvar.ALevent &= ~ESCREG_ALEVENT_SM2;
-            RXPDO_update();
+          RXPDO_update();
             // dummy output point
             correct_offset = Wb.correct_offset;
             if(correct_offset & 0x01) {
-                led.write(1);
-                FrontLeft_offset = adcFrontLeft;
-                FrontRight_offset = adcFrontRight;
-                BackLeft_offset = adcBackLeft;
-                BackRight_offset = adcBackRight;
-            }
+            //    led.write(1);
+                FrontLeft_offset = rawFrontLeft;
+                FrontRight_offset = rawFrontRight;
+                BackLeft_offset =  rawBackLeft;
+                BackRight_offset = rawBackRight;
+           }
+           // else
+           // 	led.write(0);
             wd_cnt = wd_reset;
         }