EtherCAT slave that reads 3 Xsens IMU's connected to a Xbus Master
Dependencies: MODSERIAL mbed KL25Z_ClockControl
Fork of EtherCAT by
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; }