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:
- 23:2b2cdba08259
- Parent:
- 22:3f3a9f55054c
- Child:
- 24:fa1c5af49650
--- a/soes.cpp Fri Mar 06 09:19:38 2015 +0000 +++ b/soes.cpp Fri Mar 06 11:07:58 2015 +0000 @@ -221,6 +221,7 @@ if(xbus_master.rx.buffer[2] == 0x32) { memcpy_byteswap((uint8_t *)&Rb.first.acc[0],&xbus_master.rx.buffer[6],60); + //memcpy_byteswap((uint8_t *)&Rb.timestamp, &xbus_master.rx.buffer[2],2); //pc.printf("%u , %u\n", Rb.first.acc[0] , *((uint16_t *)(&xbus_master.rx.buffer[6])) ); } xbus_master.rx.checksum_ok = 0;