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: EtherCAT/cpuinit.cpp

Revision:
13:5e4dcbd44786
Parent:
8:09dcef3ed467
Child:
17:c5946a0fde83
--- a/EtherCAT/cpuinit.cpp	Tue Mar 03 10:58:20 2015 +0000
+++ b/EtherCAT/cpuinit.cpp	Tue Mar 03 12:14:22 2015 +0000
@@ -42,27 +42,13 @@
     //shoe_serial.baud(921600);
     //et1100_spi.format(8,3);
     et1100_spi.frequency(1000000);
-    //inintialize all dummy inputs
-    DigitalOut dummy1(PTC2);//do not leave ADC input floating
-    DigitalOut dummy2(PTC0);
-    DigitalOut dummy3(PTC1);
-    //DigitalOut dummy4(PTD1);
-    DigitalOut dummy5(PTD5);
-    DigitalOut dummy6(PTD6);
-    DigitalOut dummy7(PTE20);
-    DigitalOut dummy8(PTE21);
-    DigitalOut dummy9(PTE22);
-    DigitalOut dummy10(PTE23);
-    DigitalOut dummy11(PTE29);
-    DigitalOut dummy12(PTE30);
-    dummy1 = dummy2 = dummy3 = dummy5 = dummy6 = 0;
-    dummy7 = dummy8 = dummy9 = dummy10 = dummy11 = dummy12 = 0;
-    //offset correction
+    
+    xbus.baud(115200);
+    wait(1);//because Xbus master and IMU's need to boot.
+    XbusInitializeXbusMaster();
+    
     wait_ms(20);
-    FrontLeft_offset = adcFrontLeft;
-    FrontRight_offset = adcFrontRight;
-    BackLeft_offset = adcBackLeft;
-    BackRight_offset = adcBackRight;
+
 
 }