EtherCAT slave that reads 3 Xsens IMU's connected to a Xbus Master
Dependencies: MODSERIAL mbed KL25Z_ClockControl
Fork of EtherCAT by
Diff: xbus.cpp
- Revision:
- 18:6629e8c5d59e
- Parent:
- 17:c5946a0fde83
- Child:
- 26:c7959f1fd09a
--- a/xbus.cpp Thu Mar 05 22:22:47 2015 +0000 +++ b/xbus.cpp Thu Mar 05 23:08:58 2015 +0000 @@ -1,7 +1,9 @@ #include "xbus.h" #define ARRAY(x) x, sizeof(x) -static inline void XbusReceiveState(struct xbus_struct *, uint8_t ); + +extern MODSERIAL xbus_serial; + uint8_t XbusImuMsgGoToMeasurement[] = { 0xFA, 0xFF, 0x10, @@ -113,7 +115,7 @@ static void XbusSendArray(uint8_t *array) { for(int i = 0; i < array[3]+5 ; i++ ) { //make use of len - xbus.putc(array[i]); + xbus_serial.putc(array[i]); } wait_ms(10); } @@ -148,7 +150,7 @@ XbusSendArray(msg); } -void XbusReceiveState(struct xbus_struct * xbus, uint8_t rxdata) +void XbusReceiveState(xbus_t * xbus, uint8_t rxdata) { switch(xbus->rx.state) { case XBUS_IDLE: { @@ -219,7 +221,7 @@ } -void XbusSetupReceiver(struct xbus_struct * xbus) +void XbusSetupReceiver(xbus_t * xbus) { //xbus_pc.uart = &XBUS_UART_PC; xbus->rx.message_complete = 0;