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:
7:8c15bbc49f64
Parent:
6:3ccb89a58ff8
--- a/soes.cpp	Thu Dec 11 23:19:54 2014 +0000
+++ b/soes.cpp	Thu Dec 11 23:35:57 2014 +0000
@@ -195,9 +195,9 @@
 	rawFrontLeft = adcFrontLeft;
 	rawFrontRight = adcFrontRight;
 	rawBackLeft = adcBackLeft;
-	rawBackRight = adcBackRight;
-	
+	rawBackRight = adcBackRight;	
 }
+
 int main(void)
 {
     /*!< At this stage the microcontroller clock setting is already configured,
@@ -208,7 +208,6 @@
        */
     Ticker adc_sampler;
     cpuinit();
-    adc_sampler.attach(sample,0.001);
 	TXPDOsize = sizeTXPDO();
 	RXPDOsize = sizeRXPDO();
     wait_ms(200);
@@ -216,6 +215,7 @@
     //Eb.setting16 = 0xABCD;
     //Eb.setting8  = 111;
     // wait until ESC is started up
+    adc_sampler.attach(sample,0.1);
     while ((ESCvar.DLstatus & 0x0001) == 0)
         ESC_read(ESCREG_DLSTATUS, &ESCvar.DLstatus, sizeof(ESCvar.DLstatus), &ESCvar.ALevent);