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:
29:95ef6b54ec8e
Parent:
28:8505285f65ed
--- a/soes.cpp	Tue Mar 10 09:43:41 2015 +0000
+++ b/soes.cpp	Tue Mar 10 10:13:16 2015 +0000
@@ -242,7 +242,7 @@
         		if(xbus_master.rx.buffer[2] == 0x32)
         		{
         			memcpy_byteswap((uint8_t *)&local_Rb.timestamp   ,&xbus_master.rx.buffer[4], 2);
-        			memcpy_byteswap((uint8_t *)&local_Rb.first.acc[0],&xbus_master.rx.buffer[6],60);
+        			memcpy((uint8_t *)&local_Rb.first.acc[0],&xbus_master.rx.buffer[6],xbus_master.rx.buffer[3]-2);
         			//pc.printf("%x %x\n",Rb.timestamp, *((uint16_t *)(&xbus_master.rx.buffer[4])));
         			PLOEP;
         		}