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:
4:bb72df6dce33
Parent:
2:3dd1240eb938
Child:
5:6d75f432a41f
--- a/soes.cpp	Thu Dec 11 21:55:47 2014 +0000
+++ b/soes.cpp	Thu Dec 11 22:31:10 2014 +0000
@@ -163,16 +163,16 @@
     {
         Rb.timestamp = ESCvar.Time;
         //just some dummy data to test
-        Rb.counter++;
-        Rb.diginput = diginput;
-        Rb.analog[0] = 1;
-        Rb.analog[1] = 2;
-        Rb.analog[2] = 3;
-        Rb.analog[3] = 4;
-        Rb.analog[4] = 5;
-        Rb.analog[5] = 6;
-        Rb.analog[6] = 7;
-        Rb.analog[7] = 8;
+        //Rb.counter++;
+        //Rb.diginput = diginput;
+        //Rb.analog[0] = 1;
+        //Rb.analog[1] = 2;
+        Rb.CoPx = 3;
+        Rb.CoPy = 4;
+        Rb.FrontRight = 5;
+        Rb.FrontLeft = 6;
+        Rb.BackRight = 7;
+        Rb.BackLeft = 8;
 
         TXPDO_update();
     }