EtherCAT slave that reads 3 Xsens IMU's connected to a Xbus Master
Dependencies: MODSERIAL mbed KL25Z_ClockControl
Fork of EtherCAT by
Diff: soes.cpp
- Revision:
- 16:bfc7ea6bd1af
- Parent:
- 14:e3c49b75fee9
- Child:
- 17:c5946a0fde83
--- a/soes.cpp Tue Mar 03 14:51:37 2015 +0000 +++ b/soes.cpp Tue Mar 03 15:01:29 2015 +0000 @@ -64,6 +64,8 @@ DigitalIn et1100_miso(ET1100_MISO); SPI et1100_spi(ET1100_MOSI,ET1100_MISO,ET1100_SCK); MODSERIAL xbus(PTA1,PTA2); +struct xbus_struct xbus_master; + /* Private function prototypes -----------------------------------------------*/ /* Private functions ---------------------------------------------------------*/ @@ -117,6 +119,7 @@ void DIG_process(void) { + uint8_t correct_offset; if (APPstate & APPSTATE_OUTPUT) //output enabled { if (ESCvar.ALevent & ESCREG_ALEVENT_SM2) // SM2 trigger ?