EtherCAT slave that reads 3 Xsens IMU's connected to a Xbus Master
Dependencies: MODSERIAL mbed KL25Z_ClockControl
Fork of EtherCAT by
Diff: xbus.h
- Revision:
- 16:bfc7ea6bd1af
- Parent:
- 13:5e4dcbd44786
- Child:
- 17:c5946a0fde83
--- a/xbus.h Tue Mar 03 14:51:37 2015 +0000 +++ b/xbus.h Tue Mar 03 15:01:29 2015 +0000 @@ -2,7 +2,7 @@ #define XBUS_H_ 1 #include "MODSERIAL.h" -//#define XBUS_BUFFER_LENGTH 255 +#define XBUS_BUFFER_LENGTH 255 enum XBUS_STATE {XBUS_IDLE = 0, XBUS_BID, XBUS_MID, XBUS_LEN, XBUS_DATA, XBUS_CS}; @@ -12,8 +12,8 @@ uint8_t checksum; volatile uint8_t checksum_ok; volatile uint8_t message_complete; - //uint8_t quelength; - //uint8_t buffer[XBUS_BUFFER_LENGTH]; + uint8_t quelength; + uint8_t buffer[XBUS_BUFFER_LENGTH]; enum XBUS_STATE state; }; @@ -26,7 +26,7 @@ //volatile struct xbus_uart tx; }; -struct xbus_struct xbus_master; + // Create checksum, pointer to array (starting w. 0xFA), length of complete array uint8_t XbusCreateChecksum(uint8_t *, uint8_t);