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:
26:c7959f1fd09a
Parent:
25:829af6f3429f
Child:
27:93c0e4ae943e
--- a/soes.cpp	Sun Mar 08 21:15:47 2015 +0000
+++ b/soes.cpp	Sun Mar 08 21:53:00 2015 +0000
@@ -96,8 +96,18 @@
         switch (subindex)
         {
         case 0x01:
-            dummy8  = 0;//Eb.setting8;//Write value to EEPROM; eeprom_write_byte(&eedat.setting8, Wb.setting8);
+        {
+            uint32_t rates[] = {460800,230400,115200,76800,57600,38400,28800,19200,14400,9600};
+            if(Eb.setting8 < (sizeof(rates)/sizeof(uint32_t)) )
+            {
+            	XbusSetBaudRate(Eb.setting8);
+            	XbusReset();
+            	xbus_serial.baud(rates[Eb.setting8]);
+            	XbusInitializeXbusMaster();
+            	
+            }
             break;
+        }
         case 0x02:
             dummy16 = 0;//Eb.setting16;//Write value to EEPROM; eeprom_write_word(&eedat.setting16, Wb.setting16);
             break;