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: xbus.cpp

Revision:
26:c7959f1fd09a
Parent:
18:6629e8c5d59e
Child:
27:93c0e4ae943e
--- a/xbus.cpp	Sun Mar 08 21:15:47 2015 +0000
+++ b/xbus.cpp	Sun Mar 08 21:53:00 2015 +0000
@@ -120,6 +120,23 @@
     wait_ms(10);
 }
 
+
+//uses baudrate values in Xbus Master documentation
+void XbusSetBaudRate(uint8_t baud)
+{
+    uint8_t msg[10];
+    XbusCreateMessage(0xFF,0x18,1,&baud,msg);
+    XbusSendArray(msg);
+}
+
+void XbusReset()
+{    
+    uint8_t msg[10];
+    XbusCreateMessage(0xFF,0x40,0,msg,msg);//Reset
+    XbusSendArray(msg);
+    wait_ms(1000);
+}
+
 void XbusInitializeXbusMaster(void)
 {
     uint8_t msg[30];