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:
24:fa1c5af49650
Parent:
23:2b2cdba08259
Child:
25:829af6f3429f
--- a/soes.cpp	Fri Mar 06 11:07:58 2015 +0000
+++ b/soes.cpp	Fri Mar 06 11:17:33 2015 +0000
@@ -221,7 +221,7 @@
         		if(xbus_master.rx.buffer[2] == 0x32)
         		{
         			memcpy_byteswap((uint8_t *)&Rb.first.acc[0],&xbus_master.rx.buffer[6],60);
-        			//memcpy_byteswap((uint8_t *)&Rb.timestamp, &xbus_master.rx.buffer[2],2);
+        			memcpy_byteswap((uint8_t *)&Rb.timestamp, &xbus_master.rx.buffer[4],2);
         			//pc.printf("%u , %u\n", Rb.first.acc[0] , *((uint16_t *)(&xbus_master.rx.buffer[6])) );
         		}
         		xbus_master.rx.checksum_ok = 0;