static void resetHandles(int handle1, int handle2)
{
canStatus stat;
int i = 0; // Turn off txAcks
stat = canIoCtl(handle1, canIOCTL_SET_TXACK, &i, 4);
if (stat != canOK) {
Check("canIoCtl() failed to turn off txAcks", stat);
}
i = 1000; // Set resolution to the default 1 ms
stat = canIoCtl(handle1, canIOCTL_SET_TIMER_SCALE, &i, 4);
if (stat != canOK) {
Check("canIoCtl() failed to set 1 ms resolution on the first channel", stat);
}
i = 1000; // Set resolution to the default 1 ms
stat = canIoCtl(handle2, canIOCTL_SET_TIMER_SCALE, &i, 4);
if (stat != canOK) {
Check("canIoCtl() failed to set 1 ms resolution on the second channel", stat);
}
stat = kvTimeDomainDelete(mytd);
if (stat != canOK) {
Check("kvTimeDomainDelete() failed!", stat);
}
}
int canFlushReceiveQueue_(int handle) { return (int) canIoCtl(handle, canIOCTL_FLUSH_RX_BUFFER, NULL, 0); }
static void setupHandles(int handle1, int handle2)
{
canStatus stat;
int i = 1; // Turn on txAcks
stat = canIoCtl(handle1, canIOCTL_SET_TXACK, &i, 4);
if (stat != canOK) {
Check("canIoCtl() failed to turn on txAcks on handle1", stat);
}
stat = canIoCtl(handle2, canIOCTL_SET_TXACK, &i, 4);
if (stat != canOK) {
Check("canIoCtl() failed to turn on txAcks on handle2", stat);
}
i = 10; // Set resolution to 10 us
stat = canIoCtl(handle1, canIOCTL_SET_TIMER_SCALE, &i, 4);
if (stat != canOK) {
Check("canIoCtl() failed to set 10 us resolution on the first channel", stat);
}
i = 10; // Set resolution to 10 us
stat = canIoCtl(handle2, canIOCTL_SET_TIMER_SCALE, &i, 4);
if (stat != canOK) {
Check("canIoCtl() failed to set 10 us resolution on the second channel", stat);
}
stat = kvTimeDomainCreate(&mytd);
if (stat != canOK) {
Check("kvTimeDomainCreate() failed!", stat);
}
stat = kvTimeDomainAddHandle(mytd, handle1);
if (stat != canOK) {
Check("kvTimeDomainAddHandle() failed for handle1!", stat);
}
stat = kvTimeDomainAddHandle(mytd, handle2);
if (stat != canOK) {
Check("kvTimeDomainAddHandle() failed for handle2!", stat);
}
stat = kvTimeDomainResetTime(mytd);
if (stat != canOK) {
Check("kvTimeDomainResetTime() failed!", stat);
}
stat = kvTimeDomainGetData(mytd, &kvtData, sizeof(kvTimeDomainData));
if (stat != canOK) {
Check("kvTimeDomainGetData() failed!", stat);
}
if (Verbose) {
if (kvtData.nMagiSyncGroups > 1) {
printf("WARNING: More than one magisync group. Consider connecting the"
" interfaces\n to the same USB root hub!\n");
}
if ((kvtData.nMagiSyncGroups + kvtData.nNonMagiSyncCards) == 1) {
printf("INFO: The used channels are either MagiSynced or reside on "
"the same\n physical interface. Expect time stamps to be"
" as good as the hardware\n specification claims.\n");
}
else if ((kvtData.nMagiSyncGroups + kvtData.nNonMagiSyncCards) == 2) {
printf("INFO: The used channels don't appear synchronized in any way."
" In each test\n the time stamp of the first message from"
" both channels is used as\n an offset subtracted from all"
" subsequent timestamps. Hence, since\n local clocks tend"
" to drift, expect the time stamps to differ more\n the"
" longer the test runs.\n");
}
else {
printf("WARNING: kvTimeDomainGetData reports an unexpected number of "
"interfaces!\n (magisynced = %u, others = %u)\n",
kvtData.nMagiSyncGroups, kvtData.nNonMagiSyncCards);
}
if ((kvtData.nMagiSyncedMembers + kvtData.nNonMagiSyncedMembers) != 2) {
printf("WARNING: kvTimeDomainGetData reports an unexpected number of"
" members!\n (magisynced = %u, others = %u)\n",
kvtData.nMagiSyncedMembers, kvtData.nNonMagiSyncedMembers);
}
}
}
