/*----------------------------------------------------------------------
* calcChecksum
* Calculate checksum on a received data buffer.
*
* Note: The last two bytes, which contain the received checksum,
* are not included in the calculation.
*
* parameters: buffer : pointer to the start of the received buffer.
* length - the length (in chars) of the buffer.
*
* returns: the calculated checksum.
*--------------------------------------------------------------------*/
int calcChecksum( unsigned char* buffer, int length) {
int CHECKSUM_MASK = 0xFFFF;
int checkSum, i;
if (length<4)
return -1;
checkSum = buffer[0] & LSB_MASK;
for (i=1; i<length-2; i = i+2) {
checkSum += convert2short(&buffer[i]);
}
return(checkSum & CHECKSUM_MASK);
}
int i3dmgx3_getFirmwareVersion(int portNum, char *firmware) {
unsigned char cmd = (char) CMD_FIRWARE_VERSION;
unsigned char Bresponse[7] = {0};
unsigned short wChecksum = 0;
unsigned short wCalculatedCheckSum = 0;
short firmwareNum=0;
short majorNum, minorNum, buildNum;
int status;
int responseLength = 7;
status = sendBuffData(portNum, &cmd, 1);
if (DEBUG) printf("FirmWare_send: tx status : %d\n", status);
if (status == I3DMGX3_COMM_OK) {
if (responseLength>0) {
status = receiveData(portNum, &Bresponse[0], responseLength);
if (DEBUG) printf("FirmWare i3dmgx3_send: rx status : %d and responseLength %d\n", status, responseLength);
if (status==I3DMGX3_COMM_OK) {
wChecksum = convert2ushort(&Bresponse[responseLength-2]);
wCalculatedCheckSum = i3dmgx3_Checksum(&Bresponse[0], responseLength-2); //calculate the checkusm, 29 = 31-2 don't include the checksum bytes
if(wChecksum != wCalculatedCheckSum)
return status = I3DMGX3_CHECKSUM_ERROR;
}else
return status = I3DMGX3_COMM_READ_ERROR;
}
firmwareNum = convert2short(&Bresponse[3]);
if (firmwareNum > 0) {
/* format for firmware number is #.#.## */
majorNum = firmwareNum / 1000;
minorNum = (firmwareNum % 1000) / 100;
buildNum = firmwareNum % 100;
sprintf(firmware, "%d.%d.%d", majorNum, minorNum, buildNum);
}
return I3DMGX3_OK;
}else return status;
}
//===========================================================================
// SetSampleSetting
//---------------------------------------------------------------------------
// Description: Allows user to set one of the optional Sample Settings
//
// Return: Confirmation that selection was set.
//===========================================================================
int SetSampleSetting(int portNum, BYTE byteOne, BYTE byteTwo, unsigned char *Bresponse, short FW_Check)
{
int status = 0;
unsigned char DR3_write_buff[21];
int responseLength = 19;
unsigned short wChecksum = 0;
unsigned short wCalculatedCheckSum = 0;
unsigned short Decimation = (1000/100); //m_DRvalue);
unsigned short DigFilter = 20;
int ytrewq=0;
unsigned char cmd = ( unsigned char) CMD_FIRWARE_VERSION; //0xE9
BYTE FWbuff[7] = {0};
short firmwareNum=0;
int northComp=0, upComp=0;
int NCval =0, Value=0;
//char Jjunk[20];
int ncOption = 0;
purge_port(portNum);
if(FW_Check >= 1){ //include case 8 and 9
//this feature requires firmware version of 1.1.27 or greater
status = sendBuffData(portNum, &cmd, 1);
if (status == I3DMGX3_COMM_OK) {
status = receiveData(portNum, &FWbuff[0], 7);
firmwareNum = convert2short(&FWbuff[3]);
if (firmwareNum < 1127){
printf("Firmware version must be 1.1.27 or greater to perfom this selection\n");
return -1;
}
}
}
if(FW_Check == 8){ //North Compensation
while(Value == 0){
printf("Would you like to Modify the North Compensation? (Y)es or (N)o \n");
while(!ReadCharNoReturn(&ncOption))
{
Sleep(50);
}
switch (ncOption){
case 'n':
case 'N': northComp = 10; Value = 1; break;
case 'y':
case 'Y': while (NCval == 0){
northComp = 0;
printf("Enter a value between 1 and 1000 to set:");
scanf("%d", &northComp);
if ((northComp < 1 )|| (northComp > 1000) ){
printf(" Invalid entry: out of range \n\n");
NCval = 0;
//scanf("%s", Jjunk);
northComp = 0;
}
else NCval = 1;
}
Value =1;
break;
default:printf("Invalid selection\n");
Value =0;
break;
}
}
}
if(FW_Check == 9){ //Up Compensation
Value = 0;
NCval = 0;
while(Value == 0){
printf("Would you like to Modify the Up Compensation value? (Y)es or (N)o \n");
while(!ReadCharNoReturn(&ncOption))
{
Sleep(50);
}
switch (ncOption){
case 'n':
case 'N': upComp = 10; Value = 1; break;
case 'y':
case 'Y': while (NCval == 0){
upComp = 0;
printf("Enter a value between 1 and 1000 to set:");
scanf("%d", &upComp);
if ((upComp < 1 )|| (upComp > 1000) ){
printf(" Invalid entry: out of range \n\n");
NCval = 0;
upComp = 0;
}
else NCval = 1;
}
Value =1;
//return; //remove after validation
break;
default:printf("Invalid selection\n");
Value =0;
break;
}
}
}
DR3_write_buff[0] = 0xDB; //Command identifier for Write to Data-Rate
DR3_write_buff[1] = 0xA8; //Required identifier for Data-Rate Write was C1
DR3_write_buff[2] = 0xB9; //Required identifier for Data-Rate Write was 29
DR3_write_buff[3] = 0x01; //Identifies an update to data rate, 0 == no update
// 1 == change the parameters to new values
// 2 == change and write to non-volatile memory
// 3 == same as 2 but does not send a reply
DR3_write_buff[4] = (Decimation & MSB_MASK) >> 8; //1st byte of Decimation value to write
DR3_write_buff[5] = Decimation & LSB_MASK; //2ond byte of Decimation value to write
DR3_write_buff[6] = byteOne; //First Byte of Data Conditioning Function Selector //0xC0;
DR3_write_buff[7] = byteTwo; //Second Byte of Data Conditioning Function Selector //0x00;
DR3_write_buff[8] = 0x0F; //Gyro and Accel digital filter window size default is 15
DR3_write_buff[9] = 0x1E; //Mag digital filter window size default is 17
if(FW_Check == 9){
DR3_write_buff[10] = (upComp & MSB_MASK) >> 8;
DR3_write_buff[11] = upComp & LSB_MASK;
}else{
