void Gyro_Check_ID()
{
uint8_t devId;
int errCount = 0;
devId = Gyro_Read_Register(0xF, 1); // get device ID
while (devId != 0b11010011) { // datasheet says it should be 0xD3
__delay_us(100);
if (++errCount == 10) // Attempt reading up to 10 times
Display_Error(ErrGyro);
devId = Gyro_Read_Register(0x0, 1);
}
}
/*************************************************************************
**
** Function : canOpen_driver
**
** Description : Initializes the Control and Message Channels
** Parameters : s_BOARD *board - pointer to board information
** Returnvalue : (CAN_HANDLE)board - handle for CAN controller
**
*************************************************************************/
CAN_HANDLE __stdcall canOpen_driver(s_BOARD *board)
{
HANDLE hEnumerator; // enumerator handle
VCIDEVICEINFO VCIDeviceInfo; // device info
HRESULT hResult;
int index, boardNum;
BOOL bResult;
struct sLook_up_table sBitRate_lookup[9] = {
{"10K",0x31,0x1C},
{"20K",0x18,0x1C},
{"50K",0x09,0x1C},
{"100K",0x04,0x1C},
{"125K",0x03,0x1C},
{"250K",0x01,0x1C},
{"500K",0x00,0x1C},
{"800K",0x00,0x16},
{"1M",0x00,0x14}};
struct sInterface_lookup_table sInterfaceList[4]={
{"vcan0",0},
{"vcan1",1},
{"vcan2",2},
{"vcan3",3}};
for (boardNum =0 ; boardNum<4;boardNum++) // determine canline selected
{
if (strcmp(sInterfaceList[boardNum].board_num,board->busname )==0)
break;
}
for (index = 0; index < 10; ++index) // determine baudrate
{
if (strcmp(sBitRate_lookup[index].baud_rate,board->baudrate)==0)
break;
}
if (index == 9)
{
MSG_ERR_DRV("IXXAT::open: The given baudrate %S is invalid.", baud_rate);
return NULL ;
}
/*
** The following can be used when the client has multiple CAN interfaces to slect from, and does not wish to use the
** selection dialog box
/*
/*
hResult= vciEnumDeviceOpen(&hEnumerator);
// This loop will increment the index of the device list and returns the decription of the CAN line chose by user
if (hResult== VCI_OK)
{
for (index1=0; index1 <= sInterfaceList[boardNum].num; index1++){
hResult=vciEnumDeviceNext(hEnumerator, &VCIDeviceInfo);
}
}
printf("Device Selected: %s %s\n",VCIDeviceInfo.Manufacturer, VCIDeviceInfo.Description);
if (hResult== VCI_OK)
hResult=vciEnumDeviceClose(hEnumerator);
if (hResult== VCI_OK)
hResult= vciDeviceOpen(&VCIDeviceInfo.VciObjectId, &hDevice);
*/
/*
** Display Interface Selection Dialog Box
*/
hResult= vciDeviceOpenDlg(0, &hDevice);
/*
** Establish and activate the message Channel
*/
if (hResult== VCI_OK)
hResult= canChannelOpen(hDevice, 0, TRUE, &hCanChn);
// Select Rx fifo size, Rx threshold, Tx fifo size, Tx threshold
if (hResult== VCI_OK)
hResult=canChannelInitialize( hCanChn, 1024, 1,128,1);
if (hResult== VCI_OK)
hResult=canChannelActivate(hCanChn, TRUE);
/*
** Establish and Activate the Contol Channel
*/
if (hResult== VCI_OK)
hResult=canControlOpen(hDevice, 0, &hCanCtl);
// Select 11 or 29 bit IDs, Select operating mode
if (hResult== VCI_OK)
hResult=canControlInitialize( hCanCtl, CAN_OPMODE_STANDARD | CAN_OPMODE_ERRFRAME, sBitRate_lookup[index].bt0, sBitRate_lookup[index].bt1 );
// With VCI it is possible to filter IDs, See VCI V3 manual. The following will accept all IDs
if (hResult== VCI_OK)
hResult= canControlSetAccFilter( hCanCtl, FALSE, CAN_ACC_CODE_ALL, CAN_ACC_MASK_ALL);
if (hResult== VCI_OK)
hResult=canControlStart(hCanCtl, TRUE);
if (hResult!=VCI_OK)
{
Display_Error(hResult);
return NULL;
}
/*
** Create timer to poll bus status
*/
bResult= CreateTimerQueueTimer(
& hTimerHandle,
NULL,
TimerProc1, // Callback function
NULL,
0,
STATUS_POLLING_CYCLE,
WT_EXECUTEINIOTHREAD
);
return (CAN_HANDLE)board;
}
