//initialise the usb interface library based on which interface was selected
public static void initialiseCAN()
{
for (int i = 0; i < CAN_Channel.numOfChan; i++)
{
switch (CAN_Channel._INTERFACEs[i])
{
case CAN_Channel.CAN_INTERFACE.KVASER:
if (!KvaserInit)
{
Canlib.canInitializeLibrary();
}
if (CanInit)
{
Close();
}
numOfKvaser++;
canHandle[i] = Canlib.canOpenChannel(numOfKvaser - 1, Canlib.canOPEN_ACCEPT_VIRTUAL);
KvaserInit = true;
//check whether handle was gotten successfully
ErrorControl(handle: canHandle[i], location: "canOpenChannel: initialise()");
switch (CAN_Channel._BAUDRATEs[i])
{
case CAN_Channel.CAN_BAUDRATE._250K:
status = Canlib.canSetBusParams(canHandle[i], Canlib.canBITRATE_250K, 0, 0, 0, 0, 0);
break;
case CAN_Channel.CAN_BAUDRATE._500K:
status = Canlib.canSetBusParams(canHandle[i], Canlib.canBITRATE_500K, 0, 0, 0, 0, 0);
break;
case CAN_Channel.CAN_BAUDRATE._1M:
status = Canlib.canSetBusParams(canHandle[i], Canlib.canBITRATE_1M, 0, 0, 0, 0, 0);
break;
}
ErrorControl(status: status, location: "canSetBusParams: initialise()");
Canlib.canSetBusOutputControl(canHandle[i], Canlib.canDRIVER_NORMAL);
//turn the bus on with a handle to the open channel to write data
Canlib.canBusOn(canHandle[i]);
break;
case CAN_Channel.CAN_INTERFACE.PEAK:
if (CanInit)
{
Close();
}
numOfPeak++;
if (numOfPeak == 1)
{
canHandle[i] = PCANBasic.PCAN_USBBUS1;
}
if (numOfPeak == 2)
{
canHandle[i] = PCANBasic.PCAN_USBBUS2;
}
switch (CAN_Channel._BAUDRATEs[i])
{
case CAN_Channel.CAN_BAUDRATE._250K:
pCANBaudrate[numOfPeak - 1] = TPCANBaudrate.PCAN_BAUD_250K;
break;
case CAN_Channel.CAN_BAUDRATE._500K:
pCANBaudrate[numOfPeak - 1] = TPCANBaudrate.PCAN_BAUD_500K;
break;
case CAN_Channel.CAN_BAUDRATE._1M:
pCANBaudrate[numOfPeak - 1] = TPCANBaudrate.PCAN_BAUD_1M;
break;
}
if (PCANBasic.Initialize((ushort)canHandle[i], pCANBaudrate[numOfPeak - 1]) == TPCANStatus.PCAN_ERROR_INITIALIZE)
{
ErrorControl(-1, location: "PCANBasic.initialize: initialise()");
return;
}
break;
}
}
CanInit = true;
numOfPeak = 0;
numOfKvaser = 0;
}
