diff --git a/hal/src/main/native/athena/ctre/CtreCanNode.cpp b/hal/src/main/native/athena/ctre/CtreCanNode.cpp index 2eb42ab654..8772a4715e 100644 --- a/hal/src/main/native/athena/ctre/CtreCanNode.cpp +++ b/hal/src/main/native/athena/ctre/CtreCanNode.cpp @@ -1,6 +1,6 @@ #pragma GCC diagnostic ignored "-Wmissing-field-initializers" -#include "ctre/CtreCanNode.h" +#include "CtreCanNode.h" #include "FRC_NetworkCommunication/CANSessionMux.h" #include // memset diff --git a/hal/src/main/native/include/ctre/CtreCanNode.h b/hal/src/main/native/athena/ctre/CtreCanNode.h similarity index 100% rename from hal/src/main/native/include/ctre/CtreCanNode.h rename to hal/src/main/native/athena/ctre/CtreCanNode.h diff --git a/hal/src/main/native/athena/ctre/PCM.cpp b/hal/src/main/native/athena/ctre/PCM.cpp index 26767432f5..ab05212aca 100644 --- a/hal/src/main/native/athena/ctre/PCM.cpp +++ b/hal/src/main/native/athena/ctre/PCM.cpp @@ -1,6 +1,6 @@ #pragma GCC diagnostic ignored "-Wmissing-field-initializers" -#include "ctre/PCM.h" +#include "PCM.h" #include "FRC_NetworkCommunication/CANSessionMux.h" #include // memset /* This can be a constant, as long as nobody needs to update solenoids within diff --git a/hal/src/main/native/include/ctre/PCM.h b/hal/src/main/native/athena/ctre/PCM.h similarity index 100% rename from hal/src/main/native/include/ctre/PCM.h rename to hal/src/main/native/athena/ctre/PCM.h diff --git a/hal/src/main/native/athena/ctre/PDP.cpp b/hal/src/main/native/athena/ctre/PDP.cpp index 127b1dce19..61c6edb487 100644 --- a/hal/src/main/native/athena/ctre/PDP.cpp +++ b/hal/src/main/native/athena/ctre/PDP.cpp @@ -1,4 +1,4 @@ -#include "ctre/PDP.h" +#include "PDP.h" #include "FRC_NetworkCommunication/CANSessionMux.h" //CAN Comm #include // memset diff --git a/hal/src/main/native/include/ctre/PDP.h b/hal/src/main/native/athena/ctre/PDP.h similarity index 100% rename from hal/src/main/native/include/ctre/PDP.h rename to hal/src/main/native/athena/ctre/PDP.h diff --git a/hal/src/main/native/include/ctre/ctre.h b/hal/src/main/native/athena/ctre/ctre.h similarity index 94% rename from hal/src/main/native/include/ctre/ctre.h rename to hal/src/main/native/athena/ctre/ctre.h index a0f99b3071..89c5c4dd4f 100644 --- a/hal/src/main/native/include/ctre/ctre.h +++ b/hal/src/main/native/athena/ctre/ctre.h @@ -52,6 +52,4 @@ typedef enum { CTR_BufferFull, //!< Caller attempted to insert data into a buffer that is full. }CTR_Code; -#include "ctre_frames.h" - #endif /* CTRE_H */ diff --git a/hal/src/main/native/include/ctre/ctre_frames.h b/hal/src/main/native/include/ctre/ctre_frames.h deleted file mode 100644 index f131538fa9..0000000000 --- a/hal/src/main/native/include/ctre/ctre_frames.h +++ /dev/null @@ -1,243 +0,0 @@ -/** - * @file ctre_frames.h - * CAN Encoder/Decoder Structures for CTRE devices. - */ -#ifndef CTRE_FRAMES_H -#define CTRE_FRAMES_H - -/** control */ -typedef struct _TALON_Control_1_General_10ms_t { - unsigned TokenH:8; - unsigned TokenL:8; - unsigned DemandH:8; - unsigned DemandM:8; - unsigned DemandL:8; - unsigned ProfileSlotSelect:1; - unsigned FeedbackDeviceSelect:4; - unsigned OverrideLimitSwitchEn:3; - unsigned RevFeedbackSensor:1; - unsigned RevMotDuringCloseLoopEn:1; - unsigned OverrideBrakeType:2; - unsigned ModeSelect:4; - unsigned RampThrottle:8; -} TALON_Control_1_General_10ms_t ; - -/* TALON_Control_2_Rates_OneShot_t removed since it has been deprecated */ - -typedef struct _TALON_Control_3_ClearFlags_OneShot_t { - unsigned ZeroFeedbackSensor:1; - unsigned ClearStickyFaults:1; -} TALON_Control_3_ClearFlags_OneShot_t ; - -typedef struct _TALON_Control_5_General_10ms_t { - unsigned ThrottleBump_h3:3; - unsigned ReservedZero:5; - unsigned ThrottleBump_l8:8; - unsigned DemandH:8; - unsigned DemandM:8; - unsigned DemandL:8; - unsigned ProfileSlotSelect:1; - unsigned FeedbackDeviceSelect:4; - unsigned OverrideLimitSwitchEn:3; - unsigned RevFeedbackSensor:1; - unsigned RevMotDuringCloseLoopEn:1; - unsigned OverrideBrakeType:2; - unsigned ModeSelect:4; - unsigned RampThrottle:8; -} TALON_Control_5_General_10ms_t ; - -typedef struct _TALON_Control_6_MotProfAddTrajPoint_t { - unsigned huffCode:2; //!< Compression coding - unsigned NextPt_VelOnly:1; - unsigned NextPt_IsLast:1; - unsigned reserved0:2; - unsigned NextPt_ZeroPosition:1; - unsigned NextPt_ProfileSlotSelect:1; - unsigned Idx:4; - unsigned reserved1:4; - unsigned restOfFrame0:8; - unsigned restOfFrame1:8; - unsigned restOfFrame2:8; - unsigned restOfFrame3:8; - unsigned restOfFrame4:8; - unsigned restOfFrame5:8; -} TALON_Control_6_MotProfAddTrajPoint_t; - -typedef struct _TALON_Control_6_MotProfAddTrajPoint_huff0_t { - unsigned huffCode_expect_0:2; //!< Compression coding - unsigned NextPt_VelOnly:1; - unsigned NextPt_IsLast:1; - unsigned reserved0:2; - unsigned NextPt_ZeroPosition:1; - unsigned NextPt_ProfileSlotSelect:1; - unsigned Idx:4; - unsigned reserved1:4; - unsigned NextPt_DurationMs:8; - unsigned NextPt_VelocityH:8; - unsigned NextPt_VelocityL:8; - unsigned NextPt_PositionH:8; - unsigned NextPt_PositionM:8; - unsigned NextPt_PositionL:8; -} TALON_Control_6_MotProfAddTrajPoint_huff0_t; - -typedef struct _TALON_Control_6_MotProfAddTrajPoint_huff1_t { - unsigned huffCode_expect_1:2; //!< Compression coding - unsigned NextPt_VelOnly:1; - unsigned NextPt_IsLast:1; - unsigned reserved0:2; - unsigned NextPt_ZeroPosition:1; - unsigned NextPt_ProfileSlotSelect:1; - unsigned Idx:4; - unsigned reserved1:4; - unsigned NextPt_DurationMs:8; - unsigned NextPt_SameVelocityH:8; - unsigned NextPt_SameVelocityL:8; - unsigned NextPt_DeltaPositionH:8; - unsigned NextPt_DeltaPositionL:8; - unsigned NextPt_Count:8; -} TALON_Control_6_MotProfAddTrajPoint_huff1_t; - -/** status */ -typedef struct _TALON_Status_1_General_10ms_t { - unsigned CloseLoopErrH:8; - unsigned CloseLoopErrM:8; - unsigned CloseLoopErrL:8; - unsigned AppliedThrottle_h3:3; - unsigned Fault_RevSoftLim:1; - unsigned Fault_ForSoftLim:1; - unsigned TokLocked:1; - unsigned LimitSwitchClosedRev:1; - unsigned LimitSwitchClosedFor:1; - unsigned AppliedThrottle_l8:8; - unsigned ModeSelect_h1:1; - unsigned FeedbackDeviceSelect:4; - unsigned LimitSwitchEn:3; - unsigned Fault_HardwareFailure:1; - unsigned Fault_RevLim:1; - unsigned Fault_ForLim:1; - unsigned Fault_UnderVoltage:1; - unsigned Fault_OverTemp:1; - unsigned ModeSelect_b3:3; - unsigned TokenSeed:8; -} TALON_Status_1_General_10ms_t ; -typedef struct _TALON_Status_2_Feedback_20ms_t { - unsigned SensorPositionH:8; - unsigned SensorPositionM:8; - unsigned SensorPositionL:8; - unsigned SensorVelocityH:8; - unsigned SensorVelocityL:8; - unsigned Current_h8:8; - unsigned StckyFault_RevSoftLim:1; - unsigned StckyFault_ForSoftLim:1; - unsigned StckyFault_RevLim:1; - unsigned StckyFault_ForLim:1; - unsigned StckyFault_UnderVoltage:1; - unsigned StckyFault_OverTemp:1; - unsigned Current_l2:2; - unsigned reserved:3; - unsigned Cmd5Allowed:1; - unsigned VelDiv4:1; - unsigned PosDiv8:1; - unsigned ProfileSlotSelect:1; - unsigned BrakeIsEnabled:1; -} TALON_Status_2_Feedback_20ms_t ; -typedef struct _TALON_Status_3_Enc_100ms_t { - unsigned EncPositionH:8; - unsigned EncPositionM:8; - unsigned EncPositionL:8; - unsigned EncVelH:8; - unsigned EncVelL:8; - unsigned EncIndexRiseEventsH:8; - unsigned EncIndexRiseEventsL:8; - unsigned reserved:3; - unsigned VelDiv4:1; - unsigned PosDiv8:1; - unsigned QuadIdxpin:1; - unsigned QuadBpin:1; - unsigned QuadApin:1; -} TALON_Status_3_Enc_100ms_t ; -typedef struct _TALON_Status_4_AinTempVbat_100ms_t { - unsigned AnalogInWithOvH:8; - unsigned AnalogInWithOvM:8; - unsigned AnalogInWithOvL:8; - unsigned AnalogInVelH:8; - unsigned AnalogInVelL:8; - unsigned Temp:8; - unsigned BatteryV:8; - unsigned reserved:6; - unsigned VelDiv4:1; - unsigned PosDiv8:1; -} TALON_Status_4_AinTempVbat_100ms_t ; -typedef struct _TALON_Status_5_Startup_OneShot_t { - unsigned ResetCountH:8; - unsigned ResetCountL:8; - unsigned ResetFlagsH:8; - unsigned ResetFlagsL:8; - unsigned FirmVersH:8; - unsigned FirmVersL:8; -} TALON_Status_5_Startup_OneShot_t ; -typedef struct _TALON_Status_6_Eol_t { - unsigned currentAdcUncal_h2:2; - unsigned reserved1:5; - unsigned SpiCsPin_GadgeteerPin6:1; - unsigned currentAdcUncal_l8:8; - unsigned tempAdcUncal_h2:2; - unsigned reserved2:6; - unsigned tempAdcUncal_l8:8; - unsigned vbatAdcUncal_h2:2; - unsigned reserved3:6; - unsigned vbatAdcUncal_l8:8; - unsigned analogAdcUncal_h2:2; - unsigned reserved4:6; - unsigned analogAdcUncal_l8:8; -} TALON_Status_6_Eol_t ; -typedef struct _TALON_Status_7_Debug_200ms_t { - unsigned TokenizationFails_h8:8; - unsigned TokenizationFails_l8:8; - unsigned LastFailedToken_h8:8; - unsigned LastFailedToken_l8:8; - unsigned TokenizationSucceses_h8:8; - unsigned TokenizationSucceses_l8:8; -} TALON_Status_7_Debug_200ms_t ; -typedef struct _TALON_Status_8_PulseWid_100ms_t { - unsigned PulseWidPositionH:8; - unsigned PulseWidPositionM:8; - unsigned PulseWidPositionL:8; - unsigned reserved:6; - unsigned VelDiv4:1; - unsigned PosDiv8:1; - unsigned PeriodUsM8:8; - unsigned PeriodUsL8:8; - unsigned PulseWidVelH:8; - unsigned PulseWidVelL:8; -} TALON_Status_8_PulseWid_100ms_t ; -typedef struct _TALON_Status_9_MotProfBuffer_100ms_t { - unsigned ActTraj_IsValid:1; //!< '1' if other ActTraj_* signals are valid. '0' if there is no active trajectory pt. - unsigned ActTraj_ProfileSlotSelect:1; - unsigned ActTraj_VelOnly:1; - unsigned ActTraj_IsLast:1; - unsigned OutputType:2; - unsigned HasUnderrun:1; - unsigned IsUnderrun:1; - unsigned NextID:4; - unsigned reserved1:3; - unsigned BufferIsFull:1; - unsigned Count:8; - unsigned ActTraj_VelocityH:8; - unsigned ActTraj_VelocityL:8; - unsigned ActTraj_PositionH:8; - unsigned ActTraj_PositionM:8; - unsigned ActTraj_PositionL:8; -} TALON_Status_9_MotProfBuffer_100ms_t ; -typedef struct _TALON_Param_Request_t { - unsigned ParamEnum:8; -} TALON_Param_Request_t ; -typedef struct _TALON_Param_Response_t { - unsigned ParamEnum:8; - unsigned ParamValueL:8; - unsigned ParamValueML:8; - unsigned ParamValueMH:8; - unsigned ParamValueH:8; -} TALON_Param_Response_t ; - -#endif /* CTRE_FRAMES_H */