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[hal] Expose CAN timestamp base clock (#5357)

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This commit is contained in:
Ryan Blue
2023-06-07 12:54:03 -04:00
committed by GitHub
parent 91cbcea841
commit 1c00a52b67
9 changed files with 81 additions and 28 deletions
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2
hal/src/main/java/edu/wpi/first/hal/CANAPIJNI.java
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@@ -5,6 +5,8 @@
package edu.wpi.first.hal;
public class CANAPIJNI extends JNIWrapper {
public static native long getCANPacketBaseTime();
public static native int initializeCAN(int manufacturer, int deviceId, int deviceType);
public static native void cleanCAN(int handle);

7
hal/src/main/java/edu/wpi/first/hal/CANData.java
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@@ -6,16 +6,19 @@ package edu.wpi.first.hal;
@SuppressWarnings("MemberName")
public class CANData {
/** Contents of the CAN frame. */
public final byte[] data = new byte[8];
/** Length of the frame in bytes. */
public int length;
/** CAN frame timestamp in milliseconds. */
public long timestamp;
/**
* API used from JNI to set the data.
*
* @param length Length of packet in bytes.
* @param timestamp CAN frame timestamp in microseconds.
* @return Buffer containing CAN frame.
* @param timestamp CAN frame timestamp in milliseconds.
* @return Buffer to place CAN frame data in.
*/
@SuppressWarnings("PMD.MethodReturnsInternalArray")
public byte[] setData(int length, long timestamp) {