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Adds a HAL wrapper around the CAN API's (#623)

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Can someday be added to the simulator. Removes the last use case for the
ni headers directly.
This commit is contained in:
Thad House
2017-09-07 21:40:30 -07:00
committed by Peter Johnson
parent c572e6a307
commit 2249a8bac0
7 changed files with 148 additions and 20 deletions
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49
hal/src/main/native/athena/CAN.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2016-2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "HAL/CAN.h"
#include <FRC_NetworkCommunication/CANSessionMux.h>
extern "C" {
void HAL_CAN_SendMessage(uint32_t messageID, const uint8_t* data,
uint8_t dataSize, int32_t periodMs, int32_t* status) {
FRC_NetworkCommunication_CANSessionMux_sendMessage(messageID, data, dataSize,
periodMs, status);
}
void HAL_CAN_ReceiveMessage(uint32_t* messageID, uint32_t messageIDMask,
uint8_t* data, uint8_t* dataSize,
uint32_t* timeStamp, int32_t* status) {
FRC_NetworkCommunication_CANSessionMux_receiveMessage(
messageID, messageIDMask, data, dataSize, timeStamp, status);
}
void HAL_CAN_OpenStreamSession(uint32_t* sessionHandle, uint32_t messageID,
uint32_t messageIDMask, uint32_t maxMessages,
int32_t* status) {
FRC_NetworkCommunication_CANSessionMux_openStreamSession(
sessionHandle, messageID, messageIDMask, maxMessages, status);
}
void HAL_CAN_CloseStreamSession(uint32_t sessionHandle) {
FRC_NetworkCommunication_CANSessionMux_closeStreamSession(sessionHandle);
}
void HAL_CAN_ReadStreamSession(uint32_t sessionHandle,
struct HAL_CANStreamMessage* messages,
uint32_t messagesToRead, uint32_t* messagesRead,
int32_t* status) {
FRC_NetworkCommunication_CANSessionMux_readStreamSession(
sessionHandle, reinterpret_cast<tCANStreamMessage*>(messages),
messagesToRead, messagesRead, status);
}
void HAL_CAN_GetCANStatus(float* percentBusUtilization, uint32_t* busOffCount,
uint32_t* txFullCount, uint32_t* receiveErrorCount,
uint32_t* transmitErrorCount, int32_t* status) {
FRC_NetworkCommunication_CANSessionMux_getCANStatus(
percentBusUtilization, busOffCount, txFullCount, receiveErrorCount,
transmitErrorCount, status);
}
}