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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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28
hal/src/main/native/sim/CAN.cpp Normal file
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@@ -0,0 +1,28 @@
/*----------------------------------------------------------------------------*/
/* 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"
extern "C" {
void HAL_CAN_SendMessage(uint32_t messageID, const uint8_t* data,
uint8_t dataSize, int32_t periodMs, int32_t* status) {}
void HAL_CAN_ReceiveMessage(uint32_t* messageID, uint32_t messageIDMask,
uint8_t* data, uint8_t* dataSize,
uint32_t* timeStamp, int32_t* status) {}
void HAL_CAN_OpenStreamSession(uint32_t* sessionHandle, uint32_t messageID,
uint32_t messageIDMask, uint32_t maxMessages,
int32_t* status) {}
void HAL_CAN_CloseStreamSession(uint32_t sessionHandle) {}
void HAL_CAN_ReadStreamSession(uint32_t sessionHandle,
struct HAL_CANStreamMessage* messages,
uint32_t messagesToRead, uint32_t* messagesRead,
int32_t* status) {}
void HAL_CAN_GetCANStatus(float* percentBusUtilization, uint32_t* busOffCount,
uint32_t* txFullCount, uint32_t* receiveErrorCount,
uint32_t* transmitErrorCount, int32_t* status) {}
}

9
hal/src/main/native/sim/ErrorsInternal.h
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@@ -20,15 +20,6 @@ typedef enum {
// full.
} CTR_Code;
// CAN Errors
#define ERR_CANSessionMux_InvalidBuffer -44086
#define ERR_CANSessionMux_MessageNotFound -44087
#define WARN_CANSessionMux_NoToken 44087
#define ERR_CANSessionMux_NotAllowed -44088
#define ERR_CANSessionMux_NotInitialized -44089
#define ERR_CANSessionMux_SessionOverrun 44050
// VISA Error
#define _VI_ERROR (-2147483647L - 1)
#define VI_ERROR_SYSTEM_ERROR (_VI_ERROR + 0x3FFF0000L)

10
hal/src/main/native/sim/HAL.cpp
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@@ -102,15 +102,15 @@ const char* HAL_GetErrorMessage(int32_t code) {
return PARAMETER_OUT_OF_RANGE_MESSAGE;
case HAL_COUNTER_NOT_SUPPORTED:
return HAL_COUNTER_NOT_SUPPORTED_MESSAGE;
case ERR_CANSessionMux_InvalidBuffer:
case HAL_ERR_CANSessionMux_InvalidBuffer:
return ERR_CANSessionMux_InvalidBuffer_MESSAGE;
case ERR_CANSessionMux_MessageNotFound:
case HAL_ERR_CANSessionMux_MessageNotFound:
return ERR_CANSessionMux_MessageNotFound_MESSAGE;
case WARN_CANSessionMux_NoToken:
case HAL_WARN_CANSessionMux_NoToken:
return WARN_CANSessionMux_NoToken_MESSAGE;
case ERR_CANSessionMux_NotAllowed:
case HAL_ERR_CANSessionMux_NotAllowed:
return ERR_CANSessionMux_NotAllowed_MESSAGE;
case ERR_CANSessionMux_NotInitialized:
case HAL_ERR_CANSessionMux_NotInitialized:
return ERR_CANSessionMux_NotInitialized_MESSAGE;
case VI_ERROR_SYSTEM_ERROR:
return VI_ERROR_SYSTEM_ERROR_MESSAGE;