Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[hal, wpilib] Rewrite CAN APIs (#7798)

Browse Source
This commit is contained in:
Thad House
2025-02-25 19:07:01 -08:00
committed by GitHub
parent b39744b562
commit baa20fa239
107 changed files with 1447 additions and 1379 deletions
Download Patch File Download Diff File Expand all files Collapse all files

58
hal/src/main/native/systemcore/CTREPCM.cpp
View File

@@ -145,33 +145,37 @@ void InitializeCTREPCM() {
}
} // namespace hal::init
#define READ_PACKET(type, frame, failureValue) \
auto pcm = pcmHandles->Get(handle); \
if (pcm == nullptr) { \
*status = HAL_HANDLE_ERROR; \
return failureValue; \
} \
type pcmStatus; \
int32_t length = 0; \
uint64_t receivedTimestamp = 0; \
HAL_ReadCANPacketTimeout(pcm->canHandle, frame, pcmStatus.data, &length, \
&receivedTimestamp, TimeoutMs, status); \
if (*status != 0) { \
return failureValue; \
}
#define READ_PACKET(type, frame, failureValue) \
auto pcm = pcmHandles->Get(handle); \
if (pcm == nullptr) { \
*status = HAL_HANDLE_ERROR; \
return failureValue; \
} \
HAL_CANReceiveMessage message; \
type pcmStatus; \
HAL_ReadCANPacketTimeout(pcm->canHandle, frame, &message, TimeoutMs, \
status); \
if (*status != 0) { \
return failureValue; \
} \
std::memcpy(pcmStatus.data, message.message.data, sizeof(pcmStatus.data));
#define READ_STATUS(failureValue) READ_PACKET(PcmStatus, Status1, failureValue)
#define READ_SOL_FAULTS(failureValue) \
READ_PACKET(PcmStatusFault, StatusSolFaults, failureValue)
static void SendControl(PCM* pcm, int32_t* status) {
HAL_WriteCANPacketRepeating(pcm->canHandle, pcm->control.data, 8, Control1,
SendPeriod, status);
HAL_CANMessage message;
std::memset(&message, 0, sizeof(message));
message.dataSize = 8;
std::memcpy(message.data, pcm->control.data, 8);
HAL_WriteCANPacketRepeating(pcm->canHandle, Control1, &message, SendPeriod,
status);
}
extern "C" {
HAL_CTREPCMHandle HAL_InitializeCTREPCM(int32_t module,
HAL_CTREPCMHandle HAL_InitializeCTREPCM(int32_t busId, int32_t module,
const char* allocationLocation,
int32_t* status) {
hal::init::CheckInit();
@@ -190,7 +194,8 @@ HAL_CTREPCMHandle HAL_InitializeCTREPCM(int32_t module,
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
}
pcm->canHandle = HAL_InitializeCAN(manufacturer, module, deviceType, status);
pcm->canHandle =
HAL_InitializeCAN(busId, manufacturer, module, deviceType, status);
if (*status != 0) {
pcmHandles->Free(handle);
return HAL_kInvalidHandle;
@@ -344,9 +349,11 @@ void HAL_ClearAllCTREPCMStickyFaults(HAL_CTREPCMHandle handle,
*status = HAL_HANDLE_ERROR;
return;
}
uint8_t controlData[] = {0, 0, 0, 0x80};
HAL_WriteCANPacket(pcm->canHandle, controlData, sizeof(controlData), Control2,
status);
HAL_CANMessage message;
std::memset(&message, 0, sizeof(message));
message.dataSize = 4;
message.data[3] = 0x80;
HAL_WriteCANPacket(pcm->canHandle, Control2, &message, status);
}
void HAL_FireCTREPCMOneShot(HAL_CTREPCMHandle handle, int32_t index,
@@ -397,11 +404,16 @@ void HAL_SetCTREPCMOneShotDuration(HAL_CTREPCMHandle handle, int32_t index,
return;
}
HAL_CANMessage message;
std::memset(&message, 0, sizeof(message));
message.dataSize = 8;
std::scoped_lock lock{pcm->lock};
pcm->oneShot.sol10MsPerUnit[index] = (std::min)(
static_cast<uint32_t>(durMs) / 10, static_cast<uint32_t>(0xFF));
HAL_WriteCANPacketRepeating(pcm->canHandle, pcm->oneShot.sol10MsPerUnit, 8,
Control3, SendPeriod, status);
std::memcpy(message.data, pcm->oneShot.sol10MsPerUnit, 8);
HAL_WriteCANPacketRepeating(pcm->canHandle, Control3, &message, SendPeriod,
status);
}
} // extern "C"