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Stick the CanTalonSrx code in, get it to compile

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There's a CANTalon class, but it doesn' do anything yet

Change-Id: Ib397db6fc0376f9de95e5efc42a223700be3dbca
This commit is contained in:
Thomas Clark
2014-11-09 13:25:18 -05:00
committed by James Kuszmaul
parent fb53eea6b2
commit c1f68eb2b0
14 changed files with 1197 additions and 478 deletions
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232
hal/lib/Athena/CAN.cpp
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@@ -1,232 +0,0 @@
#include "HAL/CAN.hpp"
#include <map>
struct CANMessage
{
uint8_t data[8];
};
static std::map<uint32_t, CANMessage> outgoingMessages;
static std::map<uint32_t, CANMessage> incomingMessages;
static const uint32_t kFullMessageIDMask = 0x1fffffff;
/**
* Gets the data from the outgoing hashmap and calls
* CANSessionMux...sendMessage.
*/
void canTxSend(uint32_t arbID, uint8_t length, int32_t period)
{
CANMessage &message = outgoingMessages[arbID];
int32_t status;
FRC_NetworkCommunication_CANSessionMux_sendMessage(
arbID, message.data, length, period, &status);
}
/**
* Updates a field in the outgoing hashmap.
*
* This is called every time an single byte field changes in a message.data,
* such as when a setter on a CAN device is called.
*/
void canTxPackInt8(uint32_t arbID, uint8_t offset, uint8_t value)
{
CANMessage &message = outgoingMessages[arbID];
message.data[offset] = value;
}
/**
* Updates a field in the outgoing hashmap.
*
* This is called every time a short integer field changes in a message.data,
* such as when a setter on a CAN device is called.
*/
void canTxPackInt16(uint32_t arbID, uint8_t offset, uint16_t value)
{
CANMessage &message = outgoingMessages[arbID];
*(uint16_t *)(message.data + offset) = value;
}
/**
* Updates a field in the outgoing hashmap.
*
* This is called every time a long integer field changes in a message.data,
* such as when a setter on a CAN device is called.
*/
void canTxPackInt32(uint32_t arbID, uint8_t offset, uint32_t value)
{
CANMessage &message = outgoingMessages[arbID];
*(uint32_t *)(message.data + offset) = value;
}
/**
* Updates a field in the outgoing hashmap.
*
* This is called every time an 8.8 fixed point field changes in a message,
* such as when a setter on a CAN device is called.
*/
void canTxPackFXP16(uint32_t arbID, uint8_t offset, double value)
{
int16_t raw = value * 255.0;
canTxPackInt16(arbID, offset, raw);
}
/**
* Updates a field in the outgoing hashmap.
*
* This is called every time a 16.16 fixed point field changes in a message,
* such as when a setter on a CAN device is called.
*/
void canTxPackFXP32(uint32_t arbID, uint8_t offset, double value)
{
int32_t raw = value * 65535.0;
canTxPackInt32(arbID, offset, raw);
}
/**
* Unpack a field from the outgoing hashmap.
*
* This is called in getters for configuration data.
*/
uint8_t canTxUnpackInt8(uint32_t arbID, uint8_t offset)
{
CANMessage &message = outgoingMessages[arbID];
return message.data[offset];
}
/**
* Unpack a field from the outgoing hashmap.
*
* This is called in getters for configuration data.
*/
uint16_t canTxUnpackInt16(uint32_t arbID, uint8_t offset)
{
CANMessage &message = outgoingMessages[arbID];
return *reinterpret_cast<uint16_t *>(message.data + offset);
}
/**
* Unpack a field from the outgoing hashmap.
*
* This is called in getters for configuration data.
*/
uint32_t canTxUnpackInt32(uint32_t arbID, uint8_t offset)
{
CANMessage &message = outgoingMessages[arbID];
return *reinterpret_cast<uint32_t *>(message.data + offset);
}
/**
* Unpack a field from the outgoing hashmap.
*
* This is called in getters for configuration data.
*/
double canTxUnpackFXP16(uint32_t arbID, uint8_t offset)
{
int16_t raw = canTxUnpackInt16(arbID, offset);
return raw / 255.0;
}
/**
* Unpack a field from the outgoing hashmap.
*
* This is called in getters for configuration data.
*/
double canTxUnpackFXP32(uint32_t arbID, uint8_t offset)
{
int32_t raw = canTxUnpackInt32(arbID, offset);
return raw / 65535.0;
}
/**
* Get data from CANSessionMux (if it's available) and put it in the incoming
* hashmap.
*
* @return true if there's new data. Otherwise, the last received value should
* still be in the hashmap.
*/
bool canRxReceive(uint32_t arbID)
{
CANMessage &message = incomingMessages[arbID];
uint8_t length;
uint32_t timestamp;
int32_t status;
FRC_NetworkCommunication_CANSessionMux_receiveMessage(
&arbID, kFullMessageIDMask, message.data, &length, &timestamp, &status);
return status != ERR_CANSessionMux_MessageNotFound;
}
/**
* Unpack a field from the incoming hashmap.
*
* This is called in getters for status data.
*/
uint8_t canRxUnpackInt8(uint32_t arbID, uint8_t offset)
{
CANMessage &message = incomingMessages[arbID];
return message.data[offset];
}
/**
* Unpack a field from the incoming hashmap.
*
* This is called in getters for status data.
*/
uint16_t canRxUnpackInt16(uint32_t arbID, uint8_t offset)
{
CANMessage &message = incomingMessages[arbID];
return *reinterpret_cast<uint16_t *>(message.data + offset);
}
/**
* Unpack a field from the incoming hashmap.
*
* This is called in getters for status data.
*/
uint32_t canRxUnpackInt32(uint32_t arbID, uint8_t offset)
{
CANMessage &message = incomingMessages[arbID];
return *reinterpret_cast<uint32_t *>(message.data + offset);
}
/**
* Unpack a field from the incoming hashmap.
*
* This is called in getters for status data.
*/
double canRxUnpackFXP16(uint32_t arbID, uint8_t offset)
{
int16_t raw = canRxUnpackInt16(arbID, offset);
return raw / 255.0;
}
/**
* Unpack a field from the incoming hashmap.
*
* This is called in getters for status data.
*/
double canRxUnpackFXP32(uint32_t arbID, uint8_t offset)
{
int32_t raw = canRxUnpackInt32(arbID, offset);
return raw / 65535.0;
}