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Add support for writing RTR CAN Frames to the CAN API (#1900)

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This commit is contained in:
Thad House
2019-09-28 16:49:34 -07:00
committed by Peter Johnson
parent 9f740e5905
commit cb54602d49
8 changed files with 100 additions and 0 deletions
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10
wpilibc/src/main/native/include/frc/CAN.h
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@@ -83,6 +83,16 @@ class CAN : public ErrorBase {
void WritePacketRepeating(const uint8_t* data, int length, int apiId,
int repeatMs);
/**
* Write an RTR frame to the CAN device with a specific ID. This ID is 10
* bits. The length by spec must match what is returned by the responding
* device
*
* @param length The length to request (0 to 8)
* @param apiId The API ID to write.
*/
void WriteRTRFrame(int length, int apiId);
/**
* Stop a repeating packet with a specific ID. This ID is 10 bits.
*