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Moves HAL cpp headers from root to HAL directory (#174)

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Could not include the ctre and NetComm folders, as those would require
changing ctre dependancies. Also removes a duplicated FRCComm header
that was not needed.
This commit is contained in:
Thad House
2016-07-14 00:17:29 -07:00
committed by Peter Johnson
parent 20c6525b1d
commit dffaa0abb9
27 changed files with 124 additions and 235 deletions
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19
hal/include/FRC_NetworkCommunication/AICalibration.h
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@@ -1,19 +0,0 @@
#ifndef __AICalibration_h__
#define __AICalibration_h__
#include <stdint.h>
#ifdef __cplusplus
extern "C"
{
#endif
uint32_t FRC_NetworkCommunication_nAICalibration_getLSBWeight(const uint32_t aiSystemIndex, const uint32_t channel, int32_t *status);
int32_t FRC_NetworkCommunication_nAICalibration_getOffset(const uint32_t aiSystemIndex, const uint32_t channel, int32_t *status);
#ifdef __cplusplus
}
#endif
#endif // __AICalibration_h__

82
hal/include/FRC_NetworkCommunication/CANInterfacePlugin.h
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@@ -1,82 +0,0 @@
// CANInterfacePlugin.h
//
// Defines the API for building a CAN Interface Plugin to support
// PWM-cable-free CAN motor control on FRC robots. This allows you
// to connect any CAN interface to the secure Jaguar CAN driver.
//
#ifndef __CANInterfacePlugin_h__
#define __CANInterfacePlugin_h__
#include <stdint.h>
#define CAN_IS_FRAME_REMOTE 0x80000000
#define CAN_IS_FRAME_11BIT 0x40000000
#define CAN_29BIT_MESSAGE_ID_MASK 0x1FFFFFFF
#define CAN_11BIT_MESSAGE_ID_MASK 0x000007FF
class CANInterfacePlugin
{
public:
CANInterfacePlugin() {}
virtual ~CANInterfacePlugin() {}
/**
* This entry-point of the CANInterfacePlugin is passed a message that the driver needs to send to
* a device on the CAN bus.
*
* This function may be called from multiple contexts and must therefore be reentrant.
*
* @param messageID The 29-bit CAN message ID in the lsbs. The msb can indicate a remote frame.
* @param data A pointer to a buffer containing between 0 and 8 bytes to send with the message. May be NULL if dataSize is 0.
* @param dataSize The number of bytes to send with the message.
* @return Return any error code. On success return 0.
*/
virtual int32_t sendMessage(uint32_t messageID, const uint8_t *data, uint8_t dataSize) = 0;
/**
* This entry-point of the CANInterfacePlugin is passed buffers which should be populated with
* any received messages from devices on the CAN bus.
*
* This function is always called by a single task in the Jaguar driver, so it need not be reentrant.
*
* This function is expected to block for some period of time waiting for a message from the CAN bus.
* It may timeout periodically (returning non-zero to indicate no message was populated) to allow for
* shutdown and unloading of the plugin.
*
* @param messageID A reference to be populated with a received 29-bit CAN message ID in the lsbs.
* @param data A pointer to a buffer of 8 bytes to be populated with data received with the message.
* @param dataSize A reference to be populated with the size of the data received (0 - 8 bytes).
* @return This should return 0 if a message was populated, non-0 if no message was not populated.
*/
virtual int32_t receiveMessage(uint32_t &messageID, uint8_t *data, uint8_t &dataSize) = 0;
#if defined(__linux)
/**
* This entry-point of the CANInterfacePlugin returns status of the CAN bus.
*
* This function may be called from multiple contexts and must therefore be reentrant.
*
* This function will return detailed hardware status if available for diagnostics of the CAN interface.
*
* @param busOffCount The number of times that sendMessage failed with a busOff error indicating that messages
* are not successfully transmitted on the bus.
* @param txFullCount The number of times that sendMessage failed with a txFifoFull error indicating that messages
* are not successfully received by any CAN device.
* @param receiveErrorCount The count of receive errors as reported by the CAN driver.
* @param transmitErrorCount The count of transmit errors as reported by the CAN driver.
* @return This should return 0 if all status was retrieved successfully or an error code if not.
*/
virtual int32_t getStatus(uint32_t &busOffCount, uint32_t &txFullCount, uint32_t &receiveErrorCount, uint32_t &transmitErrorCount) {return 0;}
#endif
};
/**
* This function allows you to register a CANInterfacePlugin to provide access a CAN bus.
*
* @param interface A pointer to an object that inherits from CANInterfacePlugin and implements
* the pure virtual interface. If NULL, unregister the current plugin.
*/
void FRC_NetworkCommunication_CANSessionMux_registerInterface(CANInterfacePlugin* interface);
#endif // __CANInterfacePlugin_h__