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https://github.com/wpilibsuite/allwpilib
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8abbcf53f4
Add all of the most recent headers and .SOs Also make DriverStation work with the new FRC comm protocol, using the new functions for getting status data Change-Id: I1c7fc5f90e72c5fbebf87d9923ce0967ed0ef3bc Initial HAL support for v13 ds Change-Id: I9a7f37ef8e24241598fa3981cb3df30c07c52e0f New ds stuff in the HAL Change-Id: I025910625453baf63f79f49bbc70ba8b2f093f50 New ds stuff in C++ Joysticks are still todo Driver station IO is pulled out Change-Id: I1bb59037c097713bd943e7bef00e12f67f13c3ac New ds works in C++ and Java. Joysticks still todo Change-Id: Ic93f8686856761badc592eceaf05964f52355578 Make joysticks work again with the v13 image protocol Change-Id: Ief7ee95d3398c2262ca07ab7d60499af3c8f60f7
64 lines
2.8 KiB
C++
64 lines
2.8 KiB
C++
// CANSessionMux.h
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//
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// Defines the API for building a CAN Interface Plugin to support
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// PWM-cable-free CAN motor control on FRC robots. This allows you
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// to connect any CAN interface to the secure Jaguar CAN driver.
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//
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#ifndef __CANSessionMux_h__
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#define __CANSessionMux_h__
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#if defined(__vxworks)
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#include <vxWorks.h>
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#else
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#include <stdint.h>
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#endif
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#define CAN_SEND_PERIOD_NO_REPEAT 0
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#define CAN_SEND_PERIOD_STOP_REPEATING -1
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/* Flags in the upper bits of the messageID */
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#define CAN_IS_FRAME_REMOTE 0x80000000
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#define CAN_IS_FRAME_11BIT 0x40000000
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#define ERR_CANSessionMux_InvalidBuffer -44086
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#define ERR_CANSessionMux_MessageNotFound -44087
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#define WARN_CANSessionMux_NoToken 44087
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#define ERR_CANSessionMux_NotAllowed -44088
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#define ERR_CANSessionMux_NotInitialized -44089
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struct tCANStreamMessage{
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uint32_t messageID;
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uint32_t timeStamp;
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uint8_t data[8];
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uint8_t dataSize;
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};
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namespace nCANSessionMux
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{
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void sendMessage_wrapper(uint32_t messageID, const uint8_t *data, uint8_t dataSize, int32_t periodMs, int32_t *status);
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void receiveMessage_wrapper(uint32_t *messageID, uint32_t messageIDMask, uint8_t *data, uint8_t *dataSize, uint32_t *timeStamp, int32_t *status);
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void openStreamSession(uint32_t *sessionHandle, uint32_t messageID, uint32_t messageIDMask, uint32_t maxMessages, int32_t *status);
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void closeStreamSession(uint32_t sessionHandle);
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void readStreamSession(uint32_t sessionHandle, struct tCANStreamMessage *messages, uint32_t messagesToRead, uint32_t *messagesRead, int32_t *status);
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void getCANStatus(float *percentBusUtilization, uint32_t *busOffCount, uint32_t *txFullCount, uint32_t *receiveErrorCount, uint32_t *transmitErrorCount, int32_t *status);
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}
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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void FRC_NetworkCommunication_CANSessionMux_sendMessage(uint32_t messageID, const uint8_t *data, uint8_t dataSize, int32_t periodMs, int32_t *status);
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void FRC_NetworkCommunication_CANSessionMux_receiveMessage(uint32_t *messageID, uint32_t messageIDMask, uint8_t *data, uint8_t *dataSize, uint32_t *timeStamp, int32_t *status);
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void FRC_NetworkCommunication_CANSessionMux_openStreamSession(uint32_t *sessionHandle, uint32_t messageID, uint32_t messageIDMask, uint32_t maxMessages, int32_t *status);
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void FRC_NetworkCommunication_CANSessionMux_closeStreamSession(uint32_t sessionHandle);
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void FRC_NetworkCommunication_CANSessionMux_readStreamSession(uint32_t sessionHandle, struct tCANStreamMessage *messages, uint32_t messagesToRead, uint32_t *messagesRead, int32_t *status);
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void FRC_NetworkCommunication_CANSessionMux_getCANStatus(float *percentBusUtilization, uint32_t *busOffCount, uint32_t *txFullCount, uint32_t *receiveErrorCount, uint32_t *transmitErrorCount, int32_t *status);
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#ifdef __cplusplus
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}
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#endif
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#endif // __CANSessionMux_h__
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