mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
ad3e2d7d3b
Also fix the return type of HAL_IsNewControlData() and HAL_MatchType's type. Since UsageReporting is intended to be namespaced, it is hidden when this is being used in C. Fixes: #476 Closes: #535 Ref: #1122
192 lines
6.4 KiB
C
192 lines
6.4 KiB
C
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#pragma once
|
|
|
|
#include <stdint.h>
|
|
|
|
#include "HAL/Types.h"
|
|
|
|
// clang-format off
|
|
/**
|
|
* The CAN device type.
|
|
*
|
|
* Teams should use HAL_CAN_Dev_kMiscellaneous
|
|
*/
|
|
HAL_ENUM(HAL_CANDeviceType) {
|
|
HAL_CAN_Dev_kBroadcast = 0,
|
|
HAL_CAN_Dev_kRobotController = 1,
|
|
HAL_CAN_Dev_kMotorController = 2,
|
|
HAL_CAN_Dev_kRelayController = 3,
|
|
HAL_CAN_Dev_kGyroSensor = 4,
|
|
HAL_CAN_Dev_kAccelerometer = 5,
|
|
HAL_CAN_Dev_kUltrasonicSensor = 6,
|
|
HAL_CAN_Dev_kGearToothSensor = 7,
|
|
HAL_CAN_Dev_kPowerDistribution = 8,
|
|
HAL_CAN_Dev_kPneumatics = 9,
|
|
HAL_CAN_Dev_kMiscellaneous = 10,
|
|
HAL_CAN_Dev_kFirmwareUpdate = 31
|
|
};
|
|
|
|
/**
|
|
* The CAN manufacturer ID.
|
|
*
|
|
* Teams should use HAL_CAN_Man_kTeamUse.
|
|
*/
|
|
HAL_ENUM(HAL_CANManufacturer) {
|
|
HAL_CAN_Man_kBroadcast = 0,
|
|
HAL_CAN_Man_kNI = 1,
|
|
HAL_CAN_Man_kLM = 2,
|
|
HAL_CAN_Man_kDEKA = 3,
|
|
HAL_CAN_Man_kCTRE = 4,
|
|
HAL_CAN_Man_kMS = 7,
|
|
HAL_CAN_Man_kTeamUse = 8,
|
|
};
|
|
// clang-format on
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
/**
|
|
* Initializes a CAN device.
|
|
*
|
|
* These follow the FIRST standard CAN layout. Link TBD
|
|
*
|
|
* @param manufacturer the can manufacturer
|
|
* @param deviceId the device ID (0-63)
|
|
* @param deviceType the device type
|
|
* @return the created CAN handle
|
|
*/
|
|
HAL_CANHandle HAL_InitializeCAN(HAL_CANManufacturer manufacturer,
|
|
int32_t deviceId, HAL_CANDeviceType deviceType,
|
|
int32_t* status);
|
|
|
|
/**
|
|
* Frees a CAN device
|
|
*
|
|
* @param handle the CAN handle
|
|
*/
|
|
void HAL_CleanCAN(HAL_CANHandle handle);
|
|
|
|
/**
|
|
* Writes a packet to the CAN device with a specific ID.
|
|
*
|
|
* This ID is 10 bits.
|
|
*
|
|
* @param handle the CAN handle
|
|
* @param data the data to write (0-8 bytes)
|
|
* @param length the length of data (0-8)
|
|
* @param apiId the ID to write (0-1023 bits)
|
|
*/
|
|
void HAL_WriteCANPacket(HAL_CANHandle handle, const uint8_t* data,
|
|
int32_t length, int32_t apiId, int32_t* status);
|
|
|
|
/**
|
|
* Writes a repeating packet to the CAN device with a specific ID.
|
|
*
|
|
* This ID is 10 bits.
|
|
*
|
|
* The RoboRIO will automatically repeat the packet at the specified interval
|
|
*
|
|
* @param handle the CAN handle
|
|
* @param data the data to write (0-8 bytes)
|
|
* @param length the length of data (0-8)
|
|
* @param apiId the ID to write (0-1023)
|
|
* @param repeatMs the period to repeat in ms
|
|
*/
|
|
void HAL_WriteCANPacketRepeating(HAL_CANHandle handle, const uint8_t* data,
|
|
int32_t length, int32_t apiId,
|
|
int32_t repeatMs, int32_t* status);
|
|
|
|
/**
|
|
* Stops a repeating packet with a specific ID.
|
|
*
|
|
* This ID is 10 bits.
|
|
*
|
|
* @param handle the CAN handle
|
|
* @param apiId the ID to stop repeating (0-1023)
|
|
*/
|
|
void HAL_StopCANPacketRepeating(HAL_CANHandle handle, int32_t apiId,
|
|
int32_t* status);
|
|
|
|
/**
|
|
* Reads a new CAN packet.
|
|
*
|
|
* This will only return properly once per packet received. Multiple calls
|
|
* without receiving another packet will return an error code.
|
|
*
|
|
* @param handle the CAN handle
|
|
* @param apiId the ID to read (0-1023)
|
|
* @param data the packet data (8 bytes)
|
|
* @param length the received length (0-8 bytes)
|
|
* @param receivedTimestamp the packet received timestamp (based off of
|
|
* CLOCK_MONOTONIC)
|
|
*/
|
|
void HAL_ReadCANPacketNew(HAL_CANHandle handle, int32_t apiId, uint8_t* data,
|
|
int32_t* length, uint64_t* receivedTimestamp,
|
|
int32_t* status);
|
|
|
|
/**
|
|
* Reads a CAN packet. The will continuously return the last packet received,
|
|
* without accounting for packet age.
|
|
*
|
|
* @param handle the CAN handle
|
|
* @param apiId the ID to read (0-1023)
|
|
* @param data the packet data (8 bytes)
|
|
* @param length the received length (0-8 bytes)
|
|
* @param receivedTimestamp the packet received timestamp (based off of
|
|
* CLOCK_MONOTONIC)
|
|
*/
|
|
void HAL_ReadCANPacketLatest(HAL_CANHandle handle, int32_t apiId, uint8_t* data,
|
|
int32_t* length, uint64_t* receivedTimestamp,
|
|
int32_t* status);
|
|
|
|
/**
|
|
* Reads a CAN packet. The will return the last packet received until the
|
|
* packet is older then the requested timeout. Then it will return an error
|
|
* code.
|
|
*
|
|
* @param handle the CAN handle
|
|
* @param apiId the ID to read (0-1023)
|
|
* @param data the packet data (8 bytes)
|
|
* @param length the received length (0-8 bytes)
|
|
* @param receivedTimestamp the packet received timestamp (based off of
|
|
* CLOCK_MONOTONIC)
|
|
* @param timeoutMs the timeout time for the packet
|
|
*/
|
|
void HAL_ReadCANPacketTimeout(HAL_CANHandle handle, int32_t apiId,
|
|
uint8_t* data, int32_t* length,
|
|
uint64_t* receivedTimestamp, int32_t timeoutMs,
|
|
int32_t* status);
|
|
|
|
/**
|
|
* Reads a CAN packet. The will return the last packet received until the
|
|
* packet is older then the requested timeout. Then it will return an error
|
|
* code. The period parameter is used when you know the packet is sent at
|
|
* specific intervals, so calls will not attempt to read a new packet from the
|
|
* network until that period has passed. We do not recommend users use this
|
|
* API unless they know the implications.
|
|
*
|
|
* @param handle the CAN handle
|
|
* @param apiId the ID to read (0-1023)
|
|
* @param data the packet data (8 bytes)
|
|
* @param length the received length (0-8 bytes)
|
|
* @param receivedTimestamp the packet received timestamp (based off of
|
|
* CLOCK_MONOTONIC)
|
|
* @param timeoutMs the timeout time for the packet
|
|
* @param periodMs the standard period for the packet
|
|
*/
|
|
void HAL_ReadCANPeriodicPacket(HAL_CANHandle handle, int32_t apiId,
|
|
uint8_t* data, int32_t* length,
|
|
uint64_t* receivedTimestamp, int32_t timeoutMs,
|
|
int32_t periodMs, int32_t* status);
|
|
|
|
#ifdef __cplusplus
|
|
} // extern "C"
|
|
#endif
|