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https://github.com/wpilibsuite/allwpilib
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8bba58b9ab
Packing, unpacking, caching, receiving, and sending CAN messages can be done with a thin wrapper around CANSessionMux now, removing the need for duplicated code between different CAN devices and languages. Change-Id: If40181e479f45a443db7a1c264437f7f89ff54d9
27 lines
1.1 KiB
C++
27 lines
1.1 KiB
C++
#pragma once
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#include <stdint.h>
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#include "NetworkCommunication/CANSessionMux.h"
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void canTxSend(uint32_t arbID, uint8_t length, int32_t period = CAN_SEND_PERIOD_NO_REPEAT);
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void canTxPackInt8 (uint32_t arbID, uint8_t offset, uint8_t value);
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void canTxPackInt16(uint32_t arbID, uint8_t offset, uint16_t value);
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void canTxPackInt32(uint32_t arbID, uint8_t offset, uint32_t value);
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void canTxPackFXP16(uint32_t arbID, uint8_t offset, double value);
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void canTxPackFXP32(uint32_t arbID, uint8_t offset, double value);
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uint8_t canTxUnpackInt8 (uint32_t arbID, uint8_t offset);
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uint32_t canTxUnpackInt32(uint32_t arbID, uint8_t offset);
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uint16_t canTxUnpackInt16(uint32_t arbID, uint8_t offset);
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double canTxUnpackFXP16(uint32_t arbID, uint8_t offset);
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double canTxUnpackFXP32(uint32_t arbID, uint8_t offset);
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bool canRxReceive(uint32_t arbID);
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uint8_t canRxUnpackInt8 (uint32_t arbID, uint8_t offset);
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uint16_t canRxUnpackInt16(uint32_t arbID, uint8_t offset);
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uint32_t canRxUnpackInt32(uint32_t arbID, uint8_t offset);
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double canRxUnpackFXP16(uint32_t arbID, uint8_t offset);
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double canRxUnpackFXP32(uint32_t arbID, uint8_t offset);
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