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https://github.com/wpilibsuite/allwpilib
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61 lines
2.4 KiB
C
61 lines
2.4 KiB
C
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2016-2017 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <stdint.h>
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#include "HAL/Types.h"
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// These are copies of defines located in CANSessionMux.h prepended with HAL_
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#define HAL_CAN_SEND_PERIOD_NO_REPEAT 0
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#define HAL_CAN_SEND_PERIOD_STOP_REPEATING -1
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/* Flags in the upper bits of the messageID */
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#define HAL_CAN_IS_FRAME_REMOTE 0x80000000
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#define HAL_CAN_IS_FRAME_11BIT 0x40000000
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#define HAL_ERR_CANSessionMux_InvalidBuffer -44086
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#define HAL_ERR_CANSessionMux_MessageNotFound -44087
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#define HAL_WARN_CANSessionMux_NoToken 44087
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#define HAL_ERR_CANSessionMux_NotAllowed -44088
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#define HAL_ERR_CANSessionMux_NotInitialized -44089
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#define HAL_ERR_CANSessionMux_SessionOverrun 44050
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struct HAL_CANStreamMessage {
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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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#ifdef __cplusplus
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extern "C" {
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#endif
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void HAL_CAN_SendMessage(uint32_t messageID, const uint8_t* data,
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uint8_t dataSize, int32_t periodMs, int32_t* status);
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void HAL_CAN_ReceiveMessage(uint32_t* messageID, uint32_t messageIDMask,
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uint8_t* data, uint8_t* dataSize,
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uint32_t* timeStamp, int32_t* status);
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void HAL_CAN_OpenStreamSession(uint32_t* sessionHandle, uint32_t messageID,
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uint32_t messageIDMask, uint32_t maxMessages,
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int32_t* status);
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void HAL_CAN_CloseStreamSession(uint32_t sessionHandle);
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void HAL_CAN_ReadStreamSession(uint32_t sessionHandle,
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struct HAL_CANStreamMessage* messages,
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uint32_t messagesToRead, uint32_t* messagesRead,
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int32_t* status);
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void HAL_CAN_GetCANStatus(float* percentBusUtilization, uint32_t* busOffCount,
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uint32_t* txFullCount, uint32_t* receiveErrorCount,
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uint32_t* transmitErrorCount, int32_t* status);
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#ifdef __cplusplus
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} // extern "C"
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#endif
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