82 lines
3.2 KiB
C
82 lines
3.2 KiB
C
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// 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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#include <stdint.h>
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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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#define ERR_CANSessionMux_SessionOverrun 44050
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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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void sendMessage_wrapper(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 receiveMessage_wrapper(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 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 closeStreamSession(uint32_t sessionHandle);
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void readStreamSession(uint32_t sessionHandle,
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struct tCANStreamMessage *messages,
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uint32_t messagesToRead, uint32_t *messagesRead,
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int32_t *status);
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void 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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}
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#ifdef __cplusplus
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extern "C" {
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#endif
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void FRC_NetworkCommunication_CANSessionMux_sendMessage(uint32_t messageID,
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const uint8_t *data,
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uint8_t dataSize,
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int32_t periodMs,
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int32_t *status);
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void FRC_NetworkCommunication_CANSessionMux_receiveMessage(
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uint32_t *messageID, uint32_t messageIDMask, uint8_t *data,
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uint8_t *dataSize, uint32_t *timeStamp, int32_t *status);
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void FRC_NetworkCommunication_CANSessionMux_openStreamSession(
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uint32_t *sessionHandle, uint32_t messageID, uint32_t messageIDMask,
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uint32_t maxMessages, int32_t *status);
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void FRC_NetworkCommunication_CANSessionMux_closeStreamSession(
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uint32_t sessionHandle);
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void FRC_NetworkCommunication_CANSessionMux_readStreamSession(
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uint32_t sessionHandle, struct tCANStreamMessage *messages,
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uint32_t messagesToRead, uint32_t *messagesRead, int32_t *status);
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void FRC_NetworkCommunication_CANSessionMux_getCANStatus(
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float *percentBusUtilization, uint32_t *busOffCount, uint32_t *txFullCount,
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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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