83 lines
3.7 KiB
C++
83 lines
3.7 KiB
C++
// CANInterfacePlugin.h
|
|
//
|
|
// Defines the API for building a CAN Interface Plugin to support
|
|
// PWM-cable-free CAN motor control on FRC robots. This allows you
|
|
// to connect any CAN interface to the secure Jaguar CAN driver.
|
|
//
|
|
|
|
#ifndef __CANInterfacePlugin_h__
|
|
#define __CANInterfacePlugin_h__
|
|
|
|
#include <stdint.h>
|
|
|
|
#define CAN_IS_FRAME_REMOTE 0x80000000
|
|
#define CAN_IS_FRAME_11BIT 0x40000000
|
|
#define CAN_29BIT_MESSAGE_ID_MASK 0x1FFFFFFF
|
|
#define CAN_11BIT_MESSAGE_ID_MASK 0x000007FF
|
|
|
|
class CANInterfacePlugin
|
|
{
|
|
public:
|
|
CANInterfacePlugin() {}
|
|
virtual ~CANInterfacePlugin() {}
|
|
|
|
/**
|
|
* This entry-point of the CANInterfacePlugin is passed a message that the driver needs to send to
|
|
* a device on the CAN bus.
|
|
*
|
|
* This function may be called from multiple contexts and must therefore be reentrant.
|
|
*
|
|
* @param messageID The 29-bit CAN message ID in the lsbs. The msb can indicate a remote frame.
|
|
* @param data A pointer to a buffer containing between 0 and 8 bytes to send with the message. May be NULL if dataSize is 0.
|
|
* @param dataSize The number of bytes to send with the message.
|
|
* @return Return any error code. On success return 0.
|
|
*/
|
|
virtual int32_t sendMessage(uint32_t messageID, const uint8_t *data, uint8_t dataSize) = 0;
|
|
|
|
/**
|
|
* This entry-point of the CANInterfacePlugin is passed buffers which should be populated with
|
|
* any received messages from devices on the CAN bus.
|
|
*
|
|
* This function is always called by a single task in the Jaguar driver, so it need not be reentrant.
|
|
*
|
|
* This function is expected to block for some period of time waiting for a message from the CAN bus.
|
|
* It may timeout periodically (returning non-zero to indicate no message was populated) to allow for
|
|
* shutdown and unloading of the plugin.
|
|
*
|
|
* @param messageID A reference to be populated with a received 29-bit CAN message ID in the lsbs.
|
|
* @param data A pointer to a buffer of 8 bytes to be populated with data received with the message.
|
|
* @param dataSize A reference to be populated with the size of the data received (0 - 8 bytes).
|
|
* @return This should return 0 if a message was populated, non-0 if no message was not populated.
|
|
*/
|
|
virtual int32_t receiveMessage(uint32_t &messageID, uint8_t *data, uint8_t &dataSize) = 0;
|
|
|
|
#if defined(__linux)
|
|
/**
|
|
* This entry-point of the CANInterfacePlugin returns status of the CAN bus.
|
|
*
|
|
* This function may be called from multiple contexts and must therefore be reentrant.
|
|
*
|
|
* This function will return detailed hardware status if available for diagnostics of the CAN interface.
|
|
*
|
|
* @param busOffCount The number of times that sendMessage failed with a busOff error indicating that messages
|
|
* are not successfully transmitted on the bus.
|
|
* @param txFullCount The number of times that sendMessage failed with a txFifoFull error indicating that messages
|
|
* are not successfully received by any CAN device.
|
|
* @param receiveErrorCount The count of receive errors as reported by the CAN driver.
|
|
* @param transmitErrorCount The count of transmit errors as reported by the CAN driver.
|
|
* @return This should return 0 if all status was retrieved successfully or an error code if not.
|
|
*/
|
|
virtual int32_t getStatus(uint32_t &busOffCount, uint32_t &txFullCount, uint32_t &receiveErrorCount, uint32_t &transmitErrorCount) {return 0;}
|
|
#endif
|
|
};
|
|
|
|
/**
|
|
* This function allows you to register a CANInterfacePlugin to provide access a CAN bus.
|
|
*
|
|
* @param interface A pointer to an object that inherits from CANInterfacePlugin and implements
|
|
* the pure virtual interface. If NULL, unregister the current plugin.
|
|
*/
|
|
void FRC_NetworkCommunication_CANSessionMux_registerInterface(CANInterfacePlugin* interface);
|
|
|
|
#endif // __CANInterfacePlugin_h__
|