This repository has been archived on 2020-09-21. You can view files and clone it, but cannot push or open issues or pull requests.
FRC2016-old/DriveBase/wpilib/cpp/current/include/frccansae/CANDeviceInterface.h
2016-01-28 11:33:19 -05:00

157 lines
6.9 KiB
C++

#ifndef __CAN_DEVICE_INTERFACE_H__
#define __CAN_DEVICE_INTERFACE_H__
#define MAX_STRING_LEN 64
#define SUPPORT_UNIQUE_ID (1) /* depends entirely on old vs new build */
#define USE_NTH_ORDER (0) /* zero to user deviceId */
#define SUPPORT_MOTOR_CONTROLLER_PROFILE (1)
namespace CANDeviceInterface1
{
struct PIDSlot
{
// Proportional gain
float pGain;
// Integral gain
float iGain;
// Differential gain
float dGain;
// Feed-forward gain
float fGain;
// Integral zone
float iZone;
// Closed-loop ramp rate
float clRampRate;
};
struct DeviceDescriptor
{
// The full device ID, including the device number, manufacturer, and device type.
// The mask of a message the device supports is 0x1FFF003F.
unsigned int deviceID;
#if SUPPORT_UNIQUE_ID != 0
// This is the ID that uniquely identifies the device node in the UI.
// The purpose of this is to be able to track the device across renames or deviceID changes.
unsigned int uniqueID;
#endif
// An dynamically assigned ID that will make setting deviceIDs robust,
// Never again will you need to isolate a CAN node just to fix it's ID.
unsigned int dynamicID;
// User visible name. This can be customized by the user, but should have a
// reasonable default.
char name[MAX_STRING_LEN];
// This is a user visible model name that should match the can_devices.ini section.
char model[MAX_STRING_LEN];
// This is a version number that represents the version of firmware currently
// installed on the device.
char currentVersion[MAX_STRING_LEN];
// Hardware revision.
char hardwareRev[MAX_STRING_LEN];
// Bootloader version. Will not change for the life of the product, but additional
// field upgrade features could be added in newer hardware.
char bootloaderRev[MAX_STRING_LEN];
// Manufacture Date. Could be a calender date or just the FRC season year.
// Also helps troubleshooting "old ones" vs "new ones".
char manufactureDate[MAX_STRING_LEN];
// General status of the hardware. For example if the device is in bootloader
// due to a bad flash UI could emphasize that.
char softwareStatus[MAX_STRING_LEN];
// Is the LED currently on?
bool led;
// Reserved fields for future use by CTRE. Not touched by frccansae
unsigned int dynFlags;
unsigned int flags; /* bitfield */
unsigned int ptrToString;
//unsigned int reserved0;
//unsigned int reserved1;
//unsigned int reserved2;
#if SUPPORT_MOTOR_CONTROLLER_PROFILE != 0
// Motor controller properties (ignored if SupportsMotorControllerProperties is false or unset for this model)
unsigned int brakeMode; // 0=Coast, 1=Brake
unsigned int limitSwitchFwdMode; // 0=disabled, 1=Normally Closed, 2=Normally Open
unsigned int limitSwitchRevMode; // 0=disabled, 1=Normally Closed, 2=Normally Open
// Limit-switch soft limits
bool bFwdSoftLimitEnable;
bool bRevSoftLimitEnable;
float softLimitFwd;
float softLimitRev;
// PID constants for slot 0
struct PIDSlot slot0;
// PID constants for slot 1
struct PIDSlot slot1;
#endif
};
#define kLimitSwitchMode_Disabled (0)
#define kLimitSwitchMode_NormallyClosed (1)
#define kLimitSwitchMode_NormallyOpen (2)
// Interface functions that must be implemented by the CAN Firmware Update Library
// Returns the number of devices that will be returned in a call to
// getListOfDevices(). The calling library will use this info to allocate enough
// memory to accept all device info.
int getNumberOfDevices();
// Return info about discovered devices. The array of structs should be
// populated before returning. The numDescriptors input describes how many
// elements were allocated to prevent memory corruption. The number of devices
// populated should be returned from this function as well.
int getListOfDevices(DeviceDescriptor *devices, int numDescriptors);
// When the user requests to update the firmware of a device a thread will be
// spawned and this function is called from that thread. This function should
// complete the firmware update process before returning. The image
// contents and size are directly from the file selected by the user. The
// error message string can be filled with a NULL-terminated message to show the
// user if there was a problem updating firmware. The error message is only
// displayed if a non-zero value is returned from this function.
int updateFirmware(const DeviceDescriptor *device, const unsigned char *imageContents, unsigned int imageSize, char *errorMessage, int errorMessageMaxSize);
// This function is called periodically from the UI thread while the firmware
// update is in progress. The percentComplete parameter should the filled in
// with the current progress of the firmware update process to update a progress
// bar in the UI.
void checkUpdateProgress(const DeviceDescriptor *device, int *percentComplete);
// This is called when the user selects a new ID to assign on the bus and
// chooses to save. The newDeviceID is really just the device number. The
// manufacturer and device type will remain unchanged. If a problem is detected
// when assigning a new ID, this function should return a non-zero value.
int assignBroadcastDeviceID(unsigned int newDeviceID);
// The device descriptor should be updated with the new device ID. The name may
// also change in the descriptor and will be updated in the UI immediately.
// Be sure to modify the descriptor first since the refresh from the UI is
// asynchronous.
int assignDeviceID(DeviceDescriptor *device, unsigned int newDeviceID);
// This entry-point will get called when the user chooses to change the value
// of the device's LED. This will allow the user to identify devices which
// support dynamic addresses or are otherwise unknown. If this function returns
// a non-zero value, the UI will report an error.
int saveLightLed(const DeviceDescriptor *device, bool newLEDStatus);
// This entry-point will get called when the user chooses to change the alias
// of the device with the device specified. If this function returns a non-
// zero value, the UI will report an error. The device descriptor must be
// updated with the new name that was selected. If a different name is saved
// to the descriptor than the user specified, this will require a manual
// refresh by the user. This is reported as CAR #505139
int saveDeviceName(DeviceDescriptor *device, const char *newName);
// This entry-point will get called when the user changes any of the motor
// controller specific properties. If this function returns a non-zero value,
// the UI will report an error. The device descriptor may be updated with
// coerced values.
int saveMotorParameters(DeviceDescriptor *device);
// Run some sort of self-test functionality on the device. This can be anything
// and the results will be displayed to the user. A non-zero return value
// indicates an error.
int selfTest(const DeviceDescriptor *device, char *detailedResults, int detailedResultsMaxSize);
} /* CANDeviceInterface */
#endif /* __CAN_DEVICE_INTERFACE_H__ */