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