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