Squashed 'third_party/allwpilib_2016/' content from commit 7f61816
Change-Id: If9d9245880859cdf580f5d7f77045135d0521ce7
git-subtree-dir: third_party/allwpilib_2016
git-subtree-split: 7f618166ed253a24629934fcf89c3decb0528a3b
diff --git a/wpilibc/Athena/include/NetworkCommunication/CANSessionMux.h b/wpilibc/Athena/include/NetworkCommunication/CANSessionMux.h
new file mode 100644
index 0000000..9cd9a3f
--- /dev/null
+++ b/wpilibc/Athena/include/NetworkCommunication/CANSessionMux.h
@@ -0,0 +1,81 @@
+// CANSessionMux.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 __CANSessionMux_h__
+#define __CANSessionMux_h__
+
+#include <stdint.h>
+
+#define CAN_SEND_PERIOD_NO_REPEAT 0
+#define CAN_SEND_PERIOD_STOP_REPEATING -1
+
+/* Flags in the upper bits of the messageID */
+#define CAN_IS_FRAME_REMOTE 0x80000000
+#define CAN_IS_FRAME_11BIT 0x40000000
+
+#define ERR_CANSessionMux_InvalidBuffer -44086
+#define ERR_CANSessionMux_MessageNotFound -44087
+#define WARN_CANSessionMux_NoToken 44087
+#define ERR_CANSessionMux_NotAllowed -44088
+#define ERR_CANSessionMux_NotInitialized -44089
+#define ERR_CANSessionMux_SessionOverrun 44050
+
+struct tCANStreamMessage {
+ uint32_t messageID;
+ uint32_t timeStamp;
+ uint8_t data[8];
+ uint8_t dataSize;
+};
+
+namespace nCANSessionMux {
+void sendMessage_wrapper(uint32_t messageID, const uint8_t *data,
+ uint8_t dataSize, int32_t periodMs, int32_t *status);
+void receiveMessage_wrapper(uint32_t *messageID, uint32_t messageIDMask,
+ uint8_t *data, uint8_t *dataSize,
+ uint32_t *timeStamp, int32_t *status);
+void openStreamSession(uint32_t *sessionHandle, uint32_t messageID,
+ uint32_t messageIDMask, uint32_t maxMessages,
+ int32_t *status);
+void closeStreamSession(uint32_t sessionHandle);
+void readStreamSession(uint32_t sessionHandle,
+ struct tCANStreamMessage *messages,
+ uint32_t messagesToRead, uint32_t *messagesRead,
+ int32_t *status);
+void getCANStatus(float *percentBusUtilization, uint32_t *busOffCount,
+ uint32_t *txFullCount, uint32_t *receiveErrorCount,
+ uint32_t *transmitErrorCount, int32_t *status);
+}
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void FRC_NetworkCommunication_CANSessionMux_sendMessage(uint32_t messageID,
+ const uint8_t *data,
+ uint8_t dataSize,
+ int32_t periodMs,
+ int32_t *status);
+void FRC_NetworkCommunication_CANSessionMux_receiveMessage(
+ uint32_t *messageID, uint32_t messageIDMask, uint8_t *data,
+ uint8_t *dataSize, uint32_t *timeStamp, int32_t *status);
+void FRC_NetworkCommunication_CANSessionMux_openStreamSession(
+ uint32_t *sessionHandle, uint32_t messageID, uint32_t messageIDMask,
+ uint32_t maxMessages, int32_t *status);
+void FRC_NetworkCommunication_CANSessionMux_closeStreamSession(
+ uint32_t sessionHandle);
+void FRC_NetworkCommunication_CANSessionMux_readStreamSession(
+ uint32_t sessionHandle, struct tCANStreamMessage *messages,
+ uint32_t messagesToRead, uint32_t *messagesRead, int32_t *status);
+void FRC_NetworkCommunication_CANSessionMux_getCANStatus(
+ float *percentBusUtilization, uint32_t *busOffCount, uint32_t *txFullCount,
+ uint32_t *receiveErrorCount, uint32_t *transmitErrorCount, int32_t *status);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // __CANSessionMux_h__