| /*----------------------------------------------------------------------------*/ |
| /* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */ |
| /* Open Source Software - may be modified and shared by FRC teams. The code */ |
| /* must be accompanied by the FIRST BSD license file in the root directory of */ |
| /* the project. */ |
| /*----------------------------------------------------------------------------*/ |
| |
| #include "hal/CAN.h" |
| |
| #include <FRC_NetworkCommunication/CANSessionMux.h> |
| |
| namespace hal { |
| namespace init { |
| void InitializeCAN() {} |
| } // namespace init |
| } // namespace hal |
| |
| extern "C" { |
| |
| void HAL_CAN_SendMessage(uint32_t messageID, const uint8_t* data, |
| uint8_t dataSize, int32_t periodMs, int32_t* status) { |
| FRC_NetworkCommunication_CANSessionMux_sendMessage(messageID, data, dataSize, |
| periodMs, status); |
| } |
| void HAL_CAN_ReceiveMessage(uint32_t* messageID, uint32_t messageIDMask, |
| uint8_t* data, uint8_t* dataSize, |
| uint32_t* timeStamp, int32_t* status) { |
| FRC_NetworkCommunication_CANSessionMux_receiveMessage( |
| messageID, messageIDMask, data, dataSize, timeStamp, status); |
| } |
| void HAL_CAN_OpenStreamSession(uint32_t* sessionHandle, uint32_t messageID, |
| uint32_t messageIDMask, uint32_t maxMessages, |
| int32_t* status) { |
| FRC_NetworkCommunication_CANSessionMux_openStreamSession( |
| sessionHandle, messageID, messageIDMask, maxMessages, status); |
| } |
| void HAL_CAN_CloseStreamSession(uint32_t sessionHandle) { |
| FRC_NetworkCommunication_CANSessionMux_closeStreamSession(sessionHandle); |
| } |
| void HAL_CAN_ReadStreamSession(uint32_t sessionHandle, |
| struct HAL_CANStreamMessage* messages, |
| uint32_t messagesToRead, uint32_t* messagesRead, |
| int32_t* status) { |
| FRC_NetworkCommunication_CANSessionMux_readStreamSession( |
| sessionHandle, reinterpret_cast<tCANStreamMessage*>(messages), |
| messagesToRead, messagesRead, status); |
| } |
| void HAL_CAN_GetCANStatus(float* percentBusUtilization, uint32_t* busOffCount, |
| uint32_t* txFullCount, uint32_t* receiveErrorCount, |
| uint32_t* transmitErrorCount, int32_t* status) { |
| FRC_NetworkCommunication_CANSessionMux_getCANStatus( |
| percentBusUtilization, busOffCount, txFullCount, receiveErrorCount, |
| transmitErrorCount, status); |
| } |
| } // extern "C" |