Squashed 'third_party/allwpilib_2019/' content from commit bd05dfa1c
Change-Id: I2b1c2250cdb9b055133780c33593292098c375b7
git-subtree-dir: third_party/allwpilib_2019
git-subtree-split: bd05dfa1c7cca74c4fac451e7b9d6a37e7b53447
diff --git a/hal/src/main/native/athena/CAN.cpp b/hal/src/main/native/athena/CAN.cpp
new file mode 100644
index 0000000..8105358
--- /dev/null
+++ b/hal/src/main/native/athena/CAN.cpp
@@ -0,0 +1,55 @@
+/*----------------------------------------------------------------------------*/
+/* 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"