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