| Brian Silverman | 26e4e52 | 2015-12-17 01:56:40 -0500 | [diff] [blame^] | 1 | // CANSessionMux.h |
| 2 | // |
| 3 | // Defines the API for building a CAN Interface Plugin to support |
| 4 | // PWM-cable-free CAN motor control on FRC robots. This allows you |
| 5 | // to connect any CAN interface to the secure Jaguar CAN driver. |
| 6 | // |
| 7 | |
| 8 | #ifndef __CANSessionMux_h__ |
| 9 | #define __CANSessionMux_h__ |
| 10 | |
| 11 | #include <stdint.h> |
| 12 | |
| 13 | #define CAN_SEND_PERIOD_NO_REPEAT 0 |
| 14 | #define CAN_SEND_PERIOD_STOP_REPEATING -1 |
| 15 | |
| 16 | /* Flags in the upper bits of the messageID */ |
| 17 | #define CAN_IS_FRAME_REMOTE 0x80000000 |
| 18 | #define CAN_IS_FRAME_11BIT 0x40000000 |
| 19 | |
| 20 | #define ERR_CANSessionMux_InvalidBuffer -44086 |
| 21 | #define ERR_CANSessionMux_MessageNotFound -44087 |
| 22 | #define WARN_CANSessionMux_NoToken 44087 |
| 23 | #define ERR_CANSessionMux_NotAllowed -44088 |
| 24 | #define ERR_CANSessionMux_NotInitialized -44089 |
| 25 | #define ERR_CANSessionMux_SessionOverrun 44050 |
| 26 | |
| 27 | struct tCANStreamMessage { |
| 28 | uint32_t messageID; |
| 29 | uint32_t timeStamp; |
| 30 | uint8_t data[8]; |
| 31 | uint8_t dataSize; |
| 32 | }; |
| 33 | |
| 34 | namespace nCANSessionMux { |
| 35 | void sendMessage_wrapper(uint32_t messageID, const uint8_t *data, |
| 36 | uint8_t dataSize, int32_t periodMs, int32_t *status); |
| 37 | void receiveMessage_wrapper(uint32_t *messageID, uint32_t messageIDMask, |
| 38 | uint8_t *data, uint8_t *dataSize, |
| 39 | uint32_t *timeStamp, int32_t *status); |
| 40 | void openStreamSession(uint32_t *sessionHandle, uint32_t messageID, |
| 41 | uint32_t messageIDMask, uint32_t maxMessages, |
| 42 | int32_t *status); |
| 43 | void closeStreamSession(uint32_t sessionHandle); |
| 44 | void readStreamSession(uint32_t sessionHandle, |
| 45 | struct tCANStreamMessage *messages, |
| 46 | uint32_t messagesToRead, uint32_t *messagesRead, |
| 47 | int32_t *status); |
| 48 | void getCANStatus(float *percentBusUtilization, uint32_t *busOffCount, |
| 49 | uint32_t *txFullCount, uint32_t *receiveErrorCount, |
| 50 | uint32_t *transmitErrorCount, int32_t *status); |
| 51 | } |
| 52 | |
| 53 | #ifdef __cplusplus |
| 54 | extern "C" { |
| 55 | #endif |
| 56 | |
| 57 | void FRC_NetworkCommunication_CANSessionMux_sendMessage(uint32_t messageID, |
| 58 | const uint8_t *data, |
| 59 | uint8_t dataSize, |
| 60 | int32_t periodMs, |
| 61 | int32_t *status); |
| 62 | void FRC_NetworkCommunication_CANSessionMux_receiveMessage( |
| 63 | uint32_t *messageID, uint32_t messageIDMask, uint8_t *data, |
| 64 | uint8_t *dataSize, uint32_t *timeStamp, int32_t *status); |
| 65 | void FRC_NetworkCommunication_CANSessionMux_openStreamSession( |
| 66 | uint32_t *sessionHandle, uint32_t messageID, uint32_t messageIDMask, |
| 67 | uint32_t maxMessages, int32_t *status); |
| 68 | void FRC_NetworkCommunication_CANSessionMux_closeStreamSession( |
| 69 | uint32_t sessionHandle); |
| 70 | void FRC_NetworkCommunication_CANSessionMux_readStreamSession( |
| 71 | uint32_t sessionHandle, struct tCANStreamMessage *messages, |
| 72 | uint32_t messagesToRead, uint32_t *messagesRead, int32_t *status); |
| 73 | void FRC_NetworkCommunication_CANSessionMux_getCANStatus( |
| 74 | float *percentBusUtilization, uint32_t *busOffCount, uint32_t *txFullCount, |
| 75 | uint32_t *receiveErrorCount, uint32_t *transmitErrorCount, int32_t *status); |
| 76 | |
| 77 | #ifdef __cplusplus |
| 78 | } |
| 79 | #endif |
| 80 | |
| 81 | #endif // __CANSessionMux_h__ |