| Brian Silverman | 41cdd3e | 2019-01-19 19:48:58 -0800 | [diff] [blame] | 1 | /*----------------------------------------------------------------------------*/ |
| 2 | /* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */ |
| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */ |
| 4 | /* must be accompanied by the FIRST BSD license file in the root directory of */ |
| 5 | /* the project. */ |
| 6 | /*----------------------------------------------------------------------------*/ |
| 7 | |
| 8 | #include "hal/CAN.h" |
| 9 | |
| 10 | #include <FRC_NetworkCommunication/CANSessionMux.h> |
| 11 | |
| 12 | namespace hal { |
| 13 | namespace init { |
| 14 | void InitializeCAN() {} |
| 15 | } // namespace init |
| 16 | } // namespace hal |
| 17 | |
| 18 | extern "C" { |
| 19 | |
| 20 | void HAL_CAN_SendMessage(uint32_t messageID, const uint8_t* data, |
| 21 | uint8_t dataSize, int32_t periodMs, int32_t* status) { |
| 22 | FRC_NetworkCommunication_CANSessionMux_sendMessage(messageID, data, dataSize, |
| 23 | periodMs, status); |
| 24 | } |
| 25 | void HAL_CAN_ReceiveMessage(uint32_t* messageID, uint32_t messageIDMask, |
| 26 | uint8_t* data, uint8_t* dataSize, |
| 27 | uint32_t* timeStamp, int32_t* status) { |
| 28 | FRC_NetworkCommunication_CANSessionMux_receiveMessage( |
| 29 | messageID, messageIDMask, data, dataSize, timeStamp, status); |
| 30 | } |
| 31 | void HAL_CAN_OpenStreamSession(uint32_t* sessionHandle, uint32_t messageID, |
| 32 | uint32_t messageIDMask, uint32_t maxMessages, |
| 33 | int32_t* status) { |
| 34 | FRC_NetworkCommunication_CANSessionMux_openStreamSession( |
| 35 | sessionHandle, messageID, messageIDMask, maxMessages, status); |
| 36 | } |
| 37 | void HAL_CAN_CloseStreamSession(uint32_t sessionHandle) { |
| 38 | FRC_NetworkCommunication_CANSessionMux_closeStreamSession(sessionHandle); |
| 39 | } |
| 40 | void HAL_CAN_ReadStreamSession(uint32_t sessionHandle, |
| 41 | struct HAL_CANStreamMessage* messages, |
| 42 | uint32_t messagesToRead, uint32_t* messagesRead, |
| 43 | int32_t* status) { |
| 44 | FRC_NetworkCommunication_CANSessionMux_readStreamSession( |
| 45 | sessionHandle, reinterpret_cast<tCANStreamMessage*>(messages), |
| 46 | messagesToRead, messagesRead, status); |
| 47 | } |
| 48 | void HAL_CAN_GetCANStatus(float* percentBusUtilization, uint32_t* busOffCount, |
| 49 | uint32_t* txFullCount, uint32_t* receiveErrorCount, |
| 50 | uint32_t* transmitErrorCount, int32_t* status) { |
| 51 | FRC_NetworkCommunication_CANSessionMux_getCANStatus( |
| 52 | percentBusUtilization, busOffCount, txFullCount, receiveErrorCount, |
| 53 | transmitErrorCount, status); |
| 54 | } |
| 55 | } // extern "C" |