| Brian Silverman | f7f267a | 2017-02-04 16:16:08 -0800 | [diff] [blame^] | 1 | /*----------------------------------------------------------------------------*/ |
| 2 | /* Copyright (c) FIRST 2016-2017. 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 | #pragma once |
| 9 | |
| 10 | #include <stdint.h> |
| 11 | |
| 12 | #include "FRC_NetworkCommunication/CANSessionMux.h" |
| 13 | |
| 14 | void canTxSend(uint32_t arbID, uint8_t length, |
| 15 | int32_t period = CAN_SEND_PERIOD_NO_REPEAT); |
| 16 | |
| 17 | void canTxPackInt8(uint32_t arbID, uint8_t offset, uint8_t value); |
| 18 | void canTxPackInt16(uint32_t arbID, uint8_t offset, uint16_t value); |
| 19 | void canTxPackInt32(uint32_t arbID, uint8_t offset, uint32_t value); |
| 20 | void canTxPackFXP16(uint32_t arbID, uint8_t offset, double value); |
| 21 | void canTxPackFXP32(uint32_t arbID, uint8_t offset, double value); |
| 22 | |
| 23 | uint8_t canTxUnpackInt8(uint32_t arbID, uint8_t offset); |
| 24 | uint32_t canTxUnpackInt32(uint32_t arbID, uint8_t offset); |
| 25 | uint16_t canTxUnpackInt16(uint32_t arbID, uint8_t offset); |
| 26 | double canTxUnpackFXP16(uint32_t arbID, uint8_t offset); |
| 27 | double canTxUnpackFXP32(uint32_t arbID, uint8_t offset); |
| 28 | |
| 29 | bool canRxReceive(uint32_t arbID); |
| 30 | |
| 31 | uint8_t canRxUnpackInt8(uint32_t arbID, uint8_t offset); |
| 32 | uint16_t canRxUnpackInt16(uint32_t arbID, uint8_t offset); |
| 33 | uint32_t canRxUnpackInt32(uint32_t arbID, uint8_t offset); |
| 34 | double canRxUnpackFXP16(uint32_t arbID, uint8_t offset); |
| 35 | double canRxUnpackFXP32(uint32_t arbID, uint8_t offset); |