frc::CAN Class Reference

High level class for interfacing with CAN devices conforming to the standard CAN spec. More...

#include <frc/CAN.h>

Public Member Functions
	CAN (int busId, int deviceId)
	Create a new CAN communication interface with the specific device ID.
	CAN (int busId, int deviceId, int deviceManufacturer, int deviceType)
	Create a new CAN communication interface with a specific device ID, manufacturer and device type.
	CAN (CAN &&)=default
CAN &	operator= (CAN &&)=default
void	WritePacket (int apiId, const HAL_CANMessage &message)
	Write a packet to the CAN device with a specific ID.
void	WritePacketRepeating (int apiId, const HAL_CANMessage &message, int repeatMs)
	Write a repeating packet to the CAN device with a specific ID.
void	WriteRTRFrame (int apiId, const HAL_CANMessage &message)
	Write an RTR frame to the CAN device with a specific ID.
int	WritePacketNoError (int apiId, const HAL_CANMessage &message)
	Write a packet to the CAN device with a specific ID.
int	WritePacketRepeatingNoError (int apiId, const HAL_CANMessage &message, int repeatMs)
	Write a repeating packet to the CAN device with a specific ID.
int	WriteRTRFrameNoError (int apiId, const HAL_CANMessage &message)
	Write an RTR frame to the CAN device with a specific ID.
void	StopPacketRepeating (int apiId)
	Stop a repeating packet with a specific ID.
bool	ReadPacketNew (int apiId, HAL_CANReceiveMessage *data)
	Read a new CAN packet.
bool	ReadPacketLatest (int apiId, HAL_CANReceiveMessage *data)
	Read a CAN packet.
bool	ReadPacketTimeout (int apiId, int timeoutMs, HAL_CANReceiveMessage *data)
	Read a CAN packet.

Static Public Attributes
static constexpr HAL_CANManufacturer	kTeamManufacturer = HAL_CAN_Man_kTeamUse
	Team manufacturer.
static constexpr HAL_CANDeviceType	kTeamDeviceType
	Team device type.

Detailed Description

High level class for interfacing with CAN devices conforming to the standard CAN spec.

No packets that can be sent gets blocked by the RoboRIO, so all methods work identically in all robot modes.

All methods are thread save, however the buffer objects passed in by the user need to not be modified for the duration of their calls.

Constructor & Destructor Documentation

CAN() [1/3]

frc::CAN::CAN	(	int	busId,
		int	deviceId )

Create a new CAN communication interface with the specific device ID.

This uses the team manufacturer and device types. The device ID is 6 bits (0-63)

Parameters

busId	The bus id
deviceId	The device id

CAN() [2/3]

frc::CAN::CAN	(	int	busId,
		int	deviceId,
		int	deviceManufacturer,
		int	deviceType )

Create a new CAN communication interface with a specific device ID, manufacturer and device type.

The device ID is 6 bits, the manufacturer is 8 bits, and the device type is 5 bits.

Parameters

busId	The bus id
deviceId	The device ID
deviceManufacturer	The device manufacturer
deviceType	The device type

CAN() [3/3]

frc::CAN::CAN ( CAN && )

default

Member Function Documentation

operator=()

CAN & frc::CAN::operator= ( CAN && )

default

ReadPacketLatest()

bool frc::CAN::ReadPacketLatest	(	int	apiId,
		HAL_CANReceiveMessage *	data )

Read a CAN packet.

The will continuously return the last packet received, without accounting for packet age.

Parameters

apiId	The API ID to read.
data	Storage for the received data.

Returns

True if the data is valid, otherwise false.

ReadPacketNew()

bool frc::CAN::ReadPacketNew	(	int	apiId,
		HAL_CANReceiveMessage *	data )

Read a new CAN packet.

This will only return properly once per packet received. Multiple calls without receiving another packet will return false.

Parameters

apiId	The API ID to read.
data	Storage for the received data.

Returns

True if the data is valid, otherwise false.

ReadPacketTimeout()

bool frc::CAN::ReadPacketTimeout	(	int	apiId,
		int	timeoutMs,
		HAL_CANReceiveMessage *	data )

Read a CAN packet.

The will return the last packet received until the packet is older then the requested timeout. Then it will return false.

Parameters

apiId	The API ID to read.
timeoutMs	The timeout time for the packet
data	Storage for the received data.

Returns

True if the data is valid, otherwise false.

StopPacketRepeating()

void frc::CAN::StopPacketRepeating

(

int

apiId

)

Stop a repeating packet with a specific ID.

This ID is 10 bits.

Parameters

apiId

The API ID to stop repeating

WritePacket()

void frc::CAN::WritePacket	(	int	apiId,
		const HAL_CANMessage &	message )

Write a packet to the CAN device with a specific ID.

This ID is 10 bits.

Parameters

apiId	The API ID to write.
message	the CAN message.

WritePacketNoError()

int frc::CAN::WritePacketNoError	(	int	apiId,
		const HAL_CANMessage &	message )

Write a packet to the CAN device with a specific ID.

This ID is 10 bits.

Parameters

apiId	The API ID to write.
message	the CAN message.

WritePacketRepeating()

void frc::CAN::WritePacketRepeating	(	int	apiId,
		const HAL_CANMessage &	message,
		int	repeatMs )

Write a repeating packet to the CAN device with a specific ID.

This ID is 10 bits. The RoboRIO will automatically repeat the packet at the specified interval

Parameters

apiId	The API ID to write.
message	the CAN message.
repeatMs	The period to repeat the packet at.

WritePacketRepeatingNoError()

int frc::CAN::WritePacketRepeatingNoError	(	int	apiId,
		const HAL_CANMessage &	message,
		int	repeatMs )

Write a repeating packet to the CAN device with a specific ID.

This ID is 10 bits. The RoboRIO will automatically repeat the packet at the specified interval

Parameters

apiId	The API ID to write.
message	the CAN message.
repeatMs	The period to repeat the packet at.

WriteRTRFrame()

void frc::CAN::WriteRTRFrame	(	int	apiId,
		const HAL_CANMessage &	message )

Write an RTR frame to the CAN device with a specific ID.

This ID is 10 bits. The length by spec must match what is returned by the responding device

Parameters

apiId	The API ID to write.
message	the CAN message.

WriteRTRFrameNoError()

int frc::CAN::WriteRTRFrameNoError	(	int	apiId,
		const HAL_CANMessage &	message )

Write an RTR frame to the CAN device with a specific ID.

This ID is 10 bits. The length by spec must match what is returned by the responding device

Parameters

apiId	The API ID to write.
message	the CAN message.

Member Data Documentation

kTeamDeviceType

HAL_CANDeviceType frc::CAN::kTeamDeviceType

staticconstexpr

Initial value:

=
      HAL_CAN_Dev_kMiscellaneous

Team device type.

kTeamManufacturer

HAL_CANManufacturer frc::CAN::kTeamManufacturer = HAL_CAN_Man_kTeamUse

staticconstexpr

Team manufacturer.

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The documentation for this class was generated from the following file:

• frc/CAN.h