Classes
struct	HAL_CANMessage
struct	HAL_CANReceiveMessage

Macros
#define	HAL_CAN_SEND_PERIOD_NO_REPEAT 0
	Flag for sending a CAN message once.
#define	HAL_CAN_SEND_PERIOD_STOP_REPEATING -1
	Flag for stopping periodic CAN message sends.
#define	HAL_CAN_IS_FRAME_REMOTE 0x40000000
	Mask for "is frame remote" in message ID.
#define	HAL_CAN_IS_FRAME_11BIT 0x80000000
	Mask for "is frame 11 bits" in message ID.

Enumerations
enum	HAL_CANDeviceType : int32_t { HAL_CAN_DEV_BROADCAST = 0 , HAL_CAN_DEV_ROBOT_CONTROLLER = 1 , HAL_CAN_DEV_MOTOR_CONTROLLER = 2 , HAL_CAN_DEV_RELAY_CONTROLLER = 3 , HAL_CAN_DEV_GYRO_SENSOR = 4 , HAL_CAN_DEV_ACCELEROMETER = 5 , HAL_CAN_DEV_DISTANCE_SENSOR = 6 , HAL_CAN_DEV_ENCODER = 7 , HAL_CAN_DEV_POWER_DISTRIBUTION = 8 , HAL_CAN_DEV_PNEUMATICS = 9 , HAL_CAN_DEV_MISCELLANEOUS = 10 , HAL_CAN_DEV_IO_BREAKOUT = 11 , HAL_CAN_DEV_SERVO_CONTROLLER = 12 , HAL_CAN_DEV_COLOR_SENSOR = 13 , HAL_CAN_DEV_FIRMWARE_UPDATE = 31 }
	The CAN device type. More...
enum	HAL_CANManufacturer : int32_t { HAL_CAN_MAN_BROADCAST = 0 , HAL_CAN_MAN_NI = 1 , HAL_CAN_MAN_LM = 2 , HAL_CAN_MAN_DEKA = 3 , HAL_CAN_MAN_CTRE = 4 , HAL_CAN_MAN_REV = 5 , HAL_CAN_MAN_GRAPPLE = 6 , HAL_CAN_MAN_MS = 7 , HAL_CAN_MAN_TEAM_USE = 8 , HAL_CAN_MAN_KAUAI_LABS = 9 , HAL_CAN_MAN_COPPERFORGE = 10 , HAL_CAN_MAN_PWF = 11 , HAL_CAN_MAN_STUDICA = 12 , HAL_CAN_MAN_THRIFTYBOT = 13 , HAL_CAN_MAN_REDUX_ROBOTICS = 14 , HAL_CAN_MAN_ANDYMARK = 15 , HAL_CAN_MAN_VIVID_HOSTING = 16 , HAL_CAN_MAN_VERTOS_ROBOTICS = 17 , HAL_CAN_MAN_SWYFT_ROBOTICS = 18 , HAL_CAN_MAN_LUMYN_LABS = 19 , HAL_CAN_MAN_BRUSHLAND_LABS = 20 }
	The CAN manufacturer ID. More...
enum	HAL_CANFlags : int32_t { HAL_CAN_NO_FLAGS = 0x0 , HAL_CAN_FD_BITRATESWITCH = 0x1 , HAL_CAN_FD_DATALENGTH = 0x2 }
enum	HAL_CANBusMap : int32_t { HAL_CAN_BUS_S0 = 0 , HAL_CAN_BUS_S1 = 1 , HAL_CAN_BUS_S2 = 2 , HAL_CAN_BUS_S3 = 3 , HAL_CAN_BUS_S4 = 4 , HAL_CAN_BUS_D0 = 5 , HAL_CAN_BUS_D1 = 6 , HAL_CAN_BUS_D2 = 7 , HAL_CAN_BUS_D3 = 8 , HAL_CAN_BUS_D4 = 9 , HAL_CAN_BUS_D5 = 10 , HAL_CAN_BUS_D6 = 11 , HAL_CAN_BUS_D7 = 12 , HAL_CAN_BUS_D8 = 13 , HAL_CAN_BUS_D9 = 14 , HAL_CAN_BUS_D10 = 15 , HAL_CAN_BUS_D11 = 16 , HAL_CAN_BUS_D12 = 17 , HAL_CAN_BUS_D13 = 18 , HAL_CAN_BUS_D14 = 19 , HAL_CAN_BUS_D15 = 20 , HAL_CAN_BUS_D16 = 21 , HAL_CAN_BUS_D17 = 22 , HAL_CAN_BUS_D18 = 23 , HAL_CAN_BUS_D19 = 24 }

Functions
HAL_CANHandle	HAL_InitializeCAN (int32_t busId, HAL_CANManufacturer manufacturer, int32_t deviceId, HAL_CANDeviceType deviceType, int32_t *status)
	Initializes a CAN device.
void	HAL_CleanCAN (HAL_CANHandle handle)
	Frees a CAN device.
void	HAL_WriteCANPacket (HAL_CANHandle handle, int32_t apiId, const struct HAL_CANMessage message, int32_t status)
	Writes a packet to the CAN device with a specific ID.
void	HAL_WriteCANPacketRepeating (HAL_CANHandle handle, int32_t apiId, const struct HAL_CANMessage message, int32_t repeatMs, int32_t status)
	Writes a repeating packet to the CAN device with a specific ID.
void	HAL_WriteCANRTRFrame (HAL_CANHandle handle, int32_t apiId, const struct HAL_CANMessage message, int32_t status)
	Writes an RTR frame of the specified length to the CAN device with the specific ID.
void	HAL_StopCANPacketRepeating (HAL_CANHandle handle, int32_t apiId, int32_t *status)
	Stops a repeating packet with a specific ID.
void	HAL_ReadCANPacketNew (HAL_CANHandle handle, int32_t apiId, struct HAL_CANReceiveMessage message, int32_t status)
	Reads a new CAN packet.
void	HAL_ReadCANPacketLatest (HAL_CANHandle handle, int32_t apiId, struct HAL_CANReceiveMessage message, int32_t status)
	Reads a CAN packet.
void	HAL_ReadCANPacketTimeout (HAL_CANHandle handle, int32_t apiId, struct HAL_CANReceiveMessage message, int32_t timeoutMs, int32_t status)
	Reads a CAN packet.

Detailed Description

Macro Definition Documentation

◆ HAL_CAN_IS_FRAME_11BIT

#define HAL_CAN_IS_FRAME_11BIT 0x80000000

Mask for "is frame 11 bits" in message ID.

◆ HAL_CAN_IS_FRAME_REMOTE

#define HAL_CAN_IS_FRAME_REMOTE 0x40000000

Mask for "is frame remote" in message ID.

◆ HAL_CAN_SEND_PERIOD_NO_REPEAT

#define HAL_CAN_SEND_PERIOD_NO_REPEAT 0

Flag for sending a CAN message once.

◆ HAL_CAN_SEND_PERIOD_STOP_REPEATING

#define HAL_CAN_SEND_PERIOD_STOP_REPEATING -1

Flag for stopping periodic CAN message sends.

Enumeration Type Documentation

◆ HAL_CANBusMap

enum HAL_CANBusMap : int32_t

Enumerator
HAL_CAN_BUS_S0
HAL_CAN_BUS_S1
HAL_CAN_BUS_S2
HAL_CAN_BUS_S3
HAL_CAN_BUS_S4
HAL_CAN_BUS_D0
HAL_CAN_BUS_D1
HAL_CAN_BUS_D2
HAL_CAN_BUS_D3
HAL_CAN_BUS_D4
HAL_CAN_BUS_D5
HAL_CAN_BUS_D6
HAL_CAN_BUS_D7
HAL_CAN_BUS_D8
HAL_CAN_BUS_D9
HAL_CAN_BUS_D10
HAL_CAN_BUS_D11
HAL_CAN_BUS_D12
HAL_CAN_BUS_D13
HAL_CAN_BUS_D14
HAL_CAN_BUS_D15
HAL_CAN_BUS_D16
HAL_CAN_BUS_D17
HAL_CAN_BUS_D18
HAL_CAN_BUS_D19

◆ HAL_CANDeviceType

enum HAL_CANDeviceType : int32_t

The CAN device type.

Teams should use HAL_CAN_DEV_MISCELLANEOUS

Enumerator
HAL_CAN_DEV_BROADCAST	Broadcast.
HAL_CAN_DEV_ROBOT_CONTROLLER	Robot controller.
HAL_CAN_DEV_MOTOR_CONTROLLER	Motor controller.
HAL_CAN_DEV_RELAY_CONTROLLER	Relay controller.
HAL_CAN_DEV_GYRO_SENSOR	Gyro sensor.
HAL_CAN_DEV_ACCELEROMETER	Accelerometer.
HAL_CAN_DEV_DISTANCE_SENSOR	Distance sensor.
HAL_CAN_DEV_ENCODER	Encoder.
HAL_CAN_DEV_POWER_DISTRIBUTION	Power distribution.
HAL_CAN_DEV_PNEUMATICS	Pneumatics.
HAL_CAN_DEV_MISCELLANEOUS	Miscellaneous.
HAL_CAN_DEV_IO_BREAKOUT	IO breakout.
HAL_CAN_DEV_SERVO_CONTROLLER	Servo controller.
HAL_CAN_DEV_COLOR_SENSOR	Color Sensor.
HAL_CAN_DEV_FIRMWARE_UPDATE	Firmware update.

◆ HAL_CANFlags

enum HAL_CANFlags : int32_t

Enumerator

HAL_CAN_NO_FLAGS

Placeholder for no flags.

HAL_CAN_FD_BITRATESWITCH

Mask for if frame will do FD bit rate switching.

Only matters to send.

HAL_CAN_FD_DATALENGTH

Mask for is frame will contain an FD length.

◆ HAL_CANManufacturer

enum HAL_CANManufacturer : int32_t

The CAN manufacturer ID.

Teams should use HAL_CAN_MAN_TEAM_USE.

Enumerator
HAL_CAN_MAN_BROADCAST	Broadcast.
HAL_CAN_MAN_NI	National Instruments.
HAL_CAN_MAN_LM	Luminary Micro.
HAL_CAN_MAN_DEKA	DEKA Research and Development Corp.
HAL_CAN_MAN_CTRE	Cross the Road Electronics.
HAL_CAN_MAN_REV	REV robotics.
HAL_CAN_MAN_GRAPPLE	Grapple.
HAL_CAN_MAN_MS	MindSensors.
HAL_CAN_MAN_TEAM_USE	Team use.
HAL_CAN_MAN_KAUAI_LABS	Kauai Labs.
HAL_CAN_MAN_COPPERFORGE	Copperforge.
HAL_CAN_MAN_PWF	Playing With Fusion.
HAL_CAN_MAN_STUDICA	Studica.
HAL_CAN_MAN_THRIFTYBOT	TheThriftyBot.
HAL_CAN_MAN_REDUX_ROBOTICS	Redux Robotics.
HAL_CAN_MAN_ANDYMARK	AndyMark.
HAL_CAN_MAN_VIVID_HOSTING	Vivid-Hosting.
HAL_CAN_MAN_VERTOS_ROBOTICS	Vertos Robotics.
HAL_CAN_MAN_SWYFT_ROBOTICS	SWYFT Robotics.
HAL_CAN_MAN_LUMYN_LABS	Lumyn Labs.
HAL_CAN_MAN_BRUSHLAND_LABS	Brushland Labs.

Function Documentation

◆ HAL_CleanCAN()

void HAL_CleanCAN ( HAL_CANHandle handle )

Frees a CAN device.

Parameters

handle the CAN handle

◆ HAL_InitializeCAN()

HAL_CANHandle HAL_InitializeCAN	(	int32_t	busId,
		HAL_CANManufacturer	manufacturer,
		int32_t	deviceId,
		HAL_CANDeviceType	deviceType,
		int32_t *	status )

Initializes a CAN device.

These follow the FIRST standard CAN layout. https://docs.wpilib.org/en/stable/docs/software/can-devices/can-addressing.html

Parameters

[in]	busId	the bus id
[in]	manufacturer	the can manufacturer
[in]	deviceId	the device ID (0-63)
[in]	deviceType	the device type
[out]	status	Error status variable. 0 on success.

Returns: the created CAN handle

◆ HAL_ReadCANPacketLatest()

void HAL_ReadCANPacketLatest	(	HAL_CANHandle	handle,
		int32_t	apiId,
		struct HAL_CANReceiveMessage *	message,
		int32_t *	status )

Reads a CAN packet.

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

Parameters

[in]	handle	the CAN handle
[in]	apiId	the ID to read (0-1023)
[out]	message	the message received.
[out]	status	Error status variable. 0 on success.

◆ HAL_ReadCANPacketNew()

void HAL_ReadCANPacketNew	(	HAL_CANHandle	handle,
		int32_t	apiId,
		struct HAL_CANReceiveMessage *	message,
		int32_t *	status )

Reads a new CAN packet.

This will only return properly once per packet received. Multiple calls without receiving another packet will return an error code.

Parameters

[in]	handle	the CAN handle
[in]	apiId	the ID to read (0-1023)
[out]	message	the message received.
[out]	status	Error status variable. 0 on success.

◆ HAL_ReadCANPacketTimeout()

void HAL_ReadCANPacketTimeout	(	HAL_CANHandle	handle,
		int32_t	apiId,
		struct HAL_CANReceiveMessage *	message,
		int32_t	timeoutMs,
		int32_t *	status )

Reads a CAN packet.

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

Parameters

[in]	handle	the CAN handle
[in]	apiId	the ID to read (0-1023)
[out]	message	the message received.
[out]	timeoutMs	the timeout time for the packet
[out]	status	Error status variable. 0 on success.

◆ HAL_StopCANPacketRepeating()

void HAL_StopCANPacketRepeating	(	HAL_CANHandle	handle,
		int32_t	apiId,
		int32_t *	status )

Stops a repeating packet with a specific ID.

This ID is 10 bits.

Parameters

[in]	handle	the CAN handle
[in]	apiId	the ID to stop repeating (0-1023)
[out]	status	Error status variable. 0 on success.

◆ HAL_WriteCANPacket()

void HAL_WriteCANPacket	(	HAL_CANHandle	handle,
		int32_t	apiId,
		const struct HAL_CANMessage *	message,
		int32_t *	status )

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

This ID is 10 bits.

Parameters

[in]	handle	the CAN handle
[in]	apiId	the ID to write (0-1023)
[in]	message	the message
[out]	status	Error status variable. 0 on success.

◆ HAL_WriteCANPacketRepeating()

void HAL_WriteCANPacketRepeating	(	HAL_CANHandle	handle,
		int32_t	apiId,
		const struct HAL_CANMessage *	message,
		int32_t	repeatMs,
		int32_t *	status )

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

This ID is 10 bits.

The device will automatically repeat the packet at the specified interval

Parameters

[in]	handle	the CAN handle
[in]	apiId	the ID to write (0-1023)
[in]	message	the message
[in]	repeatMs	the period to repeat in ms
[out]	status	Error status variable. 0 on success.

◆ HAL_WriteCANRTRFrame()

void HAL_WriteCANRTRFrame	(	HAL_CANHandle	handle,
		int32_t	apiId,
		const struct HAL_CANMessage *	message,
		int32_t *	status )

Writes an RTR frame of the specified length to the CAN device with the specific ID.

By spec, the length must be equal to the length sent by the other device, otherwise behavior is unspecified.

Parameters

[in]	handle	the CAN handle
[in]	apiId	the ID to write (0-1023)
[in]	message	the message
[out]	status	Error status variable. 0 on success.

Classes

Macros

Enumerations

Functions

Detailed Description

Macro Definition Documentation

◆ HAL_CAN_IS_FRAME_11BIT

◆ HAL_CAN_IS_FRAME_REMOTE

◆ HAL_CAN_SEND_PERIOD_NO_REPEAT

◆ HAL_CAN_SEND_PERIOD_STOP_REPEATING

Enumeration Type Documentation

◆ HAL_CANBusMap

◆ HAL_CANDeviceType

◆ HAL_CANFlags

◆ HAL_CANManufacturer

Function Documentation

◆ HAL_CleanCAN()

◆ HAL_InitializeCAN()

◆ HAL_ReadCANPacketLatest()

◆ HAL_ReadCANPacketNew()

◆ HAL_ReadCANPacketTimeout()

◆ HAL_StopCANPacketRepeating()

◆ HAL_WriteCANPacket()

◆ HAL_WriteCANPacketRepeating()

◆ HAL_WriteCANRTRFrame()