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_kBroadcast = 0 , HAL_CAN_Dev_kRobotController = 1 , HAL_CAN_Dev_kMotorController = 2 , HAL_CAN_Dev_kRelayController = 3 , HAL_CAN_Dev_kGyroSensor = 4 , HAL_CAN_Dev_kAccelerometer = 5 , HAL_CAN_Dev_kUltrasonicSensor = 6 , HAL_CAN_Dev_kGearToothSensor = 7 , HAL_CAN_Dev_kPowerDistribution = 8 , HAL_CAN_Dev_kPneumatics = 9 , HAL_CAN_Dev_kMiscellaneous = 10 , HAL_CAN_Dev_kIOBreakout = 11 , HAL_CAN_Dev_kServoController = 12 , HAL_CAN_Dev_kFirmwareUpdate = 31 }
	The CAN device type. More...

enum	HAL_CANManufacturer : int32_t { HAL_CAN_Man_kBroadcast = 0 , HAL_CAN_Man_kNI = 1 , HAL_CAN_Man_kLM = 2 , HAL_CAN_Man_kDEKA = 3 , HAL_CAN_Man_kCTRE = 4 , HAL_CAN_Man_kREV = 5 , HAL_CAN_Man_kGrapple = 6 , HAL_CAN_Man_kMS = 7 , HAL_CAN_Man_kTeamUse = 8 , HAL_CAN_Man_kKauaiLabs = 9 , HAL_CAN_Man_kCopperforge = 10 , HAL_CAN_Man_kPWF = 11 , HAL_CAN_Man_kStudica = 12 , HAL_CAN_Man_kTheThriftyBot = 13 , HAL_CAN_Man_kReduxRobotics = 14 , HAL_CAN_Man_kAndyMark = 15 , HAL_CAN_Man_kVividHosting = 16 }
	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 }

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_CANDeviceType

enum HAL_CANDeviceType : int32_t

The CAN device type.

Teams should use HAL_CAN_Dev_kMiscellaneous

Enumerator
HAL_CAN_Dev_kBroadcast	Broadcast.
HAL_CAN_Dev_kRobotController	Robot controller.
HAL_CAN_Dev_kMotorController	Motor controller.
HAL_CAN_Dev_kRelayController	Relay controller.
HAL_CAN_Dev_kGyroSensor	Gyro sensor.
HAL_CAN_Dev_kAccelerometer	Accelerometer.
HAL_CAN_Dev_kUltrasonicSensor	Ultrasonic sensor.
HAL_CAN_Dev_kGearToothSensor	Gear tooth sensor.
HAL_CAN_Dev_kPowerDistribution	Power distribution.
HAL_CAN_Dev_kPneumatics	Pneumatics.
HAL_CAN_Dev_kMiscellaneous	Miscellaneous.
HAL_CAN_Dev_kIOBreakout	IO breakout.
HAL_CAN_Dev_kServoController
HAL_CAN_Dev_kFirmwareUpdate	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_kTeamUse.

Enumerator
HAL_CAN_Man_kBroadcast	Broadcast.
HAL_CAN_Man_kNI	National Instruments.
HAL_CAN_Man_kLM	Luminary Micro.
HAL_CAN_Man_kDEKA	DEKA Research and Development Corp.
HAL_CAN_Man_kCTRE	Cross the Road Electronics.
HAL_CAN_Man_kREV	REV robotics.
HAL_CAN_Man_kGrapple	Grapple.
HAL_CAN_Man_kMS	MindSensors.
HAL_CAN_Man_kTeamUse	Team use.
HAL_CAN_Man_kKauaiLabs	Kauai Labs.
HAL_CAN_Man_kCopperforge	Copperforge.
HAL_CAN_Man_kPWF	Playing With Fusion.
HAL_CAN_Man_kStudica	Studica.
HAL_CAN_Man_kTheThriftyBot	TheThriftyBot.
HAL_CAN_Man_kReduxRobotics	Redux Robotics.
HAL_CAN_Man_kAndyMark	AndyMark.
HAL_CAN_Man_kVividHosting	Vivid-Hosting.

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_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()