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

#include <frc/CAN.h>

Public Member Functions
	CAN (int deviceId)
	Create a new CAN communication interface with the specific device ID. More...

	CAN (int deviceId, int deviceManufacturer, int deviceType)
	Create a new CAN communication interface with a specific device ID, manufacturer and device type. More...

	~CAN ()
	Closes the CAN communication. More...

	CAN (CAN &&)=default

CAN &	operator= (CAN &&)=default

void	WritePacket (const uint8_t *data, int length, int apiId)
	Write a packet to the CAN device with a specific ID. More...

void	WritePacketRepeating (const uint8_t *data, int length, int apiId, int repeatMs)
	Write a repeating packet to the CAN device with a specific ID. More...

void	WriteRTRFrame (int length, int apiId)
	Write an RTR frame to the CAN device with a specific ID. More...

int	WritePacketNoError (const uint8_t *data, int length, int apiId)
	Write a packet to the CAN device with a specific ID. More...

int	WritePacketRepeatingNoError (const uint8_t *data, int length, int apiId, int repeatMs)
	Write a repeating packet to the CAN device with a specific ID. More...

int	WriteRTRFrameNoError (int length, int apiId)
	Write an RTR frame to the CAN device with a specific ID. More...

void	StopPacketRepeating (int apiId)
	Stop a repeating packet with a specific ID. More...

bool	ReadPacketNew (int apiId, CANData *data)
	Read a new CAN packet. More...

bool	ReadPacketLatest (int apiId, CANData *data)
	Read a CAN packet. More...

bool	ReadPacketTimeout (int apiId, int timeoutMs, CANData *data)
	Read a CAN packet. More...

Static Public Member Functions
static uint64_t	GetTimestampBaseTime ()
	Reads the current value of the millisecond-resolution timer that CANData timestamps are based on. More...

Static Public Attributes
static constexpr HAL_CANManufacturer	kTeamManufacturer = HAL_CAN_Man_kTeamUse
	Team manufacturer. More...

static constexpr HAL_CANDeviceType	kTeamDeviceType
	Team device type. More...

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 deviceId )

explicit

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

deviceId The device id

◆ CAN() [2/3]

frc::CAN::CAN	(	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

deviceId	The device ID
deviceManufacturer	The device manufacturer
deviceType	The device type

◆ ~CAN()

frc::CAN::~CAN ( )

Closes the CAN communication.

◆ CAN() [3/3]

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

default

Member Function Documentation

◆ GetTimestampBaseTime()

static uint64_t frc::CAN::GetTimestampBaseTime ( )

static

Reads the current value of the millisecond-resolution timer that CANData timestamps are based on.

Returns: Current value of timer used as a base time for CANData timestamps in milliseconds

◆ operator=()

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

default

◆ ReadPacketLatest()

bool frc::CAN::ReadPacketLatest	(	int	apiId,
		CANData *	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,
		CANData *	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,
		CANData *	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	(	const uint8_t *	data,
		int	length,
		int	apiId
	)

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

This ID is 10 bits.

Parameters

data	The data to write (8 bytes max)
length	The data length to write
apiId	The API ID to write.

◆ WritePacketNoError()

int frc::CAN::WritePacketNoError	(	const uint8_t *	data,
		int	length,
		int	apiId
	)

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

This ID is 10 bits.

Parameters

data	The data to write (8 bytes max)
length	The data length to write
apiId	The API ID to write.

◆ WritePacketRepeating()

void frc::CAN::WritePacketRepeating	(	const uint8_t *	data,
		int	length,
		int	apiId,
		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

data	The data to write (8 bytes max)
length	The data length to write
apiId	The API ID to write.
repeatMs	The period to repeat the packet at.

◆ WritePacketRepeatingNoError()

int frc::CAN::WritePacketRepeatingNoError	(	const uint8_t *	data,
		int	length,
		int	apiId,
		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

data	The data to write (8 bytes max)
length	The data length to write
apiId	The API ID to write.
repeatMs	The period to repeat the packet at.

◆ WriteRTRFrame()

void frc::CAN::WriteRTRFrame	(	int	length,
		int	apiId
	)

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

length	The length to request (0 to 8)
apiId	The API ID to write.

◆ WriteRTRFrameNoError()

int frc::CAN::WriteRTRFrameNoError	(	int	length,
		int	apiId
	)

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

length	The length to request (0 to 8)
apiId	The API ID to write.

Member Data Documentation

◆ kTeamDeviceType

constexpr HAL_CANDeviceType frc::CAN::kTeamDeviceType

staticconstexpr

Initial value:

=

HAL_CAN_Dev_kMiscellaneous

@ HAL_CAN_Dev_kMiscellaneous

Miscellaneous.

Definition: CANAPITypes.h:44

Team device type.

◆ kTeamManufacturer

constexpr HAL_CANManufacturer frc::CAN::kTeamManufacturer = HAL_CAN_Man_kTeamUse

staticconstexpr

Team manufacturer.

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

frc/CAN.h

Public Member Functions

Static Public Member Functions

Static Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CAN() [1/3]

◆ CAN() [2/3]

◆ ~CAN()

◆ CAN() [3/3]

Member Function Documentation

◆ GetTimestampBaseTime()

◆ operator=()

◆ ReadPacketLatest()

◆ ReadPacketNew()

◆ ReadPacketTimeout()

◆ StopPacketRepeating()

◆ WritePacket()

◆ WritePacketNoError()

◆ WritePacketRepeating()

◆ WritePacketRepeatingNoError()

◆ WriteRTRFrame()

◆ WriteRTRFrameNoError()

Member Data Documentation

◆ kTeamDeviceType

◆ kTeamManufacturer