Enumerations
enum	HAL_SerialPort : int32_t { HAL_SerialPort_Onboard = 0 , HAL_SerialPort_MXP = 1 , HAL_SerialPort_USB1 = 2 , HAL_SerialPort_USB2 = 3 }

Functions
HAL_SerialPortHandle	HAL_InitializeSerialPort (HAL_SerialPort port, int32_t *status)
	Initializes a serial port. More...

HAL_SerialPortHandle	HAL_InitializeSerialPortDirect (HAL_SerialPort port, const char portName, int32_t status)
	Initializes a serial port with a direct name. More...

int	HAL_GetSerialFD (HAL_SerialPortHandle handle, int32_t *status)
	Gets the raw serial port file descriptor from a handle. More...

void	HAL_SetSerialBaudRate (HAL_SerialPortHandle handle, int32_t baud, int32_t *status)
	Sets the baud rate of a serial port. More...

void	HAL_SetSerialDataBits (HAL_SerialPortHandle handle, int32_t bits, int32_t *status)
	Sets the number of data bits on a serial port. More...

void	HAL_SetSerialParity (HAL_SerialPortHandle handle, int32_t parity, int32_t *status)
	Sets the number of parity bits on a serial port. More...

void	HAL_SetSerialStopBits (HAL_SerialPortHandle handle, int32_t stopBits, int32_t *status)
	Sets the number of stop bits on a serial port. More...

void	HAL_SetSerialWriteMode (HAL_SerialPortHandle handle, int32_t mode, int32_t *status)
	Sets the write mode on a serial port. More...

void	HAL_SetSerialFlowControl (HAL_SerialPortHandle handle, int32_t flow, int32_t *status)
	Sets the flow control mode of a serial port. More...

void	HAL_SetSerialTimeout (HAL_SerialPortHandle handle, double timeout, int32_t *status)
	Sets the minimum serial read timeout of a port. More...

void	HAL_EnableSerialTermination (HAL_SerialPortHandle handle, char terminator, int32_t *status)
	Sets the termination character that terminates a read. More...

void	HAL_DisableSerialTermination (HAL_SerialPortHandle handle, int32_t *status)
	Disables a termination character for reads. More...

void	HAL_SetSerialReadBufferSize (HAL_SerialPortHandle handle, int32_t size, int32_t *status)
	Sets the size of the read buffer. More...

void	HAL_SetSerialWriteBufferSize (HAL_SerialPortHandle handle, int32_t size, int32_t *status)
	Sets the size of the write buffer. More...

int32_t	HAL_GetSerialBytesReceived (HAL_SerialPortHandle handle, int32_t *status)
	Gets the number of bytes currently in the read buffer. More...

int32_t	HAL_ReadSerial (HAL_SerialPortHandle handle, char buffer, int32_t count, int32_t status)
	Reads data from the serial port. More...

int32_t	HAL_WriteSerial (HAL_SerialPortHandle handle, const char buffer, int32_t count, int32_t status)
	Writes data to the serial port. More...

void	HAL_FlushSerial (HAL_SerialPortHandle handle, int32_t *status)
	Flushes the serial write buffer out to the port. More...

void	HAL_ClearSerial (HAL_SerialPortHandle handle, int32_t *status)
	Clears the receive buffer of the serial port. More...

void	HAL_CloseSerial (HAL_SerialPortHandle handle, int32_t *status)
	Closes a serial port. More...

Detailed Description

Enumeration Type Documentation

◆ HAL_SerialPort

enum HAL_SerialPort : int32_t

Enumerator
HAL_SerialPort_Onboard
HAL_SerialPort_MXP
HAL_SerialPort_USB1
HAL_SerialPort_USB2

Function Documentation

◆ HAL_ClearSerial()

void HAL_ClearSerial	(	HAL_SerialPortHandle	handle,
		int32_t *	status
	)

Clears the receive buffer of the serial port.

Parameters

[in]	handle	the serial port handle
[out]	status	the error code, or 0 for success

◆ HAL_CloseSerial()

void HAL_CloseSerial	(	HAL_SerialPortHandle	handle,
		int32_t *	status
	)

Closes a serial port.

Parameters

[in]	handle	the serial port handle to close
[out]	status	the error code, or 0 for success

◆ HAL_DisableSerialTermination()

void HAL_DisableSerialTermination	(	HAL_SerialPortHandle	handle,
		int32_t *	status
	)

Disables a termination character for reads.

Parameters

[in]	handle	the serial port handle
[out]	status	the error code, or 0 for success

◆ HAL_EnableSerialTermination()

void HAL_EnableSerialTermination	(	HAL_SerialPortHandle	handle,
		char	terminator,
		int32_t *	status
	)

Sets the termination character that terminates a read.

By default this is disabled.

Parameters

[in]	handle	the serial port handle
[in]	terminator	the termination character to set
[out]	status	the error code, or 0 for success

◆ HAL_FlushSerial()

void HAL_FlushSerial	(	HAL_SerialPortHandle	handle,
		int32_t *	status
	)

Flushes the serial write buffer out to the port.

Parameters

[in]	handle	the serial port handle
[out]	status	the error code, or 0 for success

◆ HAL_GetSerialBytesReceived()

int32_t HAL_GetSerialBytesReceived	(	HAL_SerialPortHandle	handle,
		int32_t *	status
	)

Gets the number of bytes currently in the read buffer.

Parameters

[in]	handle	the serial port handle
[out]	status	the error code, or 0 for success

Returns: the number of bytes in the read buffer

◆ HAL_GetSerialFD()

int HAL_GetSerialFD	(	HAL_SerialPortHandle	handle,
		int32_t *	status
	)

Gets the raw serial port file descriptor from a handle.

Parameters

[in]	handle	the serial port handle
[out]	status	the error code, or 0 for success

Returns: the raw port descriptor

◆ HAL_InitializeSerialPort()

HAL_SerialPortHandle HAL_InitializeSerialPort	(	HAL_SerialPort	port,
		int32_t *	status
	)

Initializes a serial port.

The channels are either the onboard RS232, the MXP UART, or 2 USB ports. The top port is USB1, the bottom port is USB2.

Parameters

[in]	port	the serial port to initialize
[out]	status	the error code, or 0 for success

Returns: Serial Port Handle

◆ HAL_InitializeSerialPortDirect()

HAL_SerialPortHandle HAL_InitializeSerialPortDirect	(	HAL_SerialPort	port,
		const char *	portName,
		int32_t *	status
	)

Initializes a serial port with a direct name.

This name is the /dev name for a specific port. Note these are not always consistent between roboRIO reboots.

Parameters

[in]	port	the serial port to initialize
[in]	portName	the dev port name
[out]	status	the error code, or 0 for success

Returns: Serial Port Handle

◆ HAL_ReadSerial()

int32_t HAL_ReadSerial	(	HAL_SerialPortHandle	handle,
		char *	buffer,
		int32_t	count,
		int32_t *	status
	)

Reads data from the serial port.

Will wait for either timeout (if set), the termination char (if set), or the count to be full. Whichever one comes first.

Parameters

[in]	handle	the serial port handle
[out]	buffer	the buffer in which to store bytes read
[in]	count	the number of bytes maximum to read
[out]	status	the error code, or 0 for success

Returns: the number of bytes actually read

◆ HAL_SetSerialBaudRate()

void HAL_SetSerialBaudRate	(	HAL_SerialPortHandle	handle,
		int32_t	baud,
		int32_t *	status
	)

Sets the baud rate of a serial port.

Any value between 0 and 0xFFFFFFFF may be used. Default is 9600.

Parameters

[in]	handle	the serial port handle
[in]	baud	the baud rate to set
[out]	status	the error code, or 0 for success

◆ HAL_SetSerialDataBits()

void HAL_SetSerialDataBits	(	HAL_SerialPortHandle	handle,
		int32_t	bits,
		int32_t *	status
	)

Sets the number of data bits on a serial port.

Defaults to 8.

Parameters

[in]	handle	the serial port handle
[in]	bits	the number of data bits (5-8)
[out]	status	the error code, or 0 for success

◆ HAL_SetSerialFlowControl()

void HAL_SetSerialFlowControl	(	HAL_SerialPortHandle	handle,
		int32_t	flow,
		int32_t *	status
	)

Sets the flow control mode of a serial port.

Valid values are: 0: None (default) 1: XON-XOFF 2: RTS-CTS 3: DTR-DSR

Parameters

[in]	handle	the serial port handle
[in]	flow	the mode to set (see remarks for valid values)
[out]	status	the error code, or 0 for success

◆ HAL_SetSerialParity()

void HAL_SetSerialParity	(	HAL_SerialPortHandle	handle,
		int32_t	parity,
		int32_t *	status
	)

Sets the number of parity bits on a serial port.

Valid values are: 0: None (default) 1: Odd 2: Even 3: Mark - Means exists and always 1 4: Space - Means exists and always 0

Parameters

[in]	handle	the serial port handle
[in]	parity	the parity bit mode (see remarks for valid values)
[out]	status	the error code, or 0 for success

◆ HAL_SetSerialReadBufferSize()

void HAL_SetSerialReadBufferSize	(	HAL_SerialPortHandle	handle,
		int32_t	size,
		int32_t *	status
	)

Sets the size of the read buffer.

Parameters

[in]	handle	the serial port handle
[in]	size	the read buffer size
[out]	status	the error code, or 0 for success

◆ HAL_SetSerialStopBits()

void HAL_SetSerialStopBits	(	HAL_SerialPortHandle	handle,
		int32_t	stopBits,
		int32_t *	status
	)

Sets the number of stop bits on a serial port.

Valid values are: 10: One stop bit (default) 15: One and a half stop bits 20: Two stop bits

Parameters

[in]	handle	the serial port handle
[in]	stopBits	the stop bit value (see remarks for valid values)
[out]	status	the error code, or 0 for success

◆ HAL_SetSerialTimeout()

void HAL_SetSerialTimeout	(	HAL_SerialPortHandle	handle,
		double	timeout,
		int32_t *	status
	)

Sets the minimum serial read timeout of a port.

Parameters

[in]	handle	the serial port handle
[in]	timeout	the timeout in milliseconds
[out]	status	the error code, or 0 for success

◆ HAL_SetSerialWriteBufferSize()

void HAL_SetSerialWriteBufferSize	(	HAL_SerialPortHandle	handle,
		int32_t	size,
		int32_t *	status
	)

Sets the size of the write buffer.

Parameters

[in]	handle	the serial port handle
[in]	size	the write buffer size
[out]	status	the error code, or 0 for success

◆ HAL_SetSerialWriteMode()

void HAL_SetSerialWriteMode	(	HAL_SerialPortHandle	handle,
		int32_t	mode,
		int32_t *	status
	)

Sets the write mode on a serial port.

Valid values are: 1: Flush on access 2: Flush when full (default)

Parameters

[in]	handle	the serial port handle
[in]	mode	the mode to set (see remarks for valid values)
[out]	status	the error code, or 0 for success

◆ HAL_WriteSerial()

int32_t HAL_WriteSerial	(	HAL_SerialPortHandle	handle,
		const char *	buffer,
		int32_t	count,
		int32_t *	status
	)

Writes data to the serial port.

Parameters

[in]	handle	the serial port handle
[in]	buffer	the buffer to write
[in]	count	the number of bytes to write from the buffer
[out]	status	the error code, or 0 for success

Returns: the number of bytes actually written

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

◆ HAL_SerialPort

Function Documentation

◆ HAL_ClearSerial()

◆ HAL_CloseSerial()

◆ HAL_DisableSerialTermination()

◆ HAL_EnableSerialTermination()

◆ HAL_FlushSerial()

◆ HAL_GetSerialBytesReceived()

◆ HAL_GetSerialFD()

◆ HAL_InitializeSerialPort()

◆ HAL_InitializeSerialPortDirect()

◆ HAL_ReadSerial()

◆ HAL_SetSerialBaudRate()

◆ HAL_SetSerialDataBits()

◆ HAL_SetSerialFlowControl()

◆ HAL_SetSerialParity()

◆ HAL_SetSerialReadBufferSize()

◆ HAL_SetSerialStopBits()

◆ HAL_SetSerialTimeout()

◆ HAL_SetSerialWriteBufferSize()

◆ HAL_SetSerialWriteMode()

◆ HAL_WriteSerial()