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_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 }
	The CAN manufacturer ID. More...

Functions
uint32_t	HAL_GetCANPacketBaseTime (void)
	Reads the current value of the millisecond-resolution timer that the CAN API functions use as a time base. More...

HAL_CANHandle	HAL_InitializeCAN (HAL_CANManufacturer manufacturer, int32_t deviceId, HAL_CANDeviceType deviceType, int32_t *status)
	Initializes a CAN device. More...

void	HAL_CleanCAN (HAL_CANHandle handle)
	Frees a CAN device. More...

void	HAL_WriteCANPacket (HAL_CANHandle handle, const uint8_t data, int32_t length, int32_t apiId, int32_t status)
	Writes a packet to the CAN device with a specific ID. More...

void	HAL_WriteCANPacketRepeating (HAL_CANHandle handle, const uint8_t data, int32_t length, int32_t apiId, int32_t repeatMs, int32_t status)
	Writes a repeating packet to the CAN device with a specific ID. More...

void	HAL_WriteCANRTRFrame (HAL_CANHandle handle, int32_t length, int32_t apiId, int32_t *status)
	Writes an RTR frame of the specified length to the CAN device with the specific ID. More...

void	HAL_StopCANPacketRepeating (HAL_CANHandle handle, int32_t apiId, int32_t *status)
	Stops a repeating packet with a specific ID. More...

void	HAL_ReadCANPacketNew (HAL_CANHandle handle, int32_t apiId, uint8_t data, int32_t length, uint64_t receivedTimestamp, int32_t status)
	Reads a new CAN packet. More...

void	HAL_ReadCANPacketLatest (HAL_CANHandle handle, int32_t apiId, uint8_t data, int32_t length, uint64_t receivedTimestamp, int32_t status)
	Reads a CAN packet. More...

void	HAL_ReadCANPacketTimeout (HAL_CANHandle handle, int32_t apiId, uint8_t data, int32_t length, uint64_t receivedTimestamp, int32_t timeoutMs, int32_t status)
	Reads a CAN packet. More...

Detailed Description

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
HAL_CAN_Dev_kRobotController
HAL_CAN_Dev_kMotorController
HAL_CAN_Dev_kRelayController
HAL_CAN_Dev_kGyroSensor
HAL_CAN_Dev_kAccelerometer
HAL_CAN_Dev_kUltrasonicSensor
HAL_CAN_Dev_kGearToothSensor
HAL_CAN_Dev_kPowerDistribution
HAL_CAN_Dev_kPneumatics
HAL_CAN_Dev_kMiscellaneous
HAL_CAN_Dev_kIOBreakout
HAL_CAN_Dev_kFirmwareUpdate

◆ HAL_CANManufacturer

enum HAL_CANManufacturer : int32_t

The CAN manufacturer ID.

Teams should use HAL_CAN_Man_kTeamUse.

Enumerator
HAL_CAN_Man_kBroadcast
HAL_CAN_Man_kNI
HAL_CAN_Man_kLM
HAL_CAN_Man_kDEKA
HAL_CAN_Man_kCTRE
HAL_CAN_Man_kREV
HAL_CAN_Man_kGrapple
HAL_CAN_Man_kMS
HAL_CAN_Man_kTeamUse
HAL_CAN_Man_kKauaiLabs
HAL_CAN_Man_kCopperforge
HAL_CAN_Man_kPWF
HAL_CAN_Man_kStudica
HAL_CAN_Man_kTheThriftyBot
HAL_CAN_Man_kReduxRobotics

Function Documentation

◆ HAL_CleanCAN()

void HAL_CleanCAN ( HAL_CANHandle handle )

Frees a CAN device.

Parameters

[in,out] handle the CAN handle

◆ HAL_GetCANPacketBaseTime()

uint32_t HAL_GetCANPacketBaseTime ( void )

Reads the current value of the millisecond-resolution timer that the CAN API functions use as a time base.

Returns: Current value of timer used as a base time by the CAN API in milliseconds.

◆ HAL_InitializeCAN()

HAL_CANHandle HAL_InitializeCAN	(	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]	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,
		uint8_t *	data,
		int32_t *	length,
		uint64_t *	receivedTimestamp,
		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]	data	the packet data (8 bytes)
[out]	length	the received length (0-8 bytes)
[out]	receivedTimestamp	the packet received timestamp in ms (based off of CLOCK_MONOTONIC)
[out]	status	Error status variable. 0 on success.

◆ HAL_ReadCANPacketNew()

void HAL_ReadCANPacketNew	(	HAL_CANHandle	handle,
		int32_t	apiId,
		uint8_t *	data,
		int32_t *	length,
		uint64_t *	receivedTimestamp,
		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]	data	the packet data (8 bytes)
[out]	length	the received length (0-8 bytes)
[out]	receivedTimestamp	the packet received timestamp in ms (based off of CLOCK_MONOTONIC)
[out]	status	Error status variable. 0 on success.

◆ HAL_ReadCANPacketTimeout()

void HAL_ReadCANPacketTimeout	(	HAL_CANHandle	handle,
		int32_t	apiId,
		uint8_t *	data,
		int32_t *	length,
		uint64_t *	receivedTimestamp,
		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]	data	the packet data (8 bytes)
[out]	length	the received length (0-8 bytes)
[out]	receivedTimestamp	the packet received timestamp in ms (based off of CLOCK_MONOTONIC)
[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,
		const uint8_t *	data,
		int32_t	length,
		int32_t	apiId,
		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]	data	the data to write (0-8 bytes)
[in]	length	the length of data (0-8)
[in]	apiId	the ID to write (0-1023 bits)
[out]	status	Error status variable. 0 on success.

◆ HAL_WriteCANPacketRepeating()

void HAL_WriteCANPacketRepeating	(	HAL_CANHandle	handle,
		const uint8_t *	data,
		int32_t	length,
		int32_t	apiId,
		int32_t	repeatMs,
		int32_t *	status
	)

Writes 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

[in]	handle	the CAN handle
[in]	data	the data to write (0-8 bytes)
[in]	length	the length of data (0-8)
[in]	apiId	the ID to write (0-1023)
[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	length,
		int32_t	apiId,
		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]	length	the length of data to request (0-8)
[in]	apiId	the ID to write (0-1023)
[out]	status	Error status variable. 0 on success.

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

◆ HAL_CANDeviceType

◆ HAL_CANManufacturer

Function Documentation

◆ HAL_CleanCAN()

◆ HAL_GetCANPacketBaseTime()

◆ HAL_InitializeCAN()

◆ HAL_ReadCANPacketLatest()

◆ HAL_ReadCANPacketNew()

◆ HAL_ReadCANPacketTimeout()

◆ HAL_StopCANPacketRepeating()

◆ HAL_WriteCANPacket()

◆ HAL_WriteCANPacketRepeating()

◆ HAL_WriteCANRTRFrame()