/**
* Send a message on the CAN bus through the CAN driver in FRC_NetworkCommunication
*
* Trusted messages require a 2-byte token at the beginning of the data payload.
* If the message being sent is trusted, make space for the token.
*
* @param messageID The messageID to be used on the CAN bus
* @param data The up to 8 bytes of data to be sent with the message
* @param dataSize Specify how much of the data in "data" to send
* @return Status of send call
*/
int32_t CANJaguar::sendMessage(uint32_t messageID, const uint8_t *data, uint8_t dataSize)
{
static constexpr uint32_t kTrustedMessages[] = {
LM_API_VOLT_T_EN, LM_API_VOLT_T_SET, LM_API_SPD_T_EN, LM_API_SPD_T_SET,
LM_API_VCOMP_T_EN, LM_API_VCOMP_T_SET, LM_API_POS_T_EN, LM_API_POS_T_SET,
LM_API_ICTRL_T_EN, LM_API_ICTRL_T_SET};
int32_t status=0;
for (uint8_t i=0; i<(sizeof(kTrustedMessages)/sizeof(kTrustedMessages[0])); i++)
{
if ((kFullMessageIDMask & messageID) == kTrustedMessages[i])
{
uint8_t dataBuffer[8];
dataBuffer[0] = 0;
dataBuffer[1] = 0;
// Make sure the data will still fit after adjusting for the token.
if (dataSize > 6)
{
// TODO: I would rather this not have to set the global error
wpi_setGlobalWPIErrorWithContext(ParameterOutOfRange, "dataSize > 6");
return 0;
}
for (uint8_t j=0; j < dataSize; j++)
{
dataBuffer[j + 2] = data[j];
}
FRC_NetworkCommunication_JaguarCANDriver_sendMessage(messageID, dataBuffer, dataSize + 2, &status);
return status;
}
}
FRC_NetworkCommunication_JaguarCANDriver_sendMessage(messageID, data, dataSize, &status);
return status;
}
/**
* Send a message on the CAN bus through the CAN driver in FRC_NetworkCommunication
*
* Trusted messages require a 2-byte token at the beginning of the data payload.
* If the message being sent is trusted, make space for the token.
*
* @param messageID The messageID to be used on the CAN bus
* @param data The up to 8 bytes of data to be sent with the message
* @param dataSize Specify how much of the data in "data" to send
*/
INT32 CANJaguar::sendMessage(UINT32 messageID, const UINT8 *data, UINT8 dataSize)
{
static const UINT32 kTrustedMessages[] = {
LM_API_VOLT_T_EN, LM_API_VOLT_T_SET, LM_API_SPD_T_EN, LM_API_SPD_T_SET,
LM_API_POS_T_EN, LM_API_POS_T_SET, LM_API_ICTRL_T_EN, LM_API_ICTRL_T_SET};
INT32 status=0;
for (UINT8 i=0; i<(sizeof(kTrustedMessages)/sizeof(kTrustedMessages[0])); i++)
{
if ((kFullMessageIDMask & messageID) == kTrustedMessages[i])
{
UINT8 dataBuffer[8];
dataBuffer[0] = 0;
dataBuffer[1] = 0;
// Make sure the data will still fit after adjusting for the token.
if (dataSize > 6)
{
// TODO: Error
return 0;
}
for (UINT8 j=0; j < dataSize; j++)
{
dataBuffer[j + 2] = data[j];
}
FRC_NetworkCommunication_JaguarCANDriver_sendMessage(messageID, dataBuffer, dataSize + 2, &status);
return status;
}
}
FRC_NetworkCommunication_JaguarCANDriver_sendMessage(messageID, data, dataSize, &status);
return status;
}
