#include <ctre/phoenix/CANifier.h>

Inheritance diagram for ctre::phoenix::CANifier:

Classes
struct	PinValues
	Structure to hold the pin values. More...

Public Types
enum	LEDChannel { LEDChannelA = 0 , LEDChannelB = 1 , LEDChannelC = 2 }
	Enum for the LED Output Channels. More...

enum	PWMChannel { PWMChannel0 = 0 , PWMChannel1 = 1 , PWMChannel2 = 2 , PWMChannel3 = 3 }
	Enum for the PWM Input Channels. More...

enum	GeneralPin { QUAD_IDX = 0 , QUAD_B = 1 , QUAD_A = 2 , LIMR = 3 , LIMF = 4 , SDA = 5 , SCL = 6 , SPI_CS = 7 , SPI_MISO_PWM2P = 8 , SPI_MOSI_PWM1P = 9 , SPI_CLK_PWM0P = 10 }
	General IO Pins on the CANifier. More...

Public Member Functions
	CANifier (int deviceNumber)
	Constructor. More...

	~CANifier ()

ErrorCode	SetLEDOutput (double percentOutput, LEDChannel ledChannel)
	Sets the LED Output. More...

ErrorCode	SetGeneralOutput (GeneralPin outputPin, bool outputValue, bool outputEnable)
	Sets the output of a General Pin. More...

ErrorCode	SetGeneralOutputs (int outputBits, int isOutputBits)
	Sets the output of all General Pins. More...

ErrorCode	GetGeneralInputs (PinValues &allPins)
	Gets the state of all General Pins. More...

bool	GetGeneralInput (GeneralPin inputPin)
	Gets the state of the specified pin. More...

int	GetQuadraturePosition ()
	Gets the quadrature encoder's position. More...

int	GetQuadratureVelocity ()
	Gets the quadrature encoder's velocity. More...

ErrorCode	SetQuadraturePosition (int newPosition, int timeoutMs=0)
	Sets the quadrature encoder's position. More...

ErrorCode	ConfigVelocityMeasurementPeriod (ctre::phoenix::sensors::SensorVelocityMeasPeriod period, int timeoutMs=0)
	Configures the period of each velocity sample. More...

ErrorCode	ConfigVelocityMeasurementPeriod (CANifierVelocityMeasPeriod period, int timeoutMs=0)

ErrorCode	ConfigVelocityMeasurementWindow (int windowSize, int timeoutMs=0)
	Sets the number of velocity samples used in the rolling average velocity measurement. More...

ErrorCode	ConfigClearPositionOnLimitF (bool clearPositionOnLimitF, int timeoutMs=0)
	Enables clearing the position of the feedback sensor when the forward limit switch is triggered. More...

ErrorCode	ConfigClearPositionOnLimitR (bool clearPositionOnLimitR, int timeoutMs=0)
	Enables clearing the position of the feedback sensor when the reverse limit switch is triggered. More...

ErrorCode	ConfigClearPositionOnQuadIdx (bool clearPositionOnQuadIdx, int timeoutMs=0)
	Enables clearing the position of the feedback sensor when the quadrature index signal is detected. More...

double	GetBusVoltage ()
	Gets the bus voltage seen by the device. More...

ErrorCode	GetLastError ()
	Call GetLastError() generated by this object. More...

ErrorCode	SetPWMOutput (int pwmChannel, double dutyCycle)
	Sets the PWM Output Currently supports PWM 0, PWM 1, and PWM 2. More...

ErrorCode	EnablePWMOutput (int pwmChannel, bool bEnable)
	Enables PWM Outputs Currently supports PWM 0, PWM 1, and PWM 2. More...

ErrorCode	GetPWMInput (PWMChannel pwmChannel, double pulseWidthAndPeriod[])
	Gets the PWM Input. More...

ErrorCode	ConfigSetCustomParam (int newValue, int paramIndex, int timeoutMs=0)
	Sets the value of a custom parameter. More...

int	ConfigGetCustomParam (int paramIndex, int timeoutMs=0)
	Gets the value of a custom parameter. More...

ErrorCode	ConfigSetParameter (ParamEnum param, double value, uint8_t subValue, int ordinal, int timeoutMs=0)
	Sets a parameter. More...

double	ConfigGetParameter (ParamEnum param, int ordinal, int timeoutMs=0)
	Gets a parameter. More...

ErrorCode	ConfigGetParameter (ParamEnum param, int32_t valueToSend, int32_t &valueReceived, uint8_t &subValue, int32_t ordinal, int32_t timeoutMs)
	Gets a parameter by passing an int by reference. More...

ErrorCode	SetStatusFramePeriod (CANifierStatusFrame statusFrame, uint8_t periodMs, int timeoutMs=0)
	Sets the period of the given status frame. More...

int	GetStatusFramePeriod (CANifierStatusFrame frame, int timeoutMs=0)
	Gets the period of the given status frame. More...

ErrorCode	SetControlFramePeriod (CANifierControlFrame frame, int periodMs)
	Sets the period of the given control frame. More...

int	GetFirmwareVersion ()
	Gets the firmware version of the device. More...

bool	HasResetOccurred ()
	Returns true if the device has reset since last call. More...

ErrorCode	GetFaults (CANifierFaults &toFill)
	Gets the CANifier fault status. More...

ErrorCode	GetStickyFaults (CANifierStickyFaults &toFill)
	Gets the CANifier sticky fault status. More...

ErrorCode	ClearStickyFaults (int timeoutMs=0)
	Clears the Sticky Faults. More...

ctre::phoenix::ErrorCode	ConfigAllSettings (const CANifierConfiguration &allConfigs, int timeoutMs=50)
	Configures all persistent settings. More...

void	GetAllConfigs (CANifierConfiguration &allConfigs, int timeoutMs=50)
	Gets all persistant settings. More...

ErrorCode	ConfigFactoryDefault (int timeoutMs=50)
	Configures all persistent settings to defaults (overloaded so timeoutMs is 50 ms). More...

Public Member Functions inherited from ctre::phoenix::CANBusAddressable
	CANBusAddressable (int deviceNumber)
	Constructor for a CANBusAddressable device. More...

int	GetDeviceNumber ()

Static Public Member Functions
static void	DestroyAllCANifiers ()
	Destructs all CANifier objects. More...

Public Attributes
const int	PWMChannelCount = 4
	Number of PWM channels available to CANifier. More...

Detailed Description

CTRE CANifier.

Device for interfacing common devices to the CAN bus.

Member Enumeration Documentation

◆ GeneralPin

enum ctre::phoenix::CANifier::GeneralPin

General IO Pins on the CANifier.

Enumerator
QUAD_IDX	Quadrature Idx pin.
QUAD_B	Quadrature B pin.
QUAD_A	Quadrature A pin.
LIMR	Reverse limit pin.
LIMF	Forward limit pin.
SDA	SDA pin.
SCL	SCL pin.
SPI_CS	SPI_CS pin.
SPI_MISO_PWM2P	SPI_MISO_PWM2 pin.
SPI_MOSI_PWM1P	SPI_MOSI_PWM1 pin.
SPI_CLK_PWM0P	SPI_CLK_PWM0 pin.

◆ LEDChannel

enum ctre::phoenix::CANifier::LEDChannel

Enum for the LED Output Channels.

Enumerator
LEDChannelA	LED Channel A.
LEDChannelB	LED Channel B.
LEDChannelC	LED Channel C.

◆ PWMChannel

enum ctre::phoenix::CANifier::PWMChannel

Enum for the PWM Input Channels.

Enumerator
PWMChannel0	PWM Channel 0.
PWMChannel1	PWM Channel 1.
PWMChannel2	PWM Channel 2.
PWMChannel3	PWM Channel 3.

Constructor & Destructor Documentation

◆ CANifier()

ctre::phoenix::CANifier::CANifier ( int deviceNumber )

Constructor.

Parameters

deviceNumber The CAN Device ID of the CANifier.

◆ ~CANifier()

ctre::phoenix::CANifier::~CANifier ( )

Member Function Documentation

◆ ClearStickyFaults()

ErrorCode ctre::phoenix::CANifier::ClearStickyFaults ( int timeoutMs = 0 )

Clears the Sticky Faults.

Parameters

timeoutMs Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ ConfigAllSettings()

ctre::phoenix::ErrorCode ctre::phoenix::CANifier::ConfigAllSettings	(	const CANifierConfiguration &	allConfigs,
		int	timeoutMs = `50`
	)

Configures all persistent settings.

Parameters

allConfigs	Object with all of the persistant settings
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ ConfigClearPositionOnLimitF()

ErrorCode ctre::phoenix::CANifier::ConfigClearPositionOnLimitF	(	bool	clearPositionOnLimitF,
		int	timeoutMs = `0`
	)

Enables clearing the position of the feedback sensor when the forward limit switch is triggered.

Parameters

clearPositionOnLimitF	Whether clearing is enabled, defaults false
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ ConfigClearPositionOnLimitR()

ErrorCode ctre::phoenix::CANifier::ConfigClearPositionOnLimitR	(	bool	clearPositionOnLimitR,
		int	timeoutMs = `0`
	)

Enables clearing the position of the feedback sensor when the reverse limit switch is triggered.

Parameters

clearPositionOnLimitR	Whether clearing is enabled, defaults false
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ ConfigClearPositionOnQuadIdx()

ErrorCode ctre::phoenix::CANifier::ConfigClearPositionOnQuadIdx	(	bool	clearPositionOnQuadIdx,
		int	timeoutMs = `0`
	)

Enables clearing the position of the feedback sensor when the quadrature index signal is detected.

Parameters

clearPositionOnQuadIdx	Whether clearing is enabled, defaults false
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ ConfigFactoryDefault()

ErrorCode ctre::phoenix::CANifier::ConfigFactoryDefault ( int timeoutMs = 50 )

Configures all persistent settings to defaults (overloaded so timeoutMs is 50 ms).

Parameters

timeoutMs Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ ConfigGetCustomParam()

int ctre::phoenix::CANifier::ConfigGetCustomParam	(	int	paramIndex,
		int	timeoutMs = `0`
	)

Gets the value of a custom parameter.

This is for arbitrary use.

Sometimes it is necessary to save calibration/duty cycle/output information in the device. Particularly if the device is part of a subsystem that can be replaced.

Parameters

paramIndex	Index of custom parameter. [0-1]
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Value of the custom param.

◆ ConfigGetParameter() [1/2]

double ctre::phoenix::CANifier::ConfigGetParameter	(	ParamEnum	param,
		int	ordinal,
		int	timeoutMs = `0`
	)

Gets a parameter.

Generally this is not used. This can be utilized in

Using new features without updating API installation.
Errata workarounds to circumvent API implementation.
Allows for rapid testing / unit testing of firmware.

Parameters

param	Parameter enumeration.
ordinal	Ordinal of parameter.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Value of parameter.

◆ ConfigGetParameter() [2/2]

ErrorCode ctre::phoenix::CANifier::ConfigGetParameter	(	ParamEnum	param,
		int32_t	valueToSend,
		int32_t &	valueReceived,
		uint8_t &	subValue,
		int32_t	ordinal,
		int32_t	timeoutMs
	)

Gets a parameter by passing an int by reference.

Parameters

param	Parameter enumeration
valueToSend	Value to send to parameter
valueReceived	Reference to integer to receive
subValue	SubValue of parameter
ordinal	Ordinal of parameter
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ ConfigSetCustomParam()

ErrorCode ctre::phoenix::CANifier::ConfigSetCustomParam	(	int	newValue,
		int	paramIndex,
		int	timeoutMs = `0`
	)

Sets the value of a custom parameter.

This is for arbitrary use.

Sometimes it is necessary to save calibration/duty cycle/output information in the device. Particularly if the device is part of a subsystem that can be replaced.

Parameters

newValue	Value for custom parameter.
paramIndex	Index of custom parameter. [0-1]
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ ConfigSetParameter()

ErrorCode ctre::phoenix::CANifier::ConfigSetParameter	(	ParamEnum	param,
		double	value,
		uint8_t	subValue,
		int	ordinal,
		int	timeoutMs = `0`
	)

Sets a parameter.

Generally this is not used. This can be utilized in

Using new features without updating API installation.
Errata workarounds to circumvent API implementation.
Allows for rapid testing / unit testing of firmware.

Parameters

param	Parameter enumeration.
value	Value of parameter.
subValue	Subvalue for parameter. Maximum value of 255.
ordinal	Ordinal of parameter.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ ConfigVelocityMeasurementPeriod() [1/2]

ErrorCode ctre::phoenix::CANifier::ConfigVelocityMeasurementPeriod	(	CANifierVelocityMeasPeriod	period,
		int	timeoutMs = `0`
	)

◆ ConfigVelocityMeasurementPeriod() [2/2]

ErrorCode ctre::phoenix::CANifier::ConfigVelocityMeasurementPeriod	(	ctre::phoenix::sensors::SensorVelocityMeasPeriod	period,
		int	timeoutMs = `0`
	)

Configures the period of each velocity sample.

Every 1ms a position value is sampled, and the delta between that sample and the position sampled kPeriod ms ago is inserted into a filter. kPeriod is configured with this function.

Parameters

period	Desired period for the velocity measurement.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ ConfigVelocityMeasurementWindow()

ErrorCode ctre::phoenix::CANifier::ConfigVelocityMeasurementWindow	(	int	windowSize,
		int	timeoutMs = `0`
	)

Sets the number of velocity samples used in the rolling average velocity measurement.

Parameters

windowSize	Number of samples in the rolling average of velocity measurement. Valid values are 1,2,4,8,16,32. If another value is specified, it will truncate to nearest support value.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ DestroyAllCANifiers()

static void ctre::phoenix::CANifier::DestroyAllCANifiers ( )

static

Destructs all CANifier objects.

◆ EnablePWMOutput()

ErrorCode ctre::phoenix::CANifier::EnablePWMOutput	(	int	pwmChannel,
		bool	bEnable
	)

Enables PWM Outputs Currently supports PWM 0, PWM 1, and PWM 2.

Parameters

pwmChannel	Index of the PWM channel to enable.
bEnable	"True" enables output on the pwm channel.

◆ GetAllConfigs()

void ctre::phoenix::CANifier::GetAllConfigs	(	CANifierConfiguration &	allConfigs,
		int	timeoutMs = `50`
	)

Gets all persistant settings.

Parameters

allConfigs	Object with all of the persistant settings
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

◆ GetBusVoltage()

double ctre::phoenix::CANifier::GetBusVoltage ( )

Gets the bus voltage seen by the device.

Returns: The bus voltage value (in volts).

◆ GetFaults()

ErrorCode ctre::phoenix::CANifier::GetFaults ( CANifierFaults & toFill )

Gets the CANifier fault status.

Parameters

toFill Container for fault statuses.

Returns: Error Code generated by function. 0 indicates no error.

◆ GetFirmwareVersion()

int ctre::phoenix::CANifier::GetFirmwareVersion ( )

Gets the firmware version of the device.

Returns: Firmware version of device.

◆ GetGeneralInput()

bool ctre::phoenix::CANifier::GetGeneralInput ( GeneralPin inputPin )

Gets the state of the specified pin.

Parameters

inputPin The index of the pin.

Returns: The state of the pin.

◆ GetGeneralInputs()

ErrorCode ctre::phoenix::CANifier::GetGeneralInputs ( PinValues & allPins )

Gets the state of all General Pins.

Parameters

allPins A structure to fill with the current state of all pins.

◆ GetLastError()

ErrorCode ctre::phoenix::CANifier::GetLastError ( )

Call GetLastError() generated by this object.

Not all functions return an error code but can potentially report errors.

This function can be used to retrieve those error codes.

Returns: The last ErrorCode generated.

◆ GetPWMInput()

ErrorCode ctre::phoenix::CANifier::GetPWMInput	(	PWMChannel	pwmChannel,
		double	pulseWidthAndPeriod[]
	)

Gets the PWM Input.

Parameters

pwmChannel	PWM channel to get.
pulseWidthAndPeriod	Double array to hold Duty Cycle [0] and Period [1].

◆ GetQuadraturePosition()

int ctre::phoenix::CANifier::GetQuadraturePosition ( )

Gets the quadrature encoder's position.

Returns: Position of encoder

◆ GetQuadratureVelocity()

int ctre::phoenix::CANifier::GetQuadratureVelocity ( )

Gets the quadrature encoder's velocity.

Returns: Velocity of encoder

◆ GetStatusFramePeriod()

int ctre::phoenix::CANifier::GetStatusFramePeriod	(	CANifierStatusFrame	frame,
		int	timeoutMs = `0`
	)

Gets the period of the given status frame.

Parameters

frame	Frame to get the period of.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Period of the given status frame.

◆ GetStickyFaults()

ErrorCode ctre::phoenix::CANifier::GetStickyFaults ( CANifierStickyFaults & toFill )

Gets the CANifier sticky fault status.

Parameters

toFill Container for sticky fault statuses.

Returns: Error Code generated by function. 0 indicates no error.

◆ HasResetOccurred()

bool ctre::phoenix::CANifier::HasResetOccurred ( )

Returns true if the device has reset since last call.

Returns: Has a Device Reset Occurred?

◆ SetControlFramePeriod()

ErrorCode ctre::phoenix::CANifier::SetControlFramePeriod	(	CANifierControlFrame	frame,
		int	periodMs
	)

Sets the period of the given control frame.

Parameters

frame	Frame whose period is to be changed.
periodMs	Period in ms for the given frame.

Returns: Error Code generated by function. 0 indicates no error.

◆ SetGeneralOutput()

ErrorCode ctre::phoenix::CANifier::SetGeneralOutput	(	GeneralPin	outputPin,
		bool	outputValue,
		bool	outputEnable
	)

Sets the output of a General Pin.

Parameters

outputPin	The pin to use as output.
outputValue	The desired output state.
outputEnable	Whether this pin is an output. "True" enables output.

◆ SetGeneralOutputs()

ErrorCode ctre::phoenix::CANifier::SetGeneralOutputs	(	int	outputBits,
		int	isOutputBits
	)

Sets the output of all General Pins.

Parameters

outputBits	A bit mask of all the output states. LSB->MSB is in the order of the GeneralPin enum.
isOutputBits	A boolean bit mask that sets the pins to be outputs or inputs. A bit of 1 enables output.

◆ SetLEDOutput()

ErrorCode ctre::phoenix::CANifier::SetLEDOutput	(	double	percentOutput,
		LEDChannel	ledChannel
	)

Sets the LED Output.

Parameters

percentOutput	Output duty cycle expressed as percentage.
ledChannel	Channel to set the output of.

◆ SetPWMOutput()

ErrorCode ctre::phoenix::CANifier::SetPWMOutput	(	int	pwmChannel,
		double	dutyCycle
	)

Sets the PWM Output Currently supports PWM 0, PWM 1, and PWM 2.

Parameters

pwmChannel	Index of the PWM channel to output.
dutyCycle	Duty Cycle (0 to 1) to output. Default period of the signal is 4.2 ms.

◆ SetQuadraturePosition()

ErrorCode ctre::phoenix::CANifier::SetQuadraturePosition	(	int	newPosition,
		int	timeoutMs = `0`
	)

Sets the quadrature encoder's position.

Parameters

newPosition	Position to set
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ SetStatusFramePeriod()

ErrorCode ctre::phoenix::CANifier::SetStatusFramePeriod	(	CANifierStatusFrame	statusFrame,
		uint8_t	periodMs,
		int	timeoutMs = `0`
	)

Sets the period of the given status frame.

Parameters

statusFrame	Frame whose period is to be changed.
periodMs	Period in ms for the given frame.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

Member Data Documentation

◆ PWMChannelCount

const int ctre::phoenix::CANifier::PWMChannelCount = 4

Number of PWM channels available to CANifier.

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

ctre/phoenix/CANifier.h

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Member Enumeration Documentation

◆ GeneralPin

◆ LEDChannel

◆ PWMChannel

Constructor & Destructor Documentation

◆ CANifier()

◆ ~CANifier()

Member Function Documentation

◆ ClearStickyFaults()

◆ ConfigAllSettings()

◆ ConfigClearPositionOnLimitF()

◆ ConfigClearPositionOnLimitR()

◆ ConfigClearPositionOnQuadIdx()

◆ ConfigFactoryDefault()

◆ ConfigGetCustomParam()

◆ ConfigGetParameter() [1/2]

◆ ConfigGetParameter() [2/2]

◆ ConfigSetCustomParam()

◆ ConfigSetParameter()

◆ ConfigVelocityMeasurementPeriod() [1/2]

◆ ConfigVelocityMeasurementPeriod() [2/2]

◆ ConfigVelocityMeasurementWindow()

◆ DestroyAllCANifiers()

◆ EnablePWMOutput()

◆ GetAllConfigs()

◆ GetBusVoltage()

◆ GetFaults()

◆ GetFirmwareVersion()

◆ GetGeneralInput()

◆ GetGeneralInputs()

◆ GetLastError()

◆ GetPWMInput()

◆ GetQuadraturePosition()

◆ GetQuadratureVelocity()

◆ GetStatusFramePeriod()

◆ GetStickyFaults()

◆ HasResetOccurred()

◆ SetControlFramePeriod()

◆ SetGeneralOutput()

◆ SetGeneralOutputs()

◆ SetLEDOutput()

◆ SetPWMOutput()

◆ SetQuadraturePosition()

◆ SetStatusFramePeriod()

Member Data Documentation

◆ PWMChannelCount