CANifier_CCI.h

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/* Copyright (C) Cross The Road Electronics 2024 */
#pragma once
 
#include "ctre/phoenix/cci/CCI.h"
#include "ctre/phoenix/ErrorCode.h"
#include <set>
#include <cstddef>
 
namespace CANifier_CCI{
    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,
    };
}
 
extern "C"{
    CCIEXPORT void *c_CANifier_Create1(int deviceNumber);
    CCIEXPORT void c_CANifier_DestroyAll();
    CCIEXPORT ctre::phoenix::ErrorCode c_CANifier_Destroy(void *handle);
    CCIEXPORT ctre::phoenix::ErrorCode c_CANifier_GetDescription(void *handle, char * toFill, int toFillByteSz, size_t * numBytesFilled);
    CCIEXPORT ctre::phoenix::ErrorCode c_CANifier_SetLEDOutput(void *handle,  uint32_t  dutyCycle,  uint32_t  ledChannel);
    CCIEXPORT ctre::phoenix::ErrorCode c_CANifier_SetGeneralOutputs(void *handle,  uint32_t  outputsBits,  uint32_t  isOutputBits);
    CCIEXPORT ctre::phoenix::ErrorCode c_CANifier_SetGeneralOutput(void *handle,  uint32_t  outputPin,  bool  outputValue,  bool  outputEnable);
    CCIEXPORT ctre::phoenix::ErrorCode c_CANifier_SetPWMOutput(void *handle,  uint32_t  pwmChannel,  uint32_t  dutyCycle);
    CCIEXPORT ctre::phoenix::ErrorCode c_CANifier_EnablePWMOutput(void *handle, uint32_t pwmChannel, bool bEnable);
    CCIEXPORT ctre::phoenix::ErrorCode c_CANifier_GetGeneralInputs(void *handle, bool allPins[], uint32_t capacity);
    CCIEXPORT ctre::phoenix::ErrorCode c_CANifier_GetGeneralInput(void *handle, uint32_t inputPin, bool * measuredInput);
    CCIEXPORT ctre::phoenix::ErrorCode c_CANifier_GetPWMInput(void *handle,  uint32_t  pwmChannel,  double dutyCycleAndPeriod [2]);
    CCIEXPORT ctre::phoenix::ErrorCode c_CANifier_GetLastError(void *handle);
    CCIEXPORT ctre::phoenix::ErrorCode c_CANifier_GetBusVoltage(void *handle, double * batteryVoltage);
    CCIEXPORT ctre::phoenix::ErrorCode c_CANifier_GetQuadraturePosition(void *handle, int * pos);
    CCIEXPORT ctre::phoenix::ErrorCode c_CANifier_SetQuadraturePosition(void *handle, int pos, int timeoutMs);
    CCIEXPORT ctre::phoenix::ErrorCode c_CANifier_GetQuadratureVelocity(void *handle, int * vel);
    CCIEXPORT ctre::phoenix::ErrorCode c_CANifier_GetQuadratureSensor(void *handle, int * pos, int * vel);
    CCIEXPORT ctre::phoenix::ErrorCode c_CANifier_ConfigVelocityMeasurementPeriod(void *handle, int period, int timeoutMs);
    CCIEXPORT ctre::phoenix::ErrorCode c_CANifier_ConfigVelocityMeasurementWindow(void *handle, int window, int timeoutMs);
    CCIEXPORT ctre::phoenix::ErrorCode c_CANifier_ConfigClearPositionOnLimitF(void *handle,
            bool clearPositionOnLimitF, int timeoutMs);
    CCIEXPORT ctre::phoenix::ErrorCode c_CANifier_ConfigClearPositionOnLimitR(void *handle,
            bool clearPositionOnLimitR, int timeoutMs);
    CCIEXPORT ctre::phoenix::ErrorCode c_CANifier_ConfigClearPositionOnQuadIdx(void *handle,
            bool clearPositionOnQuadIdx, int timeoutMs);
    CCIEXPORT void c_CANifier_SetLastError(void *handle, int error);
    CCIEXPORT ctre::phoenix::ErrorCode c_CANifier_ConfigSetParameter(void *handle, int param, double value, uint8_t subValue, int ordinal, int timeoutMs);
    CCIEXPORT ctre::phoenix::ErrorCode c_CANifier_ConfigGetParameter(void *handle, int param, double *value, int ordinal, int timeoutMs);
    CCIEXPORT ctre::phoenix::ErrorCode c_CANifier_ConfigGetParameter_6(void *handle, int32_t param, int32_t valueToSend, int32_t * valueRecieved, uint8_t * subValue, int32_t ordinal, int32_t timeoutMs);
    CCIEXPORT ctre::phoenix::ErrorCode c_CANifier_ConfigSetCustomParam(void *handle, int newValue, int paramIndex, int timeoutMs);
    CCIEXPORT ctre::phoenix::ErrorCode c_CANifier_ConfigGetCustomParam(void *handle, int *readValue, int paramIndex, int timoutMs);
    CCIEXPORT ctre::phoenix::ErrorCode c_CANifier_ConfigFactoryDefault(void *handle, int timeoutMs);
    CCIEXPORT ctre::phoenix::ErrorCode c_CANifier_GetFaults(void *handle, int * param) ;
    CCIEXPORT ctre::phoenix::ErrorCode c_CANifier_GetStickyFaults(void *handle, int * param) ;
    CCIEXPORT ctre::phoenix::ErrorCode c_CANifier_ClearStickyFaults(void *handle, int timeoutMs) ;
    CCIEXPORT ctre::phoenix::ErrorCode c_CANifier_GetFirmwareVersion(void *handle, int *firmwareVers);
    CCIEXPORT ctre::phoenix::ErrorCode c_CANifier_HasResetOccurred(void *handle, bool * hasReset);
    CCIEXPORT ctre::phoenix::ErrorCode c_CANifier_SetStatusFramePeriod(void *handle, int frame, uint8_t periodMs, int timeoutMs);
    CCIEXPORT ctre::phoenix::ErrorCode c_CANifier_GetStatusFramePeriod(void *handle, int frame, int *periodMs, int timeoutMs);
    CCIEXPORT ctre::phoenix::ErrorCode c_CANifier_SetControlFramePeriod(void *handle, int frame,    int periodMs) ;
}