canframe.hpp

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/*
 * Copyright (C) Cross The Road Electronics.  All rights reserved.
 * License information can be found in CTRE_LICENSE.txt
 * For support and suggestions contact support@ctr-electronics.com or file
 * an issue tracker at https://github.com/CrossTheRoadElec/Phoenix-Releases
 */
#pragma once
 
#include <stdint.h>
 
namespace ctre {
namespace phoenix {
namespace platform {
namespace can {
 
    /**
     * "plain old data" container for holding a CAN Frame Event.
     * Assignment of this type resolves to a copy-by-value.
     */
    struct canframe_t {
        uint32_t arbID; //!< ArbID of the CAN frame.
        uint64_t hwTimestampUs; //!< Hardware timestamp if receive event. Zero otherwise.
        uint64_t swTimestampUs; //!< Software timestamp if receive event. Zero otherwise.
        uint8_t data[64]; //!< Data bytes
        uint32_t flags; //!< CAN flags, such as FD and BRS
        uint8_t len; //!< Number of bytes in payload
    };
 
    enum class can_state_t : int {
        ERROR_ACTIVE = 0,
        ERROR_WARNING,
        ERROR_PASSIVE,
        BUS_OFF,
        STOPPED,
        SLEEPING
    };
 
    /**
     * Information about the status of a CAN bus.
     */
    struct canbus_status_t {
        float bus_util; //!< [0, 1]
        uint32_t bus_error;
        uint32_t arbitration_lost;
        uint32_t restarts;
        uint32_t bus_off;
        uint32_t tx_full;
        uint16_t rec;
        uint16_t tec;
        int can_state; //!< can_state_t
    };
 
} //namespace can
} //namespace platform
} //namespace phoenix
} //namespace ctre