public ErrorCode SetControlFramePeriod(CANifierControlFrame frame, int periodMs)
{
/* sterilize inputs */
if (periodMs < 0)
{
periodMs = 0;
}
if (periodMs > 0xFF)
{
periodMs = 0xFF;
}
uint fullId = (uint)((int)_baseArbId | (int)frame); /* build ID */
/* apply the change if frame is transmitting */
int err = CTRE.Native.CAN.GetSendBuffer(fullId, ref _cache);
if (err == 0)
{
err = CTRE.Native.CAN.Send(fullId, _cache, 8, (uint)periodMs);
}
return(SetLastError(err));
}
/// <summary>
/// Sets the period of the given control frame.
/// </summary>
/// <param name="frame">Frame whose period is to be changed.</param>
/// <param name="periodMs">Period in ms for the given frame.</param>
/// <returns>Error Code generated by function. 0 indicates no error.</returns>
public ErrorCode SetControlFramePeriod(CANifierControlFrame frame, int periodMs)
{
return((ErrorCode)CANifierNative.JNI_SetControlFramePeriod(m_handle, (int)frame, periodMs));
}
/**
* Sets the period of the given control frame.
*
* @param frame
* Frame whose period is to be changed.
* @param periodMs
* Period in ms for the given frame.
* @return Error Code generated by function. 0 indicates no error.
*/
public ErrorCode SetControlFramePeriod(CANifierControlFrame frame, int periodMs)
{
ErrorCode retval = _ll.SetControlFramePeriod(frame, periodMs);
return(retval);
}
