コード例 #1
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        /// <summary>
        /// Gets the CANifier sticky fault status
        /// </summary>
        /// <param name="toFill">Container for sticky fault statuses.</param>
        /// <returns>Error Code generated by function. 0 indicates no error.</returns>
        public ErrorCode GetStickyFaults(CANifierStickyFaults toFill)
        {
            int bits = CANifierNative.JNI_GetStickyFaults(m_handle);

            toFill.Update(bits);
            return(GetLastError());
        }
コード例 #2
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        /// <summary>
        /// Enables PWM Outputs.
        /// Currently supports PWM 0, PWM 1, and PWM 2.
        /// </summary>
        /// <param name="pwmChannel">Index of the PWM channel to enable.</param>
        /// <param name="bEnable">"True" enables output on the pwm channel.</param>
        public void EnablePWMOutput(int pwmChannel, bool bEnable)
        {
            if (pwmChannel < 0)
            {
                pwmChannel = 0;
            }

            CANifierNative.JNI_EnablePWMOutput(m_handle, (int)pwmChannel, bEnable);
        }
コード例 #3
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 /// <summary>
 /// Gets the state of all General Pins
 /// </summary>
 /// <param name="allPins">A structure to fill with the current state of all pins.</param>
 public void GetGeneralInputs(PinValues allPins)
 {
     CANifierNative.JNI_GetGeneralInputs(m_handle, _tempPins);
     allPins.LIMF          = _tempPins[(int)GeneralPin.LIMF];
     allPins.LIMR          = _tempPins[(int)GeneralPin.LIMR];
     allPins.QUAD_A        = _tempPins[(int)GeneralPin.QUAD_A];
     allPins.QUAD_B        = _tempPins[(int)GeneralPin.QUAD_B];
     allPins.QUAD_IDX      = _tempPins[(int)GeneralPin.QUAD_IDX];
     allPins.SCL           = _tempPins[(int)GeneralPin.SCL];
     allPins.SDA           = _tempPins[(int)GeneralPin.SDA];
     allPins.SPI_CLK_PWM0  = _tempPins[(int)GeneralPin.SPI_CLK_PWM0P];
     allPins.SPI_MOSI_PWM1 = _tempPins[(int)GeneralPin.SPI_MOSI_PWM1P];
     allPins.SPI_MISO_PWM2 = _tempPins[(int)GeneralPin.SPI_MISO_PWM2P];
     allPins.SPI_CS_PWM3   = _tempPins[(int)GeneralPin.SPI_CS];
 }
コード例 #4
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        /// <summary>
        /// Sets the LED Output
        /// </summary>
        /// <param name="percentOutput">Output duty cycle expressed as percentage.</param>
        /// <param name="ledChannel">Channel to set.</param>
        public void SetLEDOutput(double percentOutput, LEDChannel ledChannel)
        {
            /* convert float to integral fixed pt */
            if (percentOutput > 1)
            {
                percentOutput = 1;
            }
            if (percentOutput < 0)
            {
                percentOutput = 0;
            }
            int dutyCycle = (int)(percentOutput * 1023); // [0,1023]

            CANifierNative.JNI_SetLEDOutput(m_handle, dutyCycle, (int)ledChannel);
        }
コード例 #5
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        /// <summary>
        ///  Sets the PWM Output
        ///  Currently supports PWM 0, PWM 1, and PWM 2
        /// </summary>
        /// <param name="pwmChannel">Index of the PWM channel to output.</param>
        /// <param name="dutyCycle">Duty Cycle (0 to 1) to output.  Default period of the signal is 4.2 ms.</param>
        public void SetPWMOutput(int pwmChannel, double dutyCycle)
        {
            if (dutyCycle < 0)
            {
                dutyCycle = 0;
            }
            else if (dutyCycle > 1)
            {
                dutyCycle = 1;
            }
            if (pwmChannel < 0)
            {
                pwmChannel = 0;
            }

            int dutyCyc10bit = (int)(1023 * dutyCycle);

            CANifierNative.JNI_SetPWMOutput(m_handle, (int)pwmChannel, dutyCyc10bit);
        }
コード例 #6
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 /// <summary>
 /// 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.
 /// </summary>
 /// <param name="newValue">Value for custom parameter.</param>
 /// <param name="paramIndex">Index of custom parameter. [0-1]</param>
 /// <param name="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.</param>
 /// <returns>Error Code generated by function. 0 indicates no error.</returns>
 public ErrorCode ConfigSetCustomParam(int newValue, int paramIndex, int timeoutMs)
 {
     return((ErrorCode)CANifierNative.JNI_ConfigSetCustomParam(m_handle, newValue, paramIndex, timeoutMs));
 }
コード例 #7
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 /// <summary>
 /// Returns true if the device has reset since last call.
 /// </summary>
 /// <returns>Has a Device Reset Occurred?</returns>
 public bool HasResetOccurred()
 {
     return(CANifierNative.JNI_HasResetOccurred(m_handle));
 }
コード例 #8
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 /// <summary>
 /// Gets the firmware version of the device.
 /// </summary>
 /// <returns>Firmware version of device.</returns>
 public int GetFirmwareVersion()
 {
     return(CANifierNative.JNI_GetFirmwareVersion(m_handle));
 }
コード例 #9
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 /// <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(int frame, int periodMs)
 {
     return((ErrorCode)CANifierNative.JNI_SetControlFramePeriod(m_handle, frame, periodMs));
 }
コード例 #10
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 /// <summary>
 /// Gets the period of the given status frame.
 /// </summary>
 /// <param name="frame">Frame to get the period of.</param>
 /// <param name="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.</param>
 /// <returns>Period of the given status frame.</returns>
 public int GetStatusFramePeriod(CANifierStatusFrame frame, int timeoutMs)
 {
     return(CANifierNative.JNI_GetStatusFramePeriod(m_handle, (int)frame, timeoutMs));
 }
コード例 #11
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 /// <summary>
 /// Sets the period of the given status frame.
 /// </summary>
 /// <param name="statusFrame">Frame whose period is to be changed.</param>
 /// <param name="periodMs">Period in ms for the given frame.</param>
 /// <param name="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.</param>
 /// <returns>Error Code generated by function. 0 indicates no error.</returns>
 public ErrorCode SetStatusFramePeriod(int statusFrame, int periodMs, int timeoutMs)
 {
     return((ErrorCode)CANifierNative.JNI_SetStatusFramePeriod(m_handle, statusFrame, periodMs, timeoutMs));
 }
コード例 #12
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 /// <summary>
 /// Sets the output of all General Pins.
 /// </summary>
 /// <param name="outputBits">A bit mask of all the output states. LSB->MSB is in the order of the <see cref="GeneralPin"/> enum.</param>
 /// <param name="isOutputBits">A boolean bit mask that sets the pins to be outputs or inputs. A bit of 1 enables output.</param>
 public void SetGeneralOutputs(int outputBits, int isOutputBits)
 {
     CANifierNative.JNI_SetGeneralOutputs(m_handle, outputBits, isOutputBits);
 }
コード例 #13
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 /// <summary>
 /// Constructor.
 /// </summary>
 /// <param name="deviceId">The CAN ID of the device.</param>
 public CANifier(int deviceId)
 {
     m_handle = CANifierNative.JNI_new_CANifier(deviceId);
     Report(63, deviceId + 1);
 }
コード例 #14
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 /// <summary>
 /// Clears the Sticky Faults.
 /// </summary>
 /// <param name="timeoutMs">Period in ms for the given frame.</param>
 /// <returns>Error Code generated by function. 0 indicates no error.</returns>
 public ErrorCode ClearStickyFaults(int timeoutMs)
 {
     return((ErrorCode)CANifierNative.JNI_ClearStickyFaults(m_handle, timeoutMs));
 }
コード例 #15
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 /// <summary>
 /// Gets the PWM Input.
 /// </summary>
 /// <param name="pwmChannel">PWM channel to get.</param>
 /// <param name="dutyCycleAndPeriod">Double array to hold Duty Cycle [0] and Period [1].</param>
 public void GetPWMInput(PWMChannel pwmChannel, double[] dutyCycleAndPeriod)
 {
     CANifierNative.JNI_GetPWMInput(m_handle, (int)pwmChannel, dutyCycleAndPeriod);
 }
コード例 #16
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 /// <summary>
 /// Gets the state of the specified pin
 /// </summary>
 /// <param name="inputPin">The index of the pin.</param>
 /// <returns>The state of the pin.</returns>
 public bool GetGeneralInput(GeneralPin inputPin)
 {
     return(CANifierNative.JNI_GetGeneralInput(m_handle, (int)inputPin));
 }
コード例 #17
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 /// <summary>
 /// 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.
 /// </summary>
 /// <returns>The last ErrorCode generated.</returns>
 public ErrorCode GetLastError()
 {
     return((ErrorCode)CANifierNative.JNI_GetLastError(m_handle));
 }
コード例 #18
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 /// <summary>
 /// Gets the bus voltage seen by the device.
 /// </summary>
 /// <returns>The bus voltage value (in volts).</returns>
 public double GetBusVoltage()
 {
     return(CANifierNative.JNI_GetBusVoltage(m_handle));
 }
コード例 #19
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 /// <summary>
 /// 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.
 /// </summary>
 /// <param name="param">Parameter enumeration.</param>
 /// <param name="value">Value of parameter.</param>
 /// <param name="subValue">Subvalue for parameter.Maximum value of 255.</param>
 /// <param name="ordinal">Ordinal of parameter.</param>
 /// <param name="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.</param>
 /// <returns>Error Code generated by function. 0 indicates no error.</returns>
 public ErrorCode ConfigSetParameter(int param, double value, int subValue, int ordinal, int timeoutMs)
 {
     return((ErrorCode)CANifierNative.JNI_ConfigSetParameter(m_handle, param, value, subValue, ordinal, timeoutMs));
 }
コード例 #20
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        /// <summary>
        /// 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.
        /// </summary>
        /// <param name="paramIndex">Index of custom parameter. [0-1]</param>
        /// <param name="timoutMs">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.</param>
        /// <returns>Value of the custom param.</returns>
        public int ConfigGetCustomParam(int paramIndex, int timoutMs)
        {
            int retval = CANifierNative.JNI_ConfigGetCustomParam(m_handle, paramIndex, timoutMs);

            return(retval);
        }
コード例 #21
0
 /// <summary>
 /// Sets the output of a General Pin
 /// </summary>
 /// <param name="outputPin">The pin to use as output.</param>
 /// <param name="outputValue">The desired output state.</param>
 /// <param name="outputEnable">Whether this pin is enabled. "True" enables output.</param>
 public void SetGeneralOutput(GeneralPin outputPin, bool outputValue, bool outputEnable)
 {
     CANifierNative.JNI_SetGeneralOutput(m_handle, (int)outputPin, outputValue, outputEnable);
 }