/// <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());
}
/// <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);
}
/// <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];
}
/// <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);
}
/// <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);
}
/// <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));
}
/// <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));
}
/// <summary>
/// Gets the firmware version of the device.
/// </summary>
/// <returns>Firmware version of device.</returns>
public int GetFirmwareVersion()
{
return(CANifierNative.JNI_GetFirmwareVersion(m_handle));
}
/// <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));
}
/// <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));
}
/// <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));
}
/// <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);
}
/// <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);
}
/// <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));
}
/// <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);
}
/// <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));
}
/// <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));
}
/// <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));
}
/// <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));
}
/// <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);
}
/// <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);
}
