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/* automatically generated by rust-bindgen */ #[repr(C)] #[derive(Copy, Clone, Debug, Default, Eq, Hash, Ord, PartialEq, PartialOrd)] pub struct __BindgenBitfieldUnit<Storage, Align> where Storage: AsRef<[u8]> + AsMut<[u8]>, { storage: Storage, align: [Align; 0], } impl<Storage, Align> __BindgenBitfieldUnit<Storage, Align> where Storage: AsRef<[u8]> + AsMut<[u8]>, { #[inline] pub fn new(storage: Storage) -> Self { Self { storage, align: [] } } #[inline] pub fn get_bit(&self, index: usize) -> bool { debug_assert!(index / 8 < self.storage.as_ref().len()); let byte_index = index / 8; let byte = self.storage.as_ref()[byte_index]; let bit_index = if cfg!(target_endian = "big") { 7 - (index % 8) } else { index % 8 }; let mask = 1 << bit_index; byte & mask == mask } #[inline] pub fn set_bit(&mut self, index: usize, val: bool) { debug_assert!(index / 8 < self.storage.as_ref().len()); let byte_index = index / 8; let byte = &mut self.storage.as_mut()[byte_index]; let bit_index = if cfg!(target_endian = "big") { 7 - (index % 8) } else { index % 8 }; let mask = 1 << bit_index; if val { *byte |= mask; } else { *byte &= !mask; } } #[inline] pub fn get(&self, bit_offset: usize, bit_width: u8) -> u64 { debug_assert!(bit_width <= 64); debug_assert!(bit_offset / 8 < self.storage.as_ref().len()); debug_assert!((bit_offset + (bit_width as usize)) / 8 <= self.storage.as_ref().len()); let mut val = 0; for i in 0..(bit_width as usize) { if self.get_bit(i + bit_offset) { let index = if cfg!(target_endian = "big") { bit_width as usize - 1 - i } else { i }; val |= 1 << index; } } val } #[inline] pub fn set(&mut self, bit_offset: usize, bit_width: u8, val: u64) { debug_assert!(bit_width <= 64); debug_assert!(bit_offset / 8 < self.storage.as_ref().len()); debug_assert!((bit_offset + (bit_width as usize)) / 8 <= self.storage.as_ref().len()); for i in 0..(bit_width as usize) { let mask = 1 << i; let val_bit_is_set = val & mask == mask; let index = if cfg!(target_endian = "big") { bit_width as usize - 1 - i } else { i }; self.set_bit(index + bit_offset, val_bit_is_set); } } } pub const HAL_kInvalidHandle: u32 = 0; pub const HAL_kMaxJoystickAxes: u32 = 12; pub const HAL_kMaxJoystickPOVs: u32 = 12; pub const HAL_kMaxJoysticks: u32 = 6; pub type HAL_Handle = i32; pub type HAL_PortHandle = HAL_Handle; pub type HAL_AnalogInputHandle = HAL_Handle; pub type HAL_AnalogOutputHandle = HAL_Handle; pub type HAL_AnalogTriggerHandle = HAL_Handle; pub type HAL_CompressorHandle = HAL_Handle; pub type HAL_CounterHandle = HAL_Handle; pub type HAL_DigitalHandle = HAL_Handle; pub type HAL_DigitalPWMHandle = HAL_Handle; pub type HAL_EncoderHandle = HAL_Handle; pub type HAL_FPGAEncoderHandle = HAL_Handle; pub type HAL_GyroHandle = HAL_Handle; pub type HAL_InterruptHandle = HAL_Handle; pub type HAL_NotifierHandle = HAL_Handle; pub type HAL_RelayHandle = HAL_Handle; pub type HAL_SolenoidHandle = HAL_Handle; pub type HAL_CANHandle = HAL_Handle; pub type HAL_PDPHandle = HAL_CANHandle; pub type HAL_Bool = i32; pub mod HAL_AccelerometerRange { /// The acceptable accelerometer ranges. pub type Type = i32; pub const k2G: Type = 0; pub const k4G: Type = 1; pub const k8G: Type = 2; } extern "C" { /// Sets the accelerometer to active or standby mode. /// /// It must be in standby mode to change any configuration. /// /// @param active true to set to active, false for standby pub fn HAL_SetAccelerometerActive(active: HAL_Bool); } extern "C" { /// Sets the range of values that can be measured (either 2, 4, or 8 g-forces). /// /// The accelerometer should be in standby mode when this is called. /// /// @param range the accelerometer range pub fn HAL_SetAccelerometerRange(range: HAL_AccelerometerRange::Type); } extern "C" { /// Gets the x-axis acceleration. /// /// This is a floating point value in units of 1 g-force. /// /// @return the X acceleration pub fn HAL_GetAccelerometerX() -> f64; } extern "C" { /// Gets the y-axis acceleration. /// /// This is a floating point value in units of 1 g-force. /// /// @return the Y acceleration pub fn HAL_GetAccelerometerY() -> f64; } extern "C" { /// Gets the z-axis acceleration. /// /// This is a floating point value in units of 1 g-force. /// /// @return the Z acceleration pub fn HAL_GetAccelerometerZ() -> f64; } extern "C" { /// Is the channel attached to an accumulator. /// /// @param analogPortHandle Handle to the analog port. /// @return The analog channel is attached to an accumulator. pub fn HAL_IsAccumulatorChannel( analogPortHandle: HAL_AnalogInputHandle, status: *mut i32, ) -> HAL_Bool; } extern "C" { /// Initialize the accumulator. /// /// @param analogPortHandle Handle to the analog port. pub fn HAL_InitAccumulator(analogPortHandle: HAL_AnalogInputHandle, status: *mut i32); } extern "C" { /// Resets the accumulator to the initial value. /// /// @param analogPortHandle Handle to the analog port. pub fn HAL_ResetAccumulator(analogPortHandle: HAL_AnalogInputHandle, status: *mut i32); } extern "C" { /// Set the center value of the accumulator. /// /// The center value is subtracted from each A/D value before it is added to the /// accumulator. This is used for the center value of devices like gyros and /// accelerometers to make integration work and to take the device offset into /// account when integrating. /// /// This center value is based on the output of the oversampled and averaged /// source from channel 1. Because of this, any non-zero oversample bits will /// affect the size of the value for this field. /// /// @param analogPortHandle Handle to the analog port. /// @param center The center value of the accumulator. pub fn HAL_SetAccumulatorCenter( analogPortHandle: HAL_AnalogInputHandle, center: i32, status: *mut i32, ); } extern "C" { /// Set the accumulator's deadband. /// /// @param analogPortHandle Handle to the analog port. /// @param deadband The deadband of the accumulator. pub fn HAL_SetAccumulatorDeadband( analogPortHandle: HAL_AnalogInputHandle, deadband: i32, status: *mut i32, ); } extern "C" { /// Read the accumulated value. /// /// Read the value that has been accumulating on channel 1. /// The accumulator is attached after the oversample and average engine. /// /// @param analogPortHandle Handle to the analog port. /// @return The 64-bit value accumulated since the last Reset(). pub fn HAL_GetAccumulatorValue( analogPortHandle: HAL_AnalogInputHandle, status: *mut i32, ) -> i64; } extern "C" { /// Read the number of accumulated values. /// /// Read the count of the accumulated values since the accumulator was last /// Reset(). /// /// @param analogPortHandle Handle to the analog port. /// @return The number of times samples from the channel were accumulated. pub fn HAL_GetAccumulatorCount( analogPortHandle: HAL_AnalogInputHandle, status: *mut i32, ) -> i64; } extern "C" { /// Read the accumulated value and the number of accumulated values atomically. /// /// This function reads the value and count from the FPGA atomically. /// This can be used for averaging. /// /// @param analogPortHandle Handle to the analog port. /// @param value Pointer to the 64-bit accumulated output. /// @param count Pointer to the number of accumulation cycles. pub fn HAL_GetAccumulatorOutput( analogPortHandle: HAL_AnalogInputHandle, value: *mut i64, count: *mut i64, status: *mut i32, ); } extern "C" { /// Initializes an analog gyro. /// /// @param handle handle to the analog port /// @return the initialized gyro handle pub fn HAL_InitializeAnalogGyro( handle: HAL_AnalogInputHandle, status: *mut i32, ) -> HAL_GyroHandle; } extern "C" { /// Sets up an analog gyro with the proper offsets and settings for the KOP /// analog gyro. /// /// @param handle the gyro handle pub fn HAL_SetupAnalogGyro(handle: HAL_GyroHandle, status: *mut i32); } extern "C" { /// Frees an analog gyro. /// /// @param handle the gyro handle pub fn HAL_FreeAnalogGyro(handle: HAL_GyroHandle); } extern "C" { /// Sets the analog gyro parameters to the specified values. /// /// This is meant to be used if you want to reuse the values from a previous /// calibration. /// /// @param handle the gyro handle /// @param voltsPerDegreePerSecond the gyro volts scaling /// @param offset the gyro offset /// @param center the gyro center pub fn HAL_SetAnalogGyroParameters( handle: HAL_GyroHandle, voltsPerDegreePerSecond: f64, offset: f64, center: i32, status: *mut i32, ); } extern "C" { /// Sets the analog gyro volts per degrees per second scaling. /// /// @param handle the gyro handle /// @param voltsPerDegreePerSecond the gyro volts scaling pub fn HAL_SetAnalogGyroVoltsPerDegreePerSecond( handle: HAL_GyroHandle, voltsPerDegreePerSecond: f64, status: *mut i32, ); } extern "C" { /// Resets the analog gyro value to 0. /// /// @param handle the gyro handle pub fn HAL_ResetAnalogGyro(handle: HAL_GyroHandle, status: *mut i32); } extern "C" { /// Calibrates the analog gyro. /// /// This happens by calculating the average value of the gyro over 5 seconds, and /// setting that as the center. Note that this call blocks for 5 seconds to /// perform this. /// /// @param handle the gyro handle pub fn HAL_CalibrateAnalogGyro(handle: HAL_GyroHandle, status: *mut i32); } extern "C" { /// Sets the deadband of the analog gyro. /// /// @param handle the gyro handle /// @param volts the voltage deadband pub fn HAL_SetAnalogGyroDeadband(handle: HAL_GyroHandle, volts: f64, status: *mut i32); } extern "C" { /// Gets the gyro angle in degrees. /// /// @param handle the gyro handle /// @return the gyro angle in degrees pub fn HAL_GetAnalogGyroAngle(handle: HAL_GyroHandle, status: *mut i32) -> f64; } extern "C" { /// Gets the gyro rate in degrees/second. /// /// @param handle the gyro handle /// @return the gyro rate in degrees/second pub fn HAL_GetAnalogGyroRate(handle: HAL_GyroHandle, status: *mut i32) -> f64; } extern "C" { /// Gets the calibrated gyro offset. /// /// Can be used to not repeat a calibration but reconstruct the gyro object. /// /// @param handle the gyro handle /// @return the gryo offset pub fn HAL_GetAnalogGyroOffset(handle: HAL_GyroHandle, status: *mut i32) -> f64; } extern "C" { /// Gets the calibrated gyro center. /// /// Can be used to not repeat a calibration but reconstruct the gyro object. /// /// @param handle the gyro handle /// @return the gyro center pub fn HAL_GetAnalogGyroCenter(handle: HAL_GyroHandle, status: *mut i32) -> i32; } extern "C" { /// Initializes the analog input port using the given port object. /// /// @param portHandle Handle to the port to initialize. /// @return the created analog input handle pub fn HAL_InitializeAnalogInputPort( portHandle: HAL_PortHandle, status: *mut i32, ) -> HAL_AnalogInputHandle; } extern "C" { /// Frees an analog input port. /// /// @param analogPortHandle Handle to the analog port. pub fn HAL_FreeAnalogInputPort(analogPortHandle: HAL_AnalogInputHandle); } extern "C" { /// Checks that the analog module number is valid. /// /// @param module The analog module number. /// @return Analog module is valid and present pub fn HAL_CheckAnalogModule(module: i32) -> HAL_Bool; } extern "C" { /// Checks that the analog output channel number is value. /// Verifies that the analog channel number is one of the legal channel numbers. /// Channel numbers are 0-based. /// /// @param channel The analog output channel number. /// @return Analog channel is valid pub fn HAL_CheckAnalogInputChannel(channel: i32) -> HAL_Bool; } extern "C" { /// Sets the sample rate. /// /// This is a global setting for the Athena and effects all channels. /// /// @param samplesPerSecond The number of samples per channel per second. pub fn HAL_SetAnalogSampleRate(samplesPerSecond: f64, status: *mut i32); } extern "C" { /// Gets the current sample rate. /// /// This assumes one entry in the scan list. /// This is a global setting for the Athena and effects all channels. /// /// @return Sample rate. pub fn HAL_GetAnalogSampleRate(status: *mut i32) -> f64; } extern "C" { /// Sets the number of averaging bits. /// /// This sets the number of averaging bits. The actual number of averaged samples /// is 2**bits. Use averaging to improve the stability of your measurement at the /// expense of sampling rate. The averaging is done automatically in the FPGA. /// /// @param analogPortHandle Handle to the analog port to configure. /// @param bits Number of bits to average. pub fn HAL_SetAnalogAverageBits( analogPortHandle: HAL_AnalogInputHandle, bits: i32, status: *mut i32, ); } extern "C" { /// Gets the number of averaging bits. /// /// This gets the number of averaging bits from the FPGA. The actual number of /// averaged samples is 2**bits. The averaging is done automatically in the FPGA. /// /// @param analogPortHandle Handle to the analog port to use. /// @return Bits to average. pub fn HAL_GetAnalogAverageBits( analogPortHandle: HAL_AnalogInputHandle, status: *mut i32, ) -> i32; } extern "C" { /// Sets the number of oversample bits. /// /// This sets the number of oversample bits. The actual number of oversampled /// values is 2**bits. Use oversampling to improve the resolution of your /// measurements at the expense of sampling rate. The oversampling is done /// automatically in the FPGA. /// /// @param analogPortHandle Handle to the analog port to use. /// @param bits Number of bits to oversample. pub fn HAL_SetAnalogOversampleBits( analogPortHandle: HAL_AnalogInputHandle, bits: i32, status: *mut i32, ); } extern "C" { /// Gets the number of oversample bits. /// /// This gets the number of oversample bits from the FPGA. The actual number of /// oversampled values is 2**bits. The oversampling is done automatically in the /// FPGA. /// /// @param analogPortHandle Handle to the analog port to use. /// @return Bits to oversample. pub fn HAL_GetAnalogOversampleBits( analogPortHandle: HAL_AnalogInputHandle, status: *mut i32, ) -> i32; } extern "C" { /// Gets a sample straight from the channel on this module. /// /// The sample is a 12-bit value representing the 0V to 5V range of the A/D /// converter in the module. The units are in A/D converter codes. Use /// GetVoltage() to get the analog value in calibrated units. /// /// @param analogPortHandle Handle to the analog port to use. /// @return A sample straight from the channel on this module. pub fn HAL_GetAnalogValue(analogPortHandle: HAL_AnalogInputHandle, status: *mut i32) -> i32; } extern "C" { /// Gets a sample from the output of the oversample and average engine for the /// channel. /// /// The sample is 12-bit + the value configured in SetOversampleBits(). /// The value configured in SetAverageBits() will cause this value to be averaged /// 2**bits number of samples. This is not a sliding window. The sample will not /// change until 2**(OversamplBits + AverageBits) samples have been acquired from /// the module on this channel. Use GetAverageVoltage() to get the analog value /// in calibrated units. /// /// @param analogPortHandle Handle to the analog port to use. /// @return A sample from the oversample and average engine for the channel. pub fn HAL_GetAnalogAverageValue( analogPortHandle: HAL_AnalogInputHandle, status: *mut i32, ) -> i32; } extern "C" { /// Converts a voltage to a raw value for a specified channel. /// /// This process depends on the calibration of each channel, so the channel must /// be specified. /// /// @todo This assumes raw values. Oversampling not supported as is. /// /// @param analogPortHandle Handle to the analog port to use. /// @param voltage The voltage to convert. /// @return The raw value for the channel. pub fn HAL_GetAnalogVoltsToValue( analogPortHandle: HAL_AnalogInputHandle, voltage: f64, status: *mut i32, ) -> i32; } extern "C" { /// Gets a scaled sample straight from the channel on this module. /// /// The value is scaled to units of Volts using the calibrated scaling data from /// GetLSBWeight() and GetOffset(). /// /// @param analogPortHandle Handle to the analog port to use. /// @return A scaled sample straight from the channel on this module. pub fn HAL_GetAnalogVoltage(analogPortHandle: HAL_AnalogInputHandle, status: *mut i32) -> f64; } extern "C" { /// Gets a scaled sample from the output of the oversample and average engine for /// the channel. /// /// The value is scaled to units of Volts using the calibrated scaling data from /// GetLSBWeight() and GetOffset(). Using oversampling will cause this value to /// be higher resolution, but it will update more slowly. Using averaging will /// cause this value to be more stable, but it will update more slowly. /// /// @param analogPortHandle Handle to the analog port to use. /// @return A scaled sample from the output of the oversample and average engine /// for the channel. pub fn HAL_GetAnalogAverageVoltage( analogPortHandle: HAL_AnalogInputHandle, status: *mut i32, ) -> f64; } extern "C" { /// Gets the factory scaling least significant bit weight constant. /// The least significant bit weight constant for the channel that was calibrated /// in manufacturing and stored in an eeprom in the module. /// /// Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9) /// /// @param analogPortHandle Handle to the analog port to use. /// @return Least significant bit weight. pub fn HAL_GetAnalogLSBWeight(analogPortHandle: HAL_AnalogInputHandle, status: *mut i32) -> i32; } extern "C" { /// Gets the factory scaling offset constant. /// The offset constant for the channel that was calibrated in manufacturing and /// stored in an eeprom in the module. /// /// Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9) /// /// @param analogPortHandle Handle to the analog port to use. /// @return Offset constant. pub fn HAL_GetAnalogOffset(analogPortHandle: HAL_AnalogInputHandle, status: *mut i32) -> i32; } extern "C" { /// Initializes the analog output port using the given port object. /// /// @param handle handle to the port /// @return the created analog output handle pub fn HAL_InitializeAnalogOutputPort( portHandle: HAL_PortHandle, status: *mut i32, ) -> HAL_AnalogOutputHandle; } extern "C" { /// Frees an analog output port. /// /// @param analogOutputHandle the analog output handle pub fn HAL_FreeAnalogOutputPort(analogOutputHandle: HAL_AnalogOutputHandle); } extern "C" { /// Sets an analog output value. /// /// @param analogOutputHandle the analog output handle /// @param voltage the voltage (0-5v) to output pub fn HAL_SetAnalogOutput( analogOutputHandle: HAL_AnalogOutputHandle, voltage: f64, status: *mut i32, ); } extern "C" { /// Gets the current analog output value. /// /// @param analogOutputHandle the analog output handle /// @return the current output voltage (0-5v) pub fn HAL_GetAnalogOutput(analogOutputHandle: HAL_AnalogOutputHandle, status: *mut i32) -> f64; } extern "C" { /// Checks that the analog output channel number is value. /// /// Verifies that the analog channel number is one of the legal channel numbers. /// Channel numbers are 0-based. /// /// @return Analog channel is valid pub fn HAL_CheckAnalogOutputChannel(channel: i32) -> HAL_Bool; } pub mod HAL_AnalogTriggerType { /// The type of analog trigger to trigger on. pub type Type = i32; pub const HAL_Trigger_kInWindow: Type = 0; pub const HAL_Trigger_kState: Type = 1; pub const HAL_Trigger_kRisingPulse: Type = 2; pub const HAL_Trigger_kFallingPulse: Type = 3; } extern "C" { /// Initializes an analog trigger. /// /// @param portHandle the analog input to use for triggering /// @param index the trigger index value (output) /// @return the created analog trigger handle pub fn HAL_InitializeAnalogTrigger( portHandle: HAL_AnalogInputHandle, index: *mut i32, status: *mut i32, ) -> HAL_AnalogTriggerHandle; } extern "C" { /// Frees an analog trigger. /// /// @param analogTriggerHandle the trigger handle pub fn HAL_CleanAnalogTrigger(analogTriggerHandle: HAL_AnalogTriggerHandle, status: *mut i32); } extern "C" { /// Sets the raw ADC upper and lower limits of the analog trigger. /// /// HAL_SetAnalogTriggerLimitsVoltage is likely better in most cases. /// /// @param analogTriggerHandle the trigger handle /// @param lower the lower ADC value /// @param upper the upper ADC value pub fn HAL_SetAnalogTriggerLimitsRaw( analogTriggerHandle: HAL_AnalogTriggerHandle, lower: i32, upper: i32, status: *mut i32, ); } extern "C" { /// Sets the upper and lower limits of the analog trigger. /// /// The limits are given as floating point voltage values. /// /// @param analogTriggerHandle the trigger handle /// @param lower the lower voltage value /// @param upper the upper voltage value pub fn HAL_SetAnalogTriggerLimitsVoltage( analogTriggerHandle: HAL_AnalogTriggerHandle, lower: f64, upper: f64, status: *mut i32, ); } extern "C" { /// Configures the analog trigger to use the averaged vs. raw values. /// /// If the value is true, then the averaged value is selected for the analog /// trigger, otherwise the immediate value is used. /// /// @param analogTriggerHandle the trigger handle /// @param useAveragedValue true to use averaged values, false for raw pub fn HAL_SetAnalogTriggerAveraged( analogTriggerHandle: HAL_AnalogTriggerHandle, useAveragedValue: HAL_Bool, status: *mut i32, ); } extern "C" { /// Configures the analog trigger to use a filtered value. /// /// The analog trigger will operate with a 3 point average rejection filter. This /// is designed to help with 360 degree pot applications for the period where the /// pot crosses through zero. /// /// @param analogTriggerHandle the trigger handle /// @param useFilteredValue true to use filtered values, false for average or /// raw pub fn HAL_SetAnalogTriggerFiltered( analogTriggerHandle: HAL_AnalogTriggerHandle, useFilteredValue: HAL_Bool, status: *mut i32, ); } extern "C" { /// Returns the InWindow output of the analog trigger. /// /// True if the analog input is between the upper and lower limits. /// /// @param analogTriggerHandle the trigger handle /// @return the InWindow output of the analog trigger pub fn HAL_GetAnalogTriggerInWindow( analogTriggerHandle: HAL_AnalogTriggerHandle, status: *mut i32, ) -> HAL_Bool; } extern "C" { /// Returns the TriggerState output of the analog trigger. /// /// True if above upper limit. /// False if below lower limit. /// If in Hysteresis, maintain previous state. /// /// @param analogTriggerHandle the trigger handle /// @return the TriggerState output of the analog trigger pub fn HAL_GetAnalogTriggerTriggerState( analogTriggerHandle: HAL_AnalogTriggerHandle, status: *mut i32, ) -> HAL_Bool; } extern "C" { /// Gets the state of the analog trigger output. /// /// @param analogTriggerHandle the trigger handle /// @param type the type of trigger to trigger on /// @return the state of the analog trigger output pub fn HAL_GetAnalogTriggerOutput( analogTriggerHandle: HAL_AnalogTriggerHandle, type_: HAL_AnalogTriggerType::Type, status: *mut i32, ) -> HAL_Bool; } /// Storage for CAN Stream Messages. #[repr(C)] #[derive(Debug, Default, Copy, Clone)] pub struct HAL_CANStreamMessage { pub messageID: u32, pub timeStamp: u32, pub data: [u8; 8usize], pub dataSize: u8, } #[test] fn bindgen_test_layout_HAL_CANStreamMessage() { assert_eq!( ::std::mem::size_of::<HAL_CANStreamMessage>(), 20usize, concat!("Size of: ", stringify!(HAL_CANStreamMessage)) ); assert_eq!( ::std::mem::align_of::<HAL_CANStreamMessage>(), 4usize, concat!("Alignment of ", stringify!(HAL_CANStreamMessage)) ); assert_eq!( unsafe { &(*(::std::ptr::null::<HAL_CANStreamMessage>())).messageID as *const _ as usize }, 0usize, concat!( "Offset of field: ", stringify!(HAL_CANStreamMessage), "::", stringify!(messageID) ) ); assert_eq!( unsafe { &(*(::std::ptr::null::<HAL_CANStreamMessage>())).timeStamp as *const _ as usize }, 4usize, concat!( "Offset of field: ", stringify!(HAL_CANStreamMessage), "::", stringify!(timeStamp) ) ); assert_eq!( unsafe { &(*(::std::ptr::null::<HAL_CANStreamMessage>())).data as *const _ as usize }, 8usize, concat!( "Offset of field: ", stringify!(HAL_CANStreamMessage), "::", stringify!(data) ) ); assert_eq!( unsafe { &(*(::std::ptr::null::<HAL_CANStreamMessage>())).dataSize as *const _ as usize }, 16usize, concat!( "Offset of field: ", stringify!(HAL_CANStreamMessage), "::", stringify!(dataSize) ) ); } extern "C" { /// Initializes a compressor on the given PCM module. /// /// @param module the module number /// @return the created handle pub fn HAL_InitializeCompressor(module: i32, status: *mut i32) -> HAL_CompressorHandle; } extern "C" { /// Gets if a compressor module is valid. /// /// @param module the module number /// @return true if the module is valid, otherwise false pub fn HAL_CheckCompressorModule(module: i32) -> HAL_Bool; } extern "C" { /// Gets the compressor state (on or off). /// /// @param compressorHandle the compressor handle /// @return true if the compressor is on, otherwise false pub fn HAL_GetCompressor(compressorHandle: HAL_CompressorHandle, status: *mut i32) -> HAL_Bool; } extern "C" { /// Sets the compressor to closed loop mode. /// /// @param compressorHandle the compressor handle /// @param value true for closed loop mode, false for off pub fn HAL_SetCompressorClosedLoopControl( compressorHandle: HAL_CompressorHandle, value: HAL_Bool, status: *mut i32, ); } extern "C" { /// Gets if the compressor is in closed loop mode. /// /// @param compressorHandle the compressor handle /// @return true if the compressor is in closed loop mode, /// otherwise false pub fn HAL_GetCompressorClosedLoopControl( compressorHandle: HAL_CompressorHandle, status: *mut i32, ) -> HAL_Bool; } extern "C" { /// Gets the compressor pressure switch state. /// /// @param compressorHandle the compressor handle /// @return true if the pressure switch is triggered, otherwise /// false pub fn HAL_GetCompressorPressureSwitch( compressorHandle: HAL_CompressorHandle, status: *mut i32, ) -> HAL_Bool; } extern "C" { /// Gets the compressor current. /// /// @param compressorHandle the compressor handle /// @return the compressor current in amps pub fn HAL_GetCompressorCurrent( compressorHandle: HAL_CompressorHandle, status: *mut i32, ) -> f64; } extern "C" { /// Gets if the compressor is faulted because of too high of current. /// /// @param compressorHandle the compressor handle /// @return true if falted, otherwise false pub fn HAL_GetCompressorCurrentTooHighFault( compressorHandle: HAL_CompressorHandle, status: *mut i32, ) -> HAL_Bool; } extern "C" { /// Gets if a sticky fauly is triggered because of too high of current. /// /// @param compressorHandle the compressor handle /// @return true if falted, otherwise false pub fn HAL_GetCompressorCurrentTooHighStickyFault( compressorHandle: HAL_CompressorHandle, status: *mut i32, ) -> HAL_Bool; } extern "C" { /// Gets if a sticky fauly is triggered because of a short. /// /// @param compressorHandle the compressor handle /// @return true if falted, otherwise false pub fn HAL_GetCompressorShortedStickyFault( compressorHandle: HAL_CompressorHandle, status: *mut i32, ) -> HAL_Bool; } extern "C" { /// Gets if the compressor is faulted because of a short. /// /// @param compressorHandle the compressor handle /// @return true if shorted, otherwise false pub fn HAL_GetCompressorShortedFault( compressorHandle: HAL_CompressorHandle, status: *mut i32, ) -> HAL_Bool; } extern "C" { /// Gets if a sticky fault is triggered of the compressor not connected. /// /// @param compressorHandle the compressor handle /// @return true if falted, otherwise false pub fn HAL_GetCompressorNotConnectedStickyFault( compressorHandle: HAL_CompressorHandle, status: *mut i32, ) -> HAL_Bool; } extern "C" { /// Gets if the compressor is not connected. /// /// @param compressorHandle the compressor handle /// @return true if not connected, otherwise false pub fn HAL_GetCompressorNotConnectedFault( compressorHandle: HAL_CompressorHandle, status: *mut i32, ) -> HAL_Bool; } extern "C" { /// Gets the number of FPGA system clock ticks per microsecond. /// /// @return the number of clock ticks per microsecond pub fn HAL_GetSystemClockTicksPerMicrosecond() -> i32; } pub mod HAL_Counter_Mode { /// The counter mode. pub type Type = i32; pub const HAL_Counter_kTwoPulse: Type = 0; pub const HAL_Counter_kSemiperiod: Type = 1; pub const HAL_Counter_kPulseLength: Type = 2; pub const HAL_Counter_kExternalDirection: Type = 3; } extern "C" { /// Initializes a counter. /// /// @param mode the counter mode /// @param index the compressor index (output) /// @return the created handle pub fn HAL_InitializeCounter( mode: HAL_Counter_Mode::Type, index: *mut i32, status: *mut i32, ) -> HAL_CounterHandle; } extern "C" { /// Frees a counter. /// /// @param counterHandle the counter handle pub fn HAL_FreeCounter(counterHandle: HAL_CounterHandle, status: *mut i32); } extern "C" { /// Sets the average sample size of a counter. /// /// @param counterHandle the counter handle /// @param size the size of samples to average pub fn HAL_SetCounterAverageSize(counterHandle: HAL_CounterHandle, size: i32, status: *mut i32); } extern "C" { /// Sets the source object that causes the counter to count up. /// /// @param counterHandle the counter handle /// @param digitalSourceHandle the digital source handle (either a /// HAL_AnalogTriggerHandle of a HAL_DigitalHandle) /// @param analogTriggerType the analog trigger type if the source is an analog /// trigger pub fn HAL_SetCounterUpSource( counterHandle: HAL_CounterHandle, digitalSourceHandle: HAL_Handle, analogTriggerType: HAL_AnalogTriggerType::Type, status: *mut i32, ); } extern "C" { /// Sets the up source to either detect rising edges or falling edges. /// /// Note that both are allowed to be set true at the same time without issues. /// /// @param counterHandle the counter handle /// @param risingEdge true to trigger on rising /// @param fallingEdge true to trigger on falling pub fn HAL_SetCounterUpSourceEdge( counterHandle: HAL_CounterHandle, risingEdge: HAL_Bool, fallingEdge: HAL_Bool, status: *mut i32, ); } extern "C" { /// Disables the up counting source to the counter. /// /// @param counterHandle the counter handle pub fn HAL_ClearCounterUpSource(counterHandle: HAL_CounterHandle, status: *mut i32); } extern "C" { /// Sets the source object that causes the counter to count down. /// /// @param counterHandle the counter handle /// @param digitalSourceHandle the digital source handle (either a /// HAL_AnalogTriggerHandle of a HAL_DigitalHandle) /// @param analogTriggerType the analog trigger type if the source is an analog /// trigger pub fn HAL_SetCounterDownSource( counterHandle: HAL_CounterHandle, digitalSourceHandle: HAL_Handle, analogTriggerType: HAL_AnalogTriggerType::Type, status: *mut i32, ); } extern "C" { /// Sets the down source to either detect rising edges or falling edges. /// Note that both are allowed to be set true at the same time without issues. /// /// @param counterHandle the counter handle /// @param risingEdge true to trigger on rising /// @param fallingEdge true to trigger on falling pub fn HAL_SetCounterDownSourceEdge( counterHandle: HAL_CounterHandle, risingEdge: HAL_Bool, fallingEdge: HAL_Bool, status: *mut i32, ); } extern "C" { /// Disables the down counting source to the counter. /// /// @param counterHandle the counter handle pub fn HAL_ClearCounterDownSource(counterHandle: HAL_CounterHandle, status: *mut i32); } extern "C" { /// Sets standard up / down counting mode on this counter. /// /// Up and down counts are sourced independently from two inputs. /// /// @param counterHandle the counter handle pub fn HAL_SetCounterUpDownMode(counterHandle: HAL_CounterHandle, status: *mut i32); } extern "C" { /// Sets directional counting mode on this counter. /// /// The direction is determined by the B input, with counting happening with the /// A input. /// /// @param counterHandle the counter handle pub fn HAL_SetCounterExternalDirectionMode(counterHandle: HAL_CounterHandle, status: *mut i32); } extern "C" { /// Sets Semi-period mode on this counter. /// /// The counter counts up based on the time the input is triggered. High or Low /// depends on the highSemiPeriod parameter. /// /// @param counterHandle the counter handle /// @param highSemiPeriod true for counting when the input is high, false for low pub fn HAL_SetCounterSemiPeriodMode( counterHandle: HAL_CounterHandle, highSemiPeriod: HAL_Bool, status: *mut i32, ); } extern "C" { /// Configures the counter to count in up or down based on the length of the /// input pulse. /// /// This mode is most useful for direction sensitive gear tooth sensors. /// /// @param counterHandle the counter handle /// @param threshold The pulse length beyond which the counter counts the /// opposite direction (seconds) pub fn HAL_SetCounterPulseLengthMode( counterHandle: HAL_CounterHandle, threshold: f64, status: *mut i32, ); } extern "C" { /// Gets the Samples to Average which specifies the number of samples of the /// timer to average when calculating the period. Perform averaging to account /// for mechanical imperfections or as oversampling to increase resolution. /// /// @param counterHandle the counter handle /// @return SamplesToAverage The number of samples being averaged (from 1 to 127) pub fn HAL_GetCounterSamplesToAverage( counterHandle: HAL_CounterHandle, status: *mut i32, ) -> i32; } extern "C" { /// Sets the Samples to Average which specifies the number of samples of the /// timer to average when calculating the period. Perform averaging to account /// for mechanical imperfections or as oversampling to increase resolution. /// /// @param counterHandle the counter handle /// @param samplesToAverage The number of samples to average from 1 to 127 pub fn HAL_SetCounterSamplesToAverage( counterHandle: HAL_CounterHandle, samplesToAverage: i32, status: *mut i32, ); } extern "C" { /// Resets the Counter to zero. /// /// Sets the counter value to zero. This does not effect the running state of the /// counter, just sets the current value to zero. /// /// @param counterHandle the counter handle pub fn HAL_ResetCounter(counterHandle: HAL_CounterHandle, status: *mut i32); } extern "C" { /// Reads the current counter value. /// /// Reads the value at this instant. It may still be running, so it reflects the /// current value. Next time it is read, it might have a different value. /// /// @param counterHandle the counter handle /// @return the current counter value pub fn HAL_GetCounter(counterHandle: HAL_CounterHandle, status: *mut i32) -> i32; } extern "C" { pub fn HAL_GetCounterPeriod(counterHandle: HAL_CounterHandle, status: *mut i32) -> f64; } extern "C" { /// Sets the maximum period where the device is still considered "moving". /// /// Sets the maximum period where the device is considered moving. This value is /// used to determine the "stopped" state of the counter using the /// HAL_GetCounterStopped method. /// /// @param counterHandle the counter handle /// @param maxPeriod the maximum period where the counted device is /// considered moving in seconds pub fn HAL_SetCounterMaxPeriod( counterHandle: HAL_CounterHandle, maxPeriod: f64, status: *mut i32, ); } extern "C" { /// Selects whether you want to continue updating the event timer output when /// there are no samples captured. /// /// The output of the event timer has a buffer of periods that are averaged and /// posted to a register on the FPGA. When the timer detects that the event /// source has stopped (based on the MaxPeriod) the buffer of samples to be /// averaged is emptied. /// /// If you enable the update when empty, you will be /// notified of the stopped source and the event time will report 0 samples. /// /// If you disable update when empty, the most recent average will remain on the /// output until a new sample is acquired. /// /// You will never see 0 samples output (except when there have been no events /// since an FPGA reset) and you will likely not see the stopped bit become true /// (since it is updated at the end of an average and there are no samples to /// average). /// /// @param counterHandle the counter handle /// @param enabled true to enable counter updating with no samples pub fn HAL_SetCounterUpdateWhenEmpty( counterHandle: HAL_CounterHandle, enabled: HAL_Bool, status: *mut i32, ); } extern "C" { /// Determines if the clock is stopped. /// /// Determine if the clocked input is stopped based on the MaxPeriod value set /// using the SetMaxPeriod method. If the clock exceeds the MaxPeriod, then the /// device (and counter) are assumed to be stopped and it returns true. /// /// @param counterHandle the counter handle /// @return true if the most recent counter period exceeds the /// MaxPeriod value set by SetMaxPeriod pub fn HAL_GetCounterStopped(counterHandle: HAL_CounterHandle, status: *mut i32) -> HAL_Bool; } extern "C" { /// Gets the last direction the counter value changed. /// /// @param counterHandle the counter handle /// @return the last direction the counter value changed pub fn HAL_GetCounterDirection(counterHandle: HAL_CounterHandle, status: *mut i32) -> HAL_Bool; } extern "C" { /// Sets the Counter to return reversed sensing on the direction. /// /// This allows counters to change the direction they are counting in the case of /// 1X and 2X quadrature encoding only. Any other counter mode isn't supported. /// /// @param counterHandle the counter handle /// @param reverseDirection true if the value counted should be negated. pub fn HAL_SetCounterReverseDirection( counterHandle: HAL_CounterHandle, reverseDirection: HAL_Bool, status: *mut i32, ); } extern "C" { /// Creates a new instance of a digital port. /// /// @param portHandle the port handle to create from /// @param input true for input, false for output /// @return the created digital handle pub fn HAL_InitializeDIOPort( portHandle: HAL_PortHandle, input: HAL_Bool, status: *mut i32, ) -> HAL_DigitalHandle; } extern "C" { /// Checks if a DIO channel is valid. /// /// @param channel the channel number to check /// @return true if the channel is correct, otherwise false pub fn HAL_CheckDIOChannel(channel: i32) -> HAL_Bool; } extern "C" { pub fn HAL_FreeDIOPort(dioPortHandle: HAL_DigitalHandle); } extern "C" { /// Allocates a DO PWM Generator. /// /// @return the allocated digital PWM handle pub fn HAL_AllocateDigitalPWM(status: *mut i32) -> HAL_DigitalPWMHandle; } extern "C" { /// Frees the resource associated with a DO PWM generator. /// /// @param pwmGenerator the digital PWM handle pub fn HAL_FreeDigitalPWM(pwmGenerator: HAL_DigitalPWMHandle, status: *mut i32); } extern "C" { /// Changes the frequency of the DO PWM generator. /// /// The valid range is from 0.6 Hz to 19 kHz. /// /// The frequency resolution is logarithmic. /// /// @param rate the frequency to output all digital output PWM signals pub fn HAL_SetDigitalPWMRate(rate: f64, status: *mut i32); } extern "C" { /// Configures the duty-cycle of the PWM generator. /// /// @param pwmGenerator the digital PWM handle /// @param dutyCycle the percent duty cycle to output [0..1] pub fn HAL_SetDigitalPWMDutyCycle( pwmGenerator: HAL_DigitalPWMHandle, dutyCycle: f64, status: *mut i32, ); } extern "C" { /// Configures which DO channel the PWM signal is output on. /// /// @param pwmGenerator the digital PWM handle /// @param channel the channel to output on pub fn HAL_SetDigitalPWMOutputChannel( pwmGenerator: HAL_DigitalPWMHandle, channel: i32, status: *mut i32, ); } extern "C" { /// Writes a digital value to a DIO channel. /// /// @param dioPortHandle the digital port handle /// @param value the state to set the digital channel (if it is /// configured as an output) pub fn HAL_SetDIO(dioPortHandle: HAL_DigitalHandle, value: HAL_Bool, status: *mut i32); } extern "C" { /// Sets the direction of a DIO channel. /// /// @param dioPortHandle the digital port handle /// @param input true to set input, false for output pub fn HAL_SetDIODirection(dioPortHandle: HAL_DigitalHandle, input: HAL_Bool, status: *mut i32); } extern "C" { /// Reads a digital value from a DIO channel. /// /// @param dioPortHandle the digital port handle /// @return the state of the specified channel pub fn HAL_GetDIO(dioPortHandle: HAL_DigitalHandle, status: *mut i32) -> HAL_Bool; } extern "C" { /// Reads the direction of a DIO channel. /// /// @param dioPortHandle the digital port handle /// @return true for input, false for output pub fn HAL_GetDIODirection(dioPortHandle: HAL_DigitalHandle, status: *mut i32) -> HAL_Bool; } extern "C" { /// Generates a single digital pulse. /// /// Write a pulse to the specified digital output channel. There can only be a /// single pulse going at any time. /// /// @param dioPortHandle the digital port handle /// @param pulseLength the active length of the pulse (in seconds) pub fn HAL_Pulse(dioPortHandle: HAL_DigitalHandle, pulseLength: f64, status: *mut i32); } extern "C" { /// Checks a DIO line to see if it is currently generating a pulse. /// /// @return true if a pulse is in progress, otherwise false pub fn HAL_IsPulsing(dioPortHandle: HAL_DigitalHandle, status: *mut i32) -> HAL_Bool; } extern "C" { /// Checks if any DIO line is currently generating a pulse. /// /// @return true if a pulse on some line is in progress pub fn HAL_IsAnyPulsing(status: *mut i32) -> HAL_Bool; } extern "C" { /// Writes the filter index from the FPGA. /// /// Set the filter index used to filter out short pulses. /// /// @param dioPortHandle the digital port handle /// @param filterIndex the filter index (Must be in the range 0 - 3, where 0 /// means "none" and 1 - 3 means filter # filterIndex - 1) pub fn HAL_SetFilterSelect( dioPortHandle: HAL_DigitalHandle, filterIndex: i32, status: *mut i32, ); } extern "C" { /// Reads the filter index from the FPGA. /// /// Gets the filter index used to filter out short pulses. /// /// @param dioPortHandle the digital port handle /// @return filterIndex the filter index (Must be in the range 0 - 3, /// where 0 means "none" and 1 - 3 means filter # filterIndex - 1) pub fn HAL_GetFilterSelect(dioPortHandle: HAL_DigitalHandle, status: *mut i32) -> i32; } extern "C" { /// Sets the filter period for the specified filter index. /// /// Sets the filter period in FPGA cycles. Even though there are 2 different /// filter index domains (MXP vs HDR), ignore that distinction for now since it /// compilicates the interface. That can be changed later. /// /// @param filterIndex the filter index, 0 - 2 /// @param value the number of cycles that the signal must not transition /// to be counted as a transition. pub fn HAL_SetFilterPeriod(filterIndex: i32, value: i64, status: *mut i32); } extern "C" { /// Gets the filter period for the specified filter index. /// /// Gets the filter period in FPGA cycles. Even though there are 2 different /// filter index domains (MXP vs HDR), ignore that distinction for now since it /// compilicates the interface. Set status to NiFpga_Status_SoftwareFault if the /// filter values miss-match. /// /// @param filterIndex the filter index, 0 - 2 /// @param value the number of cycles that the signal must not transition /// to be counted as a transition. pub fn HAL_GetFilterPeriod(filterIndex: i32, status: *mut i32) -> i64; } #[repr(C)] #[derive(Debug, Default, Copy, Clone)] pub struct HAL_ControlWord { pub _bitfield_1: __BindgenBitfieldUnit<[u8; 4usize], u32>, pub __bindgen_align: [u32; 0usize], } #[test] fn bindgen_test_layout_HAL_ControlWord() { assert_eq!( ::std::mem::size_of::<HAL_ControlWord>(), 4usize, concat!("Size of: ", stringify!(HAL_ControlWord)) ); assert_eq!( ::std::mem::align_of::<HAL_ControlWord>(), 4usize, concat!("Alignment of ", stringify!(HAL_ControlWord)) ); } impl HAL_ControlWord { #[inline] pub fn enabled(&self) -> u32 { unsafe { ::std::mem::transmute(self._bitfield_1.get(0usize, 1u8) as u32) } } #[inline] pub fn set_enabled(&mut self, val: u32) { unsafe { let val: u32 = ::std::mem::transmute(val); self._bitfield_1.set(0usize, 1u8, val as u64) } } #[inline] pub fn autonomous(&self) -> u32 { unsafe { ::std::mem::transmute(self._bitfield_1.get(1usize, 1u8) as u32) } } #[inline] pub fn set_autonomous(&mut self, val: u32) { unsafe { let val: u32 = ::std::mem::transmute(val); self._bitfield_1.set(1usize, 1u8, val as u64) } } #[inline] pub fn test(&self) -> u32 { unsafe { ::std::mem::transmute(self._bitfield_1.get(2usize, 1u8) as u32) } } #[inline] pub fn set_test(&mut self, val: u32) { unsafe { let val: u32 = ::std::mem::transmute(val); self._bitfield_1.set(2usize, 1u8, val as u64) } } #[inline] pub fn eStop(&self) -> u32 { unsafe { ::std::mem::transmute(self._bitfield_1.get(3usize, 1u8) as u32) } } #[inline] pub fn set_eStop(&mut self, val: u32) { unsafe { let val: u32 = ::std::mem::transmute(val); self._bitfield_1.set(3usize, 1u8, val as u64) } } #[inline] pub fn fmsAttached(&self) -> u32 { unsafe { ::std::mem::transmute(self._bitfield_1.get(4usize, 1u8) as u32) } } #[inline] pub fn set_fmsAttached(&mut self, val: u32) { unsafe { let val: u32 = ::std::mem::transmute(val); self._bitfield_1.set(4usize, 1u8, val as u64) } } #[inline] pub fn dsAttached(&self) -> u32 { unsafe { ::std::mem::transmute(self._bitfield_1.get(5usize, 1u8) as u32) } } #[inline] pub fn set_dsAttached(&mut self, val: u32) { unsafe { let val: u32 = ::std::mem::transmute(val); self._bitfield_1.set(5usize, 1u8, val as u64) } } #[inline] pub fn control_reserved(&self) -> u32 { unsafe { ::std::mem::transmute(self._bitfield_1.get(6usize, 26u8) as u32) } } #[inline] pub fn set_control_reserved(&mut self, val: u32) { unsafe { let val: u32 = ::std::mem::transmute(val); self._bitfield_1.set(6usize, 26u8, val as u64) } } #[inline] pub fn new_bitfield_1( enabled: u32, autonomous: u32, test: u32, eStop: u32, fmsAttached: u32, dsAttached: u32, control_reserved: u32, ) -> __BindgenBitfieldUnit<[u8; 4usize], u32> { let mut __bindgen_bitfield_unit: __BindgenBitfieldUnit<[u8; 4usize], u32> = Default::default(); __bindgen_bitfield_unit.set(0usize, 1u8, { let enabled: u32 = unsafe { ::std::mem::transmute(enabled) }; enabled as u64 }); __bindgen_bitfield_unit.set(1usize, 1u8, { let autonomous: u32 = unsafe { ::std::mem::transmute(autonomous) }; autonomous as u64 }); __bindgen_bitfield_unit.set(2usize, 1u8, { let test: u32 = unsafe { ::std::mem::transmute(test) }; test as u64 }); __bindgen_bitfield_unit.set(3usize, 1u8, { let eStop: u32 = unsafe { ::std::mem::transmute(eStop) }; eStop as u64 }); __bindgen_bitfield_unit.set(4usize, 1u8, { let fmsAttached: u32 = unsafe { ::std::mem::transmute(fmsAttached) }; fmsAttached as u64 }); __bindgen_bitfield_unit.set(5usize, 1u8, { let dsAttached: u32 = unsafe { ::std::mem::transmute(dsAttached) }; dsAttached as u64 }); __bindgen_bitfield_unit.set(6usize, 26u8, { let control_reserved: u32 = unsafe { ::std::mem::transmute(control_reserved) }; control_reserved as u64 }); __bindgen_bitfield_unit } } pub mod HAL_AllianceStationID { pub type Type = i32; pub const kRed1: Type = 0; pub const kRed2: Type = 1; pub const kRed3: Type = 2; pub const kBlue1: Type = 3; pub const kBlue2: Type = 4; pub const kBlue3: Type = 5; } pub mod HAL_MatchType { pub type Type = i32; pub const HAL_kMatchType_none: Type = 0; pub const HAL_kMatchType_practice: Type = 1; pub const HAL_kMatchType_qualification: Type = 2; pub const HAL_kMatchType_elimination: Type = 3; } #[repr(C)] #[derive(Debug, Default, Copy, Clone)] pub struct HAL_JoystickAxes { pub count: i16, pub axes: [f32; 12usize], } #[test] fn bindgen_test_layout_HAL_JoystickAxes() { assert_eq!( ::std::mem::size_of::<HAL_JoystickAxes>(), 52usize, concat!("Size of: ", stringify!(HAL_JoystickAxes)) ); assert_eq!( ::std::mem::align_of::<HAL_JoystickAxes>(), 4usize, concat!("Alignment of ", stringify!(HAL_JoystickAxes)) ); assert_eq!( unsafe { &(*(::std::ptr::null::<HAL_JoystickAxes>())).count as *const _ as usize }, 0usize, concat!( "Offset of field: ", stringify!(HAL_JoystickAxes), "::", stringify!(count) ) ); assert_eq!( unsafe { &(*(::std::ptr::null::<HAL_JoystickAxes>())).axes as *const _ as usize }, 4usize, concat!( "Offset of field: ", stringify!(HAL_JoystickAxes), "::", stringify!(axes) ) ); } #[repr(C)] #[derive(Debug, Default, Copy, Clone)] pub struct HAL_JoystickPOVs { pub count: i16, pub povs: [i16; 12usize], } #[test] fn bindgen_test_layout_HAL_JoystickPOVs() { assert_eq!( ::std::mem::size_of::<HAL_JoystickPOVs>(), 26usize, concat!("Size of: ", stringify!(HAL_JoystickPOVs)) ); assert_eq!( ::std::mem::align_of::<HAL_JoystickPOVs>(), 2usize, concat!("Alignment of ", stringify!(HAL_JoystickPOVs)) ); assert_eq!( unsafe { &(*(::std::ptr::null::<HAL_JoystickPOVs>())).count as *const _ as usize }, 0usize, concat!( "Offset of field: ", stringify!(HAL_JoystickPOVs), "::", stringify!(count) ) ); assert_eq!( unsafe { &(*(::std::ptr::null::<HAL_JoystickPOVs>())).povs as *const _ as usize }, 2usize, concat!( "Offset of field: ", stringify!(HAL_JoystickPOVs), "::", stringify!(povs) ) ); } #[repr(C)] #[derive(Debug, Default, Copy, Clone)] pub struct HAL_JoystickButtons { pub buttons: u32, pub count: u8, } #[test] fn bindgen_test_layout_HAL_JoystickButtons() { assert_eq!( ::std::mem::size_of::<HAL_JoystickButtons>(), 8usize, concat!("Size of: ", stringify!(HAL_JoystickButtons)) ); assert_eq!( ::std::mem::align_of::<HAL_JoystickButtons>(), 4usize, concat!("Alignment of ", stringify!(HAL_JoystickButtons)) ); assert_eq!( unsafe { &(*(::std::ptr::null::<HAL_JoystickButtons>())).buttons as *const _ as usize }, 0usize, concat!( "Offset of field: ", stringify!(HAL_JoystickButtons), "::", stringify!(buttons) ) ); assert_eq!( unsafe { &(*(::std::ptr::null::<HAL_JoystickButtons>())).count as *const _ as usize }, 4usize, concat!( "Offset of field: ", stringify!(HAL_JoystickButtons), "::", stringify!(count) ) ); } #[repr(C)] #[derive(Copy, Clone)] pub struct HAL_JoystickDescriptor { pub isXbox: u8, pub type_: u8, pub name: [::std::os::raw::c_char; 256usize], pub axisCount: u8, pub axisTypes: [u8; 12usize], pub buttonCount: u8, pub povCount: u8, } #[test] fn bindgen_test_layout_HAL_JoystickDescriptor() { assert_eq!( ::std::mem::size_of::<HAL_JoystickDescriptor>(), 273usize, concat!("Size of: ", stringify!(HAL_JoystickDescriptor)) ); assert_eq!( ::std::mem::align_of::<HAL_JoystickDescriptor>(), 1usize, concat!("Alignment of ", stringify!(HAL_JoystickDescriptor)) ); assert_eq!( unsafe { &(*(::std::ptr::null::<HAL_JoystickDescriptor>())).isXbox as *const _ as usize }, 0usize, concat!( "Offset of field: ", stringify!(HAL_JoystickDescriptor), "::", stringify!(isXbox) ) ); assert_eq!( unsafe { &(*(::std::ptr::null::<HAL_JoystickDescriptor>())).type_ as *const _ as usize }, 1usize, concat!( "Offset of field: ", stringify!(HAL_JoystickDescriptor), "::", stringify!(type_) ) ); assert_eq!( unsafe { &(*(::std::ptr::null::<HAL_JoystickDescriptor>())).name as *const _ as usize }, 2usize, concat!( "Offset of field: ", stringify!(HAL_JoystickDescriptor), "::", stringify!(name) ) ); assert_eq!( unsafe { &(*(::std::ptr::null::<HAL_JoystickDescriptor>())).axisCount as *const _ as usize }, 258usize, concat!( "Offset of field: ", stringify!(HAL_JoystickDescriptor), "::", stringify!(axisCount) ) ); assert_eq!( unsafe { &(*(::std::ptr::null::<HAL_JoystickDescriptor>())).axisTypes as *const _ as usize }, 259usize, concat!( "Offset of field: ", stringify!(HAL_JoystickDescriptor), "::", stringify!(axisTypes) ) ); assert_eq!( unsafe { &(*(::std::ptr::null::<HAL_JoystickDescriptor>())).buttonCount as *const _ as usize }, 271usize, concat!( "Offset of field: ", stringify!(HAL_JoystickDescriptor), "::", stringify!(buttonCount) ) ); assert_eq!( unsafe { &(*(::std::ptr::null::<HAL_JoystickDescriptor>())).povCount as *const _ as usize }, 272usize, concat!( "Offset of field: ", stringify!(HAL_JoystickDescriptor), "::", stringify!(povCount) ) ); } impl Default for HAL_JoystickDescriptor { fn default() -> Self { unsafe { ::std::mem::zeroed() } } } #[repr(C)] #[derive(Copy, Clone)] pub struct HAL_MatchInfo { pub eventName: [::std::os::raw::c_char; 64usize], pub matchType: HAL_MatchType::Type, pub matchNumber: u16, pub replayNumber: u8, pub gameSpecificMessage: [u8; 64usize], pub gameSpecificMessageSize: u16, } #[test] fn bindgen_test_layout_HAL_MatchInfo() { assert_eq!( ::std::mem::size_of::<HAL_MatchInfo>(), 140usize, concat!("Size of: ", stringify!(HAL_MatchInfo)) ); assert_eq!( ::std::mem::align_of::<HAL_MatchInfo>(), 4usize, concat!("Alignment of ", stringify!(HAL_MatchInfo)) ); assert_eq!( unsafe { &(*(::std::ptr::null::<HAL_MatchInfo>())).eventName as *const _ as usize }, 0usize, concat!( "Offset of field: ", stringify!(HAL_MatchInfo), "::", stringify!(eventName) ) ); assert_eq!( unsafe { &(*(::std::ptr::null::<HAL_MatchInfo>())).matchType as *const _ as usize }, 64usize, concat!( "Offset of field: ", stringify!(HAL_MatchInfo), "::", stringify!(matchType) ) ); assert_eq!( unsafe { &(*(::std::ptr::null::<HAL_MatchInfo>())).matchNumber as *const _ as usize }, 68usize, concat!( "Offset of field: ", stringify!(HAL_MatchInfo), "::", stringify!(matchNumber) ) ); assert_eq!( unsafe { &(*(::std::ptr::null::<HAL_MatchInfo>())).replayNumber as *const _ as usize }, 70usize, concat!( "Offset of field: ", stringify!(HAL_MatchInfo), "::", stringify!(replayNumber) ) ); assert_eq!( unsafe { &(*(::std::ptr::null::<HAL_MatchInfo>())).gameSpecificMessage as *const _ as usize }, 71usize, concat!( "Offset of field: ", stringify!(HAL_MatchInfo), "::", stringify!(gameSpecificMessage) ) ); assert_eq!( unsafe { &(*(::std::ptr::null::<HAL_MatchInfo>())).gameSpecificMessageSize as *const _ as usize }, 136usize, concat!( "Offset of field: ", stringify!(HAL_MatchInfo), "::", stringify!(gameSpecificMessageSize) ) ); } impl Default for HAL_MatchInfo { fn default() -> Self { unsafe { ::std::mem::zeroed() } } } extern "C" { /// Sends an error to the driver station. /// /// @param isError true for error, false for warning /// @param errorCode the error code /// @param isLVCode true for a LV error code, false for a standard error code /// @param details the details of the error /// @param location the file location of the errror /// @param callstack the callstack of the error /// @param printMsg true to print the error message to stdout as well as to the /// DS pub fn HAL_SendError( isError: HAL_Bool, errorCode: i32, isLVCode: HAL_Bool, details: *const ::std::os::raw::c_char, location: *const ::std::os::raw::c_char, callStack: *const ::std::os::raw::c_char, printMsg: HAL_Bool, ) -> i32; } extern "C" { /// Gets the current control word of the driver station. /// /// The control work contains the robot state. /// /// @param controlWord the control word (out) /// @return the error code, or 0 for success pub fn HAL_GetControlWord(controlWord: *mut HAL_ControlWord) -> i32; } extern "C" { /// Gets the current alliance station ID. /// /// @param status the error code, or 0 for success /// @return the alliance station ID pub fn HAL_GetAllianceStation(status: *mut i32) -> HAL_AllianceStationID::Type; } extern "C" { /// Gets the axes of a specific joystick. /// /// @param joystickNum the joystick number /// @param axes the axes values (output) /// @return the error code, or 0 for success pub fn HAL_GetJoystickAxes(joystickNum: i32, axes: *mut HAL_JoystickAxes) -> i32; } extern "C" { /// Gets the POVs of a specific joystick. /// /// @param joystickNum the joystick number /// @param povs the POV values (output) /// @return the error code, or 0 for success pub fn HAL_GetJoystickPOVs(joystickNum: i32, povs: *mut HAL_JoystickPOVs) -> i32; } extern "C" { /// Gets the buttons of a specific joystick. /// /// @param joystickNum the joystick number /// @param buttons the button values (output) /// @return the error code, or 0 for success pub fn HAL_GetJoystickButtons(joystickNum: i32, buttons: *mut HAL_JoystickButtons) -> i32; } extern "C" { /// Retrieves the Joystick Descriptor for particular slot. /// /// @param desc [out] descriptor (data transfer object) to fill in. desc is /// filled in regardless of success. In other words, if descriptor is not /// available, desc is filled in with default values matching the init-values in /// Java and C++ Driverstation for when caller requests a too-large joystick /// index. /// /// @return error code reported from Network Comm back-end. Zero is good, /// nonzero is bad. pub fn HAL_GetJoystickDescriptor(joystickNum: i32, desc: *mut HAL_JoystickDescriptor) -> i32; } extern "C" { /// Gets is a specific joystick is considered to be an XBox controller. /// /// @param joystickNum the joystick number /// @return true if xbox, false otherwise pub fn HAL_GetJoystickIsXbox(joystickNum: i32) -> HAL_Bool; } extern "C" { /// Gets the type of joystick connected. /// /// This is device specific, and different depending on what system input type /// the joystick uses. /// /// @param joystickNum the joystick number /// @return the enumerated joystick type pub fn HAL_GetJoystickType(joystickNum: i32) -> i32; } extern "C" { /// Gets the name of a joystick. /// /// The returned array must be freed with HAL_FreeJoystickName. /// /// Will be null terminated. /// /// @param joystickNum the joystick number /// @return the joystick name pub fn HAL_GetJoystickName(joystickNum: i32) -> *mut ::std::os::raw::c_char; } extern "C" { /// Frees a joystick name received with HAL_GetJoystickName /// /// @param name the name storage pub fn HAL_FreeJoystickName(name: *mut ::std::os::raw::c_char); } extern "C" { /// Gets the type of a specific joystick axis. /// /// This is device specific, and different depending on what system input type /// the joystick uses. /// /// @param joystickNum the joystick number /// @param axis the axis number /// @return the enumerated axis type pub fn HAL_GetJoystickAxisType(joystickNum: i32, axis: i32) -> i32; } extern "C" { /// Set joystick outputs. /// /// @param joystickNum the joystick numer /// @param outputs bitmask of outputs, 1 for on 0 for off /// @param leftRumble the left rumble value (0-FFFF) /// @param rightRumble the right rumble value (0-FFFF) /// @return the error code, or 0 for success pub fn HAL_SetJoystickOutputs( joystickNum: i32, outputs: i64, leftRumble: i32, rightRumble: i32, ) -> i32; } extern "C" { /// Returns the approximate match time. /// /// The FMS does not send an official match time to the robots, but does send /// an approximate match time. The value will count down the time remaining in /// the current period (auto or teleop). /// /// Warning: This is not an official time (so it cannot be used to dispute ref /// calls or guarantee that a function will trigger before the match ends). /// /// The Practice Match function of the DS approximates the behaviour seen on /// the field. /// /// @param status the error code, or 0 for success /// @return time remaining in current match period (auto or teleop) pub fn HAL_GetMatchTime(status: *mut i32) -> f64; } extern "C" { /// Gets info about a specific match. /// /// @param info the match info (output) /// @return the error code, or 0 for success pub fn HAL_GetMatchInfo(info: *mut HAL_MatchInfo) -> i32; } extern "C" { /// Releases the DS Mutex to allow proper shutdown of any threads that are /// waiting on it. pub fn HAL_ReleaseDSMutex(); } extern "C" { /// Has a new control packet from the driver station arrived since the last /// time this function was called? /// /// @return true if the control data has been updated since the last call pub fn HAL_IsNewControlData() -> HAL_Bool; } extern "C" { /// Waits for the newest DS packet to arrive. Note that this is a blocking call. pub fn HAL_WaitForDSData(); } extern "C" { /// Waits for the newest DS packet to arrive. If timeout is <= 0, this will wait /// forever. Otherwise, it will wait until either a new packet, or the timeout /// time has passed. /// /// @param timeout timeout in seconds /// @return true for new data, false for timeout pub fn HAL_WaitForDSDataTimeout(timeout: f64) -> HAL_Bool; } extern "C" { /// Initializes the driver station communication. This will properly /// handle multiple calls. However note that this CANNOT be called from a library /// that interfaces with LabVIEW. pub fn HAL_InitializeDriverStation(); } extern "C" { /// Sets the program starting flag in the DS. /// /// This is what changes the DS to showing robot code ready. pub fn HAL_ObserveUserProgramStarting(); } extern "C" { /// Sets the disabled flag in the DS. /// /// This is used for the DS to ensure the robot is properly responding to its /// state request. Ensure this get called about every 50ms, or the robot will be /// disabled by the DS. pub fn HAL_ObserveUserProgramDisabled(); } extern "C" { /// Sets the autonomous enabled flag in the DS. /// /// This is used for the DS to ensure the robot is properly responding to its /// state request. Ensure this get called about every 50ms, or the robot will be /// disabled by the DS. pub fn HAL_ObserveUserProgramAutonomous(); } extern "C" { /// Sets the teleoperated enabled flag in the DS. /// /// This is used for the DS to ensure the robot is properly responding to its /// state request. Ensure this get called about every 50ms, or the robot will be /// disabled by the DS. pub fn HAL_ObserveUserProgramTeleop(); } extern "C" { /// Sets the test mode flag in the DS. /// /// This is used for the DS to ensure the robot is properly responding to its /// state request. Ensure this get called about every 50ms, or the robot will be /// disabled by the DS. pub fn HAL_ObserveUserProgramTest(); } pub mod HAL_I2CPort { /// @defgroup hal_i2c I2C Functions /// @ingroup hal_capi /// @{ pub type Type = i32; pub const HAL_I2C_kInvalid: Type = -1; pub const HAL_I2C_kOnboard: Type = 0; pub const HAL_I2C_kMXP: Type = 1; } extern "C" { /// Initializes the I2C port. /// /// Opens the port if necessary and saves the handle. /// If opening the MXP port, also sets up the channel functions appropriately. /// /// @param port The port to open, 0 for the on-board, 1 for the MXP. pub fn HAL_InitializeI2C(port: HAL_I2CPort::Type, status: *mut i32); } extern "C" { /// Generic I2C read/write transaction. /// /// This is a lower-level interface to the I2C hardware giving you more control /// over each transaction. /// /// @param port The I2C port, 0 for the on-board, 1 for the MXP. /// @param dataToSend Buffer of data to send as part of the transaction. /// @param sendSize Number of bytes to send as part of the transaction. /// @param dataReceived Buffer to read data into. /// @param receiveSize Number of bytes to read from the device. /// @return >= 0 on success or -1 on transfer abort. pub fn HAL_TransactionI2C( port: HAL_I2CPort::Type, deviceAddress: i32, dataToSend: *const u8, sendSize: i32, dataReceived: *mut u8, receiveSize: i32, ) -> i32; } extern "C" { /// Executes a write transaction with the device. /// /// Writes a single byte to a register on a device and wait until the /// transaction is complete. /// /// @param port The I2C port, 0 for the on-board, 1 for the MXP. /// @param registerAddress The address of the register on the device to be /// written. /// @param data The byte to write to the register on the device. /// @return >= 0 on success or -1 on transfer abort. pub fn HAL_WriteI2C( port: HAL_I2CPort::Type, deviceAddress: i32, dataToSend: *const u8, sendSize: i32, ) -> i32; } extern "C" { /// Executes a read transaction with the device. /// /// Reads bytes from a device. /// Most I2C devices will auto-increment the register pointer internally allowing /// you to read consecutive registers on a device in a single transaction. /// /// @param port The I2C port, 0 for the on-board, 1 for the MXP. /// @param registerAddress The register to read first in the transaction. /// @param count The number of bytes to read in the transaction. /// @param buffer A pointer to the array of bytes to store the data read from the /// device. /// @return >= 0 on success or -1 on transfer abort. pub fn HAL_ReadI2C( port: HAL_I2CPort::Type, deviceAddress: i32, buffer: *mut u8, count: i32, ) -> i32; } extern "C" { /// Closes an I2C port /// /// @param port The I2C port, 0 for the on-board, 1 for the MXP. pub fn HAL_CloseI2C(port: HAL_I2CPort::Type); } pub type HAL_InterruptHandlerFunction = ::std::option::Option< unsafe extern "C" fn(interruptAssertedMask: u32, param: *mut ::std::os::raw::c_void), >; extern "C" { /// Initializes an interrupt. /// /// @param watcher true for synchronous interrupts, false for asynchronous /// @return the created interrupt handle pub fn HAL_InitializeInterrupts(watcher: HAL_Bool, status: *mut i32) -> HAL_InterruptHandle; } extern "C" { /// Frees an interrupt. /// /// @param interruptHandle the interrupt handle /// @return the param passed to the interrupt, or nullptr if one /// wasn't passed. pub fn HAL_CleanInterrupts( interruptHandle: HAL_InterruptHandle, status: *mut i32, ) -> *mut ::std::os::raw::c_void; } extern "C" { /// In synchronous mode, waits for the defined interrupt to occur. /// /// @param interruptHandle the interrupt handle /// @param timeout timeout in seconds /// @param ignorePrevious if true, ignore interrupts that happened before /// waitForInterrupt was called /// @return the mask of interrupts that fired pub fn HAL_WaitForInterrupt( interruptHandle: HAL_InterruptHandle, timeout: f64, ignorePrevious: HAL_Bool, status: *mut i32, ) -> i64; } extern "C" { /// Enables interrupts to occur on this input. /// /// Interrupts are disabled when the RequestInterrupt call is made. This gives /// time to do the setup of the other options before starting to field /// interrupts. /// /// @param interruptHandle the interrupt handle pub fn HAL_EnableInterrupts(interruptHandle: HAL_InterruptHandle, status: *mut i32); } extern "C" { /// Disables interrupts without without deallocating structures. /// /// @param interruptHandle the interrupt handle pub fn HAL_DisableInterrupts(interruptHandle: HAL_InterruptHandle, status: *mut i32); } extern "C" { /// Returns the timestamp for the rising interrupt that occurred most recently. /// /// This is in the same time domain as HAL_GetFPGATime(). It only contains the /// bottom 32 bits of the timestamp. If your robot has been running for over 1 /// hour, you will need to fill in the upper 32 bits yourself. /// /// @param interruptHandle the interrupt handle /// @return timestamp in microseconds since FPGA Initialization pub fn HAL_ReadInterruptRisingTimestamp( interruptHandle: HAL_InterruptHandle, status: *mut i32, ) -> i64; } extern "C" { /// Returns the timestamp for the falling interrupt that occurred most recently. /// /// This is in the same time domain as HAL_GetFPGATime(). It only contains the /// bottom 32 bits of the timestamp. If your robot has been running for over 1 /// hour, you will need to fill in the upper 32 bits yourself. /// /// @param interruptHandle the interrupt handle /// @return timestamp in microseconds since FPGA Initialization pub fn HAL_ReadInterruptFallingTimestamp( interruptHandle: HAL_InterruptHandle, status: *mut i32, ) -> i64; } extern "C" { /// Requests interrupts on a specific digital source. /// /// @param interruptHandle the interrupt handle /// @param digitalSourceHandle the digital source handle (either a /// HAL_AnalogTriggerHandle of a HAL_DigitalHandle) /// @param analogTriggerType the trigger type if the source is an AnalogTrigger pub fn HAL_RequestInterrupts( interruptHandle: HAL_InterruptHandle, digitalSourceHandle: HAL_Handle, analogTriggerType: HAL_AnalogTriggerType::Type, status: *mut i32, ); } extern "C" { /// Attaches an asynchronous interrupt handler to the interrupt. /// /// This interrupt gets called directly on the FPGA interrupt thread, so will /// block other interrupts while running. /// /// @param interruptHandle the interrupt handle /// @param handler the handler function for the interrupt to call /// @param param a parameter to be passed to the handler pub fn HAL_AttachInterruptHandler( interruptHandle: HAL_InterruptHandle, handler: HAL_InterruptHandlerFunction, param: *mut ::std::os::raw::c_void, status: *mut i32, ); } extern "C" { /// Attaches an asynchronous interrupt handler to the interrupt. /// /// This interrupt gets called on a thread specific to the interrupt, so will not /// block other interrupts. /// /// @param interruptHandle the interrupt handle /// @param handler the handler function for the interrupt to call /// @param param a parameter to be passed to the handler pub fn HAL_AttachInterruptHandlerThreaded( interruptHandle: HAL_InterruptHandle, handler: HAL_InterruptHandlerFunction, param: *mut ::std::os::raw::c_void, status: *mut i32, ); } extern "C" { /// Sets the edges to trigger the interrupt on. /// /// Note that both edges triggered is a valid configuration. /// /// @param interruptHandle the interrupt handle /// @param risingEdge true for triggering on rising edge /// @param fallingEdge true for triggering on falling edge pub fn HAL_SetInterruptUpSourceEdge( interruptHandle: HAL_InterruptHandle, risingEdge: HAL_Bool, fallingEdge: HAL_Bool, status: *mut i32, ); } extern "C" { /// Initializes a notifier. /// /// A notifier is an FPGA controller timer that triggers at requested intervals /// based on the FPGA time. This can be used to make precise control loops. /// /// @return the created notifier pub fn HAL_InitializeNotifier(status: *mut i32) -> HAL_NotifierHandle; } extern "C" { /// Stops a notifier from running. /// /// This will cause any call into HAL_WaitForNotifierAlarm to return. /// /// @param notifierHandle the notifier handle pub fn HAL_StopNotifier(notifierHandle: HAL_NotifierHandle, status: *mut i32); } extern "C" { /// Cleans a notifier. /// /// Note this also stops a notifier if it is already running. /// /// @param notifierHandle the notifier handle pub fn HAL_CleanNotifier(notifierHandle: HAL_NotifierHandle, status: *mut i32); } extern "C" { /// Updates the trigger time for a notifier. /// /// Note that this time is an absolute time relative to HAL_GetFPGATime() /// /// @param notifierHandle the notifier handle /// @param triggerTime the updated trigger time pub fn HAL_UpdateNotifierAlarm( notifierHandle: HAL_NotifierHandle, triggerTime: u64, status: *mut i32, ); } extern "C" { /// Cancels the next notifier alarm. /// /// This does not cause HAL_WaitForNotifierAlarm to return. /// /// @param notifierHandle the notifier handle pub fn HAL_CancelNotifierAlarm(notifierHandle: HAL_NotifierHandle, status: *mut i32); } extern "C" { /// Waits for the next alarm for the specific notifier. /// /// This is a blocking call until either the time elapses or HAL_StopNotifier /// gets called. /// /// @param notifierHandle the notifier handle /// @return the FPGA time the notifier returned pub fn HAL_WaitForNotifierAlarm(notifierHandle: HAL_NotifierHandle, status: *mut i32) -> u64; } extern "C" { /// Initializes a Power Distribution Panel. /// /// @param module the module number to initialize /// @return the created PDP pub fn HAL_InitializePDP(module: i32, status: *mut i32) -> HAL_PDPHandle; } extern "C" { /// Cleans a PDP module. /// /// @param handle the module handle pub fn HAL_CleanPDP(handle: HAL_PDPHandle); } extern "C" { /// Checks if a PDP channel is valid. /// /// @param channel the channel to check /// @return true if the channel is valid, otherwise false pub fn HAL_CheckPDPChannel(channel: i32) -> HAL_Bool; } extern "C" { /// Checks if a PDP module is valid. /// /// @param channel the module to check /// @return true if the module is valid, otherwise false pub fn HAL_CheckPDPModule(module: i32) -> HAL_Bool; } extern "C" { /// Gets the temperature of the PDP. /// /// @param handle the module handle /// @return the module temperature (celsius) pub fn HAL_GetPDPTemperature(handle: HAL_PDPHandle, status: *mut i32) -> f64; } extern "C" { /// Gets the PDP input voltage. /// /// @param handle the module handle /// @return the input voltage (volts) pub fn HAL_GetPDPVoltage(handle: HAL_PDPHandle, status: *mut i32) -> f64; } extern "C" { /// Gets the current of a specific PDP channel. /// /// @param module the module /// @param channel the channel /// @return the channel current (amps) pub fn HAL_GetPDPChannelCurrent(handle: HAL_PDPHandle, channel: i32, status: *mut i32) -> f64; } extern "C" { /// Gets the total current of the PDP. /// /// @param handle the module handle /// @return the total current (amps) pub fn HAL_GetPDPTotalCurrent(handle: HAL_PDPHandle, status: *mut i32) -> f64; } extern "C" { /// Gets the total power of the PDP. /// /// @param handle the module handle /// @return the total power (watts) pub fn HAL_GetPDPTotalPower(handle: HAL_PDPHandle, status: *mut i32) -> f64; } extern "C" { /// Gets the total energy of the PDP. /// /// @param handle the module handle /// @return the total energy (joules) pub fn HAL_GetPDPTotalEnergy(handle: HAL_PDPHandle, status: *mut i32) -> f64; } extern "C" { /// Resets the PDP accumulated energy. /// /// @param handle the module handle pub fn HAL_ResetPDPTotalEnergy(handle: HAL_PDPHandle, status: *mut i32); } extern "C" { /// Clears any PDP sticky faults. /// /// @param handle the module handle pub fn HAL_ClearPDPStickyFaults(handle: HAL_PDPHandle, status: *mut i32); } extern "C" { /// Initializes a PWM port. /// /// @param portHandle the port to initialize /// @return the created pwm handle pub fn HAL_InitializePWMPort(portHandle: HAL_PortHandle, status: *mut i32) -> HAL_DigitalHandle; } extern "C" { /// Frees a PWM port. /// /// @param pwmPortHandle the pwm handle pub fn HAL_FreePWMPort(pwmPortHandle: HAL_DigitalHandle, status: *mut i32); } extern "C" { /// Checks if a pwm channel is valid. /// /// @param channel the channel to check /// @return true if the channel is valid, otherwise false pub fn HAL_CheckPWMChannel(channel: i32) -> HAL_Bool; } extern "C" { /// Sets the configuration settings for the PWM channel. /// /// All values are in milliseconds. /// /// @param pwmPortHandle the PWM handle /// @param maxPwm the maximum PWM value /// @param deadbandMaxPwm the high range of the center deadband /// @param centerPwm the center PWM value /// @param deadbandMinPwm the low range of the center deadband /// @param minPwm the minimum PWM value pub fn HAL_SetPWMConfig( pwmPortHandle: HAL_DigitalHandle, maxPwm: f64, deadbandMaxPwm: f64, centerPwm: f64, deadbandMinPwm: f64, minPwm: f64, status: *mut i32, ); } extern "C" { /// Sets the raw configuration settings for the PWM channel. /// /// We recommend using HAL_SetPWMConfig() instead, as those values are properly /// scaled. Usually used for values grabbed by HAL_GetPWMConfigRaw(). /// /// Values are in raw FPGA units. /// /// @param pwmPortHandle the PWM handle /// @param maxPwm the maximum PWM value /// @param deadbandMaxPwm the high range of the center deadband /// @param centerPwm the center PWM value /// @param deadbandMinPwm the low range of the center deadband /// @param minPwm the minimum PWM value pub fn HAL_SetPWMConfigRaw( pwmPortHandle: HAL_DigitalHandle, maxPwm: i32, deadbandMaxPwm: i32, centerPwm: i32, deadbandMinPwm: i32, minPwm: i32, status: *mut i32, ); } extern "C" { /// Gets the raw pwm configuration settings for the PWM channel. /// /// Values are in raw FPGA units. These units have the potential to change for /// any FPGA release. /// /// @param pwmPortHandle the PWM handle /// @param maxPwm the maximum PWM value /// @param deadbandMaxPwm the high range of the center deadband /// @param centerPwm the center PWM value /// @param deadbandMinPwm the low range of the center deadband /// @param minPwm the minimum PWM value pub fn HAL_GetPWMConfigRaw( pwmPortHandle: HAL_DigitalHandle, maxPwm: *mut i32, deadbandMaxPwm: *mut i32, centerPwm: *mut i32, deadbandMinPwm: *mut i32, minPwm: *mut i32, status: *mut i32, ); } extern "C" { /// Sets if the FPGA should output the center value if the input value is within /// the deadband. /// /// @param pwmPortHandle the PWM handle /// @param eliminateDeadband true to eliminate deadband, otherwise false pub fn HAL_SetPWMEliminateDeadband( pwmPortHandle: HAL_DigitalHandle, eliminateDeadband: HAL_Bool, status: *mut i32, ); } extern "C" { /// Gets the current eliminate deadband value. /// /// @param pwmPortHandle the PWM handle /// @return true if set, otherwise false pub fn HAL_GetPWMEliminateDeadband( pwmPortHandle: HAL_DigitalHandle, status: *mut i32, ) -> HAL_Bool; } extern "C" { /// Sets a PWM channel to the desired value. /// /// The values are in raw FPGA units, and have the potential to change with any /// FPGA release. /// /// @param pwmPortHandle the PWM handle /// @param value the PWM value to set pub fn HAL_SetPWMRaw(pwmPortHandle: HAL_DigitalHandle, value: i32, status: *mut i32); } extern "C" { /// Sets a PWM channel to the desired scaled value. /// /// The values range from -1 to 1 and the period is controlled by the PWM Period /// and MinHigh registers. /// /// @param pwmPortHandle the PWM handle /// @param value the scaled PWM value to set pub fn HAL_SetPWMSpeed(pwmPortHandle: HAL_DigitalHandle, speed: f64, status: *mut i32); } extern "C" { /// Sets a PWM channel to the desired position value. /// /// The values range from 0 to 1 and the period is controlled by the PWM Period /// and MinHigh registers. /// /// @param pwmPortHandle the PWM handle /// @param value the positional PWM value to set pub fn HAL_SetPWMPosition(pwmPortHandle: HAL_DigitalHandle, position: f64, status: *mut i32); } extern "C" { /// Sets a PWM channel to be disabled. /// /// The channel is disabled until the next time it is set. Note this is different /// from just setting a 0 speed, as this will actively stop all signalling on the /// channel. /// /// @param pwmPortHandle the PWM handle. pub fn HAL_SetPWMDisabled(pwmPortHandle: HAL_DigitalHandle, status: *mut i32); } extern "C" { /// Gets a value from a PWM channel. /// /// The values are in raw FPGA units, and have the potential to change with any /// FPGA release. /// /// @param pwmPortHandle the PWM handle /// @return the current raw PWM value pub fn HAL_GetPWMRaw(pwmPortHandle: HAL_DigitalHandle, status: *mut i32) -> i32; } extern "C" { /// Gets a scaled value from a PWM channel. /// /// The values range from -1 to 1. /// /// @param pwmPortHandle the PWM handle /// @return the current speed PWM value pub fn HAL_GetPWMSpeed(pwmPortHandle: HAL_DigitalHandle, status: *mut i32) -> f64; } extern "C" { /// Gets a position value from a PWM channel. /// /// The values range from 0 to 1. /// /// @param pwmPortHandle the PWM handle /// @return the current positional PWM value pub fn HAL_GetPWMPosition(pwmPortHandle: HAL_DigitalHandle, status: *mut i32) -> f64; } extern "C" { /// Forces a PWM signal to go to 0 temporarily. /// /// @param pwmPortHandle the PWM handle. pub fn HAL_LatchPWMZero(pwmPortHandle: HAL_DigitalHandle, status: *mut i32); } extern "C" { /// Sets how how often the PWM signal is squelched, thus scaling the period. /// /// @param pwmPortHandle the PWM handle. /// @param squelchMask the 2-bit mask of outputs to squelch pub fn HAL_SetPWMPeriodScale( pwmPortHandle: HAL_DigitalHandle, squelchMask: i32, status: *mut i32, ); } extern "C" { /// Gets the loop timing of the PWM system. /// /// @return the loop time pub fn HAL_GetPWMLoopTiming(status: *mut i32) -> i32; } extern "C" { /// Gets the pwm starting cycle time. /// /// This time is relative to the FPGA time. /// /// @return the pwm cycle start time pub fn HAL_GetPWMCycleStartTime(status: *mut i32) -> u64; } extern "C" { /// Gets the number of analog accumulators in the current system. /// /// @return the number of analog accumulators pub fn HAL_GetNumAccumulators() -> i32; } extern "C" { /// Gets the number of analog triggers in the current system. /// /// @return the number of analog triggers pub fn HAL_GetNumAnalogTriggers() -> i32; } extern "C" { /// Gets the number of analog inputs in the current system. /// /// @return the number of analog inputs pub fn HAL_GetNumAnalogInputs() -> i32; } extern "C" { /// Gets the number of analog outputs in the current system. /// /// @return the number of analog outputs pub fn HAL_GetNumAnalogOutputs() -> i32; } extern "C" { /// Gets the number of analog counters in the current system. /// /// @return the number of counters pub fn HAL_GetNumCounters() -> i32; } extern "C" { /// Gets the number of digital headers in the current system. /// /// @return the number of digital headers pub fn HAL_GetNumDigitalHeaders() -> i32; } extern "C" { /// Gets the number of PWM headers in the current system. /// /// @return the number of PWM headers pub fn HAL_GetNumPWMHeaders() -> i32; } extern "C" { /// Gets the number of digital channels in the current system. /// /// @return the number of digital channels pub fn HAL_GetNumDigitalChannels() -> i32; } extern "C" { /// Gets the number of PWM channels in the current system. /// /// @return the number of PWM channels pub fn HAL_GetNumPWMChannels() -> i32; } extern "C" { /// Gets the number of digital IO PWM outputs in the current system. /// /// @return the number of digital IO PWM outputs pub fn HAL_GetNumDigitalPWMOutputs() -> i32; } extern "C" { /// Gets the number of quadrature encoders in the current system. /// /// @return the number of quadrature encoders pub fn HAL_GetNumEncoders() -> i32; } extern "C" { /// Gets the number of interrupts in the current system. /// /// @return the number of interrupts pub fn HAL_GetNumInterrupts() -> i32; } extern "C" { /// Gets the number of relay channels in the current system. /// /// @return the number of relay channels pub fn HAL_GetNumRelayChannels() -> i32; } extern "C" { /// Gets the number of relay headers in the current system. /// /// @return the number of relay headers pub fn HAL_GetNumRelayHeaders() -> i32; } extern "C" { /// Gets the number of PCM modules in the current system. /// /// @return the number of PCM modules pub fn HAL_GetNumPCMModules() -> i32; } extern "C" { /// Gets the number of solenoid channels in the current system. /// /// @return the number of solenoid channels pub fn HAL_GetNumSolenoidChannels() -> i32; } extern "C" { /// Gets the number of PDP modules in the current system. /// /// @return the number of PDP modules pub fn HAL_GetNumPDPModules() -> i32; } extern "C" { /// Gets the number of PDP channels in the current system. /// /// @return the number of PDP channels pub fn HAL_GetNumPDPChannels() -> i32; } extern "C" { /// Gets the roboRIO input voltage. /// /// @return the input voltage (volts) pub fn HAL_GetVinVoltage(status: *mut i32) -> f64; } extern "C" { /// Gets the roboRIO input current. /// /// @return the input current (amps) pub fn HAL_GetVinCurrent(status: *mut i32) -> f64; } extern "C" { /// Gets the 6V rail voltage. /// /// @return the 6V rail voltage (volts) pub fn HAL_GetUserVoltage6V(status: *mut i32) -> f64; } extern "C" { /// Gets the 6V rail current. /// /// @return the 6V rail current (amps) pub fn HAL_GetUserCurrent6V(status: *mut i32) -> f64; } extern "C" { /// Gets the active state of the 6V rail. /// /// @return true if the rail is active, otherwise false pub fn HAL_GetUserActive6V(status: *mut i32) -> HAL_Bool; } extern "C" { /// Gets the fault count for the 6V rail. /// /// @return the number of 6V fault counts pub fn HAL_GetUserCurrentFaults6V(status: *mut i32) -> i32; } extern "C" { /// Gets the 5V rail voltage. /// /// @return the 5V rail voltage (volts) pub fn HAL_GetUserVoltage5V(status: *mut i32) -> f64; } extern "C" { /// Gets the 5V rail current. /// /// @return the 5V rail current (amps) pub fn HAL_GetUserCurrent5V(status: *mut i32) -> f64; } extern "C" { /// Gets the active state of the 5V rail. /// /// @return true if the rail is active, otherwise false pub fn HAL_GetUserActive5V(status: *mut i32) -> HAL_Bool; } extern "C" { /// Gets the fault count for the 5V rail. /// /// @return the number of 5V fault counts pub fn HAL_GetUserCurrentFaults5V(status: *mut i32) -> i32; } extern "C" { /// Gets the 3V3 rail voltage. /// /// @return the 3V3 rail voltage (volts) pub fn HAL_GetUserVoltage3V3(status: *mut i32) -> f64; } extern "C" { /// Gets the 3V3 rail current. /// /// @return the 3V3 rail current (amps) pub fn HAL_GetUserCurrent3V3(status: *mut i32) -> f64; } extern "C" { /// Gets the active state of the 3V3 rail. /// /// @return true if the rail is active, otherwise false pub fn HAL_GetUserActive3V3(status: *mut i32) -> HAL_Bool; } extern "C" { /// Gets the fault count for the 3V3 rail. /// /// @return the number of 3V3 fault counts pub fn HAL_GetUserCurrentFaults3V3(status: *mut i32) -> i32; } extern "C" { /// Initializes a relay. /// /// Note this call will only initialize either the forward or reverse port of the /// relay. If you need both, you will need to initialize 2 relays. /// /// @param portHandle the port handle to initialize /// @param fwd true for the forward port, false for the reverse port /// @return the created relay handle pub fn HAL_InitializeRelayPort( portHandle: HAL_PortHandle, fwd: HAL_Bool, status: *mut i32, ) -> HAL_RelayHandle; } extern "C" { /// Frees a relay port. /// /// @param relayPortHandle the relay handle pub fn HAL_FreeRelayPort(relayPortHandle: HAL_RelayHandle); } extern "C" { /// Checks if a relay channel is valid. /// /// @param channel the channel to check /// @return true if the channel is valid, otherwise false pub fn HAL_CheckRelayChannel(channel: i32) -> HAL_Bool; } extern "C" { /// Sets the state of a relay output. /// /// @param relayPortHandle the relay handle /// @param on true for on, false for off pub fn HAL_SetRelay(relayPortHandle: HAL_RelayHandle, on: HAL_Bool, status: *mut i32); } extern "C" { /// Gets the current state of the relay channel. /// /// @param relayPortHandle the relay handle /// @return true for on, false for off pub fn HAL_GetRelay(relayPortHandle: HAL_RelayHandle, status: *mut i32) -> HAL_Bool; } pub mod HAL_SPIPort { /// @defgroup hal_spi SPI Functions /// @ingroup hal_capi /// @{ pub type Type = i32; pub const HAL_SPI_kInvalid: Type = -1; pub const HAL_SPI_kOnboardCS0: Type = 0; pub const HAL_SPI_kOnboardCS1: Type = 1; pub const HAL_SPI_kOnboardCS2: Type = 2; pub const HAL_SPI_kOnboardCS3: Type = 3; pub const HAL_SPI_kMXP: Type = 4; } extern "C" { /// Initializes the SPI port. Opens the port if necessary and saves the handle. /// /// If opening the MXP port, also sets up the channel functions appropriately. /// /// @param port The number of the port to use. 0-3 for Onboard CS0-CS3, 4 for MXP pub fn HAL_InitializeSPI(port: HAL_SPIPort::Type, status: *mut i32); } extern "C" { /// Performs an SPI send/receive transaction. /// /// This is a lower-level interface to the spi hardware giving you more control /// over each transaction. /// /// @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 /// for MXP /// @param dataToSend Buffer of data to send as part of the transaction. /// @param dataReceived Buffer to read data into. /// @param size Number of bytes to transfer. [0..7] /// @return Number of bytes transferred, -1 for error pub fn HAL_TransactionSPI( port: HAL_SPIPort::Type, dataToSend: *const u8, dataReceived: *mut u8, size: i32, ) -> i32; } extern "C" { /// Executes a write transaction with the device. /// /// Writes to a device and wait until the transaction is complete. /// /// @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 /// for MXP /// @param datToSend The data to write to the register on the device. /// @param sendSize The number of bytes to be written /// @return The number of bytes written. -1 for an error pub fn HAL_WriteSPI(port: HAL_SPIPort::Type, dataToSend: *const u8, sendSize: i32) -> i32; } extern "C" { /// Executes a read from the device. /// /// This method does not write any data out to the device. /// /// Most spi devices will require a register address to be written before they /// begin returning data. /// /// @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for /// MXP /// @param buffer A pointer to the array of bytes to store the data read from the /// device. /// @param count The number of bytes to read in the transaction. [1..7] /// @return Number of bytes read. -1 for error. pub fn HAL_ReadSPI(port: HAL_SPIPort::Type, buffer: *mut u8, count: i32) -> i32; } extern "C" { /// Closes the SPI port. /// /// @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP pub fn HAL_CloseSPI(port: HAL_SPIPort::Type); } extern "C" { /// Sets the clock speed for the SPI bus. /// /// @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for /// MXP /// @param speed The speed in Hz (0-1MHz) pub fn HAL_SetSPISpeed(port: HAL_SPIPort::Type, speed: i32); } extern "C" { /// Sets the SPI options. /// /// @param port The number of the port to use. 0-3 for Onboard /// CS0-CS2, 4 for MXP /// @param msbFirst True to write the MSB first, False for LSB first /// @param sampleOnTrailing True to sample on the trailing edge, False to sample /// on the leading edge /// @param clkIdleHigh True to set the clock to active low, False to set the /// clock active high pub fn HAL_SetSPIOpts( port: HAL_SPIPort::Type, msbFirst: HAL_Bool, sampleOnTrailing: HAL_Bool, clkIdleHigh: HAL_Bool, ); } extern "C" { /// Sets the CS Active high for a SPI port. /// /// @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP pub fn HAL_SetSPIChipSelectActiveHigh(port: HAL_SPIPort::Type, status: *mut i32); } extern "C" { /// Sets the CS Active low for a SPI port. /// /// @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP pub fn HAL_SetSPIChipSelectActiveLow(port: HAL_SPIPort::Type, status: *mut i32); } extern "C" { /// Gets the stored handle for a SPI port. /// /// @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP /// @return The stored handle for the SPI port. 0 represents no stored /// handle. pub fn HAL_GetSPIHandle(port: HAL_SPIPort::Type) -> i32; } extern "C" { /// Sets the stored handle for a SPI port. /// /// @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for /// MXP. /// @param handle The value of the handle for the port. pub fn HAL_SetSPIHandle(port: HAL_SPIPort::Type, handle: i32); } extern "C" { /// Initializes the SPI automatic accumulator. /// /// @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 /// for MXP. /// @param bufferSize The accumulator buffer size. pub fn HAL_InitSPIAuto(port: HAL_SPIPort::Type, bufferSize: i32, status: *mut i32); } extern "C" { /// Frees an SPI automatic accumulator. /// /// @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for /// MXP. pub fn HAL_FreeSPIAuto(port: HAL_SPIPort::Type, status: *mut i32); } extern "C" { /// Sets the period for automatic SPI accumulation. /// /// @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for /// MXP. /// @param period The accumlation period (seconds). pub fn HAL_StartSPIAutoRate(port: HAL_SPIPort::Type, period: f64, status: *mut i32); } extern "C" { /// Starts the auto SPI accumulator on a specific trigger. /// /// Note that triggering on both rising and falling edges is a valid /// configuration. /// /// @param port The number of the port to use. 0-3 for Onboard /// CS0-CS2, 4 for MXP. /// @param digitalSourceHandle The trigger source to use (Either /// HAL_AnalogTriggerHandle or HAL_DigitalHandle). /// @param analogTriggerType The analog trigger type, if the source is an /// analog trigger. /// @param triggerRising Trigger on the rising edge if true. /// @param triggerFalling Trigger on the falling edge if true. pub fn HAL_StartSPIAutoTrigger( port: HAL_SPIPort::Type, digitalSourceHandle: HAL_Handle, analogTriggerType: HAL_AnalogTriggerType::Type, triggerRising: HAL_Bool, triggerFalling: HAL_Bool, status: *mut i32, ); } extern "C" { /// Stops an automatic SPI accumlation. /// /// @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for /// MXP. pub fn HAL_StopSPIAuto(port: HAL_SPIPort::Type, status: *mut i32); } extern "C" { /// Sets the data to be transmitted to the device to initiate a read. /// /// @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 /// for MXP. /// @param dataToSend Pointer to the data to send (Gets copied for continue use, /// so no need to keep alive). /// @param dataSize The length of the data to send. /// @param zeroSize The number of zeros to send after the data. pub fn HAL_SetSPIAutoTransmitData( port: HAL_SPIPort::Type, dataToSend: *const u8, dataSize: i32, zeroSize: i32, status: *mut i32, ); } extern "C" { /// Immediately forces an SPI read to happen. /// /// @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for /// MXP. pub fn HAL_ForceSPIAutoRead(port: HAL_SPIPort::Type, status: *mut i32); } extern "C" { /// Reads data received by the SPI accumulator. Each received data sequence /// consists of a timestamp followed by the received data bytes, one byte per /// word (in the least significant byte). The length of each received data /// sequence is the same as the combined dataSize + zeroSize set in /// HAL_SetSPIAutoTransmitData. /// /// @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 /// for MXP. /// @param buffer The buffer to store the data into. /// @param numToRead The number of words to read. /// @param timeout The read timeout (in seconds). /// @return The number of words actually read. pub fn HAL_ReadSPIAutoReceivedData( port: HAL_SPIPort::Type, buffer: *mut u32, numToRead: i32, timeout: f64, status: *mut i32, ) -> i32; } extern "C" { /// Gets the count of how many SPI accumulations have been missed. /// /// @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for /// MXP. /// @return The number of missed accumulations. pub fn HAL_GetSPIAutoDroppedCount(port: HAL_SPIPort::Type, status: *mut i32) -> i32; } pub mod HAL_SerialPort { /// @defgroup hal_serialport Serial Port Functions /// @ingroup hal_capi /// @{ pub type Type = i32; pub const Onboard: Type = 0; pub const MXP: Type = 1; pub const USB1: Type = 2; pub const USB2: Type = 3; } extern "C" { /// Initializes a serial port. /// /// The channels are either the onboard RS232, the mxp uart, or 2 USB ports. The /// top port is USB1, the bottom port is USB2. /// /// @param port the serial port to initialize pub fn HAL_InitializeSerialPort(port: HAL_SerialPort::Type, status: *mut i32); } extern "C" { /// Initializes a serial port with a direct name. /// /// This name is the VISA name for a specific port (find this in the web dash). /// Note these are not always consistent between roboRIO reboots. /// /// @param port the serial port to initialize /// @param portName the VISA port name pub fn HAL_InitializeSerialPortDirect( port: HAL_SerialPort::Type, portName: *const ::std::os::raw::c_char, status: *mut i32, ); } extern "C" { /// Sets the baud rate of a serial port. /// /// Any value between 0 and 0xFFFFFFFF may be used. Default is 9600. /// /// @param port the serial port /// @param baud the baud rate to set pub fn HAL_SetSerialBaudRate(port: HAL_SerialPort::Type, baud: i32, status: *mut i32); } extern "C" { /// Sets the number of data bits on a serial port. /// /// Defaults to 8. /// /// @param port the serial port /// @param bits the number of data bits (5-8) pub fn HAL_SetSerialDataBits(port: HAL_SerialPort::Type, bits: i32, status: *mut i32); } extern "C" { /// Sets the number of parity bits on a serial port. /// /// Valid values are: /// 0: None (default) /// 1: Odd /// 2: Even /// 3: Mark - Means exists and always 1 /// 4: Space - Means exists and always 0 /// /// @param port the serial port /// @param parity the parity bit mode (see remarks for valid values) pub fn HAL_SetSerialParity(port: HAL_SerialPort::Type, parity: i32, status: *mut i32); } extern "C" { /// Sets the number of stop bits on a serial port. /// /// Valid values are: /// 10: One stop bit (default) /// 15: One and a half stop bits /// 20: Two stop bits /// /// @param port the serial port /// @param stopBits the stop bit value (see remarks for valid values) pub fn HAL_SetSerialStopBits(port: HAL_SerialPort::Type, stopBits: i32, status: *mut i32); } extern "C" { /// Sets the write mode on a serial port. /// /// Valid values are: /// 1: Flush on access /// 2: Flush when full (default) /// /// @param port the serial port /// @param mode the mode to set (see remarks for valid values) pub fn HAL_SetSerialWriteMode(port: HAL_SerialPort::Type, mode: i32, status: *mut i32); } extern "C" { /// Sets the flow control mode of a serial port. /// /// Valid values are: /// 0: None (default) /// 1: XON-XOFF /// 2: RTS-CTS /// 3: DTR-DSR /// /// @param port the serial port /// @param flow the mode to set (see remarks for valid values) pub fn HAL_SetSerialFlowControl(port: HAL_SerialPort::Type, flow: i32, status: *mut i32); } extern "C" { /// Sets the minimum serial read timeout of a port. /// /// @param port the serial port /// @param timeout the timeout in milliseconds pub fn HAL_SetSerialTimeout(port: HAL_SerialPort::Type, timeout: f64, status: *mut i32); } extern "C" { /// Sets the termination character that terminates a read. /// /// By default this is disabled. /// /// @param port the serial port /// @param terminator the termination character to set pub fn HAL_EnableSerialTermination( port: HAL_SerialPort::Type, terminator: ::std::os::raw::c_char, status: *mut i32, ); } extern "C" { /// Disables a termination character for reads. /// /// @param port the serial port pub fn HAL_DisableSerialTermination(port: HAL_SerialPort::Type, status: *mut i32); } extern "C" { /// Sets the size of the read buffer. /// /// @param port the serial port /// @param size the read buffer size pub fn HAL_SetSerialReadBufferSize(port: HAL_SerialPort::Type, size: i32, status: *mut i32); } extern "C" { /// Sets the size of the write buffer. /// /// @param port the serial port /// @param size the write buffer size pub fn HAL_SetSerialWriteBufferSize(port: HAL_SerialPort::Type, size: i32, status: *mut i32); } extern "C" { /// Gets the number of bytes currently in the read buffer. /// /// @param port the serial port /// @return the number of bytes in the read buffer pub fn HAL_GetSerialBytesReceived(port: HAL_SerialPort::Type, status: *mut i32) -> i32; } extern "C" { /// Reads data from the serial port. /// /// Will wait for either timeout (if set), the termination char (if set), or the /// count to be full. Whichever one comes first. /// /// @param port the serial port /// @param count the number of bytes maximum to read /// @return the number of bytes actually read pub fn HAL_ReadSerial( port: HAL_SerialPort::Type, buffer: *mut ::std::os::raw::c_char, count: i32, status: *mut i32, ) -> i32; } extern "C" { /// Writes data to the serial port. /// /// @param port the serial port /// @param buffer the buffer to write /// @param count the number of bytes to write from the buffer /// @return the number of bytes actually written pub fn HAL_WriteSerial( port: HAL_SerialPort::Type, buffer: *const ::std::os::raw::c_char, count: i32, status: *mut i32, ) -> i32; } extern "C" { /// Flushes the serial write buffer out to the port. /// /// @param port the serial port pub fn HAL_FlushSerial(port: HAL_SerialPort::Type, status: *mut i32); } extern "C" { /// Clears the receive buffer of the serial port. /// /// @param port the serial port pub fn HAL_ClearSerial(port: HAL_SerialPort::Type, status: *mut i32); } extern "C" { /// Closes a serial port. /// /// @param port the serial port to close pub fn HAL_CloseSerial(port: HAL_SerialPort::Type, status: *mut i32); } extern "C" { /// Initializes a solenoid port. /// /// @param portHandle the port handle of the module and channel to initialize /// @return the created solenoid handle pub fn HAL_InitializeSolenoidPort( portHandle: HAL_PortHandle, status: *mut i32, ) -> HAL_SolenoidHandle; } extern "C" { /// Frees a solenoid port. /// /// @param solenoidPortHandle the solenoid handle pub fn HAL_FreeSolenoidPort(solenoidPortHandle: HAL_SolenoidHandle); } extern "C" { /// Checks if a solenoid module is in the valid range. /// /// @param module the module number to check /// @return true if the module number is valid, otherwise false pub fn HAL_CheckSolenoidModule(module: i32) -> HAL_Bool; } extern "C" { /// Checks if a solenoid channel is in the valid range. /// /// @param channel the channel number to check /// @return true if the channel number is valid, otherwise false pub fn HAL_CheckSolenoidChannel(channel: i32) -> HAL_Bool; } extern "C" { /// Gets the current solenoid output value. /// /// @param solenoidPortHandle the solenoid handle /// @return true if the solenoid is on, otherwise false pub fn HAL_GetSolenoid(solenoidPortHandle: HAL_SolenoidHandle, status: *mut i32) -> HAL_Bool; } extern "C" { /// Gets the status of all solenoids on a specific module. /// /// @param module the module to check /// @return bitmask of the channels, 1 for on 0 for off pub fn HAL_GetAllSolenoids(module: i32, status: *mut i32) -> i32; } extern "C" { /// Sets a solenoid output value. /// /// @param solenoidPortHandle the solenoid handle /// @param value true for on, false for off pub fn HAL_SetSolenoid( solenoidPortHandle: HAL_SolenoidHandle, value: HAL_Bool, status: *mut i32, ); } extern "C" { /// Sets all channels on a specific module. /// /// @param module the module to set the channels on /// @param state bitmask of the channels to set, 1 for on 0 for off pub fn HAL_SetAllSolenoids(module: i32, state: i32, status: *mut i32); } extern "C" { /// Gets the channels blacklisted from being enabled on a module. /// /// @param module the module to check /// @retur bitmask of the blacklisted channels, 1 for true 0 for false pub fn HAL_GetPCMSolenoidBlackList(module: i32, status: *mut i32) -> i32; } extern "C" { /// Gets if a specific module has an over or under voltage sticky fault. /// /// @param module the module to check /// @return true if a stick fault is set, otherwise false pub fn HAL_GetPCMSolenoidVoltageStickyFault(module: i32, status: *mut i32) -> HAL_Bool; } extern "C" { /// Gets if a specific module has an over or under voltage fault. /// /// @param module the module to check /// @return true if faulted, otherwise false pub fn HAL_GetPCMSolenoidVoltageFault(module: i32, status: *mut i32) -> HAL_Bool; } extern "C" { /// Clears all faults on a module. /// /// @param module the module to clear pub fn HAL_ClearAllPCMStickyFaults(module: i32, status: *mut i32); } extern "C" { /// Sets the one shot duration on a solenoid channel. /// /// @param solenoidPortHandle the solenoid handle /// @param durMS the one shot duration in ms pub fn HAL_SetOneShotDuration( solenoidPortHandle: HAL_SolenoidHandle, durMS: i32, status: *mut i32, ); } extern "C" { /// Fires a single pulse on a solenoid channel. /// /// The pulse is the duration set by HAL_SetOneShotDuration(). /// /// @param solenoidPortHandle the solenoid handle pub fn HAL_FireOneShot(solenoidPortHandle: HAL_SolenoidHandle, status: *mut i32); } pub mod HAL_RuntimeType { /// @defgroup hal_capi WPILib HAL API /// Hardware Abstraction Layer to hardware or simulator /// @{ pub type Type = i32; pub const HAL_Athena: Type = 0; pub const HAL_Mock: Type = 1; } extern "C" { /// Gets the error message for a specific status code. /// /// @param code the status code /// @return the error message for the code. This does not need to be freed. pub fn HAL_GetErrorMessage(code: i32) -> *const ::std::os::raw::c_char; } extern "C" { /// Returns the FPGA Version number. /// /// For now, expect this to be competition year. /// /// @return FPGA Version number. pub fn HAL_GetFPGAVersion(status: *mut i32) -> i32; } extern "C" { /// Returns the FPGA Revision number. /// /// The format of the revision is 3 numbers. /// The 12 most significant bits are the Major Revision. /// the next 8 bits are the Minor Revision. /// The 12 least significant bits are the Build Number. /// /// @return FPGA Revision number. pub fn HAL_GetFPGARevision(status: *mut i32) -> i64; } extern "C" { pub fn HAL_GetRuntimeType() -> HAL_RuntimeType::Type; } extern "C" { /// Gets the state of the "USER" button on the roboRIO. /// /// @return true if the button is currently pressed down pub fn HAL_GetFPGAButton(status: *mut i32) -> HAL_Bool; } extern "C" { /// Gets if the system outputs are currently active /// /// @return true if the system outputs are active, false if disabled pub fn HAL_GetSystemActive(status: *mut i32) -> HAL_Bool; } extern "C" { /// Gets if the system is in a browned out state. /// /// @return true if the system is in a low voltage brown out, false otherwise pub fn HAL_GetBrownedOut(status: *mut i32) -> HAL_Bool; } extern "C" { /// The base HAL initialize function. Useful if you need to ensure the DS and /// base HAL functions (the ones above this declaration in HAL.h) are properly /// initialized. For normal programs and executables, please use HAL_Initialize. /// /// This is mainly expected to be use from libraries that are expected to be used /// from LabVIEW, as it handles its own initialization for objects. pub fn HAL_BaseInitialize(status: *mut i32); } extern "C" { /// Gets a port handle for a specific channel. /// /// The created handle does not need to be freed. /// /// @param channel the channel number /// @return the created port pub fn HAL_GetPort(channel: i32) -> HAL_PortHandle; } extern "C" { /// Gets a port handle for a specific channel and module. /// /// This is expected to be used for PCMs, as the roboRIO does not work with /// modules anymore. /// /// The created handle does not need to be freed. /// /// @param module the module number /// @param channel the channel number /// @return the created port pub fn HAL_GetPortWithModule(module: i32, channel: i32) -> HAL_PortHandle; } extern "C" { /// Reads the microsecond-resolution timer on the FPGA. /// /// @return The current time in microseconds according to the FPGA (since FPGA /// reset). pub fn HAL_GetFPGATime(status: *mut i32) -> u64; } extern "C" { /// Call this to start up HAL. This is required for robot programs. /// /// This must be called before any other HAL functions. Failure to do so will /// result in undefined behavior, and likely segmentation faults. This means that /// any statically initialized variables in a program MUST call this function in /// their constructors if they want to use other HAL calls. /// /// The common parameters are 500 for timeout and 0 for mode. /// /// This function is safe to call from any thread, and as many times as you wish. /// It internally guards from any reentrancy. /// /// The applicable modes are: /// 0: Try to kill an existing HAL from another program, if not successful, /// error. /// 1: Force kill a HAL from another program. /// 2: Just warn if another hal exists and cannot be killed. Will likely result /// in undefined behavior. /// /// @param timeout the initialization timeout (ms) /// @param mode the initialization mode (see remarks) /// @return true if initialization was successful, otherwise false. pub fn HAL_Initialize(timeout: i32, mode: i32) -> HAL_Bool; } extern "C" { /// Reports a hardware usage to the HAL. /// /// @param resource the used resource /// @param instanceNumber the instance of the resource /// @param context a user specified context index /// @param feature a user specified feature string /// @return the index of the added value in NetComm pub fn HAL_Report( resource: i32, instanceNumber: i32, context: i32, feature: *const ::std::os::raw::c_char, ) -> i64; } pub mod HALUsageReporting_tResourceType { pub type Type = u32; pub const Controller: Type = 0; pub const Module: Type = 1; pub const Language: Type = 2; pub const CANPlugin: Type = 3; pub const Accelerometer: Type = 4; pub const ADXL345: Type = 5; pub const AnalogChannel: Type = 6; pub const AnalogTrigger: Type = 7; pub const AnalogTriggerOutput: Type = 8; pub const CANJaguar: Type = 9; pub const Compressor: Type = 10; pub const Counter: Type = 11; pub const Dashboard: Type = 12; pub const DigitalInput: Type = 13; pub const DigitalOutput: Type = 14; pub const DriverStationCIO: Type = 15; pub const DriverStationEIO: Type = 16; pub const DriverStationLCD: Type = 17; pub const Encoder: Type = 18; pub const GearTooth: Type = 19; pub const Gyro: Type = 20; pub const I2C: Type = 21; pub const Framework: Type = 22; pub const Jaguar: Type = 23; pub const Joystick: Type = 24; pub const Kinect: Type = 25; pub const KinectStick: Type = 26; pub const PIDController: Type = 27; pub const Preferences: Type = 28; pub const PWM: Type = 29; pub const Relay: Type = 30; pub const RobotDrive: Type = 31; pub const SerialPort: Type = 32; pub const Servo: Type = 33; pub const Solenoid: Type = 34; pub const SPI: Type = 35; pub const Task: Type = 36; pub const Ultrasonic: Type = 37; pub const Victor: Type = 38; pub const Button: Type = 39; pub const Command: Type = 40; pub const AxisCamera: Type = 41; pub const PCVideoServer: Type = 42; pub const SmartDashboard: Type = 43; pub const Talon: Type = 44; pub const HiTechnicColorSensor: Type = 45; pub const HiTechnicAccel: Type = 46; pub const HiTechnicCompass: Type = 47; pub const SRF08: Type = 48; pub const AnalogOutput: Type = 49; pub const VictorSP: Type = 50; pub const PWMTalonSRX: Type = 51; pub const CANTalonSRX: Type = 52; pub const ADXL362: Type = 53; pub const ADXRS450: Type = 54; pub const RevSPARK: Type = 55; pub const MindsensorsSD540: Type = 56; pub const DigitalGlitchFilter: Type = 57; pub const ADIS16448: Type = 58; pub const PDP: Type = 59; pub const PCM: Type = 60; pub const PigeonIMU: Type = 61; pub const NidecBrushless: Type = 62; pub const CANifier: Type = 63; pub const CTRE_future0: Type = 64; pub const CTRE_future1: Type = 65; pub const CTRE_future2: Type = 66; pub const CTRE_future3: Type = 67; pub const CTRE_future4: Type = 68; pub const CTRE_future5: Type = 69; pub const CTRE_future6: Type = 70; pub const LinearFilter: Type = 71; pub const XboxController: Type = 72; pub const UsbCamera: Type = 73; pub const NavX: Type = 74; pub const Pixy: Type = 75; pub const Pixy2: Type = 76; pub const ScanseSweep: Type = 77; pub const Shuffleboard: Type = 78; pub const CAN: Type = 79; pub const DigilentDMC60: Type = 80; pub const PWMVictorSPX: Type = 81; pub const RevSparkMaxPWM: Type = 82; pub const RevSparkMaxCAN: Type = 83; pub const ADIS16470: Type = 84; } pub mod HALUsageReporting_tInstances { pub type Type = u32; pub const kLanguage_LabVIEW: Type = 1; pub const kLanguage_CPlusPlus: Type = 2; pub const kLanguage_Java: Type = 3; pub const kLanguage_Python: Type = 4; pub const kLanguage_DotNet: Type = 5; pub const kCANPlugin_BlackJagBridge: Type = 1; pub const kCANPlugin_2CAN: Type = 2; pub const kFramework_Iterative: Type = 1; pub const kFramework_Simple: Type = 2; pub const kFramework_CommandControl: Type = 3; pub const kFramework_Timed: Type = 4; pub const kFramework_ROS: Type = 5; pub const kFramework_RobotBuilder: Type = 6; pub const kRobotDrive_ArcadeStandard: Type = 1; pub const kRobotDrive_ArcadeButtonSpin: Type = 2; pub const kRobotDrive_ArcadeRatioCurve: Type = 3; pub const kRobotDrive_Tank: Type = 4; pub const kRobotDrive_MecanumPolar: Type = 5; pub const kRobotDrive_MecanumCartesian: Type = 6; pub const kRobotDrive2_DifferentialArcade: Type = 7; pub const kRobotDrive2_DifferentialTank: Type = 8; pub const kRobotDrive2_DifferentialCurvature: Type = 9; pub const kRobotDrive2_MecanumCartesian: Type = 10; pub const kRobotDrive2_MecanumPolar: Type = 11; pub const kRobotDrive2_KilloughCartesian: Type = 12; pub const kRobotDrive2_KilloughPolar: Type = 13; pub const kDriverStationCIO_Analog: Type = 1; pub const kDriverStationCIO_DigitalIn: Type = 2; pub const kDriverStationCIO_DigitalOut: Type = 3; pub const kDriverStationEIO_Acceleration: Type = 1; pub const kDriverStationEIO_AnalogIn: Type = 2; pub const kDriverStationEIO_AnalogOut: Type = 3; pub const kDriverStationEIO_Button: Type = 4; pub const kDriverStationEIO_LED: Type = 5; pub const kDriverStationEIO_DigitalIn: Type = 6; pub const kDriverStationEIO_DigitalOut: Type = 7; pub const kDriverStationEIO_FixedDigitalOut: Type = 8; pub const kDriverStationEIO_PWM: Type = 9; pub const kDriverStationEIO_Encoder: Type = 10; pub const kDriverStationEIO_TouchSlider: Type = 11; pub const kADXL345_SPI: Type = 1; pub const kADXL345_I2C: Type = 2; pub const kCommand_Scheduler: Type = 1; pub const kSmartDashboard_Instance: Type = 1; } pub mod HAL_EncoderIndexingType { /// The type of index pulse for the encoder. pub type Type = i32; pub const HAL_kResetWhileHigh: Type = 0; pub const HAL_kResetWhileLow: Type = 1; pub const HAL_kResetOnFallingEdge: Type = 2; pub const HAL_kResetOnRisingEdge: Type = 3; } pub mod HAL_EncoderEncodingType { /// The encoding scaling of the encoder. pub type Type = i32; pub const HAL_Encoder_k1X: Type = 0; pub const HAL_Encoder_k2X: Type = 1; pub const HAL_Encoder_k4X: Type = 2; } extern "C" { /// Initializes an encoder. /// /// @param digitalSourceHandleA the A source (either a HAL_DigitalHandle or a /// HAL_AnalogTriggerHandle) /// @param analogTriggerTypeA the analog trigger type of the A source if it is /// an analog trigger /// @param digitalSourceHandleB the B source (either a HAL_DigitalHandle or a /// HAL_AnalogTriggerHandle) /// @param analogTriggerTypeB the analog trigger type of the B source if it is /// an analog trigger /// @param reverseDirection true to reverse the counting direction from /// standard, otherwise false /// @param encodingType the encoding type ///@return the created encoder handle pub fn HAL_InitializeEncoder( digitalSourceHandleA: HAL_Handle, analogTriggerTypeA: HAL_AnalogTriggerType::Type, digitalSourceHandleB: HAL_Handle, analogTriggerTypeB: HAL_AnalogTriggerType::Type, reverseDirection: HAL_Bool, encodingType: HAL_EncoderEncodingType::Type, status: *mut i32, ) -> HAL_EncoderHandle; } extern "C" { /// Frees an encoder. /// /// @param encoderHandle the encoder handle pub fn HAL_FreeEncoder(encoderHandle: HAL_EncoderHandle, status: *mut i32); } extern "C" { /// Gets the current counts of the encoder after encoding type scaling. /// /// This is scaled by the value passed duing initialization to encodingType. /// /// @param encoderHandle the encoder handle /// @return the current scaled count pub fn HAL_GetEncoder(encoderHandle: HAL_EncoderHandle, status: *mut i32) -> i32; } extern "C" { /// Gets the raw counts of the encoder. /// /// This is not scaled by any values. /// /// @param encoderHandle the encoder handle /// @return the raw encoder count pub fn HAL_GetEncoderRaw(encoderHandle: HAL_EncoderHandle, status: *mut i32) -> i32; } extern "C" { /// Gets the encoder scale value. /// /// This is set by the value passed during initialization to encodingType. /// /// @param encoderHandle the encoder handle /// @return the encoder scale value pub fn HAL_GetEncoderEncodingScale(encoderHandle: HAL_EncoderHandle, status: *mut i32) -> i32; } extern "C" { /// Reads the current encoder value. /// /// Read the value at this instant. It may still be running, so it reflects the /// current value. Next time it is read, it might have a different value. /// /// @param encoderHandle the encoder handle /// @return the current encoder value pub fn HAL_ResetEncoder(encoderHandle: HAL_EncoderHandle, status: *mut i32); } extern "C" { pub fn HAL_GetEncoderPeriod(encoderHandle: HAL_EncoderHandle, status: *mut i32) -> f64; } extern "C" { /// Sets the maximum period where the device is still considered "moving". /// /// Sets the maximum period where the device is considered moving. This value is /// used to determine the "stopped" state of the encoder using the /// HAL_GetEncoderStopped method. /// /// @param encoderHandle the encoder handle /// @param maxPeriod the maximum period where the counted device is /// considered moving in seconds pub fn HAL_SetEncoderMaxPeriod( encoderHandle: HAL_EncoderHandle, maxPeriod: f64, status: *mut i32, ); } extern "C" { /// Determines if the clock is stopped. /// /// Determines if the clocked input is stopped based on the MaxPeriod value set /// using the SetMaxPeriod method. If the clock exceeds the MaxPeriod, then the /// device (and encoder) are assumed to be stopped and it returns true. /// /// @param encoderHandle the encoder handle /// @return true if the most recent encoder period exceeds the /// MaxPeriod value set by SetMaxPeriod pub fn HAL_GetEncoderStopped(encoderHandle: HAL_EncoderHandle, status: *mut i32) -> HAL_Bool; } extern "C" { /// Gets the last direction the encoder value changed. /// /// @param encoderHandle the encoder handle /// @return the last direction the encoder value changed pub fn HAL_GetEncoderDirection(encoderHandle: HAL_EncoderHandle, status: *mut i32) -> HAL_Bool; } extern "C" { /// Gets the current distance traveled by the encoder. /// /// This is the encoder count scaled by the distance per pulse set for the /// encoder. /// /// @param encoderHandle the encoder handle /// @return the encoder distance (units are determined by the units /// passed to HAL_SetEncoderDistancePerPulse) pub fn HAL_GetEncoderDistance(encoderHandle: HAL_EncoderHandle, status: *mut i32) -> f64; } extern "C" { /// Gets the current rate of the encoder. /// /// This is the encoder period scaled by the distance per pulse set for the /// encoder. /// /// @param encoderHandle the encoder handle /// @return the encoder rate (units are determined by the units /// passed to HAL_SetEncoderDistancePerPulse, time value is seconds) pub fn HAL_GetEncoderRate(encoderHandle: HAL_EncoderHandle, status: *mut i32) -> f64; } extern "C" { /// Sets the minimum rate to be considered moving by the encoder. /// /// Units need to match what is set by HAL_SetEncoderDistancePerPulse, with time /// as seconds. /// /// @param encoderHandle the encoder handle /// @param minRate the minimum rate to be considered moving (units are /// determined by the units passed to HAL_SetEncoderDistancePerPulse, time value /// is seconds) pub fn HAL_SetEncoderMinRate(encoderHandle: HAL_EncoderHandle, minRate: f64, status: *mut i32); } extern "C" { /// Sets the distance traveled per encoder pulse. This is used as a scaling /// factor for the rate and distance calls. /// /// @param encoderHandle the encoder handle /// @param distancePerPulse the distance traveled per encoder pulse (units user /// defined) pub fn HAL_SetEncoderDistancePerPulse( encoderHandle: HAL_EncoderHandle, distancePerPulse: f64, status: *mut i32, ); } extern "C" { /// Sets if to reverse the direction of the encoder. /// /// Note that this is not a toggle. It is an absolute set. /// /// @param encoderHandle the encoder handle /// @param reverseDirection true to reverse the direction, false to not. pub fn HAL_SetEncoderReverseDirection( encoderHandle: HAL_EncoderHandle, reverseDirection: HAL_Bool, status: *mut i32, ); } extern "C" { /// Sets the number of encoder samples to average when calculating encoder rate. /// /// @param encoderHandle the encoder handle /// @param samplesToAverage the number of samples to average pub fn HAL_SetEncoderSamplesToAverage( encoderHandle: HAL_EncoderHandle, samplesToAverage: i32, status: *mut i32, ); } extern "C" { /// Gets the current samples to average value. /// /// @param encoderHandle the encoder handle /// @return the current samples to average value pub fn HAL_GetEncoderSamplesToAverage( encoderHandle: HAL_EncoderHandle, status: *mut i32, ) -> i32; } extern "C" { /// Sets the source for an index pulse on the encoder. /// /// The index pulse can be used to cause an encoder to reset based on an external /// input. /// /// @param encoderHandle the encoder handle /// @param digitalSourceHandle the index source handle (either a /// HAL_AnalogTriggerHandle of a HAL_DigitalHandle) /// @param analogTriggerType the analog trigger type if the source is an analog /// trigger /// @param type the index triggering type pub fn HAL_SetEncoderIndexSource( encoderHandle: HAL_EncoderHandle, digitalSourceHandle: HAL_Handle, analogTriggerType: HAL_AnalogTriggerType::Type, type_: HAL_EncoderIndexingType::Type, status: *mut i32, ); } extern "C" { /// Gets the FPGA index of the encoder. /// /// @param encoderHandle the encoder handle /// @return the FPGA index of the encoder pub fn HAL_GetEncoderFPGAIndex(encoderHandle: HAL_EncoderHandle, status: *mut i32) -> i32; } extern "C" { /// Gets the decoding scale factor of the encoder. /// /// This is used to perform the scaling from raw to type scaled values. /// /// @param encoderHandle the encoder handle /// @return the scale value for the encoder pub fn HAL_GetEncoderDecodingScaleFactor( encoderHandle: HAL_EncoderHandle, status: *mut i32, ) -> f64; } extern "C" { /// Gets the user set distance per pulse of the encoder. /// /// @param encoderHandle the encoder handle /// @return the set distance per pulse pub fn HAL_GetEncoderDistancePerPulse( encoderHandle: HAL_EncoderHandle, status: *mut i32, ) -> f64; } extern "C" { /// Gets the encoding type of the encoder. /// /// @param encoderHandle the encoder handle /// @return the encoding type pub fn HAL_GetEncoderEncodingType( encoderHandle: HAL_EncoderHandle, status: *mut i32, ) -> HAL_EncoderEncodingType::Type; }