Class CanBusJNI

java.lang.Object

com.studica.frc.jni.StudicaJNIWrapper

com.studica.frc.jni.CanBusJNI

public final class CanBusJNI
extends StudicaJNIWrapper

Raw JNI bindings for CAN bus configuration. Use CanBus instead.

Nested Class Summary

Nested classes/interfaces inherited from class StudicaJNIWrapper

StudicaJNIWrapper.Helper

Field Summary

Fields

Modifier and Type	Field	Description
static final int	CLASSIC	Classic CAN.
static final int	FD_5MBPS	CAN FD, 5 Mbit/s data phase.
static final int	UNKNOWN	Mode not reported yet, or a non-standard mode.

Method Summary

Modifier and Type	Method	Description
static int	getMode(int busId)	Reads a bus's current mode.
static int	requestMode(int busId, int mode, int timeoutMs)	Switches a bus to a mode, blocking until it is up in that mode.

Methods inherited from class StudicaJNIWrapper

forceLoad

Methods inherited from class Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

UNKNOWN

public static final int UNKNOWN

Mode not reported yet, or a non-standard mode.

See Also:

• Constant Field Values

CLASSIC

public static final int CLASSIC

Classic CAN.

See Also:

• Constant Field Values

FD_5MBPS

public static final int FD_5MBPS

CAN FD, 5 Mbit/s data phase.

See Also:

• Constant Field Values

Method Details

requestMode

public static int requestMode(int busId,
 int mode,
 int timeoutMs)

Switches a bus to a mode, blocking until it is up in that mode.

Parameters:

busId - bus 0-4

mode - CLASSIC or FD_5MBPS

timeoutMs - how long to wait

Returns:

status code

getMode

public static int getMode(int busId)

Reads a bus's current mode.

Parameters:

busId - bus 0-4

Returns:

CLASSIC, FD_5MBPS, or UNKNOWN