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Use new CAN API for PDP (#1081)

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This commit is contained in:
Thad House
2018-06-07 22:31:26 -07:00
committed by Peter Johnson
parent f6e4df6a18
commit 056e68f2ae
13 changed files with 413 additions and 427 deletions
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18
hal/src/main/java/edu/wpi/first/wpilibj/hal/PDPJNI.java
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@@ -9,25 +9,25 @@ package edu.wpi.first.wpilibj.hal;
@SuppressWarnings("AbbreviationAsWordInName")
public class PDPJNI extends JNIWrapper {
public static native void initializePDP(int module);
public static native int initializePDP(int module);
public static native boolean checkPDPModule(int module);
public static native boolean checkPDPChannel(int channel);
public static native double getPDPTemperature(int module);
public static native double getPDPTemperature(int handle);
public static native double getPDPVoltage(int module);
public static native double getPDPVoltage(int handle);
public static native double getPDPChannelCurrent(byte channel, int module);
public static native double getPDPChannelCurrent(byte channel, int handle);
public static native double getPDPTotalCurrent(int module);
public static native double getPDPTotalCurrent(int handle);
public static native double getPDPTotalPower(int module);
public static native double getPDPTotalPower(int handle);
public static native double getPDPTotalEnergy(int module);
public static native double getPDPTotalEnergy(int handle);
public static native void resetPDPTotalEnergy(int module);
public static native void resetPDPTotalEnergy(int handle);
public static native void clearPDPStickyFaults(int module);
public static native void clearPDPStickyFaults(int handle);
}

333
hal/src/main/native/athena/PDP.cpp
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@@ -9,51 +9,130 @@
#include <memory>
#include "HAL/CANAPI.h"
#include "HAL/Errors.h"
#include "HAL/Ports.h"
#include "HAL/handles/IndexedHandleResource.h"
#include "HALInitializer.h"
#include "PortsInternal.h"
#include "ctre/PDP.h"
using namespace hal;
static std::unique_ptr<PDP> pdp[kNumPDPModules];
static constexpr HAL_CANManufacturer manufacturer =
HAL_CANManufacturer::HAL_CAN_Man_kCTRE;
static inline bool checkPDPInit(int32_t module, int32_t* status) {
if (!HAL_CheckPDPModule(module)) {
*status = RESOURCE_OUT_OF_RANGE;
return false;
}
if (!pdp[module]) {
*status = INCOMPATIBLE_STATE;
return false;
}
return true;
}
static constexpr HAL_CANDeviceType deviceType =
HAL_CANDeviceType::HAL_CAN_Dev_kPowerDistribution;
static constexpr int32_t Status1 = 0x50;
static constexpr int32_t Status2 = 0x51;
static constexpr int32_t Status3 = 0x52;
static constexpr int32_t StatusEnergy = 0x5D;
static constexpr int32_t Control1 = 0x70;
static constexpr int32_t TimeoutMs = 50;
static constexpr int32_t StatusPeriodMs = 25;
/* encoder/decoders */
union PdpStatus1 {
uint8_t data[8];
struct Bits {
unsigned chan1_h8 : 8;
unsigned chan2_h6 : 6;
unsigned chan1_l2 : 2;
unsigned chan3_h4 : 4;
unsigned chan2_l4 : 4;
unsigned chan4_h2 : 2;
unsigned chan3_l6 : 6;
unsigned chan4_l8 : 8;
unsigned chan5_h8 : 8;
unsigned chan6_h6 : 6;
unsigned chan5_l2 : 2;
unsigned reserved4 : 4;
unsigned chan6_l4 : 4;
} bits;
};
union PdpStatus2 {
uint8_t data[8];
struct Bits {
unsigned chan7_h8 : 8;
unsigned chan8_h6 : 6;
unsigned chan7_l2 : 2;
unsigned chan9_h4 : 4;
unsigned chan8_l4 : 4;
unsigned chan10_h2 : 2;
unsigned chan9_l6 : 6;
unsigned chan10_l8 : 8;
unsigned chan11_h8 : 8;
unsigned chan12_h6 : 6;
unsigned chan11_l2 : 2;
unsigned reserved4 : 4;
unsigned chan12_l4 : 4;
} bits;
};
union PdpStatus3 {
uint8_t data[8];
struct Bits {
unsigned chan13_h8 : 8;
unsigned chan14_h6 : 6;
unsigned chan13_l2 : 2;
unsigned chan15_h4 : 4;
unsigned chan14_l4 : 4;
unsigned chan16_h2 : 2;
unsigned chan15_l6 : 6;
unsigned chan16_l8 : 8;
unsigned internalResBattery_mOhms : 8;
unsigned busVoltage : 8;
unsigned temp : 8;
} bits;
};
union PdpStatusEnergy {
uint8_t data[8];
struct Bits {
unsigned TmeasMs_likelywillbe20ms_ : 8;
unsigned TotalCurrent_125mAperunit_h8 : 8;
unsigned Power_125mWperunit_h4 : 4;
unsigned TotalCurrent_125mAperunit_l4 : 4;
unsigned Power_125mWperunit_m8 : 8;
unsigned Energy_125mWPerUnitXTmeas_h4 : 4;
unsigned Power_125mWperunit_l4 : 4;
unsigned Energy_125mWPerUnitXTmeas_mh8 : 8;
unsigned Energy_125mWPerUnitXTmeas_ml8 : 8;
unsigned Energy_125mWPerUnitXTmeas_l8 : 8;
} bits;
};
namespace hal {
namespace init {
void InitializePDP() {
for (int i = 0; i < kNumPDPModules; i++) {
pdp[i] = nullptr;
}
}
void InitializePDP() {}
} // namespace init
} // namespace hal
extern "C" {
void HAL_InitializePDP(int32_t module, int32_t* status) {
HAL_PDPHandle HAL_InitializePDP(int32_t module, int32_t* status) {
hal::init::CheckInit();
if (!HAL_CheckPDPModule(module)) {
*status = RESOURCE_OUT_OF_RANGE;
return;
*status = PARAMETER_OUT_OF_RANGE;
return HAL_kInvalidHandle;
}
if (!pdp[module]) {
pdp[module] = std::make_unique<PDP>(module);
auto handle = HAL_InitializeCAN(manufacturer, module, deviceType, status);
if (*status != 0) {
HAL_CleanCAN(handle);
return HAL_kInvalidHandle;
}
return handle;
}
void HAL_CleanPDP(HAL_PDPHandle handle) { HAL_CleanCAN(handle); }
HAL_Bool HAL_CheckPDPModule(int32_t module) {
return module < kNumPDPModules && module >= 0;
}
@@ -62,77 +141,201 @@ HAL_Bool HAL_CheckPDPChannel(int32_t channel) {
return channel < kNumPDPChannels && channel >= 0;
}
double HAL_GetPDPTemperature(int32_t module, int32_t* status) {
if (!checkPDPInit(module, status)) return 0;
double HAL_GetPDPTemperature(HAL_PDPHandle handle, int32_t* status) {
PdpStatus3 pdpStatus;
int32_t length = 0;
uint64_t receivedTimestamp = 0;
double temperature;
HAL_ReadCANPeriodicPacket(handle, Status3, pdpStatus.data, &length,
&receivedTimestamp, TimeoutMs, StatusPeriodMs,
status);
*status = pdp[module]->GetTemperature(temperature);
return temperature;
return pdpStatus.bits.temp * 1.03250836957542 - 67.8564500484966;
}
double HAL_GetPDPVoltage(int32_t module, int32_t* status) {
if (!checkPDPInit(module, status)) return 0;
double HAL_GetPDPVoltage(HAL_PDPHandle handle, int32_t* status) {
PdpStatus3 pdpStatus;
int32_t length = 0;
uint64_t receivedTimestamp = 0;
double voltage;
HAL_ReadCANPeriodicPacket(handle, Status3, pdpStatus.data, &length,
&receivedTimestamp, TimeoutMs, StatusPeriodMs,
status);
*status = pdp[module]->GetVoltage(voltage);
return voltage;
return pdpStatus.bits.busVoltage * 0.05 + 4.0; /* 50mV per unit plus 4V. */
}
double HAL_GetPDPChannelCurrent(int32_t module, int32_t channel,
double HAL_GetPDPChannelCurrent(HAL_PDPHandle handle, int32_t channel,
int32_t* status) {
if (!checkPDPInit(module, status)) return 0;
if (!HAL_CheckPDPChannel(channel)) {
*status = PARAMETER_OUT_OF_RANGE;
return 0;
}
double current;
int32_t length = 0;
uint64_t receivedTimestamp = 0;
*status = pdp[module]->GetChannelCurrent(channel, current);
double raw = 0;
return current;
if (channel <= 5) {
PdpStatus1 pdpStatus;
HAL_ReadCANPeriodicPacket(handle, Status1, pdpStatus.data, &length,
&receivedTimestamp, TimeoutMs, StatusPeriodMs,
status);
switch (channel) {
case 0:
raw = (static_cast<uint32_t>(pdpStatus.bits.chan1_h8) << 2) |
pdpStatus.bits.chan1_l2;
break;
case 1:
raw = (static_cast<uint32_t>(pdpStatus.bits.chan2_h6) << 4) |
pdpStatus.bits.chan2_l4;
break;
case 2:
raw = (static_cast<uint32_t>(pdpStatus.bits.chan3_h4) << 6) |
pdpStatus.bits.chan3_l6;
break;
case 3:
raw = (static_cast<uint32_t>(pdpStatus.bits.chan4_h2) << 8) |
pdpStatus.bits.chan4_l8;
break;
case 4:
raw = (static_cast<uint32_t>(pdpStatus.bits.chan5_h8) << 2) |
pdpStatus.bits.chan5_l2;
break;
case 5:
raw = (static_cast<uint32_t>(pdpStatus.bits.chan6_h6) << 4) |
pdpStatus.bits.chan6_l4;
break;
}
} else if (channel <= 11) {
PdpStatus2 pdpStatus;
HAL_ReadCANPeriodicPacket(handle, Status2, pdpStatus.data, &length,
&receivedTimestamp, TimeoutMs, StatusPeriodMs,
status);
switch (channel) {
case 6:
raw = (static_cast<uint32_t>(pdpStatus.bits.chan7_h8) << 2) |
pdpStatus.bits.chan7_l2;
break;
case 7:
raw = (static_cast<uint32_t>(pdpStatus.bits.chan8_h6) << 4) |
pdpStatus.bits.chan8_l4;
break;
case 8:
raw = (static_cast<uint32_t>(pdpStatus.bits.chan9_h4) << 6) |
pdpStatus.bits.chan9_l6;
break;
case 9:
raw = (static_cast<uint32_t>(pdpStatus.bits.chan10_h2) << 8) |
pdpStatus.bits.chan10_l8;
break;
case 10:
raw = (static_cast<uint32_t>(pdpStatus.bits.chan11_h8) << 2) |
pdpStatus.bits.chan11_l2;
break;
case 11:
raw = (static_cast<uint32_t>(pdpStatus.bits.chan12_h6) << 4) |
pdpStatus.bits.chan12_l4;
break;
}
} else {
PdpStatus3 pdpStatus;
HAL_ReadCANPeriodicPacket(handle, Status3, pdpStatus.data, &length,
&receivedTimestamp, TimeoutMs, StatusPeriodMs,
status);
switch (channel) {
case 12:
raw = (static_cast<uint32_t>(pdpStatus.bits.chan13_h8) << 2) |
pdpStatus.bits.chan13_l2;
break;
case 13:
raw = (static_cast<uint32_t>(pdpStatus.bits.chan14_h6) << 4) |
pdpStatus.bits.chan14_l4;
break;
case 14:
raw = (static_cast<uint32_t>(pdpStatus.bits.chan15_h4) << 6) |
pdpStatus.bits.chan15_l6;
break;
case 15:
raw = (static_cast<uint32_t>(pdpStatus.bits.chan16_h2) << 8) |
pdpStatus.bits.chan16_l8;
break;
}
}
/* convert to amps */
return raw * 0.125; /* 7.3 fixed pt value in Amps */
}
double HAL_GetPDPTotalCurrent(int32_t module, int32_t* status) {
if (!checkPDPInit(module, status)) return 0;
double HAL_GetPDPTotalCurrent(HAL_PDPHandle handle, int32_t* status) {
PdpStatusEnergy pdpStatus;
int32_t length = 0;
uint64_t receivedTimestamp = 0;
double current;
HAL_ReadCANPeriodicPacket(handle, StatusEnergy, pdpStatus.data, &length,
&receivedTimestamp, TimeoutMs, StatusPeriodMs,
status);
*status = pdp[module]->GetTotalCurrent(current);
return current;
uint32_t raw;
raw = pdpStatus.bits.TotalCurrent_125mAperunit_h8;
raw <<= 4;
raw |= pdpStatus.bits.TotalCurrent_125mAperunit_l4;
return 0.125 * raw; /* 7.3 fixed pt value in Amps */
}
double HAL_GetPDPTotalPower(int32_t module, int32_t* status) {
if (!checkPDPInit(module, status)) return 0;
double HAL_GetPDPTotalPower(HAL_PDPHandle handle, int32_t* status) {
PdpStatusEnergy pdpStatus;
int32_t length = 0;
uint64_t receivedTimestamp = 0;
double power;
HAL_ReadCANPeriodicPacket(handle, StatusEnergy, pdpStatus.data, &length,
&receivedTimestamp, TimeoutMs, StatusPeriodMs,
status);
*status = pdp[module]->GetTotalPower(power);
return power;
uint32_t raw;
raw = pdpStatus.bits.Power_125mWperunit_h4;
raw <<= 8;
raw |= pdpStatus.bits.Power_125mWperunit_m8;
raw <<= 4;
raw |= pdpStatus.bits.Power_125mWperunit_l4;
return 0.125 * raw; /* 7.3 fixed pt value in Watts */
}
double HAL_GetPDPTotalEnergy(int32_t module, int32_t* status) {
if (!checkPDPInit(module, status)) return 0;
double HAL_GetPDPTotalEnergy(HAL_PDPHandle handle, int32_t* status) {
PdpStatusEnergy pdpStatus;
int32_t length = 0;
uint64_t receivedTimestamp = 0;
double energy;
HAL_ReadCANPeriodicPacket(handle, StatusEnergy, pdpStatus.data, &length,
&receivedTimestamp, TimeoutMs, StatusPeriodMs,
status);
*status = pdp[module]->GetTotalEnergy(energy);
uint32_t raw;
raw = pdpStatus.bits.Energy_125mWPerUnitXTmeas_h4;
raw <<= 8;
raw |= pdpStatus.bits.Energy_125mWPerUnitXTmeas_mh8;
raw <<= 8;
raw |= pdpStatus.bits.Energy_125mWPerUnitXTmeas_ml8;
raw <<= 8;
raw |= pdpStatus.bits.Energy_125mWPerUnitXTmeas_l8;
return energy;
double energyJoules = 0.125 * raw; /* mW integrated every TmeasMs */
energyJoules *= 0.001; /* convert from mW to W */
energyJoules *=
pdpStatus.bits
.TmeasMs_likelywillbe20ms_; /* multiplied by TmeasMs = joules */
return 0.125 * raw;
}
void HAL_ResetPDPTotalEnergy(int32_t module, int32_t* status) {
if (!checkPDPInit(module, status)) return;
*status = pdp[module]->ResetEnergy();
void HAL_ResetPDPTotalEnergy(HAL_PDPHandle handle, int32_t* status) {
uint8_t pdpControl[] = {0x40}; /* only bit set is ResetEnergy */
HAL_WriteCANPacket(handle, pdpControl, 1, Control1, status);
}
void HAL_ClearPDPStickyFaults(int32_t module, int32_t* status) {
if (!checkPDPInit(module, status)) return;
*status = pdp[module]->ClearStickyFaults();
void HAL_ClearPDPStickyFaults(HAL_PDPHandle handle, int32_t* status) {
uint8_t pdpControl[] = {0x80}; /* only bit set is ClearStickyFaults */
HAL_WriteCANPacket(handle, pdpControl, 1, Control1, status);
}
} // extern "C"

230
hal/src/main/native/athena/ctre/PDP.cpp
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@@ -1,230 +0,0 @@
#include "PDP.h"
#include "FRC_NetworkCommunication/CANSessionMux.h" //CAN Comm
#include <string.h> // memset
#define STATUS_1 0x8041400
#define STATUS_2 0x8041440
#define STATUS_3 0x8041480
#define STATUS_ENERGY 0x8041740
#define CONTROL_1 0x08041C00 /* PDP_Control_ClearStats */
#define EXPECTED_RESPONSE_TIMEOUT_MS (50)
#define GET_STATUS1() CtreCanNode::recMsg<PdpStatus1_t> rx = GetRx<PdpStatus1_t>(STATUS_1|GetDeviceNumber(),EXPECTED_RESPONSE_TIMEOUT_MS)
#define GET_STATUS2() CtreCanNode::recMsg<PdpStatus2_t> rx = GetRx<PdpStatus2_t>(STATUS_2|GetDeviceNumber(),EXPECTED_RESPONSE_TIMEOUT_MS)
#define GET_STATUS3() CtreCanNode::recMsg<PdpStatus3_t> rx = GetRx<PdpStatus3_t>(STATUS_3|GetDeviceNumber(),EXPECTED_RESPONSE_TIMEOUT_MS)
#define GET_STATUS_ENERGY() CtreCanNode::recMsg<PDP_Status_Energy_t> rx = GetRx<PDP_Status_Energy_t>(STATUS_ENERGY|GetDeviceNumber(),EXPECTED_RESPONSE_TIMEOUT_MS)
/* encoder/decoders */
typedef struct _PdpStatus1_t{
unsigned chan1_h8:8;
unsigned chan2_h6:6;
unsigned chan1_l2:2;
unsigned chan3_h4:4;
unsigned chan2_l4:4;
unsigned chan4_h2:2;
unsigned chan3_l6:6;
unsigned chan4_l8:8;
unsigned chan5_h8:8;
unsigned chan6_h6:6;
unsigned chan5_l2:2;
unsigned reserved4:4;
unsigned chan6_l4:4;
}PdpStatus1_t;
typedef struct _PdpStatus2_t{
unsigned chan7_h8:8;
unsigned chan8_h6:6;
unsigned chan7_l2:2;
unsigned chan9_h4:4;
unsigned chan8_l4:4;
unsigned chan10_h2:2;
unsigned chan9_l6:6;
unsigned chan10_l8:8;
unsigned chan11_h8:8;
unsigned chan12_h6:6;
unsigned chan11_l2:2;
unsigned reserved4:4;
unsigned chan12_l4:4;
}PdpStatus2_t;
typedef struct _PdpStatus3_t{
unsigned chan13_h8:8;
unsigned chan14_h6:6;
unsigned chan13_l2:2;
unsigned chan15_h4:4;
unsigned chan14_l4:4;
unsigned chan16_h2:2;
unsigned chan15_l6:6;
unsigned chan16_l8:8;
unsigned internalResBattery_mOhms:8;
unsigned busVoltage:8;
unsigned temp:8;
}PdpStatus3_t;
typedef struct _PDP_Status_Energy_t {
unsigned TmeasMs_likelywillbe20ms_:8;
unsigned TotalCurrent_125mAperunit_h8:8;
unsigned Power_125mWperunit_h4:4;
unsigned TotalCurrent_125mAperunit_l4:4;
unsigned Power_125mWperunit_m8:8;
unsigned Energy_125mWPerUnitXTmeas_h4:4;
unsigned Power_125mWperunit_l4:4;
unsigned Energy_125mWPerUnitXTmeas_mh8:8;
unsigned Energy_125mWPerUnitXTmeas_ml8:8;
unsigned Energy_125mWPerUnitXTmeas_l8:8;
} PDP_Status_Energy_t ;
PDP::PDP(UINT8 deviceNumber): CtreCanNode(deviceNumber)
{
RegisterRx(STATUS_1 | deviceNumber );
RegisterRx(STATUS_2 | deviceNumber );
RegisterRx(STATUS_3 | deviceNumber );
}
/* PDP D'tor
*/
PDP::~PDP()
{
}
CTR_Code PDP::GetChannelCurrent(UINT8 idx, double &current)
{
CTR_Code retval = CTR_InvalidParamValue;
uint32_t raw = 0;
if(idx <= 5){
GET_STATUS1();
retval = rx.err;
switch(idx){
case 0: raw = ((uint32_t)rx->chan1_h8 << 2) | rx->chan1_l2; break;
case 1: raw = ((uint32_t)rx->chan2_h6 << 4) | rx->chan2_l4; break;
case 2: raw = ((uint32_t)rx->chan3_h4 << 6) | rx->chan3_l6; break;
case 3: raw = ((uint32_t)rx->chan4_h2 << 8) | rx->chan4_l8; break;
case 4: raw = ((uint32_t)rx->chan5_h8 << 2) | rx->chan5_l2; break;
case 5: raw = ((uint32_t)rx->chan6_h6 << 4) | rx->chan6_l4; break;
default: retval = CTR_InvalidParamValue; break;
}
}else if(idx <= 11){
GET_STATUS2();
retval = rx.err;
switch(idx){
case 6: raw = ((uint32_t)rx->chan7_h8 << 2) | rx->chan7_l2; break;
case 7: raw = ((uint32_t)rx->chan8_h6 << 4) | rx->chan8_l4; break;
case 8: raw = ((uint32_t)rx->chan9_h4 << 6) | rx->chan9_l6; break;
case 9: raw = ((uint32_t)rx->chan10_h2 << 8) | rx->chan10_l8; break;
case 10: raw = ((uint32_t)rx->chan11_h8 << 2) | rx->chan11_l2; break;
case 11: raw = ((uint32_t)rx->chan12_h6 << 4) | rx->chan12_l4; break;
default: retval = CTR_InvalidParamValue; break;
}
}else if(idx <= 15){
GET_STATUS3();
retval = rx.err;
switch(idx){
case 12: raw = ((uint32_t)rx->chan13_h8 << 2) | rx->chan13_l2; break;
case 13: raw = ((uint32_t)rx->chan14_h6 << 4) | rx->chan14_l4; break;
case 14: raw = ((uint32_t)rx->chan15_h4 << 6) | rx->chan15_l6; break;
case 15: raw = ((uint32_t)rx->chan16_h2 << 8) | rx->chan16_l8; break;
default: retval = CTR_InvalidParamValue; break;
}
}
/* convert to amps */
current = (double)raw * 0.125; /* 7.3 fixed pt value in Amps */
/* signal caller with success */
return retval;
}
CTR_Code PDP::GetVoltage(double &voltage)
{
GET_STATUS3();
uint32_t raw = rx->busVoltage;
voltage = (double)raw * 0.05 + 4.0; /* 50mV per unit plus 4V. */;
return rx.err;
}
CTR_Code PDP::GetTemperature(double &tempC)
{
GET_STATUS3();
uint32_t raw = rx->temp;
tempC = (double)raw * 1.03250836957542 - 67.8564500484966;
return rx.err;
}
CTR_Code PDP::GetTotalCurrent(double &currentAmps)
{
GET_STATUS_ENERGY();
uint32_t raw;
raw = rx->TotalCurrent_125mAperunit_h8;
raw <<= 4;
raw |= rx->TotalCurrent_125mAperunit_l4;
currentAmps = 0.125 * raw;
return rx.err;
}
CTR_Code PDP::GetTotalPower(double &powerWatts)
{
GET_STATUS_ENERGY();
uint32_t raw;
raw = rx->Power_125mWperunit_h4;
raw <<= 8;
raw |= rx->Power_125mWperunit_m8;
raw <<= 4;
raw |= rx->Power_125mWperunit_l4;
powerWatts = 0.125 * raw;
return rx.err;
}
CTR_Code PDP::GetTotalEnergy(double &energyJoules)
{
GET_STATUS_ENERGY();
uint32_t raw;
raw = rx->Energy_125mWPerUnitXTmeas_h4;
raw <<= 8;
raw |= rx->Energy_125mWPerUnitXTmeas_mh8;
raw <<= 8;
raw |= rx->Energy_125mWPerUnitXTmeas_ml8;
raw <<= 8;
raw |= rx->Energy_125mWPerUnitXTmeas_l8;
energyJoules = 0.125 * raw; /* mW integrated every TmeasMs */
energyJoules *= 0.001; /* convert from mW to W */
energyJoules *= rx->TmeasMs_likelywillbe20ms_; /* multiplied by TmeasMs = joules */
return rx.err;
}
/* Clear sticky faults.
* @Return - CTR_Code - Error code (if any)
*/
CTR_Code PDP::ClearStickyFaults()
{
int32_t status = 0;
uint8_t pdpControl[] = { 0x80 }; /* only bit set is ClearStickyFaults */
FRC_NetworkCommunication_CANSessionMux_sendMessage(CONTROL_1 | GetDeviceNumber(), pdpControl, sizeof(pdpControl), 0, &status);
if(status)
return CTR_TxFailed;
return CTR_OKAY;
}
/* Reset Energy Signals
* @Return - CTR_Code - Error code (if any)
*/
CTR_Code PDP::ResetEnergy()
{
int32_t status = 0;
uint8_t pdpControl[] = { 0x40 }; /* only bit set is ResetEnergy */
FRC_NetworkCommunication_CANSessionMux_sendMessage(CONTROL_1 | GetDeviceNumber(), pdpControl, sizeof(pdpControl), 0, &status);
if(status)
return CTR_TxFailed;
return CTR_OKAY;
}
//------------------ C interface --------------------------------------------//
extern "C" {
void * c_PDP_Init(void)
{
return new PDP();
}
CTR_Code c_GetChannelCurrent(void * handle,UINT8 idx, double *status)
{
return ((PDP*)handle)-> GetChannelCurrent(idx,*status);
}
CTR_Code c_GetVoltage(void * handle,double *status)
{
return ((PDP*)handle)-> GetVoltage(*status);
}
CTR_Code c_GetTemperature(void * handle,double *status)
{
return ((PDP*)handle)-> GetTemperature(*status);
}
void c_SetDeviceNumber_PDP(void * handle,UINT8 deviceNumber)
{
}
}

62
hal/src/main/native/athena/ctre/PDP.h
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@@ -1,62 +0,0 @@
#ifndef PDP_H_
#define PDP_H_
#include "ctre.h" //BIT Defines + Typedefs
#include "CtreCanNode.h"
class PDP : public CtreCanNode
{
public:
/* Get PDP Channel Current
*
* @Param - deviceNumber - Device ID for PDP. Factory default is 60. Function defaults to 60.
*/
PDP(UINT8 deviceNumber=0);
~PDP();
/* Get PDP Channel Current
*
* @Return - CTR_Code - Error code (if any)
*
* @Param - idx - ID of channel to return current for (channels 1-16)
*
* @Param - status - Current of channel 'idx' in Amps (A)
*/
CTR_Code GetChannelCurrent(UINT8 idx, double &status);
/* Get Bus Voltage of PDP
*
* @Return - CTR_Code - Error code (if any)
*
* @Param - status - Voltage (V) across PDP
*/
CTR_Code GetVoltage(double &status);
/* Get Temperature of PDP
*
* @Return - CTR_Code - Error code (if any)
*
* @Param - status - Temperature of PDP in Centigrade / Celcius (C)
*/
CTR_Code GetTemperature(double &status);
CTR_Code GetTotalCurrent(double &currentAmps);
CTR_Code GetTotalPower(double &powerWatts);
CTR_Code GetTotalEnergy(double &energyJoules);
/* Clear sticky faults.
* @Return - CTR_Code - Error code (if any)
*/
CTR_Code ClearStickyFaults();
/* Reset Energy Signals
* @Return - CTR_Code - Error code (if any)
*/
CTR_Code ResetEnergy();
private:
uint64_t ReadCurrents(uint8_t api);
};
extern "C" {
void * c_PDP_Init();
CTR_Code c_GetChannelCurrent(void * handle,UINT8 idx, double *status);
CTR_Code c_GetVoltage(void * handle,double *status);
CTR_Code c_GetTemperature(void * handle,double *status);
void c_SetDeviceNumber_PDP(void * handle,UINT8 deviceNumber);
}
#endif /* PDP_H_ */

39
hal/src/main/native/cpp/jni/PDPJNI.cpp
View File

@@ -17,15 +17,16 @@ extern "C" {
/*
* Class: edu_wpi_first_wpilibj_hal_PDPJNI
* Method: initializePDP
* Signature: (I)V
* Signature: (I)I
*/
JNIEXPORT void JNICALL
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_PDPJNI_initializePDP
(JNIEnv* env, jclass, jint module)
{
int32_t status = 0;
HAL_InitializePDP(module, &status);
auto handle = HAL_InitializePDP(module, &status);
CheckStatusRange(env, status, 0, HAL_GetNumPDPModules(), module);
return static_cast<jint>(handle);
}
/*
@@ -59,10 +60,10 @@ Java_edu_wpi_first_wpilibj_hal_PDPJNI_checkPDPModule
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPTemperature
(JNIEnv* env, jclass, jint module)
(JNIEnv* env, jclass, jint handle)
{
int32_t status = 0;
double temperature = HAL_GetPDPTemperature(module, &status);
double temperature = HAL_GetPDPTemperature(handle, &status);
CheckStatus(env, status, false);
return temperature;
}
@@ -74,10 +75,10 @@ Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPTemperature
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPVoltage
(JNIEnv* env, jclass, jint module)
(JNIEnv* env, jclass, jint handle)
{
int32_t status = 0;
double voltage = HAL_GetPDPVoltage(module, &status);
double voltage = HAL_GetPDPVoltage(handle, &status);
CheckStatus(env, status, false);
return voltage;
}
@@ -89,10 +90,10 @@ Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPVoltage
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPChannelCurrent
(JNIEnv* env, jclass, jbyte channel, jint module)
(JNIEnv* env, jclass, jbyte channel, jint handle)
{
int32_t status = 0;
double current = HAL_GetPDPChannelCurrent(module, channel, &status);
double current = HAL_GetPDPChannelCurrent(handle, channel, &status);
CheckStatus(env, status, false);
return current;
}
@@ -104,10 +105,10 @@ Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPChannelCurrent
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPTotalCurrent
(JNIEnv* env, jclass, jint module)
(JNIEnv* env, jclass, jint handle)
{
int32_t status = 0;
double current = HAL_GetPDPTotalCurrent(module, &status);
double current = HAL_GetPDPTotalCurrent(handle, &status);
CheckStatus(env, status, false);
return current;
}
@@ -119,10 +120,10 @@ Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPTotalCurrent
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPTotalPower
(JNIEnv* env, jclass, jint module)
(JNIEnv* env, jclass, jint handle)
{
int32_t status = 0;
double power = HAL_GetPDPTotalPower(module, &status);
double power = HAL_GetPDPTotalPower(handle, &status);
CheckStatus(env, status, false);
return power;
}
@@ -134,10 +135,10 @@ Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPTotalPower
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPTotalEnergy
(JNIEnv* env, jclass, jint module)
(JNIEnv* env, jclass, jint handle)
{
int32_t status = 0;
double energy = HAL_GetPDPTotalEnergy(module, &status);
double energy = HAL_GetPDPTotalEnergy(handle, &status);
CheckStatus(env, status, false);
return energy;
}
@@ -149,10 +150,10 @@ Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPTotalEnergy
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_PDPJNI_resetPDPTotalEnergy
(JNIEnv* env, jclass, jint module)
(JNIEnv* env, jclass, jint handle)
{
int32_t status = 0;
HAL_ResetPDPTotalEnergy(module, &status);
HAL_ResetPDPTotalEnergy(handle, &status);
CheckStatus(env, status, false);
}
@@ -163,10 +164,10 @@ Java_edu_wpi_first_wpilibj_hal_PDPJNI_resetPDPTotalEnergy
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_PDPJNI_clearPDPStickyFaults
(JNIEnv* env, jclass, jint module)
(JNIEnv* env, jclass, jint handle)
{
int32_t status = 0;
HAL_ClearPDPStickyFaults(module, &status);
HAL_ClearPDPStickyFaults(handle, &status);
CheckStatus(env, status, false);
}

19
hal/src/main/native/include/HAL/PDP.h
View File

@@ -15,18 +15,19 @@
extern "C" {
#endif
void HAL_InitializePDP(int32_t module, int32_t* status);
HAL_PDPHandle HAL_InitializePDP(int32_t module, int32_t* status);
void HAL_CleanPDP(HAL_PDPHandle handle);
HAL_Bool HAL_CheckPDPChannel(int32_t channel);
HAL_Bool HAL_CheckPDPModule(int32_t module);
double HAL_GetPDPTemperature(int32_t module, int32_t* status);
double HAL_GetPDPVoltage(int32_t module, int32_t* status);
double HAL_GetPDPChannelCurrent(int32_t module, int32_t channel,
double HAL_GetPDPTemperature(HAL_PDPHandle handle, int32_t* status);
double HAL_GetPDPVoltage(HAL_PDPHandle handle, int32_t* status);
double HAL_GetPDPChannelCurrent(HAL_PDPHandle handle, int32_t channel,
int32_t* status);
double HAL_GetPDPTotalCurrent(int32_t module, int32_t* status);
double HAL_GetPDPTotalPower(int32_t module, int32_t* status);
double HAL_GetPDPTotalEnergy(int32_t module, int32_t* status);
void HAL_ResetPDPTotalEnergy(int32_t module, int32_t* status);
void HAL_ClearPDPStickyFaults(int32_t module, int32_t* status);
double HAL_GetPDPTotalCurrent(HAL_PDPHandle handle, int32_t* status);
double HAL_GetPDPTotalPower(HAL_PDPHandle handle, int32_t* status);
double HAL_GetPDPTotalEnergy(HAL_PDPHandle handle, int32_t* status);
void HAL_ResetPDPTotalEnergy(HAL_PDPHandle handle, int32_t* status);
void HAL_ClearPDPStickyFaults(HAL_PDPHandle handle, int32_t* status);
#ifdef __cplusplus
} // extern "C"
#endif

2
hal/src/main/native/include/HAL/Types.h
View File

@@ -45,4 +45,6 @@ typedef HAL_Handle HAL_SolenoidHandle;
typedef HAL_Handle HAL_CANHandle;
typedef HAL_CANHandle HAL_PDPHandle;
typedef int32_t HAL_Bool;

11
hal/src/main/native/sim/CANAPI.cpp
View File

@@ -12,6 +12,7 @@
#include <wpi/DenseMap.h>
#include "CANAPIInternal.h"
#include "HAL/CAN.h"
#include "HAL/Errors.h"
#include "HAL/HAL.h"
@@ -57,6 +58,16 @@ void InitializeCANAPI() {
canHandles = &cH;
}
} // namespace init
namespace can {
int32_t GetCANModuleFromHandle(HAL_CANHandle handle, int32_t* status) {
auto can = canHandles->Get(handle);
if (!can) {
*status = HAL_HANDLE_ERROR;
return -1;
}
return can->deviceId;
}
} // namespace can
} // namespace hal
static int32_t CreateCANId(CANStorage* storage, int32_t apiId) {

16
hal/src/main/native/sim/CANAPIInternal.h Normal file
View File

@@ -0,0 +1,16 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "HAL/Types.h"
namespace hal {
namespace can {
int32_t GetCANModuleFromHandle(HAL_CANHandle handle, int32_t* status);
} // namespace can
} // namespace hal

61
hal/src/main/native/sim/PDP.cpp
View File

@@ -7,12 +7,21 @@
#include "HAL/PDP.h"
#include "CANAPIInternal.h"
#include "HAL/CANAPI.h"
#include "HAL/handles/IndexedHandleResource.h"
#include "HALInitializer.h"
#include "MockData/PDPDataInternal.h"
#include "PortsInternal.h"
using namespace hal;
static constexpr HAL_CANManufacturer manufacturer =
HAL_CANManufacturer::HAL_CAN_Man_kCTRE;
static constexpr HAL_CANDeviceType deviceType =
HAL_CANDeviceType::HAL_CAN_Dev_kPowerDistribution;
namespace hal {
namespace init {
void InitializePDP() {}
@@ -20,10 +29,23 @@ void InitializePDP() {}
} // namespace hal
extern "C" {
void HAL_InitializePDP(int32_t module, int32_t* status) {
HAL_PDPHandle HAL_InitializePDP(int32_t module, int32_t* status) {
if (!HAL_CheckPDPModule(module)) {
*status = PARAMETER_OUT_OF_RANGE;
return HAL_kInvalidHandle;
}
hal::init::CheckInit();
SimPDPData[module].SetInitialized(true);
auto handle = HAL_InitializeCAN(manufacturer, module, deviceType, status);
if (*status != 0) {
HAL_CleanCAN(handle);
return HAL_kInvalidHandle;
}
return handle;
}
HAL_Bool HAL_CheckPDPModule(int32_t module) {
return module < kNumPDPModules && module >= 0;
}
@@ -31,19 +53,40 @@ HAL_Bool HAL_CheckPDPModule(int32_t module) {
HAL_Bool HAL_CheckPDPChannel(int32_t channel) {
return channel < kNumPDPChannels && channel >= 0;
}
double HAL_GetPDPTemperature(int32_t module, int32_t* status) {
void HAL_CleanPDP(HAL_PDPHandle handle) { HAL_CleanCAN(handle); }
double HAL_GetPDPTemperature(HAL_PDPHandle handle, int32_t* status) {
auto module = hal::can::GetCANModuleFromHandle(handle, status);
if (*status != 0) {
return 0.0;
}
return SimPDPData[module].GetTemperature();
}
double HAL_GetPDPVoltage(int32_t module, int32_t* status) {
double HAL_GetPDPVoltage(HAL_PDPHandle handle, int32_t* status) {
auto module = hal::can::GetCANModuleFromHandle(handle, status);
if (*status != 0) {
return 0.0;
}
return SimPDPData[module].GetVoltage();
}
double HAL_GetPDPChannelCurrent(int32_t module, int32_t channel,
double HAL_GetPDPChannelCurrent(HAL_PDPHandle handle, int32_t channel,
int32_t* status) {
auto module = hal::can::GetCANModuleFromHandle(handle, status);
if (*status != 0) {
return 0.0;
}
return SimPDPData[module].GetCurrent(channel);
}
double HAL_GetPDPTotalCurrent(int32_t module, int32_t* status) { return 0.0; }
double HAL_GetPDPTotalPower(int32_t module, int32_t* status) { return 0.0; }
double HAL_GetPDPTotalEnergy(int32_t module, int32_t* status) { return 0.0; }
void HAL_ResetPDPTotalEnergy(int32_t module, int32_t* status) {}
void HAL_ClearPDPStickyFaults(int32_t module, int32_t* status) {}
double HAL_GetPDPTotalCurrent(HAL_PDPHandle handle, int32_t* status) {
return 0.0;
}
double HAL_GetPDPTotalPower(HAL_PDPHandle handle, int32_t* status) {
return 0.0;
}
double HAL_GetPDPTotalEnergy(HAL_PDPHandle handle, int32_t* status) {
return 0.0;
}
void HAL_ResetPDPTotalEnergy(HAL_PDPHandle handle, int32_t* status) {}
void HAL_ClearPDPStickyFaults(HAL_PDPHandle handle, int32_t* status) {}
} // extern "C"

24
wpilibc/src/main/native/cpp/PowerDistributionPanel.cpp
View File

@@ -21,13 +21,15 @@ using namespace frc;
PowerDistributionPanel::PowerDistributionPanel() : PowerDistributionPanel(0) {}
PowerDistributionPanel::PowerDistributionPanel(int module) : m_module(module) {
/**
* Initialize the PDP.
*/
PowerDistributionPanel::PowerDistributionPanel(int module) {
int32_t status = 0;
HAL_InitializePDP(m_module, &status);
m_handle = HAL_InitializePDP(module, &status);
if (status != 0) {
wpi_setErrorWithContextRange(status, 0, HAL_GetNumPDPModules(), module,
HAL_GetErrorMessage(status));
m_module = -1;
return;
}
SetName("PowerDistributionPanel", module);
@@ -36,7 +38,7 @@ PowerDistributionPanel::PowerDistributionPanel(int module) : m_module(module) {
double PowerDistributionPanel::GetVoltage() const {
int32_t status = 0;
double voltage = HAL_GetPDPVoltage(m_module, &status);
double voltage = HAL_GetPDPVoltage(m_handle, &status);
if (status) {
wpi_setWPIErrorWithContext(Timeout, "");
@@ -48,7 +50,7 @@ double PowerDistributionPanel::GetVoltage() const {
double PowerDistributionPanel::GetTemperature() const {
int32_t status = 0;
double temperature = HAL_GetPDPTemperature(m_module, &status);
double temperature = HAL_GetPDPTemperature(m_handle, &status);
if (status) {
wpi_setWPIErrorWithContext(Timeout, "");
@@ -67,7 +69,7 @@ double PowerDistributionPanel::GetCurrent(int channel) const {
wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
}
double current = HAL_GetPDPChannelCurrent(m_module, channel, &status);
double current = HAL_GetPDPChannelCurrent(m_handle, channel, &status);
if (status) {
wpi_setWPIErrorWithContext(Timeout, "");
@@ -79,7 +81,7 @@ double PowerDistributionPanel::GetCurrent(int channel) const {
double PowerDistributionPanel::GetTotalCurrent() const {
int32_t status = 0;
double current = HAL_GetPDPTotalCurrent(m_module, &status);
double current = HAL_GetPDPTotalCurrent(m_handle, &status);
if (status) {
wpi_setWPIErrorWithContext(Timeout, "");
@@ -91,7 +93,7 @@ double PowerDistributionPanel::GetTotalCurrent() const {
double PowerDistributionPanel::GetTotalPower() const {
int32_t status = 0;
double power = HAL_GetPDPTotalPower(m_module, &status);
double power = HAL_GetPDPTotalPower(m_handle, &status);
if (status) {
wpi_setWPIErrorWithContext(Timeout, "");
@@ -103,7 +105,7 @@ double PowerDistributionPanel::GetTotalPower() const {
double PowerDistributionPanel::GetTotalEnergy() const {
int32_t status = 0;
double energy = HAL_GetPDPTotalEnergy(m_module, &status);
double energy = HAL_GetPDPTotalEnergy(m_handle, &status);
if (status) {
wpi_setWPIErrorWithContext(Timeout, "");
@@ -115,7 +117,7 @@ double PowerDistributionPanel::GetTotalEnergy() const {
void PowerDistributionPanel::ResetTotalEnergy() {
int32_t status = 0;
HAL_ResetPDPTotalEnergy(m_module, &status);
HAL_ResetPDPTotalEnergy(m_handle, &status);
if (status) {
wpi_setWPIErrorWithContext(Timeout, "");
@@ -125,7 +127,7 @@ void PowerDistributionPanel::ResetTotalEnergy() {
void PowerDistributionPanel::ClearStickyFaults() {
int32_t status = 0;
HAL_ClearPDPStickyFaults(m_module, &status);
HAL_ClearPDPStickyFaults(m_handle, &status);
if (status) {
wpi_setWPIErrorWithContext(Timeout, "");

2
wpilibc/src/main/native/include/PowerDistributionPanel.h
View File

@@ -78,7 +78,7 @@ class PowerDistributionPanel : public ErrorBase, public SendableBase {
void InitSendable(SendableBuilder& builder) override;
private:
int m_module;
int m_handle;
};
} // namespace frc

23
wpilibj/src/main/java/edu/wpi/first/wpilibj/PowerDistributionPanel.java
View File

@@ -14,8 +14,8 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
* Class for getting voltage, current, temperature, power and energy from the Power Distribution
* Panel over CAN.
*/
public class PowerDistributionPanel extends SendableBase {
private final int m_module;
public class PowerDistributionPanel extends SendableBase {
private final int m_handle;
/**
* Constructor.
@@ -23,9 +23,8 @@ public class PowerDistributionPanel extends SendableBase {
* @param module The CAN ID of the PDP
*/
public PowerDistributionPanel(int module) {
m_module = module;
SensorUtil.checkPDPModule(module);
PDPJNI.initializePDP(module);
m_handle = PDPJNI.initializePDP(module);
setName("PowerDistributionPanel", module);
}
@@ -42,7 +41,7 @@ public class PowerDistributionPanel extends SendableBase {
* @return The voltage of the PDP in volts
*/
public double getVoltage() {
return PDPJNI.getPDPVoltage(m_module);
return PDPJNI.getPDPVoltage(m_handle);
}
/**
@@ -51,7 +50,7 @@ public class PowerDistributionPanel extends SendableBase {
* @return The temperature of the PDP in degrees Celsius
*/
public double getTemperature() {
return PDPJNI.getPDPTemperature(m_module);
return PDPJNI.getPDPTemperature(m_handle);
}
/**
@@ -60,7 +59,7 @@ public class PowerDistributionPanel extends SendableBase {
* @return The current of one of the PDP channels (channels 0-15) in Amperes
*/
public double getCurrent(int channel) {
double current = PDPJNI.getPDPChannelCurrent((byte) channel, m_module);
double current = PDPJNI.getPDPChannelCurrent((byte) channel, m_handle);
SensorUtil.checkPDPChannel(channel);
@@ -73,7 +72,7 @@ public class PowerDistributionPanel extends SendableBase {
* @return The current of all the channels in Amperes
*/
public double getTotalCurrent() {
return PDPJNI.getPDPTotalCurrent(m_module);
return PDPJNI.getPDPTotalCurrent(m_handle);
}
/**
@@ -82,7 +81,7 @@ public class PowerDistributionPanel extends SendableBase {
* @return the total power in Watts
*/
public double getTotalPower() {
return PDPJNI.getPDPTotalPower(m_module);
return PDPJNI.getPDPTotalPower(m_handle);
}
/**
@@ -91,21 +90,21 @@ public class PowerDistributionPanel extends SendableBase {
* @return the total energy in Joules
*/
public double getTotalEnergy() {
return PDPJNI.getPDPTotalEnergy(m_module);
return PDPJNI.getPDPTotalEnergy(m_handle);
}
/**
* Reset the total energy to 0.
*/
public void resetTotalEnergy() {
PDPJNI.resetPDPTotalEnergy(m_module);
PDPJNI.resetPDPTotalEnergy(m_handle);
}
/**
* Clear all PDP sticky faults.
*/
public void clearStickyFaults() {
PDPJNI.clearPDPStickyFaults(m_module);
PDPJNI.clearPDPStickyFaults(m_handle);
}
@Override