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[hal] Add remaining driver functions for REVPH (#3776)

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Add the remaining HAL functions needed to fully support the Pneumatic Hub and its latest firmware.

- Clear sticky faults
- Get device voltage
- Get 5v supply voltage (used for analog to PSI calculation)
- Get solenoid voltage
- Get solenoid current
- Get device firmware and hardware version

Some minor refactoring was done for naming of some internal functions for consistency purposes.
This commit is contained in:
Jan-Felix Abellera
2021-12-09 14:29:09 -06:00
committed by GitHub
parent 41d26bee8d
commit 109363daa4
4 changed files with 644 additions and 37 deletions
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193
hal/src/main/native/athena/rev/PHFrames.cpp
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@@ -48,6 +48,14 @@ static inline uint8_t pack_left_shift_u16(
return (uint8_t)((uint8_t)(value << shift) & mask);
}
static inline uint8_t pack_left_shift_u32(
uint32_t value,
uint8_t shift,
uint8_t mask)
{
return (uint8_t)((uint8_t)(value << shift) & mask);
}
static inline uint8_t pack_right_shift_u16(
uint16_t value,
uint8_t shift,
@@ -56,6 +64,14 @@ static inline uint8_t pack_right_shift_u16(
return (uint8_t)((uint8_t)(value >> shift) & mask);
}
static inline uint8_t pack_right_shift_u32(
uint32_t value,
uint8_t shift,
uint8_t mask)
{
return (uint8_t)((uint8_t)(value >> shift) & mask);
}
static inline uint16_t unpack_left_shift_u16(
uint8_t value,
uint8_t shift,
@@ -64,6 +80,14 @@ static inline uint16_t unpack_left_shift_u16(
return (uint16_t)((uint16_t)(value & mask) << shift);
}
static inline uint32_t unpack_left_shift_u32(
uint8_t value,
uint8_t shift,
uint8_t mask)
{
return (uint32_t)((uint32_t)(value & mask) << shift);
}
static inline uint8_t unpack_right_shift_u8(
uint8_t value,
uint8_t shift,
@@ -80,6 +104,14 @@ static inline uint16_t unpack_right_shift_u16(
return (uint16_t)((uint16_t)(value & mask) >> shift);
}
static inline uint32_t unpack_right_shift_u32(
uint8_t value,
uint8_t shift,
uint8_t mask)
{
return (uint32_t)((uint32_t)(value & mask) >> shift);
}
int PH_compressor_config_pack(
uint8_t *dst_p,
const struct PH_compressor_config_t *src_p,
@@ -1623,6 +1655,7 @@ int PH_status_1_pack(
dst_p[6] |= pack_left_shift_u8(src_p->sticky_hardware_fault, 6u, 0x40u);
dst_p[6] |= pack_left_shift_u8(src_p->sticky_firmware_fault, 7u, 0x80u);
dst_p[7] |= pack_left_shift_u8(src_p->sticky_has_reset_fault, 0u, 0x01u);
dst_p[7] |= pack_left_shift_u8(src_p->supply_voltage_5_v, 1u, 0xfeu);
return (8);
}
@@ -1650,6 +1683,7 @@ int PH_status_1_unpack(
dst_p->sticky_hardware_fault = unpack_right_shift_u8(src_p[6], 6u, 0x40u);
dst_p->sticky_firmware_fault = unpack_right_shift_u8(src_p[6], 7u, 0x80u);
dst_p->sticky_has_reset_fault = unpack_right_shift_u8(src_p[7], 0u, 0x01u);
dst_p->supply_voltage_5_v = unpack_right_shift_u8(src_p[7], 1u, 0xfeu);
return (0);
}
@@ -1853,6 +1887,21 @@ bool PH_status_1_sticky_has_reset_fault_is_in_range(uint8_t value)
return (value <= 1u);
}
uint8_t PH_status_1_supply_voltage_5_v_encode(double value)
{
return (uint8_t)((value - 4.5) / 0.0078125);
}
double PH_status_1_supply_voltage_5_v_decode(uint8_t value)
{
return (((double)value * 0.0078125) + 4.5);
}
bool PH_status_1_supply_voltage_5_v_is_in_range(uint8_t value)
{
return (value <= 128u);
}
int PH_clear_faults_pack(
uint8_t *dst_p,
const struct PH_clear_faults_t *src_p,
@@ -1876,3 +1925,147 @@ int PH_clear_faults_unpack(
return (0);
}
int PH_version_pack(
uint8_t *dst_p,
const struct PH_version_t *src_p,
size_t size)
{
if (size < 8u) {
return (-EINVAL);
}
memset(&dst_p[0], 0, 8);
dst_p[0] |= pack_left_shift_u8(src_p->firmware_fix, 0u, 0xffu);
dst_p[1] |= pack_left_shift_u8(src_p->firmware_minor, 0u, 0xffu);
dst_p[2] |= pack_left_shift_u8(src_p->firmware_year, 0u, 0xffu);
dst_p[3] |= pack_left_shift_u8(src_p->hardware_minor, 0u, 0xffu);
dst_p[4] |= pack_left_shift_u8(src_p->hardware_major, 0u, 0xffu);
dst_p[5] |= pack_left_shift_u32(src_p->unique_id, 0u, 0xffu);
dst_p[6] |= pack_right_shift_u32(src_p->unique_id, 8u, 0xffu);
dst_p[7] |= pack_right_shift_u32(src_p->unique_id, 16u, 0xffu);
return (8);
}
int PH_version_unpack(
struct PH_version_t *dst_p,
const uint8_t *src_p,
size_t size)
{
if (size < 8u) {
return (-EINVAL);
}
dst_p->firmware_fix = unpack_right_shift_u8(src_p[0], 0u, 0xffu);
dst_p->firmware_minor = unpack_right_shift_u8(src_p[1], 0u, 0xffu);
dst_p->firmware_year = unpack_right_shift_u8(src_p[2], 0u, 0xffu);
dst_p->hardware_minor = unpack_right_shift_u8(src_p[3], 0u, 0xffu);
dst_p->hardware_major = unpack_right_shift_u8(src_p[4], 0u, 0xffu);
dst_p->unique_id = unpack_right_shift_u32(src_p[5], 0u, 0xffu);
dst_p->unique_id |= unpack_left_shift_u32(src_p[6], 8u, 0xffu);
dst_p->unique_id |= unpack_left_shift_u32(src_p[7], 16u, 0xffu);
return (0);
}
uint8_t PH_version_firmware_fix_encode(double value)
{
return (uint8_t)(value);
}
double PH_version_firmware_fix_decode(uint8_t value)
{
return ((double)value);
}
bool PH_version_firmware_fix_is_in_range(uint8_t value)
{
(void)value;
return (true);
}
uint8_t PH_version_firmware_minor_encode(double value)
{
return (uint8_t)(value);
}
double PH_version_firmware_minor_decode(uint8_t value)
{
return ((double)value);
}
bool PH_version_firmware_minor_is_in_range(uint8_t value)
{
(void)value;
return (true);
}
uint8_t PH_version_firmware_year_encode(double value)
{
return (uint8_t)(value);
}
double PH_version_firmware_year_decode(uint8_t value)
{
return ((double)value);
}
bool PH_version_firmware_year_is_in_range(uint8_t value)
{
(void)value;
return (true);
}
uint8_t PH_version_hardware_minor_encode(double value)
{
return (uint8_t)(value);
}
double PH_version_hardware_minor_decode(uint8_t value)
{
return ((double)value);
}
bool PH_version_hardware_minor_is_in_range(uint8_t value)
{
(void)value;
return (true);
}
uint8_t PH_version_hardware_major_encode(double value)
{
return (uint8_t)(value);
}
double PH_version_hardware_major_decode(uint8_t value)
{
return ((double)value);
}
bool PH_version_hardware_major_is_in_range(uint8_t value)
{
(void)value;
return (true);
}
uint32_t PH_version_unique_id_encode(double value)
{
return (uint32_t)(value);
}
double PH_version_unique_id_decode(uint32_t value)
{
return ((double)value);
}
bool PH_version_unique_id_is_in_range(uint32_t value)
{
return (value <= 16777215u);
}