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[hal] [wpilib] Add initial support for the REV PDH (#3503)
This commit is contained in:
Thad House
339
hal/src/main/native/athena/REVPDH.h
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339
hal/src/main/native/athena/REVPDH.h
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <stdint.h>
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#include "hal/Types.h"
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/**
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* @defgroup hal_rev_pdh REV Power Distribution Hub API Functions
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* @ingroup hal_capi
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* @{
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*/
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struct REV_PDH_Version {
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uint32_t firmwareMajor;
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uint32_t firmwareMinor;
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uint32_t firmwareFix;
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uint32_t hardwareRev;
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uint32_t uniqueId;
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};
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* Initializes a REV Power Distribution Hub (PDH) device.
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*
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* @param module the device CAN ID (1 .. 63)
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* @return the created PDH handle
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*/
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HAL_REVPDHHandle HAL_REV_InitializePDH(int32_t module,
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const char* allocationLocation,
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int32_t* status);
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/**
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* Frees a PDH device handle.
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*
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* @param handle the previously created PDH handle
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*/
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void HAL_REV_FreePDH(HAL_REVPDHHandle handle);
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/**
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* Gets the module number for a pdh.
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*/
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int32_t HAL_REV_GetPDHModuleNumber(HAL_REVPDHHandle handle, int32_t* status);
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/**
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* Checks if a PDH module number is valid.
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*
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* Does not check if a PDH device with this module has been initialized.
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*
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* @param module module number (1 .. 63)
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* @return 1 if the module number is valid; 0 otherwise
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*/
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HAL_Bool HAL_REV_CheckPDHModuleNumber(int32_t module);
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/**
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* Checks if a PDH channel number is valid.
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*
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* @param module channel number (0 .. HAL_REV_PDH_NUM_CHANNELS)
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* @return 1 if the channel number is valid; 0 otherwise
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*/
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HAL_Bool HAL_REV_CheckPDHChannelNumber(int32_t channel);
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/**
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* Gets the current of a PDH channel in Amps.
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*
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* @param handle PDH handle
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* @param channel the channel to retrieve the current of (0 ..
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* HAL_REV_PDH_NUM_CHANNELS)
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*
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* @return the current of the PDH channel in Amps
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*/
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double HAL_REV_GetPDHChannelCurrent(HAL_REVPDHHandle handle, int32_t channel,
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int32_t* status);
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/**
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* @param handle PDH handle
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* @param currents array of currents
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*/
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void HAL_REV_GetPDHAllChannelCurrents(HAL_REVPDHHandle handle, double* currents,
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int32_t* status);
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/**
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* Gets the total current of the PDH in Amps, measured to the nearest even
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* integer.
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*
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* @param handle PDH handle
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*
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* @return the total current of the PDH in Amps
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*/
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uint16_t HAL_REV_GetPDHTotalCurrent(HAL_REVPDHHandle handle, int32_t* status);
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/**
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* Sets the state of the switchable channel on a PDH device.
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*
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* @param handle PDH handle
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* @param enabled 1 if the switchable channel should be enabled; 0
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* otherwise
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*/
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void HAL_REV_SetPDHSwitchableChannel(HAL_REVPDHHandle handle, HAL_Bool enabled,
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int32_t* status);
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/**
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* Gets the current state of the switchable channel on a PDH device.
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*
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* This call relies on a periodic status sent by the PDH device and will be as
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* fresh as the last packet received.
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*
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* @param handle PDH handle
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* @return 1 if the switchable channel is enabled; 0 otherwise
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*/
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HAL_Bool HAL_REV_GetPDHSwitchableChannelState(HAL_REVPDHHandle handle,
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int32_t* status);
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/**
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* Checks if a PDH channel is currently experiencing a brownout condition.
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*
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* NOTE: Not implemented in firmware as of 2021-04-23.
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*
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* @param handle PDH handle
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* @param channel the channel to retrieve the brownout status of
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*
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* @return 1 if the channel is experiencing a brownout; 0 otherwise
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*/
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HAL_Bool HAL_REV_CheckPDHChannelBrownout(HAL_REVPDHHandle handle,
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int32_t channel, int32_t* status);
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/**
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* Gets the voltage being supplied to a PDH device.
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*
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* @param handle PDH handle
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*
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* @return the voltage at the input of the PDH in Volts
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*/
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double HAL_REV_GetPDHSupplyVoltage(HAL_REVPDHHandle handle, int32_t* status);
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/**
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* Checks if a PDH device is currently enabled.
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*
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* @param handle PDH handle
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*
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* @return 1 if the PDH is enabled; 0 otherwise
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*/
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HAL_Bool HAL_REV_IsPDHEnabled(HAL_REVPDHHandle handle, int32_t* status);
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/**
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* Checks if the input voltage on a PDH device is currently below the minimum
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* voltage.
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*
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* NOTE: Not implemented in firmware as of 2021-04-23.
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*
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* @param handle PDH handle
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*
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* @return 1 if the PDH is experiencing a brownout; 0 otherwise
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*/
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HAL_Bool HAL_REV_CheckPDHBrownout(HAL_REVPDHHandle handle, int32_t* status);
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/**
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* Checks if the system current on a PDH device is currently exceeding the max
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* system current.
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*
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* NOTE: Not implemented in firmware as of 2021-04-23.
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*
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* @param handle PDH handle
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*
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* @return 1 if the PDH is over max current; 0 otherwise
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*/
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HAL_Bool HAL_REV_CheckPDHOverCurrent(HAL_REVPDHHandle handle, int32_t* status);
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/**
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* Checks if the CAN RX or TX error levels on a PDH device have exceeded the
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* warning threshold.
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*
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* NOTE: Not implemented in firmware as of 2021-04-23.
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*
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* @param handle PDH handle
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*
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* @return 1 if the device has exceeded the warning threshold; 0
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* otherwise
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*/
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HAL_Bool HAL_REV_CheckPDHCANWarning(HAL_REVPDHHandle handle, int32_t* status);
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/**
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* Checks if a PDH device is currently malfunctioning.
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*
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* NOTE: Not implemented in firmware as of 2021-04-23.
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*
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* @param handle PDH handle
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*
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* @return 1 if the device is in a hardware fault state; 0
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* otherwise
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*/
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HAL_Bool HAL_REV_CheckPDHHardwareFault(HAL_REVPDHHandle handle,
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int32_t* status);
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/**
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* Checks if the input voltage on a PDH device has gone below the specified
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* minimum voltage.
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*
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* NOTE: Not implemented in firmware as of 2021-04-23.
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*
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* @param handle PDH handle
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*
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* @return 1 if the device has had a brownout; 0 otherwise
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*/
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HAL_Bool HAL_REV_CheckPDHStickyBrownout(HAL_REVPDHHandle handle,
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int32_t* status);
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/**
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* Checks if the system current on a PDH device has exceeded the maximum system
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* current.
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*
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* NOTE: Not implemented in firmware as of 2021-04-23.
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*
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* @param handle PDH handle
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*
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* @return 1 if the device has been over current; 0 otherwise
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*/
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HAL_Bool HAL_REV_CheckPDHStickyOverCurrent(HAL_REVPDHHandle handle,
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int32_t* status);
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/**
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* Checks if the CAN RX or TX error levels on a PDH device have exceeded the
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* warning threshold.
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*
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* NOTE: Not implemented in firmware as of 2021-04-23.
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*
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* @param handle PDH handle
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*
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* @return 1 if the device has exceeded the CAN warning threshold;
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* 0 otherwise
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*/
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HAL_Bool HAL_REV_CheckPDHStickyCANWarning(HAL_REVPDHHandle handle,
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int32_t* status);
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/**
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* Checks if the CAN bus on a PDH device has previously experienced a 'Bus Off'
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* event.
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*
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* NOTE: Not implemented in firmware as of 2021-04-23.
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*
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* @param handle PDH handle
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*
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* @return 1 if the device has experienced a 'Bus Off' event; 0
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* otherwise
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*/
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HAL_Bool HAL_REV_CheckPDHStickyCANBusOff(HAL_REVPDHHandle handle,
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int32_t* status);
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/**
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* Checks if a PDH device has malfunctioned.
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*
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* NOTE: Not implemented in firmware as of 2021-04-23.
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*
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* @param handle PDH handle
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*
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* @return 1 if the device has had a malfunction; 0 otherwise
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*/
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HAL_Bool HAL_REV_CheckPDHStickyHardwareFault(HAL_REVPDHHandle handle,
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int32_t* status);
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/**
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* Checks if the firmware on a PDH device has malfunctioned and reset during
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* operation.
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*
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* NOTE: Not implemented in firmware as of 2021-04-23.
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*
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* @param handle PDH handle
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*
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* @return 1 if the device has had a malfunction and reset; 0
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* otherwise
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*/
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HAL_Bool HAL_REV_CheckPDHStickyFirmwareFault(HAL_REVPDHHandle handle,
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int32_t* status);
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/**
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* Checks if a brownout has happened on channels 20-23 of a PDH device while it
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* was enabled.
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*
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* NOTE: Not implemented in firmware as of 2021-04-23.
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*
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* @param handle PDH handle
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* @param channel PDH channel to retrieve sticky brownout status (20 ..
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* 23)
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*
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*
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* @return 1 if the channel has had a brownout; 0 otherwise
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*/
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HAL_Bool HAL_REV_CheckPDHStickyChannelBrownout(HAL_REVPDHHandle handle,
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int32_t channel,
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int32_t* status);
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/**
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* Checks if a PDH device has reset.
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*
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* NOTE: Not implemented in firmware as of 2021-04-23.
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*
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* @param handle PDH handle
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*
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* @return 1 if the device has reset; 0 otherwise
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*/
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HAL_Bool HAL_REV_CheckPDHStickyHasReset(HAL_REVPDHHandle handle,
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int32_t* status);
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/**
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* Gets the firmware and hardware versions of a PDH device.
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*
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* @param handle PDH handle
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*
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* @return version information
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*/
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REV_PDH_Version HAL_REV_GetPDHVersion(HAL_REVPDHHandle handle, int32_t* status);
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/**
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* Clears the sticky faults on a PDH device.
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*
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* NOTE: Not implemented in firmware as of 2021-04-23.
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*
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* @param handle PDH handle
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*/
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void HAL_REV_ClearPDHFaults(HAL_REVPDHHandle handle, int32_t* status);
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/**
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* Identifies a PDH device by blinking its LED.
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*
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* NOTE: Not implemented in firmware as of 2021-04-23.
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*
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* @param handle PDH handle
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*/
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void HAL_REV_IdentifyPDH(HAL_REVPDHHandle handle, int32_t* status);
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#ifdef __cplusplus
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} // extern "C"
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#endif
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