[hal] Expose more FPGA functionality (#6942)

- function to reset user rail fault counters
- function to get comms disable count
- correct docs for user rail count functions

hal/src/main/java/edu/wpi/first/hal/HAL.java

@@ -195,6 +195,14 @@ public final class HAL extends JNIWrapper {
    */
   public static native boolean getRSLState();
 
+  /**
+   * Gets the number of times the system has been disabled due to communication errors with the
+   * Driver Station.
+   *
+   * @return number of disables due to communication errors.
+   */
+  public static native int getCommsDisableCount();
+
   /**
    * Gets if the system time is valid.
    *

hal/src/main/java/edu/wpi/first/hal/PowerJNI.java

@@ -143,6 +143,9 @@ public class PowerJNI extends JNIWrapper {
    */
   public static native int getUserCurrentFaults3V3();
 
+  /** Resets the overcurrent fault counters for all user rails to 0. */
+  public static native void resetUserCurrentFaults();
+
   /**
    * Set the voltage the roboRIO will brownout and disable all outputs.
    *

hal/src/main/native/athena/HAL.cpp

@@ -452,6 +452,15 @@ HAL_Bool HAL_GetBrownedOut(int32_t* status) {
   return !(watchdog->readStatus_PowerAlive(status));
 }
 
+int32_t HAL_GetCommsDisableCount(int32_t* status) {
+  hal::init::CheckInit();
+  if (!watchdog) {
+    *status = NiFpga_Status_ResourceNotInitialized;
+    return 0;
+  }
+  return watchdog->readStatus_SysDisableCount(status);
+}
+
 HAL_Bool HAL_GetRSLState(int32_t* status) {
   hal::init::CheckInit();
   if (!global) {

hal/src/main/native/athena/Power.cpp

@@ -118,6 +118,11 @@ void HAL_SetUserRailEnabled3V3(HAL_Bool enabled, int32_t* status) {
   power->writeDisable_User3V3(!enabled, status);
 }
 
+void HAL_ResetUserCurrentFaults(int32_t* status) {
+  initializePower(status);
+  power->strobeResetFaultCounts(status);
+}
+
 void HAL_SetBrownoutVoltage(double voltage, int32_t* status) {
   initializePower(status);
   if (voltage < 0) {

hal/src/main/native/cpp/jni/HAL.cpp

@@ -154,6 +154,21 @@ Java_edu_wpi_first_hal_HAL_getBrownedOut
   return val;
 }
 
+/*
+ * Class:     edu_wpi_first_hal_HAL
+ * Method:    getCommsDisableCount
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_HAL_getCommsDisableCount
+  (JNIEnv* env, jclass)
+{
+  int32_t status = 0;
+  int32_t val = HAL_GetCommsDisableCount(&status);
+  CheckStatus(env, status);
+  return val;
+}
+
 /*
  * Class:     edu_wpi_first_hal_HAL
  * Method:    getRSLState

hal/src/main/native/cpp/jni/PowerJNI.cpp

@@ -264,6 +264,20 @@ Java_edu_wpi_first_hal_PowerJNI_getUserCurrentFaults3V3
   return val;
 }
 
+/*
+ * Class:     edu_wpi_first_hal_PowerJNI
+ * Method:    resetUserCurrentFaults
+ * Signature: ()V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_PowerJNI_resetUserCurrentFaults
+  (JNIEnv* env, jclass)
+{
+  int32_t status = 0;
+  HAL_ResetUserCurrentFaults(&status);
+  CheckStatus(env, status);
+}
+
 /*
  * Class:     edu_wpi_first_hal_PowerJNI
  * Method:    setBrownoutVoltage

hal/src/main/native/include/hal/HALBase.h

@@ -139,6 +139,13 @@ HAL_Bool HAL_GetSystemActive(int32_t* status);
  */
 HAL_Bool HAL_GetBrownedOut(int32_t* status);
 
+/**
+ * Gets the number of times the system has been disabled due to communication
+ * errors with the Driver Station.
+ * @return number of disables due to communication errors.
+ */
+int32_t HAL_GetCommsDisableCount(int32_t* status);
+
 /**
  * Gets a port handle for a specific channel.
  *

hal/src/main/native/include/hal/Power.h

@@ -59,7 +59,7 @@ double HAL_GetUserCurrent6V(int32_t* status);
 HAL_Bool HAL_GetUserActive6V(int32_t* status);
 
 /**
- * Gets the fault count for the 6V rail.
+ * Gets the fault count for the 6V rail. Capped at 255.
  *
  * @param[out] status the error code, or 0 for success
  * @return the number of 6V fault counts
@@ -99,7 +99,7 @@ double HAL_GetUserCurrent5V(int32_t* status);
 HAL_Bool HAL_GetUserActive5V(int32_t* status);
 
 /**
- * Gets the fault count for the 5V rail.
+ * Gets the fault count for the 5V rail. Capped at 255.
  *
  * @param[out] status the error code, or 0 for success
  * @return the number of 5V fault counts
@@ -139,7 +139,7 @@ double HAL_GetUserCurrent3V3(int32_t* status);
 HAL_Bool HAL_GetUserActive3V3(int32_t* status);
 
 /**
- * Gets the fault count for the 3V3 rail.
+ * Gets the fault count for the 3V3 rail. Capped at 255.
  *
  * @param[out] status the error code, or 0 for success
  * @return the number of 3V3 fault counts
@@ -154,6 +154,12 @@ int32_t HAL_GetUserCurrentFaults3V3(int32_t* status);
  */
 void HAL_SetUserRailEnabled3V3(HAL_Bool enabled, int32_t* status);
 
+/**
+ * Resets the overcurrent fault counters for all user rails to 0.
+ * @param[out] status the error code, or 0 for success
+ */
+void HAL_ResetUserCurrentFaults(int32_t* status);
+
 /**
  * Get the current brownout voltage setting.
  *

hal/src/main/native/sim/HAL.cpp

@@ -339,6 +339,10 @@ HAL_Bool HAL_GetBrownedOut(int32_t* status) {
   return false;  // Figure out if we need to detect a brownout condition
 }
 
+int32_t HAL_GetCommsDisableCount(int32_t* status) {
+  return 0;
+}
+
 HAL_Bool HAL_GetRSLState(int32_t* status) {
   return false;
 }

hal/src/main/native/sim/Power.cpp

@@ -59,6 +59,11 @@ int32_t HAL_GetUserCurrentFaults3V3(int32_t* status) {
   return SimRoboRioData->userFaults3V3;
 }
 void HAL_SetUserRailEnabled3V3(HAL_Bool enabled, int32_t* status) {}
+void HAL_ResetUserCurrentFaults(int32_t* status) {
+  SimRoboRioData->userFaults3V3 = 0;
+  SimRoboRioData->userFaults5V = 0;
+  SimRoboRioData->userFaults6V = 0;
+}
 void HAL_SetBrownoutVoltage(double voltage, int32_t* status) {
   SimRoboRioData->brownoutVoltage = voltage;
 }

wpilibc/src/main/native/cpp/RobotController.cpp

@@ -84,6 +84,13 @@ bool RobotController::IsBrownedOut() {
   return retVal;
 }
 
+int RobotController::GetCommsDisableCount() {
+  int32_t status = 0;
+  int retVal = HAL_GetCommsDisableCount(&status);
+  FRC_CheckErrorStatus(status, "GetCommsDisableCount");
+  return retVal;
+}
+
 bool RobotController::GetRSLState() {
   int32_t status = 0;
   bool retVal = HAL_GetRSLState(&status);
@@ -214,6 +221,12 @@ int RobotController::GetFaultCount6V() {
   return retVal;
 }
 
+void RobotController::ResetRailFaultCounts() {
+  int32_t status = 0;
+  HAL_ResetUserCurrentFaults(&status);
+  FRC_CheckErrorStatus(status, "ResetRailFaultCounts");
+}
+
 units::volt_t RobotController::GetBrownoutVoltage() {
   int32_t status = 0;
   double retVal = HAL_GetBrownoutVoltage(&status);

wpilibc/src/main/native/include/frc/RobotController.h

@@ -115,6 +115,14 @@ class RobotController {
    */
   static bool IsBrownedOut();
 
+  /**
+   * Gets the number of times the system has been disabled due to communication
+   * errors with the Driver Station.
+   *
+   * @return number of disables due to communication errors.
+   */
+  static int GetCommsDisableCount();
+
   /**
    * Gets the current state of the Robot Signal Light (RSL)
    * @return The current state of the RSL- true if on, false if off
@@ -174,7 +182,7 @@ class RobotController {
 
   /**
    * Get the count of the total current faults on the 3.3V rail since the
-   * controller has booted.
+   * code started.
    *
    * @return The number of faults
    */
@@ -212,7 +220,7 @@ class RobotController {
 
   /**
    * Get the count of the total current faults on the 5V rail since the
-   * controller has booted.
+   * code started.
    *
    * @return The number of faults
    */
@@ -250,12 +258,15 @@ class RobotController {
 
   /**
    * Get the count of the total current faults on the 6V rail since the
-   * controller has booted.
+   * code started.
    *
    * @return The number of faults.
    */
   static int GetFaultCount6V();
 
+  /** Reset the overcurrent fault counters for all user rails to 0. */
+  static void ResetRailFaultCounts();
+
   /**
    * Get the current brownout voltage setting.
    *

wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotController.java

@@ -117,6 +117,16 @@ public final class RobotController {
     return HAL.getBrownedOut();
   }
 
+  /**
+   * Gets the number of times the system has been disabled due to communication errors with the
+   * Driver Station.
+   *
+   * @return number of disables due to communication errors.
+   */
+  public static int getCommsDisableCount() {
+    return HAL.getCommsDisableCount();
+  }
+
   /**
    * Gets the current state of the Robot Signal Light (RSL).
    *
@@ -191,7 +201,7 @@ public final class RobotController {
   }
 
   /**
-   * Get the count of the total current faults on the 3.3V rail since the controller has booted.
+   * Get the count of the total current faults on the 3.3V rail since the code started.
    *
    * @return The number of faults
    */
@@ -237,7 +247,7 @@ public final class RobotController {
   }
 
   /**
-   * Get the count of the total current faults on the 5V rail since the controller has booted.
+   * Get the count of the total current faults on the 5V rail since the code started.
    *
    * @return The number of faults
    */
@@ -283,7 +293,7 @@ public final class RobotController {
   }
 
   /**
-   * Get the count of the total current faults on the 6V rail since the controller has booted.
+   * Get the count of the total current faults on the 6V rail since the code started.
    *
    * @return The number of faults
    */
@@ -291,6 +301,11 @@ public final class RobotController {
     return PowerJNI.getUserCurrentFaults6V();
   }
 
+  /** Reset the overcurrent fault counters for all user rails to 0. */
+  public static void resetRailFaultCounts() {
+    PowerJNI.resetUserCurrentFaults();
+  }
+
   /**
    * Get the current brownout voltage setting.
    *