[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/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;
 }