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Add multi PDP getter and sim PCM/PDP multi arg functions (#2014)

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This commit is contained in:
Thad House
2019-11-01 21:55:35 -07:00
committed by Peter Johnson
parent 931b8ceefd
commit 2ad15cae19
11 changed files with 174 additions and 6 deletions
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69
hal/src/main/native/athena/PDP.cpp
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@@ -289,6 +289,75 @@ double HAL_GetPDPChannelCurrent(HAL_PDPHandle handle, int32_t channel,
return raw * 0.125; /* 7.3 fixed pt value in Amps */
}
void HAL_GetPDPAllChannelCurrents(HAL_PDPHandle handle, double* currents,
int32_t* status) {
int32_t length = 0;
uint64_t receivedTimestamp = 0;
PdpStatus1 pdpStatus;
HAL_ReadCANPacketTimeout(handle, Status1, pdpStatus.data, &length,
&receivedTimestamp, TimeoutMs, status);
if (*status != 0) return;
PdpStatus2 pdpStatus2;
HAL_ReadCANPacketTimeout(handle, Status2, pdpStatus2.data, &length,
&receivedTimestamp, TimeoutMs, status);
if (*status != 0) return;
PdpStatus3 pdpStatus3;
HAL_ReadCANPacketTimeout(handle, Status3, pdpStatus3.data, &length,
&receivedTimestamp, TimeoutMs, status);
if (*status != 0) return;
currents[0] = ((static_cast<uint32_t>(pdpStatus.bits.chan1_h8) << 2) |
pdpStatus.bits.chan1_l2) *
.125;
currents[1] = ((static_cast<uint32_t>(pdpStatus.bits.chan2_h6) << 4) |
pdpStatus.bits.chan2_l4) *
.125;
currents[2] = ((static_cast<uint32_t>(pdpStatus.bits.chan3_h4) << 6) |
pdpStatus.bits.chan3_l6) *
.125;
currents[3] = ((static_cast<uint32_t>(pdpStatus.bits.chan4_h2) << 8) |
pdpStatus.bits.chan4_l8) *
.125;
currents[4] = ((static_cast<uint32_t>(pdpStatus.bits.chan5_h8) << 2) |
pdpStatus.bits.chan5_l2) *
.125;
currents[5] = ((static_cast<uint32_t>(pdpStatus.bits.chan6_h6) << 4) |
pdpStatus.bits.chan6_l4) *
.125;
currents[6] = ((static_cast<uint32_t>(pdpStatus2.bits.chan7_h8) << 2) |
pdpStatus2.bits.chan7_l2) *
.125;
currents[7] = ((static_cast<uint32_t>(pdpStatus2.bits.chan8_h6) << 4) |
pdpStatus2.bits.chan8_l4) *
.125;
currents[8] = ((static_cast<uint32_t>(pdpStatus2.bits.chan9_h4) << 6) |
pdpStatus2.bits.chan9_l6) *
.125;
currents[9] = ((static_cast<uint32_t>(pdpStatus2.bits.chan10_h2) << 8) |
pdpStatus2.bits.chan10_l8) *
.125;
currents[10] = ((static_cast<uint32_t>(pdpStatus2.bits.chan11_h8) << 2) |
pdpStatus2.bits.chan11_l2) *
.125;
currents[11] = ((static_cast<uint32_t>(pdpStatus2.bits.chan12_h6) << 4) |
pdpStatus2.bits.chan12_l4) *
.125;
currents[12] = ((static_cast<uint32_t>(pdpStatus3.bits.chan13_h8) << 2) |
pdpStatus3.bits.chan13_l2) *
.125;
currents[13] = ((static_cast<uint32_t>(pdpStatus3.bits.chan14_h6) << 4) |
pdpStatus3.bits.chan14_l4) *
.125;
currents[14] = ((static_cast<uint32_t>(pdpStatus3.bits.chan15_h4) << 6) |
pdpStatus3.bits.chan15_l6) *
.125;
currents[15] = ((static_cast<uint32_t>(pdpStatus3.bits.chan16_h2) << 8) |
pdpStatus3.bits.chan16_l8) *
.125;
}
double HAL_GetPDPTotalCurrent(HAL_PDPHandle handle, int32_t* status) {
PdpStatusEnergy pdpStatus;
int32_t length = 0;