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[wpilib, hal] High Level REV PH changes (#3792)

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More functionality was implemented at the HAL level, so expose that to the wpilib level.

This also does units changes for all the PH related functionality.
This commit is contained in:
Thad House
2021-12-19 13:41:35 -08:00
committed by GitHub
parent 59a7528fd6
commit 34b2d0dae1
23 changed files with 770 additions and 143 deletions
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108
hal/src/main/native/athena/REVPH.cpp
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@@ -376,8 +376,8 @@ double HAL_GetREVPHCompressorCurrent(HAL_REVPHHandle handle, int32_t* status) {
return PH_status_1_compressor_current_decode(status1.compressor_current);
}
double HAL_GetREVPHAnalogPressure(HAL_REVPHHandle handle, int32_t channel,
int32_t* status) {
double HAL_GetREVPHAnalogVoltage(HAL_REVPHHandle handle, int32_t channel,
int32_t* status) {
auto ph = REVPHHandles->Get(handle);
if (ph == nullptr) {
*status = HAL_HANDLE_ERROR;
@@ -467,9 +467,9 @@ double HAL_GetREVPHSolenoidVoltage(HAL_REVPHHandle handle, int32_t* status) {
return PH_status_1_solenoid_voltage_decode(status1.solenoid_voltage);
}
HAL_REVPHVersion HAL_GetREVPHVersion(HAL_REVPHHandle handle, int32_t* status) {
HAL_REVPHVersion version;
std::memset(&version, 0, sizeof(version));
void HAL_GetREVPHVersion(HAL_REVPHHandle handle, HAL_REVPHVersion* version,
int32_t* status) {
std::memset(version, 0, sizeof(*version));
uint8_t packedData[8] = {0};
int32_t length = 0;
uint64_t timestamp = 0;
@@ -477,33 +477,31 @@ HAL_REVPHVersion HAL_GetREVPHVersion(HAL_REVPHHandle handle, int32_t* status) {
auto ph = REVPHHandles->Get(handle);
if (ph == nullptr) {
*status = HAL_HANDLE_ERROR;
return version;
return;
}
HAL_WriteCANRTRFrame(ph->hcan, PH_VERSION_LENGTH, PH_VERSION_FRAME_API,
status);
if (*status != 0) {
return version;
return;
}
HAL_ReadCANPacketTimeout(ph->hcan, PH_VERSION_FRAME_API, packedData, &length,
&timestamp, kDefaultControlPeriod * 2, status);
if (*status != 0) {
return version;
return;
}
PH_version_unpack(&result, packedData, PH_VERSION_LENGTH);
version.firmwareMajor = result.firmware_year;
version.firmwareMinor = result.firmware_minor;
version.firmwareFix = result.firmware_fix;
version.hardwareMinor = result.hardware_minor;
version.hardwareMajor = result.hardware_major;
version.uniqueId = result.unique_id;
return version;
version->firmwareMajor = result.firmware_year;
version->firmwareMinor = result.firmware_minor;
version->firmwareFix = result.firmware_fix;
version->hardwareMinor = result.hardware_minor;
version->hardwareMajor = result.hardware_major;
version->uniqueId = result.unique_id;
}
int32_t HAL_GetREVPHSolenoids(HAL_REVPHHandle handle, int32_t* status) {
@@ -660,60 +658,58 @@ void HAL_FireREVPHOneShot(HAL_REVPHHandle handle, int32_t index, int32_t durMs,
PH_PULSE_ONCE_FRAME_API, status);
}
HAL_REVPHFaults HAL_GetREVPHFaults(HAL_REVPHHandle handle, int32_t* status) {
HAL_REVPHFaults faults = {};
void HAL_GetREVPHFaults(HAL_REVPHHandle handle, HAL_REVPHFaults* faults,
int32_t* status) {
std::memset(faults, 0, sizeof(*faults));
auto ph = REVPHHandles->Get(handle);
if (ph == nullptr) {
*status = HAL_HANDLE_ERROR;
return faults;
return;
}
PH_status_0_t status0 = HAL_ReadREVPHStatus0(ph->hcan, status);
faults.channel0Fault = status0.channel_0_fault;
faults.channel1Fault = status0.channel_1_fault;
faults.channel2Fault = status0.channel_2_fault;
faults.channel3Fault = status0.channel_3_fault;
faults.channel4Fault = status0.channel_4_fault;
faults.channel5Fault = status0.channel_5_fault;
faults.channel6Fault = status0.channel_6_fault;
faults.channel7Fault = status0.channel_7_fault;
faults.channel8Fault = status0.channel_8_fault;
faults.channel9Fault = status0.channel_9_fault;
faults.channel10Fault = status0.channel_10_fault;
faults.channel11Fault = status0.channel_11_fault;
faults.channel12Fault = status0.channel_12_fault;
faults.channel13Fault = status0.channel_13_fault;
faults.channel14Fault = status0.channel_14_fault;
faults.channel15Fault = status0.channel_15_fault;
faults.compressorOverCurrent = status0.compressor_oc_fault;
faults.compressorOpen = status0.compressor_open_fault;
faults.solenoidOverCurrent = status0.solenoid_oc_fault;
faults.brownout = status0.brownout_fault;
faults.canWarning = status0.can_warning_fault;
faults.hardwareFault = status0.hardware_fault;
return faults;
faults->channel0Fault = status0.channel_0_fault;
faults->channel1Fault = status0.channel_1_fault;
faults->channel2Fault = status0.channel_2_fault;
faults->channel3Fault = status0.channel_3_fault;
faults->channel4Fault = status0.channel_4_fault;
faults->channel5Fault = status0.channel_5_fault;
faults->channel6Fault = status0.channel_6_fault;
faults->channel7Fault = status0.channel_7_fault;
faults->channel8Fault = status0.channel_8_fault;
faults->channel9Fault = status0.channel_9_fault;
faults->channel10Fault = status0.channel_10_fault;
faults->channel11Fault = status0.channel_11_fault;
faults->channel12Fault = status0.channel_12_fault;
faults->channel13Fault = status0.channel_13_fault;
faults->channel14Fault = status0.channel_14_fault;
faults->channel15Fault = status0.channel_15_fault;
faults->compressorOverCurrent = status0.compressor_oc_fault;
faults->compressorOpen = status0.compressor_open_fault;
faults->solenoidOverCurrent = status0.solenoid_oc_fault;
faults->brownout = status0.brownout_fault;
faults->canWarning = status0.can_warning_fault;
faults->hardwareFault = status0.hardware_fault;
}
HAL_REVPHStickyFaults HAL_GetREVPHStickyFaults(HAL_REVPHHandle handle,
int32_t* status) {
HAL_REVPHStickyFaults stickyFaults = {};
void HAL_GetREVPHStickyFaults(HAL_REVPHHandle handle,
HAL_REVPHStickyFaults* stickyFaults,
int32_t* status) {
std::memset(stickyFaults, 0, sizeof(*stickyFaults));
auto ph = REVPHHandles->Get(handle);
if (ph == nullptr) {
*status = HAL_HANDLE_ERROR;
return stickyFaults;
return;
}
PH_status_1_t status1 = HAL_ReadREVPHStatus1(ph->hcan, status);
stickyFaults.compressorOverCurrent = status1.sticky_compressor_oc_fault;
stickyFaults.compressorOpen = status1.sticky_compressor_open_fault;
stickyFaults.solenoidOverCurrent = status1.sticky_solenoid_oc_fault;
stickyFaults.brownout = status1.sticky_brownout_fault;
stickyFaults.canWarning = status1.sticky_can_warning_fault;
stickyFaults.canBusOff = status1.sticky_can_bus_off_fault;
stickyFaults.hasReset = status1.sticky_has_reset_fault;
return stickyFaults;
stickyFaults->compressorOverCurrent = status1.sticky_compressor_oc_fault;
stickyFaults->compressorOpen = status1.sticky_compressor_open_fault;
stickyFaults->solenoidOverCurrent = status1.sticky_solenoid_oc_fault;
stickyFaults->brownout = status1.sticky_brownout_fault;
stickyFaults->canWarning = status1.sticky_can_warning_fault;
stickyFaults->canBusOff = status1.sticky_can_bus_off_fault;
stickyFaults->hasReset = status1.sticky_has_reset_fault;
}
void HAL_ClearREVPHStickyFaults(HAL_REVPHHandle handle, int32_t* status) {