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[hal] Refactor REV PH CAN frames (#3756)

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This commit is contained in:
Jan-Felix Abellera
2021-12-06 12:08:57 -06:00
committed by GitHub
parent 3ef2dab465
commit 3f6cf76a8c
3 changed files with 460 additions and 458 deletions
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72
hal/src/main/native/athena/REVPH.cpp
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@@ -43,10 +43,10 @@ static constexpr uint32_t PH_PULSE_ONCE_FRAME_API =
APIFromExtId(PH_PULSE_ONCE_FRAME_ID);
static constexpr uint32_t PH_COMPRESSOR_CONFIG_API =
APIFromExtId(PH_COMPRESSOR_CONFIG_FRAME_ID);
static constexpr uint32_t PH_STATUS0_FRAME_API =
APIFromExtId(PH_STATUS0_FRAME_ID);
static constexpr uint32_t PH_STATUS1_FRAME_API =
APIFromExtId(PH_STATUS1_FRAME_ID);
static constexpr uint32_t PH_STATUS_0_FRAME_API =
APIFromExtId(PH_STATUS_0_FRAME_ID);
static constexpr uint32_t PH_STATUS_1_FRAME_API =
APIFromExtId(PH_STATUS_1_FRAME_ID);
static constexpr int32_t kPHFrameStatus0Timeout = 50;
static constexpr int32_t kPHFrameStatus1Timeout = 50;
@@ -75,38 +75,40 @@ void InitializeREVPH() {
}
} // namespace hal::init
static PH_status0_t HAL_REV_ReadPHStatus0(HAL_CANHandle hcan, int32_t* status) {
static PH_status_0_t HAL_REV_ReadPHStatus0(HAL_CANHandle hcan,
int32_t* status) {
uint8_t packedData[8] = {0};
int32_t length = 0;
uint64_t timestamp = 0;
PH_status0_t result = {};
PH_status_0_t result = {};
HAL_ReadCANPacketTimeout(hcan, PH_STATUS0_FRAME_API, packedData, &length,
HAL_ReadCANPacketTimeout(hcan, PH_STATUS_0_FRAME_API, packedData, &length,
&timestamp, kPHFrameStatus0Timeout * 2, status);
if (*status != 0) {
return result;
}
PH_status0_unpack(&result, packedData, PH_STATUS0_LENGTH);
PH_status_0_unpack(&result, packedData, PH_STATUS_0_LENGTH);
return result;
}
static PH_status1_t HAL_REV_ReadPHStatus1(HAL_CANHandle hcan, int32_t* status) {
static PH_status_1_t HAL_REV_ReadPHStatus1(HAL_CANHandle hcan,
int32_t* status) {
uint8_t packedData[8] = {0};
int32_t length = 0;
uint64_t timestamp = 0;
PH_status1_t result = {};
PH_status_1_t result = {};
HAL_ReadCANPacketTimeout(hcan, PH_STATUS1_FRAME_API, packedData, &length,
HAL_ReadCANPacketTimeout(hcan, PH_STATUS_1_FRAME_API, packedData, &length,
&timestamp, kPHFrameStatus1Timeout * 2, status);
if (*status != 0) {
return result;
}
PH_status1_unpack(&result, packedData, PH_STATUS1_LENGTH);
PH_status_1_unpack(&result, packedData, PH_STATUS_1_LENGTH);
return result;
}
@@ -249,7 +251,7 @@ HAL_Bool HAL_GetREVPHCompressor(HAL_REVPHHandle handle, int32_t* status) {
return false;
}
PH_status0_t status0 = HAL_REV_ReadPHStatus0(ph->hcan, status);
PH_status_0_t status0 = HAL_REV_ReadPHStatus0(ph->hcan, status);
if (*status != 0) {
return false;
@@ -331,7 +333,7 @@ HAL_REVPHCompressorConfigType HAL_GetREVPHCompressorConfig(
return HAL_REVPHCompressorConfigType_kDisabled;
}
PH_status0_t status0 = HAL_REV_ReadPHStatus0(ph->hcan, status);
PH_status_0_t status0 = HAL_REV_ReadPHStatus0(ph->hcan, status);
if (*status != 0) {
return HAL_REVPHCompressorConfigType_kDisabled;
@@ -347,7 +349,7 @@ HAL_Bool HAL_GetREVPHPressureSwitch(HAL_REVPHHandle handle, int32_t* status) {
return false;
}
PH_status0_t status0 = HAL_REV_ReadPHStatus0(ph->hcan, status);
PH_status_0_t status0 = HAL_REV_ReadPHStatus0(ph->hcan, status);
if (*status != 0) {
return false;
@@ -363,13 +365,13 @@ double HAL_GetREVPHCompressorCurrent(HAL_REVPHHandle handle, int32_t* status) {
return 0;
}
PH_status1_t status1 = HAL_REV_ReadPHStatus1(ph->hcan, status);
PH_status_1_t status1 = HAL_REV_ReadPHStatus1(ph->hcan, status);
if (*status != 0) {
return 0;
}
return PH_status1_compressor_current_decode(status1.compressor_current);
return PH_status_1_compressor_current_decode(status1.compressor_current);
}
double HAL_GetREVPHAnalogPressure(HAL_REVPHHandle handle, int32_t channel,
@@ -387,16 +389,16 @@ double HAL_GetREVPHAnalogPressure(HAL_REVPHHandle handle, int32_t channel,
return 0;
}
PH_status0_t status0 = HAL_REV_ReadPHStatus0(ph->hcan, status);
PH_status_0_t status0 = HAL_REV_ReadPHStatus0(ph->hcan, status);
if (*status != 0) {
return 0;
}
if (channel == 0) {
return PH_status0_analog_0_decode(status0.analog_0);
return PH_status_0_analog_0_decode(status0.analog_0);
}
return PH_status0_analog_1_decode(status0.analog_1);
return PH_status_0_analog_1_decode(status0.analog_1);
}
int32_t HAL_GetREVPHSolenoids(HAL_REVPHHandle handle, int32_t* status) {
@@ -406,7 +408,7 @@ int32_t HAL_GetREVPHSolenoids(HAL_REVPHHandle handle, int32_t* status) {
return 0;
}
PH_status0_t status0 = HAL_REV_ReadPHStatus0(ph->hcan, status);
PH_status_0_t status0 = HAL_REV_ReadPHStatus0(ph->hcan, status);
if (*status != 0) {
return 0;
@@ -561,7 +563,7 @@ HAL_REVPHFaults HAL_GetREVPHFaults(HAL_REVPHHandle handle, int32_t* status) {
return faults;
}
PH_status0_t status0 = HAL_REV_ReadPHStatus0(ph->hcan, status);
PH_status_0_t status0 = HAL_REV_ReadPHStatus0(ph->hcan, status);
faults.channel0Fault = status0.channel_0_fault;
faults.channel1Fault = status0.channel_1_fault;
faults.channel2Fault = status0.channel_2_fault;
@@ -578,11 +580,11 @@ HAL_REVPHFaults HAL_GetREVPHFaults(HAL_REVPHHandle handle, int32_t* status) {
faults.channel13Fault = status0.channel_13_fault;
faults.channel14Fault = status0.channel_14_fault;
faults.channel15Fault = status0.channel_15_fault;
faults.compressorOverCurrent = status0.compressor_oc;
faults.compressorOpen = status0.compressor_open;
faults.solenoidOverCurrent = status0.solenoid_oc;
faults.brownout = status0.brownout;
faults.canWarning = status0.can_warning;
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;
@@ -597,14 +599,14 @@ HAL_REVPHStickyFaults HAL_GetREVPHStickyFaults(HAL_REVPHHandle handle,
return stickyFaults;
}
PH_status1_t status1 = HAL_REV_ReadPHStatus1(ph->hcan, status);
stickyFaults.compressorOverCurrent = status1.sticky_compressor_over_current;
stickyFaults.compressorOpen = status1.sticky_compressor_not_present;
stickyFaults.solenoidOverCurrent = status1.sticky_solenoid_over_current;
stickyFaults.brownout = status1.sticky_brownout;
stickyFaults.canWarning = status1.sticky_can_warning;
stickyFaults.canBusOff = status1.sticky_can_bus_off;
stickyFaults.hasReset = status1.sticky_has_reset;
PH_status_1_t status1 = HAL_REV_ReadPHStatus1(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;
}

412
hal/src/main/native/athena/rev/PHFrames.cpp
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434
hal/src/main/native/athena/rev/PHFrames.h
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