Artifact artf3520 : Need a PDP Clear Sticky Faults API

Artifact artf3740 : C++ and Java don't implement all PDP features

Change-Id: I6a519d16de412a4d477b1f9c57e9b405b2e1aae0

hal/include/HAL/PDP.hpp

@@ -11,4 +11,9 @@ extern "C"
 	double getPDPTemperature(int32_t *status);
 	double getPDPVoltage(int32_t *status);
 	double getPDPChannelCurrent(uint8_t channel, int32_t *status);
+	double getPDPTotalCurrent(int32_t *status);
+	double getPDPTotalPower(int32_t *status);
+	double getPDPTotalEnergy(int32_t *status);
+	void resetPDPTotalEnergy(int32_t *status);
+	void clearPDPStickyFaults(int32_t *status);
 }

hal/lib/Athena/PDP.cpp

@@ -26,3 +26,36 @@ double getPDPChannelCurrent(uint8_t channel, int32_t *status) {
 	return current;
 }
 
+double getPDPTotalCurrent(int32_t *status) {
+	double current;
+	
+	*status = pdp.GetTotalCurrent(current);
+	
+	return current;
+}
+
+double getPDPTotalPower(int32_t *status) {
+	double power;
+	
+	*status = pdp.GetTotalPower(power);
+	
+	return power;
+}
+
+double getPDPTotalEnergy(int32_t *status) {
+	double energy;
+	
+	*status = pdp.GetTotalEnergy(energy);
+	
+	return energy;
+}
+
+void resetPDPTotalEnergy(int32_t *status) {
+	*status = pdp.ResetEnergy();
+}
+
+void clearPDPStickyFaults(int32_t *status) {
+	*status = pdp.ClearStickyFaults();
+}
+
+

hal/lib/Athena/ctre/PDP.cpp

@@ -6,11 +6,15 @@
 #define STATUS_1  		0x8041400
 #define STATUS_2  		0x8041440
 #define STATUS_3  		0x8041480
+#define STATUS_ENERGY	0x8041740
+
+#define CONTROL_1		0x08041C00	/* PDP_Control_ClearStats */
 
 #define EXPECTED_RESPONSE_TIMEOUT_MS	(50)
 #define GET_STATUS1()		CtreCanNode::recMsg<PdpStatus1_t> rx = GetRx<PdpStatus1_t>(STATUS_1,EXPECTED_RESPONSE_TIMEOUT_MS)
 #define GET_STATUS2()		CtreCanNode::recMsg<PdpStatus2_t> rx = GetRx<PdpStatus2_t>(STATUS_2,EXPECTED_RESPONSE_TIMEOUT_MS)
 #define GET_STATUS3()		CtreCanNode::recMsg<PdpStatus3_t> rx = GetRx<PdpStatus3_t>(STATUS_3,EXPECTED_RESPONSE_TIMEOUT_MS)
+#define GET_STATUS_ENERGY()	CtreCanNode::recMsg<PDP_Status_Energy_t> rx = GetRx<PDP_Status_Energy_t>(STATUS_ENERGY,EXPECTED_RESPONSE_TIMEOUT_MS)
 
 /* encoder/decoders */
 typedef struct _PdpStatus1_t{
@@ -56,6 +60,18 @@ typedef struct _PdpStatus3_t{
 	unsigned busVoltage:8;
 	unsigned temp:8;
 }PdpStatus3_t;
+typedef struct _PDP_Status_Energy_t {
+	unsigned TmeasMs_likelywillbe20ms_:8;
+	unsigned TotalCurrent_125mAperunit_h8:8;
+	unsigned Power_125mWperunit_h4:4;
+	unsigned TotalCurrent_125mAperunit_l4:4;
+	unsigned Power_125mWperunit_m8:8;
+	unsigned Energy_125mWPerUnitXTmeas_h4:4;
+	unsigned Power_125mWperunit_l4:4;
+	unsigned Energy_125mWPerUnitXTmeas_mh8:8;
+	unsigned Energy_125mWPerUnitXTmeas_ml8:8;
+	unsigned Energy_125mWPerUnitXTmeas_l8:8;
+} PDP_Status_Energy_t ;
 
 PDP::PDP(UINT8 deviceNumber): CtreCanNode(deviceNumber)
 {
@@ -128,6 +144,68 @@ CTR_Code PDP::GetTemperature(double &tempC)
 	tempC =	(double)raw * 1.03250836957542 - 67.8564500484966;
 	return rx.err;
 }
+CTR_Code PDP::GetTotalCurrent(double &currentAmps)
+{
+	GET_STATUS_ENERGY();
+	uint32_t raw;
+	raw = rx->TotalCurrent_125mAperunit_h8;
+	raw <<= 4;
+	raw |=  rx->TotalCurrent_125mAperunit_l4;
+	currentAmps = 0.125 * raw;
+	return rx.err;
+}
+CTR_Code PDP::GetTotalPower(double &powerWatts)
+{
+	GET_STATUS_ENERGY();
+	uint32_t raw;
+	raw = rx->Power_125mWperunit_h4;
+	raw <<= 8;
+	raw |=  rx->Power_125mWperunit_m8;
+	raw <<= 4;
+	raw |=  rx->Power_125mWperunit_l4;
+	powerWatts = 0.125 * raw;
+	return rx.err;
+}
+CTR_Code PDP::GetTotalEnergy(double &energyJoules)
+{
+	GET_STATUS_ENERGY();
+	uint32_t raw;
+	raw = rx->Energy_125mWPerUnitXTmeas_h4;
+	raw <<= 8;
+	raw |=  rx->Energy_125mWPerUnitXTmeas_mh8;
+	raw <<= 8;
+	raw |=  rx->Energy_125mWPerUnitXTmeas_ml8;
+	raw <<= 8;
+	raw |=  rx->Energy_125mWPerUnitXTmeas_l8;
+	energyJoules = 0.125 * raw; 						/* mW integrated every TmeasMs */
+	energyJoules *= rx->TmeasMs_likelywillbe20ms_;	/* multiplied by TmeasMs = joules */
+	return rx.err;
+}
+/* Clear sticky faults.
+ * @Return	-	CTR_Code	-	Error code (if any)
+ */
+CTR_Code PDP::ClearStickyFaults()
+{
+	int32_t status = 0;
+	uint8_t pdpControl[] = { 0x80 }; /* only bit set is ClearStickyFaults */
+	FRC_NetworkCommunication_CANSessionMux_sendMessage(CONTROL_1  | GetDeviceNumber(), pdpControl, sizeof(pdpControl), 0, &status);
+	if(status)
+		return CTR_TxFailed;
+	return CTR_OKAY;
+}
+
+/* Reset Energy Signals
+ * @Return	-	CTR_Code	-	Error code (if any)
+ */
+CTR_Code PDP::ResetEnergy()
+{
+	int32_t status = 0;
+	uint8_t pdpControl[] = { 0x40 }; /* only bit set is ResetEnergy */
+	FRC_NetworkCommunication_CANSessionMux_sendMessage(CONTROL_1  | GetDeviceNumber(), pdpControl, sizeof(pdpControl), 0, &status);
+	if(status)
+		return CTR_TxFailed;
+	return CTR_OKAY;
+}
 //------------------ C interface --------------------------------------------//
 extern "C" {
 	void * c_PDP_Init(void)

hal/lib/Athena/ctre/PDP.h

@@ -38,6 +38,19 @@ public:
      * @Param	-	status		-	Temperature of PDP in Centigrade / Celcius (C)
      */
     CTR_Code GetTemperature(double &status);
+
+	CTR_Code GetTotalCurrent(double &currentAmps);
+	CTR_Code GetTotalPower(double &powerWatts);
+	CTR_Code GetTotalEnergy(double &energyJoules);
+    /* Clear sticky faults.
+     * @Return	-	CTR_Code	-	Error code (if any)
+     */
+	CTR_Code ClearStickyFaults();
+
+	/* Reset Energy Signals
+	 * @Return	-	CTR_Code	-	Error code (if any)
+	 */
+	CTR_Code ResetEnergy();
 private:
     uint64_t ReadCurrents(uint8_t api);
 };

hal/lib/Athena/ctre/ctre.h

@@ -38,23 +38,13 @@ typedef	unsigned int	UINT;
 typedef unsigned long	ULONG;
 
 typedef enum {
-		CTR_OKAY,				//No Error - Function executed as expected
-		CTR_RxTimeout,			/*
-								 *	Receive Timeout
-								 *
-								 *		No module-specific CAN frames have been received in
-								 *	the last 50ms. Function returns the latest received data
-								 *	but may be STALE DATA.
-								 */
-		CTR_TxTimeout,			/*
-								 *	Transmission Timeout
-								 *
-								 *		No module-specific CAN frames were transmitted in
-								 *	the last 50ms. Parameters passed in by the user are loaded
-								 *	for next transmission but have not sent.
-								 */
-		CTR_InvalidParamValue,
-		CTR_UnexpectedArbId,
+		CTR_OKAY,				//!< No Error - Function executed as expected
+		CTR_RxTimeout,			//!< CAN frame has not been received within specified period of time.
+		CTR_TxTimeout,			//!< Not used.
+		CTR_InvalidParamValue, 	//!< Caller passed an invalid param
+		CTR_UnexpectedArbId,	//!< Specified CAN Id is invalid.
+		CTR_TxFailed,			//!< Could not transmit the CAN frame.
+		CTR_SigNotUpdated,		//!< Have not received an value response for signal.
 }CTR_Code;
 
 #endif

wpilibc/wpilibC++Devices/include/PowerDistributionPanel.h

@@ -21,6 +21,11 @@ class PowerDistributionPanel : public SensorBase {
 		double GetVoltage();
 		double GetTemperature();
 		double GetCurrent(uint8_t channel);
+		double GetTotalCurrent();
+		double GetTotalPower();
+		double GetTotalEnergy();
+		void ResetTotalEnergy();
+		void ClearStickyFaults();
 };
 
 #endif /* __WPILIB_POWER_DISTRIBUTION_PANEL_H__ */

wpilibc/wpilibC++Devices/src/PowerDistributionPanel.cpp

@@ -69,3 +69,80 @@ PowerDistributionPanel::GetCurrent(uint8_t channel) {
 	return current;
 }
 
+/**
+ * @return The the total current drawn from the PDP channels in Amperes
+ */
+double
+PowerDistributionPanel::GetTotalCurrent() {
+	int32_t status = 0;
+	
+	double current = getPDPTotalCurrent(&status);
+	
+	if(status) {
+		wpi_setWPIErrorWithContext(Timeout, "");
+	}
+	
+	return current;
+}
+
+/**
+ * @return The the total power drawn from the PDP channels in Joules
+ */
+double
+PowerDistributionPanel::GetTotalPower() {
+	int32_t status = 0;
+	
+	double power = getPDPTotalPower(&status);
+	
+	if(status) {
+		wpi_setWPIErrorWithContext(Timeout, "");
+	}
+	
+	return power;
+}
+
+/**
+ * @return The the total energy drawn from the PDP channels in Watts
+ */
+double
+PowerDistributionPanel::GetTotalEnergy() {
+	int32_t status = 0;
+	
+	double energy = getPDPTotalEnergy(&status);
+	
+	if(status) {
+		wpi_setWPIErrorWithContext(Timeout, "");
+	}
+	
+	return energy;
+}
+
+/**
+ * Reset the total energy drawn from the PDP
+ * @see PowerDistributionPanel#GetTotalEnergy
+ */
+void
+PowerDistributionPanel::ResetTotalEnergy() { 
+	int32_t status = 0;
+	
+	resetPDPTotalEnergy(&status);
+	
+	if(status) {
+		wpi_setWPIErrorWithContext(Timeout, "");
+	}
+}
+
+/**
+ * Remove all of the fault flags on the PDP
+ */
+void
+PowerDistributionPanel::ClearStickyFaults() {
+	int32_t status = 0;
+	
+	clearPDPStickyFaults(&status);
+	
+	if(status) {
+		wpi_setWPIErrorWithContext(Timeout, "");
+	}
+}
+