Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-26 01:51:41 +00:00
Code Issues Packages Projects Releases Wiki Activity

Artifact artf3520 : Need a PDP Clear Sticky Faults API

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

Change-Id: I6a519d16de412a4d477b1f9c57e9b405b2e1aae0
This commit is contained in:
Omar Zrien
2014-11-25 00:52:41 -05:00
committed by Thomas Clark
parent 56430ccd7c
commit 4da9ebe1fd
7 changed files with 218 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files

78
hal/lib/Athena/ctre/PDP.cpp
View File

@@ -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)