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Fix PCM channel indexes

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The channels are fixed to correspond with the little-endian beta firmware

Change-Id: I1de0588c74a0e070c647fc2e5e629e47df3b663d
This commit is contained in:
Thomas Clark
2014-08-07 13:17:01 -04:00
parent 57e670c18d
commit 4db634b342
2 changed files with 27 additions and 27 deletions
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50
hal/lib/Athena/ctre/PCM.cpp
View File

@@ -123,9 +123,9 @@ CTR_Code PCM::SetSolenoid(unsigned char idx, bool en)
CtreCanNode::txTask<PcmControl_t> toFill = GetTx<PcmControl_t>(CONTROL_1 | GetDeviceNumber());
if(toFill.IsEmpty())return CTR_UnexpectedArbId;
if (en)
toFill->solenoidBits |= (1ul << (7-idx));
toFill->solenoidBits |= (1ul << (idx));
else
toFill->solenoidBits &= ~(1ul << (7-idx));
toFill->solenoidBits &= ~(1ul << (idx));
FlushTx(toFill);
return CTR_OKAY;
}
@@ -161,20 +161,20 @@ CTR_Code PCM::SetClosedLoopControl(bool en)
}
/* Get solenoid state
*
*
* @Return - True/False - True if solenoid enabled, false otherwise
*
*
* @Param - idx - ID of solenoid (0-7) to return status of
*/
CTR_Code PCM::GetSolenoid(UINT8 idx, bool &status)
{
GET_PCM_STATUS();
status = (rx->SolenoidBits & (1ul<<(7-idx)) ) ? 1 : 0;
status = (rx->SolenoidBits & (1ul<<(idx)) ) ? 1 : 0;
return rx.err;
}
/* Get pressure switch state
*
*
* @Return - True/False - True if pressure adequate, false if low
*/
CTR_Code PCM::GetPressure(bool &status)
@@ -185,7 +185,7 @@ CTR_Code PCM::GetPressure(bool &status)
}
/* Get compressor state
*
*
* @Return - True/False - True if enabled, false if otherwise
*/
CTR_Code PCM::GetCompressor(bool &status)
@@ -196,7 +196,7 @@ CTR_Code PCM::GetCompressor(bool &status)
}
/* Get closed loop control state
*
*
* @Return - True/False - True if closed loop enabled, false if otherwise
*/
CTR_Code PCM::GetClosedLoopControl(bool &status)
@@ -207,8 +207,8 @@ CTR_Code PCM::GetClosedLoopControl(bool &status)
}
/* Get compressor current draw
*
* @Return - Amperes - Compressor current
*
* @Return - Amperes - Compressor current
*/
CTR_Code PCM::GetCompressorCurrent(float &status)
{
@@ -221,7 +221,7 @@ CTR_Code PCM::GetCompressorCurrent(float &status)
}
/* Get voltage across solenoid rail
*
*
* @Return - Volts - Voltage across solenoid rail
*/
CTR_Code PCM::GetSolenoidVoltage(float &status)
@@ -235,7 +235,7 @@ CTR_Code PCM::GetSolenoidVoltage(float &status)
}
/* Get hardware fault value
*
*
* @Return - True/False - True if hardware failure detected, false if otherwise
*/
CTR_Code PCM::GetHardwareFault(bool &status)
@@ -246,7 +246,7 @@ CTR_Code PCM::GetHardwareFault(bool &status)
}
/* Get compressor fault value
*
*
* @Return - True/False - True if shorted compressor detected, false if otherwise
*/
CTR_Code PCM::GetCompressorFault(bool &status)
@@ -257,7 +257,7 @@ CTR_Code PCM::GetCompressorFault(bool &status)
}
/* Get solenoid fault value
*
*
* @Return - True/False - True if shorted solenoid detected, false if otherwise
*/
CTR_Code PCM::GetSolenoidFault(bool &status)
@@ -268,7 +268,7 @@ CTR_Code PCM::GetSolenoidFault(bool &status)
}
/* Get compressor sticky fault value
*
*
* @Return - True/False - True if solenoid had previously been shorted
* (and sticky fault was not cleared), false if otherwise
*/
@@ -280,7 +280,7 @@ CTR_Code PCM::GetCompressorStickyFault(bool &status)
}
/* Get solenoid sticky fault value
*
*
* @Return - True/False - True if compressor had previously been shorted
* (and sticky fault was not cleared), false if otherwise
*/
@@ -291,7 +291,7 @@ CTR_Code PCM::GetSolenoidStickyFault(bool &status)
return rx.err;
}
/* Get battery voltage
*
*
* @Return - Volts - Voltage across PCM power ports
*/
CTR_Code PCM::GetBatteryVoltage(float &status)
@@ -311,9 +311,9 @@ CTR_Code PCM::isModuleEnabled(bool &status)
return rx.err;
}
/* Get number of total failed PCM Control Frame
*
*
* @Return - Failed Control Frames - Number of failed control frames (tokenization fails)
*
*
* @WARNING - Return only valid if [SeekDebugFrames] is enabled
* See function SeekDebugFrames
* See function EnableSeekDebugFrames
@@ -327,10 +327,10 @@ CTR_Code PCM::GetNumberOfFailedControlFrames(UINT16 &status)
return rx.err;
}
/* Get raw Solenoid Blacklist
*
*
* @Return - BINARY - Raw binary breakdown of Solenoid Blacklist
* BIT7 = Solenoid 1, BIT6 = Solenoid 2, etc.
*
*
* @WARNING - Return only valid if [SeekStatusFaultFrames] is enabled
* See function SeekStatusFaultFrames
* See function EnableSeekStatusFaultFrames
@@ -343,11 +343,11 @@ CTR_Code PCM::GetSolenoidBlackList(UINT8 &status)
}
/* Get solenoid Blacklist status
* - Blacklisted solenoids cannot be enabled until PCM is power cycled
*
*
* @Return - True/False - True if Solenoid is blacklisted, false if otherwise
*
*
* @Param - idx - ID of solenoid [0,7]
*
*
* @WARNING - Return only valid if [SeekStatusFaultFrames] is enabled
* See function SeekStatusFaultFrames
* See function EnableSeekStatusFaultFrames
@@ -355,7 +355,7 @@ CTR_Code PCM::GetSolenoidBlackList(UINT8 &status)
CTR_Code PCM::IsSolenoidBlacklisted(UINT8 idx, bool &status)
{
GET_PCM_SOL_FAULTS();
status = (rx->SolenoidBlacklist & (1ul<<(7-idx)) )? 1 : 0;
status = (rx->SolenoidBlacklist & (1ul<<(idx)) )? 1 : 0;
return rx.err;
}
//------------------ C interface --------------------------------------------//

4
wpilibc/wpilibC++IntegrationTests/include/TestBench.h
View File

@@ -61,6 +61,6 @@ public:
static const uint32_t kTalonPDPChannel = 11;
/* PCM channels */
static const int32_t kSolenoidChannel1 = 7;
static const int32_t kSolenoidChannel2 = 6;
static const int32_t kSolenoidChannel1 = 0;
static const int32_t kSolenoidChannel2 = 1;
};