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[doc] Add missing pneumatics docs (NFC) (#5389)
Add missing HAL docs for PCM and PH Fix references to PCM Document different one shot durations for PCM and PH
This commit is contained in:
sciencewhiz
@@ -4,6 +4,7 @@
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package edu.wpi.first.hal;
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/** REV Pneumatic Hub (PH) HAL JNI functions. */
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public class REVPHJNI extends JNIWrapper {
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public static final int COMPRESSOR_CONFIG_TYPE_DISABLED = 0;
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public static final int COMPRESSOR_CONFIG_TYPE_DIGITAL = 1;
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@@ -9,7 +9,7 @@
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#include "hal/Types.h"
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/**
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* @defgroup hal_ctre_pcm CTRE PCM Functions
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* @defgroup hal_ctre_pcm CTRE Pneumatic Control Module (PCM) Functions
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* @ingroup hal_capi
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* @{
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*/
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@@ -18,51 +18,232 @@
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extern "C" {
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#endif
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/**
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* Initializes a PCM.
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*
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* @param[in] module the CAN ID to initialize
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* @param[in] allocationLocation the location where the allocation is occurring
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* (can be null)
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* @param[out] status Error status variable. 0 on success.
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* @return the created PH handle
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*/
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HAL_CTREPCMHandle HAL_InitializeCTREPCM(int32_t module,
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const char* allocationLocation,
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int32_t* status);
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/**
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* Frees a PCM handle.
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*
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* @param[in] handle the PCMhandle
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*/
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void HAL_FreeCTREPCM(HAL_CTREPCMHandle handle);
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/**
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* Checks if a solenoid channel number is valid.
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*
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* @param[in] channel the channel to check
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* @return true if the channel is valid, otherwise false
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*/
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HAL_Bool HAL_CheckCTREPCMSolenoidChannel(int32_t channel);
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/**
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* Get whether compressor is turned on.
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*
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* @param[in] handle the PCM handle
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* @param[out] status Error status variable. 0 on success.
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* @return true if the compressor is turned on
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*/
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HAL_Bool HAL_GetCTREPCMCompressor(HAL_CTREPCMHandle handle, int32_t* status);
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/**
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* Enables the compressor closed loop control using the digital pressure switch.
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* The compressor will turn on when the pressure switch indicates that the
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* system is not full, and will turn off when the pressure switch indicates that
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* the system is full.
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*
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* @param[in] handle the PCM handle
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* @param[in] enabled true to enable closed loop control
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* @param[out] status Error status variable. 0 on success.
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*/
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void HAL_SetCTREPCMClosedLoopControl(HAL_CTREPCMHandle handle, HAL_Bool enabled,
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int32_t* status);
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/**
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* Get whether the PCM closed loop control is enabled.
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*
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* @param[in] handle the PCM handle
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* @param[out] status Error status variable. 0 on success.
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* @return True if closed loop control is enabled, otherwise false.
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*/
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HAL_Bool HAL_GetCTREPCMClosedLoopControl(HAL_CTREPCMHandle handle,
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int32_t* status);
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/**
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* Returns the state of the pressure switch.
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*
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* @param[in] handle the PCM handle
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* @param[out] status Error status variable. 0 on success.
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* @return True if pressure switch indicates that the system is full,
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* otherwise false.
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*/
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HAL_Bool HAL_GetCTREPCMPressureSwitch(HAL_CTREPCMHandle handle,
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int32_t* status);
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/**
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* Returns the current drawn by the compressor.
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*
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* @param[in] handle the PCM handle
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* @param[out] status Error status variable. 0 on success.
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* @return The current drawn by the compressor in amps.
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*/
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double HAL_GetCTREPCMCompressorCurrent(HAL_CTREPCMHandle handle,
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int32_t* status);
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/**
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* Return whether the compressor current is currently too high.
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*
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* @param[in] handle the PCM handle
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* @param[out] status Error status variable. 0 on success.
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* @return True if the compressor current is too high, otherwise false.
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* @see HAL_GetCTREPCMCompressorShortedStickyFault
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*/
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HAL_Bool HAL_GetCTREPCMCompressorCurrentTooHighFault(HAL_CTREPCMHandle handle,
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int32_t* status);
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/**
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* Returns whether the compressor current has been too high since sticky
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* faults were last cleared. This fault is persistent and can be cleared by
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* HAL_ClearAllCTREPCMStickyFaults()
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*
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* @param[in] handle the PCM handle
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* @param[out] status Error status variable. 0 on success.
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* @return True if the compressor current has been too high since sticky
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* faults were last cleared.
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* @see HAL_GetCTREPCMCompressorCurrentTooHighFault()
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*/
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HAL_Bool HAL_GetCTREPCMCompressorCurrentTooHighStickyFault(
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HAL_CTREPCMHandle handle, int32_t* status);
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/**
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* Returns whether the compressor has been shorted since sticky faults were
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* last cleared. This fault is persistent and can be cleared by
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* HAL_ClearAllCTREPCMStickyFaults()
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*
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* @param[in] handle the PCM handle
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* @param[out] status Error status variable. 0 on success.
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* @return True if the compressor has been shorted since sticky faults were
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* last cleared, otherwise false.
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* @see HAL_GetCTREPCMCompressorShortedFault()
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*/
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HAL_Bool HAL_GetCTREPCMCompressorShortedStickyFault(HAL_CTREPCMHandle handle,
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int32_t* status);
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/**
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* Returns whether the compressor is currently shorted.
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*
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* @param[in] handle the PCM handle
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* @param[out] status Error status variable. 0 on success.
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* @return True if the compressor is currently shorted, otherwise false.
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* @see HAL_GetCTREPCMCompressorShortedStickyFault
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*/
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HAL_Bool HAL_GetCTREPCMCompressorShortedFault(HAL_CTREPCMHandle handle,
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int32_t* status);
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/**
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* Returns whether the compressor has been disconnected since sticky faults
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* were last cleared. This fault is persistent and can be cleared by
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* HAL_ClearAllCTREPCMStickyFaults()
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*
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* @return True if the compressor has been disconnected since sticky faults
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* were last cleared, otherwise false.
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* @see HAL_GetCTREPCMCompressorShortedFault()
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*/
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HAL_Bool HAL_GetCTREPCMCompressorNotConnectedStickyFault(
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HAL_CTREPCMHandle handle, int32_t* status);
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/**
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* Returns whether the compressor is currently disconnected.
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*
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* @param[in] handle the PCM handle
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* @param[out] status Error status variable. 0 on success.
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* @return True if compressor is currently disconnected, otherwise false.
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* @see HAL_GetCTREPCMCompressorNotConnectedStickyFault()
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*/
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HAL_Bool HAL_GetCTREPCMCompressorNotConnectedFault(HAL_CTREPCMHandle handle,
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int32_t* status);
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/**
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* Gets a bitmask of solenoid values.
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*
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* @param[in] handle the PCM handle
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* @param[out] status Error status variable. 0 on success.
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* @return solenoid values
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*/
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int32_t HAL_GetCTREPCMSolenoids(HAL_CTREPCMHandle handle, int32_t* status);
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/**
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* Sets solenoids on a pneumatics module.
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*
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* @param[in] handle the PCM handle
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* @param[in] mask bitmask to set
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* @param[in] values solenoid values
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* @param[out] status Error status variable. 0 on success.
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*/
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void HAL_SetCTREPCMSolenoids(HAL_CTREPCMHandle handle, int32_t mask,
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int32_t values, int32_t* status);
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/**
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* Get a bitmask of disabled solenoids.
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*
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* @param[in] handle the PCM handle
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* @param[out] status Error status variable. 0 on success.
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* @return bitmask of disabled solenoids
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*/
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int32_t HAL_GetCTREPCMSolenoidDisabledList(HAL_CTREPCMHandle handle,
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int32_t* status);
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/**
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* Returns whether the solenoid has reported a voltage fault since sticky faults
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* were last cleared. This fault is persistent and can be cleared by
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* HAL_ClearAllCTREPCMStickyFaults()
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*
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* @return True if solenoid is reporting a fault, otherwise false.
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* @see HAL_GetCTREPCMSolenoidVoltageFault()
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*/
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HAL_Bool HAL_GetCTREPCMSolenoidVoltageStickyFault(HAL_CTREPCMHandle handle,
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int32_t* status);
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/**
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* Returns whether the solenoid is currently reporting a voltage fault.
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*
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* @param[in] handle the PCM handle
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* @param[out] status Error status variable. 0 on success.
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* @return True if solenoid is reporting a fault, otherwise false.
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* @see HAL_GetCTREPCMSolenoidVoltageStickyFault()
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*/
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HAL_Bool HAL_GetCTREPCMSolenoidVoltageFault(HAL_CTREPCMHandle handle,
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int32_t* status);
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/** Clears all sticky faults on this device. */
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void HAL_ClearAllCTREPCMStickyFaults(HAL_CTREPCMHandle handle, int32_t* status);
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/**
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* Fire a single solenoid shot.
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*
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* @param[in] handle the PCM handle
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* @param[in] index solenoid index
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* @param[out] status Error status variable. 0 on success.
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*/
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void HAL_FireCTREPCMOneShot(HAL_CTREPCMHandle handle, int32_t index,
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int32_t* status);
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/**
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* Set the duration for a single solenoid shot.
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*
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* @param[in] handle the PCM handle
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* @param[in] index solenoid index
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* @param[in] durMs shot duration in ms
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* @param[out] status Error status variable. 0 on success.
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*/
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void HAL_SetCTREPCMOneShotDuration(HAL_CTREPCMHandle handle, int32_t index,
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int32_t durMs, int32_t* status);
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@@ -9,7 +9,7 @@
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#include "hal/Types.h"
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/**
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* @defgroup hal_rev_ph REV PH Functions
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* @defgroup hal_rev_ph REV Pneumatic Hub (PH) Functions
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* @ingroup hal_capi
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* @{
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*/
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@@ -91,58 +91,279 @@ struct HAL_REVPHStickyFaults {
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extern "C" {
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#endif
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/**
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* Initializes a PH.
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*
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* @param[in] module the CAN ID to initialize
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* @param[in] allocationLocation the location where the allocation is occurring
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* (can be null)
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* @param[out] status Error status variable. 0 on success.
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* @return the created PH handle
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*/
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HAL_REVPHHandle HAL_InitializeREVPH(int32_t module,
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const char* allocationLocation,
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int32_t* status);
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/**
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* Frees a PH handle.
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*
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* @param[in] handle the PH handle
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*/
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void HAL_FreeREVPH(HAL_REVPHHandle handle);
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/**
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* Checks if a solenoid channel number is valid.
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*
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* @param[in] channel the channel to check
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* @return true if the channel is valid, otherwise false
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*/
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HAL_Bool HAL_CheckREVPHSolenoidChannel(int32_t channel);
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/**
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* Checks if a PH module (CAN ID) is valid.
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*
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* @param[in] module the module to check
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* @return true if the module is valid, otherwise false
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*/
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HAL_Bool HAL_CheckREVPHModuleNumber(int32_t module);
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/**
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* Get whether compressor is turned on.
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*
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* @param[in] handle the PH handle
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* @param[out] status Error status variable. 0 on success.
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* @return true if the compressor is turned on
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*/
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HAL_Bool HAL_GetREVPHCompressor(HAL_REVPHHandle handle, int32_t* status);
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/**
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* Send compressor configuration to the PH.
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*
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* @param[in] handle the PH handle
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* @param[in] config compressor configuration
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* @param[out] status Error status variable. 0 on success.
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*/
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void HAL_SetREVPHCompressorConfig(HAL_REVPHHandle handle,
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const HAL_REVPHCompressorConfig* config,
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int32_t* status);
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/**
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* Disable Compressor.
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*
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* @param[in] handle the PH handle
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* @param[out] status Error status variable. 0 on success.
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*/
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void HAL_SetREVPHClosedLoopControlDisabled(HAL_REVPHHandle handle,
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int32_t* status);
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/**
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* Enables the compressor in digital mode using the digital pressure switch. The
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* compressor will turn on when the pressure switch indicates that the system is
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* not full, and will turn off when the pressure switch indicates that the
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* system is full.
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*
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* @param[in] handle the PH handle
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* @param[out] status Error status variable. 0 on success.
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*/
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void HAL_SetREVPHClosedLoopControlDigital(HAL_REVPHHandle handle,
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int32_t* status);
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/**
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* Enables the compressor in analog mode. This mode uses an analog
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* pressure sensor connected to analog channel 0 to cycle the compressor. The
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* compressor will turn on when the pressure drops below minAnalogVoltage and
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* will turn off when the pressure reaches maxAnalogVoltage. This mode is only
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* supported by the REV PH with the REV Analog Pressure Sensor connected to
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* analog channel 0.
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* @param[in] handle the PH handle
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* @param[in] minAnalogVoltage The compressor will turn on when the analog
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* pressure sensor voltage drops below this value
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* @param[in] maxAnalogVoltage The compressor will turn off when the analog
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* pressure sensor reaches this value.
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* @param[out] status Error status variable. 0 on success.
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*/
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void HAL_SetREVPHClosedLoopControlAnalog(HAL_REVPHHandle handle,
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double minAnalogVoltage,
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double maxAnalogVoltage,
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int32_t* status);
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/**
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* Enables the compressor in hybrid mode. This mode uses both a digital
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* pressure switch and an analog pressure sensor connected to analog channel 0
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* to cycle the compressor.
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*
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* The compressor will turn on when \a both:
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*
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* - The digital pressure switch indicates the system is not full AND
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* - The analog pressure sensor indicates that the pressure in the system is
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* below the specified minimum pressure.
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*
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* The compressor will turn off when \a either:
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*
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* - The digital pressure switch is disconnected or indicates that the system
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* is full OR
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* - The pressure detected by the analog sensor is greater than the specified
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* maximum pressure.
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*
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* @param[in] handle the PH handle
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* @param[in] minAnalogVoltage The compressor will turn on when the analog
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* pressure sensor voltage drops below this value and the pressure switch
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* indicates that the system is not full.
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* @param[in] maxAnalogVoltage The compressor will turn off when the analog
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* pressure sensor reaches this value or the pressure switch is disconnected or
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* indicates that the system is full.
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* @param[out] status Error status variable. 0 on success.
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*/
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void HAL_SetREVPHClosedLoopControlHybrid(HAL_REVPHHandle handle,
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double minAnalogVoltage,
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double maxAnalogVoltage,
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int32_t* status);
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/**
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* Get compressor configuration from the PH.
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*
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* @param[in] handle the PH handle
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* @param[out] status Error status variable. 0 on success.
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* @return compressor configuration
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*/
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HAL_REVPHCompressorConfigType HAL_GetREVPHCompressorConfig(
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HAL_REVPHHandle handle, int32_t* status);
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/**
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* Returns the state of the digital pressure switch.
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*
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* @param[in] handle the PH handle
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* @param[out] status Error status variable. 0 on success.
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* @return True if pressure switch indicates that the system is full,
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* otherwise false.
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*/
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HAL_Bool HAL_GetREVPHPressureSwitch(HAL_REVPHHandle handle, int32_t* status);
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/**
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* Returns the current drawn by the compressor.
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*
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* @param[in] handle the PH handle
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* @param[out] status Error status variable. 0 on success.
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* @return The current drawn by the compressor in amps.
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*/
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double HAL_GetREVPHCompressorCurrent(HAL_REVPHHandle handle, int32_t* status);
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/**
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* Returns the raw voltage of the specified analog
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* input channel.
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*
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* @param[in] handle the PH handle
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* @param[in] channel The analog input channel to read voltage from.
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* @param[out] status Error status variable. 0 on success.
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* @return The voltage of the specified analog input channel in volts.
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*/
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double HAL_GetREVPHAnalogVoltage(HAL_REVPHHandle handle, int32_t channel,
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int32_t* status);
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/**
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* Returns the current input voltage for the PH.
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*
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* @param[in] handle the PH handle
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* @param[out] status Error status variable. 0 on success.
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* @return The input voltage in volts.
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*/
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double HAL_GetREVPHVoltage(HAL_REVPHHandle handle, int32_t* status);
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/**
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* Returns the current voltage of the regulated 5v supply.
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*
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* @param[in] handle the PH handle
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* @param[out] status Error status variable. 0 on success.
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* @return The current voltage of the 5v supply in volts.
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*/
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double HAL_GetREVPH5VVoltage(HAL_REVPHHandle handle, int32_t* status);
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/**
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* Returns the total current drawn by all solenoids.
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*
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* @param[in] handle the PH handle
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* @param[out] status Error status variable. 0 on success.
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* @return Total current drawn by all solenoids in amps.
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*/
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double HAL_GetREVPHSolenoidCurrent(HAL_REVPHHandle handle, int32_t* status);
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/**
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* Returns the current voltage of the solenoid power supply.
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*
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* @param[in] handle the PH handle
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* @param[out] status Error status variable. 0 on success.
|
||||
* @return The current voltage of the solenoid power supply in volts.
|
||||
*/
|
||||
double HAL_GetREVPHSolenoidVoltage(HAL_REVPHHandle handle, int32_t* status);
|
||||
|
||||
/**
|
||||
* Returns the hardware and firmware versions of the PH.
|
||||
*
|
||||
* @param[in] handle the PH handle
|
||||
* @param[out] version The hardware and firmware versions.
|
||||
* @param[out] status Error status variable. 0 on success.
|
||||
*/
|
||||
void HAL_GetREVPHVersion(HAL_REVPHHandle handle, HAL_REVPHVersion* version,
|
||||
int32_t* status);
|
||||
|
||||
/**
|
||||
* Gets a bitmask of solenoid values.
|
||||
*
|
||||
* @param[in] handle the PH handle
|
||||
* @param[out] status Error status variable. 0 on success.
|
||||
* @return solenoid values
|
||||
*/
|
||||
int32_t HAL_GetREVPHSolenoids(HAL_REVPHHandle handle, int32_t* status);
|
||||
|
||||
/**
|
||||
* Sets solenoids on a pneumatics module.
|
||||
*
|
||||
* @param[in] handle the PH handle
|
||||
* @param[in] mask bitmask to set
|
||||
* @param[in] values solenoid values
|
||||
* @param[out] status Error status variable. 0 on success.
|
||||
*/
|
||||
void HAL_SetREVPHSolenoids(HAL_REVPHHandle handle, int32_t mask, int32_t values,
|
||||
int32_t* status);
|
||||
|
||||
/**
|
||||
* Fire a single solenoid shot for the specified duration.
|
||||
*
|
||||
* @param[in] handle the PH handle
|
||||
* @param[in] index solenoid index
|
||||
* @param[in] durMs shot duration in ms
|
||||
* @param[out] status Error status variable. 0 on success.
|
||||
*/
|
||||
void HAL_FireREVPHOneShot(HAL_REVPHHandle handle, int32_t index, int32_t durMs,
|
||||
int32_t* status);
|
||||
|
||||
/**
|
||||
* Returns the faults currently active on the PH.
|
||||
*
|
||||
* @param[in] handle the PH handle
|
||||
* @param[out] faults The faults.
|
||||
* @param[out] status Error status variable. 0 on success.
|
||||
*/
|
||||
void HAL_GetREVPHFaults(HAL_REVPHHandle handle, HAL_REVPHFaults* faults,
|
||||
int32_t* status);
|
||||
|
||||
/**
|
||||
* Returns the sticky faults currently active on this device.
|
||||
*
|
||||
* @param[in] handle the PH handle
|
||||
* @param[out] stickyFaults The sticky faults.
|
||||
* @param[out] status Error status variable. 0 on success.
|
||||
*/
|
||||
void HAL_GetREVPHStickyFaults(HAL_REVPHHandle handle,
|
||||
HAL_REVPHStickyFaults* stickyFaults,
|
||||
int32_t* status);
|
||||
|
||||
/**
|
||||
* Clears the sticky faults.
|
||||
*
|
||||
* @param[in] handle the PH handle
|
||||
* @param[out] status Error status variable. 0 on success.
|
||||
*/
|
||||
void HAL_ClearREVPHStickyFaults(HAL_REVPHHandle handle, int32_t* status);
|
||||
|
||||
#ifdef __cplusplus
|
||||
|
||||
Reference in New Issue
Block a user