Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-23 01:21:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Switches compressor to handles (#125)

Browse Source
This commit is contained in:
Thad House
2016-07-02 08:22:44 -07:00
committed by Peter Johnson
parent 0f105a26f7
commit 62c217cd01
9 changed files with 253 additions and 114 deletions
Download Patch File Download Diff File Expand all files Collapse all files

148
hal/lib/athena/Compressor.cpp
View File

@@ -7,26 +7,45 @@
#include "HAL/Compressor.h"
#include "HAL/Errors.h"
#include "ctre/PCM.h"
#include "handles/HandlesInternal.h"
static const int NUM_MODULE_NUMBERS = 63;
extern PCM* PCM_modules[NUM_MODULE_NUMBERS];
extern void initializePCM(int module);
using namespace hal;
extern "C" {
void* initializeCompressor(uint8_t module) {
HalCompressorHandle initializeCompressor(uint8_t module, int32_t* status) {
// fail on invalid index;
if (!checkCompressorModule(module)) {
*status = PARAMETER_OUT_OF_RANGE;
return HAL_INVALID_HANDLE;
}
initializePCM(module);
return PCM_modules[module];
// As compressors can have unlimited objects, just create a
// handle with the module number as the index.
return (HalCompressorHandle)createHandle(module, HalHandleEnum::Compressor);
}
bool checkCompressorModule(uint8_t module) {
return module < NUM_MODULE_NUMBERS;
}
bool getCompressor(void* pcm_pointer, int32_t* status) {
PCM* module = (PCM*)pcm_pointer;
bool getCompressor(HalCompressorHandle compressor_handle, int32_t* status) {
int16_t index =
getHandleTypedIndex(compressor_handle, HalHandleEnum::Compressor);
if (index == InvalidHandleIndex) {
*status = PARAMETER_OUT_OF_RANGE;
return false;
}
PCM* module = PCM_modules[index];
bool value;
*status = module->GetCompressor(value);
@@ -34,14 +53,28 @@ bool getCompressor(void* pcm_pointer, int32_t* status) {
return value;
}
void setClosedLoopControl(void* pcm_pointer, bool value, int32_t* status) {
PCM* module = (PCM*)pcm_pointer;
void setClosedLoopControl(HalCompressorHandle compressor_handle, bool value,
int32_t* status) {
int16_t index =
getHandleTypedIndex(compressor_handle, HalHandleEnum::Compressor);
if (index == InvalidHandleIndex) {
*status = PARAMETER_OUT_OF_RANGE;
return;
}
PCM* module = PCM_modules[index];
*status = module->SetClosedLoopControl(value);
}
bool getClosedLoopControl(void* pcm_pointer, int32_t* status) {
PCM* module = (PCM*)pcm_pointer;
bool getClosedLoopControl(HalCompressorHandle compressor_handle,
int32_t* status) {
int16_t index =
getHandleTypedIndex(compressor_handle, HalHandleEnum::Compressor);
if (index == InvalidHandleIndex) {
*status = PARAMETER_OUT_OF_RANGE;
return false;
}
PCM* module = PCM_modules[index];
bool value;
*status = module->GetClosedLoopControl(value);
@@ -49,8 +82,14 @@ bool getClosedLoopControl(void* pcm_pointer, int32_t* status) {
return value;
}
bool getPressureSwitch(void* pcm_pointer, int32_t* status) {
PCM* module = (PCM*)pcm_pointer;
bool getPressureSwitch(HalCompressorHandle compressor_handle, int32_t* status) {
int16_t index =
getHandleTypedIndex(compressor_handle, HalHandleEnum::Compressor);
if (index == InvalidHandleIndex) {
*status = PARAMETER_OUT_OF_RANGE;
return false;
}
PCM* module = PCM_modules[index];
bool value;
*status = module->GetPressure(value);
@@ -58,65 +97,120 @@ bool getPressureSwitch(void* pcm_pointer, int32_t* status) {
return value;
}
float getCompressorCurrent(void* pcm_pointer, int32_t* status) {
PCM* module = (PCM*)pcm_pointer;
float getCompressorCurrent(HalCompressorHandle compressor_handle,
int32_t* status) {
int16_t index =
getHandleTypedIndex(compressor_handle, HalHandleEnum::Compressor);
if (index == InvalidHandleIndex) {
*status = PARAMETER_OUT_OF_RANGE;
return 0;
}
PCM* module = PCM_modules[index];
float value;
*status = module->GetCompressorCurrent(value);
return value;
}
bool getCompressorCurrentTooHighFault(void* pcm_pointer, int32_t* status) {
PCM* module = (PCM*)pcm_pointer;
bool getCompressorCurrentTooHighFault(HalCompressorHandle compressor_handle,
int32_t* status) {
int16_t index =
getHandleTypedIndex(compressor_handle, HalHandleEnum::Compressor);
if (index == InvalidHandleIndex) {
*status = PARAMETER_OUT_OF_RANGE;
return false;
}
PCM* module = PCM_modules[index];
bool value;
*status = module->GetCompressorCurrentTooHighFault(value);
return value;
}
bool getCompressorCurrentTooHighStickyFault(void* pcm_pointer,
int32_t* status) {
PCM* module = (PCM*)pcm_pointer;
bool getCompressorCurrentTooHighStickyFault(
HalCompressorHandle compressor_handle, int32_t* status) {
int16_t index =
getHandleTypedIndex(compressor_handle, HalHandleEnum::Compressor);
if (index == InvalidHandleIndex) {
*status = PARAMETER_OUT_OF_RANGE;
return false;
}
PCM* module = PCM_modules[index];
bool value;
*status = module->GetCompressorCurrentTooHighStickyFault(value);
return value;
}
bool getCompressorShortedStickyFault(void* pcm_pointer, int32_t* status) {
PCM* module = (PCM*)pcm_pointer;
bool getCompressorShortedStickyFault(HalCompressorHandle compressor_handle,
int32_t* status) {
int16_t index =
getHandleTypedIndex(compressor_handle, HalHandleEnum::Compressor);
if (index == InvalidHandleIndex) {
*status = PARAMETER_OUT_OF_RANGE;
return false;
}
PCM* module = PCM_modules[index];
bool value;
*status = module->GetCompressorShortedStickyFault(value);
return value;
}
bool getCompressorShortedFault(void* pcm_pointer, int32_t* status) {
PCM* module = (PCM*)pcm_pointer;
bool getCompressorShortedFault(HalCompressorHandle compressor_handle,
int32_t* status) {
int16_t index =
getHandleTypedIndex(compressor_handle, HalHandleEnum::Compressor);
if (index == InvalidHandleIndex) {
*status = PARAMETER_OUT_OF_RANGE;
return false;
}
PCM* module = PCM_modules[index];
bool value;
*status = module->GetCompressorShortedFault(value);
return value;
}
bool getCompressorNotConnectedStickyFault(void* pcm_pointer, int32_t* status) {
PCM* module = (PCM*)pcm_pointer;
bool getCompressorNotConnectedStickyFault(HalCompressorHandle compressor_handle,
int32_t* status) {
int16_t index =
getHandleTypedIndex(compressor_handle, HalHandleEnum::Compressor);
if (index == InvalidHandleIndex) {
*status = PARAMETER_OUT_OF_RANGE;
return false;
}
PCM* module = PCM_modules[index];
bool value;
*status = module->GetCompressorNotConnectedStickyFault(value);
return value;
}
bool getCompressorNotConnectedFault(void* pcm_pointer, int32_t* status) {
PCM* module = (PCM*)pcm_pointer;
bool getCompressorNotConnectedFault(HalCompressorHandle compressor_handle,
int32_t* status) {
int16_t index =
getHandleTypedIndex(compressor_handle, HalHandleEnum::Compressor);
if (index == InvalidHandleIndex) {
*status = PARAMETER_OUT_OF_RANGE;
return false;
}
PCM* module = PCM_modules[index];
bool value;
*status = module->GetCompressorNotConnectedFault(value);
return value;
}
void clearAllPCMStickyFaults(void* pcm_pointer, int32_t* status) {
PCM* module = (PCM*)pcm_pointer;
void clearAllPCMStickyFaults(HalCompressorHandle compressor_handle,
int32_t* status) {
int16_t index =
getHandleTypedIndex(compressor_handle, HalHandleEnum::Compressor);
if (index == InvalidHandleIndex) {
*status = PARAMETER_OUT_OF_RANGE;
return;
}
PCM* module = PCM_modules[index];
*status = module->ClearStickyFaults();
}