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[hal] Add autodetect for power modules (#3706)

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Default autodetect to REV if no devices are found, as only the REV devices have control functionality (the switchable output).
This commit is contained in:
Thad House
2021-11-07 13:53:38 -08:00
committed by GitHub
parent 3dd41c0d37
commit 68ce62e2e9
3 changed files with 51 additions and 2 deletions
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41
hal/src/main/native/athena/PowerDistribution.cpp
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@@ -4,11 +4,14 @@
#include "hal/PowerDistribution.h"
#include <thread>
#include "CTREPDP.h"
#include "HALInternal.h"
#include "PortsInternal.h"
#include "REVPDH.h"
#include "hal/Errors.h"
#include "hal/HALBase.h"
#include "hal/handles/HandlesInternal.h"
using namespace hal;
@@ -19,7 +22,41 @@ HAL_PowerDistributionHandle HAL_InitializePowerDistribution(
int32_t moduleNumber, HAL_PowerDistributionType type,
const char* allocationLocation, int32_t* status) {
if (type == HAL_PowerDistributionType::HAL_PowerDistributionType_kAutomatic) {
type = HAL_PowerDistributionType::HAL_PowerDistributionType_kCTRE;
if (moduleNumber != HAL_DEFAULT_POWER_DISTRIBUTION_MODULE) {
*status = PARAMETER_OUT_OF_RANGE;
hal::SetLastError(
status, "Automatic PowerDistributionType must have default module");
return HAL_kInvalidHandle;
}
uint64_t waitTime = hal::GetDSInitializeTime() + 400000;
// Ensure we have been alive for long enough to receive a few Power packets.
do {
uint64_t currentTime = HAL_GetFPGATime(status);
if (*status != 0) {
return HAL_kInvalidHandle;
}
if (currentTime >= waitTime) {
break;
}
std::this_thread::sleep_for(
std::chrono::microseconds(waitTime - currentTime));
} while (true);
// Try PDP first
auto pdpHandle = HAL_InitializePDP(0, allocationLocation, status);
if (pdpHandle != HAL_kInvalidHandle) {
*status = 0;
HAL_GetPDPVoltage(pdpHandle, status);
if (*status == 0 || *status == HAL_CAN_TIMEOUT) {
return static_cast<HAL_PowerDistributionHandle>(pdpHandle);
}
HAL_CleanPDP(pdpHandle);
}
*status = 0;
auto pdhHandle = HAL_REV_InitializePDH(1, allocationLocation, status);
return static_cast<HAL_PowerDistributionHandle>(pdhHandle);
}
if (type == HAL_PowerDistributionType::HAL_PowerDistributionType_kCTRE) {
@@ -27,7 +64,7 @@ HAL_PowerDistributionHandle HAL_InitializePowerDistribution(
moduleNumber = 0;
}
return static_cast<HAL_PowerDistributionHandle>(
HAL_InitializePDP(moduleNumber, allocationLocation, status)); // TODO
HAL_InitializePDP(moduleNumber, allocationLocation, status));
} else {
if (moduleNumber == HAL_DEFAULT_POWER_DISTRIBUTION_MODULE) {
moduleNumber = 1;