[hal] Initial SystemCore empty HAL (#7454)

hal/src/main/native/systemcore/REVPDH.h

@@ -0,0 +1,170 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <stdint.h>
+
+#include "hal/PowerDistribution.h"
+#include "hal/Types.h"
+
+/**
+ * @defgroup hal_rev_pdh REV Power Distribution Hub API Functions
+ * @ingroup hal_capi
+ * @{
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Initializes a REV Power Distribution Hub (PDH) device.
+ *
+ * @param module       the device CAN ID (1 .. 63)
+ * @return the created PDH handle
+ */
+HAL_REVPDHHandle HAL_InitializeREVPDH(int32_t module,
+                                      const char* allocationLocation,
+                                      int32_t* status);
+
+/**
+ * Frees a PDH device handle.
+ *
+ * @param handle        the previously created PDH handle
+ */
+void HAL_FreeREVPDH(HAL_REVPDHHandle handle);
+
+/**
+ * Gets the module number for a pdh.
+ */
+int32_t HAL_GetREVPDHModuleNumber(HAL_REVPDHHandle handle, int32_t* status);
+
+/**
+ * Checks if a PDH module number is valid.
+ *
+ * Does not check if a PDH device with this module has been initialized.
+ *
+ * @param module        module number (1 .. 63)
+ * @return 1 if the module number is valid; 0 otherwise
+ */
+HAL_Bool HAL_CheckREVPDHModuleNumber(int32_t module);
+
+/**
+ * Checks if a PDH channel number is valid.
+ *
+ * @param module        channel number (0 .. kNumREVPDHChannels)
+ * @return 1 if the channel number is valid; 0 otherwise
+ */
+HAL_Bool HAL_CheckREVPDHChannelNumber(int32_t channel);
+
+/**
+ * Gets the current of a PDH channel in Amps.
+ *
+ * @param handle        PDH handle
+ * @param channel       the channel to retrieve the current of (0 ..
+ * kNumREVPDHChannels)
+ *
+ * @return the current of the PDH channel in Amps
+ */
+double HAL_GetREVPDHChannelCurrent(HAL_REVPDHHandle handle, int32_t channel,
+                                   int32_t* status);
+
+/**
+ * @param handle        PDH handle
+ * @param currents      array of currents
+ */
+void HAL_GetREVPDHAllChannelCurrents(HAL_REVPDHHandle handle, double* currents,
+                                     int32_t* status);
+
+/**
+ * Gets the total current of the PDH in Amps, measured to the nearest even
+ * integer.
+ *
+ * @param handle        PDH handle
+ *
+ * @return the total current of the PDH in Amps
+ */
+uint16_t HAL_GetREVPDHTotalCurrent(HAL_REVPDHHandle handle, int32_t* status);
+
+/**
+ * Sets the state of the switchable channel on a PDH device.
+ *
+ * @param handle        PDH handle
+ * @param enabled       1 if the switchable channel should be enabled; 0
+ * otherwise
+ */
+void HAL_SetREVPDHSwitchableChannel(HAL_REVPDHHandle handle, HAL_Bool enabled,
+                                    int32_t* status);
+
+/**
+ * Gets the current state of the switchable channel on a PDH device.
+ *
+ * This call relies on a periodic status sent by the PDH device and will be as
+ * fresh as the last packet received.
+ *
+ * @param handle        PDH handle
+ * @return 1 if the switchable channel is enabled; 0 otherwise
+ */
+HAL_Bool HAL_GetREVPDHSwitchableChannelState(HAL_REVPDHHandle handle,
+                                             int32_t* status);
+
+/**
+ * Gets the firmware and hardware versions of a PDH device.
+ *
+ * @param handle        PDH handle
+ *
+ * @return version information
+ */
+void HAL_GetREVPDHVersion(HAL_REVPDHHandle handle,
+                          HAL_PowerDistributionVersion* version,
+                          int32_t* status);
+
+/**
+ * Gets the voltage being supplied to a PDH device.
+ *
+ * @param handle        PDH handle
+ *
+ * @return the voltage at the input of the PDH in Volts
+ */
+double HAL_GetREVPDHVoltage(HAL_REVPDHHandle handle, int32_t* status);
+
+/**
+ * Gets the faults of a PDH device.
+ *
+ * @param handle        PDH handle
+ *
+ * @return the faults of the PDH
+ */
+void HAL_GetREVPDHFaults(HAL_REVPDHHandle handle,
+                         HAL_PowerDistributionFaults* faults, int32_t* status);
+
+/**
+ * Gets the sticky faults of a PDH device.
+ *
+ * @param handle        PDH handle
+ *
+ * @return the sticky faults of the PDH
+ */
+void HAL_GetREVPDHStickyFaults(HAL_REVPDHHandle handle,
+                               HAL_PowerDistributionStickyFaults* stickyFaults,
+                               int32_t* status);
+
+/**
+ * Clears the sticky faults on a PDH device.
+ *
+ * @param handle        PDH handle
+ */
+void HAL_ClearREVPDHStickyFaults(HAL_REVPDHHandle handle, int32_t* status);
+
+void HAL_StartREVPDHStream(HAL_REVPDHHandle handle, int32_t* status);
+
+HAL_PowerDistributionChannelData* HAL_GetREVPDHStreamData(
+    HAL_REVPDHHandle handle, int32_t* count, int32_t* status);
+
+void HAL_StopREVPDHStream(HAL_REVPDHHandle handle, int32_t* status);
+
+#ifdef __cplusplus
+}  // extern "C"
+#endif