mirror of
https://github.com/wpilibsuite/allwpilib
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[wpilib, hal] Add support for getting faults and versions from power distribution (#3794)
This commit is contained in:
Thad House
123
hal/src/main/java/edu/wpi/first/hal/PowerDistributionFaults.java
Normal file
123
hal/src/main/java/edu/wpi/first/hal/PowerDistributionFaults.java
Normal file
@@ -0,0 +1,123 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package edu.wpi.first.hal;
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public class PowerDistributionFaults {
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@SuppressWarnings("MemberName")
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public final boolean Channel0BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel1BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel2BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel3BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel4BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel5BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel6BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel7BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel8BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel9BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel10BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel11BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel12BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel13BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel14BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel15BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel16BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel17BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel18BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel19BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel20BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel21BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel22BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel23BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Brownout;
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@SuppressWarnings("MemberName")
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public final boolean CanWarning;
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@SuppressWarnings("MemberName")
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public final boolean HardwareFault;
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/**
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* Constructs from a bitfield.
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*
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* @param faults faults
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*/
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public PowerDistributionFaults(int faults) {
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Channel0BreakerFault = (faults & 0x1) != 0;
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Channel1BreakerFault = (faults & 0x2) != 0;
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Channel2BreakerFault = (faults & 0x4) != 0;
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Channel3BreakerFault = (faults & 0x8) != 0;
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Channel4BreakerFault = (faults & 0x10) != 0;
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Channel5BreakerFault = (faults & 0x20) != 0;
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Channel6BreakerFault = (faults & 0x40) != 0;
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Channel7BreakerFault = (faults & 0x80) != 0;
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Channel8BreakerFault = (faults & 0x100) != 0;
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Channel9BreakerFault = (faults & 0x200) != 0;
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Channel10BreakerFault = (faults & 0x400) != 0;
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Channel11BreakerFault = (faults & 0x800) != 0;
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Channel12BreakerFault = (faults & 0x1000) != 0;
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Channel13BreakerFault = (faults & 0x2000) != 0;
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Channel14BreakerFault = (faults & 0x4000) != 0;
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Channel15BreakerFault = (faults & 0x8000) != 0;
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Channel16BreakerFault = (faults & 0x10000) != 0;
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Channel17BreakerFault = (faults & 0x20000) != 0;
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Channel18BreakerFault = (faults & 0x40000) != 0;
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Channel19BreakerFault = (faults & 0x80000) != 0;
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Channel20BreakerFault = (faults & 0x100000) != 0;
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Channel21BreakerFault = (faults & 0x200000) != 0;
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Channel22BreakerFault = (faults & 0x400000) != 0;
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Channel23BreakerFault = (faults & 0x800000) != 0;
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Brownout = (faults & 0x1000000) != 0;
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CanWarning = (faults & 0x2000000) != 0;
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HardwareFault = (faults & 0x4000000) != 0;
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}
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}
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@@ -56,4 +56,18 @@ public class PowerDistributionJNI extends JNIWrapper {
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public static native boolean getSwitchableChannelNoError(int handle);
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public static native void setSwitchableChannelNoError(int handle, boolean enabled);
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public static native int getFaultsNative(int handle);
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public static PowerDistributionFaults getFaults(int handle) {
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return new PowerDistributionFaults(getFaultsNative(handle));
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}
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public static native int getStickyFaultsNative(int handle);
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public static PowerDistributionStickyFaults getStickyFaults(int handle) {
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return new PowerDistributionStickyFaults(getStickyFaultsNative(handle));
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}
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public static native PowerDistributionVersion getVersion(int handle);
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}
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@@ -0,0 +1,127 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package edu.wpi.first.hal;
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public class PowerDistributionStickyFaults {
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@SuppressWarnings("MemberName")
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public final boolean Channel0BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel1BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel2BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel3BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel4BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel5BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel6BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel7BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel8BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel9BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel10BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel11BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel12BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel13BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel14BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel15BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel16BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel17BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel18BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel19BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel20BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel21BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel22BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel23BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Brownout;
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@SuppressWarnings("MemberName")
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public final boolean CanWarning;
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@SuppressWarnings("MemberName")
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public final boolean CanBusOff;
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@SuppressWarnings("MemberName")
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public final boolean HasReset;
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/**
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* Constructs from a bitfield.
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*
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* @param faults faults
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*/
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public PowerDistributionStickyFaults(int faults) {
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Channel0BreakerFault = (faults & 0x1) != 0;
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Channel1BreakerFault = (faults & 0x2) != 0;
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Channel2BreakerFault = (faults & 0x4) != 0;
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Channel3BreakerFault = (faults & 0x8) != 0;
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Channel4BreakerFault = (faults & 0x10) != 0;
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Channel5BreakerFault = (faults & 0x20) != 0;
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Channel6BreakerFault = (faults & 0x40) != 0;
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Channel7BreakerFault = (faults & 0x80) != 0;
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Channel8BreakerFault = (faults & 0x100) != 0;
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Channel9BreakerFault = (faults & 0x200) != 0;
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Channel10BreakerFault = (faults & 0x400) != 0;
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Channel11BreakerFault = (faults & 0x800) != 0;
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Channel12BreakerFault = (faults & 0x1000) != 0;
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Channel13BreakerFault = (faults & 0x2000) != 0;
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Channel14BreakerFault = (faults & 0x4000) != 0;
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Channel15BreakerFault = (faults & 0x8000) != 0;
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Channel16BreakerFault = (faults & 0x10000) != 0;
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Channel17BreakerFault = (faults & 0x20000) != 0;
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Channel18BreakerFault = (faults & 0x40000) != 0;
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Channel19BreakerFault = (faults & 0x80000) != 0;
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Channel20BreakerFault = (faults & 0x100000) != 0;
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Channel21BreakerFault = (faults & 0x200000) != 0;
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Channel22BreakerFault = (faults & 0x400000) != 0;
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Channel23BreakerFault = (faults & 0x800000) != 0;
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Brownout = (faults & 0x1000000) != 0;
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CanWarning = (faults & 0x2000000) != 0;
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CanBusOff = (faults & 0x4000000) != 0;
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HasReset = (faults & 0x8000000) != 0;
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}
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}
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@@ -0,0 +1,50 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package edu.wpi.first.hal;
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public class PowerDistributionVersion {
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@SuppressWarnings("MemberName")
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public final int firmwareMajor;
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@SuppressWarnings("MemberName")
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public final int firmwareMinor;
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@SuppressWarnings("MemberName")
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public final int firmwareFix;
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@SuppressWarnings("MemberName")
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public final int hardwareMinor;
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@SuppressWarnings("MemberName")
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public final int hardwareMajor;
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@SuppressWarnings("MemberName")
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public final int uniqueId;
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/**
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* Constructs a power distribution version (Called from the HAL).
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*
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* @param firmwareMajor firmware major
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* @param firmwareMinor firmware minor
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* @param firmwareFix firmware fix
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* @param hardwareMinor hardware minor
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* @param hardwareMajor hardware major
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* @param uniqueId unique id
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*/
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public PowerDistributionVersion(
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int firmwareMajor,
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int firmwareMinor,
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int firmwareFix,
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int hardwareMinor,
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int hardwareMajor,
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int uniqueId) {
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this.firmwareMajor = firmwareMajor;
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this.firmwareMinor = firmwareMinor;
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this.firmwareFix = firmwareFix;
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this.hardwareMinor = hardwareMinor;
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this.hardwareMajor = hardwareMajor;
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this.uniqueId = uniqueId;
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}
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}
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@@ -4,6 +4,7 @@
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#include "hal/PowerDistribution.h"
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#include <cstring>
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#include <thread>
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#include "CTREPDP.h"
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@@ -242,4 +243,34 @@ HAL_Bool HAL_GetPowerDistributionSwitchableChannel(
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}
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}
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void HAL_GetPowerDistributionVersion(HAL_PowerDistributionHandle handle,
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HAL_PowerDistributionVersion* version,
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int32_t* status) {
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if (IsCtre(handle)) {
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std::memset(version, 0, sizeof(*version));
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} else {
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HAL_GetREVPDHVersion(handle, version, status);
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}
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}
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void HAL_GetPowerDistributionFaults(HAL_PowerDistributionHandle handle,
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HAL_PowerDistributionFaults* faults,
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int32_t* status) {
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if (IsCtre(handle)) {
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std::memset(faults, 0, sizeof(*faults));
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} else {
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HAL_GetREVPDHFaults(handle, faults, status);
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}
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}
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void HAL_GetPowerDistributionStickyFaults(
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HAL_PowerDistributionHandle handle,
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HAL_PowerDistributionStickyFaults* stickyFaults, int32_t* status) {
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if (IsCtre(handle)) {
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std::memset(stickyFaults, 0, sizeof(*stickyFaults));
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} else {
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HAL_GetREVPDHStickyFaults(handle, stickyFaults, status);
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}
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}
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} // extern "C"
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@@ -476,10 +476,10 @@ double HAL_GetREVPDHVoltage(HAL_REVPDHHandle handle, int32_t* status) {
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return PDH_status_4_v_bus_decode(statusFrame.v_bus);
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}
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HAL_REVPDHVersion HAL_GetREVPDHVersion(HAL_REVPDHHandle handle,
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int32_t* status) {
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HAL_REVPDHVersion version;
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std::memset(&version, 0, sizeof(version));
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void HAL_GetREVPDHVersion(HAL_REVPDHHandle handle,
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HAL_PowerDistributionVersion* version,
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int32_t* status) {
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std::memset(version, 0, sizeof(*version));
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uint8_t packedData[8] = {0};
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int32_t length = 0;
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uint64_t timestamp = 0;
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@@ -487,14 +487,14 @@ HAL_REVPDHVersion HAL_GetREVPDHVersion(HAL_REVPDHHandle handle,
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auto hpdh = REVPDHHandles->Get(handle);
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if (hpdh == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return version;
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return;
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}
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HAL_WriteCANRTRFrame(hpdh->hcan, PDH_VERSION_LENGTH, PDH_VERSION_FRAME_API,
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status);
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if (*status != 0) {
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return version;
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return;
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}
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HAL_ReadCANPacketTimeout(hpdh->hcan, PDH_VERSION_FRAME_API, packedData,
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@@ -502,27 +502,26 @@ HAL_REVPDHVersion HAL_GetREVPDHVersion(HAL_REVPDHHandle handle,
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status);
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if (*status != 0) {
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return version;
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return;
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}
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PDH_version_unpack(&result, packedData, PDH_VERSION_LENGTH);
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version.firmwareMajor = result.firmware_year;
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version.firmwareMinor = result.firmware_minor;
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version.firmwareFix = result.firmware_fix;
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version.hardwareMinor = result.hardware_minor;
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version.hardwareMajor = result.hardware_major;
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version.uniqueId = result.unique_id;
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return version;
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version->firmwareMajor = result.firmware_year;
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version->firmwareMinor = result.firmware_minor;
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version->firmwareFix = result.firmware_fix;
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version->hardwareMinor = result.hardware_minor;
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version->hardwareMajor = result.hardware_major;
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version->uniqueId = result.unique_id;
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}
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HAL_REVPDHFaults HAL_GetREVPDHFaults(HAL_REVPDHHandle handle, int32_t* status) {
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HAL_REVPDHFaults faults = {};
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void HAL_GetREVPDHFaults(HAL_REVPDHHandle handle,
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HAL_PowerDistributionFaults* faults, int32_t* status) {
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std::memset(faults, 0, sizeof(*faults));
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auto hpdh = REVPDHHandles->Get(handle);
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||||
if (hpdh == nullptr) {
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*status = HAL_HANDLE_ERROR;
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||||
return faults;
|
||||
return;
|
||||
}
|
||||
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||||
PDH_status_0_t status0 = HAL_ReadREVPDHStatus0(hpdh->hcan, status);
|
||||
@@ -531,78 +530,75 @@ HAL_REVPDHFaults HAL_GetREVPDHFaults(HAL_REVPDHHandle handle, int32_t* status) {
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PDH_status_3_t status3 = HAL_ReadREVPDHStatus3(hpdh->hcan, status);
|
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PDH_status_4_t status4 = HAL_ReadREVPDHStatus4(hpdh->hcan, status);
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faults.channel0BreakerFault = status0.channel_0_breaker_fault;
|
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faults.channel1BreakerFault = status0.channel_1_breaker_fault;
|
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faults.channel2BreakerFault = status0.channel_2_breaker_fault;
|
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faults.channel3BreakerFault = status0.channel_3_breaker_fault;
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faults.channel4BreakerFault = status1.channel_4_breaker_fault;
|
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faults.channel5BreakerFault = status1.channel_5_breaker_fault;
|
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faults.channel6BreakerFault = status1.channel_6_breaker_fault;
|
||||
faults.channel7BreakerFault = status1.channel_7_breaker_fault;
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||||
faults.channel8BreakerFault = status2.channel_8_breaker_fault;
|
||||
faults.channel9BreakerFault = status2.channel_9_breaker_fault;
|
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faults.channel10BreakerFault = status2.channel_10_breaker_fault;
|
||||
faults.channel11BreakerFault = status2.channel_11_breaker_fault;
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faults.channel12BreakerFault = status3.channel_12_breaker_fault;
|
||||
faults.channel13BreakerFault = status3.channel_13_breaker_fault;
|
||||
faults.channel14BreakerFault = status3.channel_14_breaker_fault;
|
||||
faults.channel15BreakerFault = status3.channel_15_breaker_fault;
|
||||
faults.channel16BreakerFault = status3.channel_16_breaker_fault;
|
||||
faults.channel17BreakerFault = status3.channel_17_breaker_fault;
|
||||
faults.channel18BreakerFault = status3.channel_18_breaker_fault;
|
||||
faults.channel19BreakerFault = status3.channel_19_breaker_fault;
|
||||
faults.channel20BreakerFault = status3.channel_20_breaker_fault;
|
||||
faults.channel21BreakerFault = status3.channel_21_breaker_fault;
|
||||
faults.channel22BreakerFault = status3.channel_22_breaker_fault;
|
||||
faults.channel23BreakerFault = status3.channel_23_breaker_fault;
|
||||
faults.brownout = status4.brownout_fault;
|
||||
faults.canWarning = status4.can_warning_fault;
|
||||
faults.hardwareFault = status4.hardware_fault;
|
||||
|
||||
return faults;
|
||||
faults->channel0BreakerFault = status0.channel_0_breaker_fault;
|
||||
faults->channel1BreakerFault = status0.channel_1_breaker_fault;
|
||||
faults->channel2BreakerFault = status0.channel_2_breaker_fault;
|
||||
faults->channel3BreakerFault = status0.channel_3_breaker_fault;
|
||||
faults->channel4BreakerFault = status1.channel_4_breaker_fault;
|
||||
faults->channel5BreakerFault = status1.channel_5_breaker_fault;
|
||||
faults->channel6BreakerFault = status1.channel_6_breaker_fault;
|
||||
faults->channel7BreakerFault = status1.channel_7_breaker_fault;
|
||||
faults->channel8BreakerFault = status2.channel_8_breaker_fault;
|
||||
faults->channel9BreakerFault = status2.channel_9_breaker_fault;
|
||||
faults->channel10BreakerFault = status2.channel_10_breaker_fault;
|
||||
faults->channel11BreakerFault = status2.channel_11_breaker_fault;
|
||||
faults->channel12BreakerFault = status3.channel_12_breaker_fault;
|
||||
faults->channel13BreakerFault = status3.channel_13_breaker_fault;
|
||||
faults->channel14BreakerFault = status3.channel_14_breaker_fault;
|
||||
faults->channel15BreakerFault = status3.channel_15_breaker_fault;
|
||||
faults->channel16BreakerFault = status3.channel_16_breaker_fault;
|
||||
faults->channel17BreakerFault = status3.channel_17_breaker_fault;
|
||||
faults->channel18BreakerFault = status3.channel_18_breaker_fault;
|
||||
faults->channel19BreakerFault = status3.channel_19_breaker_fault;
|
||||
faults->channel20BreakerFault = status3.channel_20_breaker_fault;
|
||||
faults->channel21BreakerFault = status3.channel_21_breaker_fault;
|
||||
faults->channel22BreakerFault = status3.channel_22_breaker_fault;
|
||||
faults->channel23BreakerFault = status3.channel_23_breaker_fault;
|
||||
faults->brownout = status4.brownout_fault;
|
||||
faults->canWarning = status4.can_warning_fault;
|
||||
faults->hardwareFault = status4.hardware_fault;
|
||||
}
|
||||
|
||||
HAL_REVPDHStickyFaults HAL_GetREVPDHStickyFaults(HAL_REVPDHHandle handle,
|
||||
int32_t* status) {
|
||||
HAL_REVPDHStickyFaults stickyFaults = {};
|
||||
void HAL_GetREVPDHStickyFaults(HAL_REVPDHHandle handle,
|
||||
HAL_PowerDistributionStickyFaults* stickyFaults,
|
||||
int32_t* status) {
|
||||
std::memset(stickyFaults, 0, sizeof(*stickyFaults));
|
||||
auto hpdh = REVPDHHandles->Get(handle);
|
||||
if (hpdh == nullptr) {
|
||||
*status = HAL_HANDLE_ERROR;
|
||||
return stickyFaults;
|
||||
return;
|
||||
}
|
||||
|
||||
PDH_status_4_t status4 = HAL_ReadREVPDHStatus4(hpdh->hcan, status);
|
||||
|
||||
stickyFaults.channel0BreakerFault = status4.sticky_ch0_breaker_fault;
|
||||
stickyFaults.channel1BreakerFault = status4.sticky_ch1_breaker_fault;
|
||||
stickyFaults.channel2BreakerFault = status4.sticky_ch2_breaker_fault;
|
||||
stickyFaults.channel3BreakerFault = status4.sticky_ch3_breaker_fault;
|
||||
stickyFaults.channel4BreakerFault = status4.sticky_ch4_breaker_fault;
|
||||
stickyFaults.channel5BreakerFault = status4.sticky_ch5_breaker_fault;
|
||||
stickyFaults.channel6BreakerFault = status4.sticky_ch6_breaker_fault;
|
||||
stickyFaults.channel7BreakerFault = status4.sticky_ch7_breaker_fault;
|
||||
stickyFaults.channel8BreakerFault = status4.sticky_ch8_breaker_fault;
|
||||
stickyFaults.channel9BreakerFault = status4.sticky_ch9_breaker_fault;
|
||||
stickyFaults.channel10BreakerFault = status4.sticky_ch10_breaker_fault;
|
||||
stickyFaults.channel11BreakerFault = status4.sticky_ch11_breaker_fault;
|
||||
stickyFaults.channel12BreakerFault = status4.sticky_ch12_breaker_fault;
|
||||
stickyFaults.channel13BreakerFault = status4.sticky_ch13_breaker_fault;
|
||||
stickyFaults.channel14BreakerFault = status4.sticky_ch14_breaker_fault;
|
||||
stickyFaults.channel15BreakerFault = status4.sticky_ch15_breaker_fault;
|
||||
stickyFaults.channel16BreakerFault = status4.sticky_ch16_breaker_fault;
|
||||
stickyFaults.channel17BreakerFault = status4.sticky_ch17_breaker_fault;
|
||||
stickyFaults.channel18BreakerFault = status4.sticky_ch18_breaker_fault;
|
||||
stickyFaults.channel19BreakerFault = status4.sticky_ch19_breaker_fault;
|
||||
stickyFaults.channel20BreakerFault = status4.sticky_ch20_breaker_fault;
|
||||
stickyFaults.channel21BreakerFault = status4.sticky_ch21_breaker_fault;
|
||||
stickyFaults.channel22BreakerFault = status4.sticky_ch22_breaker_fault;
|
||||
stickyFaults.channel23BreakerFault = status4.sticky_ch23_breaker_fault;
|
||||
stickyFaults.brownout = status4.sticky_brownout_fault;
|
||||
stickyFaults.canWarning = status4.sticky_can_warning_fault;
|
||||
stickyFaults.canBusOff = status4.sticky_can_bus_off_fault;
|
||||
stickyFaults.hasReset = status4.sticky_has_reset_fault;
|
||||
|
||||
return stickyFaults;
|
||||
stickyFaults->channel0BreakerFault = status4.sticky_ch0_breaker_fault;
|
||||
stickyFaults->channel1BreakerFault = status4.sticky_ch1_breaker_fault;
|
||||
stickyFaults->channel2BreakerFault = status4.sticky_ch2_breaker_fault;
|
||||
stickyFaults->channel3BreakerFault = status4.sticky_ch3_breaker_fault;
|
||||
stickyFaults->channel4BreakerFault = status4.sticky_ch4_breaker_fault;
|
||||
stickyFaults->channel5BreakerFault = status4.sticky_ch5_breaker_fault;
|
||||
stickyFaults->channel6BreakerFault = status4.sticky_ch6_breaker_fault;
|
||||
stickyFaults->channel7BreakerFault = status4.sticky_ch7_breaker_fault;
|
||||
stickyFaults->channel8BreakerFault = status4.sticky_ch8_breaker_fault;
|
||||
stickyFaults->channel9BreakerFault = status4.sticky_ch9_breaker_fault;
|
||||
stickyFaults->channel10BreakerFault = status4.sticky_ch10_breaker_fault;
|
||||
stickyFaults->channel11BreakerFault = status4.sticky_ch11_breaker_fault;
|
||||
stickyFaults->channel12BreakerFault = status4.sticky_ch12_breaker_fault;
|
||||
stickyFaults->channel13BreakerFault = status4.sticky_ch13_breaker_fault;
|
||||
stickyFaults->channel14BreakerFault = status4.sticky_ch14_breaker_fault;
|
||||
stickyFaults->channel15BreakerFault = status4.sticky_ch15_breaker_fault;
|
||||
stickyFaults->channel16BreakerFault = status4.sticky_ch16_breaker_fault;
|
||||
stickyFaults->channel17BreakerFault = status4.sticky_ch17_breaker_fault;
|
||||
stickyFaults->channel18BreakerFault = status4.sticky_ch18_breaker_fault;
|
||||
stickyFaults->channel19BreakerFault = status4.sticky_ch19_breaker_fault;
|
||||
stickyFaults->channel20BreakerFault = status4.sticky_ch20_breaker_fault;
|
||||
stickyFaults->channel21BreakerFault = status4.sticky_ch21_breaker_fault;
|
||||
stickyFaults->channel22BreakerFault = status4.sticky_ch22_breaker_fault;
|
||||
stickyFaults->channel23BreakerFault = status4.sticky_ch23_breaker_fault;
|
||||
stickyFaults->brownout = status4.sticky_brownout_fault;
|
||||
stickyFaults->canWarning = status4.sticky_can_warning_fault;
|
||||
stickyFaults->canBusOff = status4.sticky_can_bus_off_fault;
|
||||
stickyFaults->hasReset = status4.sticky_has_reset_fault;
|
||||
}
|
||||
|
||||
void HAL_ClearREVPDHStickyFaults(HAL_REVPDHHandle handle, int32_t* status) {
|
||||
|
||||
@@ -6,6 +6,7 @@
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#include "hal/PowerDistribution.h"
|
||||
#include "hal/Types.h"
|
||||
|
||||
/**
|
||||
@@ -14,85 +15,6 @@
|
||||
* @{
|
||||
*/
|
||||
|
||||
/**
|
||||
* Storage for REV PDH Version
|
||||
*/
|
||||
struct HAL_REVPDHVersion {
|
||||
uint32_t firmwareMajor;
|
||||
uint32_t firmwareMinor;
|
||||
uint32_t firmwareFix;
|
||||
uint32_t hardwareMinor;
|
||||
uint32_t hardwareMajor;
|
||||
uint32_t uniqueId;
|
||||
};
|
||||
|
||||
/**
|
||||
* Storage for REV PDH Faults
|
||||
*/
|
||||
struct HAL_REVPDHFaults {
|
||||
uint32_t channel0BreakerFault : 1;
|
||||
uint32_t channel1BreakerFault : 1;
|
||||
uint32_t channel2BreakerFault : 1;
|
||||
uint32_t channel3BreakerFault : 1;
|
||||
uint32_t channel4BreakerFault : 1;
|
||||
uint32_t channel5BreakerFault : 1;
|
||||
uint32_t channel6BreakerFault : 1;
|
||||
uint32_t channel7BreakerFault : 1;
|
||||
uint32_t channel8BreakerFault : 1;
|
||||
uint32_t channel9BreakerFault : 1;
|
||||
uint32_t channel10BreakerFault : 1;
|
||||
uint32_t channel11BreakerFault : 1;
|
||||
uint32_t channel12BreakerFault : 1;
|
||||
uint32_t channel13BreakerFault : 1;
|
||||
uint32_t channel14BreakerFault : 1;
|
||||
uint32_t channel15BreakerFault : 1;
|
||||
uint32_t channel16BreakerFault : 1;
|
||||
uint32_t channel17BreakerFault : 1;
|
||||
uint32_t channel18BreakerFault : 1;
|
||||
uint32_t channel19BreakerFault : 1;
|
||||
uint32_t channel20BreakerFault : 1;
|
||||
uint32_t channel21BreakerFault : 1;
|
||||
uint32_t channel22BreakerFault : 1;
|
||||
uint32_t channel23BreakerFault : 1;
|
||||
uint32_t brownout : 1;
|
||||
uint32_t canWarning : 1;
|
||||
uint32_t hardwareFault : 1;
|
||||
};
|
||||
|
||||
/**
|
||||
* Storage for REV PDH Sticky Faults
|
||||
*/
|
||||
struct HAL_REVPDHStickyFaults {
|
||||
uint32_t channel0BreakerFault : 1;
|
||||
uint32_t channel1BreakerFault : 1;
|
||||
uint32_t channel2BreakerFault : 1;
|
||||
uint32_t channel3BreakerFault : 1;
|
||||
uint32_t channel4BreakerFault : 1;
|
||||
uint32_t channel5BreakerFault : 1;
|
||||
uint32_t channel6BreakerFault : 1;
|
||||
uint32_t channel7BreakerFault : 1;
|
||||
uint32_t channel8BreakerFault : 1;
|
||||
uint32_t channel9BreakerFault : 1;
|
||||
uint32_t channel10BreakerFault : 1;
|
||||
uint32_t channel11BreakerFault : 1;
|
||||
uint32_t channel12BreakerFault : 1;
|
||||
uint32_t channel13BreakerFault : 1;
|
||||
uint32_t channel14BreakerFault : 1;
|
||||
uint32_t channel15BreakerFault : 1;
|
||||
uint32_t channel16BreakerFault : 1;
|
||||
uint32_t channel17BreakerFault : 1;
|
||||
uint32_t channel18BreakerFault : 1;
|
||||
uint32_t channel19BreakerFault : 1;
|
||||
uint32_t channel20BreakerFault : 1;
|
||||
uint32_t channel21BreakerFault : 1;
|
||||
uint32_t channel22BreakerFault : 1;
|
||||
uint32_t channel23BreakerFault : 1;
|
||||
uint32_t brownout : 1;
|
||||
uint32_t canWarning : 1;
|
||||
uint32_t canBusOff : 1;
|
||||
uint32_t hasReset : 1;
|
||||
};
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
@@ -195,8 +117,9 @@ HAL_Bool HAL_GetREVPDHSwitchableChannelState(HAL_REVPDHHandle handle,
|
||||
*
|
||||
* @return version information
|
||||
*/
|
||||
HAL_REVPDHVersion HAL_GetREVPDHVersion(HAL_REVPDHHandle handle,
|
||||
int32_t* status);
|
||||
void HAL_GetREVPDHVersion(HAL_REVPDHHandle handle,
|
||||
HAL_PowerDistributionVersion* version,
|
||||
int32_t* status);
|
||||
|
||||
/**
|
||||
* Gets the voltage being supplied to a PDH device.
|
||||
@@ -214,7 +137,8 @@ double HAL_GetREVPDHVoltage(HAL_REVPDHHandle handle, int32_t* status);
|
||||
*
|
||||
* @return the faults of the PDH
|
||||
*/
|
||||
HAL_REVPDHFaults HAL_GetREVPDHFaults(HAL_REVPDHHandle handle, int32_t* status);
|
||||
void HAL_GetREVPDHFaults(HAL_REVPDHHandle handle,
|
||||
HAL_PowerDistributionFaults* faults, int32_t* status);
|
||||
|
||||
/**
|
||||
* Gets the sticky faults of a PDH device.
|
||||
@@ -223,8 +147,9 @@ HAL_REVPDHFaults HAL_GetREVPDHFaults(HAL_REVPDHHandle handle, int32_t* status);
|
||||
*
|
||||
* @return the sticky faults of the PDH
|
||||
*/
|
||||
HAL_REVPDHStickyFaults HAL_GetREVPDHStickyFaults(HAL_REVPDHHandle handle,
|
||||
int32_t* status);
|
||||
void HAL_GetREVPDHStickyFaults(HAL_REVPDHHandle handle,
|
||||
HAL_PowerDistributionStickyFaults* stickyFaults,
|
||||
int32_t* status);
|
||||
|
||||
/**
|
||||
* Clears the sticky faults on a PDH device.
|
||||
|
||||
@@ -46,6 +46,7 @@ static JException canMessageNotFoundExCls;
|
||||
static JException canMessageNotAllowedExCls;
|
||||
static JException canNotInitializedExCls;
|
||||
static JException uncleanStatusExCls;
|
||||
static JClass powerDistributionVersionCls;
|
||||
static JClass pwmConfigDataResultCls;
|
||||
static JClass canStatusCls;
|
||||
static JClass matchInfoDataCls;
|
||||
@@ -56,6 +57,8 @@ static JClass baseStoreCls;
|
||||
static JClass revPHVersionCls;
|
||||
|
||||
static const JClassInit classes[] = {
|
||||
{"edu/wpi/first/hal/PowerDistributionVersion",
|
||||
&powerDistributionVersionCls},
|
||||
{"edu/wpi/first/hal/PWMConfigDataResult", &pwmConfigDataResultCls},
|
||||
{"edu/wpi/first/hal/can/CANStatus", &canStatusCls},
|
||||
{"edu/wpi/first/hal/MatchInfoData", &matchInfoDataCls},
|
||||
@@ -333,6 +336,21 @@ jobject CreateDMABaseStore(JNIEnv* env, jint valueType, jint index) {
|
||||
return env->NewObject(baseStoreCls, ctor, valueType, index);
|
||||
}
|
||||
|
||||
jobject CreatePowerDistributionVersion(JNIEnv* env, uint32_t firmwareMajor,
|
||||
uint32_t firmwareMinor,
|
||||
uint32_t firmwareFix,
|
||||
uint32_t hardwareMinor,
|
||||
uint32_t hardwareMajor,
|
||||
uint32_t uniqueId) {
|
||||
static jmethodID constructor =
|
||||
env->GetMethodID(powerDistributionVersionCls, "<init>", "(IIIIII)V");
|
||||
return env->NewObject(
|
||||
powerDistributionVersionCls, constructor,
|
||||
static_cast<jint>(firmwareMajor), static_cast<jint>(firmwareMinor),
|
||||
static_cast<jint>(firmwareFix), static_cast<jint>(hardwareMinor),
|
||||
static_cast<jint>(hardwareMajor), static_cast<jint>(uniqueId));
|
||||
}
|
||||
|
||||
JavaVM* GetJVM() {
|
||||
return jvm;
|
||||
}
|
||||
|
||||
@@ -82,6 +82,13 @@ jobject CreateHALValue(JNIEnv* env, const HAL_Value& value);
|
||||
|
||||
jobject CreateDMABaseStore(JNIEnv* env, jint valueType, jint index);
|
||||
|
||||
jobject CreatePowerDistributionVersion(JNIEnv* env, uint32_t firmwareMajor,
|
||||
uint32_t firmwareMinor,
|
||||
uint32_t firmwareFix,
|
||||
uint32_t hardwareMinor,
|
||||
uint32_t hardwareMajor,
|
||||
uint32_t uniqueId);
|
||||
|
||||
JavaVM* GetJVM();
|
||||
|
||||
} // namespace hal
|
||||
|
||||
@@ -362,4 +362,63 @@ Java_edu_wpi_first_hal_PowerDistributionJNI_getSwitchableChannelNoError
|
||||
return state;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_PowerDistributionJNI
|
||||
* Method: getStickyFaultsNative
|
||||
* Signature: (I)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL
|
||||
Java_edu_wpi_first_hal_PowerDistributionJNI_getStickyFaultsNative
|
||||
(JNIEnv* env, jclass, jint handle)
|
||||
{
|
||||
int32_t status = 0;
|
||||
HAL_PowerDistributionStickyFaults halFaults;
|
||||
std::memset(&halFaults, 0, sizeof(halFaults));
|
||||
HAL_GetPowerDistributionStickyFaults(handle, &halFaults, &status);
|
||||
CheckStatus(env, status, false);
|
||||
jint faults;
|
||||
static_assert(sizeof(faults) == sizeof(halFaults));
|
||||
std::memcpy(&faults, &halFaults, sizeof(faults));
|
||||
return faults;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_PowerDistributionJNI
|
||||
* Method: getFaultsNative
|
||||
* Signature: (I)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL
|
||||
Java_edu_wpi_first_hal_PowerDistributionJNI_getFaultsNative
|
||||
(JNIEnv* env, jclass, jint handle)
|
||||
{
|
||||
int32_t status = 0;
|
||||
HAL_PowerDistributionFaults halFaults;
|
||||
std::memset(&halFaults, 0, sizeof(halFaults));
|
||||
HAL_GetPowerDistributionFaults(handle, &halFaults, &status);
|
||||
CheckStatus(env, status, false);
|
||||
jint faults;
|
||||
static_assert(sizeof(faults) == sizeof(halFaults));
|
||||
std::memcpy(&faults, &halFaults, sizeof(faults));
|
||||
return faults;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_PowerDistributionJNI
|
||||
* Method: getVersion
|
||||
* Signature: (I)Ljava/lang/Object;
|
||||
*/
|
||||
JNIEXPORT jobject JNICALL
|
||||
Java_edu_wpi_first_hal_PowerDistributionJNI_getVersion
|
||||
(JNIEnv* env, jclass, jint handle)
|
||||
{
|
||||
int32_t status = 0;
|
||||
HAL_PowerDistributionVersion version;
|
||||
std::memset(&version, 0, sizeof(version));
|
||||
HAL_GetPowerDistributionVersion(handle, &version, &status);
|
||||
CheckStatus(env, status, false);
|
||||
return CreatePowerDistributionVersion(
|
||||
env, version.firmwareMajor, version.firmwareMinor, version.firmwareFix,
|
||||
version.hardwareMinor, version.hardwareMajor, version.uniqueId);
|
||||
}
|
||||
|
||||
} // extern "C"
|
||||
|
||||
@@ -218,6 +218,89 @@ void HAL_SetPowerDistributionSwitchableChannel(
|
||||
HAL_Bool HAL_GetPowerDistributionSwitchableChannel(
|
||||
HAL_PowerDistributionHandle handle, int32_t* status);
|
||||
|
||||
struct HAL_PowerDistributionVersion {
|
||||
uint32_t firmwareMajor;
|
||||
uint32_t firmwareMinor;
|
||||
uint32_t firmwareFix;
|
||||
uint32_t hardwareMinor;
|
||||
uint32_t hardwareMajor;
|
||||
uint32_t uniqueId;
|
||||
};
|
||||
|
||||
struct HAL_PowerDistributionFaults {
|
||||
uint32_t channel0BreakerFault : 1;
|
||||
uint32_t channel1BreakerFault : 1;
|
||||
uint32_t channel2BreakerFault : 1;
|
||||
uint32_t channel3BreakerFault : 1;
|
||||
uint32_t channel4BreakerFault : 1;
|
||||
uint32_t channel5BreakerFault : 1;
|
||||
uint32_t channel6BreakerFault : 1;
|
||||
uint32_t channel7BreakerFault : 1;
|
||||
uint32_t channel8BreakerFault : 1;
|
||||
uint32_t channel9BreakerFault : 1;
|
||||
uint32_t channel10BreakerFault : 1;
|
||||
uint32_t channel11BreakerFault : 1;
|
||||
uint32_t channel12BreakerFault : 1;
|
||||
uint32_t channel13BreakerFault : 1;
|
||||
uint32_t channel14BreakerFault : 1;
|
||||
uint32_t channel15BreakerFault : 1;
|
||||
uint32_t channel16BreakerFault : 1;
|
||||
uint32_t channel17BreakerFault : 1;
|
||||
uint32_t channel18BreakerFault : 1;
|
||||
uint32_t channel19BreakerFault : 1;
|
||||
uint32_t channel20BreakerFault : 1;
|
||||
uint32_t channel21BreakerFault : 1;
|
||||
uint32_t channel22BreakerFault : 1;
|
||||
uint32_t channel23BreakerFault : 1;
|
||||
uint32_t brownout : 1;
|
||||
uint32_t canWarning : 1;
|
||||
uint32_t hardwareFault : 1;
|
||||
};
|
||||
|
||||
/**
|
||||
* Storage for REV PDH Sticky Faults
|
||||
*/
|
||||
struct HAL_PowerDistributionStickyFaults {
|
||||
uint32_t channel0BreakerFault : 1;
|
||||
uint32_t channel1BreakerFault : 1;
|
||||
uint32_t channel2BreakerFault : 1;
|
||||
uint32_t channel3BreakerFault : 1;
|
||||
uint32_t channel4BreakerFault : 1;
|
||||
uint32_t channel5BreakerFault : 1;
|
||||
uint32_t channel6BreakerFault : 1;
|
||||
uint32_t channel7BreakerFault : 1;
|
||||
uint32_t channel8BreakerFault : 1;
|
||||
uint32_t channel9BreakerFault : 1;
|
||||
uint32_t channel10BreakerFault : 1;
|
||||
uint32_t channel11BreakerFault : 1;
|
||||
uint32_t channel12BreakerFault : 1;
|
||||
uint32_t channel13BreakerFault : 1;
|
||||
uint32_t channel14BreakerFault : 1;
|
||||
uint32_t channel15BreakerFault : 1;
|
||||
uint32_t channel16BreakerFault : 1;
|
||||
uint32_t channel17BreakerFault : 1;
|
||||
uint32_t channel18BreakerFault : 1;
|
||||
uint32_t channel19BreakerFault : 1;
|
||||
uint32_t channel20BreakerFault : 1;
|
||||
uint32_t channel21BreakerFault : 1;
|
||||
uint32_t channel22BreakerFault : 1;
|
||||
uint32_t channel23BreakerFault : 1;
|
||||
uint32_t brownout : 1;
|
||||
uint32_t canWarning : 1;
|
||||
uint32_t canBusOff : 1;
|
||||
uint32_t hasReset : 1;
|
||||
};
|
||||
|
||||
void HAL_GetPowerDistributionVersion(HAL_PowerDistributionHandle handle,
|
||||
HAL_PowerDistributionVersion* version,
|
||||
int32_t* status);
|
||||
void HAL_GetPowerDistributionFaults(HAL_PowerDistributionHandle handle,
|
||||
HAL_PowerDistributionFaults* faults,
|
||||
int32_t* status);
|
||||
void HAL_GetPowerDistributionStickyFaults(
|
||||
HAL_PowerDistributionHandle handle,
|
||||
HAL_PowerDistributionStickyFaults* stickyFaults, int32_t* status);
|
||||
|
||||
#ifdef __cplusplus
|
||||
} // extern "C"
|
||||
#endif
|
||||
|
||||
@@ -168,4 +168,16 @@ HAL_Bool HAL_GetPowerDistributionSwitchableChannel(
|
||||
HAL_PowerDistributionHandle handle, int32_t* status) {
|
||||
return false;
|
||||
}
|
||||
|
||||
void HAL_GetPowerDistributionVersion(HAL_PowerDistributionHandle handle,
|
||||
HAL_PowerDistributionVersion* version,
|
||||
int32_t* status) {}
|
||||
|
||||
void HAL_GetPowerDistributionFaults(HAL_PowerDistributionHandle handle,
|
||||
HAL_PowerDistributionFaults* faults,
|
||||
int32_t* status) {}
|
||||
|
||||
void HAL_GetPowerDistributionStickyFaults(
|
||||
HAL_PowerDistributionHandle handle,
|
||||
HAL_PowerDistributionStickyFaults* stickyFaults, int32_t* status) {}
|
||||
} // extern "C"
|
||||
|
||||
@@ -137,6 +137,48 @@ void PowerDistribution::SetSwitchableChannel(bool enabled) {
|
||||
FRC_ReportError(status, "Module {}", m_module);
|
||||
}
|
||||
|
||||
PowerDistribution::Version PowerDistribution::GetVersion() const {
|
||||
int32_t status = 0;
|
||||
HAL_PowerDistributionVersion halVersion;
|
||||
std::memset(&halVersion, 0, sizeof(halVersion));
|
||||
HAL_GetPowerDistributionVersion(m_handle, &halVersion, &status);
|
||||
FRC_ReportError(status, "Module {}", m_module);
|
||||
PowerDistribution::Version version;
|
||||
static_assert(sizeof(halVersion) == sizeof(version));
|
||||
static_assert(std::is_standard_layout_v<decltype(version)>);
|
||||
static_assert(std::is_trivial_v<decltype(version)>);
|
||||
std::memcpy(&version, &halVersion, sizeof(version));
|
||||
return version;
|
||||
}
|
||||
|
||||
PowerDistribution::Faults PowerDistribution::GetFaults() const {
|
||||
int32_t status = 0;
|
||||
HAL_PowerDistributionFaults halFaults;
|
||||
std::memset(&halFaults, 0, sizeof(halFaults));
|
||||
HAL_GetPowerDistributionFaults(m_handle, &halFaults, &status);
|
||||
FRC_ReportError(status, "Module {}", m_module);
|
||||
PowerDistribution::Faults faults;
|
||||
static_assert(sizeof(halFaults) == sizeof(faults));
|
||||
static_assert(std::is_standard_layout_v<decltype(faults)>);
|
||||
static_assert(std::is_trivial_v<decltype(faults)>);
|
||||
std::memcpy(&faults, &halFaults, sizeof(faults));
|
||||
return faults;
|
||||
}
|
||||
|
||||
PowerDistribution::StickyFaults PowerDistribution::GetStickyFaults() const {
|
||||
int32_t status = 0;
|
||||
HAL_PowerDistributionStickyFaults halStickyFaults;
|
||||
std::memset(&halStickyFaults, 0, sizeof(halStickyFaults));
|
||||
HAL_GetPowerDistributionStickyFaults(m_handle, &halStickyFaults, &status);
|
||||
FRC_ReportError(status, "Module {}", m_module);
|
||||
PowerDistribution::StickyFaults stickyFaults;
|
||||
static_assert(sizeof(halStickyFaults) == sizeof(stickyFaults));
|
||||
static_assert(std::is_standard_layout_v<decltype(stickyFaults)>);
|
||||
static_assert(std::is_trivial_v<decltype(stickyFaults)>);
|
||||
std::memcpy(&stickyFaults, &halStickyFaults, sizeof(stickyFaults));
|
||||
return stickyFaults;
|
||||
}
|
||||
|
||||
void PowerDistribution::InitSendable(wpi::SendableBuilder& builder) {
|
||||
builder.SetSmartDashboardType("PowerDistribution");
|
||||
int32_t status = 0;
|
||||
|
||||
@@ -102,6 +102,82 @@ class PowerDistribution : public wpi::Sendable,
|
||||
|
||||
void SetSwitchableChannel(bool enabled);
|
||||
|
||||
struct Version {
|
||||
uint32_t FirmwareMajor;
|
||||
uint32_t FirmwareMinor;
|
||||
uint32_t FirmwareFix;
|
||||
uint32_t FardwareMinor;
|
||||
uint32_t FardwareMajor;
|
||||
uint32_t UniqueId;
|
||||
};
|
||||
|
||||
Version GetVersion() const;
|
||||
|
||||
struct Faults {
|
||||
uint32_t Channel0BreakerFault : 1;
|
||||
uint32_t Channel1BreakerFault : 1;
|
||||
uint32_t Channel2BreakerFault : 1;
|
||||
uint32_t Channel3BreakerFault : 1;
|
||||
uint32_t Channel4BreakerFault : 1;
|
||||
uint32_t Channel5BreakerFault : 1;
|
||||
uint32_t Channel6BreakerFault : 1;
|
||||
uint32_t Channel7BreakerFault : 1;
|
||||
uint32_t Channel8BreakerFault : 1;
|
||||
uint32_t Channel9BreakerFault : 1;
|
||||
uint32_t Channel10BreakerFault : 1;
|
||||
uint32_t Channel11BreakerFault : 1;
|
||||
uint32_t Channel12BreakerFault : 1;
|
||||
uint32_t Channel13BreakerFault : 1;
|
||||
uint32_t Channel14BreakerFault : 1;
|
||||
uint32_t Channel15BreakerFault : 1;
|
||||
uint32_t Channel16BreakerFault : 1;
|
||||
uint32_t Channel17BreakerFault : 1;
|
||||
uint32_t Channel18BreakerFault : 1;
|
||||
uint32_t Channel19BreakerFault : 1;
|
||||
uint32_t Channel20BreakerFault : 1;
|
||||
uint32_t Channel21BreakerFault : 1;
|
||||
uint32_t Channel22BreakerFault : 1;
|
||||
uint32_t Channel23BreakerFault : 1;
|
||||
uint32_t Brownout : 1;
|
||||
uint32_t CanWarning : 1;
|
||||
uint32_t HardwareFault : 1;
|
||||
};
|
||||
|
||||
Faults GetFaults() const;
|
||||
|
||||
struct StickyFaults {
|
||||
uint32_t Channel0BreakerFault : 1;
|
||||
uint32_t Channel1BreakerFault : 1;
|
||||
uint32_t Channel2BreakerFault : 1;
|
||||
uint32_t Channel3BreakerFault : 1;
|
||||
uint32_t Channel4BreakerFault : 1;
|
||||
uint32_t Channel5BreakerFault : 1;
|
||||
uint32_t Channel6BreakerFault : 1;
|
||||
uint32_t Channel7BreakerFault : 1;
|
||||
uint32_t Channel8BreakerFault : 1;
|
||||
uint32_t Channel9BreakerFault : 1;
|
||||
uint32_t Channel10BreakerFault : 1;
|
||||
uint32_t Channel11BreakerFault : 1;
|
||||
uint32_t Channel12BreakerFault : 1;
|
||||
uint32_t Channel13BreakerFault : 1;
|
||||
uint32_t Channel14BreakerFault : 1;
|
||||
uint32_t Channel15BreakerFault : 1;
|
||||
uint32_t Channel16BreakerFault : 1;
|
||||
uint32_t Channel17BreakerFault : 1;
|
||||
uint32_t Channel18BreakerFault : 1;
|
||||
uint32_t Channel19BreakerFault : 1;
|
||||
uint32_t Channel20BreakerFault : 1;
|
||||
uint32_t Channel21BreakerFault : 1;
|
||||
uint32_t Channel22BreakerFault : 1;
|
||||
uint32_t Channel23BreakerFault : 1;
|
||||
uint32_t Brownout : 1;
|
||||
uint32_t CanWarning : 1;
|
||||
uint32_t CanBusOff : 1;
|
||||
uint32_t HasReset : 1;
|
||||
};
|
||||
|
||||
StickyFaults GetStickyFaults() const;
|
||||
|
||||
void InitSendable(wpi::SendableBuilder& builder) override;
|
||||
|
||||
private:
|
||||
|
||||
@@ -6,7 +6,10 @@ package edu.wpi.first.wpilibj;
|
||||
|
||||
import edu.wpi.first.hal.FRCNetComm.tResourceType;
|
||||
import edu.wpi.first.hal.HAL;
|
||||
import edu.wpi.first.hal.PowerDistributionFaults;
|
||||
import edu.wpi.first.hal.PowerDistributionJNI;
|
||||
import edu.wpi.first.hal.PowerDistributionStickyFaults;
|
||||
import edu.wpi.first.hal.PowerDistributionVersion;
|
||||
import edu.wpi.first.util.sendable.Sendable;
|
||||
import edu.wpi.first.util.sendable.SendableBuilder;
|
||||
import edu.wpi.first.util.sendable.SendableRegistry;
|
||||
@@ -157,6 +160,18 @@ public class PowerDistribution implements Sendable, AutoCloseable {
|
||||
PowerDistributionJNI.setSwitchableChannel(m_handle, enabled);
|
||||
}
|
||||
|
||||
PowerDistributionVersion getVersion() {
|
||||
return PowerDistributionJNI.getVersion(m_handle);
|
||||
}
|
||||
|
||||
PowerDistributionFaults getFaults() {
|
||||
return PowerDistributionJNI.getFaults(m_handle);
|
||||
}
|
||||
|
||||
PowerDistributionStickyFaults getStickyFaults() {
|
||||
return PowerDistributionJNI.getStickyFaults(m_handle);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void initSendable(SendableBuilder builder) {
|
||||
builder.setSmartDashboardType("PowerDistribution");
|
||||
|
||||
Reference in New Issue
Block a user