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[wpilib, hal] Add support for getting faults and versions from power distribution (#3794)

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This commit is contained in:
Thad House
2021-12-19 13:42:49 -08:00
committed by GitHub
parent 34b2d0dae1
commit 9778626f34
15 changed files with 743 additions and 165 deletions
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158
hal/src/main/native/athena/REVPDH.cpp
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@@ -476,10 +476,10 @@ double HAL_GetREVPDHVoltage(HAL_REVPDHHandle handle, int32_t* status) {
return PDH_status_4_v_bus_decode(statusFrame.v_bus);
}
HAL_REVPDHVersion HAL_GetREVPDHVersion(HAL_REVPDHHandle handle,
int32_t* status) {
HAL_REVPDHVersion version;
std::memset(&version, 0, sizeof(version));
void HAL_GetREVPDHVersion(HAL_REVPDHHandle handle,
HAL_PowerDistributionVersion* version,
int32_t* status) {
std::memset(version, 0, sizeof(*version));
uint8_t packedData[8] = {0};
int32_t length = 0;
uint64_t timestamp = 0;
@@ -487,14 +487,14 @@ HAL_REVPDHVersion HAL_GetREVPDHVersion(HAL_REVPDHHandle handle,
auto hpdh = REVPDHHandles->Get(handle);
if (hpdh == nullptr) {
*status = HAL_HANDLE_ERROR;
return version;
return;
}
HAL_WriteCANRTRFrame(hpdh->hcan, PDH_VERSION_LENGTH, PDH_VERSION_FRAME_API,
status);
if (*status != 0) {
return version;
return;
}
HAL_ReadCANPacketTimeout(hpdh->hcan, PDH_VERSION_FRAME_API, packedData,
@@ -502,27 +502,26 @@ HAL_REVPDHVersion HAL_GetREVPDHVersion(HAL_REVPDHHandle handle,
status);
if (*status != 0) {
return version;
return;
}
PDH_version_unpack(&result, packedData, PDH_VERSION_LENGTH);
version.firmwareMajor = result.firmware_year;
version.firmwareMinor = result.firmware_minor;
version.firmwareFix = result.firmware_fix;
version.hardwareMinor = result.hardware_minor;
version.hardwareMajor = result.hardware_major;
version.uniqueId = result.unique_id;
return version;
version->firmwareMajor = result.firmware_year;
version->firmwareMinor = result.firmware_minor;
version->firmwareFix = result.firmware_fix;
version->hardwareMinor = result.hardware_minor;
version->hardwareMajor = result.hardware_major;
version->uniqueId = result.unique_id;
}
HAL_REVPDHFaults HAL_GetREVPDHFaults(HAL_REVPDHHandle handle, int32_t* status) {
HAL_REVPDHFaults faults = {};
void HAL_GetREVPDHFaults(HAL_REVPDHHandle handle,
HAL_PowerDistributionFaults* faults, int32_t* status) {
std::memset(faults, 0, sizeof(*faults));
auto hpdh = REVPDHHandles->Get(handle);
if (hpdh == nullptr) {
*status = HAL_HANDLE_ERROR;
return faults;
return;
}
PDH_status_0_t status0 = HAL_ReadREVPDHStatus0(hpdh->hcan, status);
@@ -531,78 +530,75 @@ HAL_REVPDHFaults HAL_GetREVPDHFaults(HAL_REVPDHHandle handle, int32_t* status) {
PDH_status_3_t status3 = HAL_ReadREVPDHStatus3(hpdh->hcan, status);
PDH_status_4_t status4 = HAL_ReadREVPDHStatus4(hpdh->hcan, status);
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;
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) {