Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-25 01:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

76
wpilibc/src/main/native/include/frc/PowerDistribution.h
View File

@@ -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: