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[hal] Add REV PH faults (#3729)

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This commit is contained in:
Jan-Felix Abellera
2021-11-22 23:15:32 -06:00
committed by GitHub
parent aacf9442e4
commit a9931223f0
2 changed files with 102 additions and 0 deletions
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56
hal/src/main/native/athena/REVPH.cpp
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@@ -562,3 +562,59 @@ void HAL_FireREVPHOneShot(HAL_REVPHHandle handle, int32_t index, int32_t durMs,
HAL_WriteCANPacket(ph->hcan, packedData, PH_PULSE_ONCE_LENGTH,
PH_PULSE_ONCE_FRAME_API, status);
}
HAL_REVPHFaults HAL_GetREVPHFaults(HAL_REVPHHandle handle, int32_t* status) {
HAL_REVPHFaults faults = {};
auto ph = REVPHHandles->Get(handle);
if (ph == nullptr) {
*status = HAL_HANDLE_ERROR;
return faults;
}
PH_status0_t status0 = HAL_REV_ReadPHStatus0(ph->hcan, status);
faults.channel0Fault = status0.channel_0_fault;
faults.channel1Fault = status0.channel_1_fault;
faults.channel2Fault = status0.channel_2_fault;
faults.channel3Fault = status0.channel_3_fault;
faults.channel4Fault = status0.channel_4_fault;
faults.channel5Fault = status0.channel_5_fault;
faults.channel6Fault = status0.channel_6_fault;
faults.channel7Fault = status0.channel_7_fault;
faults.channel8Fault = status0.channel_8_fault;
faults.channel9Fault = status0.channel_9_fault;
faults.channel10Fault = status0.channel_10_fault;
faults.channel11Fault = status0.channel_11_fault;
faults.channel12Fault = status0.channel_12_fault;
faults.channel13Fault = status0.channel_13_fault;
faults.channel14Fault = status0.channel_14_fault;
faults.channel15Fault = status0.channel_15_fault;
faults.compressorOverCurrent = status0.compressor_oc;
faults.compressorOpen = status0.compressor_open;
faults.solenoidOverCurrent = status0.solenoid_oc;
faults.brownout = status0.brownout;
faults.canWarning = status0.can_warning;
faults.hardwareFault = status0.hardware_fault;
return faults;
}
HAL_REVPHStickyFaults HAL_GetREVPHStickyFaults(HAL_REVPHHandle handle,
int32_t* status) {
HAL_REVPHStickyFaults stickyFaults = {};
auto ph = REVPHHandles->Get(handle);
if (ph == nullptr) {
*status = HAL_HANDLE_ERROR;
return stickyFaults;
}
PH_status1_t status1 = HAL_REV_ReadPHStatus1(ph->hcan, status);
stickyFaults.compressorOverCurrent = status1.sticky_compressor_over_current;
stickyFaults.compressorOpen = status1.sticky_compressor_not_present;
stickyFaults.solenoidOverCurrent = status1.sticky_solenoid_over_current;
stickyFaults.brownout = status1.sticky_brownout;
stickyFaults.canWarning = status1.sticky_can_warning;
stickyFaults.canBusOff = status1.sticky_can_bus_off;
stickyFaults.hasReset = status1.sticky_has_reset;
return stickyFaults;
}

46
hal/src/main/native/include/hal/REVPH.h
View File

@@ -34,6 +34,47 @@ struct HAL_REVPHCompressorConfig {
HAL_Bool useDigital;
};
/**
* Storage for REV PH Faults
*/
struct HAL_REVPHFaults {
uint32_t channel0Fault : 1;
uint32_t channel1Fault : 1;
uint32_t channel2Fault : 1;
uint32_t channel3Fault : 1;
uint32_t channel4Fault : 1;
uint32_t channel5Fault : 1;
uint32_t channel6Fault : 1;
uint32_t channel7Fault : 1;
uint32_t channel8Fault : 1;
uint32_t channel9Fault : 1;
uint32_t channel10Fault : 1;
uint32_t channel11Fault : 1;
uint32_t channel12Fault : 1;
uint32_t channel13Fault : 1;
uint32_t channel14Fault : 1;
uint32_t channel15Fault : 1;
uint32_t compressorOverCurrent : 1;
uint32_t compressorOpen : 1;
uint32_t solenoidOverCurrent : 1;
uint32_t brownout : 1;
uint32_t canWarning : 1;
uint32_t hardwareFault : 1;
};
/**
* Storage for REV PH Sticky Faults
*/
struct HAL_REVPHStickyFaults {
uint32_t compressorOverCurrent : 1;
uint32_t compressorOpen : 1;
uint32_t solenoidOverCurrent : 1;
uint32_t brownout : 1;
uint32_t canWarning : 1;
uint32_t canBusOff : 1;
uint32_t hasReset : 1;
};
#ifdef __cplusplus
extern "C" {
#endif
@@ -80,6 +121,11 @@ void HAL_SetREVPHSolenoids(HAL_REVPHHandle handle, int32_t mask, int32_t values,
void HAL_FireREVPHOneShot(HAL_REVPHHandle handle, int32_t index, int32_t durMs,
int32_t* status);
HAL_REVPHFaults HAL_GetREVPHFaults(HAL_REVPHHandle handle, int32_t* status);
HAL_REVPHStickyFaults HAL_GetREVPHStickyFaults(HAL_REVPHHandle handle,
int32_t* status);
#ifdef __cplusplus
} // extern "C"
#endif