Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-01 02:41:48 +00:00
Code Issues Packages Projects Releases Wiki Activity

Merge "ClearStickyFaults() should not take a param, just clears sticky flags in a one shot manner. GetCompressorFault() => GetCompressorCurrentTooHighFault() There are now three compressor related faults so getters needed to be more verbose. New getters()... GetCompressorCurrentTooHighStickyFault GetCompressorShortedStickyFault GetCompressorShortedFault GetCompressorNotConnectedStickyFault GetCompressorNotConnectedFault"

Browse Source
This commit is contained in:
Brad Miller (WPI)
2014-12-22 09:20:31 -08:00
committed by Gerrit Code Review
parent 3b72114555 198e2eed14
commit b4097fbd58
2 changed files with 151 additions and 25 deletions
Download Patch File Download Diff File Expand all files Collapse all files

130
hal/lib/Athena/ctre/PCM.cpp
View File

@@ -17,7 +17,9 @@ static const INT32 kCANPeriod = 20;
#define GET_PCM_SOL_FAULTS() CtreCanNode::recMsg<PcmStatusFault_t> rx = GetRx<PcmStatusFault_t> (STATUS_SOL_FAULTS,EXPECTED_RESPONSE_TIMEOUT_MS)
#define GET_PCM_DEBUG() CtreCanNode::recMsg<PcmDebug_t> rx = GetRx<PcmDebug_t> (STATUS_DEBUG,EXPECTED_RESPONSE_TIMEOUT_MS)
#define CONTROL_1 0x09041C00
#define CONTROL_1 0x09041C00 /* PCM_Control */
#define CONTROL_2 0x09041C40 /* PCM_SupplemControl */
#define CONTROL_3 0x09041C80 /* PcmControlSetOneShotDur_t */
/* encoder/decoders */
typedef struct _PcmStatus_t{
@@ -27,8 +29,8 @@ typedef struct _PcmStatus_t{
unsigned compressorOn:1;
unsigned stickyFaultFuseTripped:1;
unsigned stickyFaultCompCurrentTooHigh:1;
unsigned faultCompCurrentTooHigh:1;
unsigned faultFuseTripped:1;
unsigned faultCompCurrentTooHigh:1;
unsigned faultHardwareFailure:1;
unsigned isCloseloopEnabled:1;
unsigned pressureSwitchEn:1;
@@ -40,7 +42,8 @@ typedef struct _PcmStatus_t{
unsigned compressorCurrentTop6:6;
unsigned solenoidVoltageBtm2:2;
/* Byte 5 */
unsigned reserved:2;
unsigned StickyFault_dItooHigh :1;
unsigned Fault_dItooHigh :1;
unsigned moduleEnabled:1;
unsigned closedLoopOutput:1;
unsigned compressorCurrentBtm4:4;
@@ -63,19 +66,28 @@ typedef struct _PcmControl_t{
unsigned compressorOn:1;
unsigned closedLoopEnable:1;
unsigned clearStickyFaults:1;
/* Byte 4 */
unsigned OneShotField_h8:8;
/* Byte 5 */
unsigned OneShotField_l8:8;
}PcmControl_t;
typedef struct _PcmControlSetOneShotDur_t{
uint8_t sol10MsPerUnit[8];
}PcmControlSetOneShotDur_t;
typedef struct _PcmStatusFault_t{
/* Byte 0 */
unsigned SolenoidBlacklist:8;
/* Byte 1 */
unsigned reserved1:8;
unsigned reserved2:8;
unsigned reserved3:8;
unsigned reserved4:8;
unsigned reserved5:8;
unsigned reserved6:8;
unsigned reserved7:8;
unsigned reserved_bit0 :1;
unsigned reserved_bit1 :1;
unsigned reserved_bit2 :1;
unsigned reserved_bit3 :1;
unsigned StickyFault_CompNoCurrent :1;
unsigned Fault_CompNoCurrent :1;
unsigned StickyFault_SolenoidJumper :1;
unsigned Fault_SolenoidJumper :1;
}PcmStatusFault_t;
typedef struct _PcmDebug_t{
@@ -135,12 +147,13 @@ CTR_Code PCM::SetSolenoid(unsigned char idx, bool en)
*
* @Param - clr - Clear / do not clear faults
*/
CTR_Code PCM::ClearStickyFaults(bool clr)
CTR_Code PCM::ClearStickyFaults()
{
CtreCanNode::txTask<PcmControl_t> toFill = GetTx<PcmControl_t>(CONTROL_1 | GetDeviceNumber());
if(toFill.IsEmpty())return CTR_UnexpectedArbId;
toFill->clearStickyFaults = clr;
FlushTx(toFill);
int32_t status = 0;
uint8_t pcmSupplemControl[] = { 0, 0, 0, 0x80 }; /* only bit set is ClearStickyFaults */
FRC_NetworkCommunication_CANSessionMux_sendMessage(CONTROL_2 | GetDeviceNumber(), pcmSupplemControl, sizeof(pcmSupplemControl), 0, &status);
if(status)
return CTR_TxFailed;
return CTR_OKAY;
}
@@ -158,6 +171,59 @@ CTR_Code PCM::SetClosedLoopControl(bool en)
FlushTx(toFill);
return CTR_OKAY;
}
/* Get solenoid Blacklist status
* @Return - CTR_Code - Error code (if any)
* @Param - idx - ID of solenoid [0,7] to fire one shot pulse.
*/
CTR_Code PCM::FireOneShotSolenoid(UINT8 idx)
{
CtreCanNode::txTask<PcmControl_t> toFill = GetTx<PcmControl_t>(CONTROL_1 | GetDeviceNumber());
if(toFill.IsEmpty())return CTR_UnexpectedArbId;
/* grab field as it is now */
uint16_t oneShotField;
oneShotField = toFill->OneShotField_h8;
oneShotField <<= 8;
oneShotField |= toFill->OneShotField_l8;
/* get the caller's channel */
uint16_t shift = 2*idx;
uint16_t mask = 3; /* two bits wide */
uint8_t chBits = (oneShotField >> shift) & mask;
/* flip it */
chBits = (chBits)%3 + 1;
/* clear out 2bits for this channel*/
oneShotField &= ~(mask << shift);
/* put new field in */
oneShotField |= chBits << shift;
/* apply field as it is now */
toFill->OneShotField_h8 = oneShotField >> 8;
toFill->OneShotField_l8 = oneShotField;
FlushTx(toFill);
return CTR_OKAY;
}
/* Configure the pulse width of a solenoid channel for one-shot pulse.
* Preprogrammed pulsewidth is 10ms resolute and can be between 20ms and 5.1s.
* @Return - CTR_Code - Error code (if any)
* @Param - idx - ID of solenoid [0,7] to configure.
* @Param - durMs - pulse width in ms.
*/
CTR_Code PCM::SetOneShotDurationMs(UINT8 idx,uint32_t durMs)
{
/* sanity check caller's param */
if(idx > 8)
return CTR_InvalidParamValue;
/* get latest tx frame */
CtreCanNode::txTask<PcmControlSetOneShotDur_t> toFill = GetTx<PcmControlSetOneShotDur_t>(CONTROL_3 | GetDeviceNumber());
if(toFill.IsEmpty()){
/* only send this out if caller wants to do one-shots */
RegisterTx(CONTROL_3 | _deviceNumber, kCANPeriod);
/* grab it */
toFill = GetTx<PcmControlSetOneShotDur_t>(CONTROL_3 | GetDeviceNumber());
}
toFill->sol10MsPerUnit[idx] = std::min(durMs/10,(uint32_t)0xFF);
/* apply the new data bytes */
FlushTx(toFill);
return CTR_OKAY;
}
/* Get solenoid state
*
@@ -248,12 +314,36 @@ CTR_Code PCM::GetHardwareFault(bool &status)
*
* @Return - True/False - True if shorted compressor detected, false if otherwise
*/
CTR_Code PCM::GetCompressorFault(bool &status)
CTR_Code PCM::GetCompressorCurrentTooHighFault(bool &status)
{
GET_PCM_STATUS();
status = rx->faultCompCurrentTooHigh;
return rx.err;
}
CTR_Code PCM::GetCompressorShortedStickyFault(bool &status)
{
GET_PCM_STATUS();
status = rx->StickyFault_dItooHigh;
return rx.err;
}
CTR_Code PCM::GetCompressorShortedFault(bool &status)
{
GET_PCM_STATUS();
status = rx->Fault_dItooHigh;
return rx.err;
}
CTR_Code PCM::GetCompressorNotConnectedStickyFault(bool &status)
{
GET_PCM_SOL_FAULTS();
status = rx->StickyFault_CompNoCurrent;
return rx.err;
}
CTR_Code PCM::GetCompressorNotConnectedFault(bool &status)
{
GET_PCM_SOL_FAULTS();
status = rx->Fault_CompNoCurrent;
return rx.err;
}
/* Get solenoid fault value
*
@@ -271,7 +361,7 @@ CTR_Code PCM::GetSolenoidFault(bool &status)
* @Return - True/False - True if solenoid had previously been shorted
* (and sticky fault was not cleared), false if otherwise
*/
CTR_Code PCM::GetCompressorStickyFault(bool &status)
CTR_Code PCM::GetCompressorCurrentTooHighStickyFault(bool &status)
{
GET_PCM_STATUS();
status = rx->stickyFaultCompCurrentTooHigh;
@@ -369,7 +459,7 @@ extern "C" {
return ((PCM*) handle)->SetClosedLoopControl(param);
}
CTR_Code c_ClearStickyFaults(void * handle, INT8 param) {
return ((PCM*) handle)->ClearStickyFaults(param);
return ((PCM*) handle)->ClearStickyFaults();
}
CTR_Code c_GetSolenoid(void * handle, UINT8 idx, INT8 * status) {
bool bstatus;
@@ -410,7 +500,7 @@ extern "C" {
}
CTR_Code c_GetCompressorFault(void * handle, INT8*status) {
bool bstatus;
CTR_Code retval = ((PCM*) handle)->GetCompressorFault(bstatus);
CTR_Code retval = ((PCM*) handle)->GetCompressorCurrentTooHighFault(bstatus);
*status = bstatus;
return retval;
}
@@ -422,7 +512,7 @@ extern "C" {
}
CTR_Code c_GetCompressorStickyFault(void * handle, INT8*status) {
bool bstatus;
CTR_Code retval = ((PCM*) handle)->GetCompressorStickyFault(bstatus);
CTR_Code retval = ((PCM*) handle)->GetCompressorCurrentTooHighStickyFault(bstatus);
*status = bstatus;
return retval;
}

46
hal/lib/Athena/ctre/PCM.h
View File

@@ -26,9 +26,8 @@ public:
/* Clears PCM sticky faults (indicators of past faults
* @Return - CTR_Code - Error code (if any) for setting solenoid
* @Param - clr - Clear / do not clear faults
*/
CTR_Code ClearStickyFaults(bool clr);
CTR_Code ClearStickyFaults();
/* Get solenoid state
*
@@ -76,9 +75,9 @@ public:
/* Get compressor fault value
* @Return - CTR_Code - Error code (if any)
* @Param - status - True if shorted compressor detected, false if otherwise
* @Param - status - True if abnormally high compressor current detected, false if otherwise
*/
CTR_Code GetCompressorFault(bool &status);
CTR_Code GetCompressorCurrentTooHighFault(bool &status);
/* Get solenoid fault value
* @Return - CTR_Code - Error code (if any)
@@ -91,7 +90,29 @@ public:
* @Param - status - True if solenoid had previously been shorted
* (and sticky fault was not cleared), false if otherwise
*/
CTR_Code GetCompressorStickyFault(bool &status);
CTR_Code GetCompressorCurrentTooHighStickyFault(bool &status);
/* Get compressor shorted sticky fault value
* @Return - CTR_Code - Error code (if any)
* @Param - status - True if compressor output is shorted, false if otherwise
*/
CTR_Code GetCompressorShortedStickyFault(bool &status);
/* Get compressor shorted fault value
* @Return - CTR_Code - Error code (if any)
* @Param - status - True if compressor output is shorted, false if otherwise
*/
CTR_Code GetCompressorShortedFault(bool &status);
/* Get compressor is not connected sticky fault value
* @Return - CTR_Code - Error code (if any)
* @Param - status - True if compressor current is too low,
* indicating compressor is not connected, false if otherwise
*/
CTR_Code GetCompressorNotConnectedStickyFault(bool &status);
/* Get compressor is not connected fault value
* @Return - CTR_Code - Error code (if any)
* @Param - status - True if compressor current is too low,
* indicating compressor is not connected, false if otherwise
*/
CTR_Code GetCompressorNotConnectedFault(bool &status);
/* Get solenoid sticky fault value
* @Return - CTR_Code - Error code (if any)
@@ -146,6 +167,21 @@ public:
* @Param - status - Returns TRUE if PCM is enabled, FALSE if disabled
*/
CTR_Code isModuleEnabled(bool &status);
/* Get solenoid Blacklist status
* @Return - CTR_Code - Error code (if any)
* @Param - idx - ID of solenoid [0,7] to fire one shot pulse.
*/
CTR_Code FireOneShotSolenoid(UINT8 idx);
/* Configure the pulse width of a solenoid channel for one-shot pulse.
* Preprogrammed pulsewidth is 10ms resolute and can be between 20ms and 5.1s.
* @Return - CTR_Code - Error code (if any)
* @Param - idx - ID of solenoid [0,7] to configure.
* @Param - durMs - pulse width in ms.
*/
CTR_Code SetOneShotDurationMs(UINT8 idx,uint32_t durMs);
};
//------------------ C interface --------------------------------------------//
extern "C" {