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Check status of PDP CAN reads (#2126)

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Fixes #2124
This commit is contained in:
sciencewhiz
2019-11-25 21:47:35 -08:00
committed by Peter Johnson
parent 70102a60b7
commit b67d049ac2
1 changed files with 28 additions and 2 deletions
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30
hal/src/main/native/athena/PDP.cpp
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@@ -175,7 +175,11 @@ double HAL_GetPDPTemperature(HAL_PDPHandle handle, int32_t* status) {
HAL_ReadCANPacketTimeout(handle, Status3, pdpStatus.data, &length,
&receivedTimestamp, TimeoutMs, status);
return pdpStatus.bits.temp * 1.03250836957542 - 67.8564500484966;
if (*status != 0) {
return 0;
} else {
return pdpStatus.bits.temp * 1.03250836957542 - 67.8564500484966;
}
}
double HAL_GetPDPVoltage(HAL_PDPHandle handle, int32_t* status) {
@@ -186,7 +190,11 @@ double HAL_GetPDPVoltage(HAL_PDPHandle handle, int32_t* status) {
HAL_ReadCANPacketTimeout(handle, Status3, pdpStatus.data, &length,
&receivedTimestamp, TimeoutMs, status);
return pdpStatus.bits.busVoltage * 0.05 + 4.0; /* 50mV per unit plus 4V. */
if (*status != 0) {
return 0;
} else {
return pdpStatus.bits.busVoltage * 0.05 + 4.0; /* 50mV per unit plus 4V. */
}
}
double HAL_GetPDPChannelCurrent(HAL_PDPHandle handle, int32_t channel,
@@ -205,6 +213,9 @@ double HAL_GetPDPChannelCurrent(HAL_PDPHandle handle, int32_t channel,
PdpStatus1 pdpStatus;
HAL_ReadCANPacketTimeout(handle, Status1, pdpStatus.data, &length,
&receivedTimestamp, TimeoutMs, status);
if (*status != 0) {
return 0;
}
switch (channel) {
case 0:
raw = (static_cast<uint32_t>(pdpStatus.bits.chan1_h8) << 2) |
@@ -235,6 +246,9 @@ double HAL_GetPDPChannelCurrent(HAL_PDPHandle handle, int32_t channel,
PdpStatus2 pdpStatus;
HAL_ReadCANPacketTimeout(handle, Status2, pdpStatus.data, &length,
&receivedTimestamp, TimeoutMs, status);
if (*status != 0) {
return 0;
}
switch (channel) {
case 6:
raw = (static_cast<uint32_t>(pdpStatus.bits.chan7_h8) << 2) |
@@ -265,6 +279,9 @@ double HAL_GetPDPChannelCurrent(HAL_PDPHandle handle, int32_t channel,
PdpStatus3 pdpStatus;
HAL_ReadCANPacketTimeout(handle, Status3, pdpStatus.data, &length,
&receivedTimestamp, TimeoutMs, status);
if (*status != 0) {
return 0;
}
switch (channel) {
case 12:
raw = (static_cast<uint32_t>(pdpStatus.bits.chan13_h8) << 2) |
@@ -365,6 +382,9 @@ double HAL_GetPDPTotalCurrent(HAL_PDPHandle handle, int32_t* status) {
HAL_ReadCANPacketTimeout(handle, StatusEnergy, pdpStatus.data, &length,
&receivedTimestamp, TimeoutMs, status);
if (*status != 0) {
return 0;
}
uint32_t raw;
raw = pdpStatus.bits.TotalCurrent_125mAperunit_h8;
@@ -380,6 +400,9 @@ double HAL_GetPDPTotalPower(HAL_PDPHandle handle, int32_t* status) {
HAL_ReadCANPacketTimeout(handle, StatusEnergy, pdpStatus.data, &length,
&receivedTimestamp, TimeoutMs, status);
if (*status != 0) {
return 0;
}
uint32_t raw;
raw = pdpStatus.bits.Power_125mWperunit_h4;
@@ -397,6 +420,9 @@ double HAL_GetPDPTotalEnergy(HAL_PDPHandle handle, int32_t* status) {
HAL_ReadCANPacketTimeout(handle, StatusEnergy, pdpStatus.data, &length,
&receivedTimestamp, TimeoutMs, status);
if (*status != 0) {
return 0;
}
uint32_t raw;
raw = pdpStatus.bits.Energy_125mWPerUnitXTmeas_h4;