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[hal, wpilib] Rewrite CAN APIs (#7798)

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This commit is contained in:
Thad House
2025-02-25 19:07:01 -08:00
committed by GitHub
parent b39744b562
commit baa20fa239
107 changed files with 1447 additions and 1379 deletions
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113
hal/src/main/native/systemcore/CTREPDP.cpp
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@@ -129,7 +129,8 @@ void InitializeCTREPDP() {
extern "C" {
HAL_PDPHandle HAL_InitializePDP(int32_t module, const char* allocationLocation,
HAL_PDPHandle HAL_InitializePDP(int32_t busId, int32_t module,
const char* allocationLocation,
int32_t* status) {
hal::init::CheckInit();
if (!HAL_CheckPDPModule(module)) {
@@ -153,7 +154,8 @@ HAL_PDPHandle HAL_InitializePDP(int32_t module, const char* allocationLocation,
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
}
pdp->canHandle = HAL_InitializeCAN(manufacturer, module, deviceType, status);
pdp->canHandle =
HAL_InitializeCAN(busId, manufacturer, module, deviceType, status);
if (*status != 0) {
pdpHandles->Free(handle);
return HAL_kInvalidHandle;
@@ -191,16 +193,16 @@ double HAL_GetPDPTemperature(HAL_PDPHandle handle, int32_t* status) {
return 0;
}
HAL_CANReceiveMessage message;
PdpStatus3 pdpStatus;
int32_t length = 0;
uint64_t receivedTimestamp = 0;
HAL_ReadCANPacketTimeout(pdp->canHandle, Status3, pdpStatus.data, &length,
&receivedTimestamp, TimeoutMs, status);
HAL_ReadCANPacketTimeout(pdp->canHandle, Status3, &message, TimeoutMs,
status);
if (*status != 0) {
return 0;
} else {
std::memcpy(pdpStatus.data, message.message.data, sizeof(pdpStatus.data));
return pdpStatus.bits.temp * 1.03250836957542 - 67.8564500484966;
}
}
@@ -212,16 +214,16 @@ double HAL_GetPDPVoltage(HAL_PDPHandle handle, int32_t* status) {
return 0;
}
HAL_CANReceiveMessage message;
PdpStatus3 pdpStatus;
int32_t length = 0;
uint64_t receivedTimestamp = 0;
HAL_ReadCANPacketTimeout(pdp->canHandle, Status3, pdpStatus.data, &length,
&receivedTimestamp, TimeoutMs, status);
HAL_ReadCANPacketTimeout(pdp->canHandle, Status3, &message, TimeoutMs,
status);
if (*status != 0) {
return 0;
} else {
std::memcpy(pdpStatus.data, message.message.data, sizeof(pdpStatus.data));
return pdpStatus.bits.busVoltage * 0.05 + 4.0; /* 50mV per unit plus 4V. */
}
}
@@ -240,18 +242,18 @@ double HAL_GetPDPChannelCurrent(HAL_PDPHandle handle, int32_t channel,
return 0;
}
int32_t length = 0;
uint64_t receivedTimestamp = 0;
HAL_CANReceiveMessage message;
double raw = 0;
if (channel <= 5) {
PdpStatus1 pdpStatus;
HAL_ReadCANPacketTimeout(pdp->canHandle, Status1, pdpStatus.data, &length,
&receivedTimestamp, TimeoutMs, status);
HAL_ReadCANPacketTimeout(pdp->canHandle, Status1, &message, TimeoutMs,
status);
if (*status != 0) {
return 0;
}
std::memcpy(pdpStatus.data, message.message.data, sizeof(pdpStatus.data));
switch (channel) {
case 0:
raw = (static_cast<uint32_t>(pdpStatus.bits.chan1_h8) << 2) |
@@ -280,11 +282,12 @@ double HAL_GetPDPChannelCurrent(HAL_PDPHandle handle, int32_t channel,
}
} else if (channel <= 11) {
PdpStatus2 pdpStatus;
HAL_ReadCANPacketTimeout(pdp->canHandle, Status2, pdpStatus.data, &length,
&receivedTimestamp, TimeoutMs, status);
HAL_ReadCANPacketTimeout(pdp->canHandle, Status2, &message, TimeoutMs,
status);
if (*status != 0) {
return 0;
}
std::memcpy(pdpStatus.data, message.message.data, sizeof(pdpStatus.data));
switch (channel) {
case 6:
raw = (static_cast<uint32_t>(pdpStatus.bits.chan7_h8) << 2) |
@@ -313,11 +316,12 @@ double HAL_GetPDPChannelCurrent(HAL_PDPHandle handle, int32_t channel,
}
} else {
PdpStatus3 pdpStatus;
HAL_ReadCANPacketTimeout(pdp->canHandle, Status3, pdpStatus.data, &length,
&receivedTimestamp, TimeoutMs, status);
HAL_ReadCANPacketTimeout(pdp->canHandle, Status3, &message, TimeoutMs,
status);
if (*status != 0) {
return 0;
}
std::memcpy(pdpStatus.data, message.message.data, sizeof(pdpStatus.data));
switch (channel) {
case 12:
raw = (static_cast<uint32_t>(pdpStatus.bits.chan13_h8) << 2) |
@@ -350,26 +354,28 @@ void HAL_GetPDPAllChannelCurrents(HAL_PDPHandle handle, double* currents,
return;
}
int32_t length = 0;
uint64_t receivedTimestamp = 0;
HAL_CANReceiveMessage message;
PdpStatus1 pdpStatus;
HAL_ReadCANPacketTimeout(pdp->canHandle, Status1, pdpStatus.data, &length,
&receivedTimestamp, TimeoutMs, status);
HAL_ReadCANPacketTimeout(pdp->canHandle, Status1, &message, TimeoutMs,
status);
if (*status != 0) {
return;
}
std::memcpy(pdpStatus.data, message.message.data, sizeof(pdpStatus.data));
PdpStatus2 pdpStatus2;
HAL_ReadCANPacketTimeout(pdp->canHandle, Status2, pdpStatus2.data, &length,
&receivedTimestamp, TimeoutMs, status);
HAL_ReadCANPacketTimeout(pdp->canHandle, Status2, &message, TimeoutMs,
status);
if (*status != 0) {
return;
}
std::memcpy(pdpStatus2.data, message.message.data, sizeof(pdpStatus2.data));
PdpStatus3 pdpStatus3;
HAL_ReadCANPacketTimeout(pdp->canHandle, Status3, pdpStatus3.data, &length,
&receivedTimestamp, TimeoutMs, status);
HAL_ReadCANPacketTimeout(pdp->canHandle, Status3, &message, TimeoutMs,
status);
if (*status != 0) {
return;
}
std::memcpy(pdpStatus3.data, message.message.data, sizeof(pdpStatus3.data));
currents[0] = ((static_cast<uint32_t>(pdpStatus.bits.chan1_h8) << 2) |
pdpStatus.bits.chan1_l2) *
@@ -430,15 +436,15 @@ double HAL_GetPDPTotalCurrent(HAL_PDPHandle handle, int32_t* status) {
return 0;
}
HAL_CANReceiveMessage message;
PdpStatusEnergy pdpStatus;
int32_t length = 0;
uint64_t receivedTimestamp = 0;
HAL_ReadCANPacketTimeout(pdp->canHandle, StatusEnergy, pdpStatus.data,
&length, &receivedTimestamp, TimeoutMs, status);
HAL_ReadCANPacketTimeout(pdp->canHandle, StatusEnergy, &message, TimeoutMs,
status);
if (*status != 0) {
return 0;
}
std::memcpy(pdpStatus.data, message.message.data, sizeof(pdpStatus.data));
uint32_t raw;
raw = pdpStatus.bits.TotalCurrent_125mAperunit_h8;
@@ -454,15 +460,15 @@ double HAL_GetPDPTotalPower(HAL_PDPHandle handle, int32_t* status) {
return 0;
}
HAL_CANReceiveMessage message;
PdpStatusEnergy pdpStatus;
int32_t length = 0;
uint64_t receivedTimestamp = 0;
HAL_ReadCANPacketTimeout(pdp->canHandle, StatusEnergy, pdpStatus.data,
&length, &receivedTimestamp, TimeoutMs, status);
HAL_ReadCANPacketTimeout(pdp->canHandle, StatusEnergy, &message, TimeoutMs,
status);
if (*status != 0) {
return 0;
}
std::memcpy(pdpStatus.data, message.message.data, sizeof(pdpStatus.data));
uint32_t raw;
raw = pdpStatus.bits.Power_125mWperunit_h4;
@@ -480,15 +486,15 @@ double HAL_GetPDPTotalEnergy(HAL_PDPHandle handle, int32_t* status) {
return 0;
}
HAL_CANReceiveMessage message;
PdpStatusEnergy pdpStatus;
int32_t length = 0;
uint64_t receivedTimestamp = 0;
HAL_ReadCANPacketTimeout(pdp->canHandle, StatusEnergy, pdpStatus.data,
&length, &receivedTimestamp, TimeoutMs, status);
HAL_ReadCANPacketTimeout(pdp->canHandle, StatusEnergy, &message, TimeoutMs,
status);
if (*status != 0) {
return 0;
}
std::memcpy(pdpStatus.data, message.message.data, sizeof(pdpStatus.data));
uint32_t raw;
raw = pdpStatus.bits.Energy_125mWPerUnitXTmeas_h4;
@@ -514,8 +520,12 @@ void HAL_ResetPDPTotalEnergy(HAL_PDPHandle handle, int32_t* status) {
return;
}
uint8_t pdpControl[] = {0x40}; /* only bit set is ResetEnergy */
HAL_WriteCANPacket(pdp->canHandle, pdpControl, 1, Control1, status);
HAL_CANMessage message;
std::memset(&message, 0, sizeof(message));
message.dataSize = 1;
message.data[0] = 0x40; /* only bit set is ResetEnergy */
HAL_WriteCANPacket(pdp->canHandle, Control1, &message, status);
}
void HAL_ClearPDPStickyFaults(HAL_PDPHandle handle, int32_t* status) {
@@ -525,8 +535,12 @@ void HAL_ClearPDPStickyFaults(HAL_PDPHandle handle, int32_t* status) {
return;
}
uint8_t pdpControl[] = {0x80}; /* only bit set is ClearStickyFaults */
HAL_WriteCANPacket(pdp->canHandle, pdpControl, 1, Control1, status);
HAL_CANMessage message;
std::memset(&message, 0, sizeof(message));
message.dataSize = 1;
message.data[0] = 0x80; /* only bit set is ClearStickyFaults */
HAL_WriteCANPacket(pdp->canHandle, Control1, &message, status);
}
uint32_t HAL_StartCANStream(HAL_CANHandle handle, int32_t apiId, int32_t depth,
@@ -594,8 +608,9 @@ HAL_PowerDistributionChannelData* HAL_GetPDPStreamData(HAL_PDPHandle handle,
for (uint32_t i = 0; i < messagesRead; i++) {
PdpStatus1 pdpStatus;
std::memcpy(pdpStatus.data, messages[i].data, sizeof(messages[i].data));
uint32_t timestamp = messages[i].timeStamp;
std::memcpy(pdpStatus.data, messages[i].message.message.data,
sizeof(pdpStatus));
uint64_t timestamp = messages[i].message.timeStamp;
retData[*count].current =
((static_cast<uint32_t>(pdpStatus.bits.chan1_h8) << 2) |
@@ -650,8 +665,9 @@ HAL_PowerDistributionChannelData* HAL_GetPDPStreamData(HAL_PDPHandle handle,
for (uint32_t i = 0; i < messagesRead; i++) {
PdpStatus2 pdpStatus;
std::memcpy(pdpStatus.data, messages[i].data, sizeof(messages[i].data));
uint32_t timestamp = messages[i].timeStamp;
std::memcpy(pdpStatus.data, messages[i].message.message.data,
sizeof(pdpStatus));
uint64_t timestamp = messages[i].message.timeStamp;
retData[*count].current =
((static_cast<uint32_t>(pdpStatus.bits.chan7_h8) << 2) |
@@ -706,8 +722,9 @@ HAL_PowerDistributionChannelData* HAL_GetPDPStreamData(HAL_PDPHandle handle,
for (uint32_t i = 0; i < messagesRead; i++) {
PdpStatus3 pdpStatus;
std::memcpy(pdpStatus.data, messages[i].data, sizeof(messages[i].data));
uint32_t timestamp = messages[i].timeStamp;
std::memcpy(pdpStatus.data, messages[i].message.message.data,
sizeof(pdpStatus));
uint64_t timestamp = messages[i].message.timeStamp;
retData[*count].current =
((static_cast<uint32_t>(pdpStatus.bits.chan13_h8) << 2) |