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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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10
hal/src/main/native/systemcore/PowerDistribution.cpp
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@@ -20,7 +20,7 @@ using namespace hal;
extern "C" {
HAL_PowerDistributionHandle HAL_InitializePowerDistribution(
int32_t moduleNumber, HAL_PowerDistributionType type,
int32_t busId, int32_t moduleNumber, HAL_PowerDistributionType type,
const char* allocationLocation, int32_t* status) {
if (type == HAL_PowerDistributionType::HAL_PowerDistributionType_kAutomatic) {
if (moduleNumber != HAL_DEFAULT_POWER_DISTRIBUTION_MODULE) {
@@ -46,7 +46,7 @@ HAL_PowerDistributionHandle HAL_InitializePowerDistribution(
} while (true);
// Try PDP first
auto pdpHandle = HAL_InitializePDP(0, allocationLocation, status);
auto pdpHandle = HAL_InitializePDP(busId, 0, allocationLocation, status);
if (pdpHandle != HAL_kInvalidHandle) {
*status = 0;
HAL_GetPDPVoltage(pdpHandle, status);
@@ -56,7 +56,7 @@ HAL_PowerDistributionHandle HAL_InitializePowerDistribution(
HAL_CleanPDP(pdpHandle);
}
*status = 0;
auto pdhHandle = HAL_InitializeREVPDH(1, allocationLocation, status);
auto pdhHandle = HAL_InitializeREVPDH(busId, 1, allocationLocation, status);
return static_cast<HAL_PowerDistributionHandle>(pdhHandle);
}
@@ -65,13 +65,13 @@ HAL_PowerDistributionHandle HAL_InitializePowerDistribution(
moduleNumber = 0;
}
return static_cast<HAL_PowerDistributionHandle>(
HAL_InitializePDP(moduleNumber, allocationLocation, status));
HAL_InitializePDP(busId, moduleNumber, allocationLocation, status));
} else {
if (moduleNumber == HAL_DEFAULT_POWER_DISTRIBUTION_MODULE) {
moduleNumber = 1;
}
return static_cast<HAL_PowerDistributionHandle>(
HAL_InitializeREVPDH(moduleNumber, allocationLocation, status));
HAL_InitializeREVPDH(busId, moduleNumber, allocationLocation, status));
}
}