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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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108
hal/src/main/native/systemcore/REVPDH.cpp
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@@ -91,95 +91,85 @@ extern "C" {
static PDH_status_0_t HAL_ReadREVPDHStatus0(HAL_CANHandle hcan,
int32_t* status) {
uint8_t packedData[8] = {0};
int32_t length = 0;
uint64_t timestamp = 0;
HAL_CANReceiveMessage message;
PDH_status_0_t result = {};
HAL_ReadCANPacketTimeout(hcan, PDH_STATUS_0_FRAME_API, packedData, &length,
&timestamp, kPDHFrameStatus0Timeout * 2, status);
HAL_ReadCANPacketTimeout(hcan, PDH_STATUS_0_FRAME_API, &message,
kPDHFrameStatus0Timeout * 2, status);
if (*status != 0) {
return result;
}
PDH_status_0_unpack(&result, packedData, PDH_STATUS_0_LENGTH);
PDH_status_0_unpack(&result, message.message.data, PDH_STATUS_0_LENGTH);
return result;
}
static PDH_status_1_t HAL_ReadREVPDHStatus1(HAL_CANHandle hcan,
int32_t* status) {
uint8_t packedData[8] = {0};
int32_t length = 0;
uint64_t timestamp = 0;
HAL_CANReceiveMessage message;
PDH_status_1_t result = {};
HAL_ReadCANPacketTimeout(hcan, PDH_STATUS_1_FRAME_API, packedData, &length,
&timestamp, kPDHFrameStatus1Timeout * 2, status);
HAL_ReadCANPacketTimeout(hcan, PDH_STATUS_1_FRAME_API, &message,
kPDHFrameStatus1Timeout * 2, status);
if (*status != 0) {
return result;
}
PDH_status_1_unpack(&result, packedData, PDH_STATUS_1_LENGTH);
PDH_status_1_unpack(&result, message.message.data, PDH_STATUS_1_LENGTH);
return result;
}
static PDH_status_2_t HAL_ReadREVPDHStatus2(HAL_CANHandle hcan,
int32_t* status) {
uint8_t packedData[8] = {0};
int32_t length = 0;
uint64_t timestamp = 0;
HAL_CANReceiveMessage message;
PDH_status_2_t result = {};
HAL_ReadCANPacketTimeout(hcan, PDH_STATUS_2_FRAME_API, packedData, &length,
&timestamp, kPDHFrameStatus2Timeout * 2, status);
HAL_ReadCANPacketTimeout(hcan, PDH_STATUS_2_FRAME_API, &message,
kPDHFrameStatus2Timeout * 2, status);
if (*status != 0) {
return result;
}
PDH_status_2_unpack(&result, packedData, PDH_STATUS_2_LENGTH);
PDH_status_2_unpack(&result, message.message.data, PDH_STATUS_2_LENGTH);
return result;
}
static PDH_status_3_t HAL_ReadREVPDHStatus3(HAL_CANHandle hcan,
int32_t* status) {
uint8_t packedData[8] = {0};
int32_t length = 0;
uint64_t timestamp = 0;
HAL_CANReceiveMessage message;
PDH_status_3_t result = {};
HAL_ReadCANPacketTimeout(hcan, PDH_STATUS_3_FRAME_API, packedData, &length,
&timestamp, kPDHFrameStatus3Timeout * 2, status);
HAL_ReadCANPacketTimeout(hcan, PDH_STATUS_3_FRAME_API, &message,
kPDHFrameStatus3Timeout * 2, status);
if (*status != 0) {
return result;
}
PDH_status_3_unpack(&result, packedData, PDH_STATUS_3_LENGTH);
PDH_status_3_unpack(&result, message.message.data, PDH_STATUS_3_LENGTH);
return result;
}
static PDH_status_4_t HAL_ReadREVPDHStatus4(HAL_CANHandle hcan,
int32_t* status) {
uint8_t packedData[8] = {0};
int32_t length = 0;
uint64_t timestamp = 0;
HAL_CANReceiveMessage message;
PDH_status_4_t result = {};
HAL_ReadCANPacketTimeout(hcan, PDH_STATUS_4_FRAME_API, packedData, &length,
&timestamp, kPDHFrameStatus4Timeout * 2, status);
HAL_ReadCANPacketTimeout(hcan, PDH_STATUS_4_FRAME_API, &message,
kPDHFrameStatus4Timeout * 2, status);
if (*status != 0) {
return result;
}
PDH_status_4_unpack(&result, packedData, PDH_STATUS_4_LENGTH);
PDH_status_4_unpack(&result, message.message.data, PDH_STATUS_4_LENGTH);
return result;
}
@@ -199,7 +189,7 @@ PDH_status_4_t HAL_GetREVPDHStatus4(HAL_REVPDHHandle handle, int32_t* status) {
return statusFrame;
}
HAL_REVPDHHandle HAL_InitializeREVPDH(int32_t module,
HAL_REVPDHHandle HAL_InitializeREVPDH(int32_t busId, int32_t module,
const char* allocationLocation,
int32_t* status) {
hal::init::CheckInit();
@@ -225,7 +215,7 @@ HAL_REVPDHHandle HAL_InitializeREVPDH(int32_t module,
}
HAL_CANHandle hcan =
HAL_InitializeCAN(manufacturer, module, deviceType, status);
HAL_InitializeCAN(busId, manufacturer, module, deviceType, status);
if (*status != 0) {
REVPDHHandles->Free(handle);
@@ -454,14 +444,16 @@ void HAL_SetREVPDHSwitchableChannel(HAL_REVPDHHandle handle, HAL_Bool enabled,
return;
}
uint8_t packedData[8] = {0};
HAL_CANMessage message;
std::memset(&message, 0, sizeof(message));
PDH_set_switch_channel_t frame;
frame.output_set_value = enabled;
PDH_set_switch_channel_pack(packedData, &frame,
PDH_set_switch_channel_pack(message.data, &frame,
PDH_SET_SWITCH_CHANNEL_LENGTH);
message.dataSize = PDH_SET_SWITCH_CHANNEL_LENGTH;
HAL_WriteCANPacket(hpdh->hcan, packedData, PDH_SET_SWITCH_CHANNEL_LENGTH,
PDH_SET_SWITCH_CHANNEL_FRAME_API, status);
HAL_WriteCANPacket(hpdh->hcan, PDH_SET_SWITCH_CHANNEL_FRAME_API, &message,
status);
}
HAL_Bool HAL_GetREVPDHSwitchableChannelState(HAL_REVPDHHandle handle,
@@ -490,9 +482,6 @@ void HAL_GetREVPDHVersion(HAL_REVPDHHandle handle,
HAL_PowerDistributionVersion* version,
int32_t* status) {
std::memset(version, 0, sizeof(*version));
uint8_t packedData[8] = {0};
int32_t length = 0;
uint64_t timestamp = 0;
PDH_version_t result = {};
auto hpdh = REVPDHHandles->Get(handle);
if (hpdh == nullptr) {
@@ -512,17 +501,20 @@ void HAL_GetREVPDHVersion(HAL_REVPDHHandle handle,
return;
}
HAL_WriteCANRTRFrame(hpdh->hcan, PDH_VERSION_LENGTH, PDH_VERSION_FRAME_API,
status);
HAL_CANMessage rtrmessage;
std::memset(&rtrmessage, 0, sizeof(rtrmessage));
rtrmessage.dataSize = PDH_VERSION_LENGTH;
HAL_WriteCANRTRFrame(hpdh->hcan, PDH_VERSION_FRAME_API, &rtrmessage, status);
if (*status != 0) {
return;
}
uint32_t timeoutMs = 100;
HAL_CANReceiveMessage message;
for (uint32_t i = 0; i <= timeoutMs; i++) {
HAL_ReadCANPacketNew(hpdh->hcan, PDH_VERSION_FRAME_API, packedData, &length,
&timestamp, status);
HAL_ReadCANPacketNew(hpdh->hcan, PDH_VERSION_FRAME_API, &message, status);
if (*status == 0) {
break;
}
@@ -533,7 +525,7 @@ void HAL_GetREVPDHVersion(HAL_REVPDHHandle handle,
return;
}
PDH_version_unpack(&result, packedData, PDH_VERSION_LENGTH);
PDH_version_unpack(&result, message.message.data, PDH_VERSION_LENGTH);
version->firmwareMajor = result.firmware_year;
version->firmwareMinor = result.firmware_minor;
@@ -640,9 +632,11 @@ void HAL_ClearREVPDHStickyFaults(HAL_REVPDHHandle handle, int32_t* status) {
return;
}
uint8_t packedData[8] = {0};
HAL_WriteCANPacket(hpdh->hcan, packedData, PDH_CLEAR_FAULTS_LENGTH,
PDH_CLEAR_FAULTS_FRAME_API, status);
HAL_CANMessage message;
std::memset(&message, 0, sizeof(message));
message.dataSize = PDH_CLEAR_FAULTS_LENGTH;
HAL_WriteCANPacket(hpdh->hcan, PDH_CLEAR_FAULTS_FRAME_API, &message, status);
}
uint32_t HAL_StartCANStream(HAL_CANHandle handle, int32_t apiId, int32_t depth,
@@ -717,8 +711,9 @@ HAL_PowerDistributionChannelData* HAL_GetREVPDHStreamData(
for (uint32_t i = 0; i < messagesRead; i++) {
PDH_status_0_t statusFrame0;
PDH_status_0_unpack(&statusFrame0, messages[i].data, PDH_STATUS_0_LENGTH);
uint32_t timestamp = messages[i].timeStamp;
PDH_status_0_unpack(&statusFrame0, messages[i].message.message.data,
PDH_STATUS_0_LENGTH);
uint32_t timestamp = messages[i].message.timeStamp;
retData[*count].current =
PDH_status_0_channel_0_current_decode(statusFrame0.channel_0_current);
@@ -761,8 +756,9 @@ HAL_PowerDistributionChannelData* HAL_GetREVPDHStreamData(
for (uint32_t i = 0; i < messagesRead; i++) {
PDH_status_1_t statusFrame1;
PDH_status_1_unpack(&statusFrame1, messages[i].data, PDH_STATUS_1_LENGTH);
uint32_t timestamp = messages[i].timeStamp;
PDH_status_1_unpack(&statusFrame1, messages[i].message.message.data,
PDH_STATUS_1_LENGTH);
uint32_t timestamp = messages[i].message.timeStamp;
retData[*count].current =
PDH_status_1_channel_6_current_decode(statusFrame1.channel_6_current);
@@ -805,8 +801,9 @@ HAL_PowerDistributionChannelData* HAL_GetREVPDHStreamData(
for (uint32_t i = 0; i < messagesRead; i++) {
PDH_status_2_t statusFrame2;
PDH_status_2_unpack(&statusFrame2, messages[i].data, PDH_STATUS_2_LENGTH);
uint32_t timestamp = messages[i].timeStamp;
PDH_status_2_unpack(&statusFrame2, messages[i].message.message.data,
PDH_STATUS_2_LENGTH);
uint32_t timestamp = messages[i].message.timeStamp;
retData[*count].current =
PDH_status_2_channel_12_current_decode(statusFrame2.channel_12_current);
@@ -849,8 +846,9 @@ HAL_PowerDistributionChannelData* HAL_GetREVPDHStreamData(
for (uint32_t i = 0; i < messagesRead; i++) {
PDH_status_3_t statusFrame3;
PDH_status_3_unpack(&statusFrame3, messages[i].data, PDH_STATUS_3_LENGTH);
uint32_t timestamp = messages[i].timeStamp;
PDH_status_3_unpack(&statusFrame3, messages[i].message.message.data,
PDH_STATUS_3_LENGTH);
uint32_t timestamp = messages[i].message.timeStamp;
retData[*count].current =
PDH_status_3_channel_18_current_decode(statusFrame3.channel_18_current);