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Implement DriverStation::GetBatteryVoltage

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Make the GetBatteryVoltage method work using the new tPower header

Change-Id: If504f8a46f3f7f737f0b729b72fc6b5da0d29ff9
This commit is contained in:
Thomas Clark
2014-08-08 14:56:22 -04:00
parent f4d542b212
commit d2cd5f3571
8 changed files with 217 additions and 6 deletions
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1
hal/include/HAL/HAL.hpp
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@@ -22,6 +22,7 @@
#include "Interrupts.hpp"
#include "Errors.hpp"
#include "PDP.hpp"
#include "Power.hpp"
#include "Utilities.hpp"
#include "Semaphore.hpp"

15
hal/include/HAL/Power.hpp Normal file
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@@ -0,0 +1,15 @@
#pragma once
#include <stdint.h>
extern "C"
{
float getVinVoltage(int32_t *status);
float getVinCurrent(int32_t *status);
float getUserVoltage6V(int32_t *status);
float getUserCurrent6V(int32_t *status);
float getUserVoltage5V(int32_t *status);
float getUserCurrent5V(int32_t *status);
float getUserVoltage3V3(int32_t *status);
float getUserCurrent3V3(int32_t *status);
}

74
hal/lib/Athena/Power.cpp Normal file
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@@ -0,0 +1,74 @@
#include "HAL/Power.hpp"
#include "ChipObject.h"
static tPower *power = NULL;
static void initializePower(int32_t *status) {
if(power == NULL) {
power = tPower::create(status);
}
}
/**
* Get the roboRIO input voltage
*/
float getVinVoltage(int32_t *status) {
initializePower(status);
return power->readVinVoltage(status) / 4.096f * 0.025733f - 0.029f;
}
/**
* Get the roboRIO input current
*/
float getVinCurrent(int32_t *status) {
initializePower(status);
return power->readVinCurrent(status) / 4.096f * 0.017042 - 0.071f;
}
/**
* Get the 6V rail voltage
*/
float getUserVoltage6V(int32_t *status) {
initializePower(status);
return power->readUserVoltage6V(status) / 4.096f * 0.007019f - 0.014f;
}
/**
* Get the 6V rail current
*/
float getUserCurrent6V(int32_t *status) {
initializePower(status);
return power->readUserCurrent6V(status) / 4.096f * 0.005566f - 0.009f;
}
/**
* Get the 5V rail voltage
*/
float getUserVoltage5V(int32_t *status) {
initializePower(status);
return power->readUserVoltage5V(status) / 4.096f * 0.004962f - 0.013f;
}
/**
* Get the 5V rail current
*/
float getUserCurrent5V(int32_t *status) {
initializePower(status);
return power->readUserCurrent5V(status) / 4.096f * 0.001996f - 0.002f;
}
/**
* Get the 3.3V rail voltage
*/
float getUserVoltage3V3(int32_t *status) {
initializePower(status);
return power->readUserVoltage3V3(status) / 4.096f * 0.004902f - 0.01f;
}
/**
* Get the 3.3V rail current
*/
float getUserCurrent3V3(int32_t *status) {
initializePower(status);
return power->readUserCurrent3V3(status) / 4.096f * 0.002486f - 0.003f;
}

6
wpilibc/wpilibC++Devices/src/DriverStation.cpp
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@@ -162,7 +162,11 @@ void DriverStation::GetData()
*/
float DriverStation::GetBatteryVoltage()
{
return 0.0f; // TODO
int32_t status = 0;
float voltage = getVinVoltage(&status);
wpi_setErrorWithContext(status, "getVinVoltage");
return voltage;
}
/**

13
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
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@@ -6,6 +6,7 @@
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj;
import java.nio.IntBuffer;
import java.nio.ByteBuffer;
import java.nio.ByteOrder;
@@ -13,6 +14,7 @@ import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary;
import edu.wpi.first.wpilibj.communication.HALControlWord;
import edu.wpi.first.wpilibj.communication.HALAllianceStationID;
import edu.wpi.first.wpilibj.hal.HALUtil;
import edu.wpi.first.wpilibj.hal.PowerJNI;
import edu.wpi.first.wpilibj.Timer;
/**
@@ -95,10 +97,7 @@ public class DriverStation implements RobotState.Interface {
m_semaphore = new Object();
m_dataSem = new Object();
m_packetDataAvailableSem = ByteBuffer.allocateDirect(4);
// set the byte order
m_packetDataAvailableSem.order(ByteOrder.LITTLE_ENDIAN);
m_packetDataAvailableSem = HALUtil.initializeMutexNormal();
FRCNetworkCommunicationsLibrary.setNewDataSem(m_packetDataAvailableSem);
m_thread = new Thread(new DriverStationTask(this), "FRCDriverStation");
@@ -209,7 +208,11 @@ public class DriverStation implements RobotState.Interface {
* @return The battery voltage.
*/
public double getBatteryVoltage() {
return 0.0; // TODO
IntBuffer status = ByteBuffer.allocateDirect(4).asIntBuffer();
float voltage = PowerJNI.getVinVoltage(status);
HALUtil.checkStatus(status);
return voltage;
}
/**

14
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/hal/PowerJNI.java Normal file
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@@ -0,0 +1,14 @@
package edu.wpi.first.wpilibj.hal;
import java.nio.IntBuffer;
public class PowerJNI extends JNIWrapper {
public static native float getVinVoltage(IntBuffer status);
public static native float getVinCurrent(IntBuffer status);
public static native float getUserVoltage6V(IntBuffer status);
public static native float getUserCurrent6V(IntBuffer status);
public static native float getUserVoltage5V(IntBuffer status);
public static native float getUserCurrent5V(IntBuffer status);
public static native float getUserVoltage3V3(IntBuffer status);
public static native float getUserCurrent3V3(IntBuffer status);
}

99
wpilibj/wpilibJavaJNI/lib/PowerJNI.cpp Normal file
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@@ -0,0 +1,99 @@
#include <jni.h>
#include "edu_wpi_first_wpilibj_hal_PowerJNI.h"
#include "HAL/Power.hpp"
/*
* Class: edu_wpi_first_wpilibj_hal_PowerJNI
* Method: getVinVoltage
* Signature: (Ljava/nio/IntBuffer;)F
*/
JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_hal_PowerJNI_getVinVoltage
(JNIEnv * env, jclass, jobject status)
{
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
return getVinVoltage(statusPtr);
}
/*
* Class: edu_wpi_first_wpilibj_hal_PowerJNI
* Method: getVinCurrent
* Signature: (Ljava/nio/IntBuffer;)F
*/
JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_hal_PowerJNI_getVinCurrent
(JNIEnv * env, jclass, jobject status)
{
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
return getVinCurrent(statusPtr);
}
/*
* Class: edu_wpi_first_wpilibj_hal_PowerJNI
* Method: getUserVoltage6V
* Signature: (Ljava/nio/IntBuffer;)F
*/
JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserVoltage6V
(JNIEnv * env, jclass, jobject status)
{
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
return getUserVoltage6V(statusPtr);
}
/*
* Class: edu_wpi_first_wpilibj_hal_PowerJNI
* Method: getUserCurrent6V
* Signature: (Ljava/nio/IntBuffer;)F
*/
JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrent6V
(JNIEnv * env, jclass, jobject status)
{
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
return getUserCurrent6V(statusPtr);
}
/*
* Class: edu_wpi_first_wpilibj_hal_PowerJNI
* Method: getUserVoltage5V
* Signature: (Ljava/nio/IntBuffer;)F
*/
JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserVoltage5V
(JNIEnv * env, jclass, jobject status)
{
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
return getUserVoltage5V(statusPtr);
}
/*
* Class: edu_wpi_first_wpilibj_hal_PowerJNI
* Method: getUserCurrent5V
* Signature: (Ljava/nio/IntBuffer;)F
*/
JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrent5V
(JNIEnv * env, jclass, jobject status)
{
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
return getUserCurrent5V(statusPtr);
}
/*
* Class: edu_wpi_first_wpilibj_hal_PowerJNI
* Method: getUserVoltage3V3
* Signature: (Ljava/nio/IntBuffer;)F
*/
JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserVoltage3V3
(JNIEnv * env, jclass, jobject status)
{
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
return getUserVoltage3V3(statusPtr);
}
/*
* Class: edu_wpi_first_wpilibj_hal_PowerJNI
* Method: getUserCurrent3V3
* Signature: (Ljava/nio/IntBuffer;)F
*/
JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrent3V3
(JNIEnv * env, jclass, jobject status)
{
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
return getUserCurrent3V3(statusPtr);
}

1
wpilibj/wpilibJavaJNI/pom.xml
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@@ -126,6 +126,7 @@ this default location, specify a value for the 'embeddedJDKHome' property at the
<javahClassName>edu.wpi.first.wpilibj.hal.SolenoidJNI</javahClassName>
<javahClassName>edu.wpi.first.wpilibj.hal.CompressorJNI</javahClassName>
<javahClassName>edu.wpi.first.wpilibj.hal.PDPJNI</javahClassName>
<javahClassName>edu.wpi.first.wpilibj.hal.PowerJNI</javahClassName>
</javahClassNames>
<!-- enable additional javah interface in dependencies list -->
<!-- javahSearchJNIFromDependencies>true</javahSearchJNIFromDependencies -->