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[docs] Add documentation for various HAL/wpilib items (NFC) (#6898)

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This commit is contained in:
Ryan Blue
2024-08-01 19:45:20 -04:00
committed by GitHub
parent 244be83d5d
commit ddd64aa70c
37 changed files with 599 additions and 6 deletions
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4
hal/src/main/native/include/hal/Counter.h
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@@ -19,9 +19,13 @@
* The counter mode.
*/
HAL_ENUM(HAL_Counter_Mode) {
/** Two pulse mode. */
HAL_Counter_kTwoPulse = 0,
/** Semi-period mode. */
HAL_Counter_kSemiperiod = 1,
/** Pulse length mode. */
HAL_Counter_kPulseLength = 2,
/** External direction mode. */
HAL_Counter_kExternalDirection = 3
};

11
hal/src/main/native/include/hal/DriverStation.h
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@@ -219,7 +219,18 @@ int32_t HAL_GetMatchInfo(HAL_MatchInfo* info);
*/
HAL_Bool HAL_RefreshDSData(void);
/**
* Adds an event handle to be signalled when new data arrives.
*
* @param handle the event handle to be signalled
*/
void HAL_ProvideNewDataEventHandle(WPI_EventHandle handle);
/**
* Removes the event handle from being signalled when new data arrives.
*
* @param handle the event handle to remove
*/
void HAL_RemoveNewDataEventHandle(WPI_EventHandle handle);
/**

22
hal/src/main/native/include/hal/DriverStationTypes.h
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@@ -41,12 +41,19 @@ struct HAL_ControlWord {
typedef struct HAL_ControlWord HAL_ControlWord;
HAL_ENUM(HAL_AllianceStationID) {
/** Unknown Alliance Station */
HAL_AllianceStationID_kUnknown = 0,
/** Red Alliance Station 1 */
HAL_AllianceStationID_kRed1,
/** Red Alliance Station 2 */
HAL_AllianceStationID_kRed2,
/** Red Alliance Station 3 */
HAL_AllianceStationID_kRed3,
/** Blue Alliance Station 1 */
HAL_AllianceStationID_kBlue1,
/** Blue Alliance Station 2 */
HAL_AllianceStationID_kBlue2,
/** Blue Alliance Station 3 */
HAL_AllianceStationID_kBlue3,
};
@@ -57,12 +64,21 @@ HAL_ENUM(HAL_MatchType) {
HAL_kMatchType_elimination,
};
/* The maximum number of axes that will be stored in a single HALJoystickAxes
* struct. This is used for allocating buffers, not bounds checking, since
* there are usually less axes in practice.
/**
* The maximum number of axes that will be stored in a single HAL_JoystickAxes
* struct. This is used for allocating buffers, not bounds checking, since there
* are usually less axes in practice.
*/
#define HAL_kMaxJoystickAxes 12
/**
* The maximum number of POVs that will be stored in a single HAL_JoystickPOVs
* struct. This is used for allocating buffers, not bounds checking, since there
* are usually less POVs in practice.
*/
#define HAL_kMaxJoystickPOVs 12
/**
* The maximum number of joysticks.
*/
#define HAL_kMaxJoysticks 6
struct HAL_JoystickAxes {

6
hal/src/main/native/include/hal/HALBase.h
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@@ -24,9 +24,15 @@
* @{
*/
/**
* Runtime type.
*/
HAL_ENUM(HAL_RuntimeType) {
/** roboRIO 1.0 */
HAL_Runtime_RoboRIO,
/** roboRIO 2.0 */
HAL_Runtime_RoboRIO2,
/** Simulation runtime */
HAL_Runtime_Simulation
};

2
hal/src/main/native/include/hal/PWM.h
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@@ -216,7 +216,7 @@ void HAL_SetPWMAlwaysHighMode(HAL_DigitalHandle pwmPortHandle, int32_t* status);
* Gets the loop timing of the PWM system.
*
* @param[out] status Error status variable. 0 on success.
* @return the loop time
* @return the loop time in clock ticks
*/
int32_t HAL_GetPWMLoopTiming(int32_t* status);

63
hal/src/main/native/include/hal/PowerDistribution.h
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@@ -19,11 +19,15 @@
* The types of power distribution devices.
*/
HAL_ENUM(HAL_PowerDistributionType) {
/** Automatically determines the module type */
HAL_PowerDistributionType_kAutomatic = 0,
/** CTRE (Cross The Road Electronics) Power Distribution Panel (PDP). */
HAL_PowerDistributionType_kCTRE = 1,
/** REV Power Distribution Hub (PDH). */
HAL_PowerDistributionType_kRev = 2,
};
/** Use the default module number for the selected module type */
#define HAL_DEFAULT_POWER_DISTRIBUTION_MODULE -1
#ifdef __cplusplus
@@ -244,32 +248,59 @@ struct HAL_PowerDistributionVersion {
};
struct HAL_PowerDistributionFaults {
/** Breaker fault on channel 0. */
uint32_t channel0BreakerFault : 1;
/** Breaker fault on channel 1. */
uint32_t channel1BreakerFault : 1;
/** Breaker fault on channel 2. */
uint32_t channel2BreakerFault : 1;
/** Breaker fault on channel 3. */
uint32_t channel3BreakerFault : 1;
/** Breaker fault on channel 4. */
uint32_t channel4BreakerFault : 1;
/** Breaker fault on channel 5. */
uint32_t channel5BreakerFault : 1;
/** Breaker fault on channel 6. */
uint32_t channel6BreakerFault : 1;
/** Breaker fault on channel 7. */
uint32_t channel7BreakerFault : 1;
/** Breaker fault on channel 8. */
uint32_t channel8BreakerFault : 1;
/** Breaker fault on channel 9. */
uint32_t channel9BreakerFault : 1;
/** Breaker fault on channel 10. */
uint32_t channel10BreakerFault : 1;
/** Breaker fault on channel 12. */
uint32_t channel11BreakerFault : 1;
/** Breaker fault on channel 13. */
uint32_t channel12BreakerFault : 1;
/** Breaker fault on channel 14. */
uint32_t channel13BreakerFault : 1;
/** Breaker fault on channel 15. */
uint32_t channel14BreakerFault : 1;
/** Breaker fault on channel 16. */
uint32_t channel15BreakerFault : 1;
/** Breaker fault on channel 17. */
uint32_t channel16BreakerFault : 1;
/** Breaker fault on channel 18. */
uint32_t channel17BreakerFault : 1;
/** Breaker fault on channel 19. */
uint32_t channel18BreakerFault : 1;
/** Breaker fault on channel 20. */
uint32_t channel19BreakerFault : 1;
/** Breaker fault on channel 21. */
uint32_t channel20BreakerFault : 1;
/** Breaker fault on channel 22. */
uint32_t channel21BreakerFault : 1;
/** Breaker fault on channel 23. */
uint32_t channel22BreakerFault : 1;
/** Breaker fault on channel 24. */
uint32_t channel23BreakerFault : 1;
/** The input voltage is below the minimum voltage. */
uint32_t brownout : 1;
/** A warning was raised by the device's CAN controller. */
uint32_t canWarning : 1;
/** The hardware on the device has malfunctioned. */
uint32_t hardwareFault : 1;
};
@@ -277,33 +308,61 @@ struct HAL_PowerDistributionFaults {
* Storage for REV PDH Sticky Faults
*/
struct HAL_PowerDistributionStickyFaults {
/** Breaker fault on channel 0. */
uint32_t channel0BreakerFault : 1;
/** Breaker fault on channel 1. */
uint32_t channel1BreakerFault : 1;
/** Breaker fault on channel 2. */
uint32_t channel2BreakerFault : 1;
/** Breaker fault on channel 3. */
uint32_t channel3BreakerFault : 1;
/** Breaker fault on channel 4. */
uint32_t channel4BreakerFault : 1;
/** Breaker fault on channel 5. */
uint32_t channel5BreakerFault : 1;
/** Breaker fault on channel 6. */
uint32_t channel6BreakerFault : 1;
/** Breaker fault on channel 7. */
uint32_t channel7BreakerFault : 1;
/** Breaker fault on channel 8. */
uint32_t channel8BreakerFault : 1;
/** Breaker fault on channel 9. */
uint32_t channel9BreakerFault : 1;
/** Breaker fault on channel 10. */
uint32_t channel10BreakerFault : 1;
/** Breaker fault on channel 12. */
uint32_t channel11BreakerFault : 1;
/** Breaker fault on channel 13. */
uint32_t channel12BreakerFault : 1;
/** Breaker fault on channel 14. */
uint32_t channel13BreakerFault : 1;
/** Breaker fault on channel 15. */
uint32_t channel14BreakerFault : 1;
/** Breaker fault on channel 16. */
uint32_t channel15BreakerFault : 1;
/** Breaker fault on channel 17. */
uint32_t channel16BreakerFault : 1;
/** Breaker fault on channel 18. */
uint32_t channel17BreakerFault : 1;
/** Breaker fault on channel 19. */
uint32_t channel18BreakerFault : 1;
/** Breaker fault on channel 20. */
uint32_t channel19BreakerFault : 1;
/** Breaker fault on channel 21. */
uint32_t channel20BreakerFault : 1;
/** Breaker fault on channel 22. */
uint32_t channel21BreakerFault : 1;
/** Breaker fault on channel 23. */
uint32_t channel22BreakerFault : 1;
/** Breaker fault on channel 24. */
uint32_t channel23BreakerFault : 1;
/** The input voltage is below the minimum voltage. */
uint32_t brownout : 1;
/** A warning was raised by the device's CAN controller. */
uint32_t canWarning : 1;
/** The device's CAN controller experienced a "Bus Off" event. */
uint32_t canBusOff : 1;
/** The device has rebooted. */
uint32_t hasReset : 1;
};
@@ -320,6 +379,8 @@ void HAL_GetPowerDistributionVersion(HAL_PowerDistributionHandle handle,
/**
* Get the current faults of the PowerDistribution.
*
* On a CTRE PDP, this will return an object with no faults active.
*
* @param[in] handle the module handle
* @param[out] faults the HAL_PowerDistributionFaults to populate
* @param[out] status Error status variable. 0 on success.
@@ -331,6 +392,8 @@ void HAL_GetPowerDistributionFaults(HAL_PowerDistributionHandle handle,
/**
* Gets the sticky faults of the PowerDistribution.
*
* On a CTRE PDP, this will return an object with no faults active.
*
* @param[in] handle the module handle
* @param[out] stickyFaults the HAL_PowerDistributionStickyFaults to populate
* @param[out] status Error status variable. 0 on success.

39
hal/src/main/native/include/hal/REVPH.h
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@@ -18,9 +18,13 @@
* The compressor configuration type
*/
HAL_ENUM(HAL_REVPHCompressorConfigType) {
/** Disabled. */
HAL_REVPHCompressorConfigType_kDisabled = 0,
/** Digital. */
HAL_REVPHCompressorConfigType_kDigital = 1,
/** Analog. */
HAL_REVPHCompressorConfigType_kAnalog = 2,
/** Hybrid. */
HAL_REVPHCompressorConfigType_kHybrid = 3,
};
@@ -28,11 +32,17 @@ HAL_ENUM(HAL_REVPHCompressorConfigType) {
* Storage for REV PH Version
*/
struct HAL_REVPHVersion {
/** The firmware major version. */
uint32_t firmwareMajor;
/** The firmware minor version. */
uint32_t firmwareMinor;
/** The firmware fix version. */
uint32_t firmwareFix;
/** The hardware minor version. */
uint32_t hardwareMinor;
/** The hardware major version. */
uint32_t hardwareMajor;
/** The device's unique ID. */
uint32_t uniqueId;
};
@@ -50,27 +60,49 @@ struct HAL_REVPHCompressorConfig {
* Storage for REV PH Faults
*/
struct HAL_REVPHFaults {
/** Fault on channel 0. */
uint32_t channel0Fault : 1;
/** Fault on channel 1. */
uint32_t channel1Fault : 1;
/** Fault on channel 2. */
uint32_t channel2Fault : 1;
/** Fault on channel 3. */
uint32_t channel3Fault : 1;
/** Fault on channel 4. */
uint32_t channel4Fault : 1;
/** Fault on channel 5. */
uint32_t channel5Fault : 1;
/** Fault on channel 6. */
uint32_t channel6Fault : 1;
/** Fault on channel 7. */
uint32_t channel7Fault : 1;
/** Fault on channel 8. */
uint32_t channel8Fault : 1;
/** Fault on channel 9. */
uint32_t channel9Fault : 1;
/** Fault on channel 10. */
uint32_t channel10Fault : 1;
/** Fault on channel 11. */
uint32_t channel11Fault : 1;
/** Fault on channel 12. */
uint32_t channel12Fault : 1;
/** Fault on channel 13. */
uint32_t channel13Fault : 1;
/** Fault on channel 14. */
uint32_t channel14Fault : 1;
/** Fault on channel 15. */
uint32_t channel15Fault : 1;
/** An overcurrent event occurred on the compressor output. */
uint32_t compressorOverCurrent : 1;
/** The compressor output has an open circuit. */
uint32_t compressorOpen : 1;
/** An overcurrent event occurred on a solenoid ouput. */
uint32_t solenoidOverCurrent : 1;
/** The input voltage is below the minimum voltage. */
uint32_t brownout : 1;
/** A warning was raised by the device's CAN controller. */
uint32_t canWarning : 1;
/** The hardware on the device has malfunctioned. */
uint32_t hardwareFault : 1;
};
@@ -78,12 +110,19 @@ struct HAL_REVPHFaults {
* Storage for REV PH Sticky Faults
*/
struct HAL_REVPHStickyFaults {
/** An overcurrent event occurred on the compressor output. */
uint32_t compressorOverCurrent : 1;
/** The compressor output has an open circuit. */
uint32_t compressorOpen : 1;
/** An overcurrent event occurred on a solenoid ouput. */
uint32_t solenoidOverCurrent : 1;
/** The input voltage is below the minimum voltage. */
uint32_t brownout : 1;
/** A warning was raised by the device's CAN controller. */
uint32_t canWarning : 1;
/** The device's CAN controller experienced a "Bus Off" event. */
uint32_t canBusOff : 1;
/** The device has rebooted. */
uint32_t hasReset : 1;
};

12
hal/src/main/native/include/hal/SPITypes.h
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@@ -14,19 +14,31 @@
* @{
*/
/** SPI port. */
HAL_ENUM(HAL_SPIPort) {
/** Invalid port number. */
HAL_SPI_kInvalid = -1,
/** Onboard SPI bus port CS0. */
HAL_SPI_kOnboardCS0,
/** Onboard SPI bus port CS1. */
HAL_SPI_kOnboardCS1,
/** Onboard SPI bus port CS2. */
HAL_SPI_kOnboardCS2,
/** Onboard SPI bus port CS3. */
HAL_SPI_kOnboardCS3,
/** MXP (roboRIO MXP) SPI bus port. */
HAL_SPI_kMXP
};
/** SPI mode. */
HAL_ENUM(HAL_SPIMode) {
/** Clock idle low, data sampled on rising edge. */
HAL_SPI_kMode0 = 0,
/** Clock idle low, data sampled on falling edge. */
HAL_SPI_kMode1 = 1,
/** Clock idle high, data sampled on falling edge. */
HAL_SPI_kMode2 = 2,
/** Clock idle high, data sampled on rising edge. */
HAL_SPI_kMode3 = 3,
};

37
hal/src/main/native/include/hal/Value.h
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@@ -8,11 +8,17 @@
/** HAL data types. */
enum HAL_Type {
/** Unassigned type. */
HAL_UNASSIGNED = 0,
/** Boolean. */
HAL_BOOLEAN = 0x01,
/** Double. */
HAL_DOUBLE = 0x02,
/** Enum. */
HAL_ENUM = 0x04,
/** Int. */
HAL_INT = 0x08,
/** Long. */
HAL_LONG = 0x10,
};
@@ -31,7 +37,12 @@ struct HAL_Value {
#ifdef __cplusplus
extern "C" {
#endif
/**
* Build a HAL boolean value.
*
* @param v value
* @return HAL value
*/
inline struct HAL_Value HAL_MakeBoolean(HAL_Bool v) {
struct HAL_Value value;
value.type = HAL_BOOLEAN;
@@ -39,6 +50,12 @@ inline struct HAL_Value HAL_MakeBoolean(HAL_Bool v) {
return value;
}
/**
* Build a HAL enum value.
*
* @param v value
* @return HAL value
*/
inline struct HAL_Value HAL_MakeEnum(int v) {
struct HAL_Value value;
value.type = HAL_ENUM;
@@ -46,6 +63,12 @@ inline struct HAL_Value HAL_MakeEnum(int v) {
return value;
}
/**
* Build a HAL int value.
*
* @param v value
* @return HAL value
*/
inline struct HAL_Value HAL_MakeInt(int v) {
struct HAL_Value value;
value.type = HAL_INT;
@@ -53,6 +76,12 @@ inline struct HAL_Value HAL_MakeInt(int v) {
return value;
}
/**
* Build a HAL long value.
*
* @param v value
* @return HAL value
*/
inline struct HAL_Value HAL_MakeLong(int64_t v) {
struct HAL_Value value;
value.type = HAL_LONG;
@@ -60,6 +89,12 @@ inline struct HAL_Value HAL_MakeLong(int64_t v) {
return value;
}
/**
* Build a HAL double value.
*
* @param v value
* @return HAL value
*/
inline struct HAL_Value HAL_MakeDouble(double v) {
struct HAL_Value value;
value.type = HAL_DOUBLE;