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[hal] Expose power rail disable and cpu temp functionality (#5477)

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This commit is contained in:
Ryan Blue
2023-08-04 02:48:29 -04:00
committed by GitHub
parent 3ad5d2e42d
commit e2d17a24a6
12 changed files with 255 additions and 9 deletions
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20
hal/src/main/native/athena/Power.cpp
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@@ -61,6 +61,11 @@ int32_t HAL_GetUserCurrentFaults6V(int32_t* status) {
power->readFaultCounts_OverCurrentFaultCount6V(status));
}
void HAL_SetUserRailEnabled6V(HAL_Bool enabled, int32_t* status) {
initializePower(status);
power->writeDisable_User6V(!enabled, status);
}
double HAL_GetUserVoltage5V(int32_t* status) {
initializePower(status);
return power->readUserVoltage5V(status) / 4.096 * 0.005962 - 0.013;
@@ -82,6 +87,11 @@ int32_t HAL_GetUserCurrentFaults5V(int32_t* status) {
power->readFaultCounts_OverCurrentFaultCount5V(status));
}
void HAL_SetUserRailEnabled5V(HAL_Bool enabled, int32_t* status) {
initializePower(status);
power->writeDisable_User5V(!enabled, status);
}
double HAL_GetUserVoltage3V3(int32_t* status) {
initializePower(status);
return power->readUserVoltage3V3(status) / 4.096 * 0.004902 - 0.01;
@@ -103,6 +113,11 @@ int32_t HAL_GetUserCurrentFaults3V3(int32_t* status) {
power->readFaultCounts_OverCurrentFaultCount3V3(status));
}
void HAL_SetUserRailEnabled3V3(HAL_Bool enabled, int32_t* status) {
initializePower(status);
power->writeDisable_User3V3(!enabled, status);
}
void HAL_SetBrownoutVoltage(double voltage, int32_t* status) {
initializePower(status);
if (voltage < 0) {
@@ -121,4 +136,9 @@ double HAL_GetBrownoutVoltage(int32_t* status) {
return brownout / 4.0;
}
double HAL_GetCPUTemp(int32_t* status) {
initializePower(status);
return power->readOnChipTemperature(status) / 4096.0 * 503.975 - 273.15;
}
} // extern "C"

1
hal/src/main/native/athena/mockdata/RoboRioData.cpp
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@@ -28,6 +28,7 @@ DEFINE_CAPI(int32_t, UserFaults6V, 0)
DEFINE_CAPI(int32_t, UserFaults5V, 0)
DEFINE_CAPI(int32_t, UserFaults3V3, 0)
DEFINE_CAPI(double, BrownoutVoltage, 6.75)
DEFINE_CAPI(int32_t, CPUTemp, 16)
int32_t HALSIM_RegisterRoboRioSerialNumberCallback(
HAL_RoboRioStringCallback callback, void* param, HAL_Bool initialNotify) {

57
hal/src/main/native/cpp/jni/PowerJNI.cpp
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@@ -72,6 +72,20 @@ Java_edu_wpi_first_hal_PowerJNI_getUserCurrent6V
return val;
}
/*
* Class: edu_wpi_first_hal_PowerJNI
* Method: setUserEnabled6V
* Signature: (Z)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_PowerJNI_setUserEnabled6V
(JNIEnv* env, jclass, jboolean enabled)
{
int32_t status = 0;
HAL_SetUserRailEnabled6V(enabled, &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_PowerJNI
* Method: getUserActive6V
@@ -132,6 +146,20 @@ Java_edu_wpi_first_hal_PowerJNI_getUserCurrent5V
return val;
}
/*
* Class: edu_wpi_first_hal_PowerJNI
* Method: setUserEnabled5V
* Signature: (Z)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_PowerJNI_setUserEnabled5V
(JNIEnv* env, jclass, jboolean enabled)
{
int32_t status = 0;
HAL_SetUserRailEnabled5V(enabled, &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_PowerJNI
* Method: getUserActive5V
@@ -192,6 +220,20 @@ Java_edu_wpi_first_hal_PowerJNI_getUserCurrent3V3
return val;
}
/*
* Class: edu_wpi_first_hal_PowerJNI
* Method: setUserEnabled3V3
* Signature: (Z)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_PowerJNI_setUserEnabled3V3
(JNIEnv* env, jclass, jboolean enabled)
{
int32_t status = 0;
HAL_SetUserRailEnabled3V3(enabled, &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_PowerJNI
* Method: getUserActive3V3
@@ -251,4 +293,19 @@ Java_edu_wpi_first_hal_PowerJNI_getBrownoutVoltage
return val;
}
/*
* Class: edu_wpi_first_hal_PowerJNI
* Method: getCPUTemp
* Signature: ()D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_hal_PowerJNI_getCPUTemp
(JNIEnv* env, jclass)
{
int32_t status = 0;
double val = HAL_GetCPUTemp(&status);
CheckStatus(env, status);
return val;
}
} // extern "C"

32
hal/src/main/native/include/hal/Power.h
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@@ -66,6 +66,14 @@ HAL_Bool HAL_GetUserActive6V(int32_t* status);
*/
int32_t HAL_GetUserCurrentFaults6V(int32_t* status);
/**
* Enables or disables the 6V rail.
*
* @param enabled whether the rail should be enabled
* @param[out] status the error code, or 0 for success
*/
void HAL_SetUserRailEnabled6V(HAL_Bool enabled, int32_t* status);
/**
* Gets the 5V rail voltage.
*
@@ -98,6 +106,14 @@ HAL_Bool HAL_GetUserActive5V(int32_t* status);
*/
int32_t HAL_GetUserCurrentFaults5V(int32_t* status);
/**
* Enables or disables the 5V rail.
*
* @param enabled whether the rail should be enabled
* @param[out] status the error code, or 0 for success
*/
void HAL_SetUserRailEnabled5V(HAL_Bool enabled, int32_t* status);
/**
* Gets the 3V3 rail voltage.
*
@@ -130,6 +146,14 @@ HAL_Bool HAL_GetUserActive3V3(int32_t* status);
*/
int32_t HAL_GetUserCurrentFaults3V3(int32_t* status);
/**
* Enables or disables the 3V3 rail.
*
* @param enabled whether the rail should be enabled
* @param[out] status the error code, or 0 for success
*/
void HAL_SetUserRailEnabled3V3(HAL_Bool enabled, int32_t* status);
/**
* Get the current brownout voltage setting.
*
@@ -149,6 +173,14 @@ double HAL_GetBrownoutVoltage(int32_t* status);
*/
void HAL_SetBrownoutVoltage(double voltage, int32_t* status);
/**
* Get the current CPU temperature in degrees Celsius
*
* @param[out] status the error code, or 0 for success
* @return current CPU temperature in degrees Celsius
*/
double HAL_GetCPUTemp(int32_t* status);
#ifdef __cplusplus
} // extern "C"
#endif

7
hal/src/main/native/include/hal/simulation/RoboRioData.h
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@@ -141,6 +141,13 @@ void HALSIM_SetRoboRioComments(const char* comments, size_t size);
void HALSIM_RegisterRoboRioAllCallbacks(HAL_NotifyCallback callback,
void* param, HAL_Bool initialNotify);
int32_t HALSIM_RegisterRoboRioCPUTempCallback(HAL_NotifyCallback callback,
void* param,
HAL_Bool initialNotify);
void HALSIM_CancelRoboRioCPUTempCallback(int32_t uid);
HAL_Bool HALSIM_GetRoboRioCPUTemp(void);
void HALSIM_SetRoboRioUserCPUTemp(HAL_Bool userActive3V3);
#ifdef __cplusplus
} // extern "C"
#endif

6
hal/src/main/native/sim/Power.cpp
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@@ -32,6 +32,7 @@ HAL_Bool HAL_GetUserActive6V(int32_t* status) {
int32_t HAL_GetUserCurrentFaults6V(int32_t* status) {
return SimRoboRioData->userFaults6V;
}
void HAL_SetUserRailEnabled6V(HAL_Bool enabled, int32_t* status) {}
double HAL_GetUserVoltage5V(int32_t* status) {
return SimRoboRioData->userVoltage5V;
}
@@ -44,6 +45,7 @@ HAL_Bool HAL_GetUserActive5V(int32_t* status) {
int32_t HAL_GetUserCurrentFaults5V(int32_t* status) {
return SimRoboRioData->userFaults5V;
}
void HAL_SetUserRailEnabled5V(HAL_Bool enabled, int32_t* status) {}
double HAL_GetUserVoltage3V3(int32_t* status) {
return SimRoboRioData->userVoltage3V3;
}
@@ -56,10 +58,14 @@ HAL_Bool HAL_GetUserActive3V3(int32_t* status) {
int32_t HAL_GetUserCurrentFaults3V3(int32_t* status) {
return SimRoboRioData->userFaults3V3;
}
void HAL_SetUserRailEnabled3V3(HAL_Bool enabled, int32_t* status) {}
void HAL_SetBrownoutVoltage(double voltage, int32_t* status) {
SimRoboRioData->brownoutVoltage = voltage;
}
double HAL_GetBrownoutVoltage(int32_t* status) {
return SimRoboRioData->brownoutVoltage;
}
double HAL_GetCPUTemp(int32_t* status) {
return SimRoboRioData->cpuTemp;
}
} // extern "C"

3
hal/src/main/native/sim/mockdata/RoboRioData.cpp
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@@ -32,6 +32,7 @@ void RoboRioData::ResetData() {
userFaults5V.Reset(0);
userFaults3V3.Reset(0);
brownoutVoltage.Reset(6.75);
cpuTemp.Reset(100);
m_serialNumber = "";
m_comments = "";
}
@@ -132,6 +133,7 @@ DEFINE_CAPI(int32_t, UserFaults6V, userFaults6V)
DEFINE_CAPI(int32_t, UserFaults5V, userFaults5V)
DEFINE_CAPI(int32_t, UserFaults3V3, userFaults3V3)
DEFINE_CAPI(double, BrownoutVoltage, brownoutVoltage)
DEFINE_CAPI(int32_t, CPUTemp, cpuTemp)
int32_t HALSIM_RegisterRoboRioSerialNumberCallback(
HAL_RoboRioStringCallback callback, void* param, HAL_Bool initialNotify) {
@@ -187,5 +189,6 @@ void HALSIM_RegisterRoboRioAllCallbacks(HAL_NotifyCallback callback,
REGISTER(userFaults5V);
REGISTER(userFaults3V3);
REGISTER(brownoutVoltage);
REGISTER(cpuTemp);
}
} // extern "C"

2
hal/src/main/native/sim/mockdata/RoboRioDataInternal.h
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@@ -30,6 +30,7 @@ class RoboRioData {
HAL_SIMDATAVALUE_DEFINE_NAME(UserFaults5V)
HAL_SIMDATAVALUE_DEFINE_NAME(UserFaults3V3)
HAL_SIMDATAVALUE_DEFINE_NAME(BrownoutVoltage)
HAL_SIMDATAVALUE_DEFINE_NAME(CPUTemp)
HAL_SIMCALLBACKREGISTRY_DEFINE_NAME(SerialNumber)
HAL_SIMCALLBACKREGISTRY_DEFINE_NAME(Comments);
@@ -57,6 +58,7 @@ class RoboRioData {
SimDataValue<int32_t, HAL_MakeInt, GetUserFaults3V3Name> userFaults3V3{0};
SimDataValue<double, HAL_MakeDouble, GetBrownoutVoltageName> brownoutVoltage{
6.75};
SimDataValue<double, HAL_MakeDouble, GetCPUTempName> cpuTemp{100};
int32_t RegisterSerialNumberCallback(HAL_RoboRioStringCallback callback,
void* param, HAL_Bool initialNotify);