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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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25
wpilibc/src/main/native/cpp/RobotController.cpp
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@@ -111,6 +111,12 @@ double RobotController::GetCurrent3V3() {
return retVal;
}
void RobotController::SetEnabled3V3(bool enabled) {
int32_t status = 0;
HAL_SetUserRailEnabled3V3(enabled, &status);
FRC_CheckErrorStatus(status, "SetEnabled3V3");
}
bool RobotController::GetEnabled3V3() {
int32_t status = 0;
bool retVal = HAL_GetUserActive3V3(&status);
@@ -139,6 +145,12 @@ double RobotController::GetCurrent5V() {
return retVal;
}
void RobotController::SetEnabled5V(bool enabled) {
int32_t status = 0;
HAL_SetUserRailEnabled5V(enabled, &status);
FRC_CheckErrorStatus(status, "SetEnabled5V");
}
bool RobotController::GetEnabled5V() {
int32_t status = 0;
bool retVal = HAL_GetUserActive5V(&status);
@@ -167,6 +179,12 @@ double RobotController::GetCurrent6V() {
return retVal;
}
void RobotController::SetEnabled6V(bool enabled) {
int32_t status = 0;
HAL_SetUserRailEnabled6V(enabled, &status);
FRC_CheckErrorStatus(status, "SetEnabled6V");
}
bool RobotController::GetEnabled6V() {
int32_t status = 0;
bool retVal = HAL_GetUserActive6V(&status);
@@ -194,6 +212,13 @@ void RobotController::SetBrownoutVoltage(units::volt_t brownoutVoltage) {
FRC_CheckErrorStatus(status, "SetBrownoutVoltage");
}
units::celsius_t RobotController::GetCPUTemp() {
int32_t status = 0;
double retVal = HAL_GetCPUTemp(&status);
FRC_CheckErrorStatus(status, "GetCPUTemp");
return units::celsius_t{retVal};
}
CANStatus RobotController::GetCANStatus() {
int32_t status = 0;
float percentBusUtilization = 0;

47
wpilibc/src/main/native/include/frc/RobotController.h
View File

@@ -8,6 +8,7 @@
#include <string>
#include <units/temperature.h>
#include <units/voltage.h>
namespace frc {
@@ -136,9 +137,16 @@ class RobotController {
static double GetCurrent3V3();
/**
* Get the enabled state of the 3.3V rail. The rail may be disabled due to a
* controller brownout, a short circuit on the rail, or controller
* over-voltage.
* Enables or disables the 3.3V rail.
*
* @param enabled whether to enable the 3.3V rail.
*/
static void SetEnabled3V3(bool enabled);
/**
* Get the enabled state of the 3.3V rail. The rail may be disabled due to
* calling SetEnabled3V3(), a controller brownout, a short circuit on the
* rail, or controller over-voltage.
*
* @return The controller 3.3V rail enabled value. True for enabled.
*/
@@ -167,9 +175,16 @@ class RobotController {
static double GetCurrent5V();
/**
* Get the enabled state of the 5V rail. The rail may be disabled due to a
* controller brownout, a short circuit on the rail, or controller
* over-voltage.
* Enables or disables the 5V rail.
*
* @param enabled whether to enable the 5V rail.
*/
static void SetEnabled5V(bool enabled);
/**
* Get the enabled state of the 5V rail. The rail may be disabled due to
* calling SetEnabled5V(), a controller brownout, a short circuit on the rail,
* or controller over-voltage.
*
* @return The controller 5V rail enabled value. True for enabled.
*/
@@ -198,9 +213,16 @@ class RobotController {
static double GetCurrent6V();
/**
* Get the enabled state of the 6V rail. The rail may be disabled due to a
* controller brownout, a short circuit on the rail, or controller
* over-voltage.
* Enables or disables the 6V rail.
*
* @param enabled whether to enable the 6V rail.
*/
static void SetEnabled6V(bool enabled);
/**
* Get the enabled state of the 6V rail. The rail may be disabled due to
* calling SetEnabled6V(), a controller brownout, a short circuit on the rail,
* or controller over-voltage.
*
* @return The controller 6V rail enabled value. True for enabled.
*/
@@ -231,6 +253,13 @@ class RobotController {
*/
static void SetBrownoutVoltage(units::volt_t brownoutVoltage);
/**
* Get the current CPU temperature.
*
* @return current CPU temperature
*/
static units::celsius_t GetCPUTemp();
/**
* Get the current status of the CAN bus.
*