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https://github.com/wpilibsuite/allwpilib
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85dff7d2ec
CAN isn't fully working yet, but this change is necessary to compile for the v9 image. Change-Id: Ife99686a7e7a9979c95ec7a395d597011090fa37
127 lines
3.4 KiB
C++
127 lines
3.4 KiB
C++
#ifndef PDP_H_
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#define PDP_H_
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#include "ctre.h" //BIT Defines + Typedefs
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#include <NetworkCommunication/CANSessionMux.h> //CAN Comm
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#include <pthread.h>
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/* encoder/decoders */
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typedef struct _PdpStatus1_t{
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unsigned chan1_h8:8;
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unsigned chan2_h6:6;
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unsigned chan1_l2:2;
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unsigned chan3_h4:4;
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unsigned chan2_l4:4;
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unsigned chan4_h2:2;
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unsigned chan3_l6:6;
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unsigned chan4_l8:8;
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unsigned chan5_h8:8;
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unsigned chan6_h6:6;
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unsigned chan5_l2:2;
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unsigned reserved4:4;
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unsigned chan6_l4:4;
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}PdpStatus1_t;
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typedef struct _PdpStatus2_t{
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unsigned chan7_h8:8;
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unsigned chan8_h6:6;
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unsigned chan7_l2:2;
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unsigned chan9_h4:4;
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unsigned chan8_l4:4;
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unsigned chan10_h2:2;
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unsigned chan9_l6:6;
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unsigned chan10_l8:8;
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unsigned chan11_h8:8;
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unsigned chan12_h6:6;
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unsigned chan11_l2:2;
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unsigned reserved4:4;
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unsigned chan12_l4:4;
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}PdpStatus2_t;
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typedef struct _PdpStatus3_t{
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unsigned chan13_h8:8;
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unsigned chan14_h6:6;
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unsigned chan13_l2:2;
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unsigned chan15_h4:4;
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unsigned chan14_l4:4;
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unsigned chan16_h2:2;
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unsigned chan15_l6:6;
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unsigned chan16_l8:8;
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unsigned internalResBattery_mOhms:8;
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unsigned busVoltage:8;
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unsigned temp:8;
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}PdpStatus3_t;
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class PDP
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{
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public:
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/* Get PDP Channel Current
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*
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* @Param - deviceNumber - Device ID for PDP. Factory default is 60. Function defaults to 60.
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*/
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PDP(UINT8 deviceNumber=60);
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~PDP();
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/* Get PDP Channel Current
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*
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* @Return - CTR_Code - Error code (if any)
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*
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* @Param - idx - ID of channel to return current for (channels 1-16)
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*
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* @Param - status - Current of channel 'idx' in Amps (A)
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*/
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CTR_Code GetChannelCurrent(UINT8 idx, double &status);
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/* Get Bus Voltage of PDP
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*
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* @Return - CTR_Code - Error code (if any)
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*
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* @Param - status - Voltage (V) across PDP
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*/
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CTR_Code GetVoltage(double &status);
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/* Get Temperature of PDP
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*
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* @Return - CTR_Code - Error code (if any)
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*
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* @Param - status - Temperature of PDP in Centigrade / Celcius (C)
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*/
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CTR_Code GetTemperature(double &status);
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/* Set PDP Device Number
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*
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* @Return - void
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*
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* @Param - deviceNumber - Device number of PDP to control
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*/
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void SetDeviceNumber(UINT8 deviceNumber);
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/* Get time since last received frame
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* @Return - int - Returns time in milliseconds (ms) since last received PCM frame
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*/
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int GetTimeSinceLastRx(void) { return _timeSinceLastRx;}
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private:
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/* frames to receive */
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PdpStatus1_t _status1;
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PdpStatus2_t _status2;
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PdpStatus3_t _status3;
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/* tracking health and error info */
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uint32_t _timeSinceLastRx;
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uint32_t _timeSinceLastTx;
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uint32_t _numFailedRxs;
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uint32_t _numFailedTxs;
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/* threading */
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pthread_t _thread;
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int _threadErr;
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int _threadIsRunning;
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/** arbids */
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struct PDPSettings{
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UINT8 deviceNumber;
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UINT32 frameIDs[3];
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}PDP_Settings;
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uint64_t ReadCurrents(uint8_t api);
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void GetErrorInfo( uint32_t * timeSinceLastRx,uint32_t * numFailedRxs);
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static void * ThreadFunc(void *);
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void * ThreadFunc();
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};
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extern "C" {
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void * c_PDP_Init();
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CTR_Code c_GetChannelCurrent(void * handle,UINT8 idx, double *status);
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CTR_Code c_GetVoltage(void * handle,double *status);
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CTR_Code c_GetTemperature(void * handle,double *status);
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void c_SetDeviceNumber_PDP(void * handle,UINT8 deviceNumber);
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}
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#endif /* PDP_H_ */
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