allwpilib/hal/src/main/native/systemcore/REVPDH.h

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

#pragma once

#include <stdint.h>

#include "hal/PowerDistribution.h"
#include "hal/Types.h"

/**
 * @defgroup hal_rev_pdh REV Power Distribution Hub API Functions
 * @ingroup hal_capi
 * @{
 */

#ifdef __cplusplus
extern "C" {
#endif

/**
 * Initializes a REV Power Distribution Hub (PDH) device.
 *
 * @param module       the device CAN ID (1 .. 63)
 * @return the created PDH handle
 */
HAL_REVPDHHandle HAL_InitializeREVPDH(int32_t module,
                                      const char* allocationLocation,
                                      int32_t* status);

/**
 * Frees a PDH device handle.
 *
 * @param handle        the previously created PDH handle
 */
void HAL_FreeREVPDH(HAL_REVPDHHandle handle);

/**
 * Gets the module number for a pdh.
 */
int32_t HAL_GetREVPDHModuleNumber(HAL_REVPDHHandle handle, int32_t* status);

/**
 * Checks if a PDH module number is valid.
 *
 * Does not check if a PDH device with this module has been initialized.
 *
 * @param module        module number (1 .. 63)
 * @return 1 if the module number is valid; 0 otherwise
 */
HAL_Bool HAL_CheckREVPDHModuleNumber(int32_t module);

/**
 * Checks if a PDH channel number is valid.
 *
 * @param module        channel number (0 .. kNumREVPDHChannels)
 * @return 1 if the channel number is valid; 0 otherwise
 */
HAL_Bool HAL_CheckREVPDHChannelNumber(int32_t channel);

/**
 * Gets the current of a PDH channel in Amps.
 *
 * @param handle        PDH handle
 * @param channel       the channel to retrieve the current of (0 ..
 * kNumREVPDHChannels)
 *
 * @return the current of the PDH channel in Amps
 */
double HAL_GetREVPDHChannelCurrent(HAL_REVPDHHandle handle, int32_t channel,
                                   int32_t* status);

/**
 * @param handle        PDH handle
 * @param currents      array of currents
 */
void HAL_GetREVPDHAllChannelCurrents(HAL_REVPDHHandle handle, double* currents,
                                     int32_t* status);

/**
 * Gets the total current of the PDH in Amps, measured to the nearest even
 * integer.
 *
 * @param handle        PDH handle
 *
 * @return the total current of the PDH in Amps
 */
uint16_t HAL_GetREVPDHTotalCurrent(HAL_REVPDHHandle handle, int32_t* status);

/**
 * Sets the state of the switchable channel on a PDH device.
 *
 * @param handle        PDH handle
 * @param enabled       1 if the switchable channel should be enabled; 0
 * otherwise
 */
void HAL_SetREVPDHSwitchableChannel(HAL_REVPDHHandle handle, HAL_Bool enabled,
                                    int32_t* status);

/**
 * Gets the current state of the switchable channel on a PDH device.
 *
 * This call relies on a periodic status sent by the PDH device and will be as
 * fresh as the last packet received.
 *
 * @param handle        PDH handle
 * @return 1 if the switchable channel is enabled; 0 otherwise
 */
HAL_Bool HAL_GetREVPDHSwitchableChannelState(HAL_REVPDHHandle handle,
                                             int32_t* status);

/**
 * Gets the firmware and hardware versions of a PDH device.
 *
 * @param handle        PDH handle
 *
 * @return version information
 */
void HAL_GetREVPDHVersion(HAL_REVPDHHandle handle,
                          HAL_PowerDistributionVersion* version,
                          int32_t* status);

/**
 * Gets the voltage being supplied to a PDH device.
 *
 * @param handle        PDH handle
 *
 * @return the voltage at the input of the PDH in Volts
 */
double HAL_GetREVPDHVoltage(HAL_REVPDHHandle handle, int32_t* status);

/**
 * Gets the faults of a PDH device.
 *
 * @param handle        PDH handle
 *
 * @return the faults of the PDH
 */
void HAL_GetREVPDHFaults(HAL_REVPDHHandle handle,
                         HAL_PowerDistributionFaults* faults, int32_t* status);

/**
 * Gets the sticky faults of a PDH device.
 *
 * @param handle        PDH handle
 *
 * @return the sticky faults of the PDH
 */
void HAL_GetREVPDHStickyFaults(HAL_REVPDHHandle handle,
                               HAL_PowerDistributionStickyFaults* stickyFaults,
                               int32_t* status);

/**
 * Clears the sticky faults on a PDH device.
 *
 * @param handle        PDH handle
 */
void HAL_ClearREVPDHStickyFaults(HAL_REVPDHHandle handle, int32_t* status);

void HAL_StartREVPDHStream(HAL_REVPDHHandle handle, int32_t* status);

HAL_PowerDistributionChannelData* HAL_GetREVPDHStreamData(
    HAL_REVPDHHandle handle, int32_t* count, int32_t* status);

void HAL_StopREVPDHStream(HAL_REVPDHHandle handle, int32_t* status);

#ifdef __cplusplus
}  // extern "C"
#endif