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allwpilib/hal/lib/Athena/ctre/CanTalonSRX.cpp
James Kuszmaul 28a41e4ac2 Added support for CAN Talon SRX in C++ and Java. 
Currently, the JNI bindings are generated by Swig and, unfortunately,
  the interface available through Java is lower-level than that for C++
  (ie, direct access to the ctre code through the JNI bindings, rather
   than an interface on top of that), but it does work.
See eclipse plugins for some short samples.
There are a couple of short unit tests as placeholders.
Still needs some cleaning up.

Change-Id: Iae2f74693ca6b80bf7d5aca0625c66aa6e0b7f85

Added quick samples for C++/Java CAN Talon stuff.

Change-Id: I3acb27d6fd5568d88931e0d678c09973d436735d
2014-11-26 11:55:37 -05:00

610 lines
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/**
* auto generated using spreadsheet and WpiClassGen.csproj
* @link https://docs.google.com/spreadsheets/d/1OU_ZV7fZLGYUQ-Uhc8sVAmUmWTlT8XBFYK8lfjg_tac/edit#gid=1766046967
*/
#include "CanTalonSRX.h"
#include "NetworkCommunication/CANSessionMux.h" //CAN Comm
#include <string.h> // memset
#include <unistd.h> // usleep
#define STATUS_1 0x02041400
#define STATUS_2 0x02041440
#define STATUS_3 0x02041480
#define STATUS_4 0x020414C0
#define STATUS_5 0x02041500
#define STATUS_6 0x02041540
#define STATUS_7 0x02041580
#define CONTROL_1 0x02040000
#define EXPECTED_RESPONSE_TIMEOUT_MS (200)
#define GET_STATUS1() CtreCanNode::recMsg<TALON_Status_1_General_10ms_t > rx = GetRx<TALON_Status_1_General_10ms_t>(STATUS_1 | GetDeviceNumber(), EXPECTED_RESPONSE_TIMEOUT_MS)
#define GET_STATUS2() CtreCanNode::recMsg<TALON_Status_2_Feedback_20ms_t > rx = GetRx<TALON_Status_2_Feedback_20ms_t>(STATUS_2 | GetDeviceNumber(), EXPECTED_RESPONSE_TIMEOUT_MS)
#define GET_STATUS3() CtreCanNode::recMsg<TALON_Status_3_Enc_100ms_t > rx = GetRx<TALON_Status_3_Enc_100ms_t>(STATUS_3 | GetDeviceNumber(), EXPECTED_RESPONSE_TIMEOUT_MS)
#define GET_STATUS4() CtreCanNode::recMsg<TALON_Status_4_AinTempVbat_100ms_t> rx = GetRx<TALON_Status_4_AinTempVbat_100ms_t>(STATUS_4 | GetDeviceNumber(), EXPECTED_RESPONSE_TIMEOUT_MS)
#define GET_STATUS5() CtreCanNode::recMsg<TALON_Status_5_Startup_OneShot_t > rx = GetRx<TALON_Status_5_Startup_OneShot_t>(STATUS_5 | GetDeviceNumber(), EXPECTED_RESPONSE_TIMEOUT_MS)
#define GET_STATUS6() CtreCanNode::recMsg<TALON_Status_6_Eol_t > rx = GetRx<TALON_Status_6_Eol_t>(STATUS_6 | GetDeviceNumber(), EXPECTED_RESPONSE_TIMEOUT_MS)
#define GET_STATUS7() CtreCanNode::recMsg<TALON_Status_7_Debug_200ms_t > rx = GetRx<TALON_Status_7_Debug_200ms_t>(STATUS_7 | GetDeviceNumber(), EXPECTED_RESPONSE_TIMEOUT_MS)
/* encoder/decoders */
/** control */
typedef struct _TALON_Control_1_General_10ms_t {
unsigned TokenH:8;
unsigned TokenL:8;
unsigned Demand24H:8;
unsigned Demand24M:8;
unsigned Demand24L:8;
unsigned CloseLoopCellSelect:1;
unsigned SelectlFeedbackDevice:4;
unsigned LimitSwitchEn:3;
unsigned RevEncoderPosAndVel:1;
unsigned RevMotDuringCloseLoopEn:1;
unsigned BrakeType:2;
unsigned ModeSelect:4;
unsigned RampThrottle:8;
} TALON_Control_1_General_10ms_t ;
typedef struct _TALON_Control_2_Rates_OneShot_t {
unsigned Status1Ms:8;
unsigned Status2Ms:8;
unsigned Status3Ms:8;
unsigned Status4Ms:8;
} TALON_Control_2_Rates_OneShot_t ;
typedef struct _TALON_Control_3_ClearFlags_OneShot_t {
unsigned ZeroFeedbackSensor:1;
unsigned ClearStickyFaults:1;
} TALON_Control_3_ClearFlags_OneShot_t ;
/** status */
typedef struct _TALON_Status_1_General_10ms_t {
unsigned CloseLoopErrH:8;
unsigned CloseLoopErrM:8;
unsigned CloseLoopErrL:8;
unsigned Throttle_h3:3;
unsigned Fault_RevSoftLim:1;
unsigned Fault_ForSoftLim:1;
unsigned TokLocked:1;
unsigned LimitSwitchClosedRev:1;
unsigned LimitSwitchClosedFor:1;
unsigned Throttle_l8:8;
unsigned ModeSelect_h1:1;
unsigned SelectlFeedbackDevice:4;
unsigned LimitSwitchEn:3;
unsigned Fault_HardwareFailure:1;
unsigned Fault_RevLim:1;
unsigned Fault_ForLim:1;
unsigned Fault_UnderVoltage:1;
unsigned Fault_OverTemp:1;
unsigned ModeSelect_b3:3;
unsigned TokenSeed:8;
} TALON_Status_1_General_10ms_t ;
typedef struct _TALON_Status_2_Feedback_20ms_t {
unsigned SensorPositionH:8;
unsigned SensorPositionM:8;
unsigned SensorPositionL:8;
unsigned SensorVelocityH:8;
unsigned SensorVelocityL:8;
unsigned Current_h8:8;
unsigned StckyFault_RevSoftLim:1;
unsigned StckyFault_ForSoftLim:1;
unsigned StckyFault_RevLim:1;
unsigned StckyFault_ForLim:1;
unsigned StckyFault_UnderVoltage:1;
unsigned StckyFault_OverTemp:1;
unsigned Current_l2:2;
unsigned reserved:6;
unsigned CloseLoopCellSelect:1;
unsigned BrakeIsEnabled:1;
} TALON_Status_2_Feedback_20ms_t ;
typedef struct _TALON_Status_3_Enc_100ms_t {
unsigned EncPositionH:8;
unsigned EncPositionM:8;
unsigned EncPositionL:8;
unsigned EncVelH:8;
unsigned EncVelL:8;
unsigned EncIndexRiseEventsH:8;
unsigned EncIndexRiseEventsL:8;
unsigned reserved:5;
unsigned QuadIdxpin:1;
unsigned QuadBpin:1;
unsigned QuadApin:1;
} TALON_Status_3_Enc_100ms_t ;
typedef struct _TALON_Status_4_AinTempVbat_100ms_t {
unsigned AnalogInWithOvH:8;
unsigned AnalogInWithOvM:8;
unsigned AnalogInWithOvL:8;
unsigned AnalogInVelH:8;
unsigned AnalogInVelL:8;
unsigned Temp:8;
unsigned BatteryV:8;
unsigned reserved:8;
} TALON_Status_4_AinTempVbat_100ms_t ;
typedef struct _TALON_Status_5_Startup_OneShot_t {
unsigned ResetCountH:8;
unsigned ResetCountL:8;
unsigned ResetFlagsH:8;
unsigned ResetFlagsL:8;
unsigned FirmVersH:8;
unsigned FirmVersL:8;
} TALON_Status_5_Startup_OneShot_t ;
typedef struct _TALON_Status_6_Eol_t {
unsigned currentAdcUncal_h2:2;
unsigned reserved1:5;
unsigned SpiCsPin_GadgeteerPin6:1;
unsigned currentAdcUncal_l8:8;
unsigned tempAdcUncal_h2:2;
unsigned reserved2:6;
unsigned tempAdcUncal_l8:8;
unsigned vbatAdcUncal_h2:2;
unsigned reserved3:6;
unsigned vbatAdcUncal_l8:8;
unsigned analogAdcUncal_h2:2;
unsigned reserved4:6;
unsigned analogAdcUncal_l8:8;
} TALON_Status_6_Eol_t ;
typedef struct _TALON_Status_7_Debug_200ms_t {
unsigned TokenizationFails_h8:8;
unsigned TokenizationFails_l8:8;
unsigned LastFailedToken_h8:8;
unsigned LastFailedToken_l8:8;
unsigned TokenizationSucceses_h8:8;
unsigned TokenizationSucceses_l8:8;
} TALON_Status_7_Debug_200ms_t ;
typedef struct _TALON_Config_SetGains0_1_t {
unsigned PH:8;
unsigned PM:8;
unsigned PL:8;
unsigned IH:8;
unsigned IM:8;
unsigned IL:8;
unsigned IZoneH:8;
unsigned IZoneL:8;
} TALON_Config_SetGains0_1_t ;
typedef struct _TALON_Config_SetGains0_2_t {
unsigned DH:8;
unsigned DM:8;
unsigned DL:8;
unsigned FH:8;
unsigned FM:8;
unsigned FL:8;
unsigned RampRateH:8;
unsigned RampRateL:8;
} TALON_Config_SetGains0_2_t ;
typedef struct _TALON_Config_SetGains1_1_t {
unsigned PH:8;
unsigned PM:8;
unsigned PL:8;
unsigned IH:8;
unsigned IM:8;
unsigned IL:8;
unsigned IZoneH:8;
unsigned IZoneL:8;
} TALON_Config_SetGains1_1_t ;
typedef struct _TALON_Config_SetGains1_2_t {
unsigned DH:8;
unsigned DM:8;
unsigned DL:8;
unsigned FH:8;
unsigned FM:8;
unsigned FL:8;
unsigned RampRateH:8;
unsigned RampRateL:8;
} TALON_Config_SetGains1_2_t ;
typedef struct _TALON_Config_SetSoftLimits_t {
unsigned LimitFH:8;
unsigned LimitFMH:8;
unsigned LimitFML:8;
unsigned LimitFL:8;
unsigned LimitRH:8;
unsigned LimitRMH:8;
unsigned LimitRML:8;
unsigned LimitRL:8;
} TALON_Config_SetSoftLimits_t ;
typedef struct _TALON_Param_Request_t {
unsigned ParamEnum:8;
} TALON_Param_Request_t ;
typedef struct _TALON_Param_Response_t {
unsigned ParamEnum:8;
unsigned ParamValueH:8;
unsigned ParamValueMH:8;
unsigned ParamValueML:8;
unsigned ParamValueL:8;
} TALON_Param_Response_t ;
CanTalonSRX::CanTalonSRX(int deviceNumber): CtreCanNode((UINT8)deviceNumber)
{
UINT8 device = deviceNumber;
RegisterRx(STATUS_1 | device );
RegisterRx(STATUS_2 | device );
RegisterRx(STATUS_3 | device );
RegisterRx(STATUS_4 | device );
RegisterRx(STATUS_5 | device );
RegisterRx(STATUS_6 | device );
RegisterRx(STATUS_7 | device );
RegisterTx(CONTROL_1 | device, 10);
}
/* CanTalonSRX D'tor
*/
CanTalonSRX::~CanTalonSRX()
{
}
void CanTalonSRX::Set(double value)
{
if(value > 1)
value = 1;
else if(value < -1)
value = -1;
value *= 1023;
SetDemand24(value); /* must be within [-1023,1023] */
}
/*------------------------ auto generated ----------------------*/
CTR_Code CanTalonSRX::GetFault_OverTemp(int &param)
{
GET_STATUS1();
param = rx->Fault_OverTemp;
return rx.err;
}
CTR_Code CanTalonSRX::GetFault_UnderVoltage(int &param)
{
GET_STATUS1();
param = rx->Fault_UnderVoltage;
return rx.err;
}
CTR_Code CanTalonSRX::GetFault_ForLim(int &param)
{
GET_STATUS1();
param = rx->Fault_ForLim;
return rx.err;
}
CTR_Code CanTalonSRX::GetFault_RevLim(int &param)
{
GET_STATUS1();
param = rx->Fault_RevLim;
return rx.err;
}
CTR_Code CanTalonSRX::GetFault_HardwareFailure(int &param)
{
GET_STATUS1();
param = rx->Fault_HardwareFailure;
return rx.err;
}
CTR_Code CanTalonSRX::GetFault_ForSoftLim(int &param)
{
GET_STATUS1();
param = rx->Fault_ForSoftLim;
return rx.err;
}
CTR_Code CanTalonSRX::GetFault_RevSoftLim(int &param)
{
GET_STATUS1();
param = rx->Fault_RevSoftLim;
return rx.err;
}
CTR_Code CanTalonSRX::GetStckyFault_OverTemp(int &param)
{
GET_STATUS2();
param = rx->StckyFault_OverTemp;
return rx.err;
}
CTR_Code CanTalonSRX::GetStckyFault_UnderVoltage(int &param)
{
GET_STATUS2();
param = rx->StckyFault_UnderVoltage;
return rx.err;
}
CTR_Code CanTalonSRX::GetStckyFault_ForLim(int &param)
{
GET_STATUS2();
param = rx->StckyFault_ForLim;
return rx.err;
}
CTR_Code CanTalonSRX::GetStckyFault_RevLim(int &param)
{
GET_STATUS2();
param = rx->StckyFault_RevLim;
return rx.err;
}
CTR_Code CanTalonSRX::GetStckyFault_ForSoftLim(int &param)
{
GET_STATUS2();
param = rx->StckyFault_ForSoftLim;
return rx.err;
}
CTR_Code CanTalonSRX::GetStckyFault_RevSoftLim(int &param)
{
GET_STATUS2();
param = rx->StckyFault_RevSoftLim;
return rx.err;
}
CTR_Code CanTalonSRX::GetAppliedThrottle11(int &param)
{
GET_STATUS1();
uint32_t raw = 0;
raw |= rx->Throttle_h3;
raw <<= 8;
raw |= rx->Throttle_l8;
param = (int)raw;
return rx.err;
}
CTR_Code CanTalonSRX::GetCloseLoopErr(int &param)
{
GET_STATUS1();
uint32_t raw = 0;
raw |= rx->CloseLoopErrH;
raw <<= 16;
raw |= rx->CloseLoopErrM;
raw <<= 8;
raw |= rx->CloseLoopErrL;
param = (int)raw;
return rx.err;
}
CTR_Code CanTalonSRX::GetSelectlFeedbackDevice(int &param)
{
GET_STATUS1();
param = rx->SelectlFeedbackDevice;
return rx.err;
}
CTR_Code CanTalonSRX::GetModeSelect(int &param)
{
GET_STATUS1();
uint32_t raw = 0;
raw |= rx->ModeSelect_h1;
raw <<= 3;
raw |= rx->ModeSelect_b3;
param = (int)raw;
return rx.err;
}
CTR_Code CanTalonSRX::GetLimitSwitchEn(int &param)
{
GET_STATUS1();
param = rx->LimitSwitchEn;
return rx.err;
}
CTR_Code CanTalonSRX::GetLimitSwitchClosedFor(int &param)
{
GET_STATUS1();
param = rx->LimitSwitchClosedFor;
return rx.err;
}
CTR_Code CanTalonSRX::GetLimitSwitchClosedRev(int &param)
{
GET_STATUS1();
param = rx->LimitSwitchClosedRev;
return rx.err;
}
CTR_Code CanTalonSRX::GetCloseLoopCellSelect(int &param)
{
GET_STATUS2();
param = rx->CloseLoopCellSelect;
return rx.err;
}
CTR_Code CanTalonSRX::GetSensorPosition(int &param)
{
GET_STATUS2();
uint32_t raw = 0;
raw |= rx->SensorPositionH;
raw <<= 16;
raw |= rx->SensorPositionM;
raw <<= 8;
raw |= rx->SensorPositionL;
param = (int)raw;
return rx.err;
}
CTR_Code CanTalonSRX::GetSensorVelocity(int &param)
{
GET_STATUS2();
uint32_t raw = 0;
raw |= rx->SensorVelocityH;
raw <<= 8;
raw |= rx->SensorVelocityL;
param = (int)raw;
return rx.err;
}
CTR_Code CanTalonSRX::GetCurrent(double &param)
{
GET_STATUS2();
uint32_t raw = 0;
raw |= rx->Current_h8;
raw <<= 2;
raw |= rx->Current_l2;
param = (double)raw * 0.125 + 0;
return rx.err;
}
CTR_Code CanTalonSRX::GetBrakeIsEnabled(int &param)
{
GET_STATUS2();
param = rx->BrakeIsEnabled;
return rx.err;
}
CTR_Code CanTalonSRX::GetEncPosition(int &param)
{
GET_STATUS3();
uint32_t raw = 0;
raw |= rx->EncPositionH;
raw <<= 16;
raw |= rx->EncPositionM;
raw <<= 8;
raw |= rx->EncPositionL;
param = (int)raw;
return rx.err;
}
CTR_Code CanTalonSRX::GetEncVel(int &param)
{
GET_STATUS3();
uint32_t raw = 0;
raw |= rx->EncVelH;
raw <<= 8;
raw |= rx->EncVelL;
param = (int)raw;
return rx.err;
}
CTR_Code CanTalonSRX::GetEncIndexRiseEvents(int &param)
{
GET_STATUS3();
uint32_t raw = 0;
raw |= rx->EncIndexRiseEventsH;
raw <<= 8;
raw |= rx->EncIndexRiseEventsL;
param = (int)raw;
return rx.err;
}
CTR_Code CanTalonSRX::GetQuadApin(int &param)
{
GET_STATUS3();
param = rx->QuadApin;
return rx.err;
}
CTR_Code CanTalonSRX::GetQuadBpin(int &param)
{
GET_STATUS3();
param = rx->QuadBpin;
return rx.err;
}
CTR_Code CanTalonSRX::GetQuadIdxpin(int &param)
{
GET_STATUS3();
param = rx->QuadIdxpin;
return rx.err;
}
CTR_Code CanTalonSRX::GetAnalogInWithOv(int &param)
{
GET_STATUS4();
uint32_t raw = 0;
raw |= rx->AnalogInWithOvH;
raw <<= 16;
raw |= rx->AnalogInWithOvM;
raw <<= 8;
raw |= rx->AnalogInWithOvL;
param = (int)raw;
return rx.err;
}
CTR_Code CanTalonSRX::GetAnalogInVel(int &param)
{
GET_STATUS4();
uint32_t raw = 0;
raw |= rx->AnalogInVelH;
raw <<= 8;
raw |= rx->AnalogInVelL;
param = (int)raw;
return rx.err;
}
CTR_Code CanTalonSRX::GetTemp(double &param)
{
GET_STATUS4();
uint32_t raw = rx->Temp;
param = (double)raw * 0.6451612903 + -50;
return rx.err;
}
CTR_Code CanTalonSRX::GetBatteryV(double &param)
{
GET_STATUS4();
uint32_t raw = rx->BatteryV;
param = (double)raw * 0.05 + 4;
return rx.err;
}
CTR_Code CanTalonSRX::GetResetCount(int &param)
{
GET_STATUS5();
uint32_t raw = 0;
raw |= rx->ResetCountH;
raw <<= 8;
raw |= rx->ResetCountL;
param = (int)raw;
return rx.err;
}
CTR_Code CanTalonSRX::GetResetFlags(int &param)
{
GET_STATUS5();
uint32_t raw = 0;
raw |= rx->ResetFlagsH;
raw <<= 8;
raw |= rx->ResetFlagsL;
param = (int)raw;
return rx.err;
}
CTR_Code CanTalonSRX::GetFirmVers(int &param)
{
GET_STATUS5();
uint32_t raw = 0;
raw |= rx->FirmVersH;
raw <<= 8;
raw |= rx->FirmVersL;
param = (int)raw;
return rx.err;
}
CTR_Code CanTalonSRX::SetDemand24(int param)
{
CtreCanNode::txTask<TALON_Control_1_General_10ms_t> toFill = GetTx<TALON_Control_1_General_10ms_t>(CONTROL_1 | GetDeviceNumber());
if (toFill.IsEmpty()) return CTR_UnexpectedArbId;
toFill->Demand24H = param>>16;
toFill->Demand24M = param>>8;
toFill->Demand24L = param>>0;
FlushTx(toFill);
return CTR_OKAY;
}
CTR_Code CanTalonSRX::SetLimitSwitchEn(int param)
{
CtreCanNode::txTask<TALON_Control_1_General_10ms_t> toFill = GetTx<TALON_Control_1_General_10ms_t>(CONTROL_1 | GetDeviceNumber());
if (toFill.IsEmpty()) return CTR_UnexpectedArbId;
toFill->LimitSwitchEn = param;
FlushTx(toFill);
return CTR_OKAY;
}
CTR_Code CanTalonSRX::SetSelectlFeedbackDevice(int param)
{
CtreCanNode::txTask<TALON_Control_1_General_10ms_t> toFill = GetTx<TALON_Control_1_General_10ms_t>(CONTROL_1 | GetDeviceNumber());
if (toFill.IsEmpty()) return CTR_UnexpectedArbId;
toFill->SelectlFeedbackDevice = param;
FlushTx(toFill);
return CTR_OKAY;
}
CTR_Code CanTalonSRX::SetRevMotDuringCloseLoopEn(int param)
{
CtreCanNode::txTask<TALON_Control_1_General_10ms_t> toFill = GetTx<TALON_Control_1_General_10ms_t>(CONTROL_1 | GetDeviceNumber());
if (toFill.IsEmpty()) return CTR_UnexpectedArbId;
toFill->RevMotDuringCloseLoopEn = param;
FlushTx(toFill);
return CTR_OKAY;
}
CTR_Code CanTalonSRX::SetBrakeType(int param)
{
CtreCanNode::txTask<TALON_Control_1_General_10ms_t> toFill = GetTx<TALON_Control_1_General_10ms_t>(CONTROL_1 | GetDeviceNumber());
if (toFill.IsEmpty()) return CTR_UnexpectedArbId;
toFill->BrakeType = param;
FlushTx(toFill);
return CTR_OKAY;
}
CTR_Code CanTalonSRX::SetModeSelect(int param)
{
CtreCanNode::txTask<TALON_Control_1_General_10ms_t> toFill = GetTx<TALON_Control_1_General_10ms_t>(CONTROL_1 | GetDeviceNumber());
if (toFill.IsEmpty()) return CTR_UnexpectedArbId;
toFill->ModeSelect = param;
FlushTx(toFill);
return CTR_OKAY;
}
CTR_Code CanTalonSRX::SetCloseLoopCellSelect(int param)
{
CtreCanNode::txTask<TALON_Control_1_General_10ms_t> toFill = GetTx<TALON_Control_1_General_10ms_t>(CONTROL_1 | GetDeviceNumber());
if (toFill.IsEmpty()) return CTR_UnexpectedArbId;
toFill->CloseLoopCellSelect = param;
FlushTx(toFill);
return CTR_OKAY;
}
CTR_Code CanTalonSRX::SetRampThrottle(int param)
{
CtreCanNode::txTask<TALON_Control_1_General_10ms_t> toFill = GetTx<TALON_Control_1_General_10ms_t>(CONTROL_1 | GetDeviceNumber());
if (toFill.IsEmpty()) return CTR_UnexpectedArbId;
toFill->RampThrottle = param;
FlushTx(toFill);
return CTR_OKAY;
}
CTR_Code CanTalonSRX::SetRevEncoderPosAndVel(int param)
{
CtreCanNode::txTask<TALON_Control_1_General_10ms_t> toFill = GetTx<TALON_Control_1_General_10ms_t>(CONTROL_1 | GetDeviceNumber());
if (toFill.IsEmpty()) return CTR_UnexpectedArbId;
toFill->RevEncoderPosAndVel = param;
FlushTx(toFill);
return CTR_OKAY;
}
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