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https://github.com/wpilibsuite/allwpilib
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125 lines
3.1 KiB
C++
125 lines
3.1 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "hal/Power.h"
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#include <memory>
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#include "HALInitializer.h"
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#include "hal/ChipObject.h"
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using namespace hal;
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namespace hal {
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static std::unique_ptr<tPower> power{nullptr};
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static void initializePower(int32_t* status) {
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hal::init::CheckInit();
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if (power == nullptr) {
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power.reset(tPower::create(status));
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}
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}
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} // namespace hal
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namespace hal::init {
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void InitializePower() {}
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} // namespace hal::init
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extern "C" {
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double HAL_GetVinVoltage(int32_t* status) {
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initializePower(status);
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return power->readVinVoltage(status) / 4.096 * 0.025733 - 0.029;
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}
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double HAL_GetVinCurrent(int32_t* status) {
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initializePower(status);
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return power->readVinCurrent(status) / 4.096 * 0.017042 - 0.071;
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}
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double HAL_GetUserVoltage6V(int32_t* status) {
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initializePower(status);
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return power->readUserVoltage6V(status) / 4.096 * 0.007019 - 0.014;
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}
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double HAL_GetUserCurrent6V(int32_t* status) {
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initializePower(status);
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return power->readUserCurrent6V(status) / 4.096 * 0.005566 - 0.009;
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}
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HAL_Bool HAL_GetUserActive6V(int32_t* status) {
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initializePower(status);
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return power->readStatus_User6V(status) == 4;
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}
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int32_t HAL_GetUserCurrentFaults6V(int32_t* status) {
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initializePower(status);
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return static_cast<int32_t>(
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power->readFaultCounts_OverCurrentFaultCount6V(status));
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}
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double HAL_GetUserVoltage5V(int32_t* status) {
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initializePower(status);
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return power->readUserVoltage5V(status) / 4.096 * 0.005962 - 0.013;
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}
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double HAL_GetUserCurrent5V(int32_t* status) {
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initializePower(status);
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return power->readUserCurrent5V(status) / 4.096 * 0.001996 - 0.002;
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}
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HAL_Bool HAL_GetUserActive5V(int32_t* status) {
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initializePower(status);
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return power->readStatus_User5V(status) == 4;
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}
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int32_t HAL_GetUserCurrentFaults5V(int32_t* status) {
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initializePower(status);
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return static_cast<int32_t>(
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power->readFaultCounts_OverCurrentFaultCount5V(status));
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}
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double HAL_GetUserVoltage3V3(int32_t* status) {
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initializePower(status);
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return power->readUserVoltage3V3(status) / 4.096 * 0.004902 - 0.01;
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}
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double HAL_GetUserCurrent3V3(int32_t* status) {
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initializePower(status);
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return power->readUserCurrent3V3(status) / 4.096 * 0.002486 - 0.003;
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}
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HAL_Bool HAL_GetUserActive3V3(int32_t* status) {
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initializePower(status);
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return power->readStatus_User3V3(status) == 4;
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}
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int32_t HAL_GetUserCurrentFaults3V3(int32_t* status) {
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initializePower(status);
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return static_cast<int32_t>(
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power->readFaultCounts_OverCurrentFaultCount3V3(status));
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}
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void HAL_SetBrownoutVoltage(double voltage, int32_t* status) {
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initializePower(status);
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if (voltage < 0) {
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voltage = 0;
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}
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if (voltage > 50) {
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voltage = 50;
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}
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power->writeBrownoutVoltage250mV(static_cast<unsigned char>(voltage * 4),
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status);
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}
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double HAL_GetBrownoutVoltage(int32_t* status) {
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initializePower(status);
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auto brownout = power->readBrownoutVoltage250mV(status);
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return brownout / 4.0;
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}
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} // extern "C"
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