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738881099f
Several ctre headers were in source directories but were required by other headers in include directories. This worked in gradle but not in cmake. Change-Id: I806c76031b396d1694a18b8e30c705e92f617a66
232 lines
7.1 KiB
C++
232 lines
7.1 KiB
C++
#include "ctre/PDP.h"
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#include "NetworkCommunication/CANSessionMux.h" //CAN Comm
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#include <string.h> // memset
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#include <unistd.h> // usleep
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#define STATUS_1 0x8041400
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#define STATUS_2 0x8041440
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#define STATUS_3 0x8041480
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#define STATUS_ENERGY 0x8041740
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#define CONTROL_1 0x08041C00 /* PDP_Control_ClearStats */
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#define EXPECTED_RESPONSE_TIMEOUT_MS (50)
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#define GET_STATUS1() CtreCanNode::recMsg<PdpStatus1_t> rx = GetRx<PdpStatus1_t>(STATUS_1,EXPECTED_RESPONSE_TIMEOUT_MS)
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#define GET_STATUS2() CtreCanNode::recMsg<PdpStatus2_t> rx = GetRx<PdpStatus2_t>(STATUS_2,EXPECTED_RESPONSE_TIMEOUT_MS)
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#define GET_STATUS3() CtreCanNode::recMsg<PdpStatus3_t> rx = GetRx<PdpStatus3_t>(STATUS_3,EXPECTED_RESPONSE_TIMEOUT_MS)
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#define GET_STATUS_ENERGY() CtreCanNode::recMsg<PDP_Status_Energy_t> rx = GetRx<PDP_Status_Energy_t>(STATUS_ENERGY,EXPECTED_RESPONSE_TIMEOUT_MS)
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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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typedef struct _PDP_Status_Energy_t {
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unsigned TmeasMs_likelywillbe20ms_:8;
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unsigned TotalCurrent_125mAperunit_h8:8;
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unsigned Power_125mWperunit_h4:4;
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unsigned TotalCurrent_125mAperunit_l4:4;
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unsigned Power_125mWperunit_m8:8;
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unsigned Energy_125mWPerUnitXTmeas_h4:4;
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unsigned Power_125mWperunit_l4:4;
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unsigned Energy_125mWPerUnitXTmeas_mh8:8;
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unsigned Energy_125mWPerUnitXTmeas_ml8:8;
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unsigned Energy_125mWPerUnitXTmeas_l8:8;
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} PDP_Status_Energy_t ;
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PDP::PDP(UINT8 deviceNumber): CtreCanNode(deviceNumber)
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{
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RegisterRx(STATUS_1 | deviceNumber );
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RegisterRx(STATUS_2 | deviceNumber );
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RegisterRx(STATUS_3 | deviceNumber );
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}
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/* PDP D'tor
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*/
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PDP::~PDP()
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{
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}
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CTR_Code PDP::GetChannelCurrent(UINT8 idx, double ¤t)
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{
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CTR_Code retval = CTR_InvalidParamValue;
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uint32_t raw = 0;
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if(idx <= 5){
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GET_STATUS1();
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retval = rx.err;
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switch(idx){
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case 0: raw = ((uint32_t)rx->chan1_h8 << 2) | rx->chan1_l2; break;
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case 1: raw = ((uint32_t)rx->chan2_h6 << 4) | rx->chan2_l4; break;
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case 2: raw = ((uint32_t)rx->chan3_h4 << 6) | rx->chan3_l6; break;
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case 3: raw = ((uint32_t)rx->chan4_h2 << 8) | rx->chan4_l8; break;
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case 4: raw = ((uint32_t)rx->chan5_h8 << 2) | rx->chan5_l2; break;
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case 5: raw = ((uint32_t)rx->chan6_h6 << 4) | rx->chan6_l4; break;
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default: retval = CTR_InvalidParamValue; break;
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}
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}else if(idx <= 11){
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GET_STATUS2();
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retval = rx.err;
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switch(idx){
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case 6: raw = ((uint32_t)rx->chan7_h8 << 2) | rx->chan7_l2; break;
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case 7: raw = ((uint32_t)rx->chan8_h6 << 4) | rx->chan8_l4; break;
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case 8: raw = ((uint32_t)rx->chan9_h4 << 6) | rx->chan9_l6; break;
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case 9: raw = ((uint32_t)rx->chan10_h2 << 8) | rx->chan10_l8; break;
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case 10: raw = ((uint32_t)rx->chan11_h8 << 2) | rx->chan11_l2; break;
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case 11: raw = ((uint32_t)rx->chan12_h6 << 4) | rx->chan12_l4; break;
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default: retval = CTR_InvalidParamValue; break;
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}
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}else if(idx <= 15){
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GET_STATUS3();
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retval = rx.err;
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switch(idx){
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case 12: raw = ((uint32_t)rx->chan13_h8 << 2) | rx->chan13_l2; break;
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case 13: raw = ((uint32_t)rx->chan14_h6 << 4) | rx->chan14_l4; break;
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case 14: raw = ((uint32_t)rx->chan15_h4 << 6) | rx->chan15_l6; break;
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case 15: raw = ((uint32_t)rx->chan16_h2 << 8) | rx->chan16_l8; break;
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default: retval = CTR_InvalidParamValue; break;
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}
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}
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/* convert to amps */
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current = (double)raw * 0.125; /* 7.3 fixed pt value in Amps */
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/* signal caller with success */
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return retval;
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}
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CTR_Code PDP::GetVoltage(double &voltage)
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{
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GET_STATUS3();
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uint32_t raw = rx->busVoltage;
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voltage = (double)raw * 0.05 + 4.0; /* 50mV per unit plus 4V. */;
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return rx.err;
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}
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CTR_Code PDP::GetTemperature(double &tempC)
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{
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GET_STATUS3();
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uint32_t raw = rx->temp;
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tempC = (double)raw * 1.03250836957542 - 67.8564500484966;
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return rx.err;
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}
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CTR_Code PDP::GetTotalCurrent(double ¤tAmps)
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{
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GET_STATUS_ENERGY();
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uint32_t raw;
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raw = rx->TotalCurrent_125mAperunit_h8;
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raw <<= 4;
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raw |= rx->TotalCurrent_125mAperunit_l4;
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currentAmps = 0.125 * raw;
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return rx.err;
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}
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CTR_Code PDP::GetTotalPower(double &powerWatts)
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{
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GET_STATUS_ENERGY();
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uint32_t raw;
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raw = rx->Power_125mWperunit_h4;
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raw <<= 8;
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raw |= rx->Power_125mWperunit_m8;
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raw <<= 4;
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raw |= rx->Power_125mWperunit_l4;
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powerWatts = 0.125 * raw;
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return rx.err;
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}
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CTR_Code PDP::GetTotalEnergy(double &energyJoules)
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{
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GET_STATUS_ENERGY();
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uint32_t raw;
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raw = rx->Energy_125mWPerUnitXTmeas_h4;
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raw <<= 8;
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raw |= rx->Energy_125mWPerUnitXTmeas_mh8;
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raw <<= 8;
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raw |= rx->Energy_125mWPerUnitXTmeas_ml8;
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raw <<= 8;
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raw |= rx->Energy_125mWPerUnitXTmeas_l8;
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energyJoules = 0.125 * raw; /* mW integrated every TmeasMs */
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energyJoules *= 0.001; /* convert from mW to W */
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energyJoules *= rx->TmeasMs_likelywillbe20ms_; /* multiplied by TmeasMs = joules */
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return rx.err;
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}
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/* Clear sticky faults.
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* @Return - CTR_Code - Error code (if any)
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*/
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CTR_Code PDP::ClearStickyFaults()
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{
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int32_t status = 0;
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uint8_t pdpControl[] = { 0x80 }; /* only bit set is ClearStickyFaults */
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FRC_NetworkCommunication_CANSessionMux_sendMessage(CONTROL_1 | GetDeviceNumber(), pdpControl, sizeof(pdpControl), 0, &status);
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if(status)
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return CTR_TxFailed;
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return CTR_OKAY;
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}
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/* Reset Energy Signals
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* @Return - CTR_Code - Error code (if any)
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*/
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CTR_Code PDP::ResetEnergy()
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{
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int32_t status = 0;
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uint8_t pdpControl[] = { 0x40 }; /* only bit set is ResetEnergy */
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FRC_NetworkCommunication_CANSessionMux_sendMessage(CONTROL_1 | GetDeviceNumber(), pdpControl, sizeof(pdpControl), 0, &status);
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if(status)
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return CTR_TxFailed;
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return CTR_OKAY;
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}
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//------------------ C interface --------------------------------------------//
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extern "C" {
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void * c_PDP_Init(void)
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{
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return new PDP();
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}
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CTR_Code c_GetChannelCurrent(void * handle,UINT8 idx, double *status)
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{
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return ((PDP*)handle)-> GetChannelCurrent(idx,*status);
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}
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CTR_Code c_GetVoltage(void * handle,double *status)
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{
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return ((PDP*)handle)-> GetVoltage(*status);
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}
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CTR_Code c_GetTemperature(void * handle,double *status)
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{
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return ((PDP*)handle)-> GetTemperature(*status);
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}
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void c_SetDeviceNumber_PDP(void * handle,UINT8 deviceNumber)
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{
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}
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}
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