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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
308 lines
11 KiB
C++
308 lines
11 KiB
C++
#ifndef PCM_H_
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#define PCM_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 _PcmStatus_t{
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/* Byte 0 */
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unsigned SolenoidBits:8;
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/* Byte 1 */
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unsigned compressorOn:1;
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unsigned stickyFaultFuseTripped:1;
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unsigned stickyFaultCompCurrentTooHigh:1;
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unsigned faultCompCurrentTooHigh:1;
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unsigned faultFuseTripped:1;
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unsigned faultHardwareFailure:1;
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unsigned isCloseloopEnabled:1;
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unsigned pressureSwitchEn:1;
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/* Byte 2*/
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unsigned battVoltage:8;
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/* Byte 3 */
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unsigned solenoidVoltageTop8:8;
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/* Byte 4 */
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unsigned compressorCurrentTop6:6;
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unsigned solenoidVoltageBtm2:2;
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/* Byte 5 */
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unsigned reserved:2;
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unsigned moduleEnabled:1;
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unsigned closedLoopOutput:1;
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unsigned compressorCurrentBtm4:4;
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/* Byte 6 */
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unsigned tokenSeedTop8:8;
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/* Byte 7 */
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unsigned tokenSeedBtm8:8;
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}PcmStatus_t;
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typedef struct _PcmControl_t{
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/* Byte 0 */
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unsigned tokenTop8:8;
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/* Byte 1 */
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unsigned tokenBtm8:8;
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/* Byte 2 */
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unsigned solenoidBits:8;
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/* Byte 3*/
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unsigned reserved:5;
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unsigned CompressorOn_deprecated:1; //!< This is ignored by PCM firm now.
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unsigned closedLoopEnable:1;
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unsigned clearStickyFaults:1;
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}PcmControl_t;
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typedef struct _PcmStatusFault_t{
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/* Byte 0 */
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unsigned SolenoidBlacklist:8;
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/* Byte 1 */
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unsigned reserved1:8;
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unsigned reserved2:8;
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unsigned reserved3:8;
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unsigned reserved4:8;
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unsigned reserved5:8;
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unsigned reserved6:8;
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unsigned reserved7:8;
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}PcmStatusFault_t;
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typedef struct _PcmDebug_t{
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unsigned tokFailsTop8:8;
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unsigned tokFailsBtm8:8;
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unsigned lastFailedTokTop8:8;
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unsigned lastFailedTokBtm8:8;
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unsigned tokSuccessTop8:8;
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unsigned tokSuccessBtm8:8;
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}PcmDebug_t;
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class PCM
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{
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public:
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PCM(UINT8 deviceNumber=50);
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~PCM();
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/* Set PCM solenoid state
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* @Return - CTR_Code - Error code (if any) for setting solenoid
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* @Param - idx - ID of solenoid (1-8)
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* @Param - en - Enable / Disable identified solenoid
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*/
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CTR_Code SetSolenoid(unsigned char idx, bool en);
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/* Enables PCM Closed Loop Control of Compressor via pressure switch
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* @Return - CTR_Code - Error code (if any) for setting solenoid
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* @Param - en - Enable / Disable Closed Loop Control
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*/
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CTR_Code SetClosedLoopControl(bool en);
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/* Clears PCM sticky faults (indicators of past faults
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* @Return - CTR_Code - Error code (if any) for setting solenoid
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* @Param - clr - Clear / do not clear faults
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*/
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CTR_Code ClearStickyFaults(bool clr);
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/* Get solenoid state
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*
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* @Return - CTR_Code - Error code (if any)
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* @Param - idx - ID of solenoid (1-8) to return status of
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* @Param - status - True if solenoid output is set to be enabled, false otherwise.
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* If the phsyical output led still isn't on, then check webdash for
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* any faults/is PCM enabled.
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*/
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CTR_Code GetSolenoid(UINT8 idx, bool &status);
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/* Get pressure switch state
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* @Return - CTR_Code - Error code (if any)
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* @Param - status - True if pressure adequate, false if low
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*/
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CTR_Code GetPressure(bool &status);
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/* Get compressor state
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* @Return - CTR_Code - Error code (if any)
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* @Param - status - True if compress ouput is on, false if otherwise
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*/
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CTR_Code GetCompressor(bool &status);
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/* Get closed loop control state
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* @Return - CTR_Code - Error code (if any)
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* @Param - status - True if closed loop enabled, false if otherwise
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*/
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CTR_Code GetClosedLoopControl(bool &status);
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/* Get compressor current draw
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* @Return - CTR_Code - Error code (if any)
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* @Param - status - Compressor current returned in Amperes (A)
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*/
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CTR_Code GetCompressorCurrent(float &status);
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/* Get voltage across solenoid rail
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* @Return - CTR_Code - Error code (if any)
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* @Param - status - Voltage across solenoid rail in Volts (V)
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*/
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CTR_Code GetSolenoidVoltage(float &status);
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/* Get hardware fault value
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* @Return - CTR_Code - Error code (if any)
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* @Param - status - True if hardware failure detected, false if otherwise
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*/
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CTR_Code GetHardwareFault(bool &status);
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/* Get compressor fault value
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* @Return - CTR_Code - Error code (if any)
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* @Param - status - True if shorted compressor detected, false if otherwise
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*/
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CTR_Code GetCompressorFault(bool &status);
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/* Get solenoid fault value
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* @Return - CTR_Code - Error code (if any)
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* @Param - status - True if shorted solenoid detected, false if otherwise
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*/
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CTR_Code GetSolenoidFault(bool &status);
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/* Get compressor sticky fault value
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* @Return - CTR_Code - Error code (if any)
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* @Param - status - True if solenoid had previously been shorted
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* (and sticky fault was not cleared), false if otherwise
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*/
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CTR_Code GetCompressorStickyFault(bool &status);
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/* Get solenoid sticky fault value
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* @Return - CTR_Code - Error code (if any)
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* @Param - status - True if compressor had previously been shorted
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* (and sticky fault was not cleared), false if otherwise
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*/
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CTR_Code GetSolenoidStickyFault(bool &status);
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/* Get battery voltage
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* @Return - CTR_Code - Error code (if any)
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* @Param - status - Voltage across PCM power ports in Volts (V)
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*/
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CTR_Code GetBatteryVoltage(float &status);
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/* Set PCM Device Number and according CAN frame IDs
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* @Return - void
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* @Param - deviceNumber - Device number of PCM to control
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*/
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void SetDeviceNumber(UINT8 deviceNumber);
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/* Get number of total failed PCM Control Frame
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* @Return - CTR_Code - Error code (if any)
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* @Param - status - Number of failed control frames (tokenization fails)
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* @WARNING - Return only valid if [SeekDebugFrames] is enabled
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* See function SeekDebugFrames
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* See function EnableSeekDebugFrames
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*/
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CTR_Code GetNumberOfFailedControlFrames(UINT16 &status);
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/* Get raw Solenoid Blacklist
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* @Return - CTR_Code - Error code (if any)
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* @Param - status - Raw binary breakdown of Solenoid Blacklist
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* BIT7 = Solenoid 1, BIT6 = Solenoid 2, etc.
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* @WARNING - Return only valid if [SeekStatusFaultFrames] is enabled
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* See function SeekStatusFaultFrames
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* See function EnableSeekStatusFaultFrames
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*/
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CTR_Code GetSolenoidBlackList(UINT8 &status);
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/* Get solenoid Blacklist status
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* - Blacklisted solenoids cannot be enabled until PCM is power cycled
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* @Return - CTR_Code - Error code (if any)
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* @Param - idx - ID of solenoid
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* @Param - status - True if Solenoid is blacklisted, false if otherwise
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* @WARNING - Return only valid if [SeekStatusFaultFrames] is enabled
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* See function SeekStatusFaultFrames
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* See function EnableSeekStatusFaultFrames
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*/
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CTR_Code IsSolenoidBlacklisted(UINT8 idx, bool &status);
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/* Return status of module enable/disable
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* @Return - CTR_Code - Error code (if any)
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* @Param - status - Returns TRUE if PCM is enabled, FALSE if disabled
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*/
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CTR_Code isModuleEnabled(bool &status);
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/* Get time since last sent frame
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* @Return - int - Returns time in milliseconds (ms) since last sent PCM frame
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*/
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int GetTimeSinceLastTx(void) { return _timeSinceLastTx;}
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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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/* Seek PCM Status Frames on CAN bus
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* @Return - void
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* @Param - en - Enable / Disable seeking of PCM Status Frame
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* @Notes - Status Frames identify
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*/
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void EnableSeekStatusFrames(bool en);
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/* Seek PCM Status Fault Frames on CAN bus
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* @Return - void
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* @Param - en - Enable / Disable seeking of PCM Status Fault Frame
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* @Notes - Status Fault Frames identify Blacklisted Solenoids
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*/
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void EnableSeekStatusFaultFrames(bool en);
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/* Seek PCM Debug Frames on CAN bus
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* @Return - void
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* @Param - en - Enable / Disable seeking of PCM Debug Frame
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* @Notes - Debug Frames identify the number of failed tokens (for exclusive, secure control of PCM by RoboRIO)
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*/
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void EnableSeekDebugFrames(bool en);
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/* frames to receive */
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PcmDebug_t _PcmDebug;
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PcmStatus_t _PcmStatus;
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PcmStatusFault_t _PcmStatusFault;
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/* frames to send */
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PcmControl_t _PcmControl;
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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 PCM_SETTINGS{
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UINT8 deviceNumber;
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UINT32 controlFrameID;
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UINT32 statusFrameID;
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UINT32 statusFaultFrameID;
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UINT32 debugFrameID;
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}PCM_settings;
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void ReadStatusFrame(void);
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void ReadStatusFaultFrame(void);
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void ReadDebugFrame(void);
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void GetErrorInfo( 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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static void * ThreadFunc(void *);
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void * ThreadFunc();
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};
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//------------------ C interface --------------------------------------------//
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extern "C" {
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void * c_PCM_Init(void);
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CTR_Code c_SetSolenoid(void * handle,unsigned char idx,INT8 param);
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CTR_Code c_SetClosedLoopControl(void * handle,INT8 param);
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CTR_Code c_ClearStickyFaults(void * handle,INT8 param);
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CTR_Code c_GetSolenoid(void * handle,UINT8 idx,INT8 * status);
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CTR_Code c_GetPressure(void * handle,INT8 * status);
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CTR_Code c_GetCompressor(void * handle,INT8 * status);
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CTR_Code c_GetClosedLoopControl(void * handle,INT8 * status);
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CTR_Code c_GetCompressorCurrent(void * handle,float * status);
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CTR_Code c_GetSolenoidVoltage(void * handle,float*status);
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CTR_Code c_GetHardwareFault(void * handle,INT8*status);
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CTR_Code c_GetCompressorFault(void * handle,INT8*status);
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CTR_Code c_GetSolenoidFault(void * handle,INT8*status);
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CTR_Code c_GetCompressorStickyFault(void * handle,INT8*status);
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CTR_Code c_GetSolenoidStickyFault(void * handle,INT8*status);
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CTR_Code c_GetBatteryVoltage(void * handle,float*status);
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void c_SetDeviceNumber_PCM(void * handle,UINT8 deviceNumber);
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void c_EnableSeekStatusFrames(void * handle,INT8 enable);
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void c_EnableSeekStatusFaultFrames(void * handle,INT8 enable);
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void c_EnableSeekDebugFrames(void * handle,INT8 enable);
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CTR_Code c_GetNumberOfFailedControlFrames(void * handle,UINT16*status);
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CTR_Code c_GetSolenoidBlackList(void * handle,UINT8 *status);
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CTR_Code c_IsSolenoidBlacklisted(void * handle,UINT8 idx,INT8*status);
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}
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#endif
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