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0ef5c3adfa
CtreCanNode registers the periodic tx messages and provides an rx function to child classes for easy getters and setters. Some template magic to make the PDP and PCM getters/setters easy to stamp out. Change-Id: Ibdd0745af070756a282df5074504491fadfde336
177 lines
7.1 KiB
C++
177 lines
7.1 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 "CtreCanNode.h"
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#include <pthread.h>
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class PCM : public CtreCanNode
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{
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public:
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PCM(UINT8 deviceNumber=0);
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~PCM();
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/* Set PCM solenoid state
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*
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* @Return - CTR_Code - Error code (if any) for setting solenoid
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* @Param - idx - ID of solenoid (0-7)
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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 (0-7) to return if solenoid is on.
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* @Param - status - OK if solenoid enabled, false otherwise
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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 [0,7]
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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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};
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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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