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https://github.com/wpilibsuite/allwpilib
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d682295ccd
* Static functions in the HAL implementation were placed in the hal namespace * "using namespace" declarations in HAL/cpp/Log.h and Timer.cpp were replaced with "using" declarations for std::chrono * An extra include was removed from AnalogGyro.cpp * InterruptableSensorBase's constructor was defaulted * Newlines were added to some wpilibc integration tests for grouping * A variable in HALUtil.h was renamed to follow the style guide Supersedes #586
146 lines
3.4 KiB
C++
146 lines
3.4 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016-2017. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "HAL/Power.h"
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#include <memory>
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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;
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static void initializePower(int32_t* status) {
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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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extern "C" {
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/**
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* Get the roboRIO input voltage
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*/
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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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/**
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* Get the roboRIO input current
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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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/**
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* Get the 6V rail voltage
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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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/**
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* Get the 6V rail current
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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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/**
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* Get the active state of the 6V rail
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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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/**
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* Get the fault count for the 6V rail
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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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/**
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* Get the 5V rail voltage
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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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/**
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* Get the 5V rail current
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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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/**
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* Get the active state of the 5V rail
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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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/**
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* Get the fault count for the 5V rail
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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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/**
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* Get the 3.3V rail voltage
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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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/**
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* Get the 3.3V rail current
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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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/**
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* Get the active state of the 3.3V rail
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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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/**
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* Get the fault count for the 3.3V rail
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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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} // extern "C"
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