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https://github.com/wpilibsuite/allwpilib
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139 lines
3.3 KiB
C++
139 lines
3.3 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016. 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.hpp"
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#include "ChipObject.h"
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static tPower* power = NULL;
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static void initializePower(int32_t* status) {
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if (power == NULL) {
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power = tPower::create(status);
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}
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}
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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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float getVinVoltage(int32_t* status) {
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initializePower(status);
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return power->readVinVoltage(status) / 4.096f * 0.025733f - 0.029f;
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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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float getVinCurrent(int32_t* status) {
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initializePower(status);
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return power->readVinCurrent(status) / 4.096f * 0.017042 - 0.071f;
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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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float getUserVoltage6V(int32_t* status) {
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initializePower(status);
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return power->readUserVoltage6V(status) / 4.096f * 0.007019f - 0.014f;
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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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float getUserCurrent6V(int32_t* status) {
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initializePower(status);
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return power->readUserCurrent6V(status) / 4.096f * 0.005566f - 0.009f;
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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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bool 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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int getUserCurrentFaults6V(int32_t* status) {
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initializePower(status);
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return (int)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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float getUserVoltage5V(int32_t* status) {
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initializePower(status);
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return power->readUserVoltage5V(status) / 4.096f * 0.005962f - 0.013f;
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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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float getUserCurrent5V(int32_t* status) {
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initializePower(status);
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return power->readUserCurrent5V(status) / 4.096f * 0.001996f - 0.002f;
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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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bool 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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int getUserCurrentFaults5V(int32_t* status) {
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initializePower(status);
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return (int)power->readFaultCounts_OverCurrentFaultCount5V(status);
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}
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unsigned char getUserStatus5V(int32_t* status) {
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initializePower(status);
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return power->readStatus_User5V(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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float getUserVoltage3V3(int32_t* status) {
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initializePower(status);
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return power->readUserVoltage3V3(status) / 4.096f * 0.004902f - 0.01f;
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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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float getUserCurrent3V3(int32_t* status) {
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initializePower(status);
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return power->readUserCurrent3V3(status) / 4.096f * 0.002486f - 0.003f;
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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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bool 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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int getUserCurrentFaults3V3(int32_t* status) {
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initializePower(status);
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return (int)power->readFaultCounts_OverCurrentFaultCount3V3(status);
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}
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} // extern "C"
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