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FRC2016-old/DriveBase/wpilib/cpp/current/include/ctre/PCM.h
2016-01-28 11:33:19 -05:00

219 lines
8.7 KiB
C++

#ifndef PCM_H_
#define PCM_H_
#include "ctre.h" //BIT Defines + Typedefs
#include "CtreCanNode.h"
class PCM : public CtreCanNode
{
public:
PCM(UINT8 deviceNumber=0);
~PCM();
/* Set PCM solenoid state
*
* @Return - CTR_Code - Error code (if any) for setting solenoid
* @Param - idx - ID of solenoid (0-7)
* @Param - en - Enable / Disable identified solenoid
*/
CTR_Code SetSolenoid(unsigned char idx, bool en);
/* Enables PCM Closed Loop Control of Compressor via pressure switch
* @Return - CTR_Code - Error code (if any) for setting solenoid
* @Param - en - Enable / Disable Closed Loop Control
*/
CTR_Code SetClosedLoopControl(bool en);
/* Clears PCM sticky faults (indicators of past faults
* @Return - CTR_Code - Error code (if any) for setting solenoid
*/
CTR_Code ClearStickyFaults();
/* Get solenoid state
*
* @Return - CTR_Code - Error code (if any)
* @Param - idx - ID of solenoid (0-7) to return if solenoid is on.
* @Param - status - true if solenoid enabled, false otherwise
*/
CTR_Code GetSolenoid(UINT8 idx, bool &status);
/* Get state of all solenoids
*
* @Return - CTR_Code - Error code (if any)
* @Param - status - bitfield of solenoid states
*/
CTR_Code GetAllSolenoids(UINT8 &status);
/* Get pressure switch state
* @Return - CTR_Code - Error code (if any)
* @Param - status - True if pressure adequate, false if low
*/
CTR_Code GetPressure(bool &status);
/* Get compressor state
* @Return - CTR_Code - Error code (if any)
* @Param - status - True if compress ouput is on, false if otherwise
*/
CTR_Code GetCompressor(bool &status);
/* Get closed loop control state
* @Return - CTR_Code - Error code (if any)
* @Param - status - True if closed loop enabled, false if otherwise
*/
CTR_Code GetClosedLoopControl(bool &status);
/* Get compressor current draw
* @Return - CTR_Code - Error code (if any)
* @Param - status - Compressor current returned in Amperes (A)
*/
CTR_Code GetCompressorCurrent(float &status);
/* Get voltage across solenoid rail
* @Return - CTR_Code - Error code (if any)
* @Param - status - Voltage across solenoid rail in Volts (V)
*/
CTR_Code GetSolenoidVoltage(float &status);
/* Get hardware fault value
* @Return - CTR_Code - Error code (if any)
* @Param - status - True if hardware failure detected, false if otherwise
*/
CTR_Code GetHardwareFault(bool &status);
/* Get compressor fault value
* @Return - CTR_Code - Error code (if any)
* @Param - status - True if abnormally high compressor current detected, false if otherwise
*/
CTR_Code GetCompressorCurrentTooHighFault(bool &status);
/* Get solenoid fault value
* @Return - CTR_Code - Error code (if any)
* @Param - status - True if shorted solenoid detected, false if otherwise
*/
CTR_Code GetSolenoidFault(bool &status);
/* Get compressor sticky fault value
* @Return - CTR_Code - Error code (if any)
* @Param - status - True if solenoid had previously been shorted
* (and sticky fault was not cleared), false if otherwise
*/
CTR_Code GetCompressorCurrentTooHighStickyFault(bool &status);
/* Get compressor shorted sticky fault value
* @Return - CTR_Code - Error code (if any)
* @Param - status - True if compressor output is shorted, false if otherwise
*/
CTR_Code GetCompressorShortedStickyFault(bool &status);
/* Get compressor shorted fault value
* @Return - CTR_Code - Error code (if any)
* @Param - status - True if compressor output is shorted, false if otherwise
*/
CTR_Code GetCompressorShortedFault(bool &status);
/* Get compressor is not connected sticky fault value
* @Return - CTR_Code - Error code (if any)
* @Param - status - True if compressor current is too low,
* indicating compressor is not connected, false if otherwise
*/
CTR_Code GetCompressorNotConnectedStickyFault(bool &status);
/* Get compressor is not connected fault value
* @Return - CTR_Code - Error code (if any)
* @Param - status - True if compressor current is too low,
* indicating compressor is not connected, false if otherwise
*/
CTR_Code GetCompressorNotConnectedFault(bool &status);
/* Get solenoid sticky fault value
* @Return - CTR_Code - Error code (if any)
* @Param - status - True if compressor had previously been shorted
* (and sticky fault was not cleared), false if otherwise
*/
CTR_Code GetSolenoidStickyFault(bool &status);
/* Get battery voltage
* @Return - CTR_Code - Error code (if any)
* @Param - status - Voltage across PCM power ports in Volts (V)
*/
CTR_Code GetBatteryVoltage(float &status);
/* Set PCM Device Number and according CAN frame IDs
* @Return - void
* @Param - deviceNumber - Device number of PCM to control
*/
void SetDeviceNumber(UINT8 deviceNumber);
/* Get number of total failed PCM Control Frame
* @Return - CTR_Code - Error code (if any)
* @Param - status - Number of failed control frames (tokenization fails)
* @WARNING - Return only valid if [SeekDebugFrames] is enabled
* See function SeekDebugFrames
* See function EnableSeekDebugFrames
*/
CTR_Code GetNumberOfFailedControlFrames(UINT16 &status);
/* Get raw Solenoid Blacklist
* @Return - CTR_Code - Error code (if any)
* @Param - status - Raw binary breakdown of Solenoid Blacklist
* BIT7 = Solenoid 1, BIT6 = Solenoid 2, etc.
* @WARNING - Return only valid if [SeekStatusFaultFrames] is enabled
* See function SeekStatusFaultFrames
* See function EnableSeekStatusFaultFrames
*/
CTR_Code GetSolenoidBlackList(UINT8 &status);
/* Get solenoid Blacklist status
* - Blacklisted solenoids cannot be enabled until PCM is power cycled
* @Return - CTR_Code - Error code (if any)
* @Param - idx - ID of solenoid [0,7]
* @Param - status - True if Solenoid is blacklisted, false if otherwise
* @WARNING - Return only valid if [SeekStatusFaultFrames] is enabled
* See function SeekStatusFaultFrames
* See function EnableSeekStatusFaultFrames
*/
CTR_Code IsSolenoidBlacklisted(UINT8 idx, bool &status);
/* Return status of module enable/disable
* @Return - CTR_Code - Error code (if any)
* @Param - status - Returns TRUE if PCM is enabled, FALSE if disabled
*/
CTR_Code isModuleEnabled(bool &status);
/* Get solenoid Blacklist status
* @Return - CTR_Code - Error code (if any)
* @Param - idx - ID of solenoid [0,7] to fire one shot pulse.
*/
CTR_Code FireOneShotSolenoid(UINT8 idx);
/* Configure the pulse width of a solenoid channel for one-shot pulse.
* Preprogrammed pulsewidth is 10ms resolute and can be between 20ms and 5.1s.
* @Return - CTR_Code - Error code (if any)
* @Param - idx - ID of solenoid [0,7] to configure.
* @Param - durMs - pulse width in ms.
*/
CTR_Code SetOneShotDurationMs(UINT8 idx,uint32_t durMs);
};
//------------------ C interface --------------------------------------------//
extern "C" {
void * c_PCM_Init(void);
CTR_Code c_SetSolenoid(void * handle,unsigned char idx,INT8 param);
CTR_Code c_SetClosedLoopControl(void * handle,INT8 param);
CTR_Code c_ClearStickyFaults(void * handle,INT8 param);
CTR_Code c_GetSolenoid(void * handle,UINT8 idx,INT8 * status);
CTR_Code c_GetAllSolenoids(void * handle,UINT8 * status);
CTR_Code c_GetPressure(void * handle,INT8 * status);
CTR_Code c_GetCompressor(void * handle,INT8 * status);
CTR_Code c_GetClosedLoopControl(void * handle,INT8 * status);
CTR_Code c_GetCompressorCurrent(void * handle,float * status);
CTR_Code c_GetSolenoidVoltage(void * handle,float*status);
CTR_Code c_GetHardwareFault(void * handle,INT8*status);
CTR_Code c_GetCompressorFault(void * handle,INT8*status);
CTR_Code c_GetSolenoidFault(void * handle,INT8*status);
CTR_Code c_GetCompressorStickyFault(void * handle,INT8*status);
CTR_Code c_GetSolenoidStickyFault(void * handle,INT8*status);
CTR_Code c_GetBatteryVoltage(void * handle,float*status);
void c_SetDeviceNumber_PCM(void * handle,UINT8 deviceNumber);
void c_EnableSeekStatusFrames(void * handle,INT8 enable);
void c_EnableSeekStatusFaultFrames(void * handle,INT8 enable);
void c_EnableSeekDebugFrames(void * handle,INT8 enable);
CTR_Code c_GetNumberOfFailedControlFrames(void * handle,UINT16*status);
CTR_Code c_GetSolenoidBlackList(void * handle,UINT8 *status);
CTR_Code c_IsSolenoidBlacklisted(void * handle,UINT8 idx,INT8*status);
}
#endif