commit 9950f68af6256d121d44370ac3b6bfd267a796e0
author Austin Schuh <austin.linux@gmail.com> Sat Nov 06 15:27:58 2021 -0700
committer Austin Schuh <austin.linux@gmail.com> Sat Nov 06 15:27:58 2021 -0700
tree aff03c18c577ce51d0d92200a1b9279c9bfc7d46
parent dabc8ff9342f29147903347f4dde6e6a05a9543d
parent 812d0d18f8a83ab7e62014bfd52dd91a751f674d

Merge commit '4ee017201227ce16a4edef20912b357e8f303483' into master

Update WPILib for the 2022 beta test.  This now actually runs on my RIO
2.0!

Change-Id: I6d335f61c6abe50facca76f4f5014537e742f1ac
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

frc971/wpilib/ahal/PowerDistributionPanel.cc

diff --git a/frc971/wpilib/ahal/PowerDistributionPanel.cc b/frc971/wpilib/ahal/PowerDistributionPanel.cc
index 8359cdb..39087fb 100644
--- a/frc971/wpilib/ahal/PowerDistributionPanel.cc
+++ b/frc971/wpilib/ahal/PowerDistributionPanel.cc
@@ -10,7 +10,7 @@
 #include <sstream>
 
 #include "hal/HAL.h"
-#include "hal/PDP.h"
+#include "hal/PowerDistribution.h"
 #include "hal/Ports.h"
 #include "frc971/wpilib/ahal/WPIErrors.h"
 
@@ -24,7 +24,9 @@
  */
 PowerDistributionPanel::PowerDistributionPanel(int module) {
   int32_t status = 0;
-  m_handle = HAL_InitializePDP(module, &status);
+  m_handle = HAL_InitializePowerDistribution(
+      module, HAL_PowerDistributionType::HAL_PowerDistributionType_kCTRE,
+      nullptr, &status);
   if (status != 0) {
     return;
   }
@@ -38,7 +40,7 @@
 double PowerDistributionPanel::GetVoltage() const {
   int32_t status = 0;
 
-  double voltage = HAL_GetPDPVoltage(m_handle, &status);
+  double voltage = HAL_GetPowerDistributionVoltage(m_handle, &status);
 
   if (status) {
     WPI_LIB_FATAL_ERROR(Timeout, "");
@@ -55,7 +57,7 @@
 double PowerDistributionPanel::GetTemperature() const {
   int32_t status = 0;
 
-  double temperature = HAL_GetPDPTemperature(m_handle, &status);
+  double temperature = HAL_GetPowerDistributionTemperature(m_handle, &status);
 
   if (status) {
     WPI_LIB_FATAL_ERROR(Timeout, "");
@@ -72,13 +74,16 @@
 double PowerDistributionPanel::GetCurrent(int channel) const {
   int32_t status = 0;
 
-  if (!CheckPDPChannel(channel)) {
+  if (!CheckPDPChannel(
+          channel,
+          HAL_PowerDistributionType::HAL_PowerDistributionType_kCTRE)) {
     std::stringstream buf;
     buf << "PDP Channel " << channel;
     WPI_LIB_FATAL_ERROR(ChannelIndexOutOfRange, buf.str());
   }
 
-  double current = HAL_GetPDPChannelCurrent(m_handle, channel, &status);
+  double current =
+      HAL_GetPowerDistributionChannelCurrent(m_handle, channel, &status);
 
   if (status) {
     WPI_LIB_FATAL_ERROR(Timeout, "");
@@ -95,7 +100,7 @@
 double PowerDistributionPanel::GetTotalCurrent() const {
   int32_t status = 0;
 
-  double current = HAL_GetPDPTotalCurrent(m_handle, &status);
+  double current = HAL_GetPowerDistributionTotalCurrent(m_handle, &status);
 
   if (status) {
     WPI_LIB_FATAL_ERROR(Timeout, "");
@@ -112,7 +117,7 @@
 double PowerDistributionPanel::GetTotalPower() const {
   int32_t status = 0;
 
-  double power = HAL_GetPDPTotalPower(m_handle, &status);
+  double power = HAL_GetPowerDistributionTotalPower(m_handle, &status);
 
   if (status) {
     WPI_LIB_FATAL_ERROR(Timeout, "");
@@ -129,7 +134,7 @@
 double PowerDistributionPanel::GetTotalEnergy() const {
   int32_t status = 0;
 
-  double energy = HAL_GetPDPTotalEnergy(m_handle, &status);
+  double energy = HAL_GetPowerDistributionTotalEnergy(m_handle, &status);
 
   if (status) {
     WPI_LIB_FATAL_ERROR(Timeout, "");
@@ -146,7 +151,7 @@
 void PowerDistributionPanel::ResetTotalEnergy() {
   int32_t status = 0;
 
-  HAL_ResetPDPTotalEnergy(m_handle, &status);
+  HAL_ResetPowerDistributionTotalEnergy(m_handle, &status);
 
   if (status) {
     WPI_LIB_FATAL_ERROR(Timeout, "");
@@ -159,7 +164,7 @@
 void PowerDistributionPanel::ClearStickyFaults() {
   int32_t status = 0;
 
-  HAL_ClearPDPStickyFaults(m_handle, &status);
+  HAL_ClearPowerDistributionStickyFaults(m_handle, &status);
 
   if (status) {
     WPI_LIB_FATAL_ERROR(Timeout, "");