Squashed 'third_party/allwpilib_2017/' content from commit 35ac87d
Change-Id: I7bb6f5556c30d3f5a092e68de0be9c710c60c9f4
git-subtree-dir: third_party/allwpilib_2017
git-subtree-split: 35ac87d6ff8b7f061c4f18c9ea316e5dccd4888a
diff --git a/hal/lib/athena/PDP.cpp b/hal/lib/athena/PDP.cpp
new file mode 100644
index 0000000..61b8c5b
--- /dev/null
+++ b/hal/lib/athena/PDP.cpp
@@ -0,0 +1,127 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "HAL/PDP.h"
+
+#include <memory>
+
+#include "HAL/Errors.h"
+#include "HAL/Ports.h"
+#include "HAL/cpp/make_unique.h"
+#include "PortsInternal.h"
+#include "ctre/PDP.h"
+
+using namespace hal;
+
+static std::unique_ptr<PDP> pdp[kNumPDPModules];
+
+static inline bool checkPDPInit(int32_t module, int32_t* status) {
+ if (!HAL_CheckPDPModule(module)) {
+ *status = RESOURCE_OUT_OF_RANGE;
+ return false;
+ }
+ if (!pdp[module]) {
+ *status = INCOMPATIBLE_STATE;
+ return false;
+ }
+ return true;
+}
+
+extern "C" {
+
+void HAL_InitializePDP(int32_t module, int32_t* status) {
+ if (!HAL_CheckPDPModule(module)) {
+ *status = RESOURCE_OUT_OF_RANGE;
+ return;
+ }
+ if (!pdp[module]) {
+ pdp[module] = std::make_unique<PDP>(module);
+ }
+}
+
+HAL_Bool HAL_CheckPDPModule(int32_t module) {
+ return module < kNumPDPModules && module >= 0;
+}
+
+HAL_Bool HAL_CheckPDPChannel(int32_t channel) {
+ return channel < kNumPDPChannels && channel >= 0;
+}
+
+double HAL_GetPDPTemperature(int32_t module, int32_t* status) {
+ if (!checkPDPInit(module, status)) return 0;
+
+ double temperature;
+
+ *status = pdp[module]->GetTemperature(temperature);
+
+ return temperature;
+}
+
+double HAL_GetPDPVoltage(int32_t module, int32_t* status) {
+ if (!checkPDPInit(module, status)) return 0;
+
+ double voltage;
+
+ *status = pdp[module]->GetVoltage(voltage);
+
+ return voltage;
+}
+
+double HAL_GetPDPChannelCurrent(int32_t module, int32_t channel,
+ int32_t* status) {
+ if (!checkPDPInit(module, status)) return 0;
+
+ double current;
+
+ *status = pdp[module]->GetChannelCurrent(channel, current);
+
+ return current;
+}
+
+double HAL_GetPDPTotalCurrent(int32_t module, int32_t* status) {
+ if (!checkPDPInit(module, status)) return 0;
+
+ double current;
+
+ *status = pdp[module]->GetTotalCurrent(current);
+
+ return current;
+}
+
+double HAL_GetPDPTotalPower(int32_t module, int32_t* status) {
+ if (!checkPDPInit(module, status)) return 0;
+
+ double power;
+
+ *status = pdp[module]->GetTotalPower(power);
+
+ return power;
+}
+
+double HAL_GetPDPTotalEnergy(int32_t module, int32_t* status) {
+ if (!checkPDPInit(module, status)) return 0;
+
+ double energy;
+
+ *status = pdp[module]->GetTotalEnergy(energy);
+
+ return energy;
+}
+
+void HAL_ResetPDPTotalEnergy(int32_t module, int32_t* status) {
+ if (!checkPDPInit(module, status)) return;
+
+ *status = pdp[module]->ResetEnergy();
+}
+
+void HAL_ClearPDPStickyFaults(int32_t module, int32_t* status) {
+ if (!checkPDPInit(module, status)) return;
+
+ *status = pdp[module]->ClearStickyFaults();
+}
+
+} // extern "C"