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/Power.cpp b/hal/lib/athena/Power.cpp
new file mode 100644
index 0000000..4d66fe2
--- /dev/null
+++ b/hal/lib/athena/Power.cpp
@@ -0,0 +1,141 @@
+/*----------------------------------------------------------------------------*/
+/* 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/Power.h"
+
+#include <memory>
+
+#include "HAL/ChipObject.h"
+
+using namespace hal;
+
+static std::unique_ptr<tPower> power;
+
+static void initializePower(int32_t* status) {
+ if (power == nullptr) {
+ power.reset(tPower::create(status));
+ }
+}
+
+extern "C" {
+
+/**
+ * Get the roboRIO input voltage
+ */
+double HAL_GetVinVoltage(int32_t* status) {
+ initializePower(status);
+ return power->readVinVoltage(status) / 4.096 * 0.025733 - 0.029;
+}
+
+/**
+ * Get the roboRIO input current
+ */
+double HAL_GetVinCurrent(int32_t* status) {
+ initializePower(status);
+ return power->readVinCurrent(status) / 4.096 * 0.017042 - 0.071;
+}
+
+/**
+ * Get the 6V rail voltage
+ */
+double HAL_GetUserVoltage6V(int32_t* status) {
+ initializePower(status);
+ return power->readUserVoltage6V(status) / 4.096 * 0.007019 - 0.014;
+}
+
+/**
+ * Get the 6V rail current
+ */
+double HAL_GetUserCurrent6V(int32_t* status) {
+ initializePower(status);
+ return power->readUserCurrent6V(status) / 4.096 * 0.005566 - 0.009;
+}
+
+/**
+ * Get the active state of the 6V rail
+ */
+HAL_Bool HAL_GetUserActive6V(int32_t* status) {
+ initializePower(status);
+ return power->readStatus_User6V(status) == 4;
+}
+
+/**
+ * Get the fault count for the 6V rail
+ */
+int32_t HAL_GetUserCurrentFaults6V(int32_t* status) {
+ initializePower(status);
+ return static_cast<int32_t>(
+ power->readFaultCounts_OverCurrentFaultCount6V(status));
+}
+
+/**
+ * Get the 5V rail voltage
+ */
+double HAL_GetUserVoltage5V(int32_t* status) {
+ initializePower(status);
+ return power->readUserVoltage5V(status) / 4.096 * 0.005962 - 0.013;
+}
+
+/**
+ * Get the 5V rail current
+ */
+double HAL_GetUserCurrent5V(int32_t* status) {
+ initializePower(status);
+ return power->readUserCurrent5V(status) / 4.096 * 0.001996 - 0.002;
+}
+
+/**
+ * Get the active state of the 5V rail
+ */
+HAL_Bool HAL_GetUserActive5V(int32_t* status) {
+ initializePower(status);
+ return power->readStatus_User5V(status) == 4;
+}
+
+/**
+ * Get the fault count for the 5V rail
+ */
+int32_t HAL_GetUserCurrentFaults5V(int32_t* status) {
+ initializePower(status);
+ return static_cast<int32_t>(
+ power->readFaultCounts_OverCurrentFaultCount5V(status));
+}
+
+/**
+ * Get the 3.3V rail voltage
+ */
+double HAL_GetUserVoltage3V3(int32_t* status) {
+ initializePower(status);
+ return power->readUserVoltage3V3(status) / 4.096 * 0.004902 - 0.01;
+}
+
+/**
+ * Get the 3.3V rail current
+ */
+double HAL_GetUserCurrent3V3(int32_t* status) {
+ initializePower(status);
+ return power->readUserCurrent3V3(status) / 4.096 * 0.002486 - 0.003;
+}
+
+/**
+ * Get the active state of the 3.3V rail
+ */
+HAL_Bool HAL_GetUserActive3V3(int32_t* status) {
+ initializePower(status);
+ return power->readStatus_User3V3(status) == 4;
+}
+
+/**
+ * Get the fault count for the 3.3V rail
+ */
+int32_t HAL_GetUserCurrentFaults3V3(int32_t* status) {
+ initializePower(status);
+ return static_cast<int32_t>(
+ power->readFaultCounts_OverCurrentFaultCount3V3(status));
+}
+
+} // extern "C"