expose more faults in PDH and PH

rzblue · Aug 1, 2024 · b990c62 · b990c62
1 parent 2c99845
commit b990c62
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Showing 8 changed files with 38 additions and 2 deletions.
diff --git a/hal/src/main/java/edu/wpi/first/hal/PowerDistributionStickyFaults.java b/hal/src/main/java/edu/wpi/first/hal/PowerDistributionStickyFaults.java
@@ -91,6 +91,12 @@ public class PowerDistributionStickyFaults {
   /** The device's CAN controller experienced a "Bus Off" event. */
   public final boolean CanBusOff;
 
+  /** The hardware on the device has malfunctioned. */
+  public final boolean HardwareFault;
+
+  /** The firmware on the device has malfunctioned. */
+  public final boolean FirmwareFault;
+
   /** The device has rebooted. */
   public final boolean HasReset;
 
@@ -166,6 +172,8 @@ public PowerDistributionStickyFaults(int faults) {
     Brownout = (faults & 0x1000000) != 0;
     CanWarning = (faults & 0x2000000) != 0;
     CanBusOff = (faults & 0x4000000) != 0;
-    HasReset = (faults & 0x8000000) != 0;
+    HardwareFault = (faults & 0x8000000) != 0;
+    FirmwareFault = (faults & 0x10000000) != 0;
+    HasReset = (faults & 0x20000000) != 0;
   }
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/REVPHStickyFaults.java b/hal/src/main/java/edu/wpi/first/hal/REVPHStickyFaults.java
@@ -25,6 +25,12 @@ public class REVPHStickyFaults {
   /** The device's CAN controller experienced a "Bus Off" event. */
   public final boolean CanBusOff;
 
+  /** The hardware on the device has malfunctioned. */
+  public final boolean HardwareFault;
+
+  /** The firmware on the device has malfunctioned. */
+  public final boolean FirmwareFault;
+
   /** The device has rebooted. */
   public final boolean HasReset;
 
@@ -40,6 +46,8 @@ public REVPHStickyFaults(int faults) {
     Brownout = (faults & 0x8) != 0;
     CanWarning = (faults & 0x10) != 0;
     CanBusOff = (faults & 0x20) != 0;
-    HasReset = (faults & 0x40) != 0;
+    HardwareFault = (faults & 0x40) != 0;
+    FirmwareFault = (faults & 0x80) != 0;
+    HasReset = (faults & 0x100) != 0;
   }
 }
diff --git a/hal/src/main/native/athena/REVPDH.cpp b/hal/src/main/native/athena/REVPDH.cpp
@@ -624,6 +624,8 @@ void HAL_GetREVPDHStickyFaults(HAL_REVPDHHandle handle,
   stickyFaults->brownout = status4.sticky_brownout_fault;
   stickyFaults->canWarning = status4.sticky_can_warning_fault;
   stickyFaults->canBusOff = status4.sticky_can_bus_off_fault;
+  stickyFaults->hardwareFault = status4.sticky_hardware_fault;
+  stickyFaults->firmwareFault = status4.sticky_firmware_fault;
   stickyFaults->hasReset = status4.sticky_has_reset_fault;
 }
 

diff --git a/hal/src/main/native/athena/REVPH.cpp b/hal/src/main/native/athena/REVPH.cpp
@@ -737,6 +737,8 @@ void HAL_GetREVPHStickyFaults(HAL_REVPHHandle handle,
   stickyFaults->brownout = status1.sticky_brownout_fault;
   stickyFaults->canWarning = status1.sticky_can_warning_fault;
   stickyFaults->canBusOff = status1.sticky_can_bus_off_fault;
+  stickyFaults->hardwareFault = status1.sticky_hardware_fault;
+  stickyFaults->firmwareFault = status1.sticky_firmware_fault;
   stickyFaults->hasReset = status1.sticky_has_reset_fault;
 }
 

diff --git a/hal/src/main/native/include/hal/PowerDistribution.h b/hal/src/main/native/include/hal/PowerDistribution.h
@@ -362,6 +362,10 @@ struct HAL_PowerDistributionStickyFaults {
   uint32_t canWarning : 1;
   /** The device's CAN controller experienced a "Bus Off" event. */
   uint32_t canBusOff : 1;
+  /** The hardware on the device has malfunctioned. */
+  uint32_t hardwareFault : 1;
+  /** The firmware on the device has malfunctioned. */
+  uint32_t firmwareFault : 1;
   /** The device has rebooted. */
   uint32_t hasReset : 1;
 };

diff --git a/hal/src/main/native/include/hal/REVPH.h b/hal/src/main/native/include/hal/REVPH.h
@@ -122,6 +122,10 @@ struct HAL_REVPHStickyFaults {
   uint32_t canWarning : 1;
   /** The device's CAN controller experienced a "Bus Off" event. */
   uint32_t canBusOff : 1;
+  /** The hardware on the device has malfunctioned. */
+  uint32_t hardwareFault : 1;
+  /** The firmware on the device has malfunctioned. */
+  uint32_t firmwareFault : 1;
   /** The device has rebooted. */
   uint32_t hasReset : 1;
 };

diff --git a/wpilibc/src/main/native/include/frc/PneumaticHub.h b/wpilibc/src/main/native/include/frc/PneumaticHub.h
@@ -226,6 +226,10 @@ class PneumaticHub : public PneumaticsBase {
     uint32_t CanWarning : 1;
     /** The device's CAN controller experienced a "Bus Off" event. */
     uint32_t CanBusOff : 1;
+    /** The hardware on the device has malfunctioned. */
+    uint32_t HardwareFault : 1;
+    /** The firmware on the device has malfunctioned. */
+    uint32_t FirmwareFault : 1;
     /** The device has rebooted. */
     uint32_t HasReset : 1;
   };

diff --git a/wpilibc/src/main/native/include/frc/PowerDistribution.h b/wpilibc/src/main/native/include/frc/PowerDistribution.h
@@ -311,6 +311,10 @@ class PowerDistribution : public wpi::Sendable,
     uint32_t CanWarning : 1;
     /** The device's CAN controller experienced a "Bus Off" event. */
     uint32_t CanBusOff : 1;
+    /** The hardware on the device has malfunctioned. */
+    uint32_t HardwareFault : 1;
+    /** The firmware on the device has malfunctioned. */
+    uint32_t FirmwareFault : 1;
     /** The device has rebooted. */
     uint32_t HasReset : 1;