CANCoderFaults.h

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/* Copyright (C) Cross The Road Electronics 2024 */
#pragma once
 
namespace ctre {
    namespace phoenix {
        namespace sensors {
 
            /**
             * Faults available to CANCoderFaults
             *
             * @deprecated This device's Phoenix 5 API is deprecated for removal in the
             * 2025 season. Users should update to Phoenix 6 firmware and migrate to the
             * Phoenix 6 API. A migration guide is available at
             * https://v6.docs.ctr-electronics.com/en/stable/docs/migration/migration-guide/index.html.
             *
             * If the Phoenix 5 API must be used for this device, the device must have 22.X
             * firmware. This firmware is available in Tuner X after selecting Phoenix 5 in
             * the firmware year dropdown.
             */
            struct [[deprecated("This device's Phoenix 5 API is deprecated for removal in the 2025 season."
                            "Users should update to Phoenix 6 firmware and migrate to the Phoenix 6 API."
                            "A migration guide is available at https://v6.docs.ctr-electronics.com/en/stable/docs/migration/migration-guide/index.html")]]
            CANCoderFaults {
                /**
                 * Device detects hardware failure
                 */
                bool HardwareFault;
                /**
                 * API error detected.  Make sure API and firmware versions are compatible.
                 */
                bool APIError;
                /**
                 * Device is under 6.5V
                 */
                bool UnderVoltage;
                /**
                 * Device was powered-on or reset while robot is enabled.
                 * Check your breakers and wiring.
                 */
                bool ResetDuringEn;
                /**
                 * Magnet strength is too weak to provide reliable results
                 * Make sure CANCoder is close to the magnet being used
                 */
                bool MagnetTooWeak;
                /**
                 * @return true if any faults are tripped
                 */
                bool HasAnyFault() const {
                    return  HardwareFault |
                            APIError |
                            UnderVoltage |
                            ResetDuringEn |
                            MagnetTooWeak;
                }
                /**
                 * @return Current fault list as a bit field
                 */
                int ToBitfield() const {
                    int retval = 0;
                    int mask = 1;
                    retval |= HardwareFault ? mask : 0; mask <<= 1;
                    retval |= APIError      ? mask : 0; mask <<= 1;
                    retval |= UnderVoltage  ? mask : 0; mask <<= 1;
                    retval |= ResetDuringEn ? mask : 0; mask <<= 1; 
                    mask <<= 3; /* 3 faults currently unused */
                    retval |= MagnetTooWeak ? mask : 0; mask <<= 1;
                    return retval;
                }
                /**
                 * Updates current fault list with specified bit field of faults
                 *
                 * @param bits bit field of faults to update with
                 */
                void Update(int bits) {
                    int mask = 1;
                    HardwareFault = (bits & mask) ? true : false; mask <<= 1;
                    APIError =      (bits & mask) ? true : false; mask <<= 1;
                    UnderVoltage =  (bits & mask) ? true : false; mask <<= 1;
                    ResetDuringEn = (bits & mask) ? true : false; mask <<= 1;
                    mask <<= 3; /* 3 faults currently unused */
                    MagnetTooWeak = (bits & mask) ? true : false; mask <<= 1;
                }
                /**
                 * Updates current fault list with specified bit field of faults
                 *
                 * @param bits bit field of faults to update with
                 */
                CANCoderFaults(int bits) {
                    Update(bits);
                }
                CANCoderFaults() {
                    HardwareFault = false;
                    APIError = false;
                    UnderVoltage = false;
                    ResetDuringEn = false;
                    MagnetTooWeak = false;
                }
            };
 
        } // namespace sensors
    } // namespace phoenix
} // namespace ctre