Pigeon2_Faults.h

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/* Copyright (C) Cross The Road Electronics 2024 */
#pragma once
 
#include <cstdint>
 
namespace ctre {
namespace phoenix {
namespace sensors {
 
/**
 * Sticky faults available to Pigeon
 *
 * @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")]]
Pigeon2_Faults {
    /**
     * 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;
    /**
     * The device rotated at a rate that exceeded its maximum.
     * Increase the range or slow the rate of rotation.
     */
    bool SaturatedRotVelocity;
    /**
     * The device saw an acceleration that exceeded its maximum.
     * Increase the range or avoid high-g events.
     */
    bool SaturatedAccel;
    /**
     * The device saw a magnetic field that exceeded its maximum.
     * Keep the device far from strong magnetic fields.
     */
    bool SaturatedMag;
    /**
     * The Pigeon saw motion as soon as it booted, and didn't
     *  attempt to self-test its features.
     * This isn't an issue, but to prevent this don't turn the
     *  robot on while moving it.
     */
    bool BootIntoMotion;
    /**
     * The magnetometer failed its self-test.
     * This is likely due to hardware damage, oftentimes from
     *  exposing the Pigeon to a very large magnetic field.
     */
    bool MagnetometerFault;
    /**
     * The gyro failed its self-test.
     * This is likely due to hardware damage.
     */
    bool GyroFault;
    /**
     * The Accelerometer failed its self-test.
     * This is likely due to hardware damage, oftentimes from
     *  exposing the Pigeon to a very large impact.
     */
    bool AccelFault;
 
    /**
     * @return true if any faults are tripped
     */
    bool HasAnyFault() const {
        return  HardwareFault |
                APIError |
                UnderVoltage |
                ResetDuringEn |
                SaturatedRotVelocity |
                SaturatedAccel |
                SaturatedMag |
                BootIntoMotion |
                MagnetometerFault |
                GyroFault |
                AccelFault;
    }
    /**
     * @return Current fault list as a bit field
     */
    uint64_t ToBitfield() const {
        uint64_t commonFaults = 0;
        commonFaults |= HardwareFault ? 1 : 0; commonFaults <<= 1;
        commonFaults |= APIError ? 1 : 0; commonFaults <<= 1;
        commonFaults |= UnderVoltage ? 1 : 0; commonFaults <<= 1;
        commonFaults |= ResetDuringEn ? 1 : 0; commonFaults <<= 1;
        
        uint64_t deviceFaults = 0;
        deviceFaults |= SaturatedRotVelocity ? 1 : 0; deviceFaults <<= 1;
        deviceFaults |= SaturatedAccel ? 1 : 0; deviceFaults <<= 1;
        deviceFaults |= SaturatedMag ? 1 : 0; deviceFaults <<= 1;
        deviceFaults <<= 1; /* Unused bitfield */
        deviceFaults <<= 1;
        deviceFaults <<= 1;
        deviceFaults |= BootIntoMotion ? 1 : 0; deviceFaults <<= 1;
        deviceFaults |= MagnetometerFault ? 1 : 0; deviceFaults <<= 1;
        deviceFaults |= GyroFault ? 1 : 0; deviceFaults <<= 1;
        deviceFaults |= AccelFault ? 1 : 0; deviceFaults <<= 1;
        
        return commonFaults | (deviceFaults << 30);
    }
    /**
     * Updates current fault list with specified bit field of faults
     *
     * @param bits bit field of faults to update with
     */
    void Update(uint64_t bits) {
        uint64_t 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 <<= 30; /* 30 faults currently unused */
        AccelFault = (bits & mask) ? true : false; mask <<= 1;
        GyroFault = (bits & mask) ? true : false; mask <<= 1;
        MagnetometerFault = (bits & mask) ? true : false; mask <<= 1;
        BootIntoMotion = (bits & mask) ? true : false; mask <<= 1;
        mask <<= 1;
        mask <<= 1;
        mask <<= 1; /* unused bit field */
        SaturatedMag = (bits & mask) ? true : false; mask <<= 1;
        SaturatedAccel = (bits & mask) ? true : false; mask <<= 1;
        SaturatedRotVelocity = (bits & mask) ? true : false; mask <<= 1;
    }
    /**
     * Creates fault list with specified bit field of faults
     * 
     * @param bits bit field of faults to update with
     */
    Pigeon2_Faults(uint64_t bits) {
        Update(bits);
    }
    Pigeon2_Faults() {
        Update(0); // Default everything to false
    }
};
 
} // sensors
} // phoenix
} // ctre