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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <stdint.h>
#include "hal/Types.h"
/**
* @defgroup hal_pwm PWM Output Functions
* @ingroup hal_capi
* @{
*/
#ifdef __cplusplus
extern "C" {
#endif
/**
* Initializes a PWM port.
*
* @param[in] portHandle the port to initialize
* @param[in] allocationLocation the location where the allocation is occurring
* (can be null)
* @param[out] status Error status variable. 0 on success.
* @return the created pwm handle
*/
HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
const char* allocationLocation,
int32_t* status);
/**
* Frees a PWM port.
*
* @param[in] pwmPortHandle the pwm handle
*/
void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle);
/**
* Checks if a pwm channel is valid.
*
* @param channel the channel to check
* @return true if the channel is valid, otherwise false
*/
HAL_Bool HAL_CheckPWMChannel(int32_t channel);
/**
* Sets the configuration settings for the PWM channel.
*
* All values are in microseconds.
*
* @param[in] pwmPortHandle the PWM handle
* @param[in] maxPwm the maximum PWM value
* @param[in] deadbandMaxPwm the high range of the center deadband
* @param[in] centerPwm the center PWM value
* @param[in] deadbandMinPwm the low range of the center deadband
* @param[in] minPwm the minimum PWM value
* @param[out] status Error status variable. 0 on success.
*/
void HAL_SetPWMConfigMicroseconds(HAL_DigitalHandle pwmPortHandle,
int32_t maxPwm, int32_t deadbandMaxPwm,
int32_t centerPwm, int32_t deadbandMinPwm,
int32_t minPwm, int32_t* status);
/**
* Gets the pwm configuration settings for the PWM channel.
*
* Values are in microseconds.
*
* @param[in] pwmPortHandle the PWM handle
* @param[in] maxPwm the maximum PWM value
* @param[in] deadbandMaxPwm the high range of the center deadband
* @param[in] centerPwm the center PWM value
* @param[in] deadbandMinPwm the low range of the center deadband
* @param[in] minPwm the minimum PWM value
* @param[out] status Error status variable. 0 on success.
*/
void HAL_GetPWMConfigMicroseconds(HAL_DigitalHandle pwmPortHandle,
int32_t* maxPwm, int32_t* deadbandMaxPwm,
int32_t* centerPwm, int32_t* deadbandMinPwm,
int32_t* minPwm, int32_t* status);
/**
* Sets if the FPGA should output the center value if the input value is within
* the deadband.
*
* @param[in] pwmPortHandle the PWM handle
* @param[in] eliminateDeadband true to eliminate deadband, otherwise false
* @param[out] status Error status variable. 0 on success.
*/
void HAL_SetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
HAL_Bool eliminateDeadband, int32_t* status);
/**
* Gets the current eliminate deadband value.
*
* @param[in] pwmPortHandle the PWM handle
* @param[out] status Error status variable. 0 on success.
* @return true if set, otherwise false
*/
HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
int32_t* status);
/**
* Sets a PWM channel to the desired pulse width in microseconds.
*
*
* @param[in] pwmPortHandle the PWM handle
* @param[in] microsecondPulseTime the PWM value to set
* @param[out] status Error status variable. 0 on success.
*/
void HAL_SetPWMPulseTimeMicroseconds(HAL_DigitalHandle pwmPortHandle,
int32_t microsecondPulseTime,
int32_t* status);
/**
* Sets a PWM channel to the desired scaled value.
*
* The values range from -1 to 1 and the period is controlled by the PWM Period
* and MinHigh registers.
*
* @param[in] pwmPortHandle the PWM handle
* @param[in] speed the scaled PWM value to set
* @param[out] status Error status variable. 0 on success.
*/
void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed,
int32_t* status);
/**
* Sets a PWM channel to the desired position value.
*
* The values range from 0 to 1 and the period is controlled by the PWM Period
* and MinHigh registers.
*
* @param[in] pwmPortHandle the PWM handle
* @param[in] position the positional PWM value to set
* @param[out] status Error status variable. 0 on success.
*/
void HAL_SetPWMPosition(HAL_DigitalHandle pwmPortHandle, double position,
int32_t* status);
/**
* Sets a PWM channel to be disabled.
*
* The channel is disabled until the next time it is set. Note this is different
* from just setting a 0 speed, as this will actively stop all signaling on the
* channel.
*
* @param[in] pwmPortHandle the PWM handle.
* @param[out] status Error status variable. 0 on success.
*/
void HAL_SetPWMDisabled(HAL_DigitalHandle pwmPortHandle, int32_t* status);
/**
* Gets the current microsecond pulse time from a PWM channel.
*
* @param[in] pwmPortHandle the PWM handle
* @param[out] status Error status variable. 0 on success.
* @return the current PWM microsecond pulse time
*/
int32_t HAL_GetPWMPulseTimeMicroseconds(HAL_DigitalHandle pwmPortHandle,
int32_t* status);
/**
* Gets a scaled value from a PWM channel.
*
* The values range from -1 to 1.
*
* @param[in] pwmPortHandle the PWM handle
* @param[out] status Error status variable. 0 on success.
* @return the current speed PWM value
*/
double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status);
/**
* Gets a position value from a PWM channel.
*
* The values range from 0 to 1.
*
* @param[in] pwmPortHandle the PWM handle
* @param[out] status Error status variable. 0 on success.
* @return the current positional PWM value
*/
double HAL_GetPWMPosition(HAL_DigitalHandle pwmPortHandle, int32_t* status);
/**
* Forces a PWM signal to go to 0 temporarily.
*
* @param[in] pwmPortHandle the PWM handle.
* @param[out] status Error status variable. 0 on success.
*/
void HAL_LatchPWMZero(HAL_DigitalHandle pwmPortHandle, int32_t* status);
/**
* Sets how how often the PWM signal is squelched, thus scaling the period.
*
* @param[in] pwmPortHandle the PWM handle.
* @param[in] squelchMask the 2-bit mask of outputs to squelch
* @param[out] status Error status variable. 0 on success.
*/
void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask,
int32_t* status);
/**
* Sets the PWM output to be a continuous high signal while enabled.
*
* @param[in] pwmPortHandle the PWM handle.
* @param[out] status Error status variable. 0 on success.
*/
void HAL_SetPWMAlwaysHighMode(HAL_DigitalHandle pwmPortHandle, int32_t* status);
/**
* Gets the loop timing of the PWM system.
*
* @param[out] status Error status variable. 0 on success.
* @return the loop time in clock ticks
*/
int32_t HAL_GetPWMLoopTiming(int32_t* status);
/**
* Gets the pwm starting cycle time.
*
* This time is relative to the FPGA time.
*
* @param[out] status Error status variable. 0 on success.
* @return the pwm cycle start time
*/
uint64_t HAL_GetPWMCycleStartTime(int32_t* status);
#ifdef __cplusplus
} // extern "C"
#endif
/** @} */