Functions
HAL_DigitalHandle	HAL_InitializePWMPort (HAL_PortHandle portHandle, const char allocationLocation, int32_t status)
	Initializes a PWM port. More...

void	HAL_FreePWMPort (HAL_DigitalHandle pwmPortHandle, int32_t *status)
	Frees a PWM port. More...

HAL_Bool	HAL_CheckPWMChannel (int32_t channel)
	Checks if a pwm channel is valid. More...

void	HAL_SetPWMConfig (HAL_DigitalHandle pwmPortHandle, double maxPwm, double deadbandMaxPwm, double centerPwm, double deadbandMinPwm, double minPwm, int32_t *status)
	Sets the configuration settings for the PWM channel. More...

void	HAL_SetPWMConfigRaw (HAL_DigitalHandle pwmPortHandle, int32_t maxPwm, int32_t deadbandMaxPwm, int32_t centerPwm, int32_t deadbandMinPwm, int32_t minPwm, int32_t *status)
	Sets the raw configuration settings for the PWM channel. More...

void	HAL_GetPWMConfigRaw (HAL_DigitalHandle pwmPortHandle, int32_t maxPwm, int32_t deadbandMaxPwm, int32_t centerPwm, int32_t deadbandMinPwm, int32_t minPwm, int32_t status)
	Gets the raw pwm configuration settings for the PWM channel. More...

void	HAL_SetPWMEliminateDeadband (HAL_DigitalHandle pwmPortHandle, HAL_Bool eliminateDeadband, int32_t *status)
	Sets if the FPGA should output the center value if the input value is within the deadband. More...

HAL_Bool	HAL_GetPWMEliminateDeadband (HAL_DigitalHandle pwmPortHandle, int32_t *status)
	Gets the current eliminate deadband value. More...

void	HAL_SetPWMRaw (HAL_DigitalHandle pwmPortHandle, int32_t value, int32_t *status)
	Sets a PWM channel to the desired value. More...

void	HAL_SetPWMSpeed (HAL_DigitalHandle pwmPortHandle, double speed, int32_t *status)
	Sets a PWM channel to the desired scaled value. More...

void	HAL_SetPWMPosition (HAL_DigitalHandle pwmPortHandle, double position, int32_t *status)
	Sets a PWM channel to the desired position value. More...

void	HAL_SetPWMDisabled (HAL_DigitalHandle pwmPortHandle, int32_t *status)
	Sets a PWM channel to be disabled. More...

int32_t	HAL_GetPWMRaw (HAL_DigitalHandle pwmPortHandle, int32_t *status)
	Gets a value from a PWM channel. More...

double	HAL_GetPWMSpeed (HAL_DigitalHandle pwmPortHandle, int32_t *status)
	Gets a scaled value from a PWM channel. More...

double	HAL_GetPWMPosition (HAL_DigitalHandle pwmPortHandle, int32_t *status)
	Gets a position value from a PWM channel. More...

void	HAL_LatchPWMZero (HAL_DigitalHandle pwmPortHandle, int32_t *status)
	Forces a PWM signal to go to 0 temporarily. More...

void	HAL_SetPWMPeriodScale (HAL_DigitalHandle pwmPortHandle, int32_t squelchMask, int32_t *status)
	Sets how how often the PWM signal is squelched, thus scaling the period. More...

int32_t	HAL_GetPWMLoopTiming (int32_t *status)
	Gets the loop timing of the PWM system. More...

uint64_t	HAL_GetPWMCycleStartTime (int32_t *status)
	Gets the pwm starting cycle time. More...

Detailed Description

Function Documentation

◆ HAL_CheckPWMChannel()

HAL_Bool HAL_CheckPWMChannel ( int32_t channel )

Checks if a pwm channel is valid.

Parameters

channel the channel to check

Returns: true if the channel is valid, otherwise false

◆ HAL_FreePWMPort()

void HAL_FreePWMPort	(	HAL_DigitalHandle	pwmPortHandle,
		int32_t *	status
	)

Frees a PWM port.

Parameters

[in]	pwmPortHandle	the pwm handle
[out]	status	Error status variable. 0 on success.

◆ HAL_GetPWMConfigRaw()

void HAL_GetPWMConfigRaw	(	HAL_DigitalHandle	pwmPortHandle,
		int32_t *	maxPwm,
		int32_t *	deadbandMaxPwm,
		int32_t *	centerPwm,
		int32_t *	deadbandMinPwm,
		int32_t *	minPwm,
		int32_t *	status
	)

Gets the raw pwm configuration settings for the PWM channel.

Values are in raw FPGA units. These units have the potential to change for any FPGA release.

Parameters

[in]	pwmPortHandle	the PWM handle
[in]	maxPwm	the maximum PWM value
[in]	deadbandMaxPwm	the high range of the center deadband
[in]	centerPwm	the center PWM value
[in]	deadbandMinPwm	the low range of the center deadband
[in]	minPwm	the minimum PWM value
[out]	status	Error status variable. 0 on success.

◆ HAL_GetPWMCycleStartTime()

uint64_t HAL_GetPWMCycleStartTime ( int32_t * status )

Gets the pwm starting cycle time.

This time is relative to the FPGA time.

Parameters

[out] status Error status variable. 0 on success.

Returns: the pwm cycle start time

◆ HAL_GetPWMEliminateDeadband()

HAL_Bool HAL_GetPWMEliminateDeadband	(	HAL_DigitalHandle	pwmPortHandle,
		int32_t *	status
	)

Gets the current eliminate deadband value.

Parameters

[in]	pwmPortHandle	the PWM handle
[out]	status	Error status variable. 0 on success.

Returns: true if set, otherwise false

◆ HAL_GetPWMLoopTiming()

int32_t HAL_GetPWMLoopTiming ( int32_t * status )

Gets the loop timing of the PWM system.

Parameters

[out] status Error status variable. 0 on success.

Returns: the loop time

◆ HAL_GetPWMPosition()

double HAL_GetPWMPosition	(	HAL_DigitalHandle	pwmPortHandle,
		int32_t *	status
	)

Gets a position value from a PWM channel.

The values range from 0 to 1.

Parameters

[in]	pwmPortHandle	the PWM handle
[out]	status	Error status variable. 0 on success.

Returns: the current positional PWM value

◆ HAL_GetPWMRaw()

int32_t HAL_GetPWMRaw	(	HAL_DigitalHandle	pwmPortHandle,
		int32_t *	status
	)

Gets a value from a PWM channel.

The values are in raw FPGA units, and have the potential to change with any FPGA release.

Parameters

[in]	pwmPortHandle	the PWM handle
[out]	status	Error status variable. 0 on success.

Returns: the current raw PWM value

◆ HAL_GetPWMSpeed()

double HAL_GetPWMSpeed	(	HAL_DigitalHandle	pwmPortHandle,
		int32_t *	status
	)

Gets a scaled value from a PWM channel.

The values range from -1 to 1.

Parameters

[in]	pwmPortHandle	the PWM handle
[out]	status	Error status variable. 0 on success.

Returns: the current speed PWM value

◆ HAL_InitializePWMPort()

HAL_DigitalHandle HAL_InitializePWMPort	(	HAL_PortHandle	portHandle,
		const char *	allocationLocation,
		int32_t *	status
	)

Initializes a PWM port.

Parameters

[in]	portHandle	the port to initialize
[in]	allocationLocation	the location where the allocation is occurring (can be null)
[out]	status	Error status variable. 0 on success.

Returns: the created pwm handle

◆ HAL_LatchPWMZero()

void HAL_LatchPWMZero	(	HAL_DigitalHandle	pwmPortHandle,
		int32_t *	status
	)

Forces a PWM signal to go to 0 temporarily.

Parameters

[in]	pwmPortHandle	the PWM handle.
[out]	status	Error status variable. 0 on success.

◆ HAL_SetPWMConfig()

void HAL_SetPWMConfig	(	HAL_DigitalHandle	pwmPortHandle,
		double	maxPwm,
		double	deadbandMaxPwm,
		double	centerPwm,
		double	deadbandMinPwm,
		double	minPwm,
		int32_t *	status
	)

Sets the configuration settings for the PWM channel.

All values are in milliseconds.

Parameters

[in]	pwmPortHandle	the PWM handle
[in]	maxPwm	the maximum PWM value
[in]	deadbandMaxPwm	the high range of the center deadband
[in]	centerPwm	the center PWM value
[in]	deadbandMinPwm	the low range of the center deadband
[in]	minPwm	the minimum PWM value
[out]	status	Error status variable. 0 on success.

◆ HAL_SetPWMConfigRaw()

void HAL_SetPWMConfigRaw	(	HAL_DigitalHandle	pwmPortHandle,
		int32_t	maxPwm,
		int32_t	deadbandMaxPwm,
		int32_t	centerPwm,
		int32_t	deadbandMinPwm,
		int32_t	minPwm,
		int32_t *	status
	)

Sets the raw configuration settings for the PWM channel.

We recommend using HAL_SetPWMConfig() instead, as those values are properly scaled. Usually used for values grabbed by HAL_GetPWMConfigRaw().

Values are in raw FPGA units.

Parameters

[in]	pwmPortHandle	the PWM handle
[in]	maxPwm	the maximum PWM value
[in]	deadbandMaxPwm	the high range of the center deadband
[in]	centerPwm	the center PWM value
[in]	deadbandMinPwm	the low range of the center deadband
[in]	minPwm	the minimum PWM value
[out]	status	Error status variable. 0 on success.

◆ HAL_SetPWMDisabled()

void HAL_SetPWMDisabled	(	HAL_DigitalHandle	pwmPortHandle,
		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.

Parameters

[in]	pwmPortHandle	the PWM handle.
[out]	status	Error status variable. 0 on success.

◆ HAL_SetPWMEliminateDeadband()

void HAL_SetPWMEliminateDeadband	(	HAL_DigitalHandle	pwmPortHandle,
		HAL_Bool	eliminateDeadband,
		int32_t *	status
	)

Sets if the FPGA should output the center value if the input value is within the deadband.

Parameters

[in]	pwmPortHandle	the PWM handle
[in]	eliminateDeadband	true to eliminate deadband, otherwise false
[out]	status	Error status variable. 0 on success.

◆ HAL_SetPWMPeriodScale()

void HAL_SetPWMPeriodScale	(	HAL_DigitalHandle	pwmPortHandle,
		int32_t	squelchMask,
		int32_t *	status
	)

Sets how how often the PWM signal is squelched, thus scaling the period.

Parameters

[in]	pwmPortHandle	the PWM handle.
[in]	squelchMask	the 2-bit mask of outputs to squelch
[out]	status	Error status variable. 0 on success.

◆ HAL_SetPWMPosition()

void HAL_SetPWMPosition	(	HAL_DigitalHandle	pwmPortHandle,
		double	position,
		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.

Parameters

[in]	pwmPortHandle	the PWM handle
[in]	position	the positional PWM value to set
[out]	status	Error status variable. 0 on success.

◆ HAL_SetPWMRaw()

void HAL_SetPWMRaw	(	HAL_DigitalHandle	pwmPortHandle,
		int32_t	value,
		int32_t *	status
	)

Sets a PWM channel to the desired value.

The values are in raw FPGA units, and have the potential to change with any FPGA release.

Parameters

[in]	pwmPortHandle	the PWM handle
[in]	value	the PWM value to set
[out]	status	Error status variable. 0 on success.

◆ HAL_SetPWMSpeed()

void HAL_SetPWMSpeed	(	HAL_DigitalHandle	pwmPortHandle,
		double	speed,
		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.

Parameters

[in]	pwmPortHandle	the PWM handle
[in]	speed	the scaled PWM value to set
[out]	status	Error status variable. 0 on success.

Functions

Detailed Description

Function Documentation

◆ HAL_CheckPWMChannel()

◆ HAL_FreePWMPort()

◆ HAL_GetPWMConfigRaw()

◆ HAL_GetPWMCycleStartTime()

◆ HAL_GetPWMEliminateDeadband()

◆ HAL_GetPWMLoopTiming()

◆ HAL_GetPWMPosition()

◆ HAL_GetPWMRaw()

◆ HAL_GetPWMSpeed()

◆ HAL_InitializePWMPort()

◆ HAL_LatchPWMZero()

◆ HAL_SetPWMConfig()

◆ HAL_SetPWMConfigRaw()

◆ HAL_SetPWMDisabled()

◆ HAL_SetPWMEliminateDeadband()

◆ HAL_SetPWMPeriodScale()

◆ HAL_SetPWMPosition()

◆ HAL_SetPWMRaw()

◆ HAL_SetPWMSpeed()