hal/src/main/native/sim/PWM.cpp - RealtimeRoboticsGroup/test - Gitiles

 // 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.

 #include "hal/PWM.h"

 #include <algorithm>
 #include <cmath>

 #include "ConstantsInternal.h"
 #include "DigitalInternal.h"
 #include "HALInitializer.h"
 #include "HALInternal.h"
 #include "PortsInternal.h"
 #include "hal/handles/HandlesInternal.h"
 #include "mockdata/PWMDataInternal.h"

 using namespace hal;

 namespace hal::init {
 void InitializePWM() {}
 }  // namespace hal::init

 static inline int32_t GetMaxPositivePwm(DigitalPort* port) {
   return port->maxPwm;
 }

 static inline int32_t GetMinPositivePwm(DigitalPort* port) {
   if (port->eliminateDeadband) {
     return port->deadbandMaxPwm;
   } else {
     return port->centerPwm + 1;
   }
 }

 static inline int32_t GetCenterPwm(DigitalPort* port) {
   return port->centerPwm;
 }

 static inline int32_t GetMaxNegativePwm(DigitalPort* port) {
   if (port->eliminateDeadband) {
     return port->deadbandMinPwm;
   } else {
     return port->centerPwm - 1;
   }
 }

 static inline int32_t GetMinNegativePwm(DigitalPort* port) {
   return port->minPwm;
 }

 static inline int32_t GetPositiveScaleFactor(DigitalPort* port) {
   return GetMaxPositivePwm(port) - GetMinPositivePwm(port);
 }  ///< The scale for positive speeds.

 static inline int32_t GetNegativeScaleFactor(DigitalPort* port) {
   return GetMaxNegativePwm(port) - GetMinNegativePwm(port);
 }  ///< The scale for negative speeds.

 static inline int32_t GetFullRangeScaleFactor(DigitalPort* port) {
   return GetMaxPositivePwm(port) - GetMinNegativePwm(port);
 }  ///< The scale for positions.

 extern "C" {

 HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
                                         const char* allocationLocation,
                                         int32_t* status) {
   hal::init::CheckInit();

   int16_t channel = getPortHandleChannel(portHandle);
   if (channel == InvalidHandleIndex) {
     *status = RESOURCE_OUT_OF_RANGE;
     hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for PWM", 0,
                                      kNumPWMChannels, channel);
     return HAL_kInvalidHandle;
   }

   uint8_t origChannel = static_cast<uint8_t>(channel);

   if (origChannel < kNumPWMHeaders) {
     channel += kNumDigitalChannels;  // remap Headers to end of allocations
   } else {
     channel = remapMXPPWMChannel(channel) + 10;  // remap MXP to proper channel
   }

   HAL_DigitalHandle handle;

   auto port = digitalChannelHandles->Allocate(channel, HAL_HandleEnum::PWM,
                                               &handle, status);

   if (*status != 0) {
     if (port) {
       hal::SetLastErrorPreviouslyAllocated(status, "PWM or DIO", channel,
                                            port->previousAllocation);
     } else {
       hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for PWM", 0,
                                        kNumPWMChannels, channel);
     }
     return HAL_kInvalidHandle;  // failed to allocate. Pass error back.
   }

   port->channel = origChannel;

   SimPWMData[origChannel].initialized = true;

   // Defaults to allow an always valid config.
   HAL_SetPWMConfigMicroseconds(handle, 2000, 1501, 1500, 1499, 1000, status);

   port->previousAllocation = allocationLocation ? allocationLocation : "";

   return handle;
 }
 void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
   auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
   if (port == nullptr) {
     *status = HAL_HANDLE_ERROR;
     return;
   }

   SimPWMData[port->channel].initialized = false;

   digitalChannelHandles->Free(pwmPortHandle, HAL_HandleEnum::PWM);
 }

 HAL_Bool HAL_CheckPWMChannel(int32_t channel) {
   return channel < kNumPWMChannels && channel >= 0;
 }

 void HAL_SetPWMConfigMicroseconds(HAL_DigitalHandle pwmPortHandle, int32_t max,
                                   int32_t deadbandMax, int32_t center,
                                   int32_t deadbandMin, int32_t min,
                                   int32_t* status) {
   auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
   if (port == nullptr) {
     *status = HAL_HANDLE_ERROR;
     return;
   }

   port->maxPwm = max;
   port->deadbandMaxPwm = deadbandMax;
   port->deadbandMinPwm = deadbandMin;
   port->centerPwm = center;
   port->minPwm = min;
   port->configSet = true;
 }

 void HAL_GetPWMConfigMicroseconds(HAL_DigitalHandle pwmPortHandle,
                                   int32_t* maxPwm, int32_t* deadbandMaxPwm,
                                   int32_t* centerPwm, int32_t* deadbandMinPwm,
                                   int32_t* minPwm, int32_t* status) {
   auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
   if (port == nullptr) {
     *status = HAL_HANDLE_ERROR;
     return;
   }
   *maxPwm = port->maxPwm;
   *deadbandMaxPwm = port->deadbandMaxPwm;
   *deadbandMinPwm = port->deadbandMinPwm;
   *centerPwm = port->centerPwm;
   *minPwm = port->minPwm;
 }

 void HAL_SetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
                                  HAL_Bool eliminateDeadband, int32_t* status) {
   auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
   if (port == nullptr) {
     *status = HAL_HANDLE_ERROR;
     return;
   }
   port->eliminateDeadband = eliminateDeadband;
 }

 HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
                                      int32_t* status) {
   auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
   if (port == nullptr) {
     *status = HAL_HANDLE_ERROR;
     return false;
   }
   return port->eliminateDeadband;
 }

 void HAL_SetPWMPulseTimeMicroseconds(HAL_DigitalHandle pwmPortHandle,
                                      int32_t value, int32_t* status) {
   auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
   if (port == nullptr) {
     *status = HAL_HANDLE_ERROR;
     return;
   }

   SimPWMData[port->channel].pulseMicrosecond = value;

   DigitalPort* dPort = port.get();
   double speed = 0.0;

   if (value == kPwmDisabled) {
     speed = 0.0;
   } else if (value > GetMaxPositivePwm(dPort)) {
     speed = 1.0;
   } else if (value < GetMinNegativePwm(dPort)) {
     speed = -1.0;
   } else if (value > GetMinPositivePwm(dPort)) {
     speed = static_cast<double>(value - GetMinPositivePwm(dPort)) /
             static_cast<double>(GetPositiveScaleFactor(dPort));
   } else if (value < GetMaxNegativePwm(dPort)) {
     speed = static_cast<double>(value - GetMaxNegativePwm(dPort)) /
             static_cast<double>(GetNegativeScaleFactor(dPort));
   } else {
     speed = 0.0;
   }

   SimPWMData[port->channel].speed = speed;

   double pos = 0.0;

   if (value < GetMinNegativePwm(dPort)) {
     pos = 0.0;
   } else if (value > GetMaxPositivePwm(dPort)) {
     pos = 1.0;
   } else {
     pos = static_cast<double>(value - GetMinNegativePwm(dPort)) /
           static_cast<double>(GetFullRangeScaleFactor(dPort));
   }

   SimPWMData[port->channel].position = pos;
 }

 void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed,
                      int32_t* status) {
   auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
   if (port == nullptr) {
     *status = HAL_HANDLE_ERROR;
     return;
   }
   if (!port->configSet) {
     *status = INCOMPATIBLE_STATE;
     return;
   }

   if (std::isfinite(speed)) {
     speed = std::clamp(speed, -1.0, 1.0);
   } else {
     speed = 0.0;
   }

   DigitalPort* dPort = port.get();

   // calculate the desired output pwm value by scaling the speed appropriately
   int32_t rawValue;
   if (speed == 0.0) {
     rawValue = GetCenterPwm(dPort);
   } else if (speed > 0.0) {
     rawValue =
         std::lround(speed * static_cast<double>(GetPositiveScaleFactor(dPort)) +
                     static_cast<double>(GetMinPositivePwm(dPort)));
   } else {
     rawValue =
         std::lround(speed * static_cast<double>(GetNegativeScaleFactor(dPort)) +
                     static_cast<double>(GetMaxNegativePwm(dPort)));
   }

   if (!((rawValue >= GetMinNegativePwm(dPort)) &&
         (rawValue <= GetMaxPositivePwm(dPort))) ||
       rawValue == kPwmDisabled) {
     *status = HAL_PWM_SCALE_ERROR;
     return;
   }

   HAL_SetPWMPulseTimeMicroseconds(pwmPortHandle, rawValue, status);
 }

 void HAL_SetPWMPosition(HAL_DigitalHandle pwmPortHandle, double pos,
                         int32_t* status) {
   auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
   if (port == nullptr) {
     *status = HAL_HANDLE_ERROR;
     return;
   }
   if (!port->configSet) {
     *status = INCOMPATIBLE_STATE;
     return;
   }

   if (pos < 0.0) {
     pos = 0.0;
   } else if (pos > 1.0) {
     pos = 1.0;
   }

   DigitalPort* dPort = port.get();

   // note, need to perform the multiplication below as floating point before
   // converting to int
   int32_t rawValue = static_cast<int32_t>(
       (pos * static_cast<double>(GetFullRangeScaleFactor(dPort))) +
       GetMinNegativePwm(dPort));

   if (rawValue == kPwmDisabled) {
     *status = HAL_PWM_SCALE_ERROR;
     return;
   }

   HAL_SetPWMPulseTimeMicroseconds(pwmPortHandle, rawValue, status);
 }

 void HAL_SetPWMDisabled(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
   auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
   if (port == nullptr) {
     *status = HAL_HANDLE_ERROR;
     return;
   }
   SimPWMData[port->channel].pulseMicrosecond = 0;
   SimPWMData[port->channel].position = 0;
   SimPWMData[port->channel].speed = 0;
 }

 int32_t HAL_GetPWMPulseTimeMicroseconds(HAL_DigitalHandle pwmPortHandle,
                                         int32_t* status) {
   auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
   if (port == nullptr) {
     *status = HAL_HANDLE_ERROR;
     return 0;
   }

   return SimPWMData[port->channel].pulseMicrosecond;
 }

 double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
   auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
   if (port == nullptr) {
     *status = HAL_HANDLE_ERROR;
     return 0;
   }
   if (!port->configSet) {
     *status = INCOMPATIBLE_STATE;
     return 0;
   }

   double speed = SimPWMData[port->channel].speed;
   if (speed > 1) {
     speed = 1;
   }
   if (speed < -1) {
     speed = -1;
   }
   return speed;
 }

 double HAL_GetPWMPosition(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
   auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
   if (port == nullptr) {
     *status = HAL_HANDLE_ERROR;
     return 0;
   }
   if (!port->configSet) {
     *status = INCOMPATIBLE_STATE;
     return 0;
   }

   double position = SimPWMData[port->channel].position;
   if (position > 1) {
     position = 1;
   }
   if (position < 0) {
     position = 0;
   }
   return position;
 }

 void HAL_LatchPWMZero(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
   auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
   if (port == nullptr) {
     *status = HAL_HANDLE_ERROR;
     return;
   }

   SimPWMData[port->channel].zeroLatch = true;
   SimPWMData[port->channel].zeroLatch = false;
 }

 void HAL_SetPWMAlwaysHighMode(HAL_DigitalHandle pwmPortHandle,
                               int32_t* status) {
   auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
   if (port == nullptr) {
     *status = HAL_HANDLE_ERROR;
     return;
   }

   SimPWMData[port->channel].pulseMicrosecond = 0xFFFF;
   SimPWMData[port->channel].position = 0xFFFF;
   SimPWMData[port->channel].speed = 0xFFFF;
 }

 void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask,
                            int32_t* status) {
   auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
   if (port == nullptr) {
     *status = HAL_HANDLE_ERROR;
     return;
   }

   SimPWMData[port->channel].periodScale = squelchMask;
 }

 int32_t HAL_GetPWMLoopTiming(int32_t* status) {
   return kExpectedLoopTiming;
 }

 uint64_t HAL_GetPWMCycleStartTime(int32_t* status) {
   return 0;
 }
 }  // extern "C"
	// 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.

	#include "hal/PWM.h"

	#include <algorithm>
	#include <cmath>

	#include "ConstantsInternal.h"
	#include "DigitalInternal.h"
	#include "HALInitializer.h"
	#include "HALInternal.h"
	#include "PortsInternal.h"
	#include "hal/handles/HandlesInternal.h"
	#include "mockdata/PWMDataInternal.h"

	using namespace hal;

	namespace hal::init {
	void InitializePWM() {}
	} // namespace hal::init

	static inline int32_t GetMaxPositivePwm(DigitalPort* port) {
	return port->maxPwm;
	}

	static inline int32_t GetMinPositivePwm(DigitalPort* port) {
	if (port->eliminateDeadband) {
	return port->deadbandMaxPwm;
	} else {
	return port->centerPwm + 1;
	}
	}

	static inline int32_t GetCenterPwm(DigitalPort* port) {
	return port->centerPwm;
	}

	static inline int32_t GetMaxNegativePwm(DigitalPort* port) {
	if (port->eliminateDeadband) {
	return port->deadbandMinPwm;
	} else {
	return port->centerPwm - 1;
	}
	}

	static inline int32_t GetMinNegativePwm(DigitalPort* port) {
	return port->minPwm;
	}

	static inline int32_t GetPositiveScaleFactor(DigitalPort* port) {
	return GetMaxPositivePwm(port) - GetMinPositivePwm(port);
	} ///< The scale for positive speeds.

	static inline int32_t GetNegativeScaleFactor(DigitalPort* port) {
	return GetMaxNegativePwm(port) - GetMinNegativePwm(port);
	} ///< The scale for negative speeds.

	static inline int32_t GetFullRangeScaleFactor(DigitalPort* port) {
	return GetMaxPositivePwm(port) - GetMinNegativePwm(port);
	} ///< The scale for positions.

	extern "C" {

	HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
	const char* allocationLocation,
	int32_t* status) {
	hal::init::CheckInit();

	int16_t channel = getPortHandleChannel(portHandle);
	if (channel == InvalidHandleIndex) {
	*status = RESOURCE_OUT_OF_RANGE;
	hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for PWM", 0,
	kNumPWMChannels, channel);
	return HAL_kInvalidHandle;
	}

	uint8_t origChannel = static_cast<uint8_t>(channel);

	if (origChannel < kNumPWMHeaders) {
	channel += kNumDigitalChannels; // remap Headers to end of allocations
	} else {
	channel = remapMXPPWMChannel(channel) + 10; // remap MXP to proper channel
	}

	HAL_DigitalHandle handle;

	auto port = digitalChannelHandles->Allocate(channel, HAL_HandleEnum::PWM,
	&handle, status);

	if (*status != 0) {
	if (port) {
	hal::SetLastErrorPreviouslyAllocated(status, "PWM or DIO", channel,
	port->previousAllocation);
	} else {
	hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for PWM", 0,
	kNumPWMChannels, channel);
	}
	return HAL_kInvalidHandle; // failed to allocate. Pass error back.
	}

	port->channel = origChannel;

	SimPWMData[origChannel].initialized = true;

	// Defaults to allow an always valid config.
	HAL_SetPWMConfigMicroseconds(handle, 2000, 1501, 1500, 1499, 1000, status);

	port->previousAllocation = allocationLocation ? allocationLocation : "";

	return handle;
	}
	void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
	auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
	if (port == nullptr) {
	*status = HAL_HANDLE_ERROR;
	return;
	}

	SimPWMData[port->channel].initialized = false;

	digitalChannelHandles->Free(pwmPortHandle, HAL_HandleEnum::PWM);
	}

	HAL_Bool HAL_CheckPWMChannel(int32_t channel) {
	return channel < kNumPWMChannels && channel >= 0;
	}

	void HAL_SetPWMConfigMicroseconds(HAL_DigitalHandle pwmPortHandle, int32_t max,
	int32_t deadbandMax, int32_t center,
	int32_t deadbandMin, int32_t min,
	int32_t* status) {
	auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
	if (port == nullptr) {
	*status = HAL_HANDLE_ERROR;
	return;
	}

	port->maxPwm = max;
	port->deadbandMaxPwm = deadbandMax;
	port->deadbandMinPwm = deadbandMin;
	port->centerPwm = center;
	port->minPwm = min;
	port->configSet = true;
	}

	void HAL_GetPWMConfigMicroseconds(HAL_DigitalHandle pwmPortHandle,
	int32_t* maxPwm, int32_t* deadbandMaxPwm,
	int32_t* centerPwm, int32_t* deadbandMinPwm,
	int32_t* minPwm, int32_t* status) {
	auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
	if (port == nullptr) {
	*status = HAL_HANDLE_ERROR;
	return;
	}
	*maxPwm = port->maxPwm;
	*deadbandMaxPwm = port->deadbandMaxPwm;
	*deadbandMinPwm = port->deadbandMinPwm;
	*centerPwm = port->centerPwm;
	*minPwm = port->minPwm;
	}

	void HAL_SetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
	HAL_Bool eliminateDeadband, int32_t* status) {
	auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
	if (port == nullptr) {
	*status = HAL_HANDLE_ERROR;
	return;
	}
	port->eliminateDeadband = eliminateDeadband;
	}

	HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
	int32_t* status) {
	auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
	if (port == nullptr) {
	*status = HAL_HANDLE_ERROR;
	return false;
	}
	return port->eliminateDeadband;
	}

	void HAL_SetPWMPulseTimeMicroseconds(HAL_DigitalHandle pwmPortHandle,
	int32_t value, int32_t* status) {
	auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
	if (port == nullptr) {
	*status = HAL_HANDLE_ERROR;
	return;
	}

	SimPWMData[port->channel].pulseMicrosecond = value;

	DigitalPort* dPort = port.get();
	double speed = 0.0;

	if (value == kPwmDisabled) {
	speed = 0.0;
	} else if (value > GetMaxPositivePwm(dPort)) {
	speed = 1.0;
	} else if (value < GetMinNegativePwm(dPort)) {
	speed = -1.0;
	} else if (value > GetMinPositivePwm(dPort)) {
	speed = static_cast<double>(value - GetMinPositivePwm(dPort)) /
	static_cast<double>(GetPositiveScaleFactor(dPort));
	} else if (value < GetMaxNegativePwm(dPort)) {
	speed = static_cast<double>(value - GetMaxNegativePwm(dPort)) /
	static_cast<double>(GetNegativeScaleFactor(dPort));
	} else {
	speed = 0.0;
	}

	SimPWMData[port->channel].speed = speed;

	double pos = 0.0;

	if (value < GetMinNegativePwm(dPort)) {
	pos = 0.0;
	} else if (value > GetMaxPositivePwm(dPort)) {
	pos = 1.0;
	} else {
	pos = static_cast<double>(value - GetMinNegativePwm(dPort)) /
	static_cast<double>(GetFullRangeScaleFactor(dPort));
	}

	SimPWMData[port->channel].position = pos;
	}

	void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed,
	int32_t* status) {
	auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
	if (port == nullptr) {
	*status = HAL_HANDLE_ERROR;
	return;
	}
	if (!port->configSet) {
	*status = INCOMPATIBLE_STATE;
	return;
	}

	if (std::isfinite(speed)) {
	speed = std::clamp(speed, -1.0, 1.0);
	} else {
	speed = 0.0;
	}

	DigitalPort* dPort = port.get();

	// calculate the desired output pwm value by scaling the speed appropriately
	int32_t rawValue;
	if (speed == 0.0) {
	rawValue = GetCenterPwm(dPort);
	} else if (speed > 0.0) {
	rawValue =
	std::lround(speed * static_cast<double>(GetPositiveScaleFactor(dPort)) +
	static_cast<double>(GetMinPositivePwm(dPort)));
	} else {
	rawValue =
	std::lround(speed * static_cast<double>(GetNegativeScaleFactor(dPort)) +
	static_cast<double>(GetMaxNegativePwm(dPort)));
	}

	if (!((rawValue >= GetMinNegativePwm(dPort)) &&
	(rawValue <= GetMaxPositivePwm(dPort))) \|\|
	rawValue == kPwmDisabled) {
	*status = HAL_PWM_SCALE_ERROR;
	return;
	}

	HAL_SetPWMPulseTimeMicroseconds(pwmPortHandle, rawValue, status);
	}

	void HAL_SetPWMPosition(HAL_DigitalHandle pwmPortHandle, double pos,
	int32_t* status) {
	auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
	if (port == nullptr) {
	*status = HAL_HANDLE_ERROR;
	return;
	}
	if (!port->configSet) {
	*status = INCOMPATIBLE_STATE;
	return;
	}

	if (pos < 0.0) {
	pos = 0.0;
	} else if (pos > 1.0) {
	pos = 1.0;
	}

	DigitalPort* dPort = port.get();

	// note, need to perform the multiplication below as floating point before
	// converting to int
	int32_t rawValue = static_cast<int32_t>(
	(pos * static_cast<double>(GetFullRangeScaleFactor(dPort))) +
	GetMinNegativePwm(dPort));

	if (rawValue == kPwmDisabled) {
	*status = HAL_PWM_SCALE_ERROR;
	return;
	}

	HAL_SetPWMPulseTimeMicroseconds(pwmPortHandle, rawValue, status);
	}

	void HAL_SetPWMDisabled(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
	auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
	if (port == nullptr) {
	*status = HAL_HANDLE_ERROR;
	return;
	}
	SimPWMData[port->channel].pulseMicrosecond = 0;
	SimPWMData[port->channel].position = 0;
	SimPWMData[port->channel].speed = 0;
	}

	int32_t HAL_GetPWMPulseTimeMicroseconds(HAL_DigitalHandle pwmPortHandle,
	int32_t* status) {
	auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
	if (port == nullptr) {
	*status = HAL_HANDLE_ERROR;
	return 0;
	}

	return SimPWMData[port->channel].pulseMicrosecond;
	}

	double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
	auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
	if (port == nullptr) {
	*status = HAL_HANDLE_ERROR;
	return 0;
	}
	if (!port->configSet) {
	*status = INCOMPATIBLE_STATE;
	return 0;
	}

	double speed = SimPWMData[port->channel].speed;
	if (speed > 1) {
	speed = 1;
	}
	if (speed < -1) {
	speed = -1;
	}
	return speed;
	}

	double HAL_GetPWMPosition(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
	auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
	if (port == nullptr) {
	*status = HAL_HANDLE_ERROR;
	return 0;
	}
	if (!port->configSet) {
	*status = INCOMPATIBLE_STATE;
	return 0;
	}

	double position = SimPWMData[port->channel].position;
	if (position > 1) {
	position = 1;
	}
	if (position < 0) {
	position = 0;
	}
	return position;
	}

	void HAL_LatchPWMZero(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
	auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
	if (port == nullptr) {
	*status = HAL_HANDLE_ERROR;
	return;
	}

	SimPWMData[port->channel].zeroLatch = true;
	SimPWMData[port->channel].zeroLatch = false;
	}

	void HAL_SetPWMAlwaysHighMode(HAL_DigitalHandle pwmPortHandle,
	int32_t* status) {
	auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
	if (port == nullptr) {
	*status = HAL_HANDLE_ERROR;
	return;
	}

	SimPWMData[port->channel].pulseMicrosecond = 0xFFFF;
	SimPWMData[port->channel].position = 0xFFFF;
	SimPWMData[port->channel].speed = 0xFFFF;
	}

	void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask,
	int32_t* status) {
	auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
	if (port == nullptr) {
	*status = HAL_HANDLE_ERROR;
	return;
	}

	SimPWMData[port->channel].periodScale = squelchMask;
	}

	int32_t HAL_GetPWMLoopTiming(int32_t* status) {
	return kExpectedLoopTiming;
	}

	uint64_t HAL_GetPWMCycleStartTime(int32_t* status) {
	return 0;
	}
	} // extern "C"