| Brian Silverman | f7f267a | 2017-02-04 16:16:08 -0800 | [diff] [blame^] | 1 | /*----------------------------------------------------------------------------*/ |
| 2 | /* Copyright (c) FIRST 2016-2017. All Rights Reserved. */ |
| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */ |
| 4 | /* must be accompanied by the FIRST BSD license file in the root directory of */ |
| 5 | /* the project. */ |
| 6 | /*----------------------------------------------------------------------------*/ |
| 7 | |
| 8 | #pragma once |
| 9 | |
| 10 | #include <stdint.h> |
| 11 | |
| 12 | #include "HAL/Types.h" |
| 13 | |
| 14 | #ifdef __cplusplus |
| 15 | extern "C" { |
| 16 | #endif |
| 17 | |
| 18 | HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle, |
| 19 | int32_t* status); |
| 20 | void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle, int32_t* status); |
| 21 | |
| 22 | HAL_Bool HAL_CheckPWMChannel(int32_t channel); |
| 23 | |
| 24 | void HAL_SetPWMConfig(HAL_DigitalHandle pwmPortHandle, double maxPwm, |
| 25 | double deadbandMaxPwm, double centerPwm, |
| 26 | double deadbandMinPwm, double minPwm, int32_t* status); |
| 27 | void HAL_SetPWMConfigRaw(HAL_DigitalHandle pwmPortHandle, int32_t maxPwm, |
| 28 | int32_t deadbandMaxPwm, int32_t centerPwm, |
| 29 | int32_t deadbandMinPwm, int32_t minPwm, |
| 30 | int32_t* status); |
| 31 | void HAL_GetPWMConfigRaw(HAL_DigitalHandle pwmPortHandle, int32_t* maxPwm, |
| 32 | int32_t* deadbandMaxPwm, int32_t* centerPwm, |
| 33 | int32_t* deadbandMinPwm, int32_t* minPwm, |
| 34 | int32_t* status); |
| 35 | void HAL_SetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle, |
| 36 | HAL_Bool eliminateDeadband, int32_t* status); |
| 37 | HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle, |
| 38 | int32_t* status); |
| 39 | void HAL_SetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t value, |
| 40 | int32_t* status); |
| 41 | void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed, |
| 42 | int32_t* status); |
| 43 | void HAL_SetPWMPosition(HAL_DigitalHandle pwmPortHandle, double position, |
| 44 | int32_t* status); |
| 45 | void HAL_SetPWMDisabled(HAL_DigitalHandle pwmPortHandle, int32_t* status); |
| 46 | int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t* status); |
| 47 | double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status); |
| 48 | double HAL_GetPWMPosition(HAL_DigitalHandle pwmPortHandle, int32_t* status); |
| 49 | void HAL_LatchPWMZero(HAL_DigitalHandle pwmPortHandle, int32_t* status); |
| 50 | void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask, |
| 51 | int32_t* status); |
| 52 | int32_t HAL_GetLoopTiming(int32_t* status); |
| 53 | #ifdef __cplusplus |
| 54 | } |
| 55 | #endif |