Hardware Abstraction Layer (HAL) to hardware or simulator. More...

Modules
	Notifier Functions

	SPI Functions

	Addressable LED Functions

	Analog Trigger Functions

	Driver Station Functions

	Simulator Extensions
	HAL Simulator Extensions.

	Constants Functions

	Type Definitions

	PWM Output Functions

	Encoder Functions

	DMA Functions

	Main loop functions

	Simulator Device Framework
	HAL Simulator Device Framework.

	Analog Accumulator Functions

	Ports Functions

	CAN Stream Functions

	Analog Output Functions

	Analog Gyro Functions

	Relay Output Functions

	DIO Functions

	Accelerometer Functions

	I2C Functions

	CAN API Functions

	REV Pneumatic Hub (PH) Functions

	Analog Input Functions

	Counter Functions

	Serial Port Functions

	Threads Functions

	Power Distribution Functions
	Functions to control Power Distribution devices.

	Power Functions

	Error Defines

	Interrupts Functions

	DutyCycle Functions

	CTRE Pneumatic Control Module (PCM) Functions

Enumerations
enum	HAL_RuntimeType : int32_t { HAL_Runtime_RoboRIO , HAL_Runtime_RoboRIO2 , HAL_Runtime_Simulation }

Functions
const char *	HAL_GetLastError (int32_t *status)
	Gets the last error set on this thread, or the message for the status code. More...

const char *	HAL_GetErrorMessage (int32_t code)
	Gets the error message for a specific status code. More...

int32_t	HAL_GetFPGAVersion (int32_t *status)
	Returns the FPGA Version number. More...

int64_t	HAL_GetFPGARevision (int32_t *status)
	Returns the FPGA Revision number. More...

size_t	HAL_GetSerialNumber (char *buffer, size_t size)
	Returns the roboRIO serial number. More...

size_t	HAL_GetComments (char *buffer, size_t size)
	Returns the comments from the roboRIO web interface. More...

int32_t	HAL_GetTeamNumber (void)
	Returns the team number configured for the robot controller. More...

HAL_RuntimeType	HAL_GetRuntimeType (void)
	Returns the runtime type of the HAL. More...

HAL_Bool	HAL_GetFPGAButton (int32_t *status)
	Gets the state of the "USER" button on the roboRIO. More...

HAL_Bool	HAL_GetSystemActive (int32_t *status)
	Gets if the system outputs are currently active. More...

HAL_Bool	HAL_GetBrownedOut (int32_t *status)
	Gets if the system is in a browned out state. More...

HAL_PortHandle	HAL_GetPort (int32_t channel)
	Gets a port handle for a specific channel. More...

HAL_PortHandle	HAL_GetPortWithModule (int32_t module, int32_t channel)
	Gets a port handle for a specific channel and module. More...

uint64_t	HAL_GetFPGATime (int32_t *status)
	Reads the microsecond-resolution timer on the FPGA. More...

uint64_t	HAL_ExpandFPGATime (uint32_t unexpandedLower, int32_t *status)
	Given an 32 bit FPGA time, expand it to the nearest likely 64 bit FPGA time. More...

HAL_Bool	HAL_GetRSLState (int32_t *status)
	Gets the current state of the Robot Signal Light (RSL). More...

HAL_Bool	HAL_GetSystemTimeValid (int32_t *status)
	Gets if the system time is valid. More...

HAL_Bool	HAL_Initialize (int32_t timeout, int32_t mode)
	Call this to start up HAL. More...

void	HAL_Shutdown (void)
	Call this to shut down HAL. More...

void	HAL_SimPeriodicBefore (void)
	Calls registered SimPeriodic "before" callbacks (only in simulation mode). More...

void	HAL_SimPeriodicAfter (void)
	Calls registered SimPeriodic "after" callbacks (only in simulation mode). More...

Detailed Description

Hardware Abstraction Layer (HAL) to hardware or simulator.

Enumeration Type Documentation

◆ HAL_RuntimeType

enum HAL_RuntimeType : int32_t

Enumerator
HAL_Runtime_RoboRIO
HAL_Runtime_RoboRIO2
HAL_Runtime_Simulation

Function Documentation

◆ HAL_ExpandFPGATime()

uint64_t HAL_ExpandFPGATime	(	uint32_t	unexpandedLower,
		int32_t *	status
	)

Given an 32 bit FPGA time, expand it to the nearest likely 64 bit FPGA time.

Note: This is making the assumption that the timestamp being converted is always in the past. If you call this with a future timestamp, it probably will make it in the past. If you wait over 70 minutes between capturing the bottom 32 bits of the timestamp and expanding it, you will be off by multiples of 1<<32 microseconds.

Parameters

[in]	unexpandedLower	32 bit FPGA time
[out]	status	the error code, or 0 for success

Returns: The current time in microseconds according to the FPGA (since FPGA reset) as a 64 bit number.

◆ HAL_GetBrownedOut()

HAL_Bool HAL_GetBrownedOut ( int32_t * status )

Gets if the system is in a browned out state.

Parameters

[out] status the error code, or 0 for success

Returns: true if the system is in a low voltage brown out, false otherwise

◆ HAL_GetComments()

size_t HAL_GetComments	(	char *	buffer,
		size_t	size
	)

Returns the comments from the roboRIO web interface.

Parameters

[out]	buffer	The comments string.
	size	The maximum characters to copy into buffer.

Returns: Number of characters copied into buffer.

◆ HAL_GetErrorMessage()

const char * HAL_GetErrorMessage ( int32_t code )

Gets the error message for a specific status code.

Parameters

code	the status code

Returns: the error message for the code. This does not need to be freed.

◆ HAL_GetFPGAButton()

HAL_Bool HAL_GetFPGAButton ( int32_t * status )

Gets the state of the "USER" button on the roboRIO.

Warning: the User Button is used to stop user programs from automatically loading if it is held for more then 5 seconds. Because of this, it's not recommended to be used by teams for any other purpose.

Parameters

[out] status the error code, or 0 for success

Returns: true if the button is currently pressed down

◆ HAL_GetFPGARevision()

int64_t HAL_GetFPGARevision ( int32_t * status )

Returns the FPGA Revision number.

The format of the revision is 3 numbers. The 12 most significant bits are the Major Revision. the next 8 bits are the Minor Revision. The 12 least significant bits are the Build Number.

Parameters

[out] status the error code, or 0 for success

Returns: FPGA Revision number.

◆ HAL_GetFPGATime()

uint64_t HAL_GetFPGATime ( int32_t * status )

Reads the microsecond-resolution timer on the FPGA.

Parameters

[out] status the error code, or 0 for success

Returns: The current time in microseconds according to the FPGA (since FPGA reset).

◆ HAL_GetFPGAVersion()

int32_t HAL_GetFPGAVersion ( int32_t * status )

Returns the FPGA Version number.

For now, expect this to be competition year.

Parameters

[out] status the error code, or 0 for success

Returns: FPGA Version number.

◆ HAL_GetLastError()

const char * HAL_GetLastError ( int32_t * status )

Gets the last error set on this thread, or the message for the status code.

If passed HAL_USE_LAST_ERROR, the last error set on the thread will be returned.

Parameters

[out] status the status code, set to the error status code if input is HAL_USE_LAST_ERROR

Returns: the error message for the code. This does not need to be freed, but can be overwritten by another hal call on the same thread.

◆ HAL_GetPort()

HAL_PortHandle HAL_GetPort ( int32_t channel )

Gets a port handle for a specific channel.

The created handle does not need to be freed.

Parameters

channel the channel number

Returns: the created port

◆ HAL_GetPortWithModule()

HAL_PortHandle HAL_GetPortWithModule	(	int32_t	module,
		int32_t	channel
	)

Gets a port handle for a specific channel and module.

This is expected to be used for PCMs, as the roboRIO does not work with modules anymore.

The created handle does not need to be freed.

Parameters

module	the module number
channel	the channel number

Returns: the created port

◆ HAL_GetRSLState()

HAL_Bool HAL_GetRSLState ( int32_t * status )

Gets the current state of the Robot Signal Light (RSL).

Parameters

[out] status the error code, or 0 for success

Returns: The current state of the RSL- true if on, false if off

◆ HAL_GetRuntimeType()

HAL_RuntimeType HAL_GetRuntimeType ( void )

Returns the runtime type of the HAL.

Returns: HAL Runtime Type

◆ HAL_GetSerialNumber()

size_t HAL_GetSerialNumber	(	char *	buffer,
		size_t	size
	)

Returns the roboRIO serial number.

Parameters

[out]	buffer	The roboRIO serial number.
	size	The maximum characters to copy into buffer.

Returns: Number of characters copied into buffer.

◆ HAL_GetSystemActive()

HAL_Bool HAL_GetSystemActive ( int32_t * status )

Gets if the system outputs are currently active.

Parameters

[out] status the error code, or 0 for success

Returns: true if the system outputs are active, false if disabled

◆ HAL_GetSystemTimeValid()

HAL_Bool HAL_GetSystemTimeValid ( int32_t * status )

Gets if the system time is valid.

Parameters

[out] status the error code, or 0 for success

Returns: True if the system time is valid, false otherwise

◆ HAL_GetTeamNumber()

int32_t HAL_GetTeamNumber ( void )

Returns the team number configured for the robot controller.

Returns: team number, or 0 if not found.

◆ HAL_Initialize()

HAL_Bool HAL_Initialize	(	int32_t	timeout,
		int32_t	mode
	)

Call this to start up HAL.

This is required for robot programs.

This must be called before any other HAL functions. Failure to do so will result in undefined behavior, and likely segmentation faults. This means that any statically initialized variables in a program MUST call this function in their constructors if they want to use other HAL calls.

The common parameters are 500 for timeout and 0 for mode.

This function is safe to call from any thread, and as many times as you wish. It internally guards from any reentrancy.

The applicable modes are: 0: Try to kill an existing HAL from another program, if not successful, error. 1: Force kill a HAL from another program. 2: Just warn if another hal exists and cannot be killed. Will likely result in undefined behavior.

Parameters

timeout	the initialization timeout (ms)
mode	the initialization mode (see remarks)

Returns: true if initialization was successful, otherwise false.

◆ HAL_Shutdown()

void HAL_Shutdown ( void )

Call this to shut down HAL.

This must be called at termination of the robot program to avoid potential segmentation faults with simulation extensions at exit.

◆ HAL_SimPeriodicAfter()

void HAL_SimPeriodicAfter ( void )

Calls registered SimPeriodic "after" callbacks (only in simulation mode).

This should be called after user code periodic simulation functions.

◆ HAL_SimPeriodicBefore()

void HAL_SimPeriodicBefore ( void )

Calls registered SimPeriodic "before" callbacks (only in simulation mode).

This should be called prior to user code periodic simulation functions.

Modules

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

◆ HAL_RuntimeType

Function Documentation

◆ HAL_ExpandFPGATime()

◆ HAL_GetBrownedOut()

◆ HAL_GetComments()

◆ HAL_GetErrorMessage()

◆ HAL_GetFPGAButton()

◆ HAL_GetFPGARevision()

◆ HAL_GetFPGATime()

◆ HAL_GetFPGAVersion()

◆ HAL_GetLastError()

◆ HAL_GetPort()

◆ HAL_GetPortWithModule()

◆ HAL_GetRSLState()

◆ HAL_GetRuntimeType()

◆ HAL_GetSerialNumber()

◆ HAL_GetSystemActive()

◆ HAL_GetSystemTimeValid()

◆ HAL_GetTeamNumber()

◆ HAL_Initialize()

◆ HAL_Shutdown()

◆ HAL_SimPeriodicAfter()

◆ HAL_SimPeriodicBefore()