Classes
struct	HAL_DMASample
	Buffer for containing all DMA data for a specific sample. More...

Enumerations
enum	HAL_DMAReadStatus : int32_t { HAL_DMA_OK = 1 , HAL_DMA_TIMEOUT = 2 , HAL_DMA_ERROR = 3 }
	The DMA Read Status. More...

Functions
HAL_DMAHandle	HAL_InitializeDMA (int32_t *status)
	Initializes an object for performing DMA transfers.

void	HAL_FreeDMA (HAL_DMAHandle handle)
	Frees a DMA object.

void	HAL_SetDMAPause (HAL_DMAHandle handle, HAL_Bool pause, int32_t *status)
	Pauses or unpauses a DMA transfer.

void	HAL_SetDMATimedTrigger (HAL_DMAHandle handle, double periodSeconds, int32_t *status)
	Sets DMA transfers to occur at a specific timed interval.

void	HAL_SetDMATimedTriggerCycles (HAL_DMAHandle handle, uint32_t cycles, int32_t *status)
	Sets DMA transfers to occur at a specific timed interval in FPGA cycles.

void	HAL_AddDMAEncoder (HAL_DMAHandle handle, HAL_EncoderHandle encoderHandle, int32_t *status)
	Adds position data for an encoder to be collected by DMA.

void	HAL_AddDMAEncoderPeriod (HAL_DMAHandle handle, HAL_EncoderHandle encoderHandle, int32_t *status)
	Adds timer data for an encoder to be collected by DMA.

void	HAL_AddDMACounter (HAL_DMAHandle handle, HAL_CounterHandle counterHandle, int32_t *status)
	Adds position data for an counter to be collected by DMA.

void	HAL_AddDMACounterPeriod (HAL_DMAHandle handle, HAL_CounterHandle counterHandle, int32_t *status)
	Adds timer data for an counter to be collected by DMA.

void	HAL_AddDMADigitalSource (HAL_DMAHandle handle, HAL_Handle digitalSourceHandle, int32_t *status)
	Adds a digital source to be collected by DMA.

void	HAL_AddDMAAnalogInput (HAL_DMAHandle handle, HAL_AnalogInputHandle aInHandle, int32_t *status)
	Adds an analog input to be collected by DMA.

void	HAL_AddDMAAveragedAnalogInput (HAL_DMAHandle handle, HAL_AnalogInputHandle aInHandle, int32_t *status)
	Adds averaged data of an analog input to be collected by DMA.

void	HAL_AddDMAAnalogAccumulator (HAL_DMAHandle handle, HAL_AnalogInputHandle aInHandle, int32_t *status)
	Adds accumulator data of an analog input to be collected by DMA.

void	HAL_AddDMADutyCycle (HAL_DMAHandle handle, HAL_DutyCycleHandle dutyCycleHandle, int32_t *status)
	Adds a duty cycle input to be collected by DMA.

int32_t	HAL_SetDMAExternalTrigger (HAL_DMAHandle handle, HAL_Handle digitalSourceHandle, HAL_AnalogTriggerType analogTriggerType, HAL_Bool rising, HAL_Bool falling, int32_t *status)
	Sets DMA transfers to occur on an external trigger.

void	HAL_ClearDMASensors (HAL_DMAHandle handle, int32_t *status)
	Clear all sensors from the DMA collection list.

void	HAL_ClearDMAExternalTriggers (HAL_DMAHandle handle, int32_t *status)
	Clear all external triggers from the DMA trigger list.

void	HAL_StartDMA (HAL_DMAHandle handle, int32_t queueDepth, int32_t *status)
	Starts DMA Collection.

void	HAL_StopDMA (HAL_DMAHandle handle, int32_t *status)
	Stops DMA Collection.

void *	HAL_GetDMADirectPointer (HAL_DMAHandle handle)
	Gets the direct pointer to the DMA object.

enum HAL_DMAReadStatus	HAL_ReadDMADirect (void dmaPointer, HAL_DMASample dmaSample, double timeoutSeconds, int32_t remainingOut, int32_t status)
	Reads a DMA sample using a direct DMA pointer.

enum HAL_DMAReadStatus	HAL_ReadDMA (HAL_DMAHandle handle, HAL_DMASample dmaSample, double timeoutSeconds, int32_t remainingOut, int32_t *status)
	Reads a DMA sample from the queue.

uint64_t	HAL_GetDMASampleTime (const HAL_DMASample dmaSample, int32_t status)
	Returns the timestamp of the sample.

int32_t	HAL_GetDMASampleEncoderRaw (const HAL_DMASample dmaSample, HAL_EncoderHandle encoderHandle, int32_t status)
	Returns the raw distance data for an encoder from the sample.

int32_t	HAL_GetDMASampleCounter (const HAL_DMASample dmaSample, HAL_CounterHandle counterHandle, int32_t status)
	Returns the distance data for an counter from the sample.

int32_t	HAL_GetDMASampleEncoderPeriodRaw (const HAL_DMASample dmaSample, HAL_EncoderHandle encoderHandle, int32_t status)
	Returns the raw period data for an encoder from the sample.

int32_t	HAL_GetDMASampleCounterPeriod (const HAL_DMASample dmaSample, HAL_CounterHandle counterHandle, int32_t status)
	Returns the period data for an counter from the sample.

HAL_Bool	HAL_GetDMASampleDigitalSource (const HAL_DMASample dmaSample, HAL_Handle dSourceHandle, int32_t status)
	Returns the state of a digital source from the sample.

int32_t	HAL_GetDMASampleAnalogInputRaw (const HAL_DMASample dmaSample, HAL_AnalogInputHandle aInHandle, int32_t status)
	Returns the raw analog data for an analog input from the sample.

int32_t	HAL_GetDMASampleAveragedAnalogInputRaw (const HAL_DMASample dmaSample, HAL_AnalogInputHandle aInHandle, int32_t status)
	Returns the raw averaged analog data for an analog input from the sample.

void	HAL_GetDMASampleAnalogAccumulator (const HAL_DMASample dmaSample, HAL_AnalogInputHandle aInHandle, int64_t count, int64_t value, int32_t status)
	Returns the analog accumulator data for an analog input from the sample.

int32_t	HAL_GetDMASampleDutyCycleOutputRaw (const HAL_DMASample dmaSample, HAL_DutyCycleHandle dutyCycleHandle, int32_t status)
	Returns the raw duty cycle input ratio data from the sample.

Detailed Description

Enumeration Type Documentation

◆ HAL_DMAReadStatus

enum HAL_DMAReadStatus : int32_t

The DMA Read Status.

Enumerator
HAL_DMA_OK
HAL_DMA_TIMEOUT
HAL_DMA_ERROR

Function Documentation

◆ HAL_AddDMAAnalogAccumulator()

void HAL_AddDMAAnalogAccumulator	(	HAL_DMAHandle	handle,
		HAL_AnalogInputHandle	aInHandle,
		int32_t *	status )

Adds accumulator data of an analog input to be collected by DMA.

This can only be called if DMA is not started.

Parameters

[in]	handle	the dma handle
[in]	aInHandle	the analog input to add
[out]	status	Error status variable. 0 on success.

◆ HAL_AddDMAAnalogInput()

void HAL_AddDMAAnalogInput	(	HAL_DMAHandle	handle,
		HAL_AnalogInputHandle	aInHandle,
		int32_t *	status )

Adds an analog input to be collected by DMA.

This can only be called if DMA is not started.

Parameters

[in]	handle	the dma handle
[in]	aInHandle	the analog input to add
[out]	status	Error status variable. 0 on success.

◆ HAL_AddDMAAveragedAnalogInput()

void HAL_AddDMAAveragedAnalogInput	(	HAL_DMAHandle	handle,
		HAL_AnalogInputHandle	aInHandle,
		int32_t *	status )

Adds averaged data of an analog input to be collected by DMA.

This can only be called if DMA is not started.

Parameters

[in]	handle	the dma handle
[in]	aInHandle	the analog input to add
[out]	status	Error status variable. 0 on success.

◆ HAL_AddDMACounter()

void HAL_AddDMACounter	(	HAL_DMAHandle	handle,
		HAL_CounterHandle	counterHandle,
		int32_t *	status )

Adds position data for an counter to be collected by DMA.

This can only be called if DMA is not started.

Parameters

[in]	handle	the dma handle
[in]	counterHandle	the counter to add
[out]	status	Error status variable. 0 on success.

◆ HAL_AddDMACounterPeriod()

void HAL_AddDMACounterPeriod	(	HAL_DMAHandle	handle,
		HAL_CounterHandle	counterHandle,
		int32_t *	status )

Adds timer data for an counter to be collected by DMA.

This can only be called if DMA is not started.

Parameters

[in]	handle	the dma handle
[in]	counterHandle	the counter to add
[out]	status	Error status variable. 0 on success.

◆ HAL_AddDMADigitalSource()

void HAL_AddDMADigitalSource	(	HAL_DMAHandle	handle,
		HAL_Handle	digitalSourceHandle,
		int32_t *	status )

Adds a digital source to be collected by DMA.

This can only be called if DMA is not started.

Parameters

[in]	handle	the dma handle
[in]	digitalSourceHandle	the digital source to add
[out]	status	Error status variable. 0 on success.

◆ HAL_AddDMADutyCycle()

void HAL_AddDMADutyCycle	(	HAL_DMAHandle	handle,
		HAL_DutyCycleHandle	dutyCycleHandle,
		int32_t *	status )

Adds a duty cycle input to be collected by DMA.

This can only be called if DMA is not started.

Parameters

[in]	handle	the dma handle
[in]	dutyCycleHandle	the duty cycle input to add
[out]	status	Error status variable. 0 on success.

◆ HAL_AddDMAEncoder()

void HAL_AddDMAEncoder	(	HAL_DMAHandle	handle,
		HAL_EncoderHandle	encoderHandle,
		int32_t *	status )

Adds position data for an encoder to be collected by DMA.

This can only be called if DMA is not started.

Parameters

[in]	handle	the dma handle
[in]	encoderHandle	the encoder to add
[out]	status	Error status variable. 0 on success.

◆ HAL_AddDMAEncoderPeriod()

void HAL_AddDMAEncoderPeriod	(	HAL_DMAHandle	handle,
		HAL_EncoderHandle	encoderHandle,
		int32_t *	status )

Adds timer data for an encoder to be collected by DMA.

This can only be called if DMA is not started.

Parameters

[in]	handle	the dma handle
[in]	encoderHandle	the encoder to add
[out]	status	Error status variable. 0 on success.

◆ HAL_ClearDMAExternalTriggers()

void HAL_ClearDMAExternalTriggers	(	HAL_DMAHandle	handle,
		int32_t *	status )

Clear all external triggers from the DMA trigger list.

This can only be called if DMA is not started.

Parameters

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

◆ HAL_ClearDMASensors()

void HAL_ClearDMASensors	(	HAL_DMAHandle	handle,
		int32_t *	status )

Clear all sensors from the DMA collection list.

This can only be called if DMA is not started.

Parameters

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

◆ HAL_FreeDMA()

void HAL_FreeDMA ( HAL_DMAHandle handle )

Frees a DMA object.

Parameters

handle the dma handle

◆ HAL_GetDMADirectPointer()

void * HAL_GetDMADirectPointer ( HAL_DMAHandle handle )

Gets the direct pointer to the DMA object.

This is only to be used if absolute maximum performance is required. This will only be valid until the handle is freed.

Parameters

handle the dma handle

◆ HAL_GetDMASampleAnalogAccumulator()

void HAL_GetDMASampleAnalogAccumulator	(	const HAL_DMASample *	dmaSample,
		HAL_AnalogInputHandle	aInHandle,
		int64_t *	count,
		int64_t *	value,
		int32_t *	status )

Returns the analog accumulator data for an analog input from the sample.

Parameters

[in]	dmaSample	the sample to read from
[in]	aInHandle	the analog input handle
[in]	count	the accumulator count
[in]	value	the accumulator value
[out]	status	Error status variable. 0 on success.

◆ HAL_GetDMASampleAnalogInputRaw()

int32_t HAL_GetDMASampleAnalogInputRaw	(	const HAL_DMASample *	dmaSample,
		HAL_AnalogInputHandle	aInHandle,
		int32_t *	status )

Returns the raw analog data for an analog input from the sample.

This can be scaled with HAL_GetAnalogValueToVolts to match GetVoltage().

Parameters

[in]	dmaSample	the sample to read from
[in]	aInHandle	the analog input handle
[out]	status	Error status variable. 0 on success.

Returns: raw analog data

◆ HAL_GetDMASampleAveragedAnalogInputRaw()

int32_t HAL_GetDMASampleAveragedAnalogInputRaw	(	const HAL_DMASample *	dmaSample,
		HAL_AnalogInputHandle	aInHandle,
		int32_t *	status )

Returns the raw averaged analog data for an analog input from the sample.

This can be scaled with HAL_GetAnalogValueToVolts to match GetAveragedVoltage().

Parameters

[in]	dmaSample	the sample to read from
[in]	aInHandle	the analog input handle
[out]	status	Error status variable. 0 on success.

Returns: raw averaged analog data

◆ HAL_GetDMASampleCounter()

int32_t HAL_GetDMASampleCounter	(	const HAL_DMASample *	dmaSample,
		HAL_CounterHandle	counterHandle,
		int32_t *	status )

Returns the distance data for an counter from the sample.

Parameters

[in]	dmaSample	the sample to read from
[in]	counterHandle	the counter handle
[out]	status	Error status variable. 0 on success.

Returns: counter ticks

◆ HAL_GetDMASampleCounterPeriod()

int32_t HAL_GetDMASampleCounterPeriod	(	const HAL_DMASample *	dmaSample,
		HAL_CounterHandle	counterHandle,
		int32_t *	status )

Returns the period data for an counter from the sample.

Parameters

[in]	dmaSample	the sample to read from
[in]	counterHandle	the counter handle
[out]	status	Error status variable. 0 on success.

Returns: counter period

◆ HAL_GetDMASampleDigitalSource()

HAL_Bool HAL_GetDMASampleDigitalSource	(	const HAL_DMASample *	dmaSample,
		HAL_Handle	dSourceHandle,
		int32_t *	status )

Returns the state of a digital source from the sample.

Parameters

[in]	dmaSample	the sample to read from
[in]	dSourceHandle	the digital source handle
[out]	status	Error status variable. 0 on success.

Returns: digital source state

◆ HAL_GetDMASampleDutyCycleOutputRaw()

int32_t HAL_GetDMASampleDutyCycleOutputRaw	(	const HAL_DMASample *	dmaSample,
		HAL_DutyCycleHandle	dutyCycleHandle,
		int32_t *	status )

Returns the raw duty cycle input ratio data from the sample.

Use HAL_GetDutyCycleOutputScaleFactor to scale this to a percentage.

Parameters

[in]	dmaSample	the sample to read from
[in]	dutyCycleHandle	the duty cycle handle
[out]	status	Error status variable. 0 on success.

Returns: raw duty cycle input data

◆ HAL_GetDMASampleEncoderPeriodRaw()

int32_t HAL_GetDMASampleEncoderPeriodRaw	(	const HAL_DMASample *	dmaSample,
		HAL_EncoderHandle	encoderHandle,
		int32_t *	status )

Returns the raw period data for an encoder from the sample.

This can be scaled with DistancePerPulse and DecodingScaleFactor to match the result of GetRate()

Parameters

[in]	dmaSample	the sample to read from
[in]	encoderHandle	the encoder handle
[out]	status	Error status variable. 0 on success.

Returns: raw encoder period

◆ HAL_GetDMASampleEncoderRaw()

int32_t HAL_GetDMASampleEncoderRaw	(	const HAL_DMASample *	dmaSample,
		HAL_EncoderHandle	encoderHandle,
		int32_t *	status )

Returns the raw distance data for an encoder from the sample.

This can be scaled with DistancePerPulse and DecodingScaleFactor to match the result of GetDistance()

Parameters

[in]	dmaSample	the sample to read from
[in]	encoderHandle	the encoder handle
[out]	status	Error status variable. 0 on success.

Returns: raw encoder ticks

◆ HAL_GetDMASampleTime()

uint64_t HAL_GetDMASampleTime	(	const HAL_DMASample *	dmaSample,
		int32_t *	status )

Returns the timestamp of the sample.

This is in the same time domain as HAL_GetFPGATime().

Parameters

[in]	dmaSample	the sample to read from
[out]	status	Error status variable. 0 on success.

Returns: timestamp in microseconds since FPGA Initialization

◆ HAL_InitializeDMA()

HAL_DMAHandle HAL_InitializeDMA ( int32_t * status )

Initializes an object for performing DMA transfers.

Parameters

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

Returns: the created dma handle

◆ HAL_ReadDMA()

enum HAL_DMAReadStatus HAL_ReadDMA	(	HAL_DMAHandle	handle,
		HAL_DMASample *	dmaSample,
		double	timeoutSeconds,
		int32_t *	remainingOut,
		int32_t *	status )

Reads a DMA sample from the queue.

Parameters

[in]	handle	the dma handle
[in]	dmaSample	the sample object to place data into
[in]	timeoutSeconds	the time to wait for data to be queued before timing out
[in]	remainingOut	the number of samples remaining in the queue
[out]	status	Error status variable. 0 on success.

Returns: the success result of the sample read

◆ HAL_ReadDMADirect()

enum HAL_DMAReadStatus HAL_ReadDMADirect	(	void *	dmaPointer,
		HAL_DMASample *	dmaSample,
		double	timeoutSeconds,
		int32_t *	remainingOut,
		int32_t *	status )

Reads a DMA sample using a direct DMA pointer.

See HAL_ReadDMA for full documentation.

Parameters

[in]	dmaPointer	direct DMA pointer
[in]	dmaSample	the sample object to place data into
[in]	timeoutSeconds	the time to wait for data to be queued before timing out
[in]	remainingOut	the number of samples remaining in the queue
[out]	status	Error status variable. 0 on success.

◆ HAL_SetDMAExternalTrigger()

int32_t HAL_SetDMAExternalTrigger	(	HAL_DMAHandle	handle,
		HAL_Handle	digitalSourceHandle,
		HAL_AnalogTriggerType	analogTriggerType,
		HAL_Bool	rising,
		HAL_Bool	falling,
		int32_t *	status )

Sets DMA transfers to occur on an external trigger.

This will remove any timed trigger set. Only timed or external is supported.

Up to 8 external triggers are currently supported.

This can only be called if DMA is not started.

Parameters

[in]	handle	the dma handle
[in]	digitalSourceHandle	the digital source handle (either a HAL_AnalogTriggerHandle or a HAL_DigitalHandle)
[in]	analogTriggerType	the analog trigger type if the source is an analog trigger
[in]	rising	true to trigger on rising edge
[in]	falling	true to trigger on falling edge
[out]	status	Error status variable. 0 on success.

Returns: the index of the trigger

◆ HAL_SetDMAPause()

void HAL_SetDMAPause	(	HAL_DMAHandle	handle,
		HAL_Bool	pause,
		int32_t *	status )

Pauses or unpauses a DMA transfer.

This can only be called while DMA is running.

Parameters

[in]	handle	the dma handle
[in]	pause	true to pause transfers, false to resume.
[out]	status	Error status variable. 0 on success.

◆ HAL_SetDMATimedTrigger()

void HAL_SetDMATimedTrigger	(	HAL_DMAHandle	handle,
		double	periodSeconds,
		int32_t *	status )

Sets DMA transfers to occur at a specific timed interval.

This will remove any external triggers. Only timed or external is supported.

Only 1 timed period is supported.

This can only be called if DMA is not started.

Parameters

[in]	handle	the dma handle
[in]	periodSeconds	the period to trigger in seconds
[out]	status	Error status variable. 0 on success.

◆ HAL_SetDMATimedTriggerCycles()

void HAL_SetDMATimedTriggerCycles	(	HAL_DMAHandle	handle,
		uint32_t	cycles,
		int32_t *	status )

Sets DMA transfers to occur at a specific timed interval in FPGA cycles.

This will remove any external triggers. Only timed or external is supported.

Only 1 timed period is supported

The FPGA currently runs at 40 MHz, but this can change. HAL_GetSystemClockTicksPerMicrosecond can be used to get a computable value for this.

This can only be called if DMA is not started.

Parameters

[in]	handle	the dma handle
[in]	cycles	the period to trigger in FPGA cycles
[out]	status	Error status variable. 0 on success.

◆ HAL_StartDMA()

void HAL_StartDMA	(	HAL_DMAHandle	handle,
		int32_t	queueDepth,
		int32_t *	status )

Starts DMA Collection.

Parameters

[in]	handle	the dma handle
[in]	queueDepth	the number of objects to be able to queue
[out]	status	Error status variable. 0 on success.

◆ HAL_StopDMA()

void HAL_StopDMA	(	HAL_DMAHandle	handle,
		int32_t *	status )

Stops DMA Collection.

Parameters

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

Classes

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

◆ HAL_DMAReadStatus

Function Documentation

◆ HAL_AddDMAAnalogAccumulator()

◆ HAL_AddDMAAnalogInput()

◆ HAL_AddDMAAveragedAnalogInput()

◆ HAL_AddDMACounter()

◆ HAL_AddDMACounterPeriod()

◆ HAL_AddDMADigitalSource()

◆ HAL_AddDMADutyCycle()

◆ HAL_AddDMAEncoder()

◆ HAL_AddDMAEncoderPeriod()

◆ HAL_ClearDMAExternalTriggers()

◆ HAL_ClearDMASensors()

◆ HAL_FreeDMA()

◆ HAL_GetDMADirectPointer()

◆ HAL_GetDMASampleAnalogAccumulator()

◆ HAL_GetDMASampleAnalogInputRaw()

◆ HAL_GetDMASampleAveragedAnalogInputRaw()

◆ HAL_GetDMASampleCounter()

◆ HAL_GetDMASampleCounterPeriod()

◆ HAL_GetDMASampleDigitalSource()

◆ HAL_GetDMASampleDutyCycleOutputRaw()

◆ HAL_GetDMASampleEncoderPeriodRaw()

◆ HAL_GetDMASampleEncoderRaw()

◆ HAL_GetDMASampleTime()

◆ HAL_InitializeDMA()

◆ HAL_ReadDMA()

◆ HAL_ReadDMADirect()

◆ HAL_SetDMAExternalTrigger()

◆ HAL_SetDMAPause()

◆ HAL_SetDMATimedTrigger()

◆ HAL_SetDMATimedTriggerCycles()

◆ HAL_StartDMA()

◆ HAL_StopDMA()