diff --git a/hal/src/main/native/athena/DIO.cpp b/hal/src/main/native/athena/DIO.cpp
index 45723597a8..7b6842e218 100644
--- a/hal/src/main/native/athena/DIO.cpp
+++ b/hal/src/main/native/athena/DIO.cpp
@@ -272,6 +272,29 @@ void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value,
   }
   {
     std::scoped_lock lock(digitalDIOMutex);
+
+    tDIO::tOutputEnable currentOutputEnable =
+        digitalSystem->readOutputEnable(status);
+
+    HAL_Bool isInput = false;
+
+    if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
+      isInput =
+          ((currentOutputEnable.SPIPort >> remapSPIChannel(port->channel)) &
+           1) != 0;
+    } else if (port->channel < kNumDigitalHeaders) {
+      isInput = ((currentOutputEnable.Headers >> port->channel) & 1) != 0;
+    } else {
+      isInput = ((currentOutputEnable.MXP >> remapMXPChannel(port->channel)) &
+                 1) != 0;
+    }
+
+    if (isInput) {
+      *status = PARAMETER_OUT_OF_RANGE;
+      hal::SetLastError(status, "Cannot set output of an input channel");
+      return;
+    }
+
     tDIO::tDO currentDIO = digitalSystem->readDO(status);
 
     if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
diff --git a/hal/src/main/native/include/hal/DIO.h b/hal/src/main/native/include/hal/DIO.h
index 306321478e..0f25192fbd 100644
--- a/hal/src/main/native/include/hal/DIO.h
+++ b/hal/src/main/native/include/hal/DIO.h
@@ -40,6 +40,11 @@ HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle portHandle,
  */
 HAL_Bool HAL_CheckDIOChannel(int32_t channel);
 
+/**
+ * Frees a DIO port.
+ *
+ * @param handle the DIO channel handle
+ */
 void HAL_FreeDIOPort(HAL_DigitalHandle dioPortHandle);
 
 /**
diff --git a/hal/src/main/native/sim/DIO.cpp b/hal/src/main/native/sim/DIO.cpp
index 0b85cd83dc..1b744a1625 100644
--- a/hal/src/main/native/sim/DIO.cpp
+++ b/hal/src/main/native/sim/DIO.cpp
@@ -174,6 +174,11 @@ void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value,
       value = 1;
     }
   }
+  if (SimDIOData[port->channel].isInput) {
+    *status = PARAMETER_OUT_OF_RANGE;
+    hal::SetLastError(status, "Cannot set output of an input channel");
+    return;
+  }
   SimDIOData[port->channel].value = value;
 }