[wpilib][hal] PWM Raw using microseconds (#5283)

Co-authored-by: Joe <sciencewhiz@users.noreply.github.com>

hal/src/main/native/athena/DigitalInternal.cpp

@@ -112,9 +112,7 @@ void initializeDigital(int32_t* status) {
 
   pwmSystem->writeConfig_Period(std::lround(kDefaultPwmPeriod / loopTime),
                                 status);
-  uint16_t minHigh = std::lround(
-      (kDefaultPwmCenter - kDefaultPwmStepsDown * loopTime) / loopTime);
-  pwmSystem->writeConfig_MinHigh(minHigh, status);
+  pwmSystem->writeConfig_MinHigh(0, status);
   // Ensure that PWM output values are set to OFF
   for (uint8_t pwmIndex = 0; pwmIndex < kNumPWMChannels; pwmIndex++) {
     // Copy of SetPWM

hal/src/main/native/athena/DigitalInternal.h

@@ -47,15 +47,8 @@ constexpr int32_t kExpectedLoopTiming = 40;
  * devices.
  */
 constexpr double kDefaultPwmPeriod = 5.05;
-/**
- * kDefaultPwmCenter is the PWM range center in ms
- */
-constexpr double kDefaultPwmCenter = 1.5;
-/**
- * kDefaultPWMStepsDown is the number of PWM steps below the centerpoint
- */
-constexpr int32_t kDefaultPwmStepsDown = 1000;
 constexpr int32_t kPwmDisabled = 0;
+constexpr int32_t kPwmAlwaysHigh = 0xFFFF;
 
 extern std::unique_ptr<tDIO> digitalSystem;
 extern std::unique_ptr<tRelay> relaySystem;

hal/src/main/native/athena/PWM.cpp

@@ -9,6 +9,8 @@
 #include <cstdio>
 #include <thread>
 
+#include <fmt/format.h>
+
 #include "ConstantsInternal.h"
 #include "DigitalInternal.h"
 #include "HALInitializer.h"
@@ -118,7 +120,7 @@ HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
   }
 
   // Defaults to allow an always valid config.
-  HAL_SetPWMConfig(handle, 2.0, 1.501, 1.5, 1.499, 1.0, status);
+  HAL_SetPWMConfigMicroseconds(handle, 2000, 1501, 1500, 1499, 1000, status);
 
   port->previousAllocation = allocationLocation ? allocationLocation : "";
 
@@ -158,62 +160,28 @@ HAL_Bool HAL_CheckPWMChannel(int32_t channel) {
   return channel < kNumPWMChannels && channel >= 0;
 }
 
-void HAL_SetPWMConfig(HAL_DigitalHandle pwmPortHandle, double max,
-                      double deadbandMax, double center, double deadbandMin,
-                      double min, int32_t* status) {
+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;
   }
 
-  // calculate the loop time in milliseconds
-  double loopTime =
-      HAL_GetPWMLoopTiming(status) / (kSystemClockTicksPerMicrosecond * 1e3);
-  if (*status != 0) {
-    return;
-  }
-
-  int32_t maxPwm = static_cast<int32_t>((max - kDefaultPwmCenter) / loopTime +
-                                        kDefaultPwmStepsDown - 1);
-  int32_t deadbandMaxPwm = static_cast<int32_t>(
-      (deadbandMax - kDefaultPwmCenter) / loopTime + kDefaultPwmStepsDown - 1);
-  int32_t centerPwm = static_cast<int32_t>(
-      (center - kDefaultPwmCenter) / loopTime + kDefaultPwmStepsDown - 1);
-  int32_t deadbandMinPwm = static_cast<int32_t>(
-      (deadbandMin - kDefaultPwmCenter) / loopTime + kDefaultPwmStepsDown - 1);
-  int32_t minPwm = static_cast<int32_t>((min - kDefaultPwmCenter) / loopTime +
-                                        kDefaultPwmStepsDown - 1);
-
-  port->maxPwm = maxPwm;
-  port->deadbandMaxPwm = deadbandMaxPwm;
-  port->deadbandMinPwm = deadbandMinPwm;
-  port->centerPwm = centerPwm;
-  port->minPwm = minPwm;
+  port->maxPwm = max;
+  port->deadbandMaxPwm = deadbandMax;
+  port->deadbandMinPwm = deadbandMin;
+  port->centerPwm = center;
+  port->minPwm = min;
   port->configSet = true;
 }
 
-void HAL_SetPWMConfigRaw(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;
-  }
-
-  port->maxPwm = maxPwm;
-  port->deadbandMaxPwm = deadbandMaxPwm;
-  port->deadbandMinPwm = deadbandMinPwm;
-  port->centerPwm = centerPwm;
-  port->minPwm = minPwm;
-}
-
-void HAL_GetPWMConfigRaw(HAL_DigitalHandle pwmPortHandle, int32_t* maxPwm,
-                         int32_t* deadbandMaxPwm, int32_t* centerPwm,
-                         int32_t* deadbandMinPwm, int32_t* minPwm,
-                         int32_t* status) {
+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;
@@ -246,18 +214,30 @@ HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
   return port->eliminateDeadband;
 }
 
-void HAL_SetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t value,
-                   int32_t* status) {
+void HAL_SetPWMPulseTimeMicroseconds(HAL_DigitalHandle pwmPortHandle,
+                                     int32_t microsecondPulseTime,
+                                     int32_t* status) {
   auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
   if (port == nullptr) {
     *status = HAL_HANDLE_ERROR;
     return;
   }
 
+  if (microsecondPulseTime < 0 ||
+      (microsecondPulseTime != 0xFFFF && microsecondPulseTime >= 4096)) {
+    *status = PARAMETER_OUT_OF_RANGE;
+    hal::SetLastError(
+        status,
+        fmt::format("Pulse time {} out of range. Expect [0-4096) or 0xFFFF",
+                    microsecondPulseTime));
+    return;
+  }
+
   if (port->channel < tPWM::kNumHdrRegisters) {
-    pwmSystem->writeHdr(port->channel, value, status);
+    pwmSystem->writeHdr(port->channel, microsecondPulseTime, status);
   } else {
-    pwmSystem->writeMXP(port->channel - tPWM::kNumHdrRegisters, value, status);
+    pwmSystem->writeMXP(port->channel - tPWM::kNumHdrRegisters,
+                        microsecondPulseTime, status);
   }
 }
 
@@ -302,7 +282,7 @@ void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed,
     return;
   }
 
-  HAL_SetPWMRaw(pwmPortHandle, rawValue, status);
+  HAL_SetPWMPulseTimeMicroseconds(pwmPortHandle, rawValue, status);
 }
 
 void HAL_SetPWMPosition(HAL_DigitalHandle pwmPortHandle, double pos,
@@ -335,14 +315,15 @@ void HAL_SetPWMPosition(HAL_DigitalHandle pwmPortHandle, double pos,
     return;
   }
 
-  HAL_SetPWMRaw(pwmPortHandle, rawValue, status);
+  HAL_SetPWMPulseTimeMicroseconds(pwmPortHandle, rawValue, status);
 }
 
 void HAL_SetPWMDisabled(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
-  HAL_SetPWMRaw(pwmPortHandle, kPwmDisabled, status);
+  HAL_SetPWMPulseTimeMicroseconds(pwmPortHandle, kPwmDisabled, status);
 }
 
-int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
+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;
@@ -367,12 +348,11 @@ double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
     return 0;
   }
 
-  int32_t value = HAL_GetPWMRaw(pwmPortHandle, status);
+  int32_t value = HAL_GetPWMPulseTimeMicroseconds(pwmPortHandle, status);
   if (*status != 0) {
     return 0;
   }
   DigitalPort* dPort = port.get();
-
   if (value == kPwmDisabled) {
     return 0.0;
   } else if (value > GetMaxPositivePwm(dPort)) {
@@ -401,7 +381,7 @@ double HAL_GetPWMPosition(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
     return 0;
   }
 
-  int32_t value = HAL_GetPWMRaw(pwmPortHandle, status);
+  int32_t value = HAL_GetPWMPulseTimeMicroseconds(pwmPortHandle, status);
   if (*status != 0) {
     return 0;
   }
@@ -444,6 +424,11 @@ void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask,
   }
 }
 
+void HAL_SetPWMAlwaysHighMode(HAL_DigitalHandle pwmPortHandle,
+                              int32_t* status) {
+  HAL_SetPWMPulseTimeMicroseconds(pwmPortHandle, kPwmAlwaysHigh, status);
+}
+
 int32_t HAL_GetPWMLoopTiming(int32_t* status) {
   initializeDigital(status);
   if (*status != 0) {

hal/src/main/native/athena/mockdata/PWMData.cpp

@@ -13,7 +13,7 @@ void HALSIM_ResetPWMData(int32_t index) {}
   HAL_SIMDATAVALUE_STUB_CAPI(TYPE, HALSIM, PWM##CAPINAME, RETURN)
 
 DEFINE_CAPI(HAL_Bool, Initialized, false)
-DEFINE_CAPI(int32_t, RawValue, 0)
+DEFINE_CAPI(int32_t, PulseMicrosecond, 0)
 DEFINE_CAPI(double, Speed, 0)
 DEFINE_CAPI(double, Position, 0)
 DEFINE_CAPI(int32_t, PeriodScale, 0)

hal/src/main/native/cpp/jni/PWMJNI.cpp

@@ -63,43 +63,27 @@ Java_edu_wpi_first_hal_PWMJNI_freePWMPort
 
 /*
  * Class:     edu_wpi_first_hal_PWMJNI
- * Method:    setPWMConfigRaw
+ * Method:    setPWMConfigMicroseconds
  * Signature: (IIIIII)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_PWMJNI_setPWMConfigRaw
+Java_edu_wpi_first_hal_PWMJNI_setPWMConfigMicroseconds
   (JNIEnv* env, jclass, jint id, jint maxPwm, jint deadbandMaxPwm,
    jint centerPwm, jint deadbandMinPwm, jint minPwm)
 {
   int32_t status = 0;
-  HAL_SetPWMConfigRaw((HAL_DigitalHandle)id, maxPwm, deadbandMaxPwm, centerPwm,
-                      deadbandMinPwm, minPwm, &status);
+  HAL_SetPWMConfigMicroseconds((HAL_DigitalHandle)id, maxPwm, deadbandMaxPwm,
+                               centerPwm, deadbandMinPwm, minPwm, &status);
   CheckStatus(env, status);
 }
 
 /*
  * Class:     edu_wpi_first_hal_PWMJNI
- * Method:    setPWMConfig
- * Signature: (IDDDDD)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_PWMJNI_setPWMConfig
-  (JNIEnv* env, jclass, jint id, jdouble maxPwm, jdouble deadbandMaxPwm,
-   jdouble centerPwm, jdouble deadbandMinPwm, jdouble minPwm)
-{
-  int32_t status = 0;
-  HAL_SetPWMConfig((HAL_DigitalHandle)id, maxPwm, deadbandMaxPwm, centerPwm,
-                   deadbandMinPwm, minPwm, &status);
-  CheckStatus(env, status);
-}
-
-/*
- * Class:     edu_wpi_first_hal_PWMJNI
- * Method:    getPWMConfigRaw
+ * Method:    getPWMConfigMicroseconds
  * Signature: (I)Ljava/lang/Object;
  */
 JNIEXPORT jobject JNICALL
-Java_edu_wpi_first_hal_PWMJNI_getPWMConfigRaw
+Java_edu_wpi_first_hal_PWMJNI_getPWMConfigMicroseconds
   (JNIEnv* env, jclass, jint id)
 {
   int32_t status = 0;
@@ -108,8 +92,8 @@ Java_edu_wpi_first_hal_PWMJNI_getPWMConfigRaw
   int32_t centerPwm = 0;
   int32_t deadbandMinPwm = 0;
   int32_t minPwm = 0;
-  HAL_GetPWMConfigRaw((HAL_DigitalHandle)id, &maxPwm, &deadbandMaxPwm,
-                      &centerPwm, &deadbandMinPwm, &minPwm, &status);
+  HAL_GetPWMConfigMicroseconds((HAL_DigitalHandle)id, &maxPwm, &deadbandMaxPwm,
+                               &centerPwm, &deadbandMinPwm, &minPwm, &status);
   CheckStatus(env, status);
   return CreatePWMConfigDataResult(env, maxPwm, deadbandMaxPwm, centerPwm,
                                    deadbandMinPwm, minPwm);
@@ -146,15 +130,15 @@ Java_edu_wpi_first_hal_PWMJNI_getPWMEliminateDeadband
 
 /*
  * Class:     edu_wpi_first_hal_PWMJNI
- * Method:    setPWMRaw
- * Signature: (IS)V
+ * Method:    setPulseTimeMicroseconds
+ * Signature: (II)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_PWMJNI_setPWMRaw
-  (JNIEnv* env, jclass, jint id, jshort value)
+Java_edu_wpi_first_hal_PWMJNI_setPulseTimeMicroseconds
+  (JNIEnv* env, jclass, jint id, jint value)
 {
   int32_t status = 0;
-  HAL_SetPWMRaw((HAL_DigitalHandle)id, value, &status);
+  HAL_SetPWMPulseTimeMicroseconds((HAL_DigitalHandle)id, value, &status);
   CheckStatus(env, status);
 }
 
@@ -188,15 +172,16 @@ Java_edu_wpi_first_hal_PWMJNI_setPWMPosition
 
 /*
  * Class:     edu_wpi_first_hal_PWMJNI
- * Method:    getPWMRaw
- * Signature: (I)S
+ * Method:    getPulseTimeMicroseconds
+ * Signature: (I)I
  */
-JNIEXPORT jshort JNICALL
-Java_edu_wpi_first_hal_PWMJNI_getPWMRaw
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_PWMJNI_getPulseTimeMicroseconds
   (JNIEnv* env, jclass, jint id)
 {
   int32_t status = 0;
-  jshort returnValue = HAL_GetPWMRaw((HAL_DigitalHandle)id, &status);
+  int32_t returnValue =
+      HAL_GetPWMPulseTimeMicroseconds((HAL_DigitalHandle)id, &status);
   CheckStatus(env, status);
   return returnValue;
 }
@@ -259,6 +244,20 @@ Java_edu_wpi_first_hal_PWMJNI_latchPWMZero
   CheckStatus(env, status);
 }
 
+/*
+ * Class:     edu_wpi_first_hal_PWMJNI
+ * Method:    setAlwaysHighMode
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_PWMJNI_setAlwaysHighMode
+  (JNIEnv* env, jclass, jint id)
+{
+  int32_t status = 0;
+  HAL_SetPWMAlwaysHighMode((HAL_DigitalHandle)id, &status);
+  CheckStatus(env, status);
+}
+
 /*
  * Class:     edu_wpi_first_hal_PWMJNI
  * Method:    setPWMPeriodScale

hal/src/main/native/cpp/jni/simulation/PWMDataJNI.cpp

@@ -64,52 +64,52 @@ Java_edu_wpi_first_hal_simulation_PWMDataJNI_setInitialized
 
 /*
  * Class:     edu_wpi_first_hal_simulation_PWMDataJNI
- * Method:    registerRawValueCallback
+ * Method:    registerPulseMicrosecondCallback
  * Signature: (ILjava/lang/Object;Z)I
  */
 JNIEXPORT jint JNICALL
-Java_edu_wpi_first_hal_simulation_PWMDataJNI_registerRawValueCallback
+Java_edu_wpi_first_hal_simulation_PWMDataJNI_registerPulseMicrosecondCallback
   (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
 {
   return sim::AllocateCallback(env, index, callback, initialNotify,
-                               &HALSIM_RegisterPWMRawValueCallback);
+                               &HALSIM_RegisterPWMPulseMicrosecondCallback);
 }
 
 /*
  * Class:     edu_wpi_first_hal_simulation_PWMDataJNI
- * Method:    cancelRawValueCallback
+ * Method:    cancelPulseMicrosecondCallback
  * Signature: (II)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_PWMDataJNI_cancelRawValueCallback
+Java_edu_wpi_first_hal_simulation_PWMDataJNI_cancelPulseMicrosecondCallback
   (JNIEnv* env, jclass, jint index, jint handle)
 {
   return sim::FreeCallback(env, handle, index,
-                           &HALSIM_CancelPWMRawValueCallback);
+                           &HALSIM_CancelPWMPulseMicrosecondCallback);
 }
 
 /*
  * Class:     edu_wpi_first_hal_simulation_PWMDataJNI
- * Method:    getRawValue
+ * Method:    getPulseMicrosecond
  * Signature: (I)I
  */
 JNIEXPORT jint JNICALL
-Java_edu_wpi_first_hal_simulation_PWMDataJNI_getRawValue
+Java_edu_wpi_first_hal_simulation_PWMDataJNI_getPulseMicrosecond
   (JNIEnv*, jclass, jint index)
 {
-  return HALSIM_GetPWMRawValue(index);
+  return HALSIM_GetPWMPulseMicrosecond(index);
 }
 
 /*
  * Class:     edu_wpi_first_hal_simulation_PWMDataJNI
- * Method:    setRawValue
+ * Method:    setPulseMicrosecond
  * Signature: (II)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_PWMDataJNI_setRawValue
+Java_edu_wpi_first_hal_simulation_PWMDataJNI_setPulseMicrosecond
   (JNIEnv*, jclass, jint index, jint value)
 {
-  HALSIM_SetPWMRawValue(index, value);
+  HALSIM_SetPWMPulseMicrosecond(index, value);
 }
 
 /*

hal/src/main/native/include/hal/PWM.h

@@ -50,7 +50,7 @@ HAL_Bool HAL_CheckPWMChannel(int32_t channel);
 /**
  * Sets the configuration settings for the PWM channel.
  *
- * All values are in milliseconds.
+ * All values are in microseconds.
  *
  * @param[in] pwmPortHandle  the PWM handle
  * @param[in] maxPwm         the maximum PWM value
@@ -60,17 +60,15 @@ HAL_Bool HAL_CheckPWMChannel(int32_t channel);
  * @param[in] minPwm         the minimum PWM value
  * @param[out] status        Error status variable. 0 on success.
  */
-void HAL_SetPWMConfig(HAL_DigitalHandle pwmPortHandle, double maxPwm,
-                      double deadbandMaxPwm, double centerPwm,
-                      double deadbandMinPwm, double minPwm, int32_t* status);
+void HAL_SetPWMConfigMicroseconds(HAL_DigitalHandle pwmPortHandle,
+                                  int32_t maxPwm, int32_t deadbandMaxPwm,
+                                  int32_t centerPwm, int32_t deadbandMinPwm,
+                                  int32_t minPwm, int32_t* status);
 
 /**
- * Sets the raw configuration settings for the PWM channel.
+ * Gets the pwm configuration settings for the PWM channel.
  *
- * We recommend using HAL_SetPWMConfig() instead, as those values are properly
- * scaled. Usually used for values grabbed by HAL_GetPWMConfigRaw().
- *
- * Values are in raw FPGA units.
+ * Values are in microseconds.
  *
  * @param[in] pwmPortHandle  the PWM handle
  * @param[in] maxPwm         the maximum PWM value
@@ -80,29 +78,10 @@ void HAL_SetPWMConfig(HAL_DigitalHandle pwmPortHandle, double maxPwm,
  * @param[in] minPwm         the minimum PWM value
  * @param[out] status        Error status variable. 0 on success.
  */
-void HAL_SetPWMConfigRaw(HAL_DigitalHandle pwmPortHandle, int32_t maxPwm,
-                         int32_t deadbandMaxPwm, int32_t centerPwm,
-                         int32_t deadbandMinPwm, int32_t minPwm,
-                         int32_t* status);
-
-/**
- * Gets the raw pwm configuration settings for the PWM channel.
- *
- * Values are in raw FPGA units. These units have the potential to change for
- * any FPGA release.
- *
- * @param[in] pwmPortHandle  the PWM handle
- * @param[in] maxPwm         the maximum PWM value
- * @param[in] deadbandMaxPwm the high range of the center deadband
- * @param[in] centerPwm      the center PWM value
- * @param[in] deadbandMinPwm the low range of the center deadband
- * @param[in] minPwm         the minimum PWM value
- * @param[out] status        Error status variable. 0 on success.
- */
-void HAL_GetPWMConfigRaw(HAL_DigitalHandle pwmPortHandle, int32_t* maxPwm,
-                         int32_t* deadbandMaxPwm, int32_t* centerPwm,
-                         int32_t* deadbandMinPwm, int32_t* minPwm,
-                         int32_t* status);
+void HAL_GetPWMConfigMicroseconds(HAL_DigitalHandle pwmPortHandle,
+                                  int32_t* maxPwm, int32_t* deadbandMaxPwm,
+                                  int32_t* centerPwm, int32_t* deadbandMinPwm,
+                                  int32_t* minPwm, int32_t* status);
 
 /**
  * Sets if the FPGA should output the center value if the input value is within
@@ -126,17 +105,16 @@ HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
                                      int32_t* status);
 
 /**
- * Sets a PWM channel to the desired value.
+ * Sets a PWM channel to the desired pulse width in microseconds.
  *
- * The values are in raw FPGA units, and have the potential to change with any
- * FPGA release.
  *
  * @param[in] pwmPortHandle the PWM handle
- * @param[in] value         the PWM value to set
+ * @param[in] microsecondPulseTime  the PWM value to set
  * @param[out] status       Error status variable. 0 on success.
  */
-void HAL_SetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t value,
-                   int32_t* status);
+void HAL_SetPWMPulseTimeMicroseconds(HAL_DigitalHandle pwmPortHandle,
+                                     int32_t microsecondPulseTime,
+                                     int32_t* status);
 
 /**
  * Sets a PWM channel to the desired scaled value.
@@ -177,16 +155,14 @@ void HAL_SetPWMPosition(HAL_DigitalHandle pwmPortHandle, double position,
 void HAL_SetPWMDisabled(HAL_DigitalHandle pwmPortHandle, int32_t* status);
 
 /**
- * Gets a value from a PWM channel.
- *
- * The values are in raw FPGA units, and have the potential to change with any
- * FPGA release.
+ * Gets the current microsecond pulse time from a PWM channel.
  *
  * @param[in] pwmPortHandle the PWM handle
  * @param[out] status       Error status variable. 0 on success.
- * @return the current raw PWM value
+ * @return the current PWM microsecond pulse time
  */
-int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t* status);
+int32_t HAL_GetPWMPulseTimeMicroseconds(HAL_DigitalHandle pwmPortHandle,
+                                        int32_t* status);
 
 /**
  * Gets a scaled value from a PWM channel.
@@ -228,6 +204,14 @@ void HAL_LatchPWMZero(HAL_DigitalHandle pwmPortHandle, int32_t* status);
 void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask,
                            int32_t* status);
 
+/**
+ * Sets the PWM output to be a continous high signal while enabled.
+ *
+ * @param[in] pwmPortHandle the PWM handle.
+ * @param[out] status       Error status variable. 0 on success.
+ */
+void HAL_SetPWMAlwaysHighMode(HAL_DigitalHandle pwmPortHandle, int32_t* status);
+
 /**
  * Gets the loop timing of the PWM system.
  *

hal/src/main/native/include/hal/simulation/PWMData.h

@@ -20,12 +20,13 @@ void HALSIM_CancelPWMInitializedCallback(int32_t index, int32_t uid);
 HAL_Bool HALSIM_GetPWMInitialized(int32_t index);
 void HALSIM_SetPWMInitialized(int32_t index, HAL_Bool initialized);
 
-int32_t HALSIM_RegisterPWMRawValueCallback(int32_t index,
-                                           HAL_NotifyCallback callback,
-                                           void* param, HAL_Bool initialNotify);
-void HALSIM_CancelPWMRawValueCallback(int32_t index, int32_t uid);
-int32_t HALSIM_GetPWMRawValue(int32_t index);
-void HALSIM_SetPWMRawValue(int32_t index, int32_t rawValue);
+int32_t HALSIM_RegisterPWMPulseMicrosecondCallback(int32_t index,
+                                                   HAL_NotifyCallback callback,
+                                                   void* param,
+                                                   HAL_Bool initialNotify);
+void HALSIM_CancelPWMPulseMicrosecondCallback(int32_t index, int32_t uid);
+int32_t HALSIM_GetPWMPulseMicrosecond(int32_t index);
+void HALSIM_SetPWMPulseMicrosecond(int32_t index, int32_t microsecondPulseTime);
 
 int32_t HALSIM_RegisterPWMSpeedCallback(int32_t index,
                                         HAL_NotifyCallback callback,

hal/src/main/native/sim/DigitalInternal.h

@@ -39,14 +39,6 @@ constexpr int32_t kExpectedLoopTiming = 40;
  * devices.
  */
 constexpr float kDefaultPwmPeriod = 5.05f;
-/**
- * kDefaultPwmCenter is the PWM range center in ms
- */
-constexpr float kDefaultPwmCenter = 1.5f;
-/**
- * kDefaultPWMStepsDown is the number of PWM steps below the centerpoint
- */
-constexpr int32_t kDefaultPwmStepsDown = 1000;
 constexpr int32_t kPwmDisabled = 0;
 
 struct DigitalPort {

hal/src/main/native/sim/PWM.cpp

@@ -62,7 +62,7 @@ HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
   SimPWMData[origChannel].initialized = true;
 
   // Defaults to allow an always valid config.
-  HAL_SetPWMConfig(handle, 2.0, 1.501, 1.5, 1.499, 1.0, status);
+  HAL_SetPWMConfigMicroseconds(handle, 2000, 1501, 1500, 1499, 1000, status);
 
   port->previousAllocation = allocationLocation ? allocationLocation : "";
 
@@ -84,62 +84,28 @@ HAL_Bool HAL_CheckPWMChannel(int32_t channel) {
   return channel < kNumPWMChannels && channel >= 0;
 }
 
-void HAL_SetPWMConfig(HAL_DigitalHandle pwmPortHandle, double max,
-                      double deadbandMax, double center, double deadbandMin,
-                      double min, int32_t* status) {
+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;
   }
 
-  // calculate the loop time in milliseconds
-  double loopTime =
-      HAL_GetPWMLoopTiming(status) / (kSystemClockTicksPerMicrosecond * 1e3);
-  if (*status != 0) {
-    return;
-  }
-
-  int32_t maxPwm = static_cast<int32_t>((max - kDefaultPwmCenter) / loopTime +
-                                        kDefaultPwmStepsDown - 1);
-  int32_t deadbandMaxPwm = static_cast<int32_t>(
-      (deadbandMax - kDefaultPwmCenter) / loopTime + kDefaultPwmStepsDown - 1);
-  int32_t centerPwm = static_cast<int32_t>(
-      (center - kDefaultPwmCenter) / loopTime + kDefaultPwmStepsDown - 1);
-  int32_t deadbandMinPwm = static_cast<int32_t>(
-      (deadbandMin - kDefaultPwmCenter) / loopTime + kDefaultPwmStepsDown - 1);
-  int32_t minPwm = static_cast<int32_t>((min - kDefaultPwmCenter) / loopTime +
-                                        kDefaultPwmStepsDown - 1);
-
-  port->maxPwm = maxPwm;
-  port->deadbandMaxPwm = deadbandMaxPwm;
-  port->deadbandMinPwm = deadbandMinPwm;
-  port->centerPwm = centerPwm;
-  port->minPwm = minPwm;
+  port->maxPwm = max;
+  port->deadbandMaxPwm = deadbandMax;
+  port->deadbandMinPwm = deadbandMin;
+  port->centerPwm = center;
+  port->minPwm = min;
   port->configSet = true;
 }
 
-void HAL_SetPWMConfigRaw(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;
-  }
-
-  port->maxPwm = maxPwm;
-  port->deadbandMaxPwm = deadbandMaxPwm;
-  port->deadbandMinPwm = deadbandMinPwm;
-  port->centerPwm = centerPwm;
-  port->minPwm = minPwm;
-}
-
-void HAL_GetPWMConfigRaw(HAL_DigitalHandle pwmPortHandle, int32_t* maxPwm,
-                         int32_t* deadbandMaxPwm, int32_t* centerPwm,
-                         int32_t* deadbandMinPwm, int32_t* minPwm,
-                         int32_t* status) {
+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;
@@ -172,15 +138,15 @@ HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
   return port->eliminateDeadband;
 }
 
-void HAL_SetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t value,
-                   int32_t* status) {
+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].rawValue = value;
+  SimPWMData[port->channel].pulseMicrosecond = value;
 }
 
 void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed,
@@ -231,19 +197,20 @@ void HAL_SetPWMDisabled(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
     *status = HAL_HANDLE_ERROR;
     return;
   }
-  SimPWMData[port->channel].rawValue = 0;
+  SimPWMData[port->channel].pulseMicrosecond = 0;
   SimPWMData[port->channel].position = 0;
   SimPWMData[port->channel].speed = 0;
 }
 
-int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
+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].rawValue;
+  return SimPWMData[port->channel].pulseMicrosecond;
 }
 
 double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
@@ -299,6 +266,19 @@ void HAL_LatchPWMZero(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
   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);

hal/src/main/native/sim/mockdata/PWMData.cpp

@@ -17,7 +17,7 @@ void InitializePWMData() {
 PWMData* hal::SimPWMData;
 void PWMData::ResetData() {
   initialized.Reset(false);
-  rawValue.Reset(0);
+  pulseMicrosecond.Reset(0);
   speed.Reset(0);
   position.Reset(0);
   periodScale.Reset(0);
@@ -34,7 +34,7 @@ void HALSIM_ResetPWMData(int32_t index) {
                                LOWERNAME)
 
 DEFINE_CAPI(HAL_Bool, Initialized, initialized)
-DEFINE_CAPI(int32_t, RawValue, rawValue)
+DEFINE_CAPI(int32_t, PulseMicrosecond, pulseMicrosecond)
 DEFINE_CAPI(double, Speed, speed)
 DEFINE_CAPI(double, Position, position)
 DEFINE_CAPI(int32_t, PeriodScale, periodScale)
@@ -46,7 +46,7 @@ DEFINE_CAPI(HAL_Bool, ZeroLatch, zeroLatch)
 void HALSIM_RegisterPWMAllCallbacks(int32_t index, HAL_NotifyCallback callback,
                                     void* param, HAL_Bool initialNotify) {
   REGISTER(initialized);
-  REGISTER(rawValue);
+  REGISTER(pulseMicrosecond);
   REGISTER(speed);
   REGISTER(position);
   REGISTER(periodScale);

hal/src/main/native/sim/mockdata/PWMDataInternal.h

@@ -10,7 +10,7 @@
 namespace hal {
 class PWMData {
   HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)
-  HAL_SIMDATAVALUE_DEFINE_NAME(RawValue)
+  HAL_SIMDATAVALUE_DEFINE_NAME(PulseMicrosecond)
   HAL_SIMDATAVALUE_DEFINE_NAME(Speed)
   HAL_SIMDATAVALUE_DEFINE_NAME(Position)
   HAL_SIMDATAVALUE_DEFINE_NAME(PeriodScale)
@@ -19,7 +19,8 @@ class PWMData {
  public:
   SimDataValue<HAL_Bool, HAL_MakeBoolean, GetInitializedName> initialized{
       false};
-  SimDataValue<int32_t, HAL_MakeInt, GetRawValueName> rawValue{0};
+  SimDataValue<int32_t, HAL_MakeInt, GetPulseMicrosecondName> pulseMicrosecond{
+      0};
   SimDataValue<double, HAL_MakeDouble, GetSpeedName> speed{0};
   SimDataValue<double, HAL_MakeDouble, GetPositionName> position{0};
   SimDataValue<int32_t, HAL_MakeInt, GetPeriodScaleName> periodScale{0};