[hal] Fix REVPH Analog Pressure channel selection (#3716)

Replace pointer constructor arguments with references, and const qualify
getters where possible.

Also remove redundant simulation P gain.

Fixes #1146.

.github/ISSUE_TEMPLATE/bug_report.md

@@ -22,7 +22,8 @@ A clear and concise description of what you expected to happen.
 If applicable, add screenshots to help explain your problem.
 
 **Desktop (please complete the following information):**
- - OS: [e.g. Windows]
+ - WPILib Version: [e.g. 2021.3.1]
+ - OS: [e.g. Windows 11]
  - Java version [e.g. 1.10.2]
  - C++ version [e.g. 17]
 

.github/workflows/lint-format.yml

@@ -84,3 +84,17 @@ jobs:
       - name: Generate diff
         run: git diff HEAD > javaformat-fixes.patch
         if: ${{ failure() }}
+  documentation:
+    name: "Documentation"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          fetch-depth: 0
+      - uses: actions/setup-java@v1
+        with:
+          java-version: 13
+      - name: Install libclang-9
+        run: sudo apt update && sudo apt install -y libclang-cpp9 libclang1-9
+      - name: Build with Gradle
+        run: ./gradlew docs:zipDocs -PbuildServer -PdocWarningsAsErrors ${{ env.EXTRA_GRADLE_ARGS }}

.styleguide

@@ -16,6 +16,7 @@ modifiableFileExclude {
 generatedFileExclude {
   FRCNetComm\.java$
   simulation/gz_msgs/src/include/simulation/gz_msgs/msgs\.h$
+  fieldImages/src/main/native/resources/
 }
 
 repoRootNameOverride {

CMakeLists.txt

@@ -119,13 +119,6 @@ FATAL: Cannot build wpilib without wpimath.
 ")
 endif()
 
-if (NOT WITH_OLD_COMMANDS AND WITH_EXAMPLES)
-    message(FATAL_ERROR "
-FATAL: Cannot build examples with old commands disabled.
-       Enable old commands by setting WITH_OLD_COMMANDS=ON
-")
-endif()
-
 set( wpilib_dest wpilib)
 set( include_dest wpilib/include )
 set( main_lib_dest wpilib/lib )
@@ -246,6 +239,7 @@ if (WITH_TESTS)
     include(GoogleTest)
 endif()
 
+add_subdirectory(fieldImages)
 add_subdirectory(wpiutil)
 add_subdirectory(ntcore)
 

OtherVersions.md

@@ -12,8 +12,8 @@ In order to build a project using a development build, find the build.gradle fil
 
 ```groovy
 wpi.maven.useDevelopment = true
-wpi.wpilibVersion = 'YEAR.+'
-wpi.wpimathVersion = 'YEAR.+
+wpi.versions.wpilibVersion = 'YEAR.+'
+wpi.versions.wpimathVersion = 'YEAR.+
 ```
 
 The top of your ``build.gradle`` file should now look similar to the code below. Ignore any differences in versions.
@@ -22,12 +22,13 @@ Java
 ```groovy
 plugins {
   id "java"
-  id "edu.wpi.first.GradleRIO" version "2020.3.2"
+  id "edu.wpi.first.GradleRIO" version "2022.1.1"
 }
 
+wpi.maven.useLocal = false
 wpi.maven.useDevelopment = true
-wpi.wpilibVersion = '2021.+'
-wpi.wpimathVersion = '2021.+'
+wpi.versions.wpilibVersion = '2022.+'
+wpi.versions.wpimathVersion = '2022.+'
 ```
 
 C++
@@ -35,12 +36,13 @@ C++
 plugins {
   id "cpp"
   id "google-test-test-suite"
-  id "edu.wpi.first.GradleRIO" version "2020.3.2"
+  id "edu.wpi.first.GradleRIO" version "2022.1.1"
 }
 
+wpi.maven.useLocal = false
 wpi.maven.useDevelopment = true
-wpi.wpilibVersion = '2021.+'
-wpi.wpimathVersion = '2021.+'
+wpi.versions.wpilibVersion = '2022.+'
+wpi.versions.wpimathVersion = '2022.+'
 ```
 
 ## Local Build
@@ -51,12 +53,13 @@ Java
 ```groovy
 plugins {
   id "java"
-  id "edu.wpi.first.GradleRIO" version "2020.3.2"
+  id "edu.wpi.first.GradleRIO" version "2022.1.1"
 }
 
+wpi.maven.useLocal = false
 wpi.maven.useFrcMavenLocalDevelopment = true
-wpi.wpilibVersion = 'YEAR.424242.+'
-wpi.wpimathVersion = 'YEAR.424242.+'
+wpi.versions.wpilibVersion = 'YEAR.424242.+'
+wpi.versions.wpimathVersion = 'YEAR.424242.+'
 ```
 
 C++
@@ -64,12 +67,13 @@ C++
 plugins {
   id "cpp"
   id "google-test-test-suite"
-  id "edu.wpi.first.GradleRIO" version "2020.3.2"
+  id "edu.wpi.first.GradleRIO" version "2022.1.1"
 }
 
+wpi.maven.useLocal = false
 wpi.maven.useFrcMavenLocalDevelopment = true
-wpi.wpilibVersion = 'YEAR.424242.+'
-wpi.wpimathVersion = 'YEAR.424242.+'
+wpi.versions.wpilibVersion = 'YEAR.424242.+'
+wpi.versions.wpimathVersion = 'YEAR.424242.+'
 ```
 
 # roboRIO Development

ThirdPartyNotices.txt

@@ -32,6 +32,8 @@ sigslot               wpiutil/src/main/native/include/wpi/Signal.h
                       wpiutil/src/test/native/cpp/sigslot/
 tcpsockets            wpiutil/src/main/native/cpp/TCP{Stream,Connector,Acceptor}.cpp
                       wpiutil/src/main/native/include/wpi/TCP*.h
+MPack                 wpiutil/src/main/native/include/mpack.h
+                      wpiutil/src/main/native/cpp/mpack.cpp
 Bootstrap             wpiutil/src/main/native/resources/bootstrap-*
 CoreUI                wpiutil/src/main/native/resources/coreui-*
 Feather Icons         wpiutil/src/main/native/resources/feather-*
@@ -235,6 +237,32 @@ See the License for the specific language governing permissions and
 limitations under the License.
 
 
+==============================================================================
+MPacks License
+==============================================================================
+The MIT License (MIT)
+
+Copyright (c) 2015-2021 Nicholas Fraser and the MPack authors
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+
 ==============================================================================
 Bootstrap License
 ==============================================================================

azure-pipelines-testbench.yaml

@@ -12,7 +12,7 @@ stages:
       - job: IntegrationTests
         displayName: Integration Tests
         pool:
-          vmImage: "Ubuntu 16.04"
+          vmImage: 'ubuntu-latest'
 
         container:
           image: wpilib/roborio-cross-ubuntu:2022-18.04

buildSrc/build.gradle

@@ -5,5 +5,5 @@ repositories {
     }
 }
 dependencies {
-    implementation "edu.wpi.first:native-utils:2022.3.0"
+    implementation "edu.wpi.first:native-utils:2022.3.1"
 }

buildSrc/src/main/groovy/WPIJREArtifact.groovy

@@ -24,7 +24,7 @@ public class WPIJREArtifact extends MavenArtifact {
         this.configName = configName;
         Project project = target.getProject();
         getConfiguration().set(project.getConfigurations().create(configName));
-        getDependency().set(project.getDependencies().add(configName, "edu.wpi.first.jdk:roborio-2022:11.0.9u12-1"));
+        getDependency().set(project.getDependencies().add(configName, "edu.wpi.first.jdk:roborio-2022:11.0.12u5-1"));
 
         setOnlyIf(new PredicateWrapper({ DeployContext ctx ->
             return jreMissing(ctx) || project.hasProperty("force-redeploy-jre");

cameraserver/src/main/native/include/cameraserver/CameraServer.h

@@ -229,6 +229,7 @@ class CameraServer {
    * Adds a MJPEG server.
    *
    * @param name Server name
+   * @param port Port number
    */
   static cs::MjpegServer AddServer(std::string_view name, int port);
 

cameraserver/src/main/native/include/vision/VisionRunner.h

@@ -44,7 +44,7 @@ class VisionRunnerBase {
    *
    * <p>This method is exposed to allow teams to add additional functionality or
    * have their own ways to run the pipeline. Most teams, however, should just
-   * use {@link #runForever} in its own thread using a std::thread.</p>
+   * use RunForever() in its own thread using a std::thread.</p>
    */
   void RunOnce();
 

cscore/src/main/native/cpp/Handle.h

@@ -5,6 +5,8 @@
 #ifndef CSCORE_HANDLE_H_
 #define CSCORE_HANDLE_H_
 
+#include <wpi/Synchronization.h>
+
 #include "cscore_c.h"
 
 namespace cs {
@@ -18,7 +20,7 @@ class Handle {
  public:
   enum Type {
     kUndefined = 0,
-    kProperty = 0x40,
+    kProperty = wpi::kHandleTypeCSBase,
     kSource,
     kSink,
     kListener,

cscore/src/main/native/cpp/Notifier.h

@@ -35,8 +35,11 @@ struct ListenerData : public wpi::CallbackListenerData<
 class NotifierThread
     : public wpi::CallbackThread<NotifierThread, RawEvent, ListenerData> {
  public:
-  bool Matches(const ListenerData& /*listener*/, const RawEvent& /*data*/) {
-    return true;
+  NotifierThread(std::function<void()> on_start, std::function<void()> on_exit)
+      : CallbackThread(std::move(on_start), std::move(on_exit)) {}
+
+  bool Matches(const ListenerData& listener, const RawEvent& data) {
+    return (data.kind & listener.eventMask) != 0;
   }
 
   void SetListener(RawEvent* data, unsigned int listener_uid) {

cscore/src/main/native/cpp/cscore_cpp.cpp

@@ -708,9 +708,13 @@ void ReleaseSink(CS_Sink sink, CS_Status* status) {
 // Listener Functions
 //
 
-void SetListenerOnStart(std::function<void()> onStart) {}
+void SetListenerOnStart(std::function<void()> onStart) {
+  Instance::GetInstance().notifier.SetOnStart(onStart);
+}
 
-void SetListenerOnExit(std::function<void()> onExit) {}
+void SetListenerOnExit(std::function<void()> onExit) {
+  Instance::GetInstance().notifier.SetOnExit(onExit);
+}
 
 static void StartBackground(int eventMask, bool immediateNotify) {
   auto& inst = Instance::GetInstance();

cscore/src/main/native/include/cscore_oo.h

@@ -570,7 +570,6 @@ class AxisCamera : public HttpCamera {
    *
    * @param name Source name (arbitrary unique identifier)
    * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
-   * @param kind Camera kind (e.g. kAxis)
    */
   AxisCamera(std::string_view name, std::string_view host);
 
@@ -579,7 +578,6 @@ class AxisCamera : public HttpCamera {
    *
    * @param name Source name (arbitrary unique identifier)
    * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
-   * @param kind Camera kind (e.g. kAxis)
    */
   AxisCamera(std::string_view name, const char* host);
 
@@ -588,7 +586,6 @@ class AxisCamera : public HttpCamera {
    *
    * @param name Source name (arbitrary unique identifier)
    * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
-   * @param kind Camera kind (e.g. kAxis)
    */
   AxisCamera(std::string_view name, const std::string& host);
 
@@ -597,7 +594,6 @@ class AxisCamera : public HttpCamera {
    *
    * @param name Source name (arbitrary unique identifier)
    * @param hosts Array of Camera host IPs/DNS names
-   * @param kind Camera kind (e.g. kAxis)
    */
   AxisCamera(std::string_view name, wpi::span<const std::string> hosts);
 
@@ -606,7 +602,6 @@ class AxisCamera : public HttpCamera {
    *
    * @param name Source name (arbitrary unique identifier)
    * @param hosts Array of Camera host IPs/DNS names
-   * @param kind Camera kind (e.g. kAxis)
    */
   template <typename T>
   AxisCamera(std::string_view name, std::initializer_list<T> hosts);
@@ -623,6 +618,8 @@ class ImageSource : public VideoSource {
   /**
    * Signal sinks that an error has occurred.  This should be called instead
    * of NotifyFrame when an error occurs.
+   *
+   * @param msg Notification message.
    */
   void NotifyError(std::string_view msg);
 
@@ -686,7 +683,6 @@ class ImageSource : public VideoSource {
    * Create a string property.
    *
    * @param name Property name
-   * @param defaultValue Default value
    * @param value Current value
    * @return Property
    */

docs/build.gradle

@@ -56,29 +56,108 @@ doxygen {
         }
     }
 
-    exclude 'Eigen/**'
-    exclude 'unsupported/**'
-    exclude 'units/**'
-    exclude 'uv.h'
-    exclude 'uv/**'
+    if (project.hasProperty('docWarningsAsErrors')) {
+        // C++20 shims
+        exclude 'wpi/ghc/filesystem.hpp'
+        exclude 'wpi/span.h'
 
+        // Drake
+        exclude 'drake/common/**'
+
+        // Eigen
+        exclude 'Eigen/**'
+        exclude 'unsupported/**'
+
+        // LLVM
+        exclude 'wpi/AlignOf.h'
+        exclude 'wpi/Chrono.h'
+        exclude 'wpi/Compiler.h'
+        exclude 'wpi/ConvertUTF.h'
+        exclude 'wpi/DenseMap.h'
+        exclude 'wpi/DenseMapInfo.h'
+        exclude 'wpi/Endian.h'
+        exclude 'wpi/EpochTracker.h'
+        exclude 'wpi/Errc.h'
+        exclude 'wpi/Errno.h'
+        exclude 'wpi/ErrorHandling.h'
+        exclude 'wpi/fs.h'
+        exclude 'wpi/FunctionExtras.h'
+        exclude 'wpi/function_ref.h'
+        exclude 'wpi/Hashing.h'
+        exclude 'wpi/iterator.h'
+        exclude 'wpi/iterator_range.h'
+        exclude 'wpi/ManagedStatic.h'
+        exclude 'wpi/MapVector.h'
+        exclude 'wpi/MathExtras.h'
+        exclude 'wpi/MemAlloc.h'
+        exclude 'wpi/PointerIntPair.h'
+        exclude 'wpi/PointerLikeTypeTraits.h'
+        exclude 'wpi/PointerUnion.h'
+        exclude 'wpi/raw_os_ostream.h'
+        exclude 'wpi/raw_ostream.h'
+        exclude 'wpi/SmallPtrSet.h'
+        exclude 'wpi/SmallSet.h'
+        exclude 'wpi/SmallString.h'
+        exclude 'wpi/SmallVector.h'
+        exclude 'wpi/StringExtras.h'
+        exclude 'wpi/StringMap.h'
+        exclude 'wpi/SwapByteOrder.h'
+        exclude 'wpi/type_traits.h'
+        exclude 'wpi/VersionTuple.h'
+        exclude 'wpi/WindowsError.h'
+
+        // fmtlib
+        exclude 'fmt/**'
+
+        // libuv
+        exclude 'uv.h'
+        exclude 'uv/**'
+        exclude 'wpi/uv/**'
+
+        // json
+        exclude 'wpi/json.h'
+
+        // mpack
+        exclude 'wpi/mpack.h'
+
+        // units
+        exclude 'units/**'
+    }
+
+    case_sense_names false
     extension_mapping 'inc=C++'
+    extract_all true
+    extract_static true
+    full_path_names true
+    generate_html true
+    generate_latex false
+    generate_treeview true
+    html_extra_stylesheet 'theme.css'
+    html_timestamp true
+    javadoc_autobrief true
     project_name 'WPILibC++'
     project_logo '../wpiutil/src/main/native/resources/wpilib-128.png'
     project_number wpilibVersioning.version.get()
-    javadoc_autobrief true
-    recursive true
     quiet true
-    warnings false
-    warn_if_undocumented false
-    generate_latex false
-    use_mathjax true
-    html_timestamp true
-    generate_treeview true
-    extract_static true
-    full_path_names true
+    recursive true
+    strip_code_comments false
     strip_from_inc_path cppIncludeRoots as String[]
     strip_from_path cppIncludeRoots as String[]
+    use_mathjax true
+    warnings false
+    warn_if_incomplete_doc true
+    warn_if_undocumented false
+    warn_no_paramdoc true
+
+    //enable doxygen preprocessor expansion of WPI_DEPRECATED to fix SpeedController docs
+    enable_preprocessing true
+    macro_expansion true
+    expand_only_predef true
+    predefined "WPI_DEPRECATED(x)=[[deprecated(x)]]"
+
+    if (project.hasProperty('docWarningsAsErrors')) {
+        warn_as_error 'FAIL_ON_WARNINGS'
+    }
 }
 
 tasks.register("zipCppDocs", Zip) {
@@ -133,7 +212,7 @@ task generateJavaDocs(type: Javadoc) {
     title = "WPILib API ${wpilibVersioning.version.get()}"
     ext.entryPoint = "$destinationDir/index.html"
 
-    if (JavaVersion.current().isJava8Compatible() && project.hasProperty('buildServer')) {
+    if (JavaVersion.current().isJava8Compatible() && project.hasProperty('docWarningsAsErrors')) {
         // Treat javadoc warnings as errors.
         //
         // The second argument '-quiet' is a hack. The one paramater

fieldImages/CMakeLists.txt

@@ -0,0 +1,37 @@
+project(fieldImages)
+
+include(CompileWarnings)
+include(GenResources)
+
+if (WITH_JAVA)
+    find_package(Java REQUIRED)
+    include(UseJava)
+
+    file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
+    file(GLOB_RECURSE JAVA_RESOURCES src/main/native/resources/*.json src/main/native/resources/*.png src/main/native/resources/*.jpg)
+    add_jar(field_images_jar SOURCES ${JAVA_SOURCES} RESOURCES NAMESPACE "edu/wpi/first/fields" ${JAVA_RESOURCES} OUTPUT_NAME fieldImages)
+
+    get_property(FIELD_IMAGES_JAR_FILE TARGET field_images_jar PROPERTY JAR_FILE)
+    install(FILES ${FIELD_IMAGES_JAR_FILE} DESTINATION "${java_lib_dest}")
+
+    set_property(TARGET field_images_jar PROPERTY FOLDER "java")
+
+endif()
+
+
+GENERATE_RESOURCES(src/main/native/resources/edu/wpi/first/fields generated/main/cpp FIELDS fields field_images_resources_src)
+
+
+add_library(fieldImages ${field_images_resources_src})
+set_target_properties(fieldImages PROPERTIES DEBUG_POSTFIX "d")
+
+set_property(TARGET fieldImages PROPERTY FOLDER "libraries")
+target_compile_features(fieldImages PUBLIC cxx_std_17)
+if (MSVC)
+    target_compile_options(fieldImages PUBLIC /bigobj)
+endif()
+wpilib_target_warnings(fieldImages)
+
+target_include_directories(fieldImages PUBLIC
+                            $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
+                            $<INSTALL_INTERFACE:${include_dest}/fields>)

fieldImages/build.gradle

@@ -0,0 +1,66 @@
+import org.gradle.internal.os.OperatingSystem
+
+if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
+
+    apply plugin: 'cpp'
+    apply plugin: 'c'
+    apply plugin: 'java'
+    apply plugin: 'google-test-test-suite'
+    apply plugin: 'visual-studio'
+    apply plugin: 'edu.wpi.first.NativeUtils'
+
+    if (OperatingSystem.current().isWindows()) {
+        apply plugin: 'windows-resources'
+    }
+
+    ext {
+        nativeName = 'fieldImages'
+    }
+
+    apply from: "${rootDir}/shared/resources.gradle"
+    apply from: "${rootDir}/shared/config.gradle"
+
+    def generateTask = createGenerateResourcesTask('main', 'FIELDS', 'fields', project)
+
+    project(':').libraryBuild.dependsOn build
+    tasks.withType(CppCompile) {
+        dependsOn generateTask
+    }
+
+    sourceSets {
+        main {
+            resources {
+                srcDirs 'src/main/native/resources'
+            }
+        }
+    }
+
+    model {
+        components {
+            "${nativeName}"(NativeLibrarySpec) {
+                baseName = 'fieldImages'
+                sources {
+                    cpp {
+                        source {
+                            srcDirs "$buildDir/generated/main/cpp"
+                            include '**/*.cpp'
+                        }
+                        exportedHeaders {
+                            srcDirs 'src/main/native/include'
+                        }
+                    }
+                    if (OperatingSystem.current().isWindows()) {
+                        rc {
+                            source {
+                                srcDirs 'src/main/native/win'
+                                include '*.rc'
+                            }
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    apply from: 'publish.gradle'
+}

fieldImages/publish.gradle

@@ -0,0 +1,71 @@
+apply plugin: 'maven-publish'
+
+def baseArtifactId = 'fieldImages'
+def artifactGroupId = 'edu.wpi.first.fieldImages'
+def zipBaseName = '_GROUP_edu_wpi_first_field_images_ID_CLS'
+
+def outputsFolder = file("$project.buildDir/outputs")
+
+task cppSourcesZip(type: Zip) {
+    destinationDirectory = outputsFolder
+    archiveBaseName = zipBaseName
+    classifier = "sources"
+
+    from(licenseFile) {
+        into '/'
+    }
+
+    from('src/main/native/cpp') {
+        into '/'
+    }
+    from("$buildDir/generated/cpp") {
+        into '/'
+    }
+}
+
+task cppHeadersZip(type: Zip) {
+    destinationDirectory = outputsFolder
+    archiveBaseName = zipBaseName
+    classifier = "headers"
+
+    from(licenseFile) {
+        into '/'
+    }
+
+    ext.includeDirs = [
+        project.file('src/main/native/include')
+    ]
+
+    ext.includeDirs.each {
+        from(it) {
+            into '/'
+        }
+    }
+}
+
+build.dependsOn cppHeadersZip
+build.dependsOn cppSourcesZip
+
+addTaskToCopyAllOutputs(cppHeadersZip)
+addTaskToCopyAllOutputs(cppSourcesZip)
+
+model {
+    publishing {
+        def wpilibCTaskList = createComponentZipTasks($.components, ['fieldImages'], zipBaseName, Zip, project, includeStandardZipFormat)
+
+        publications {
+            cpp(MavenPublication) {
+                wpilibCTaskList.each {
+                    artifact it
+                }
+
+                artifact cppHeadersZip
+                artifact cppSourcesZip
+
+                artifactId = baseArtifactId
+                groupId artifactGroupId
+                version wpilibVersioning.version.get()
+            }
+        }
+    }
+}

fieldImages/src/main/java/edu/wpi/fields/FieldImages.java

@@ -0,0 +1,23 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.fields;
+
+public class FieldImages {
+  public static final String k2018PowerUpFieldConfig = "/edu/wpi/first/fields/2018-powerup.json";
+  public static final String k2019DeepSpaceFieldConfig =
+      "/edu/wpi/first/fields/2019-deepspace.json";
+  public static final String k2020InfiniteRechargeFieldConfig =
+      "/edu/wpi/first/fields/2020-infiniterecharge.json";
+  public static final String k2021InfiniteRechargeFieldConfig =
+      "/edu/wpi/first/fields/2021-infiniterecharge.json";
+  public static final String k2021BarrelFieldConfig =
+      "/edu/wpi/first/fields/2021-barrelracingpath.json";
+  public static final String k2021BounceFieldConfig = "/edu/wpi/first/fields/2021-bouncepath.json";
+  public static final String k2021GalacticSearchAFieldConfig =
+      "/edu/wpi/first/fields/2021-galacticsearcha.json";
+  public static final String k2021GalacticSearchBFieldConfig =
+      "/edu/wpi/first/fields/2021-galacticsearchb.json";
+  public static final String k2021SlalomFieldConfig = "/edu/wpi/first/fields/2021-slalompath.json";
+}

fieldImages/src/main/native/include/fields/2018-powerup.h

@@ -4,12 +4,9 @@
 
 #pragma once
 
-#include <frc/commands/CommandGroup.h>
+#include <string_view>
 
-/**
- * Get the robot set to collect balls.
- */
-class Collect : public frc::CommandGroup {
- public:
-  Collect();
-};
+namespace fields {
+std::string_view GetResource_2018_powerup_json();
+std::string_view GetResource_2018_field_jpg();
+}  // namespace fields

fieldImages/src/main/native/include/fields/2019-deepspace.h

@@ -4,12 +4,9 @@
 
 #pragma once
 
-#include <frc/commands/CommandGroup.h>
+#include <string_view>
 
-/**
- * Shoot the ball at the current angle.
- */
-class Shoot : public frc::CommandGroup {
- public:
-  Shoot();
-};
+namespace fields {
+std::string_view GetResource_2019_deepspace_json();
+std::string_view GetResource_2019_field_jpg();
+}  // namespace fields

fieldImages/src/main/native/include/fields/2020-infiniterecharge.h

@@ -4,14 +4,9 @@
 
 #pragma once
 
-#include <frc/commands/Command.h>
+#include <string_view>
 
-/**
- * Opens the claw
- */
-class OpenClaw : public frc::Command {
- public:
-  OpenClaw();
-  void Initialize() override;
-  bool IsFinished() override;
-};
+namespace fields {
+std::string_view GetResource_2020_infiniterecharge_json();
+std::string_view GetResource_2020_field_png();
+}  // namespace fields

fieldImages/src/main/native/include/fields/2021-barrel.h

@@ -0,0 +1,12 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <string_view>
+
+namespace fields {
+std::string_view GetResource_2021_barrelracingpath_json();
+std::string_view GetResource_2021_barrel_png();
+}  // namespace fields

fieldImages/src/main/native/include/fields/2021-bounce.h

@@ -4,7 +4,9 @@
 
 #pragma once
 
-class OI {
- public:
-  OI();
-};
+#include <string_view>
+
+namespace fields {
+std::string_view GetResource_2021_bouncepath_json();
+std::string_view GetResource_2021_bounce_png();
+}  // namespace fields

fieldImages/src/main/native/include/fields/2021-galacticsearcha.h

@@ -0,0 +1,12 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <string_view>
+
+namespace fields {
+std::string_view GetResource_2021_galacticsearcha_json();
+std::string_view GetResource_2021_galacticsearcha_png();
+}  // namespace fields

fieldImages/src/main/native/include/fields/2021-galacticsearchb.h

@@ -0,0 +1,12 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <string_view>
+
+namespace fields {
+std::string_view GetResource_2021_galacticsearchb_json();
+std::string_view GetResource_2021_galacticsearchb_png();
+}  // namespace fields

fieldImages/src/main/native/include/fields/2021-infiniterecharge.h

@@ -0,0 +1,12 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <string_view>
+
+namespace fields {
+std::string_view GetResource_2021_field_png();
+std::string_view GetResource_2021_infiniterecharge_json();
+}  // namespace fields

fieldImages/src/main/native/include/fields/2021-slalom.h

@@ -0,0 +1,12 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <string_view>
+
+namespace fields {
+std::string_view GetResource_2021_slalompath_json();
+std::string_view GetResource_2021_slalom_png();
+}  // namespace fields

fieldImages/src/main/native/resources/edu/wpi/first/fields/2018-powerup.json

@@ -0,0 +1,10 @@
+{
+  "game": "FIRST Power Up",
+  "field-image": "2018-field.jpg",
+  "field-corners": {
+    "top-left": [125, 20],
+    "bottom-right": [827, 370]
+  },
+  "field-size": [54, 27],
+  "field-unit": "feet"
+}

fieldImages/src/main/native/resources/edu/wpi/first/fields/2019-deepspace.json

@@ -0,0 +1,10 @@
+{
+"game" : "Destination: Deep Space",
+"field-image" : "2019-field.jpg",
+"field-corners": {
+	"top-left" : [217, 40],
+	"bottom-right" : [1372, 615]
+},
+"field-size" : [54, 27],
+"field-unit" : "foot"
+}

fieldImages/src/main/native/resources/edu/wpi/first/fields/2020-infiniterecharge.json

@@ -0,0 +1,10 @@
+{
+    "game" : "Infinite Recharge",
+    "field-image" : "2020-field.png",
+    "field-corners": {
+        "top-left" : [96, 25],
+        "bottom-right" : [1040, 514]
+    },
+    "field-size" : [52.4375, 26.9375],
+    "field-unit" : "foot"
+    }

fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-barrelracingpath.json

@@ -0,0 +1,10 @@
+{
+    "game": "Barrel Racing Path",
+    "field-image": "2021-barrel.png",
+    "field-corners": {
+      "top-left": [20, 20],
+      "bottom-right": [780, 400]
+    },
+    "field-size": [30, 15],
+    "field-unit": "feet"
+  }

fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-bouncepath.json

@@ -0,0 +1,10 @@
+{
+    "game": "Bounce Path",
+    "field-image": "2021-bounce.png",
+    "field-corners": {
+      "top-left": [20, 20],
+      "bottom-right": [780, 400]
+    },
+    "field-size": [30, 15],
+    "field-unit": "feet"
+  }

fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-galacticsearcha.json

@@ -0,0 +1,10 @@
+{
+    "game": "Galactic Search A",
+    "field-image": "2021-galacticsearcha.png",
+    "field-corners": {
+      "top-left": [20, 20],
+      "bottom-right": [780, 400]
+    },
+    "field-size": [30, 15],
+    "field-unit": "feet"
+  }

fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-galacticsearchb.json

@@ -0,0 +1,10 @@
+{
+    "game": "Galactic Search B",
+    "field-image": "2021-galacticsearchb.png",
+    "field-corners": {
+      "top-left": [20, 20],
+      "bottom-right": [780, 400]
+    },
+    "field-size": [30, 15],
+    "field-unit": "feet"
+  }

fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-infiniterecharge.json

@@ -0,0 +1,10 @@
+{
+    "game": "Infinite Recharge 2021",
+    "field-image": "2021-field.png",
+    "field-corners": {
+      "top-left": [127, 34],
+      "bottom-right": [1323, 649]
+    },
+    "field-size": [52.4375, 26.9375],
+    "field-unit": "foot"
+  }

fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-slalompath.json

@@ -0,0 +1,10 @@
+{
+    "game": "Slalom Path",
+    "field-image": "2021-slalom.png",
+    "field-corners": {
+      "top-left": [20, 20],
+      "bottom-right": [780, 400]
+    },
+    "field-size": [30, 15],
+    "field-unit": "feet"
+  }

glass/src/lib/native/cpp/other/Field2D.cpp

@@ -261,17 +261,17 @@ static DisplayUnits gDisplayUnits = kDisplayMeters;
 static double ConvertDisplayLength(units::meter_t v) {
   switch (gDisplayUnits) {
     case kDisplayFeet:
-      return v.convert<units::feet>().to<double>();
+      return v.convert<units::feet>().value();
     case kDisplayInches:
-      return v.convert<units::inches>().to<double>();
+      return v.convert<units::inches>().value();
     case kDisplayMeters:
     default:
-      return v.to<double>();
+      return v.value();
   }
 }
 
 static double ConvertDisplayAngle(units::degree_t v) {
-  return v.to<double>();
+  return v.value();
 }
 
 static bool InputLength(const char* label, units::meter_t* v, double step = 0.0,

glass/src/lib/native/include/glass/hardware/RoboRio.h

@@ -32,10 +32,12 @@ class RoboRioModel : public Model {
   virtual DataSource* GetUserButton() = 0;
   virtual DataSource* GetVInVoltageData() = 0;
   virtual DataSource* GetVInCurrentData() = 0;
+  virtual DataSource* GetBrownoutVoltage() = 0;
 
   virtual void SetUserButton(bool val) = 0;
   virtual void SetVInVoltage(double val) = 0;
   virtual void SetVInCurrent(double val) = 0;
+  virtual void SetBrownoutVoltage(double val) = 0;
 };
 
 void DisplayRoboRio(RoboRioModel* model);

glass/src/libnt/native/cpp/NTField2D.cpp

@@ -94,9 +94,9 @@ void NTField2DModel::ObjectModel::UpdateNT() {
     wpi::SmallVector<double, 9> arr;
     for (auto&& pose : m_poses) {
       auto& translation = pose.Translation();
-      arr.push_back(translation.X().to<double>());
-      arr.push_back(translation.Y().to<double>());
-      arr.push_back(pose.Rotation().Degrees().to<double>());
+      arr.push_back(translation.X().value());
+      arr.push_back(translation.Y().value());
+      arr.push_back(pose.Rotation().Degrees().value());
     }
     nt::SetEntryTypeValue(m_entry, nt::Value::MakeDoubleArray(arr));
   } else {
@@ -107,13 +107,13 @@ void NTField2DModel::ObjectModel::UpdateNT() {
     for (auto&& pose : m_poses) {
       auto& translation = pose.Translation();
       wpi::support::endian::write64be(
-          p, wpi::DoubleToBits(translation.X().to<double>()));
+          p, wpi::DoubleToBits(translation.X().value()));
       p += 8;
       wpi::support::endian::write64be(
-          p, wpi::DoubleToBits(translation.Y().to<double>()));
+          p, wpi::DoubleToBits(translation.Y().value()));
       p += 8;
       wpi::support::endian::write64be(
-          p, wpi::DoubleToBits(pose.Rotation().Degrees().to<double>()));
+          p, wpi::DoubleToBits(pose.Rotation().Degrees().value()));
       p += 8;
     }
     nt::SetEntryTypeValue(m_entry,

glass/src/libnt/native/cpp/NTSpeedController.cpp

@@ -17,7 +17,7 @@ NTSpeedControllerModel::NTSpeedControllerModel(NT_Inst instance,
     : m_nt(instance),
       m_value(m_nt.GetEntry(fmt::format("{}/Value", path))),
       m_name(m_nt.GetEntry(fmt::format("{}/.name", path))),
-      m_controllable(m_nt.GetEntry(fmt::format("{}/.controllable"))),
+      m_controllable(m_nt.GetEntry(fmt::format("{}/.controllable", path))),
       m_valueData(fmt::format("NT_SpdCtrl:{}", path)),
       m_nameValue(wpi::rsplit(path, '/').second) {
   m_nt.AddListener(m_value);

hal/src/main/java/edu/wpi/first/hal/PortsJNI.java

@@ -45,4 +45,8 @@ public class PortsJNI extends JNIWrapper {
   public static native int getNumREVPDHModules();
 
   public static native int getNumREVPDHChannels();
+
+  public static native int getNumREVPHModules();
+
+  public static native int getNumREVPHChannels();
 }

hal/src/main/java/edu/wpi/first/hal/PowerDistributionJNI.java

@@ -46,4 +46,14 @@ public class PowerDistributionJNI extends JNIWrapper {
   public static native boolean getSwitchableChannel(int handle);
 
   public static native void setSwitchableChannel(int handle, boolean enabled);
+
+  public static native double getVoltageNoError(int handle);
+
+  public static native double getChannelCurrentNoError(int handle, int channel);
+
+  public static native double getTotalCurrentNoError(int handle);
+
+  public static native boolean getSwitchableChannelNoError(int handle);
+
+  public static native void setSwitchableChannelNoError(int handle, boolean enabled);
 }

hal/src/main/java/edu/wpi/first/hal/PowerJNI.java

@@ -32,4 +32,8 @@ public class PowerJNI extends JNIWrapper {
   public static native boolean getUserActive3V3();
 
   public static native int getUserCurrentFaults3V3();
+
+  public static native void setBrownoutVoltage(double voltage);
+
+  public static native double getBrownoutVoltage();
 }

hal/src/main/java/edu/wpi/first/hal/REVPHJNI.java

@@ -0,0 +1,32 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.hal;
+
+@SuppressWarnings("AbbreviationAsWordInName")
+public class REVPHJNI extends JNIWrapper {
+  public static native int initialize(int module);
+
+  public static native void free(int handle);
+
+  public static native boolean checkSolenoidChannel(int channel);
+
+  public static native boolean getCompressor(int handle);
+
+  public static native void setClosedLoopControl(int handle, boolean enabled);
+
+  public static native boolean getClosedLoopControl(int handle);
+
+  public static native boolean getPressureSwitch(int handle);
+
+  public static native double getAnalogPressure(int handle, int channel);
+
+  public static native double getCompressorCurrent(int handle);
+
+  public static native int getSolenoids(int handle);
+
+  public static native void setSolenoids(int handle, int mask, int values);
+
+  public static native void fireOneShot(int handle, int index, int durMs);
+}

hal/src/main/java/edu/wpi/first/hal/simulation/REVPHDataJNI.java

@@ -0,0 +1,72 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.hal.simulation;
+
+import edu.wpi.first.hal.JNIWrapper;
+
+@SuppressWarnings("AbbreviationAsWordInName")
+public class REVPHDataJNI extends JNIWrapper {
+  public static native int registerInitializedCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
+  public static native void cancelInitializedCallback(int index, int uid);
+
+  public static native boolean getInitialized(int index);
+
+  public static native void setInitialized(int index, boolean initialized);
+
+  public static native int registerSolenoidOutputCallback(
+      int index, int channel, NotifyCallback callback, boolean initialNotify);
+
+  public static native void cancelSolenoidOutputCallback(int index, int channel, int uid);
+
+  public static native boolean getSolenoidOutput(int index, int channel);
+
+  public static native void setSolenoidOutput(int index, int channel, boolean solenoidOutput);
+
+  public static native int registerCompressorOnCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
+  public static native void cancelCompressorOnCallback(int index, int uid);
+
+  public static native boolean getCompressorOn(int index);
+
+  public static native void setCompressorOn(int index, boolean compressorOn);
+
+  public static native int registerClosedLoopEnabledCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
+  public static native void cancelClosedLoopEnabledCallback(int index, int uid);
+
+  public static native boolean getClosedLoopEnabled(int index);
+
+  public static native void setClosedLoopEnabled(int index, boolean closeLoopEnabled);
+
+  public static native int registerPressureSwitchCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
+  public static native void cancelPressureSwitchCallback(int index, int uid);
+
+  public static native boolean getPressureSwitch(int index);
+
+  public static native void setPressureSwitch(int index, boolean pressureSwitch);
+
+  public static native int registerCompressorCurrentCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
+  public static native void cancelCompressorCurrentCallback(int index, int uid);
+
+  public static native double getCompressorCurrent(int index);
+
+  public static native void setCompressorCurrent(int index, double compressorCurrent);
+
+  public static native void registerAllNonSolenoidCallbacks(
+      int index, NotifyCallback callback, boolean initialNotify);
+
+  public static native void registerAllSolenoidCallbacks(
+      int index, int channel, NotifyCallback callback, boolean initialNotify);
+
+  public static native void resetData(int index);
+}

hal/src/main/java/edu/wpi/first/hal/simulation/RoboRioDataJNI.java

@@ -146,5 +146,14 @@ public class RoboRioDataJNI extends JNIWrapper {
 
   public static native void setUserFaults3V3(int userFaults3V3);
 
+  public static native int registerBrownoutVoltageCallback(
+      NotifyCallback callback, boolean initialNotify);
+
+  public static native void cancelBrownoutVoltageCallback(int uid);
+
+  public static native double getBrownoutVoltage();
+
+  public static native void setBrownoutVoltage(double brownoutVoltage);
+
   public static native void resetData();
 }

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

@@ -44,7 +44,7 @@ int32_t HAL_GetPDPModuleNumber(HAL_PDPHandle handle, int32_t* status);
  * Checks if a PDP channel is valid.
  *
  * @param channel the channel to check
- * @return        true if the channel is valid, otherwise false
+ * @return true if the channel is valid, otherwise false
  */
 HAL_Bool HAL_CheckPDPChannel(int32_t channel);
 
@@ -52,7 +52,7 @@ HAL_Bool HAL_CheckPDPChannel(int32_t channel);
  * Checks if a PDP module is valid.
  *
  * @param channel the module to check
- * @return        true if the module is valid, otherwise false
+ * @return true if the module is valid, otherwise false
  */
 HAL_Bool HAL_CheckPDPModule(int32_t module);
 
@@ -60,7 +60,7 @@ HAL_Bool HAL_CheckPDPModule(int32_t module);
  * Gets the temperature of the PDP.
  *
  * @param handle the module handle
- * @return       the module temperature (celsius)
+ * @return the module temperature (celsius)
  */
 double HAL_GetPDPTemperature(HAL_PDPHandle handle, int32_t* status);
 
@@ -68,7 +68,7 @@ double HAL_GetPDPTemperature(HAL_PDPHandle handle, int32_t* status);
  * Gets the PDP input voltage.
  *
  * @param handle the module handle
- * @return       the input voltage (volts)
+ * @return the input voltage (volts)
  */
 double HAL_GetPDPVoltage(HAL_PDPHandle handle, int32_t* status);
 
@@ -77,7 +77,7 @@ double HAL_GetPDPVoltage(HAL_PDPHandle handle, int32_t* status);
  *
  * @param module  the module
  * @param channel the channel
- * @return        the channel current (amps)
+ * @return the channel current (amps)
  */
 double HAL_GetPDPChannelCurrent(HAL_PDPHandle handle, int32_t channel,
                                 int32_t* status);
@@ -97,7 +97,7 @@ void HAL_GetPDPAllChannelCurrents(HAL_PDPHandle handle, double* currents,
  * Gets the total current of the PDP.
  *
  * @param handle the module handle
- * @return       the total current (amps)
+ * @return the total current (amps)
  */
 double HAL_GetPDPTotalCurrent(HAL_PDPHandle handle, int32_t* status);
 
@@ -105,7 +105,7 @@ double HAL_GetPDPTotalCurrent(HAL_PDPHandle handle, int32_t* status);
  * Gets the total power of the PDP.
  *
  * @param handle the module handle
- * @return       the total power (watts)
+ * @return the total power (watts)
  */
 double HAL_GetPDPTotalPower(HAL_PDPHandle handle, int32_t* status);
 
@@ -113,7 +113,7 @@ double HAL_GetPDPTotalPower(HAL_PDPHandle handle, int32_t* status);
  * Gets the total energy of the PDP.
  *
  * @param handle the module handle
- * @return       the total energy (joules)
+ * @return the total energy (joules)
  */
 double HAL_GetPDPTotalEnergy(HAL_PDPHandle handle, int32_t* status);
 

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

@@ -69,15 +69,15 @@ static int32_t HAL_GetJoystickButtonsInternal(int32_t joystickNum,
       joystickNum, &buttons->buttons, &buttons->count);
 }
 /**
- * Retrieve the Joystick Descriptor for particular slot
- * @param desc [out] descriptor (data transfer object) to fill in.  desc is
- * filled in regardless of success. In other words, if descriptor is not
- * available, desc is filled in with default values matching the init-values in
- * Java and C++ Driverstation for when caller requests a too-large joystick
- * index.
+ * Retrieve the Joystick Descriptor for particular slot.
  *
+ * @param[out] desc descriptor (data transfer object) to fill in. desc is filled
+ *                  in regardless of success. In other words, if descriptor is
+ *                  not available, desc is filled in with default values
+ *                  matching the init-values in Java and C++ Driverstation for
+ *                  when caller requests a too-large joystick index.
  * @return error code reported from Network Comm back-end.  Zero is good,
- * nonzero is bad.
+ *         nonzero is bad.
  */
 static int32_t HAL_GetJoystickDescriptorInternal(int32_t joystickNum,
                                                  HAL_JoystickDescriptor* desc) {

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

@@ -34,6 +34,7 @@ using namespace hal;
 
 static std::unique_ptr<tGlobal> global;
 static std::unique_ptr<tSysWatchdog> watchdog;
+static uint64_t dsStartTime;
 
 using namespace hal;
 
@@ -41,6 +42,7 @@ namespace hal {
 namespace init {
 void InitializeHAL() {
   InitializeCTREPCM();
+  InitializeREVPH();
   InitializeAddressableLED();
   InitializeAccelerometer();
   InitializeAnalogAccumulator();
@@ -85,6 +87,11 @@ void ReleaseFPGAInterrupt(int32_t interruptNumber) {
                                     &status);
   global->strobeInterruptForceOnce(&status);
 }
+
+uint64_t GetDSInitializeTime() {
+  return dsStartTime;
+}
+
 }  // namespace hal
 
 extern "C" {
@@ -226,6 +233,8 @@ const char* HAL_GetErrorMessage(int32_t code) {
       return HAL_INVALID_DMA_ADDITION_MESSAGE;
     case HAL_USE_LAST_ERROR:
       return HAL_USE_LAST_ERROR_MESSAGE;
+    case HAL_CONSOLE_OUT_ENABLED_ERROR:
+      return HAL_CONSOLE_OUT_ENABLED_ERROR_MESSAGE;
     default:
       return "Unknown error status";
   }
@@ -277,10 +286,10 @@ uint64_t HAL_GetFPGATime(int32_t* status) {
   return (upper2 << 32) + lower;
 }
 
-uint64_t HAL_ExpandFPGATime(uint32_t unexpanded_lower, int32_t* status) {
+uint64_t HAL_ExpandFPGATime(uint32_t unexpandedLower, int32_t* status) {
   // Capture the current FPGA time.  This will give us the upper half of the
   // clock.
-  uint64_t fpga_time = HAL_GetFPGATime(status);
+  uint64_t fpgaTime = HAL_GetFPGATime(status);
   if (*status != 0) {
     return 0;
   }
@@ -290,15 +299,15 @@ uint64_t HAL_ExpandFPGATime(uint32_t unexpanded_lower, int32_t* status) {
   // be.
 
   // Break it into lower and upper portions.
-  uint32_t lower = fpga_time & 0xffffffffull;
-  uint64_t upper = (fpga_time >> 32) & 0xffffffff;
+  uint32_t lower = fpgaTime & 0xffffffffull;
+  uint64_t upper = (fpgaTime >> 32) & 0xffffffff;
 
   // The time was sampled *before* the current time, so roll it back.
-  if (lower < unexpanded_lower) {
+  if (lower < unexpandedLower) {
     --upper;
   }
 
-  return (upper << 32) + static_cast<uint64_t>(unexpanded_lower);
+  return (upper << 32) + static_cast<uint64_t>(unexpandedLower);
 }
 
 HAL_Bool HAL_GetFPGAButton(int32_t* status) {
@@ -417,6 +426,11 @@ HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
 
   HAL_InitializeDriverStation();
 
+  dsStartTime = HAL_GetFPGATime(&status);
+  if (status != 0) {
+    return false;
+  }
+
   // Set WPI_Now to use FPGA timestamp
   wpi::SetNowImpl([]() -> uint64_t {
     int32_t status = 0;

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

@@ -17,6 +17,7 @@ inline void CheckInit() {
 }
 
 extern void InitializeCTREPCM();
+extern void InitializeREVPH();
 extern void InitializeAccelerometer();
 extern void InitializeAddressableLED();
 extern void InitializeAnalogAccumulator();

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

@@ -17,4 +17,5 @@ void SetLastErrorIndexOutOfRange(int32_t* status, std::string_view message,
 void SetLastErrorPreviouslyAllocated(int32_t* status, std::string_view message,
                                      int32_t channel,
                                      std::string_view previousAllocation);
+uint64_t GetDSInitializeTime();
 }  // namespace hal

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

@@ -98,11 +98,11 @@ HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
 
   if (*status != 0) {
     if (port) {
-      hal::SetLastErrorPreviouslyAllocated(status, "PWM or DIO", channel,
+      hal::SetLastErrorPreviouslyAllocated(status, "PWM or DIO", origChannel,
                                            port->previousAllocation);
     } else {
       hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for PWM", 0,
-                                       kNumPWMChannels, channel);
+                                       kNumPWMChannels, origChannel);
     }
     return HAL_kInvalidHandle;  // failed to allocate. Pass error back.
   }

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

@@ -74,6 +74,12 @@ int32_t HAL_GetNumREVPDHModules(void) {
 int32_t HAL_GetNumREVPDHChannels(void) {
   return kNumREVPDHChannels;
 }
+int32_t HAL_GetNumREVPHModules(void) {
+  return kNumREVPHModules;
+}
+int32_t HAL_GetNumREVPHChannels(void) {
+  return kNumREVPHChannels;
+}
 int32_t HAL_GetNumDutyCycles(void) {
   return kNumDutyCycles;
 }

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

@@ -36,5 +36,7 @@ constexpr int32_t kNumREVPDHModules = 63;
 constexpr int32_t kNumREVPDHChannels = 24;
 constexpr int32_t kNumDutyCycles = tDutyCycle::kNumSystems;
 constexpr int32_t kNumAddressableLEDs = tLED::kNumSystems;
+constexpr int32_t kNumREVPHModules = 63;
+constexpr int32_t kNumREVPHChannels = 16;
 
 }  // namespace hal

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

@@ -103,4 +103,22 @@ int32_t HAL_GetUserCurrentFaults3V3(int32_t* status) {
       power->readFaultCounts_OverCurrentFaultCount3V3(status));
 }
 
+void HAL_SetBrownoutVoltage(double voltage, int32_t* status) {
+  initializePower(status);
+  if (voltage < 0) {
+    voltage = 0;
+  }
+  if (voltage > 50) {
+    voltage = 50;
+  }
+  power->writeBrownoutVoltage250mV(static_cast<unsigned char>(voltage * 4),
+                                   status);
+}
+
+double HAL_GetBrownoutVoltage(int32_t* status) {
+  initializePower(status);
+  auto brownout = power->readBrownoutVoltage250mV(status);
+  return brownout / 4.0;
+}
+
 }  // extern "C"

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

@@ -4,11 +4,14 @@
 
 #include "hal/PowerDistribution.h"
 
+#include <thread>
+
 #include "CTREPDP.h"
 #include "HALInternal.h"
 #include "PortsInternal.h"
 #include "REVPDH.h"
 #include "hal/Errors.h"
+#include "hal/HALBase.h"
 #include "hal/handles/HandlesInternal.h"
 
 using namespace hal;
@@ -19,7 +22,41 @@ HAL_PowerDistributionHandle HAL_InitializePowerDistribution(
     int32_t moduleNumber, HAL_PowerDistributionType type,
     const char* allocationLocation, int32_t* status) {
   if (type == HAL_PowerDistributionType::HAL_PowerDistributionType_kAutomatic) {
-    type = HAL_PowerDistributionType::HAL_PowerDistributionType_kCTRE;
+    if (moduleNumber != HAL_DEFAULT_POWER_DISTRIBUTION_MODULE) {
+      *status = PARAMETER_OUT_OF_RANGE;
+      hal::SetLastError(
+          status, "Automatic PowerDistributionType must have default module");
+      return HAL_kInvalidHandle;
+    }
+
+    uint64_t waitTime = hal::GetDSInitializeTime() + 400000;
+
+    // Ensure we have been alive for long enough to receive a few Power packets.
+    do {
+      uint64_t currentTime = HAL_GetFPGATime(status);
+      if (*status != 0) {
+        return HAL_kInvalidHandle;
+      }
+      if (currentTime >= waitTime) {
+        break;
+      }
+      std::this_thread::sleep_for(
+          std::chrono::microseconds(waitTime - currentTime));
+    } while (true);
+
+    // Try PDP first
+    auto pdpHandle = HAL_InitializePDP(0, allocationLocation, status);
+    if (pdpHandle != HAL_kInvalidHandle) {
+      *status = 0;
+      HAL_GetPDPVoltage(pdpHandle, status);
+      if (*status == 0 || *status == HAL_CAN_TIMEOUT) {
+        return static_cast<HAL_PowerDistributionHandle>(pdpHandle);
+      }
+      HAL_CleanPDP(pdpHandle);
+    }
+    *status = 0;
+    auto pdhHandle = HAL_REV_InitializePDH(1, allocationLocation, status);
+    return static_cast<HAL_PowerDistributionHandle>(pdhHandle);
   }
 
   if (type == HAL_PowerDistributionType::HAL_PowerDistributionType_kCTRE) {
@@ -27,7 +64,7 @@ HAL_PowerDistributionHandle HAL_InitializePowerDistribution(
       moduleNumber = 0;
     }
     return static_cast<HAL_PowerDistributionHandle>(
-        HAL_InitializePDP(moduleNumber, allocationLocation, status));  // TODO
+        HAL_InitializePDP(moduleNumber, allocationLocation, status));
   } else {
     if (moduleNumber == HAL_DEFAULT_POWER_DISTRIBUTION_MODULE) {
       moduleNumber = 1;

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

@@ -30,7 +30,7 @@ extern "C" {
  * Initializes a REV Power Distribution Hub (PDH) device.
  *
  * @param module       the device CAN ID (1 .. 63)
- * @return             the created PDH handle
+ * @return the created PDH handle
  */
 HAL_REVPDHHandle HAL_REV_InitializePDH(int32_t module,
                                        const char* allocationLocation,
@@ -54,7 +54,7 @@ int32_t HAL_REV_GetPDHModuleNumber(HAL_REVPDHHandle handle, int32_t* status);
  * Does not check if a PDH device with this module has been initialized.
  *
  * @param module        module number (1 .. 63)
- * @return              1 if the module number is valid; 0 otherwise
+ * @return 1 if the module number is valid; 0 otherwise
  */
 HAL_Bool HAL_REV_CheckPDHModuleNumber(int32_t module);
 
@@ -62,7 +62,7 @@ HAL_Bool HAL_REV_CheckPDHModuleNumber(int32_t module);
  * Checks if a PDH channel number is valid.
  *
  * @param module        channel number (0 .. HAL_REV_PDH_NUM_CHANNELS)
- * @return              1 if the channel number is valid; 0 otherwise
+ * @return 1 if the channel number is valid; 0 otherwise
  */
 HAL_Bool HAL_REV_CheckPDHChannelNumber(int32_t channel);
 
@@ -73,7 +73,7 @@ HAL_Bool HAL_REV_CheckPDHChannelNumber(int32_t channel);
  * @param channel       the channel to retrieve the current of (0 ..
  * HAL_REV_PDH_NUM_CHANNELS)
  *
- * @return              the current of the PDH channel in Amps
+ * @return the current of the PDH channel in Amps
  */
 double HAL_REV_GetPDHChannelCurrent(HAL_REVPDHHandle handle, int32_t channel,
                                     int32_t* status);
@@ -91,7 +91,7 @@ void HAL_REV_GetPDHAllChannelCurrents(HAL_REVPDHHandle handle, double* currents,
  *
  * @param handle        PDH handle
  *
- * @return              the total current of the PDH in Amps
+ * @return the total current of the PDH in Amps
  */
 uint16_t HAL_REV_GetPDHTotalCurrent(HAL_REVPDHHandle handle, int32_t* status);
 
@@ -112,7 +112,7 @@ void HAL_REV_SetPDHSwitchableChannel(HAL_REVPDHHandle handle, HAL_Bool enabled,
  * fresh as the last packet received.
  *
  * @param handle        PDH handle
- * @return              1 if the switchable channel is enabled; 0 otherwise
+ * @return 1 if the switchable channel is enabled; 0 otherwise
  */
 HAL_Bool HAL_REV_GetPDHSwitchableChannelState(HAL_REVPDHHandle handle,
                                               int32_t* status);
@@ -125,7 +125,7 @@ HAL_Bool HAL_REV_GetPDHSwitchableChannelState(HAL_REVPDHHandle handle,
  * @param handle        PDH handle
  * @param channel       the channel to retrieve the brownout status of
  *
- * @return              1 if the channel is experiencing a brownout; 0 otherwise
+ * @return 1 if the channel is experiencing a brownout; 0 otherwise
  */
 HAL_Bool HAL_REV_CheckPDHChannelBrownout(HAL_REVPDHHandle handle,
                                          int32_t channel, int32_t* status);
@@ -135,7 +135,7 @@ HAL_Bool HAL_REV_CheckPDHChannelBrownout(HAL_REVPDHHandle handle,
  *
  * @param handle        PDH handle
  *
- * @return              the voltage at the input of the PDH in Volts
+ * @return the voltage at the input of the PDH in Volts
  */
 double HAL_REV_GetPDHSupplyVoltage(HAL_REVPDHHandle handle, int32_t* status);
 
@@ -144,7 +144,7 @@ double HAL_REV_GetPDHSupplyVoltage(HAL_REVPDHHandle handle, int32_t* status);
  *
  * @param handle        PDH handle
  *
- * @return              1 if the PDH is enabled; 0 otherwise
+ * @return 1 if the PDH is enabled; 0 otherwise
  */
 HAL_Bool HAL_REV_IsPDHEnabled(HAL_REVPDHHandle handle, int32_t* status);
 
@@ -156,7 +156,7 @@ HAL_Bool HAL_REV_IsPDHEnabled(HAL_REVPDHHandle handle, int32_t* status);
  *
  * @param handle        PDH handle
  *
- * @return              1 if the PDH is experiencing a brownout; 0 otherwise
+ * @return 1 if the PDH is experiencing a brownout; 0 otherwise
  */
 HAL_Bool HAL_REV_CheckPDHBrownout(HAL_REVPDHHandle handle, int32_t* status);
 
@@ -168,7 +168,7 @@ HAL_Bool HAL_REV_CheckPDHBrownout(HAL_REVPDHHandle handle, int32_t* status);
  *
  * @param handle        PDH handle
  *
- * @return              1 if the device has exceeded the warning threshold; 0
+ * @return 1 if the device has exceeded the warning threshold; 0
  * otherwise
  */
 HAL_Bool HAL_REV_CheckPDHCANWarning(HAL_REVPDHHandle handle, int32_t* status);
@@ -180,7 +180,7 @@ HAL_Bool HAL_REV_CheckPDHCANWarning(HAL_REVPDHHandle handle, int32_t* status);
  *
  * @param handle        PDH handle
  *
- * @return              1 if the device is in a hardware fault state; 0
+ * @return 1 if the device is in a hardware fault state; 0
  * otherwise
  */
 HAL_Bool HAL_REV_CheckPDHHardwareFault(HAL_REVPDHHandle handle,
@@ -194,7 +194,7 @@ HAL_Bool HAL_REV_CheckPDHHardwareFault(HAL_REVPDHHandle handle,
  *
  * @param handle        PDH handle
  *
- * @return              1 if the device has had a brownout; 0 otherwise
+ * @return 1 if the device has had a brownout; 0 otherwise
  */
 HAL_Bool HAL_REV_CheckPDHStickyBrownout(HAL_REVPDHHandle handle,
                                         int32_t* status);
@@ -207,7 +207,7 @@ HAL_Bool HAL_REV_CheckPDHStickyBrownout(HAL_REVPDHHandle handle,
  *
  * @param handle        PDH handle
  *
- * @return              1 if the device has exceeded the CAN warning threshold;
+ * @return 1 if the device has exceeded the CAN warning threshold;
  * 0 otherwise
  */
 HAL_Bool HAL_REV_CheckPDHStickyCANWarning(HAL_REVPDHHandle handle,
@@ -221,7 +221,7 @@ HAL_Bool HAL_REV_CheckPDHStickyCANWarning(HAL_REVPDHHandle handle,
  *
  * @param handle        PDH handle
  *
- * @return              1 if the device has experienced a 'Bus Off' event; 0
+ * @return 1 if the device has experienced a 'Bus Off' event; 0
  * otherwise
  */
 HAL_Bool HAL_REV_CheckPDHStickyCANBusOff(HAL_REVPDHHandle handle,
@@ -234,7 +234,7 @@ HAL_Bool HAL_REV_CheckPDHStickyCANBusOff(HAL_REVPDHHandle handle,
  *
  * @param handle        PDH handle
  *
- * @return              1 if the device has had a malfunction; 0 otherwise
+ * @return 1 if the device has had a malfunction; 0 otherwise
  */
 HAL_Bool HAL_REV_CheckPDHStickyHardwareFault(HAL_REVPDHHandle handle,
                                              int32_t* status);
@@ -247,7 +247,7 @@ HAL_Bool HAL_REV_CheckPDHStickyHardwareFault(HAL_REVPDHHandle handle,
  *
  * @param handle        PDH handle
  *
- * @return              1 if the device has had a malfunction and reset; 0
+ * @return 1 if the device has had a malfunction and reset; 0
  * otherwise
  */
 HAL_Bool HAL_REV_CheckPDHStickyFirmwareFault(HAL_REVPDHHandle handle,
@@ -264,7 +264,7 @@ HAL_Bool HAL_REV_CheckPDHStickyFirmwareFault(HAL_REVPDHHandle handle,
  * 23)
  *
  *
- * @return              1 if the channel has had a brownout; 0 otherwise
+ * @return 1 if the channel has had a brownout; 0 otherwise
  */
 HAL_Bool HAL_REV_CheckPDHStickyChannelBrownout(HAL_REVPDHHandle handle,
                                                int32_t channel,
@@ -277,7 +277,7 @@ HAL_Bool HAL_REV_CheckPDHStickyChannelBrownout(HAL_REVPDHHandle handle,
  *
  * @param handle        PDH handle
  *
- * @return              1 if the device has reset; 0 otherwise
+ * @return 1 if the device has reset; 0 otherwise
  */
 HAL_Bool HAL_REV_CheckPDHStickyHasReset(HAL_REVPDHHandle handle,
                                         int32_t* status);
@@ -287,7 +287,7 @@ HAL_Bool HAL_REV_CheckPDHStickyHasReset(HAL_REVPDHHandle handle,
  *
  * @param handle        PDH handle
  *
- * @return              version information
+ * @return version information
  */
 REV_PDH_Version HAL_REV_GetPDHVersion(HAL_REVPDHHandle handle, int32_t* status);
 

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

@@ -0,0 +1,480 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "hal/REVPH.h"
+
+#include <fmt/format.h>
+
+#include "HALInitializer.h"
+#include "HALInternal.h"
+#include "PortsInternal.h"
+#include "hal/CANAPI.h"
+#include "hal/Errors.h"
+#include "hal/handles/IndexedHandleResource.h"
+#include "rev/PHFrames.h"
+
+using namespace hal;
+
+static constexpr HAL_CANManufacturer manufacturer =
+    HAL_CANManufacturer::HAL_CAN_Man_kREV;
+
+static constexpr HAL_CANDeviceType deviceType =
+    HAL_CANDeviceType::HAL_CAN_Dev_kPneumatics;
+
+static constexpr int32_t kDefaultControlPeriod = 20;
+// static constexpr uint8_t kDefaultSensorMask = (1 <<
+// HAL_REV_PHSENSOR_DIGITAL);
+static constexpr uint8_t kDefaultCompressorDuty = 255;
+static constexpr uint8_t kDefaultPressureTarget = 120;
+static constexpr uint8_t kDefaultPressureHysteresis = 60;
+
+#define HAL_REV_MAX_PULSE_TIME 65534
+#define HAL_REV_MAX_PRESSURE_TARGET 120
+#define HAL_REV_MAX_PRESSURE_HYSTERESIS HAL_REV_MAX_PRESSURE_TARGET
+
+static constexpr uint32_t APIFromExtId(uint32_t extId) {
+  return (extId >> 6) & 0x3FF;
+}
+
+static constexpr uint32_t PH_SET_ALL_FRAME_API =
+    APIFromExtId(PH_SET_ALL_FRAME_ID);
+static constexpr uint32_t PH_PULSE_ONCE_FRAME_API =
+    APIFromExtId(PH_PULSE_ONCE_FRAME_ID);
+static constexpr uint32_t PH_STATUS0_FRAME_API =
+    APIFromExtId(PH_STATUS0_FRAME_ID);
+static constexpr uint32_t PH_STATUS1_FRAME_API =
+    APIFromExtId(PH_STATUS1_FRAME_ID);
+
+static constexpr int32_t kPHFrameStatus0Timeout = 50;
+static constexpr int32_t kPHFrameStatus1Timeout = 50;
+
+namespace {
+
+struct REV_PHObj {
+  int32_t controlPeriod;
+  PH_set_all_t desiredSolenoidsState;
+  wpi::mutex solenoidLock;
+  HAL_CANHandle hcan;
+  std::string previousAllocation;
+};
+
+}  // namespace
+
+static IndexedHandleResource<HAL_REVPHHandle, REV_PHObj, 63,
+                             HAL_HandleEnum::REVPH>* REVPHHandles;
+
+namespace hal::init {
+void InitializeREVPH() {
+  static IndexedHandleResource<HAL_REVPHHandle, REV_PHObj, kNumREVPHModules,
+                               HAL_HandleEnum::REVPH>
+      rH;
+  REVPHHandles = &rH;
+}
+}  // namespace hal::init
+
+static PH_status0_t HAL_REV_ReadPHStatus0(HAL_CANHandle hcan, int32_t* status) {
+  uint8_t packedData[8] = {0};
+  int32_t length = 0;
+  uint64_t timestamp = 0;
+  PH_status0_t result = {};
+
+  HAL_ReadCANPacketTimeout(hcan, PH_STATUS0_FRAME_API, packedData, &length,
+                           &timestamp, kPHFrameStatus0Timeout * 2, status);
+
+  if (*status != 0) {
+    return result;
+  }
+
+  PH_status0_unpack(&result, packedData, PH_STATUS0_LENGTH);
+
+  return result;
+}
+
+static PH_status1_t HAL_REV_ReadPHStatus1(HAL_CANHandle hcan, int32_t* status) {
+  uint8_t packedData[8] = {0};
+  int32_t length = 0;
+  uint64_t timestamp = 0;
+  PH_status1_t result = {};
+
+  HAL_ReadCANPacketTimeout(hcan, PH_STATUS1_FRAME_API, packedData, &length,
+                           &timestamp, kPHFrameStatus1Timeout * 2, status);
+
+  if (*status != 0) {
+    return result;
+  }
+
+  PH_status1_unpack(&result, packedData, PH_STATUS1_LENGTH);
+
+  return result;
+}
+
+enum REV_SolenoidState {
+  kSolenoidDisabled = 0,
+  kSolenoidEnabled,
+  kSolenoidControlledViaPulse
+};
+
+static void HAL_REV_UpdateDesiredPHSolenoidState(REV_PHObj* hph,
+                                                 int32_t solenoid,
+                                                 REV_SolenoidState state) {
+  switch (solenoid) {
+    case 0:
+      hph->desiredSolenoidsState.channel_0 = state;
+      break;
+    case 1:
+      hph->desiredSolenoidsState.channel_1 = state;
+      break;
+    case 2:
+      hph->desiredSolenoidsState.channel_2 = state;
+      break;
+    case 3:
+      hph->desiredSolenoidsState.channel_3 = state;
+      break;
+    case 4:
+      hph->desiredSolenoidsState.channel_4 = state;
+      break;
+    case 5:
+      hph->desiredSolenoidsState.channel_5 = state;
+      break;
+    case 6:
+      hph->desiredSolenoidsState.channel_6 = state;
+      break;
+    case 7:
+      hph->desiredSolenoidsState.channel_7 = state;
+      break;
+    case 8:
+      hph->desiredSolenoidsState.channel_8 = state;
+      break;
+    case 9:
+      hph->desiredSolenoidsState.channel_9 = state;
+      break;
+    case 10:
+      hph->desiredSolenoidsState.channel_10 = state;
+      break;
+    case 11:
+      hph->desiredSolenoidsState.channel_11 = state;
+      break;
+    case 12:
+      hph->desiredSolenoidsState.channel_12 = state;
+      break;
+    case 13:
+      hph->desiredSolenoidsState.channel_13 = state;
+      break;
+    case 14:
+      hph->desiredSolenoidsState.channel_14 = state;
+      break;
+    case 15:
+      hph->desiredSolenoidsState.channel_15 = state;
+      break;
+  }
+}
+
+static void HAL_REV_SendSolenoidsState(REV_PHObj* hph, int32_t* status) {
+  uint8_t packedData[PH_SET_ALL_LENGTH] = {0};
+  PH_set_all_pack(packedData, &(hph->desiredSolenoidsState), PH_SET_ALL_LENGTH);
+  HAL_WriteCANPacketRepeating(hph->hcan, packedData, PH_SET_ALL_LENGTH,
+                              PH_SET_ALL_FRAME_API, hph->controlPeriod, status);
+}
+
+static HAL_Bool HAL_REV_CheckPHPulseTime(int32_t time) {
+  return ((time > 0) && (time <= HAL_REV_MAX_PULSE_TIME)) ? 1 : 0;
+}
+
+HAL_REVPHHandle HAL_InitializeREVPH(int32_t module,
+                                    const char* allocationLocation,
+                                    int32_t* status) {
+  hal::init::CheckInit();
+  if (!HAL_CheckREVPHModuleNumber(module)) {
+    hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PH", 1,
+                                     kNumREVPHModules, module);
+    return HAL_kInvalidHandle;
+  }
+
+  HAL_REVPHHandle handle;
+  auto hph = REVPHHandles->Allocate(module, &handle, status);
+  if (*status != 0) {
+    if (hph) {
+      hal::SetLastErrorPreviouslyAllocated(status, "REV PH", module,
+                                           hph->previousAllocation);
+    } else {
+      hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PH", 1,
+                                       kNumREVPHModules, module);
+    }
+    return HAL_kInvalidHandle;  // failed to allocate. Pass error back.
+  }
+
+  HAL_CANHandle hcan =
+      HAL_InitializeCAN(manufacturer, module, deviceType, status);
+
+  if (*status != 0) {
+    REVPHHandles->Free(handle);
+    return HAL_kInvalidHandle;
+  }
+
+  hph->previousAllocation = allocationLocation ? allocationLocation : "";
+  hph->hcan = hcan;
+  hph->controlPeriod = kDefaultControlPeriod;
+
+  // Start closed-loop compressor control by starting solenoid state updates
+  HAL_REV_SendSolenoidsState(hph.get(), status);
+
+  return handle;
+}
+
+void HAL_FreeREVPH(HAL_REVPHHandle handle) {
+  auto hph = REVPHHandles->Get(handle);
+  if (hph == nullptr)
+    return;
+
+  HAL_CleanCAN(hph->hcan);
+
+  REVPHHandles->Free(handle);
+}
+
+HAL_Bool HAL_CheckREVPHModuleNumber(int32_t module) {
+  return module >= 1 && module < kNumREVPDHModules;
+}
+
+HAL_Bool HAL_CheckREVPHSolenoidChannel(int32_t channel) {
+  return channel >= 0 && channel < kNumREVPHChannels;
+}
+
+HAL_Bool HAL_GetREVPHCompressor(HAL_REVPHHandle handle, int32_t* status) {
+  auto ph = REVPHHandles->Get(handle);
+  if (ph == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return false;
+  }
+
+  PH_status0_t status0 = HAL_REV_ReadPHStatus0(ph->hcan, status);
+
+  if (*status != 0) {
+    return false;
+  }
+
+  return status0.compressor_on;
+}
+
+void HAL_SetREVPHClosedLoopControl(HAL_REVPHHandle handle, HAL_Bool enabled,
+                                   int32_t* status) {
+  // TODO
+}
+
+HAL_Bool HAL_GetREVPHClosedLoopControl(HAL_REVPHHandle handle,
+                                       int32_t* status) {
+  return false;  // TODO
+}
+
+HAL_Bool HAL_GetREVPHPressureSwitch(HAL_REVPHHandle handle, int32_t* status) {
+  auto ph = REVPHHandles->Get(handle);
+  if (ph == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return false;
+  }
+
+  PH_status0_t status0 = HAL_REV_ReadPHStatus0(ph->hcan, status);
+
+  if (*status != 0) {
+    return false;
+  }
+
+  return status0.digital_sensor;
+}
+
+double HAL_GetREVPHCompressorCurrent(HAL_REVPHHandle handle, int32_t* status) {
+  auto ph = REVPHHandles->Get(handle);
+  if (ph == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return 0;
+  }
+
+  PH_status1_t status1 = HAL_REV_ReadPHStatus1(ph->hcan, status);
+
+  if (*status != 0) {
+    return 0;
+  }
+
+  return PH_status1_compressor_current_decode(status1.compressor_current);
+}
+
+double HAL_GetREVPHAnalogPressure(HAL_REVPHHandle handle, int32_t channel,
+                                  int32_t* status) {
+  auto ph = REVPHHandles->Get(handle);
+  if (ph == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return 0;
+  }
+
+  if (channel < 0 || channel > 1) {
+    *status = PARAMETER_OUT_OF_RANGE;
+    hal::SetLastErrorIndexOutOfRange(status, "Invalid REV Analog Index", 0, 2,
+                                     channel);
+    return 0;
+  }
+
+  PH_status0_t status0 = HAL_REV_ReadPHStatus0(ph->hcan, status);
+
+  if (*status != 0) {
+    return 0;
+  }
+
+  if (channel == 0) {
+    return PH_status0_analog_0_decode(status0.analog_0);
+  }
+  return PH_status0_analog_1_decode(status0.analog_1);
+}
+
+int32_t HAL_GetREVPHSolenoids(HAL_REVPHHandle handle, int32_t* status) {
+  auto ph = REVPHHandles->Get(handle);
+  if (ph == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return 0;
+  }
+
+  PH_status0_t status0 = HAL_REV_ReadPHStatus0(ph->hcan, status);
+
+  if (*status != 0) {
+    return 0;
+  }
+
+  uint32_t result = status0.channel_0;
+  result |= status0.channel_1 << 1;
+  result |= status0.channel_2 << 2;
+  result |= status0.channel_3 << 3;
+  result |= status0.channel_4 << 4;
+  result |= status0.channel_5 << 5;
+  result |= status0.channel_6 << 6;
+  result |= status0.channel_7 << 7;
+  result |= status0.channel_8 << 8;
+  result |= status0.channel_9 << 9;
+  result |= status0.channel_10 << 10;
+  result |= status0.channel_11 << 11;
+  result |= status0.channel_12 << 12;
+  result |= status0.channel_13 << 13;
+  result |= status0.channel_14 << 14;
+  result |= status0.channel_15 << 15;
+
+  return result;
+}
+
+void HAL_SetREVPHSolenoids(HAL_REVPHHandle handle, int32_t mask, int32_t values,
+                           int32_t* status) {
+  auto ph = REVPHHandles->Get(handle);
+  if (ph == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
+  std::scoped_lock lock{ph->solenoidLock};
+  for (int solenoid = 0; solenoid < kNumREVPHChannels; solenoid++) {
+    if (mask & (1 << solenoid)) {
+      // The mask bit for the solenoid is set, so we update the solenoid state
+      REV_SolenoidState desiredSolenoidState =
+          values & (1 << solenoid) ? kSolenoidEnabled : kSolenoidDisabled;
+      HAL_REV_UpdateDesiredPHSolenoidState(ph.get(), solenoid,
+                                           desiredSolenoidState);
+    }
+  }
+  HAL_REV_SendSolenoidsState(ph.get(), status);
+}
+
+void HAL_FireREVPHOneShot(HAL_REVPHHandle handle, int32_t index, int32_t durMs,
+                          int32_t* status) {
+  auto ph = REVPHHandles->Get(handle);
+  if (ph == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
+  if (index >= kNumREVPHChannels || index < 0) {
+    *status = PARAMETER_OUT_OF_RANGE;
+    hal::SetLastError(
+        status,
+        fmt::format("Only [0-15] are valid index values. Requested {}", index));
+    return;
+  }
+
+  if (!HAL_REV_CheckPHPulseTime(durMs)) {
+    *status = PARAMETER_OUT_OF_RANGE;
+    hal::SetLastError(
+        status,
+        fmt::format("Time not within expected range [0-65534]. Requested {}",
+                    durMs));
+    return;
+  }
+
+  {
+    std::scoped_lock lock{ph->solenoidLock};
+    HAL_REV_UpdateDesiredPHSolenoidState(ph.get(), index,
+                                         kSolenoidControlledViaPulse);
+    HAL_REV_SendSolenoidsState(ph.get(), status);
+  }
+
+  if (*status != 0) {
+    return;
+  }
+
+  PH_pulse_once_t pulse = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+  pulse.pulse_length_ms = durMs;
+
+  // Specify which solenoid should be pulsed
+  // The protocol supports specifying any number of solenoids to be pulsed at
+  // the same time, should that functionality be exposed to users in the future.
+  switch (index) {
+    case 0:
+      pulse.channel_0 = true;
+      break;
+    case 1:
+      pulse.channel_1 = true;
+      break;
+    case 2:
+      pulse.channel_2 = true;
+      break;
+    case 3:
+      pulse.channel_3 = true;
+      break;
+    case 4:
+      pulse.channel_4 = true;
+      break;
+    case 5:
+      pulse.channel_5 = true;
+      break;
+    case 6:
+      pulse.channel_6 = true;
+      break;
+    case 7:
+      pulse.channel_7 = true;
+      break;
+    case 8:
+      pulse.channel_8 = true;
+      break;
+    case 9:
+      pulse.channel_9 = true;
+      break;
+    case 10:
+      pulse.channel_10 = true;
+      break;
+    case 11:
+      pulse.channel_11 = true;
+      break;
+    case 12:
+      pulse.channel_12 = true;
+      break;
+    case 13:
+      pulse.channel_13 = true;
+      break;
+    case 14:
+      pulse.channel_14 = true;
+      break;
+    case 15:
+      pulse.channel_15 = true;
+      break;
+  }
+
+  // Send pulse command
+  uint8_t packedData[PH_PULSE_ONCE_LENGTH] = {0};
+  PH_pulse_once_pack(packedData, &pulse, PH_PULSE_ONCE_LENGTH);
+  HAL_WriteCANPacket(ph->hcan, packedData, PH_PULSE_ONCE_LENGTH,
+                     PH_PULSE_ONCE_FRAME_API, status);
+}

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

@@ -83,7 +83,10 @@ HAL_SerialPortHandle HAL_InitializeSerialPortDirect(HAL_SerialPort port,
 
   serialPort->portId = open(portName, O_RDWR | O_NOCTTY);
   if (serialPort->portId < 0) {
-    *status = errno;
+    *status = -errno;
+    if (*status == EACCES) {
+      *status = HAL_CONSOLE_OUT_ENABLED_ERROR;
+    }
     serialPortHandles->Free(handle);
     return HAL_kInvalidHandle;
   }
@@ -91,8 +94,20 @@ HAL_SerialPortHandle HAL_InitializeSerialPortDirect(HAL_SerialPort port,
   std::memset(&serialPort->tty, 0, sizeof(serialPort->tty));
 
   serialPort->baudRate = B9600;
-  cfsetospeed(&serialPort->tty, static_cast<speed_t>(serialPort->baudRate));
-  cfsetispeed(&serialPort->tty, static_cast<speed_t>(serialPort->baudRate));
+  if (cfsetospeed(&serialPort->tty,
+                  static_cast<speed_t>(serialPort->baudRate)) != 0) {
+    *status = -errno;
+    close(serialPort->portId);
+    serialPortHandles->Free(handle);
+    return HAL_kInvalidHandle;
+  }
+  if (cfsetispeed(&serialPort->tty,
+                  static_cast<speed_t>(serialPort->baudRate)) != 0) {
+    *status = -errno;
+    close(serialPort->portId);
+    serialPortHandles->Free(handle);
+    return HAL_kInvalidHandle;
+  }
 
   serialPort->tty.c_cflag &= ~PARENB;
   serialPort->tty.c_cflag &= ~CSTOPB;
@@ -112,9 +127,14 @@ HAL_SerialPortHandle HAL_InitializeSerialPortDirect(HAL_SerialPort port,
    */
   serialPort->tty.c_oflag = ~OPOST;
 
-  tcflush(serialPort->portId, TCIOFLUSH);
+  if (tcflush(serialPort->portId, TCIOFLUSH) != 0) {
+    *status = -errno;
+    close(serialPort->portId);
+    serialPortHandles->Free(handle);
+    return HAL_kInvalidHandle;
+  }
   if (tcsetattr(serialPort->portId, TCSANOW, &serialPort->tty) != 0) {
-    *status = errno;
+    *status = -errno;
     close(serialPort->portId);
     serialPortHandles->Free(handle);
     return HAL_kInvalidHandle;

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

@@ -0,0 +1,37 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "hal/simulation/REVPHData.h"
+
+#include "hal/simulation/SimDataValue.h"
+
+extern "C" {
+void HALSIM_ResetREVPHData(int32_t index) {}
+
+#define DEFINE_CAPI(TYPE, CAPINAME, RETURN) \
+  HAL_SIMDATAVALUE_STUB_CAPI(TYPE, HALSIM, REVPH##CAPINAME, RETURN)
+
+HAL_SIMDATAVALUE_STUB_CAPI_CHANNEL(HAL_Bool, HALSIM, REVPHSolenoidOutput, false)
+DEFINE_CAPI(HAL_Bool, Initialized, false)
+DEFINE_CAPI(HAL_Bool, CompressorOn, false)
+DEFINE_CAPI(HAL_Bool, ClosedLoopEnabled, false)
+DEFINE_CAPI(HAL_Bool, PressureSwitch, false)
+DEFINE_CAPI(double, CompressorCurrent, 0)
+
+void HALSIM_GetREVPHAllSolenoids(int32_t index, uint8_t* values) {
+  *values = 0;
+}
+
+void HALSIM_SetREVPHAllSolenoids(int32_t index, uint8_t values) {}
+
+void HALSIM_RegisterREVPHAllNonSolenoidCallbacks(int32_t index,
+                                                 HAL_NotifyCallback callback,
+                                                 void* param,
+                                                 HAL_Bool initialNotify) {}
+
+void HALSIM_RegisterREVPHAllSolenoidCallbacks(int32_t index, int32_t channel,
+                                              HAL_NotifyCallback callback,
+                                              void* param,
+                                              HAL_Bool initialNotify) {}
+}  // extern "C"

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

@@ -27,6 +27,7 @@ DEFINE_CAPI(HAL_Bool, UserActive3V3, false)
 DEFINE_CAPI(int32_t, UserFaults6V, 0)
 DEFINE_CAPI(int32_t, UserFaults5V, 0)
 DEFINE_CAPI(int32_t, UserFaults3V3, 0)
+DEFINE_CAPI(double, BrownoutVoltage, 6.75)
 
 void HALSIM_RegisterRoboRioAllCallbacks(HAL_NotifyCallback callback,
                                         void* param, HAL_Bool initialNotify) {}

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

@@ -272,4 +272,30 @@ Java_edu_wpi_first_hal_PortsJNI_getNumREVPDHChannels
   jint value = HAL_GetNumREVPDHChannels();
   return value;
 }
+
+/*
+ * Class:     edu_wpi_first_hal_PortsJNI
+ * Method:    getNumREVPHModules
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_PortsJNI_getNumREVPHModules
+  (JNIEnv* env, jclass)
+{
+  jint value = HAL_GetNumREVPHModules();
+  return value;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_PortsJNI
+ * Method:    getNumREVPHChannels
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_PortsJNI_getNumREVPHChannels
+  (JNIEnv* env, jclass)
+{
+  jint value = HAL_GetNumREVPHChannels();
+  return value;
+}
 }  // extern "C"

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

@@ -292,4 +292,74 @@ Java_edu_wpi_first_hal_PowerDistributionJNI_getSwitchableChannel
   return state;
 }
 
+/*
+ * Class:     edu_wpi_first_hal_PowerDistributionJNI
+ * Method:    getVoltageNoError
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_PowerDistributionJNI_getVoltageNoError
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  double voltage = HAL_GetPowerDistributionVoltage(handle, &status);
+  return voltage;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_PowerDistributionJNI
+ * Method:    getChannelCurrentNoError
+ * Signature: (II)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_PowerDistributionJNI_getChannelCurrentNoError
+  (JNIEnv* env, jclass, jint handle, jint channel)
+{
+  int32_t status = 0;
+  double current =
+      HAL_GetPowerDistributionChannelCurrent(handle, channel, &status);
+  return current;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_PowerDistributionJNI
+ * Method:    getTotalCurrentNoError
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_PowerDistributionJNI_getTotalCurrentNoError
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  double current = HAL_GetPowerDistributionTotalCurrent(handle, &status);
+  return current;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_PowerDistributionJNI
+ * Method:    setSwitchableChannelNoError
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_PowerDistributionJNI_setSwitchableChannelNoError
+  (JNIEnv* env, jclass, jint handle, jboolean enabled)
+{
+  int32_t status = 0;
+  HAL_SetPowerDistributionSwitchableChannel(handle, enabled, &status);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_PowerDistributionJNI
+ * Method:    getSwitchableChannelNoError
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_PowerDistributionJNI_getSwitchableChannelNoError
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto state = HAL_GetPowerDistributionSwitchableChannel(handle, &status);
+  return state;
+}
+
 }  // extern "C"

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

@@ -222,4 +222,33 @@ Java_edu_wpi_first_hal_PowerJNI_getUserCurrentFaults3V3
   return val;
 }
 
+/*
+ * Class:     edu_wpi_first_hal_PowerJNI
+ * Method:    setBrownoutVoltage
+ * Signature: (D)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_PowerJNI_setBrownoutVoltage
+  (JNIEnv* env, jclass, jdouble brownoutVoltage)
+{
+  int32_t status = 0;
+  HAL_SetBrownoutVoltage(brownoutVoltage, &status);
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_PowerJNI
+ * Method:    getBrownoutVoltage
+ * Signature: ()D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_PowerJNI_getBrownoutVoltage
+  (JNIEnv* env, jclass)
+{
+  int32_t status = 0;
+  double val = HAL_GetBrownoutVoltage(&status);
+  CheckStatus(env, status);
+  return val;
+}
+
 }  // extern "C"

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

@@ -0,0 +1,191 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include <jni.h>
+
+#include <wpi/jni_util.h>
+
+#include "HALUtil.h"
+#include "edu_wpi_first_hal_REVPHJNI.h"
+#include "hal/Ports.h"
+#include "hal/REVPH.h"
+#include "hal/handles/HandlesInternal.h"
+
+using namespace hal;
+
+extern "C" {
+
+/*
+ * Class:     edu_wpi_first_hal_REVPHJNI
+ * Method:    initialize
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_initialize
+  (JNIEnv* env, jclass, jint module)
+{
+  int32_t status = 0;
+  auto stack = wpi::java::GetJavaStackTrace(env, "edu.wpi.first");
+  auto handle = HAL_InitializeREVPH(module, stack.c_str(), &status);
+  CheckStatusForceThrow(env, status);
+  return handle;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_REVPHJNI
+ * Method:    free
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_free
+  (JNIEnv* env, jclass, jint handle)
+{
+  HAL_FreeREVPH(handle);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_REVPHJNI
+ * Method:    checkSolenoidChannel
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_checkSolenoidChannel
+  (JNIEnv*, jclass, jint channel)
+{
+  return HAL_CheckREVPHSolenoidChannel(channel);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_REVPHJNI
+ * Method:    getCompressor
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_getCompressor
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto result = HAL_GetREVPHCompressor(handle, &status);
+  CheckStatus(env, status, false);
+  return result;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_REVPHJNI
+ * Method:    setClosedLoopControl
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_setClosedLoopControl
+  (JNIEnv* env, jclass, jint handle, jboolean enabled)
+{
+  int32_t status = 0;
+  HAL_SetREVPHClosedLoopControl(handle, enabled, &status);
+  CheckStatus(env, status, false);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_REVPHJNI
+ * Method:    getClosedLoopControl
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_getClosedLoopControl
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto result = HAL_GetREVPHClosedLoopControl(handle, &status);
+  CheckStatus(env, status, false);
+  return result;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_REVPHJNI
+ * Method:    getPressureSwitch
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_getPressureSwitch
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto result = HAL_GetREVPHPressureSwitch(handle, &status);
+  CheckStatus(env, status, false);
+  return result;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_REVPHJNI
+ * Method:    getAnalogPressure
+ * Signature: (II)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_getAnalogPressure
+  (JNIEnv* env, jclass, jint handle, jint channel)
+{
+  int32_t status = 0;
+  auto result = HAL_GetREVPHAnalogPressure(handle, channel, &status);
+  CheckStatus(env, status, false);
+  return result;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_REVPHJNI
+ * Method:    getCompressorCurrent
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_getCompressorCurrent
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto result = HAL_GetREVPHCompressorCurrent(handle, &status);
+  CheckStatus(env, status, false);
+  return result;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_REVPHJNI
+ * Method:    getSolenoids
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_getSolenoids
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto result = HAL_GetREVPHSolenoids(handle, &status);
+  CheckStatus(env, status, false);
+  return result;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_REVPHJNI
+ * Method:    setSolenoids
+ * Signature: (III)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_setSolenoids
+  (JNIEnv* env, jclass, jint handle, jint mask, jint value)
+{
+  int32_t status = 0;
+  HAL_SetREVPHSolenoids(handle, mask, value, &status);
+  CheckStatus(env, status, false);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_REVPHJNI
+ * Method:    fireOneShot
+ * Signature: (III)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_fireOneShot
+  (JNIEnv* env, jclass, jint handle, jint index, jint durMs)
+{
+  int32_t status = 0;
+  HAL_FireREVPHOneShot(handle, index, durMs, &status);
+  CheckStatus(env, status, false);
+}
+
+}  // extern "C"

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

@@ -0,0 +1,365 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include <jni.h>
+
+#include "CallbackStore.h"
+#include "edu_wpi_first_hal_simulation_REVPHDataJNI.h"
+#include "hal/simulation/REVPHData.h"
+
+using namespace hal;
+
+extern "C" {
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    registerInitializedCallback
+ * Signature: (ILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_registerInitializedCallback
+  (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
+{
+  return sim::AllocateCallback(env, index, callback, initialNotify,
+                               &HALSIM_RegisterREVPHInitializedCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    cancelInitializedCallback
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_cancelInitializedCallback
+  (JNIEnv* env, jclass, jint index, jint handle)
+{
+  return sim::FreeCallback(env, handle, index,
+                           &HALSIM_CancelREVPHInitializedCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    getInitialized
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_getInitialized
+  (JNIEnv*, jclass, jint index)
+{
+  return HALSIM_GetREVPHInitialized(index);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    setInitialized
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_setInitialized
+  (JNIEnv*, jclass, jint index, jboolean value)
+{
+  HALSIM_SetREVPHInitialized(index, value);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    registerSolenoidOutputCallback
+ * Signature: (IILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_registerSolenoidOutputCallback
+  (JNIEnv* env, jclass, jint index, jint channel, jobject callback,
+   jboolean initialNotify)
+{
+  return sim::AllocateChannelCallback(
+      env, index, channel, callback, initialNotify,
+      &HALSIM_RegisterREVPHSolenoidOutputCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    cancelSolenoidOutputCallback
+ * Signature: (III)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_cancelSolenoidOutputCallback
+  (JNIEnv* env, jclass, jint index, jint channel, jint handle)
+{
+  return sim::FreeChannelCallback(env, handle, index, channel,
+                                  &HALSIM_CancelREVPHSolenoidOutputCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    getSolenoidOutput
+ * Signature: (II)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_getSolenoidOutput
+  (JNIEnv*, jclass, jint index, jint channel)
+{
+  return HALSIM_GetREVPHSolenoidOutput(index, channel);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    setSolenoidOutput
+ * Signature: (IIZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_setSolenoidOutput
+  (JNIEnv*, jclass, jint index, jint channel, jboolean value)
+{
+  HALSIM_SetREVPHSolenoidOutput(index, channel, value);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    registerCompressorOnCallback
+ * Signature: (ILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_registerCompressorOnCallback
+  (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
+{
+  return sim::AllocateCallback(env, index, callback, initialNotify,
+                               &HALSIM_RegisterREVPHCompressorOnCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    cancelCompressorOnCallback
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_cancelCompressorOnCallback
+  (JNIEnv* env, jclass, jint index, jint handle)
+{
+  return sim::FreeCallback(env, handle, index,
+                           &HALSIM_CancelREVPHCompressorOnCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    getCompressorOn
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_getCompressorOn
+  (JNIEnv*, jclass, jint index)
+{
+  return HALSIM_GetREVPHCompressorOn(index);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    setCompressorOn
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_setCompressorOn
+  (JNIEnv*, jclass, jint index, jboolean value)
+{
+  HALSIM_SetREVPHCompressorOn(index, value);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    registerClosedLoopEnabledCallback
+ * Signature: (ILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_registerClosedLoopEnabledCallback
+  (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
+{
+  return sim::AllocateCallback(env, index, callback, initialNotify,
+                               &HALSIM_RegisterREVPHClosedLoopEnabledCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    cancelClosedLoopEnabledCallback
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_cancelClosedLoopEnabledCallback
+  (JNIEnv* env, jclass, jint index, jint handle)
+{
+  return sim::FreeCallback(env, handle, index,
+                           &HALSIM_CancelREVPHClosedLoopEnabledCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    getClosedLoopEnabled
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_getClosedLoopEnabled
+  (JNIEnv*, jclass, jint index)
+{
+  return HALSIM_GetREVPHClosedLoopEnabled(index);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    setClosedLoopEnabled
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_setClosedLoopEnabled
+  (JNIEnv*, jclass, jint index, jboolean value)
+{
+  HALSIM_SetREVPHClosedLoopEnabled(index, value);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    registerPressureSwitchCallback
+ * Signature: (ILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_registerPressureSwitchCallback
+  (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
+{
+  return sim::AllocateCallback(env, index, callback, initialNotify,
+                               &HALSIM_RegisterREVPHPressureSwitchCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    cancelPressureSwitchCallback
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_cancelPressureSwitchCallback
+  (JNIEnv* env, jclass, jint index, jint handle)
+{
+  return sim::FreeCallback(env, handle, index,
+                           &HALSIM_CancelREVPHPressureSwitchCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    getPressureSwitch
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_getPressureSwitch
+  (JNIEnv*, jclass, jint index)
+{
+  return HALSIM_GetREVPHPressureSwitch(index);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    setPressureSwitch
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_setPressureSwitch
+  (JNIEnv*, jclass, jint index, jboolean value)
+{
+  HALSIM_SetREVPHPressureSwitch(index, value);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    registerCompressorCurrentCallback
+ * Signature: (ILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_registerCompressorCurrentCallback
+  (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
+{
+  return sim::AllocateCallback(env, index, callback, initialNotify,
+                               &HALSIM_RegisterREVPHCompressorCurrentCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    cancelCompressorCurrentCallback
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_cancelCompressorCurrentCallback
+  (JNIEnv* env, jclass, jint index, jint handle)
+{
+  return sim::FreeCallback(env, handle, index,
+                           &HALSIM_CancelREVPHCompressorCurrentCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    getCompressorCurrent
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_getCompressorCurrent
+  (JNIEnv*, jclass, jint index)
+{
+  return HALSIM_GetREVPHCompressorCurrent(index);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    setCompressorCurrent
+ * Signature: (ID)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_setCompressorCurrent
+  (JNIEnv*, jclass, jint index, jdouble value)
+{
+  HALSIM_SetREVPHCompressorCurrent(index, value);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    registerAllNonSolenoidCallbacks
+ * Signature: (ILjava/lang/Object;Z)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_registerAllNonSolenoidCallbacks
+  (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
+{
+  sim::AllocateCallback(
+      env, index, callback, initialNotify,
+      [](int32_t index, HAL_NotifyCallback cb, void* param, HAL_Bool in) {
+        HALSIM_RegisterREVPHAllNonSolenoidCallbacks(index, cb, param, in);
+        return 0;
+      });
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    registerAllSolenoidCallbacks
+ * Signature: (IILjava/lang/Object;Z)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_registerAllSolenoidCallbacks
+  (JNIEnv* env, jclass, jint index, jint channel, jobject callback,
+   jboolean initialNotify)
+{
+  sim::AllocateChannelCallback(
+      env, index, channel, callback, initialNotify,
+      [](int32_t index, int32_t channel, HAL_NotifyCallback cb, void* param,
+         HAL_Bool in) {
+        HALSIM_RegisterREVPHAllSolenoidCallbacks(index, channel, cb, param, in);
+        return 0;
+      });
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    resetData
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_resetData
+  (JNIEnv*, jclass, jint index)
+{
+  HALSIM_ResetREVPHData(index);
+}
+
+}  // extern "C"

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

@@ -774,6 +774,57 @@ Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_setUserFaults3V3
   HALSIM_SetRoboRioUserFaults3V3(value);
 }
 
+/*
+ * Class:     edu_wpi_first_hal_simulation_RoboRioDataJNI
+ * Method:    registerBrownoutVoltageCallback
+ * Signature: (Ljava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_registerBrownoutVoltageCallback
+  (JNIEnv* env, jclass, jobject callback, jboolean initialNotify)
+{
+  return sim::AllocateCallbackNoIndex(
+      env, callback, initialNotify,
+      &HALSIM_RegisterRoboRioBrownoutVoltageCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_RoboRioDataJNI
+ * Method:    cancelBrownoutVoltageCallback
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_cancelBrownoutVoltageCallback
+  (JNIEnv* env, jclass, jint handle)
+{
+  return sim::FreeCallbackNoIndex(env, handle,
+                                  &HALSIM_CancelRoboRioBrownoutVoltageCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_RoboRioDataJNI
+ * Method:    getBrownoutVoltage
+ * Signature: ()D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_getBrownoutVoltage
+  (JNIEnv*, jclass)
+{
+  return HALSIM_GetRoboRioBrownoutVoltage();
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_RoboRioDataJNI
+ * Method:    setBrownoutVoltage
+ * Signature: (D)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_setBrownoutVoltage
+  (JNIEnv*, jclass, jdouble value)
+{
+  HALSIM_SetRoboRioBrownoutVoltage(value);
+}
+
 /*
  * Class:     edu_wpi_first_hal_simulation_RoboRioDataJNI
  * Method:    resetData

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

@@ -21,7 +21,8 @@ extern "C" {
 /**
  * Is the channel attached to an accumulator.
  *
- * @param analogPortHandle Handle to the analog port.
+ * @param[in] analogPortHandle Handle to the analog port.
+ * @param[out] status Error status variable. 0 on success.
  * @return The analog channel is attached to an accumulator.
  */
 HAL_Bool HAL_IsAccumulatorChannel(HAL_AnalogInputHandle analogPortHandle,
@@ -30,7 +31,8 @@ HAL_Bool HAL_IsAccumulatorChannel(HAL_AnalogInputHandle analogPortHandle,
 /**
  * Initialize the accumulator.
  *
- * @param analogPortHandle Handle to the analog port.
+ * @param[in] analogPortHandle Handle to the analog port.
+ * @param[out] status Error status variable. 0 on success.
  */
 void HAL_InitAccumulator(HAL_AnalogInputHandle analogPortHandle,
                          int32_t* status);
@@ -38,7 +40,8 @@ void HAL_InitAccumulator(HAL_AnalogInputHandle analogPortHandle,
 /**
  * Resets the accumulator to the initial value.
  *
- * @param analogPortHandle Handle to the analog port.
+ * @param[in] analogPortHandle Handle to the analog port.
+ * @param[out] status Error status variable. 0 on success.
  */
 void HAL_ResetAccumulator(HAL_AnalogInputHandle analogPortHandle,
                           int32_t* status);
@@ -55,8 +58,9 @@ void HAL_ResetAccumulator(HAL_AnalogInputHandle analogPortHandle,
  * source from channel 1. Because of this, any non-zero oversample bits will
  * affect the size of the value for this field.
  *
- * @param analogPortHandle Handle to the analog port.
- * @param center The center value of the accumulator.
+ * @param[in] analogPortHandle Handle to the analog port.
+ * @param[in] center The center value of the accumulator.
+ * @param[out] status Error status variable. 0 on success.
  */
 void HAL_SetAccumulatorCenter(HAL_AnalogInputHandle analogPortHandle,
                               int32_t center, int32_t* status);
@@ -64,8 +68,9 @@ void HAL_SetAccumulatorCenter(HAL_AnalogInputHandle analogPortHandle,
 /**
  * Set the accumulator's deadband.
  *
- * @param analogPortHandle Handle to the analog port.
- * @param deadband The deadband of the accumulator.
+ * @param[in] analogPortHandle Handle to the analog port.
+ * @param[in] deadband The deadband of the accumulator.
+ * @param[out] status Error status variable. 0 on success.
  */
 void HAL_SetAccumulatorDeadband(HAL_AnalogInputHandle analogPortHandle,
                                 int32_t deadband, int32_t* status);
@@ -76,7 +81,8 @@ void HAL_SetAccumulatorDeadband(HAL_AnalogInputHandle analogPortHandle,
  * Read the value that has been accumulating on channel 1.
  * The accumulator is attached after the oversample and average engine.
  *
- * @param analogPortHandle Handle to the analog port.
+ * @param[in] analogPortHandle Handle to the analog port.
+ * @param[out] status Error status variable. 0 on success.
  * @return The 64-bit value accumulated since the last Reset().
  */
 int64_t HAL_GetAccumulatorValue(HAL_AnalogInputHandle analogPortHandle,
@@ -88,7 +94,8 @@ int64_t HAL_GetAccumulatorValue(HAL_AnalogInputHandle analogPortHandle,
  * Read the count of the accumulated values since the accumulator was last
  * Reset().
  *
- * @param analogPortHandle Handle to the analog port.
+ * @param[in] analogPortHandle Handle to the analog port.
+ * @param[out] status Error status variable. 0 on success.
  * @return The number of times samples from the channel were accumulated.
  */
 int64_t HAL_GetAccumulatorCount(HAL_AnalogInputHandle analogPortHandle,
@@ -100,9 +107,10 @@ int64_t HAL_GetAccumulatorCount(HAL_AnalogInputHandle analogPortHandle,
  * This function reads the value and count from the FPGA atomically.
  * This can be used for averaging.
  *
- * @param analogPortHandle Handle to the analog port.
- * @param value Pointer to the 64-bit accumulated output.
- * @param count Pointer to the number of accumulation cycles.
+ * @param[in] analogPortHandle Handle to the analog port.
+ * @param[in] value Pointer to the 64-bit accumulated output.
+ * @param[in] count Pointer to the number of accumulation cycles.
+ * @param[out] status Error status variable. 0 on success.
  */
 void HAL_GetAccumulatorOutput(HAL_AnalogInputHandle analogPortHandle,
                               int64_t* value, int64_t* count, int32_t* status);

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

@@ -21,10 +21,11 @@ extern "C" {
 /**
  * Initializes an analog gyro.
  *
- * @param handle handle to the analog port
- * @param allocationLocation    the location where the allocation is occuring
- * (can be null)
- * @return       the initialized gyro handle
+ * @param[in] handle handle to the analog port
+ * @param[in] allocationLocation the location where the allocation is occuring
+ *                                (can be null)
+ * @param[out] status the error code, or 0 for success
+ * @return the initialized gyro handle
  */
 HAL_GyroHandle HAL_InitializeAnalogGyro(HAL_AnalogInputHandle handle,
                                         const char* allocationLocation,
@@ -34,7 +35,8 @@ HAL_GyroHandle HAL_InitializeAnalogGyro(HAL_AnalogInputHandle handle,
  * Sets up an analog gyro with the proper offsets and settings for the KOP
  * analog gyro.
  *
- * @param handle the gyro handle
+ * @param[in] handle the gyro handle
+ * @param[out] status the error code, or 0 for success
  */
 void HAL_SetupAnalogGyro(HAL_GyroHandle handle, int32_t* status);
 
@@ -51,10 +53,11 @@ void HAL_FreeAnalogGyro(HAL_GyroHandle handle);
  * This is meant to be used if you want to reuse the values from a previous
  * calibration.
  *
- * @param handle                  the gyro handle
- * @param voltsPerDegreePerSecond the gyro volts scaling
- * @param offset                  the gyro offset
- * @param center                  the gyro center
+ * @param[in] handle                  the gyro handle
+ * @param[in] voltsPerDegreePerSecond the gyro volts scaling
+ * @param[in] offset                  the gyro offset
+ * @param[in] center                  the gyro center
+ * @param[out] status                  the error code, or 0 for success
  */
 void HAL_SetAnalogGyroParameters(HAL_GyroHandle handle,
                                  double voltsPerDegreePerSecond, double offset,
@@ -63,8 +66,9 @@ void HAL_SetAnalogGyroParameters(HAL_GyroHandle handle,
 /**
  * Sets the analog gyro volts per degrees per second scaling.
  *
- * @param handle                  the gyro handle
- * @param voltsPerDegreePerSecond the gyro volts scaling
+ * @param[in] handle                  the gyro handle
+ * @param[in] voltsPerDegreePerSecond the gyro volts scaling
+ * @param[out] status                  the error code, or 0 for success
  */
 void HAL_SetAnalogGyroVoltsPerDegreePerSecond(HAL_GyroHandle handle,
                                               double voltsPerDegreePerSecond,
@@ -73,7 +77,8 @@ void HAL_SetAnalogGyroVoltsPerDegreePerSecond(HAL_GyroHandle handle,
 /**
  * Resets the analog gyro value to 0.
  *
- * @param handle the gyro handle
+ * @param[in] handle the gyro handle
+ * @param[out] status the error code, or 0 for success
  */
 void HAL_ResetAnalogGyro(HAL_GyroHandle handle, int32_t* status);
 
@@ -84,15 +89,17 @@ void HAL_ResetAnalogGyro(HAL_GyroHandle handle, int32_t* status);
  * setting that as the center. Note that this call blocks for 5 seconds to
  * perform this.
  *
- * @param handle the gyro handle
+ * @param[in] handle the gyro handle
+ * @param[out] status Error status variable. 0 on success.
  */
 void HAL_CalibrateAnalogGyro(HAL_GyroHandle handle, int32_t* status);
 
 /**
  * Sets the deadband of the analog gyro.
  *
- * @param handle the gyro handle
- * @param volts  the voltage deadband
+ * @param[in] handle the gyro handle
+ * @param[in] volts  the voltage deadband
+ * @param[out] status Error status variable. 0 on success.
  */
 void HAL_SetAnalogGyroDeadband(HAL_GyroHandle handle, double volts,
                                int32_t* status);
@@ -100,7 +107,8 @@ void HAL_SetAnalogGyroDeadband(HAL_GyroHandle handle, double volts,
 /**
  * Gets the gyro angle in degrees.
  *
- * @param handle the gyro handle
+ * @param[in] handle the gyro handle
+ * @param[out] status Error status variable. 0 on success.
  * @return the gyro angle in degrees
  */
 double HAL_GetAnalogGyroAngle(HAL_GyroHandle handle, int32_t* status);
@@ -108,7 +116,8 @@ double HAL_GetAnalogGyroAngle(HAL_GyroHandle handle, int32_t* status);
 /**
  * Gets the gyro rate in degrees/second.
  *
- * @param handle the gyro handle
+ * @param[in] handle the gyro handle
+ * @param[out] status Error status variable. 0 on success.
  * @return the gyro rate in degrees/second
  */
 double HAL_GetAnalogGyroRate(HAL_GyroHandle handle, int32_t* status);
@@ -118,7 +127,8 @@ double HAL_GetAnalogGyroRate(HAL_GyroHandle handle, int32_t* status);
  *
  * Can be used to not repeat a calibration but reconstruct the gyro object.
  *
- * @param handle the gyro handle
+ * @param[in] handle the gyro handle
+ * @param[out] status Error status variable. 0 on success.
  * @return the gryo offset
  */
 double HAL_GetAnalogGyroOffset(HAL_GyroHandle handle, int32_t* status);
@@ -128,7 +138,8 @@ double HAL_GetAnalogGyroOffset(HAL_GyroHandle handle, int32_t* status);
  *
  * Can be used to not repeat a calibration but reconstruct the gyro object.
  *
- * @param handle the gyro handle
+ * @param[in] handle the gyro handle
+ * @param[out] status Error status variable. 0 on success.
  * @return the gyro center
  */
 int32_t HAL_GetAnalogGyroCenter(HAL_GyroHandle handle, int32_t* status);

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

@@ -21,10 +21,11 @@ extern "C" {
 /**
  * Initializes the analog input port using the given port object.
  *
- * @param portHandle Handle to the port to initialize.
- * @param allocationLocation    the location where the allocation is occuring
- * (can be null)
- * @return           the created analog input handle
+ * @param[in] portHandle Handle to the port to initialize.
+ * @param[in] allocationLocation the location where the allocation is occuring
+ *                               (can be null)
+ * @param[out] status the error code, or 0 for success
+ * @return the created analog input handle
  */
 HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(
     HAL_PortHandle portHandle, const char* allocationLocation, int32_t* status);
@@ -68,7 +69,8 @@ void HAL_SetAnalogInputSimDevice(HAL_AnalogInputHandle handle,
  *
  * This is a global setting for the Athena and effects all channels.
  *
- * @param samplesPerSecond The number of samples per channel per second.
+ * @param[in] samplesPerSecond The number of samples per channel per second.
+ * @param[out] status          the error code, or 0 for success
  */
 void HAL_SetAnalogSampleRate(double samplesPerSecond, int32_t* status);
 
@@ -78,6 +80,7 @@ void HAL_SetAnalogSampleRate(double samplesPerSecond, int32_t* status);
  * This assumes one entry in the scan list.
  * This is a global setting for the Athena and effects all channels.
  *
+ * @param[out] status the error code, or 0 for success
  * @return Sample rate.
  */
 double HAL_GetAnalogSampleRate(int32_t* status);
@@ -89,8 +92,9 @@ double HAL_GetAnalogSampleRate(int32_t* status);
  * is 2**bits. Use averaging to improve the stability of your measurement at the
  * expense of sampling rate. The averaging is done automatically in the FPGA.
  *
- * @param analogPortHandle Handle to the analog port to configure.
- * @param bits Number of bits to average.
+ * @param[in] analogPortHandle Handle to the analog port to configure.
+ * @param[in] bits Number of bits to average.
+ * @param[out] status the error code, or 0 for success
  */
 void HAL_SetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle,
                               int32_t bits, int32_t* status);
@@ -101,7 +105,8 @@ void HAL_SetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle,
  * This gets the number of averaging bits from the FPGA. The actual number of
  * averaged samples is 2**bits. The averaging is done automatically in the FPGA.
  *
- * @param analogPortHandle Handle to the analog port to use.
+ * @param[in] analogPortHandle Handle to the analog port to use.
+ * @param[out] status the error code, or 0 for success
  * @return Bits to average.
  */
 int32_t HAL_GetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle,
@@ -115,8 +120,9 @@ int32_t HAL_GetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle,
  * measurements at the expense of sampling rate. The oversampling is done
  * automatically in the FPGA.
  *
- * @param analogPortHandle Handle to the analog port to use.
- * @param bits Number of bits to oversample.
+ * @param[in] analogPortHandle Handle to the analog port to use.
+ * @param[in] bits Number of bits to oversample.
+ * @param[out] status the error code, or 0 for success
  */
 void HAL_SetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
                                  int32_t bits, int32_t* status);
@@ -128,7 +134,8 @@ void HAL_SetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
  * oversampled values is 2**bits. The oversampling is done automatically in the
  * FPGA.
  *
- * @param analogPortHandle Handle to the analog port to use.
+ * @param[in] analogPortHandle Handle to the analog port to use.
+ * @param[out] status          the error code, or 0 for success
  * @return Bits to oversample.
  */
 int32_t HAL_GetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
@@ -141,7 +148,8 @@ int32_t HAL_GetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
  * converter in the module. The units are in A/D converter codes.  Use
  * GetVoltage() to get the analog value in calibrated units.
  *
- * @param analogPortHandle Handle to the analog port to use.
+ * @param[in] analogPortHandle Handle to the analog port to use.
+ * @param[out] status the error code, or 0 for success
  * @return A sample straight from the channel on this module.
  */
 int32_t HAL_GetAnalogValue(HAL_AnalogInputHandle analogPortHandle,
@@ -158,7 +166,8 @@ int32_t HAL_GetAnalogValue(HAL_AnalogInputHandle analogPortHandle,
  * the module on this channel. Use GetAverageVoltage() to get the analog value
  * in calibrated units.
  *
- * @param analogPortHandle Handle to the analog port to use.
+ * @param[in] analogPortHandle Handle to the analog port to use.
+ * @param[out] status the error code, or 0 for success
  * @return A sample from the oversample and average engine for the channel.
  */
 int32_t HAL_GetAnalogAverageValue(HAL_AnalogInputHandle analogPortHandle,
@@ -172,8 +181,9 @@ int32_t HAL_GetAnalogAverageValue(HAL_AnalogInputHandle analogPortHandle,
  *
  * @todo This assumes raw values.  Oversampling not supported as is.
  *
- * @param analogPortHandle Handle to the analog port to use.
- * @param voltage The voltage to convert.
+ * @param[in] analogPortHandle Handle to the analog port to use.
+ * @param[in] voltage The voltage to convert.
+ * @param[out] status the error code, or 0 for success
  * @return The raw value for the channel.
  */
 int32_t HAL_GetAnalogVoltsToValue(HAL_AnalogInputHandle analogPortHandle,
@@ -185,7 +195,8 @@ int32_t HAL_GetAnalogVoltsToValue(HAL_AnalogInputHandle analogPortHandle,
  * The value is scaled to units of Volts using the calibrated scaling data from
  * GetLSBWeight() and GetOffset().
  *
- * @param analogPortHandle Handle to the analog port to use.
+ * @param[in] analogPortHandle Handle to the analog port to use.
+ * @param[out] status the error code, or 0 for success
  * @return A scaled sample straight from the channel on this module.
  */
 double HAL_GetAnalogVoltage(HAL_AnalogInputHandle analogPortHandle,
@@ -200,7 +211,8 @@ double HAL_GetAnalogVoltage(HAL_AnalogInputHandle analogPortHandle,
  * be higher resolution, but it will update more slowly. Using averaging will
  * cause this value to be more stable, but it will update more slowly.
  *
- * @param analogPortHandle Handle to the analog port to use.
+ * @param[in] analogPortHandle Handle to the analog port to use.
+ * @param[out] status the error code, or 0 for success
  * @return A scaled sample from the output of the oversample and average engine
  * for the channel.
  */
@@ -214,7 +226,8 @@ double HAL_GetAnalogAverageVoltage(HAL_AnalogInputHandle analogPortHandle,
  *
  * Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
  *
- * @param analogPortHandle Handle to the analog port to use.
+ * @param[in] analogPortHandle Handle to the analog port to use.
+ * @param[out] status the error code, or 0 for success
  * @return Least significant bit weight.
  */
 int32_t HAL_GetAnalogLSBWeight(HAL_AnalogInputHandle analogPortHandle,
@@ -227,7 +240,8 @@ int32_t HAL_GetAnalogLSBWeight(HAL_AnalogInputHandle analogPortHandle,
  *
  * Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
  *
- * @param analogPortHandle Handle to the analog port to use.
+ * @param[in] analogPortHandle Handle to the analog port to use.
+ * @param[out] status Error status variable. 0 on success.
  * @return Offset constant.
  */
 int32_t HAL_GetAnalogOffset(HAL_AnalogInputHandle analogPortHandle,
@@ -236,9 +250,11 @@ int32_t HAL_GetAnalogOffset(HAL_AnalogInputHandle analogPortHandle,
 /**
  *  Get the analog voltage from a raw value.
  *
- * @param analogPortHandle  Handle to the analog port the values were read from.
- * @param rawValue          The raw analog value
- * @return                  The voltage relating to the value
+ * @param[in] analogPortHandle  Handle to the analog port the values were read
+ *                              from.
+ * @param[in] rawValue          The raw analog value
+ * @param[out] status           Error status variable. 0 on success.
+ * @return The voltage relating to the value
  */
 double HAL_GetAnalogValueToVolts(HAL_AnalogInputHandle analogPortHandle,
                                  int32_t rawValue, int32_t* status);

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

@@ -21,10 +21,11 @@ extern "C" {
 /**
  * Initializes the analog output port using the given port object.
  *
- * @param handle handle to the port
- * @param allocationLocation    the location where the allocation is occuring
- * (can be null)
- * @return       the created analog output handle
+ * @param[in] portHandle handle to the port
+ * @param[in] allocationLocation the location where the allocation is occuring
+ *                               (can be null)
+ * @param[out] status Error status variable. 0 on success.
+ * @return the created analog output handle
  */
 HAL_AnalogOutputHandle HAL_InitializeAnalogOutputPort(
     HAL_PortHandle portHandle, const char* allocationLocation, int32_t* status);
@@ -39,8 +40,9 @@ void HAL_FreeAnalogOutputPort(HAL_AnalogOutputHandle analogOutputHandle);
 /**
  * Sets an analog output value.
  *
- * @param analogOutputHandle the analog output handle
- * @param voltage            the voltage (0-5v) to output
+ * @param[in] analogOutputHandle the analog output handle
+ * @param[in] voltage            the voltage (0-5v) to output
+ * @param[out] status            Error status variable. 0 on success.
  */
 void HAL_SetAnalogOutput(HAL_AnalogOutputHandle analogOutputHandle,
                          double voltage, int32_t* status);
@@ -48,8 +50,9 @@ void HAL_SetAnalogOutput(HAL_AnalogOutputHandle analogOutputHandle,
 /**
  * Gets the current analog output value.
  *
- * @param analogOutputHandle the analog output handle
- * @return                   the current output voltage (0-5v)
+ * @param[in] analogOutputHandle the analog output handle
+ * @param[out] status            Error status variable. 0 on success.
+ * @return the current output voltage (0-5v)
  */
 double HAL_GetAnalogOutput(HAL_AnalogOutputHandle analogOutputHandle,
                            int32_t* status);

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

@@ -33,8 +33,9 @@ extern "C" {
 /**
  * Initializes an analog trigger.
  *
- * @param portHandle the analog input to use for triggering
- * @return           the created analog trigger handle
+ * @param[in] portHandle the analog input to use for triggering
+ * @param[out] status     Error status variable. 0 on success.
+ * @return the created analog trigger handle
  */
 HAL_AnalogTriggerHandle HAL_InitializeAnalogTrigger(
     HAL_AnalogInputHandle portHandle, int32_t* status);
@@ -42,6 +43,8 @@ HAL_AnalogTriggerHandle HAL_InitializeAnalogTrigger(
 /**
  * Initializes an analog trigger with a Duty Cycle input
  *
+ * @param[in] dutyCycleHandle the analog input to use for duty cycle
+ * @param[out] status          Error status variable. 0 on success.
  */
 HAL_AnalogTriggerHandle HAL_InitializeAnalogTriggerDutyCycle(
     HAL_DutyCycleHandle dutyCycleHandle, int32_t* status);
@@ -49,7 +52,8 @@ HAL_AnalogTriggerHandle HAL_InitializeAnalogTriggerDutyCycle(
 /**
  * Frees an analog trigger.
  *
- * @param analogTriggerHandle the trigger handle
+ * @param[in] analogTriggerHandle the trigger handle
+ * @param[out] status Error status variable. 0 on success.
  */
 void HAL_CleanAnalogTrigger(HAL_AnalogTriggerHandle analogTriggerHandle,
                             int32_t* status);
@@ -60,9 +64,10 @@ void HAL_CleanAnalogTrigger(HAL_AnalogTriggerHandle analogTriggerHandle,
  * HAL_SetAnalogTriggerLimitsVoltage or HAL_SetAnalogTriggerLimitsDutyCycle
  * is likely better in most cases.
  *
- * @param analogTriggerHandle the trigger handle
- * @param lower               the lower ADC value
- * @param upper               the upper ADC value
+ * @param[in] analogTriggerHandle the trigger handle
+ * @param[in] lower               the lower ADC value
+ * @param[in] upper               the upper ADC value
+ * @param[out] status              Error status variable. 0 on success.
  */
 void HAL_SetAnalogTriggerLimitsRaw(HAL_AnalogTriggerHandle analogTriggerHandle,
                                    int32_t lower, int32_t upper,
@@ -73,14 +78,25 @@ void HAL_SetAnalogTriggerLimitsRaw(HAL_AnalogTriggerHandle analogTriggerHandle,
  *
  * The limits are given as floating point voltage values.
  *
- * @param analogTriggerHandle the trigger handle
- * @param lower               the lower voltage value
- * @param upper               the upper voltage value
+ * @param[in] analogTriggerHandle the trigger handle
+ * @param[in] lower               the lower voltage value
+ * @param[in] upper               the upper voltage value
+ * @param[out] status              Error status variable. 0 on success.
  */
 void HAL_SetAnalogTriggerLimitsVoltage(
     HAL_AnalogTriggerHandle analogTriggerHandle, double lower, double upper,
     int32_t* status);
 
+/**
+ * Sets the upper and lower limits of the analog trigger.
+ *
+ * The limits are given as floating point duty cycle values.
+ *
+ * @param[in] analogTriggerHandle the trigger handle
+ * @param[in] lower               the lower duty cycle value
+ * @param[in] upper               the upper duty cycle value
+ * @param[out] status              Error status variable. 0 on success.
+ */
 void HAL_SetAnalogTriggerLimitsDutyCycle(
     HAL_AnalogTriggerHandle analogTriggerHandle, double lower, double upper,
     int32_t* status);
@@ -94,8 +110,9 @@ void HAL_SetAnalogTriggerLimitsDutyCycle(
  * This is not allowed to be used if filtered mode is set.
  * This is not allowed to be used with Duty Cycle based inputs.
  *
- * @param analogTriggerHandle the trigger handle
- * @param useAveragedValue    true to use averaged values, false for raw
+ * @param[in] analogTriggerHandle the trigger handle
+ * @param[in] useAveragedValue    true to use averaged values, false for raw
+ * @param[out] status              Error status variable. 0 on success.
  */
 void HAL_SetAnalogTriggerAveraged(HAL_AnalogTriggerHandle analogTriggerHandle,
                                   HAL_Bool useAveragedValue, int32_t* status);
@@ -109,9 +126,10 @@ void HAL_SetAnalogTriggerAveraged(HAL_AnalogTriggerHandle analogTriggerHandle,
  *
  * This is not allowed to be used if averaged mode is set.
  *
- * @param analogTriggerHandle the trigger handle
- * @param useFilteredValue    true to use filtered values, false for average or
- * raw
+ * @param[in] analogTriggerHandle the trigger handle
+ * @param[in] useFilteredValue    true to use filtered values, false for average
+ *                                or raw
+ * @param[out] status             Error status variable. 0 on success.
  */
 void HAL_SetAnalogTriggerFiltered(HAL_AnalogTriggerHandle analogTriggerHandle,
                                   HAL_Bool useFilteredValue, int32_t* status);
@@ -121,8 +139,9 @@ void HAL_SetAnalogTriggerFiltered(HAL_AnalogTriggerHandle analogTriggerHandle,
  *
  * True if the analog input is between the upper and lower limits.
  *
- * @param analogTriggerHandle the trigger handle
- * @return                    the InWindow output of the analog trigger
+ * @param[in] analogTriggerHandle the trigger handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return the InWindow output of the analog trigger
  */
 HAL_Bool HAL_GetAnalogTriggerInWindow(
     HAL_AnalogTriggerHandle analogTriggerHandle, int32_t* status);
@@ -134,8 +153,9 @@ HAL_Bool HAL_GetAnalogTriggerInWindow(
  * False if below lower limit.
  * If in Hysteresis, maintain previous state.
  *
- * @param analogTriggerHandle the trigger handle
- * @return                    the TriggerState output of the analog trigger
+ * @param[in] analogTriggerHandle the trigger handle
+ * @param[out] status              Error status variable. 0 on success.
+ * @return the TriggerState output of the analog trigger
  */
 HAL_Bool HAL_GetAnalogTriggerTriggerState(
     HAL_AnalogTriggerHandle analogTriggerHandle, int32_t* status);
@@ -143,9 +163,10 @@ HAL_Bool HAL_GetAnalogTriggerTriggerState(
 /**
  * Gets the state of the analog trigger output.
  *
- * @param analogTriggerHandle the trigger handle
- * @param type                the type of trigger to trigger on
- * @return                    the state of the analog trigger output
+ * @param[in] analogTriggerHandle the trigger handle
+ * @param[in] type                the type of trigger to trigger on
+ * @param[out] status              Error status variable. 0 on success.
+ * @return the state of the analog trigger output
  */
 HAL_Bool HAL_GetAnalogTriggerOutput(HAL_AnalogTriggerHandle analogTriggerHandle,
                                     HAL_AnalogTriggerType type,
@@ -154,7 +175,8 @@ HAL_Bool HAL_GetAnalogTriggerOutput(HAL_AnalogTriggerHandle analogTriggerHandle,
 /**
  * Get the FPGA index for the AnlogTrigger.
  *
- * @param analogTriggerHandle the trigger handle
+ * @param[in] analogTriggerHandle the trigger handle
+ * @param[out] status              Error status variable. 0 on success.
  * @return the FPGA index
  */
 int32_t HAL_GetAnalogTriggerFPGAIndex(

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

@@ -45,11 +45,12 @@ extern "C" {
 /**
  * Sends a CAN message.
  *
- * @param messageID the CAN ID to send
- * @param data      the data to send (0-8 bytes)
- * @param dataSize  the size of the data to send (0-8 bytes)
- * @param periodMs  the period to repeat the packet at. Use
- * HAL_CAN_SEND_PERIOD_NO_REPEAT to not repeat.
+ * @param[in] messageID the CAN ID to send
+ * @param[in] data      the data to send (0-8 bytes)
+ * @param[in] dataSize  the size of the data to send (0-8 bytes)
+ * @param[in] periodMs  the period to repeat the packet at. Use
+ *                       HAL_CAN_SEND_PERIOD_NO_REPEAT to not repeat.
+ * @param[out] status    Error status variable. 0 on success.
  */
 void HAL_CAN_SendMessage(uint32_t messageID, const uint8_t* data,
                          uint8_t dataSize, int32_t periodMs, int32_t* status);
@@ -57,12 +58,13 @@ void HAL_CAN_SendMessage(uint32_t messageID, const uint8_t* data,
 /**
  * Receives a CAN message.
  *
- * @param messageID     store for the received message ID
- * @param messageIDMask the message ID mask to look for
- * @param data          data output (8 bytes)
- * @param dataSize      data length (0-8 bytes)
- * @param timeStamp     the packet received timestamp (based off of
- * CLOCK_MONOTONIC)
+ * @param[out] messageID     store for the received message ID
+ * @param[in] messageIDMask the message ID mask to look for
+ * @param[out] data          data output (8 bytes)
+ * @param[out] dataSize      data length (0-8 bytes)
+ * @param[out] timeStamp     the packet received timestamp (based off of
+ *                           CLOCK_MONOTONIC)
+ * @param[out] status        Error status variable. 0 on success.
  */
 void HAL_CAN_ReceiveMessage(uint32_t* messageID, uint32_t messageIDMask,
                             uint8_t* data, uint8_t* dataSize,
@@ -71,10 +73,11 @@ void HAL_CAN_ReceiveMessage(uint32_t* messageID, uint32_t messageIDMask,
 /**
  * Opens a CAN stream.
  *
- * @param sessionHandle output for the session handle
- * @param messageID     the message ID to read
- * @param messageIDMask the mssage ID mask
- * @param maxMessages   the maximum number of messages to stream
+ * @param[out] sessionHandle output for the session handle
+ * @param[in] messageID     the message ID to read
+ * @param[in] messageIDMask the mssage ID mask
+ * @param[in] maxMessages   the maximum number of messages to stream
+ * @param[out] status        Error status variable. 0 on success.
  */
 void HAL_CAN_OpenStreamSession(uint32_t* sessionHandle, uint32_t messageID,
                                uint32_t messageIDMask, uint32_t maxMessages,
@@ -90,10 +93,11 @@ void HAL_CAN_CloseStreamSession(uint32_t sessionHandle);
 /**
  * Reads a CAN stream message.
  *
- * @param sessionHandle  the session handle
- * @param messages       array of messages
- * @param messagesToRead the max number of messages to read
- * @param messageRead    the number of messages actually read
+ * @param[in] sessionHandle  the session handle
+ * @param[in] messages       array of messages
+ * @param[in] messagesToRead the max number of messages to read
+ * @param[out] messagesRead   the number of messages actually read
+ * @param[out] status         Error status variable. 0 on success.
  */
 void HAL_CAN_ReadStreamSession(uint32_t sessionHandle,
                                struct HAL_CANStreamMessage* messages,
@@ -103,11 +107,12 @@ void HAL_CAN_ReadStreamSession(uint32_t sessionHandle,
 /**
  * Gets CAN status information.
  *
- * @param percentBusUtilization the bus utilization
- * @param busOffCount           the number of bus off errors
- * @param txFullCount           the number of tx full errors
- * @param receiveErrorCount     the number of receive errors
- * @param transmitErrorCount    the number of transmit errors
+ * @param[out] percentBusUtilization the bus utilization
+ * @param[out] busOffCount           the number of bus off errors
+ * @param[out] txFullCount           the number of tx full errors
+ * @param[out] receiveErrorCount     the number of receive errors
+ * @param[out] transmitErrorCount    the number of transmit errors
+ * @param[out] status                Error status variable. 0 on success.
  */
 void HAL_CAN_GetCANStatus(float* percentBusUtilization, uint32_t* busOffCount,
                           uint32_t* txFullCount, uint32_t* receiveErrorCount,

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

@@ -24,10 +24,11 @@ extern "C" {
  *
  * These follow the FIRST standard CAN layout. Link TBD
  *
- * @param manufacturer the can manufacturer
- * @param deviceId     the device ID (0-63)
- * @param deviceType   the device type
- * @return             the created CAN handle
+ * @param[in] manufacturer the can manufacturer
+ * @param[in] deviceId     the device ID (0-63)
+ * @param[in] deviceType   the device type
+ * @param[out] status      Error status variable. 0 on success.
+ * @return the created CAN handle
  */
 HAL_CANHandle HAL_InitializeCAN(HAL_CANManufacturer manufacturer,
                                 int32_t deviceId, HAL_CANDeviceType deviceType,
@@ -45,10 +46,11 @@ void HAL_CleanCAN(HAL_CANHandle handle);
  *
  * This ID is 10 bits.
  *
- * @param handle the CAN handle
- * @param data   the data to write (0-8 bytes)
- * @param length the length of data (0-8)
- * @param apiId  the ID to write (0-1023 bits)
+ * @param[in] handle  the CAN handle
+ * @param[in] data    the data to write (0-8 bytes)
+ * @param[in] length  the length of data (0-8)
+ * @param[in] apiId   the ID to write (0-1023 bits)
+ * @param[out] status Error status variable. 0 on success.
  */
 void HAL_WriteCANPacket(HAL_CANHandle handle, const uint8_t* data,
                         int32_t length, int32_t apiId, int32_t* status);
@@ -60,11 +62,12 @@ void HAL_WriteCANPacket(HAL_CANHandle handle, const uint8_t* data,
  *
  * The RoboRIO will automatically repeat the packet at the specified interval
  *
- * @param handle   the CAN handle
- * @param data     the data to write (0-8 bytes)
- * @param length   the length of data (0-8)
- * @param apiId    the ID to write (0-1023)
- * @param repeatMs the period to repeat in ms
+ * @param[in] handle   the CAN handle
+ * @param[in] data     the data to write (0-8 bytes)
+ * @param[in] length   the length of data (0-8)
+ * @param[in] apiId    the ID to write (0-1023)
+ * @param[in] repeatMs the period to repeat in ms
+ * @param[out] status  Error status variable. 0 on success.
  */
 void HAL_WriteCANPacketRepeating(HAL_CANHandle handle, const uint8_t* data,
                                  int32_t length, int32_t apiId,
@@ -77,9 +80,10 @@ void HAL_WriteCANPacketRepeating(HAL_CANHandle handle, const uint8_t* data,
  * By spec, the length must be equal to the length sent by the other device,
  * otherwise behavior is unspecified.
  *
- * @param handle   the CAN handle
- * @param length   the length of data to request (0-8)
- * @param apiId    the ID to write (0-1023)
+ * @param[in] handle   the CAN handle
+ * @param[in] length   the length of data to request (0-8)
+ * @param[in] apiId    the ID to write (0-1023)
+ * @param[out] status  Error status variable. 0 on success.
  */
 void HAL_WriteCANRTRFrame(HAL_CANHandle handle, int32_t length, int32_t apiId,
                           int32_t* status);
@@ -89,8 +93,9 @@ void HAL_WriteCANRTRFrame(HAL_CANHandle handle, int32_t length, int32_t apiId,
  *
  * This ID is 10 bits.
  *
- * @param handle the CAN handle
- * @param apiId  the ID to stop repeating (0-1023)
+ * @param[in] handle  the CAN handle
+ * @param[in] apiId   the ID to stop repeating (0-1023)
+ * @param[out] status Error status variable. 0 on success.
  */
 void HAL_StopCANPacketRepeating(HAL_CANHandle handle, int32_t apiId,
                                 int32_t* status);
@@ -101,12 +106,13 @@ void HAL_StopCANPacketRepeating(HAL_CANHandle handle, int32_t apiId,
  * This will only return properly once per packet received. Multiple calls
  * without receiving another packet will return an error code.
  *
- * @param handle            the CAN handle
- * @param apiId             the ID to read (0-1023)
- * @param data              the packet data (8 bytes)
- * @param length            the received length (0-8 bytes)
- * @param receivedTimestamp the packet received timestamp (based off of
- * CLOCK_MONOTONIC)
+ * @param[in] handle             the CAN handle
+ * @param[in] apiId              the ID to read (0-1023)
+ * @param[out] data              the packet data (8 bytes)
+ * @param[out] length            the received length (0-8 bytes)
+ * @param[out] receivedTimestamp the packet received timestamp (based off of
+ *                               CLOCK_MONOTONIC)
+ * @param[out] status            Error status variable. 0 on success.
  */
 void HAL_ReadCANPacketNew(HAL_CANHandle handle, int32_t apiId, uint8_t* data,
                           int32_t* length, uint64_t* receivedTimestamp,
@@ -116,12 +122,13 @@ void HAL_ReadCANPacketNew(HAL_CANHandle handle, int32_t apiId, uint8_t* data,
  * Reads a CAN packet. The will continuously return the last packet received,
  * without accounting for packet age.
  *
- * @param handle            the CAN handle
- * @param apiId             the ID to read (0-1023)
- * @param data              the packet data (8 bytes)
- * @param length            the received length (0-8 bytes)
- * @param receivedTimestamp the packet received timestamp (based off of
- * CLOCK_MONOTONIC)
+ * @param[in] handle             the CAN handle
+ * @param[in] apiId              the ID to read (0-1023)
+ * @param[out] data              the packet data (8 bytes)
+ * @param[out] length            the received length (0-8 bytes)
+ * @param[out] receivedTimestamp the packet received timestamp (based off of
+ *                               CLOCK_MONOTONIC)
+ * @param[out] status            Error status variable. 0 on success.
  */
 void HAL_ReadCANPacketLatest(HAL_CANHandle handle, int32_t apiId, uint8_t* data,
                              int32_t* length, uint64_t* receivedTimestamp,
@@ -132,13 +139,14 @@ void HAL_ReadCANPacketLatest(HAL_CANHandle handle, int32_t apiId, uint8_t* data,
  * packet is older then the requested timeout. Then it will return an error
  * code.
  *
- * @param handle            the CAN handle
- * @param apiId             the ID to read (0-1023)
- * @param data              the packet data (8 bytes)
- * @param length            the received length (0-8 bytes)
- * @param receivedTimestamp the packet received timestamp (based off of
- * CLOCK_MONOTONIC)
- * @param timeoutMs         the timeout time for the packet
+ * @param[in] handle             the CAN handle
+ * @param[in] apiId              the ID to read (0-1023)
+ * @param[out] data              the packet data (8 bytes)
+ * @param[out] length            the received length (0-8 bytes)
+ * @param[out] receivedTimestamp the packet received timestamp (based off of
+ *                               CLOCK_MONOTONIC)
+ * @param[out] timeoutMs         the timeout time for the packet
+ * @param[out] status            Error status variable. 0 on success.
  */
 void HAL_ReadCANPacketTimeout(HAL_CANHandle handle, int32_t apiId,
                               uint8_t* data, int32_t* length,

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

@@ -34,9 +34,10 @@ extern "C" {
 /**
  * Initializes a counter.
  *
- * @param mode  the counter mode
- * @param index the compressor index (output)
- * @return      the created handle
+ * @param[in] mode    the counter mode
+ * @param[in] index   the compressor index (output)
+ * @param[out] status Error status variable. 0 on success.
+ * @return the created handle
  */
 HAL_CounterHandle HAL_InitializeCounter(HAL_Counter_Mode mode, int32_t* index,
                                         int32_t* status);
@@ -44,15 +45,17 @@ HAL_CounterHandle HAL_InitializeCounter(HAL_Counter_Mode mode, int32_t* index,
 /**
  * Frees a counter.
  *
- * @param counterHandle the counter handle
+ * @param[in] counterHandle the counter handle
+ * @param[out] status       Error status variable. 0 on success.
  */
 void HAL_FreeCounter(HAL_CounterHandle counterHandle, int32_t* status);
 
 /**
  * Sets the average sample size of a counter.
  *
- * @param counterHandle the counter handle
- * @param size          the size of samples to average
+ * @param[in] counterHandle  the counter handle
+ * @param[in] size           the size of samples to average
+ * @param[out] status        Error status variable. 0 on success.
  */
 void HAL_SetCounterAverageSize(HAL_CounterHandle counterHandle, int32_t size,
                                int32_t* status);
@@ -60,11 +63,13 @@ void HAL_SetCounterAverageSize(HAL_CounterHandle counterHandle, int32_t size,
 /**
  * Sets the source object that causes the counter to count up.
  *
- * @param counterHandle       the counter handle
- * @param digitalSourceHandle the digital source handle (either a
- * HAL_AnalogTriggerHandle or a HAL_DigitalHandle)
- * @param analogTriggerType   the analog trigger type if the source is an analog
- * trigger
+ * @param[in] counterHandle       the counter handle
+ * @param[in] digitalSourceHandle the digital source handle (either a
+ *                                HAL_AnalogTriggerHandle or a
+ *                                HAL_DigitalHandle)
+ * @param[in] analogTriggerType   the analog trigger type if the source is an
+ *                                analog trigger
+ * @param[out] status             Error status variable. 0 on success.
  */
 void HAL_SetCounterUpSource(HAL_CounterHandle counterHandle,
                             HAL_Handle digitalSourceHandle,
@@ -76,9 +81,10 @@ void HAL_SetCounterUpSource(HAL_CounterHandle counterHandle,
  *
  * Note that both are allowed to be set true at the same time without issues.
  *
- * @param counterHandle the counter handle
- * @param risingEdge    true to trigger on rising
- * @param fallingEdge   true to trigger on falling
+ * @param[in] counterHandle  the counter handle
+ * @param[in] risingEdge     true to trigger on rising
+ * @param[in] fallingEdge    true to trigger on falling
+ * @param[out] status        Error status variable. 0 on success.
  */
 void HAL_SetCounterUpSourceEdge(HAL_CounterHandle counterHandle,
                                 HAL_Bool risingEdge, HAL_Bool fallingEdge,
@@ -87,18 +93,21 @@ void HAL_SetCounterUpSourceEdge(HAL_CounterHandle counterHandle,
 /**
  * Disables the up counting source to the counter.
  *
- * @param counterHandle the counter handle
+ * @param[in] counterHandle the counter handle
+ * @param[out] status       Error status variable. 0 on success.
  */
 void HAL_ClearCounterUpSource(HAL_CounterHandle counterHandle, int32_t* status);
 
 /**
  * Sets the source object that causes the counter to count down.
  *
- * @param counterHandle       the counter handle
- * @param digitalSourceHandle the digital source handle (either a
- * HAL_AnalogTriggerHandle or a HAL_DigitalHandle)
- * @param analogTriggerType   the analog trigger type if the source is an analog
- * trigger
+ * @param[in] counterHandle       the counter handle
+ * @param[in] digitalSourceHandle the digital source handle (either a
+ *                                HAL_AnalogTriggerHandle or a
+ *                                HAL_DigitalHandle)
+ * @param[in] analogTriggerType   the analog trigger type if the source is an
+ *                                analog trigger
+ * @param[out] status             Error status variable. 0 on success.
  */
 void HAL_SetCounterDownSource(HAL_CounterHandle counterHandle,
                               HAL_Handle digitalSourceHandle,
@@ -109,9 +118,10 @@ void HAL_SetCounterDownSource(HAL_CounterHandle counterHandle,
  * Sets the down source to either detect rising edges or falling edges.
  * Note that both are allowed to be set true at the same time without issues.
  *
- * @param counterHandle the counter handle
- * @param risingEdge    true to trigger on rising
- * @param fallingEdge   true to trigger on falling
+ * @param[in] counterHandle  the counter handle
+ * @param[in] risingEdge     true to trigger on rising
+ * @param[in] fallingEdge    true to trigger on falling
+ * @param[out] status        Error status variable. 0 on success.
  */
 void HAL_SetCounterDownSourceEdge(HAL_CounterHandle counterHandle,
                                   HAL_Bool risingEdge, HAL_Bool fallingEdge,
@@ -120,7 +130,8 @@ void HAL_SetCounterDownSourceEdge(HAL_CounterHandle counterHandle,
 /**
  * Disables the down counting source to the counter.
  *
- * @param counterHandle the counter handle
+ * @param[in] counterHandle the counter handle
+ * @param[out] status       Error status variable. 0 on success.
  */
 void HAL_ClearCounterDownSource(HAL_CounterHandle counterHandle,
                                 int32_t* status);
@@ -130,7 +141,8 @@ void HAL_ClearCounterDownSource(HAL_CounterHandle counterHandle,
  *
  * Up and down counts are sourced independently from two inputs.
  *
- * @param counterHandle the counter handle
+ * @param[in] counterHandle the counter handle
+ * @param[out] status       Error status variable. 0 on success.
  */
 void HAL_SetCounterUpDownMode(HAL_CounterHandle counterHandle, int32_t* status);
 
@@ -140,7 +152,8 @@ void HAL_SetCounterUpDownMode(HAL_CounterHandle counterHandle, int32_t* status);
  * The direction is determined by the B input, with counting happening with the
  * A input.
  *
- * @param counterHandle the counter handle
+ * @param[in] counterHandle the counter handle
+ * @param[out] status       Error status variable. 0 on success.
  */
 void HAL_SetCounterExternalDirectionMode(HAL_CounterHandle counterHandle,
                                          int32_t* status);
@@ -151,8 +164,10 @@ void HAL_SetCounterExternalDirectionMode(HAL_CounterHandle counterHandle,
  * The counter counts up based on the time the input is triggered. High or Low
  * depends on the highSemiPeriod parameter.
  *
- * @param counterHandle  the counter handle
- * @param highSemiPeriod true for counting when the input is high, false for low
+ * @param[in] counterHandle  the counter handle
+ * @param[in] highSemiPeriod true for counting when the input is high, false for
+ *                           low
+ * @param[out] status        Error status variable. 0 on success.
  */
 void HAL_SetCounterSemiPeriodMode(HAL_CounterHandle counterHandle,
                                   HAL_Bool highSemiPeriod, int32_t* status);
@@ -163,9 +178,10 @@ void HAL_SetCounterSemiPeriodMode(HAL_CounterHandle counterHandle,
  *
  * This mode is most useful for direction sensitive gear tooth sensors.
  *
- * @param counterHandle the counter handle
- * @param threshold The pulse length beyond which the counter counts the
- * opposite direction (seconds)
+ * @param[in] counterHandle the counter handle
+ * @param[in] threshold     The pulse length beyond which the counter counts the
+ *                          opposite direction (seconds)
+ * @param[out] status       Error status variable. 0 on success.
  */
 void HAL_SetCounterPulseLengthMode(HAL_CounterHandle counterHandle,
                                    double threshold, int32_t* status);
@@ -175,7 +191,8 @@ void HAL_SetCounterPulseLengthMode(HAL_CounterHandle counterHandle,
  * timer to average when calculating the period. Perform averaging to account
  * for mechanical imperfections or as oversampling to increase resolution.
  *
- * @param counterHandle the counter handle
+ * @param[in] counterHandle the counter handle
+ * @param[out] status       Error status variable. 0 on success.
  * @return SamplesToAverage The number of samples being averaged (from 1 to 127)
  */
 int32_t HAL_GetCounterSamplesToAverage(HAL_CounterHandle counterHandle,
@@ -186,8 +203,9 @@ int32_t HAL_GetCounterSamplesToAverage(HAL_CounterHandle counterHandle,
  * timer to average when calculating the period. Perform averaging to account
  * for mechanical imperfections or as oversampling to increase resolution.
  *
- * @param counterHandle    the counter handle
- * @param samplesToAverage The number of samples to average from 1 to 127
+ * @param[in] counterHandle    the counter handle
+ * @param[in] samplesToAverage The number of samples to average from 1 to 127
+ * @param[out] status          Error status variable. 0 on success.
  */
 void HAL_SetCounterSamplesToAverage(HAL_CounterHandle counterHandle,
                                     int32_t samplesToAverage, int32_t* status);
@@ -198,7 +216,8 @@ void HAL_SetCounterSamplesToAverage(HAL_CounterHandle counterHandle,
  * Sets the counter value to zero. This does not effect the running state of the
  * counter, just sets the current value to zero.
  *
- * @param counterHandle the counter handle
+ * @param[in] counterHandle the counter handle
+ * @param[out] status       Error status variable. 0 on success.
  */
 void HAL_ResetCounter(HAL_CounterHandle counterHandle, int32_t* status);
 
@@ -208,8 +227,9 @@ void HAL_ResetCounter(HAL_CounterHandle counterHandle, int32_t* status);
  * Reads the value at this instant. It may still be running, so it reflects the
  * current value. Next time it is read, it might have a different value.
  *
- * @param counterHandle the counter handle
- * @return              the current counter value
+ * @param[in] counterHandle the counter handle
+ * @param[out] status       Error status variable. 0 on success.
+ * @return the current counter value
  */
 int32_t HAL_GetCounter(HAL_CounterHandle counterHandle, int32_t* status);
 
@@ -219,8 +239,9 @@ int32_t HAL_GetCounter(HAL_CounterHandle counterHandle, int32_t* status);
  * Returns the time interval of the most recent count. This can be used for
  * velocity calculations to determine shaft speed.
  *
- * @param counterHandle the counter handle
- * @returns             the period of the last two pulses in units of seconds
+ * @param[in] counterHandle the counter handle
+ * @param[out] status       Error status variable. 0 on success.
+ * @return the period of the last two pulses in units of seconds
  */
 double HAL_GetCounterPeriod(HAL_CounterHandle counterHandle, int32_t* status);
 
@@ -231,9 +252,10 @@ double HAL_GetCounterPeriod(HAL_CounterHandle counterHandle, int32_t* status);
  * used to determine the "stopped" state of the counter using the
  * HAL_GetCounterStopped method.
  *
- * @param counterHandle the counter handle
- * @param maxPeriod     the maximum period where the counted device is
- * considered moving in seconds
+ * @param[in] counterHandle the counter handle
+ * @param[in] maxPeriod     the maximum period where the counted device is
+ *                          considered moving in seconds
+ * @param[out] status       Error status variable. 0 on success.
  */
 void HAL_SetCounterMaxPeriod(HAL_CounterHandle counterHandle, double maxPeriod,
                              int32_t* status);
@@ -258,8 +280,9 @@ void HAL_SetCounterMaxPeriod(HAL_CounterHandle counterHandle, double maxPeriod,
  * (since it is updated at the end of an average and there are no samples to
  * average).
  *
- * @param counterHandle the counter handle
- * @param enabled       true to enable counter updating with no samples
+ * @param[in] counterHandle the counter handle
+ * @param[in] enabled       true to enable counter updating with no samples
+ * @param[out] status       Error status variable. 0 on success.
  */
 void HAL_SetCounterUpdateWhenEmpty(HAL_CounterHandle counterHandle,
                                    HAL_Bool enabled, int32_t* status);
@@ -271,9 +294,10 @@ void HAL_SetCounterUpdateWhenEmpty(HAL_CounterHandle counterHandle,
  * using the SetMaxPeriod method. If the clock exceeds the MaxPeriod, then the
  * device (and counter) are assumed to be stopped and it returns true.
  *
- * @param counterHandle the counter handle
- * @return              true if the most recent counter period exceeds the
- * MaxPeriod value set by SetMaxPeriod
+ * @param[in] counterHandle the counter handle
+ * @param[out] status       Error status variable. 0 on success.
+ * @return true if the most recent counter period exceeds the MaxPeriod value
+ *         set by SetMaxPeriod
  */
 HAL_Bool HAL_GetCounterStopped(HAL_CounterHandle counterHandle,
                                int32_t* status);
@@ -281,8 +305,9 @@ HAL_Bool HAL_GetCounterStopped(HAL_CounterHandle counterHandle,
 /**
  * Gets the last direction the counter value changed.
  *
- * @param counterHandle the counter handle
- * @return              the last direction the counter value changed
+ * @param[in] counterHandle the counter handle
+ * @param[out] status       Error status variable. 0 on success.
+ * @return the last direction the counter value changed
  */
 HAL_Bool HAL_GetCounterDirection(HAL_CounterHandle counterHandle,
                                  int32_t* status);
@@ -293,8 +318,9 @@ HAL_Bool HAL_GetCounterDirection(HAL_CounterHandle counterHandle,
  * This allows counters to change the direction they are counting in the case of
  * 1X and 2X quadrature encoding only. Any other counter mode isn't supported.
  *
- * @param counterHandle    the counter handle
- * @param reverseDirection true if the value counted should be negated.
+ * @param[in] counterHandle    the counter handle
+ * @param[in] reverseDirection true if the value counted should be negated.
+ * @param[out] status          Error status variable. 0 on success.
  */
 void HAL_SetCounterReverseDirection(HAL_CounterHandle counterHandle,
                                     HAL_Bool reverseDirection, int32_t* status);

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

@@ -21,11 +21,12 @@ extern "C" {
 /**
  * Creates a new instance of a digital port.
  *
- * @param portHandle            the port handle to create from
- * @param input                 true for input, false for output
- * @param allocationLocation    the location where the allocation is occuring
- * (can be null)
- * @return                      the created digital handle
+ * @param[in] portHandle         the port handle to create from
+ * @param[in] input              true for input, false for output
+ * @param[in] allocationLocation the location where the allocation is occuring
+ *                               (can be null)
+ * @param[out] status            Error status variable. 0 on success.
+ * @return the created digital handle
  */
 HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle portHandle,
                                         HAL_Bool input,
@@ -36,14 +37,14 @@ HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle portHandle,
  * Checks if a DIO channel is valid.
  *
  * @param channel the channel number to check
- * @return        true if the channel is correct, otherwise false
+ * @return true if the channel is correct, otherwise false
  */
 HAL_Bool HAL_CheckDIOChannel(int32_t channel);
 
 /**
  * Frees a DIO port.
  *
- * @param handle the DIO channel handle
+ * @param dioPortHandle the DIO channel handle
  */
 void HAL_FreeDIOPort(HAL_DigitalHandle dioPortHandle);
 
@@ -58,6 +59,7 @@ void HAL_SetDIOSimDevice(HAL_DigitalHandle handle, HAL_SimDeviceHandle device);
 /**
  * Allocates a DO PWM Generator.
  *
+ * @param[out] status Error status variable. 0 on success.
  * @return the allocated digital PWM handle
  */
 HAL_DigitalPWMHandle HAL_AllocateDigitalPWM(int32_t* status);
@@ -65,7 +67,8 @@ HAL_DigitalPWMHandle HAL_AllocateDigitalPWM(int32_t* status);
 /**
  * Frees the resource associated with a DO PWM generator.
  *
- * @param pwmGenerator the digital PWM handle
+ * @param[in] pwmGenerator the digital PWM handle
+ * @param[out] status Error status variable. 0 on success.
  */
 void HAL_FreeDigitalPWM(HAL_DigitalPWMHandle pwmGenerator, int32_t* status);
 
@@ -76,15 +79,17 @@ void HAL_FreeDigitalPWM(HAL_DigitalPWMHandle pwmGenerator, int32_t* status);
  *
  *  The frequency resolution is logarithmic.
  *
- * @param rate the frequency to output all digital output PWM signals
+ * @param[in] rate the frequency to output all digital output PWM signals
+ * @param[out] status Error status variable. 0 on success.
  */
 void HAL_SetDigitalPWMRate(double rate, int32_t* status);
 
 /**
  * Configures the duty-cycle of the PWM generator.
  *
- * @param pwmGenerator the digital PWM handle
- * @param dutyCycle    the percent duty cycle to output [0..1]
+ * @param[in] pwmGenerator the digital PWM handle
+ * @param[in] dutyCycle    the percent duty cycle to output [0..1]
+ * @param[out] status      Error status variable. 0 on success.
  */
 void HAL_SetDigitalPWMDutyCycle(HAL_DigitalPWMHandle pwmGenerator,
                                 double dutyCycle, int32_t* status);
@@ -92,8 +97,9 @@ void HAL_SetDigitalPWMDutyCycle(HAL_DigitalPWMHandle pwmGenerator,
 /**
  * Configures which DO channel the PWM signal is output on.
  *
- * @param pwmGenerator the digital PWM handle
- * @param channel      the channel to output on
+ * @param[in] pwmGenerator the digital PWM handle
+ * @param[in] channel      the channel to output on
+ * @param[out] status      Error status variable. 0 on success.
  */
 void HAL_SetDigitalPWMOutputChannel(HAL_DigitalPWMHandle pwmGenerator,
                                     int32_t channel, int32_t* status);
@@ -101,9 +107,10 @@ void HAL_SetDigitalPWMOutputChannel(HAL_DigitalPWMHandle pwmGenerator,
 /**
  * Writes a digital value to a DIO channel.
  *
- * @param dioPortHandle the digital port handle
- * @param value         the state to set the digital channel (if it is
- * configured as an output)
+ * @param[in] dioPortHandle the digital port handle
+ * @param[in] value         the state to set the digital channel (if it is
+ *                          configured as an output)
+ * @param[out] status       Error status variable. 0 on success.
  */
 void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value,
                 int32_t* status);
@@ -111,8 +118,9 @@ void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value,
 /**
  * Sets the direction of a DIO channel.
  *
- * @param dioPortHandle the digital port handle
- * @param input         true to set input, false for output
+ * @param[in] dioPortHandle the digital port handle
+ * @param[in] input         true to set input, false for output
+ * @param[out] status       Error status variable. 0 on success.
  */
 void HAL_SetDIODirection(HAL_DigitalHandle dioPortHandle, HAL_Bool input,
                          int32_t* status);
@@ -120,16 +128,18 @@ void HAL_SetDIODirection(HAL_DigitalHandle dioPortHandle, HAL_Bool input,
 /**
  * Reads a digital value from a DIO channel.
  *
- * @param dioPortHandle the digital port handle
- * @return              the state of the specified channel
+ * @param[in] dioPortHandle the digital port handle
+ * @param[out] status       Error status variable. 0 on success.
+ * @return the state of the specified channel
  */
 HAL_Bool HAL_GetDIO(HAL_DigitalHandle dioPortHandle, int32_t* status);
 
 /**
  * Reads the direction of a DIO channel.
  *
- * @param dioPortHandle the digital port handle
- * @return              true for input, false for output
+ * @param[in] dioPortHandle the digital port handle
+ * @param[out] status       Error status variable. 0 on success.
+ * @return true for input, false for output
  */
 HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dioPortHandle, int32_t* status);
 
@@ -139,8 +149,9 @@ HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dioPortHandle, int32_t* status);
  * Write a pulse to the specified digital output channel. There can only be a
  * single pulse going at any time.
  *
- * @param dioPortHandle the digital port handle
- * @param pulseLength   the active length of the pulse (in seconds)
+ * @param[in] dioPortHandle the digital port handle
+ * @param[in] pulseLength   the active length of the pulse (in seconds)
+ * @param[out] status       Error status variable. 0 on success.
  */
 void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength,
                int32_t* status);
@@ -148,6 +159,8 @@ void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength,
 /**
  * Checks a DIO line to see if it is currently generating a pulse.
  *
+ * @param[in] dioPortHandle the digital port handle
+ * @param[out] status Error status variable. 0 on success.
  * @return true if a pulse is in progress, otherwise false
  */
 HAL_Bool HAL_IsPulsing(HAL_DigitalHandle dioPortHandle, int32_t* status);
@@ -155,6 +168,7 @@ HAL_Bool HAL_IsPulsing(HAL_DigitalHandle dioPortHandle, int32_t* status);
 /**
  * Checks if any DIO line is currently generating a pulse.
  *
+ * @param[out] status Error status variable. 0 on success.
  * @return true if a pulse on some line is in progress
  */
 HAL_Bool HAL_IsAnyPulsing(int32_t* status);
@@ -164,9 +178,11 @@ HAL_Bool HAL_IsAnyPulsing(int32_t* status);
  *
  * Set the filter index used to filter out short pulses.
  *
- * @param dioPortHandle the digital port handle
- * @param filterIndex   the filter index (Must be in the range 0 - 3, where 0
- * means "none" and 1 - 3 means filter # filterIndex - 1)
+ * @param[in] dioPortHandle the digital port handle
+ * @param[in] filterIndex   the filter index (Must be in the range 0 - 3, where
+ *                          0 means "none" and 1 - 3 means filter # filterIndex
+ *                          - 1)
+ * @param[out] status       Error status variable. 0 on success.
  */
 void HAL_SetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t filterIndex,
                          int32_t* status);
@@ -176,9 +192,10 @@ void HAL_SetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t filterIndex,
  *
  * Gets the filter index used to filter out short pulses.
  *
- * @param dioPortHandle the digital port handle
- * @return filterIndex  the filter index (Must be in the range 0 - 3,
- * where 0 means "none" and 1 - 3 means filter # filterIndex - 1)
+ * @param[in] dioPortHandle the digital port handle
+ * @param[out] status       Error status variable. 0 on success.
+ * @return filterIndex  the filter index (Must be in the range 0 - 3, where 0
+ *                      means "none" and 1 - 3 means filter # filterIndex - 1)
  */
 int32_t HAL_GetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t* status);
 
@@ -189,9 +206,10 @@ int32_t HAL_GetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t* status);
  * filter index domains (MXP vs HDR), ignore that distinction for now since it
  * compilicates the interface.  That can be changed later.
  *
- * @param filterIndex the filter index, 0 - 2
- * @param value       the number of cycles that the signal must not transition
- * to be counted as a transition.
+ * @param[in] filterIndex the filter index, 0 - 2
+ * @param[in] value       the number of cycles that the signal must not
+ *                        transition to be counted as a transition.
+ * @param[out] status     Error status variable. 0 on success.
  */
 void HAL_SetFilterPeriod(int32_t filterIndex, int64_t value, int32_t* status);
 
@@ -203,9 +221,8 @@ void HAL_SetFilterPeriod(int32_t filterIndex, int64_t value, int32_t* status);
  * compilicates the interface.  Set status to NiFpga_Status_SoftwareFault if the
  * filter values miss-match.
  *
- * @param filterIndex the filter index, 0 - 2
- * @param value       the number of cycles that the signal must not transition
- * to be counted as a transition.
+ * @param[in] filterIndex the filter index, 0 - 2
+ * @param[out] status     Error status variable. 0 on success.
  */
 int64_t HAL_GetFilterPeriod(int32_t filterIndex, int32_t* status);
 #ifdef __cplusplus

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

@@ -42,6 +42,7 @@ extern "C" {
 /**
  * Initializes an object for peforming DMA transfers.
  *
+ * @param[out] status Error status variable. 0 on success.
  * @return the created dma handle
  */
 HAL_DMAHandle HAL_InitializeDMA(int32_t* status);
@@ -58,8 +59,9 @@ void HAL_FreeDMA(HAL_DMAHandle handle);
  *
  * This can only be called while DMA is running.
  *
- * @param handle the dma handle
- * @param pause true to pause transfers, false to resume.
+ * @param[in] handle  the dma handle
+ * @param[in] pause   true to pause transfers, false to resume.
+ * @param[out] status Error status variable. 0 on success.
  */
 void HAL_SetDMAPause(HAL_DMAHandle handle, HAL_Bool pause, int32_t* status);
 
@@ -72,8 +74,9 @@ void HAL_SetDMAPause(HAL_DMAHandle handle, HAL_Bool pause, int32_t* status);
  *
  * This can only be called if DMA is not started.
  *
- * @param handle the dma handle
- * @param periodSeconds the period to trigger in seconds
+ * @param[in] handle        the dma handle
+ * @param[in] periodSeconds the period to trigger in seconds
+ * @param[out] status       Error status variable. 0 on success.
  */
 void HAL_SetDMATimedTrigger(HAL_DMAHandle handle, double periodSeconds,
                             int32_t* status);
@@ -91,8 +94,9 @@ void HAL_SetDMATimedTrigger(HAL_DMAHandle handle, double periodSeconds,
  *
  * This can only be called if DMA is not started.
  *
- * @param handle the dma handle
- * @param cycles the period to trigger in FPGA cycles
+ * @param[in] handle the dma handle
+ * @param[in] cycles the period to trigger in FPGA cycles
+ * @param[out] status Error status variable. 0 on success.
  */
 void HAL_SetDMATimedTriggerCycles(HAL_DMAHandle handle, uint32_t cycles,
                                   int32_t* status);
@@ -102,8 +106,9 @@ void HAL_SetDMATimedTriggerCycles(HAL_DMAHandle handle, uint32_t cycles,
  *
  * This can only be called if DMA is not started.
  *
- * @param handle the dma handle
- * @param encoderHandle the encoder to add
+ * @param[in] handle the dma handle
+ * @param[in] encoderHandle the encoder to add
+ * @param[out] status Error status variable. 0 on success.
  */
 void HAL_AddDMAEncoder(HAL_DMAHandle handle, HAL_EncoderHandle encoderHandle,
                        int32_t* status);
@@ -113,8 +118,9 @@ void HAL_AddDMAEncoder(HAL_DMAHandle handle, HAL_EncoderHandle encoderHandle,
  *
  * This can only be called if DMA is not started.
  *
- * @param handle the dma handle
- * @param encoderHandle the encoder to add
+ * @param[in] handle the dma handle
+ * @param[in] encoderHandle the encoder to add
+ * @param[out] status Error status variable. 0 on success.
  */
 void HAL_AddDMAEncoderPeriod(HAL_DMAHandle handle,
                              HAL_EncoderHandle encoderHandle, int32_t* status);
@@ -124,8 +130,9 @@ void HAL_AddDMAEncoderPeriod(HAL_DMAHandle handle,
  *
  * This can only be called if DMA is not started.
  *
- * @param handle the dma handle
- * @param counterHandle the counter to add
+ * @param[in] handle the dma handle
+ * @param[in] counterHandle the counter to add
+ * @param[out] status Error status variable. 0 on success.
  */
 void HAL_AddDMACounter(HAL_DMAHandle handle, HAL_CounterHandle counterHandle,
                        int32_t* status);
@@ -133,8 +140,9 @@ void HAL_AddDMACounter(HAL_DMAHandle handle, HAL_CounterHandle counterHandle,
 /**
  * Adds timer data for an counter to be collected by DMA.
  *
- * @param handle the dma handle
- * @param counterHandle the counter to add
+ * @param[in] handle the dma handle
+ * @param[in] counterHandle the counter to add
+ * @param[out] status Error status variable. 0 on success.
  */
 void HAL_AddDMACounterPeriod(HAL_DMAHandle handle,
                              HAL_CounterHandle counterHandle, int32_t* status);
@@ -144,8 +152,9 @@ void HAL_AddDMACounterPeriod(HAL_DMAHandle handle,
  *
  * This can only be called if DMA is not started.
  *
- * @param handle the dma handle
- * @param digitalSourceHandle the digital source to add
+ * @param[in] handle the dma handle
+ * @param[in] digitalSourceHandle the digital source to add
+ * @param[out] status Error status variable. 0 on success.
  */
 void HAL_AddDMADigitalSource(HAL_DMAHandle handle,
                              HAL_Handle digitalSourceHandle, int32_t* status);
@@ -155,8 +164,9 @@ void HAL_AddDMADigitalSource(HAL_DMAHandle handle,
  *
  * This can only be called if DMA is not started.
  *
- * @param handle the dma handle
- * @param aInHandle the analog input to add
+ * @param[in] handle the dma handle
+ * @param[in] aInHandle the analog input to add
+ * @param[out] status Error status variable. 0 on success.
  */
 void HAL_AddDMAAnalogInput(HAL_DMAHandle handle,
                            HAL_AnalogInputHandle aInHandle, int32_t* status);
@@ -166,8 +176,9 @@ void HAL_AddDMAAnalogInput(HAL_DMAHandle handle,
  *
  * This can only be called if DMA is not started.
  *
- * @param handle the dma handle
- * @param aInHandle the analog input to add
+ * @param[in] handle the dma handle
+ * @param[in] aInHandle the analog input to add
+ * @param[out] status Error status variable. 0 on success.
  */
 void HAL_AddDMAAveragedAnalogInput(HAL_DMAHandle handle,
                                    HAL_AnalogInputHandle aInHandle,
@@ -178,8 +189,9 @@ void HAL_AddDMAAveragedAnalogInput(HAL_DMAHandle handle,
  *
  * This can only be called if DMA is not started.
  *
- * @param handle the dma handle
- * @param aInHandle the analog input to add
+ * @param[in] handle the dma handle
+ * @param[in] aInHandle the analog input to add
+ * @param[out] status Error status variable. 0 on success.
  */
 void HAL_AddDMAAnalogAccumulator(HAL_DMAHandle handle,
                                  HAL_AnalogInputHandle aInHandle,
@@ -190,8 +202,9 @@ void HAL_AddDMAAnalogAccumulator(HAL_DMAHandle handle,
  *
  * This can only be called if DMA is not started.
  *
- * @param handle the dma handle
- * @param dutyCycleHandle the duty cycle input to add
+ * @param[in] handle the dma handle
+ * @param[in] dutyCycleHandle the duty cycle input to add
+ * @param[out] status Error status variable. 0 on success.
  */
 void HAL_AddDMADutyCycle(HAL_DMAHandle handle,
                          HAL_DutyCycleHandle dutyCycleHandle, int32_t* status);
@@ -205,13 +218,15 @@ void HAL_AddDMADutyCycle(HAL_DMAHandle handle,
  *
  * This can only be called if DMA is not started.
  *
- * @param handle the dma handle
- * @param digitalSourceHandle the digital source handle (either a
- * HAL_AnalogTriggerHandle or a HAL_DigitalHandle)
- * @param analogTriggerType   the analog trigger type if the source is an analog
- * trigger
- * @param risingEdge    true to trigger on rising
- * @param fallingEdge   true to trigger on falling
+ * @param[in] handle              the dma handle
+ * @param[in] digitalSourceHandle the digital source handle (either a
+ *                                HAL_AnalogTriggerHandle or a
+ *                                HAL_DigitalHandle)
+ * @param[in] analogTriggerType   the analog trigger type if the source is an
+ *                                analog trigger
+ * @param[in] rising              true to trigger on rising edge
+ * @param[in] falling             true to trigger on falling edge
+ * @param[out] status             Error status variable. 0 on success.
  * @return the index of the trigger
  */
 int32_t HAL_SetDMAExternalTrigger(HAL_DMAHandle handle,
@@ -225,7 +240,8 @@ int32_t HAL_SetDMAExternalTrigger(HAL_DMAHandle handle,
  *
  * This can only be called if DMA is not started.
  *
- * @param handle the dma handle
+ * @param[in] handle the dma handle
+ * @param[out] status Error status variable. 0 on success.
  */
 void HAL_ClearDMASensors(HAL_DMAHandle handle, int32_t* status);
 
@@ -234,22 +250,25 @@ void HAL_ClearDMASensors(HAL_DMAHandle handle, int32_t* status);
  *
  * This can only be called if DMA is not started.
  *
- * @param handle the dma handle
+ * @param[in] handle the dma handle
+ * @param[out] status Error status variable. 0 on success.
  */
 void HAL_ClearDMAExternalTriggers(HAL_DMAHandle handle, int32_t* status);
 
 /**
  * Starts DMA Collection.
  *
- * @param handle the dma handle
- * @param queueDepth the number of objects to be able to queue
+ * @param[in] handle the dma handle
+ * @param[in] queueDepth the number of objects to be able to queue
+ * @param[out] status Error status variable. 0 on success.
  */
 void HAL_StartDMA(HAL_DMAHandle handle, int32_t queueDepth, int32_t* status);
 
 /**
  * Stops DMA Collection.
  *
- * @param handle the dma handle
+ * @param[in] handle the dma handle
+ * @param[out] status Error status variable. 0 on success.
  */
 void HAL_StopDMA(HAL_DMAHandle handle, int32_t* status);
 
@@ -268,7 +287,12 @@ void* HAL_GetDMADirectPointer(HAL_DMAHandle handle);
  *
  * See HAL_ReadDMA for full documentation.
  *
- * @param handle the dma handle
+ * @param[in] dmaPointer     direct DMA pointer
+ * @param[in] dmaSample      the sample object to place data into
+ * @param[in] timeoutSeconds the time to wait for data to be queued before
+ *                           timing out
+ * @param[in] remainingOut   the number of samples remaining in the queue
+ * @param[out] status        Error status variable. 0 on success.
  */
 enum HAL_DMAReadStatus HAL_ReadDMADirect(void* dmaPointer,
                                          HAL_DMASample* dmaSample,
@@ -280,11 +304,12 @@ enum HAL_DMAReadStatus HAL_ReadDMADirect(void* dmaPointer,
  * Reads a DMA sample from the queue.
  *
  *
- * @param handle the dma handle
- * @param dmaSample the sample object to place data into
- * @param timeoutSeconds the time to wait for data to be queued before timing
- * out
- * @param remainingOut the number of samples remaining in the queue
+ * @param[in] handle         the dma handle
+ * @param[in] dmaSample      the sample object to place data into
+ * @param[in] timeoutSeconds the time to wait for data to be queued before
+ *                           timing out
+ * @param[in] remainingOut   the number of samples remaining in the queue
+ * @param[out] status        Error status variable. 0 on success.
  * @return the succes result of the sample read
  */
 enum HAL_DMAReadStatus HAL_ReadDMA(HAL_DMAHandle handle,
@@ -298,7 +323,8 @@ enum HAL_DMAReadStatus HAL_ReadDMA(HAL_DMAHandle handle,
  * Returns the timestamp of the sample.
  * This is in the same time domain as HAL_GetFPGATime().
  *
- * @param dmaSample the sample to read from
+ * @param[in] dmaSample the sample to read from
+ * @param[out] status Error status variable. 0 on success.
  * @return timestamp in microseconds since FPGA Initialization
  */
 uint64_t HAL_GetDMASampleTime(const HAL_DMASample* dmaSample, int32_t* status);
@@ -309,8 +335,9 @@ uint64_t HAL_GetDMASampleTime(const HAL_DMASample* dmaSample, int32_t* status);
  * This can be scaled with DistancePerPulse and DecodingScaleFactor to match the
  * result of GetDistance()
  *
- * @param dmaSample the sample to read from
- * @param encoderHandle the encoder handle
+ * @param[in] dmaSample the sample to read from
+ * @param[in] encoderHandle the encoder handle
+ * @param[out] status Error status variable. 0 on success.
  * @return raw encoder ticks
  */
 int32_t HAL_GetDMASampleEncoderRaw(const HAL_DMASample* dmaSample,
@@ -320,8 +347,9 @@ int32_t HAL_GetDMASampleEncoderRaw(const HAL_DMASample* dmaSample,
 /**
  * Returns the distance data for an counter from the sample.
  *
- * @param dmaSample the sample to read from
- * @param counterHandle the counter handle
+ * @param[in] dmaSample the sample to read from
+ * @param[in] counterHandle the counter handle
+ * @param[out] status Error status variable. 0 on success.
  * @return counter ticks
  */
 int32_t HAL_GetDMASampleCounter(const HAL_DMASample* dmaSample,
@@ -334,8 +362,9 @@ int32_t HAL_GetDMASampleCounter(const HAL_DMASample* dmaSample,
  * This can be scaled with DistancePerPulse and DecodingScaleFactor to match the
  * result of GetRate()
  *
- * @param dmaSample the sample to read from
- * @param encoderHandle the encoder handle
+ * @param[in] dmaSample the sample to read from
+ * @param[in] encoderHandle the encoder handle
+ * @param[out] status Error status variable. 0 on success.
  * @return raw encoder period
  */
 int32_t HAL_GetDMASampleEncoderPeriodRaw(const HAL_DMASample* dmaSample,
@@ -345,8 +374,9 @@ int32_t HAL_GetDMASampleEncoderPeriodRaw(const HAL_DMASample* dmaSample,
 /**
  * Returns the period data for an counter from the sample.
  *
- * @param dmaSample the sample to read from
- * @param counterHandle the counter handle
+ * @param[in] dmaSample the sample to read from
+ * @param[in] counterHandle the counter handle
+ * @param[out] status Error status variable. 0 on success.
  * @return counter period
  */
 int32_t HAL_GetDMASampleCounterPeriod(const HAL_DMASample* dmaSample,
@@ -356,8 +386,9 @@ int32_t HAL_GetDMASampleCounterPeriod(const HAL_DMASample* dmaSample,
 /**
  * Returns the state of a digital source from the sample.
  *
- * @param dmaSample the sample to read from
- * @param dSourceHandle the digital source handle
+ * @param[in] dmaSample the sample to read from
+ * @param[in] dSourceHandle the digital source handle
+ * @param[out] status Error status variable. 0 on success.
  * @return digital source state
  */
 HAL_Bool HAL_GetDMASampleDigitalSource(const HAL_DMASample* dmaSample,
@@ -369,8 +400,9 @@ HAL_Bool HAL_GetDMASampleDigitalSource(const HAL_DMASample* dmaSample,
  *
  * This can be scaled with HAL_GetAnalogValueToVolts to match GetVoltage().
  *
- * @param dmaSample the sample to read from
- * @param aInHandle the analog input handle
+ * @param[in] dmaSample the sample to read from
+ * @param[in] aInHandle the analog input handle
+ * @param[out] status Error status variable. 0 on success.
  * @return raw analog data
  */
 int32_t HAL_GetDMASampleAnalogInputRaw(const HAL_DMASample* dmaSample,
@@ -383,8 +415,9 @@ int32_t HAL_GetDMASampleAnalogInputRaw(const HAL_DMASample* dmaSample,
  * This can be scaled with HAL_GetAnalogValueToVolts to match
  * GetAveragedVoltage().
  *
- * @param dmaSample the sample to read from
- * @param aInHandle the analog input handle
+ * @param[in] dmaSample the sample to read from
+ * @param[in] aInHandle the analog input handle
+ * @param[out] status Error status variable. 0 on success.
  * @return raw averaged analog data
  */
 int32_t HAL_GetDMASampleAveragedAnalogInputRaw(const HAL_DMASample* dmaSample,
@@ -394,10 +427,11 @@ int32_t HAL_GetDMASampleAveragedAnalogInputRaw(const HAL_DMASample* dmaSample,
 /**
  * Returns the analog accumulator data for an analog input from the sample.
  *
- * @param dmaSample the sample to read from
- * @param aInHandle the analog input handle
- * @param count the accumulator count
- * @param value the accumulator value
+ * @param[in] dmaSample the sample to read from
+ * @param[in] aInHandle the analog input handle
+ * @param[in] count the accumulator count
+ * @param[in] value the accumulator value
+ * @param[out] status Error status variable. 0 on success.
  */
 void HAL_GetDMASampleAnalogAccumulator(const HAL_DMASample* dmaSample,
                                        HAL_AnalogInputHandle aInHandle,
@@ -409,8 +443,9 @@ void HAL_GetDMASampleAnalogAccumulator(const HAL_DMASample* dmaSample,
  *
  * Use HAL_GetDutyCycleOutputScaleFactor to scale this to a percentage.
  *
- * @param dmaSample the sample to read from
- * @param dutyCycleHandle the duty cycle handle
+ * @param[in] dmaSample the sample to read from
+ * @param[in] dutyCycleHandle the duty cycle handle
+ * @param[out] status Error status variable. 0 on success.
  * @return raw duty cycle input data
  */
 int32_t HAL_GetDMASampleDutyCycleOutputRaw(const HAL_DMASample* dmaSample,

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

@@ -27,7 +27,7 @@ extern "C" {
  * @param isLVCode  true for a LV error code, false for a standard error code
  * @param details   the details of the error
  * @param location  the file location of the errror
- * @param callstack the callstack of the error
+ * @param callStack the callstack of the error
  * @param printMsg  true to print the error message to stdout as well as to the
  * DS
  */
@@ -47,15 +47,15 @@ int32_t HAL_SendConsoleLine(const char* line);
  * The control work contains the robot state.
  *
  * @param controlWord the control word (out)
- * @return            the error code, or 0 for success
+ * @return the error code, or 0 for success
  */
 int32_t HAL_GetControlWord(HAL_ControlWord* controlWord);
 
 /**
  * Gets the current alliance station ID.
  *
- * @param status the error code, or 0 for success
- * @return       the alliance station ID
+ * @param[out] status the error code, or 0 for success
+ * @return the alliance station ID
  */
 HAL_AllianceStationID HAL_GetAllianceStation(int32_t* status);
 
@@ -64,7 +64,7 @@ HAL_AllianceStationID HAL_GetAllianceStation(int32_t* status);
  *
  * @param joystickNum the joystick number
  * @param axes        the axes values (output)
- * @return            the error code, or 0 for success
+ * @return the error code, or 0 for success
  */
 int32_t HAL_GetJoystickAxes(int32_t joystickNum, HAL_JoystickAxes* axes);
 
@@ -73,7 +73,7 @@ int32_t HAL_GetJoystickAxes(int32_t joystickNum, HAL_JoystickAxes* axes);
  *
  * @param joystickNum the joystick number
  * @param povs        the POV values (output)
- * @return            the error code, or 0 for success
+ * @return the error code, or 0 for success
  */
 int32_t HAL_GetJoystickPOVs(int32_t joystickNum, HAL_JoystickPOVs* povs);
 
@@ -82,7 +82,7 @@ int32_t HAL_GetJoystickPOVs(int32_t joystickNum, HAL_JoystickPOVs* povs);
  *
  * @param joystickNum the joystick number
  * @param buttons     the button values (output)
- * @return            the error code, or 0 for success
+ * @return the error code, or 0 for success
  */
 int32_t HAL_GetJoystickButtons(int32_t joystickNum,
                                HAL_JoystickButtons* buttons);
@@ -90,14 +90,15 @@ int32_t HAL_GetJoystickButtons(int32_t joystickNum,
 /**
  * Retrieves the Joystick Descriptor for particular slot.
  *
- * @param desc [out] descriptor (data transfer object) to fill in.  desc is
- * filled in regardless of success. In other words, if descriptor is not
- * available, desc is filled in with default values matching the init-values in
- * Java and C++ Driverstation for when caller requests a too-large joystick
- * index.
- *
+ * @param joystickNum the joystick number
+ * @param[out] desc   descriptor (data transfer object) to fill in. desc is
+ *                    filled in regardless of success. In other words, if
+ *                    descriptor is not available, desc is filled in with
+ *                    default values matching the init-values in Java and C++
+ *                    Driver Station for when caller requests a too-large
+ *                    joystick index.
  * @return error code reported from Network Comm back-end.  Zero is good,
- * nonzero is bad.
+ *         nonzero is bad.
  */
 int32_t HAL_GetJoystickDescriptor(int32_t joystickNum,
                                   HAL_JoystickDescriptor* desc);
@@ -106,7 +107,7 @@ int32_t HAL_GetJoystickDescriptor(int32_t joystickNum,
  * Gets is a specific joystick is considered to be an XBox controller.
  *
  * @param joystickNum the joystick number
- * @return            true if xbox, false otherwise
+ * @return true if xbox, false otherwise
  */
 HAL_Bool HAL_GetJoystickIsXbox(int32_t joystickNum);
 
@@ -117,7 +118,7 @@ HAL_Bool HAL_GetJoystickIsXbox(int32_t joystickNum);
  * the joystick uses.
  *
  * @param joystickNum the joystick number
- * @return            the enumerated joystick type
+ * @return the enumerated joystick type
  */
 int32_t HAL_GetJoystickType(int32_t joystickNum);
 
@@ -129,7 +130,7 @@ int32_t HAL_GetJoystickType(int32_t joystickNum);
  * Will be null terminated.
  *
  * @param joystickNum the joystick number
- * @return            the joystick name
+ * @return the joystick name
  */
 char* HAL_GetJoystickName(int32_t joystickNum);
 
@@ -148,18 +149,18 @@ void HAL_FreeJoystickName(char* name);
  *
  * @param joystickNum the joystick number
  * @param axis        the axis number
- * @return            the enumerated axis type
+ * @return the enumerated axis type
  */
 int32_t HAL_GetJoystickAxisType(int32_t joystickNum, int32_t axis);
 
 /**
  * Set joystick outputs.
  *
- * @param joystickNum the joystick numer
+ * @param joystickNum the joystick number
  * @param outputs     bitmask of outputs, 1 for on 0 for off
  * @param leftRumble  the left rumble value (0-FFFF)
  * @param rightRumble the right rumble value (0-FFFF)
- * @return            the error code, or 0 for success
+ * @return the error code, or 0 for success
  */
 int32_t HAL_SetJoystickOutputs(int32_t joystickNum, int64_t outputs,
                                int32_t leftRumble, int32_t rightRumble);
@@ -177,7 +178,7 @@ int32_t HAL_SetJoystickOutputs(int32_t joystickNum, int64_t outputs,
  * The Practice Match function of the DS approximates the behavior seen on
  * the field.
  *
- * @param status the error code, or 0 for success
+ * @param[out] status the error code, or 0 for success
  * @return time remaining in current match period (auto or teleop)
  */
 double HAL_GetMatchTime(int32_t* status);
@@ -185,8 +186,8 @@ double HAL_GetMatchTime(int32_t* status);
 /**
  * Gets info about a specific match.
  *
- * @param info the match info (output)
- * @return     the error code, or 0 for success
+ * @param[in] info the match info (output)
+ * @return the error code, or 0 for success
  */
 int32_t HAL_GetMatchInfo(HAL_MatchInfo* info);
 
@@ -217,8 +218,8 @@ void HAL_WaitForDSData(void);
  * forever. Otherwise, it will wait until either a new packet, or the timeout
  * time has passed.
  *
- * @param timeout timeout in seconds
- * @return        true for new data, false for timeout
+ * @param[in] timeout timeout in seconds
+ * @return true for new data, false for timeout
  */
 HAL_Bool HAL_WaitForDSDataTimeout(double timeout);
 
@@ -240,7 +241,7 @@ void HAL_ObserveUserProgramStarting(void);
  * Sets the disabled flag in the DS.
  *
  * This is used for the DS to ensure the robot is properly responding to its
- * state request. Ensure this get called about every 50ms, or the robot will be
+ * state request. Ensure this gets called about every 50ms, or the robot will be
  * disabled by the DS.
  */
 void HAL_ObserveUserProgramDisabled(void);
@@ -249,7 +250,7 @@ void HAL_ObserveUserProgramDisabled(void);
  * Sets the autonomous enabled flag in the DS.
  *
  * This is used for the DS to ensure the robot is properly responding to its
- * state request. Ensure this get called about every 50ms, or the robot will be
+ * state request. Ensure this gets called about every 50ms, or the robot will be
  * disabled by the DS.
  */
 void HAL_ObserveUserProgramAutonomous(void);
@@ -258,7 +259,7 @@ void HAL_ObserveUserProgramAutonomous(void);
  * Sets the teleoperated enabled flag in the DS.
  *
  * This is used for the DS to ensure the robot is properly responding to its
- * state request. Ensure this get called about every 50ms, or the robot will be
+ * state request. Ensure this gets called about every 50ms, or the robot will be
  * disabled by the DS.
  */
 void HAL_ObserveUserProgramTeleop(void);
@@ -267,7 +268,7 @@ void HAL_ObserveUserProgramTeleop(void);
  * Sets the test mode flag in the DS.
  *
  * This is used for the DS to ensure the robot is properly responding to its
- * state request. Ensure this get called about every 50ms, or the robot will be
+ * state request. Ensure this gets called about every 50ms, or the robot will be
  * disabled by the DS.
  */
 void HAL_ObserveUserProgramTest(void);

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

@@ -20,10 +20,12 @@ extern "C" {
 /**
  * Initialize a DutyCycle input.
  *
- * @param digitalSourceHandle the digital source to use (either a
- * HAL_DigitalHandle or a HAL_AnalogTriggerHandle)
- * @param triggerType the analog trigger type of the source if it is
- * an analog trigger
+ * @param[in] digitalSourceHandle the digital source to use (either a
+ *                                 HAL_DigitalHandle or a
+ *                                 HAL_AnalogTriggerHandle)
+ * @param[in] triggerType the analog trigger type of the source if it is
+ *                         an analog trigger
+ * @param[out] status Error status variable. 0 on success.
  * @return thre created duty cycle handle
  */
 HAL_DutyCycleHandle HAL_InitializeDutyCycle(HAL_Handle digitalSourceHandle,
@@ -49,7 +51,8 @@ void HAL_SetDutyCycleSimDevice(HAL_DutyCycleHandle handle,
 /**
  * Get the frequency of the duty cycle signal.
  *
- * @param dutyCycleHandle the duty cycle handle
+ * @param[in] dutyCycleHandle the duty cycle handle
+ * @param[out] status Error status variable. 0 on success.
  * @return frequency in Hertz
  */
 int32_t HAL_GetDutyCycleFrequency(HAL_DutyCycleHandle dutyCycleHandle,
@@ -60,7 +63,8 @@ int32_t HAL_GetDutyCycleFrequency(HAL_DutyCycleHandle dutyCycleHandle,
  *
  * <p> 0 means always low, 1 means always high.
  *
- * @param dutyCycleHandle the duty cycle handle
+ * @param[in] dutyCycleHandle the duty cycle handle
+ * @param[out] status Error status variable. 0 on success.
  * @return output ratio between 0 and 1
  */
 double HAL_GetDutyCycleOutput(HAL_DutyCycleHandle dutyCycleHandle,
@@ -72,7 +76,8 @@ double HAL_GetDutyCycleOutput(HAL_DutyCycleHandle dutyCycleHandle,
  * <p> 0 means always low, an output equal to
  * GetOutputScaleFactor() means always high.
  *
- * @param dutyCycleHandle the duty cycle handle
+ * @param[in] dutyCycleHandle the duty cycle handle
+ * @param[out] status Error status variable. 0 on success.
  * @return output ratio in raw units
  */
 int32_t HAL_GetDutyCycleOutputRaw(HAL_DutyCycleHandle dutyCycleHandle,
@@ -85,7 +90,8 @@ int32_t HAL_GetDutyCycleOutputRaw(HAL_DutyCycleHandle dutyCycleHandle,
  * down to 0. Divide the result of getOutputRaw by this in order to get the
  * percentage between 0 and 1.
  *
- * @param dutyCycleHandle the duty cycle handle
+ * @param[in] dutyCycleHandle the duty cycle handle
+ * @param[out] status Error status variable. 0 on success.
  * @return the output scale factor
  */
 int32_t HAL_GetDutyCycleOutputScaleFactor(HAL_DutyCycleHandle dutyCycleHandle,
@@ -94,7 +100,8 @@ int32_t HAL_GetDutyCycleOutputScaleFactor(HAL_DutyCycleHandle dutyCycleHandle,
 /**
  * Get the FPGA index for the DutyCycle.
  *
- * @param dutyCycleHandle the duty cycle handle
+ * @param[in] dutyCycleHandle the duty cycle handle
+ * @param[out] status Error status variable. 0 on success.
  * @return the FPGA index
  */
 int32_t HAL_GetDutyCycleFPGAIndex(HAL_DutyCycleHandle dutyCycleHandle,

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

@@ -43,18 +43,19 @@ extern "C" {
 /**
  * Initializes an encoder.
  *
- * @param digitalSourceHandleA the A source (either a HAL_DigitalHandle or a
- * HAL_AnalogTriggerHandle)
- * @param analogTriggerTypeA   the analog trigger type of the A source if it is
- * an analog trigger
- * @param digitalSourceHandleB the B source (either a HAL_DigitalHandle or a
- * HAL_AnalogTriggerHandle)
- * @param analogTriggerTypeB   the analog trigger type of the B source if it is
- * an analog trigger
- * @param reverseDirection     true to reverse the counting direction from
- * standard, otherwise false
- * @param encodingType         the encoding type
-   @return                     the created encoder handle
+ * @param[in] digitalSourceHandleA the A source (either a HAL_DigitalHandle or a
+ *                                 HAL_AnalogTriggerHandle)
+ * @param[in] analogTriggerTypeA   the analog trigger type of the A source if it
+ *                                 is an analog trigger
+ * @param[in] digitalSourceHandleB the B source (either a HAL_DigitalHandle or a
+ *                                 HAL_AnalogTriggerHandle)
+ * @param[in] analogTriggerTypeB   the analog trigger type of the B source if it
+ *                                 is an analog trigger
+ * @param[in] reverseDirection     true to reverse the counting direction from
+ *                                 standard, otherwise false
+ * @param[in] encodingType         the encoding type
+ * @param[out] status              Error status variable. 0 on success.
+ * @return the created encoder handle
  */
 HAL_EncoderHandle HAL_InitializeEncoder(
     HAL_Handle digitalSourceHandleA, HAL_AnalogTriggerType analogTriggerTypeA,
@@ -65,7 +66,8 @@ HAL_EncoderHandle HAL_InitializeEncoder(
 /**
  * Frees an encoder.
  *
- * @param encoderHandle the encoder handle
+ * @param[in] encoderHandle the encoder handle
+ * @param[out] status Error status variable. 0 on success.
  */
 void HAL_FreeEncoder(HAL_EncoderHandle encoderHandle, int32_t* status);
 
@@ -83,7 +85,8 @@ void HAL_SetEncoderSimDevice(HAL_EncoderHandle handle,
  *
  * This is scaled by the value passed duing initialization to encodingType.
  *
- * @param encoderHandle the encoder handle
+ * @param[in] encoderHandle the encoder handle
+ * @param[out] status Error status variable. 0 on success.
  * @return the current scaled count
  */
 int32_t HAL_GetEncoder(HAL_EncoderHandle encoderHandle, int32_t* status);
@@ -93,8 +96,9 @@ int32_t HAL_GetEncoder(HAL_EncoderHandle encoderHandle, int32_t* status);
  *
  * This is not scaled by any values.
  *
- * @param encoderHandle the encoder handle
- * @return              the raw encoder count
+ * @param[in] encoderHandle the encoder handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return the raw encoder count
  */
 int32_t HAL_GetEncoderRaw(HAL_EncoderHandle encoderHandle, int32_t* status);
 
@@ -103,8 +107,9 @@ int32_t HAL_GetEncoderRaw(HAL_EncoderHandle encoderHandle, int32_t* status);
  *
  * This is set by the value passed during initialization to encodingType.
  *
- * @param encoderHandle the encoder handle
- * @return              the encoder scale value
+ * @param[in] encoderHandle the encoder handle
+ * @param[out] status       Error status variable. 0 on success.
+ * @return the encoder scale value
  */
 int32_t HAL_GetEncoderEncodingScale(HAL_EncoderHandle encoderHandle,
                                     int32_t* status);
@@ -115,8 +120,8 @@ int32_t HAL_GetEncoderEncodingScale(HAL_EncoderHandle encoderHandle,
  * Read the value at this instant. It may still be running, so it reflects the
  * current value. Next time it is read, it might have a different value.
  *
- * @param encoderHandle the encoder handle
- * @return              the current encoder value
+ * @param[in] encoderHandle the encoder handle
+ * @param[out] status       Error status variable. 0 on success.
  */
 void HAL_ResetEncoder(HAL_EncoderHandle encoderHandle, int32_t* status);
 
@@ -126,8 +131,9 @@ void HAL_ResetEncoder(HAL_EncoderHandle encoderHandle, int32_t* status);
  * Returns the time interval of the most recent count. This can be used for
  * velocity calculations to determine shaft speed.
  *
- * @param encoderHandle the encoder handle
- * @returns             the period of the last two pulses in units of seconds
+ * @param[in] encoderHandle the encoder handle
+ * @param[out] status       Error status variable. 0 on success.
+ * @returns the period of the last two pulses in units of seconds
  */
 double HAL_GetEncoderPeriod(HAL_EncoderHandle encoderHandle, int32_t* status);
 
@@ -138,9 +144,10 @@ double HAL_GetEncoderPeriod(HAL_EncoderHandle encoderHandle, int32_t* status);
  * used to determine the "stopped" state of the encoder using the
  * HAL_GetEncoderStopped method.
  *
- * @param encoderHandle the encoder handle
- * @param maxPeriod     the maximum period where the counted device is
- * considered moving in seconds
+ * @param[in] encoderHandle the encoder handle
+ * @param[in] maxPeriod     the maximum period where the counted device is
+ *                          considered moving in seconds
+ * @param[out] status       Error status variable. 0 on success.
  */
 void HAL_SetEncoderMaxPeriod(HAL_EncoderHandle encoderHandle, double maxPeriod,
                              int32_t* status);
@@ -152,9 +159,10 @@ void HAL_SetEncoderMaxPeriod(HAL_EncoderHandle encoderHandle, double maxPeriod,
  * using the SetMaxPeriod method. If the clock exceeds the MaxPeriod, then the
  * device (and encoder) are assumed to be stopped and it returns true.
  *
- * @param encoderHandle the encoder handle
- * @return              true if the most recent encoder period exceeds the
- * MaxPeriod value set by SetMaxPeriod
+ * @param[in] encoderHandle the encoder handle
+ * @param[out] status       Error status variable. 0 on success.
+ * @return true if the most recent encoder period exceeds the MaxPeriod value
+ *         set by SetMaxPeriod
  */
 HAL_Bool HAL_GetEncoderStopped(HAL_EncoderHandle encoderHandle,
                                int32_t* status);
@@ -162,8 +170,9 @@ HAL_Bool HAL_GetEncoderStopped(HAL_EncoderHandle encoderHandle,
 /**
  * Gets the last direction the encoder value changed.
  *
- * @param encoderHandle the encoder handle
- * @return              the last direction the encoder value changed
+ * @param[in] encoderHandle the encoder handle
+ * @param[out] status       Error status variable. 0 on success.
+ * @return the last direction the encoder value changed
  */
 HAL_Bool HAL_GetEncoderDirection(HAL_EncoderHandle encoderHandle,
                                  int32_t* status);
@@ -174,9 +183,10 @@ HAL_Bool HAL_GetEncoderDirection(HAL_EncoderHandle encoderHandle,
  * This is the encoder count scaled by the distance per pulse set for the
  * encoder.
  *
- * @param encoderHandle the encoder handle
- * @return              the encoder distance (units are determined by the units
- * passed to HAL_SetEncoderDistancePerPulse)
+ * @param[in] encoderHandle the encoder handle
+ * @param[out] status       Error status variable. 0 on success.
+ * @return the encoder distance (units are determined by the units
+ *                      passed to HAL_SetEncoderDistancePerPulse)
  */
 double HAL_GetEncoderDistance(HAL_EncoderHandle encoderHandle, int32_t* status);
 
@@ -186,9 +196,10 @@ double HAL_GetEncoderDistance(HAL_EncoderHandle encoderHandle, int32_t* status);
  * This is the encoder period scaled by the distance per pulse set for the
  * encoder.
  *
- * @param encoderHandle the encoder handle
- * @return              the encoder rate (units are determined by the units
- * passed to HAL_SetEncoderDistancePerPulse, time value is seconds)
+ * @param[in] encoderHandle the encoder handle
+ * @param[out] status       Error status variable. 0 on success.
+ * @return the encoder rate (units are determined by the units passed to
+ *         HAL_SetEncoderDistancePerPulse, time value is seconds)
  */
 double HAL_GetEncoderRate(HAL_EncoderHandle encoderHandle, int32_t* status);
 
@@ -198,10 +209,12 @@ double HAL_GetEncoderRate(HAL_EncoderHandle encoderHandle, int32_t* status);
  * Units need to match what is set by HAL_SetEncoderDistancePerPulse, with time
  * as seconds.
  *
- * @param encoderHandle the encoder handle
- * @param minRate       the minimum rate to be considered moving (units are
- * determined by the units passed to HAL_SetEncoderDistancePerPulse, time value
- * is seconds)
+ * @param[in] encoderHandle the encoder handle
+ * @param[in] minRate       the minimum rate to be considered moving (units are
+ *                          determined by the units passed to
+ *                          HAL_SetEncoderDistancePerPulse, time value is
+ *                          seconds)
+ * @param[out] status       Error status variable. 0 on success.
  */
 void HAL_SetEncoderMinRate(HAL_EncoderHandle encoderHandle, double minRate,
                            int32_t* status);
@@ -210,9 +223,10 @@ void HAL_SetEncoderMinRate(HAL_EncoderHandle encoderHandle, double minRate,
  * Sets the distance traveled per encoder pulse. This is used as a scaling
  * factor for the rate and distance calls.
  *
- * @param encoderHandle    the encoder handle
- * @param distancePerPulse the distance traveled per encoder pulse (units user
- * defined)
+ * @param[in] encoderHandle    the encoder handle
+ * @param[in] distancePerPulse the distance traveled per encoder pulse (units
+ *                             user defined)
+ * @param[out] status          Error status variable. 0 on success.
  */
 void HAL_SetEncoderDistancePerPulse(HAL_EncoderHandle encoderHandle,
                                     double distancePerPulse, int32_t* status);
@@ -222,8 +236,9 @@ void HAL_SetEncoderDistancePerPulse(HAL_EncoderHandle encoderHandle,
  *
  * Note that this is not a toggle. It is an absolute set.
  *
- * @param encoderHandle    the encoder handle
- * @param reverseDirection true to reverse the direction, false to not.
+ * @param[in] encoderHandle    the encoder handle
+ * @param[in] reverseDirection true to reverse the direction, false to not.
+ * @param[out] status          Error status variable. 0 on success.
  */
 void HAL_SetEncoderReverseDirection(HAL_EncoderHandle encoderHandle,
                                     HAL_Bool reverseDirection, int32_t* status);
@@ -231,8 +246,9 @@ void HAL_SetEncoderReverseDirection(HAL_EncoderHandle encoderHandle,
 /**
  * Sets the number of encoder samples to average when calculating encoder rate.
  *
- * @param encoderHandle    the encoder handle
- * @param samplesToAverage the number of samples to average
+ * @param[in] encoderHandle    the encoder handle
+ * @param[in] samplesToAverage the number of samples to average
+ * @param[out] status          Error status variable. 0 on success.
  */
 void HAL_SetEncoderSamplesToAverage(HAL_EncoderHandle encoderHandle,
                                     int32_t samplesToAverage, int32_t* status);
@@ -240,8 +256,9 @@ void HAL_SetEncoderSamplesToAverage(HAL_EncoderHandle encoderHandle,
 /**
  * Gets the current samples to average value.
  *
- * @param encoderHandle the encoder handle
- * @return              the current samples to average value
+ * @param[in] encoderHandle the encoder handle
+ * @param[out] status       Error status variable. 0 on success.
+ * @return the current samples to average value
  */
 int32_t HAL_GetEncoderSamplesToAverage(HAL_EncoderHandle encoderHandle,
                                        int32_t* status);
@@ -252,12 +269,14 @@ int32_t HAL_GetEncoderSamplesToAverage(HAL_EncoderHandle encoderHandle,
  * The index pulse can be used to cause an encoder to reset based on an external
  * input.
  *
- * @param encoderHandle       the encoder handle
- * @param digitalSourceHandle the index source handle (either a
- * HAL_AnalogTriggerHandle or a HAL_DigitalHandle)
- * @param analogTriggerType   the analog trigger type if the source is an analog
- * trigger
- * @param type                the index triggering type
+ * @param[in] encoderHandle       the encoder handle
+ * @param[in] digitalSourceHandle the index source handle (either a
+ *                                HAL_AnalogTriggerHandle or a
+ *                                HAL_DigitalHandle)
+ * @param[in] analogTriggerType   the analog trigger type if the source is an
+ *                                analog trigger
+ * @param[in] type                the index triggering type
+ * @param[out] status             Error status variable. 0 on success.
  */
 void HAL_SetEncoderIndexSource(HAL_EncoderHandle encoderHandle,
                                HAL_Handle digitalSourceHandle,
@@ -267,8 +286,9 @@ void HAL_SetEncoderIndexSource(HAL_EncoderHandle encoderHandle,
 /**
  * Gets the FPGA index of the encoder.
  *
- * @param encoderHandle the encoder handle
- * @return              the FPGA index of the encoder
+ * @param[in] encoderHandle the encoder handle
+ * @param[out] status       Error status variable. 0 on success.
+ * @return the FPGA index of the encoder
  */
 int32_t HAL_GetEncoderFPGAIndex(HAL_EncoderHandle encoderHandle,
                                 int32_t* status);
@@ -278,8 +298,9 @@ int32_t HAL_GetEncoderFPGAIndex(HAL_EncoderHandle encoderHandle,
  *
  * This is used to perform the scaling from raw to type scaled values.
  *
- * @param encoderHandle the encoder handle
- * @return              the scale value for the encoder
+ * @param[in] encoderHandle the encoder handle
+ * @param[out] status       Error status variable. 0 on success.
+ * @return the scale value for the encoder
  */
 double HAL_GetEncoderDecodingScaleFactor(HAL_EncoderHandle encoderHandle,
                                          int32_t* status);
@@ -287,8 +308,9 @@ double HAL_GetEncoderDecodingScaleFactor(HAL_EncoderHandle encoderHandle,
 /**
  * Gets the user set distance per pulse of the encoder.
  *
- * @param encoderHandle the encoder handle
- * @return              the set distance per pulse
+ * @param[in] encoderHandle the encoder handle
+ * @param[out] status       Error status variable. 0 on success.
+ * @return the set distance per pulse
  */
 double HAL_GetEncoderDistancePerPulse(HAL_EncoderHandle encoderHandle,
                                       int32_t* status);
@@ -296,8 +318,9 @@ double HAL_GetEncoderDistancePerPulse(HAL_EncoderHandle encoderHandle,
 /**
  * Gets the encoding type of the encoder.
  *
- * @param encoderHandle the encoder handle
- * @return              the encoding type
+ * @param[in] encoderHandle the encoder handle
+ * @param[out] status       Error status variable. 0 on success.
+ * @return the encoding type
  */
 HAL_EncoderEncodingType HAL_GetEncoderEncodingType(
     HAL_EncoderHandle encoderHandle, int32_t* status);

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

@@ -135,6 +135,11 @@
 #define HAL_USE_LAST_ERROR_MESSAGE \
   "HAL: Use HAL_GetLastError(status) to get last error"
 
+#define HAL_CONSOLE_OUT_ENABLED_ERROR -1157
+#define HAL_CONSOLE_OUT_ENABLED_ERROR_MESSAGE                           \
+  "HAL: Onboard serial port is requested, but Console Out is enabled. " \
+  "Disable Console Out using imaging tool"
+
 #define HAL_CAN_BUFFER_OVERRUN -35007
 #define HAL_CAN_BUFFER_OVERRUN_MESSAGE \
   "HAL: CAN Output Buffer Full. Ensure a device is attached"

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

@@ -32,7 +32,7 @@ extern "C" {
  * Expected to be called internally, not by users.
  *
  * @param library the library path
- * @return        the succes state of the initialization
+ * @return the succes state of the initialization
  */
 int HAL_LoadOneExtension(const char* library);
 
@@ -40,7 +40,7 @@ int HAL_LoadOneExtension(const char* library);
  * Loads any extra halsim libraries provided in the HALSIM_EXTENSIONS
  * environment variable.
  *
- * @return        the succes state of the initialization
+ * @return the succes state of the initialization
  */
 int HAL_LoadExtensions(void);
 

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

@@ -28,10 +28,10 @@ extern "C" {
  * If passed HAL_USE_LAST_ERROR, the last error set on the thread will be
  * returned.
  *
- * @param code  the status code, set to the error status code if input is
- * HAL_USE_LAST_ERROR
- * @return      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.
+ * @param[out] status the status code, set to the error status code if input is
+ *               HAL_USE_LAST_ERROR
+ * @return 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.
  */
 const char* HAL_GetLastError(int32_t* status);
 
@@ -39,7 +39,7 @@ const char* HAL_GetLastError(int32_t* status);
  * Gets the error message for a specific status code.
  *
  * @param code the status code
- * @return     the error message for the code. This does not need to be freed.
+ * @return the error message for the code. This does not need to be freed.
  */
 const char* HAL_GetErrorMessage(int32_t code);
 
@@ -48,6 +48,7 @@ const char* HAL_GetErrorMessage(int32_t code);
  *
  * For now, expect this to be competition year.
  *
+ * @param[out] status the error code, or 0 for success
  * @return FPGA Version number.
  */
 int32_t HAL_GetFPGAVersion(int32_t* status);
@@ -60,6 +61,7 @@ int32_t HAL_GetFPGAVersion(int32_t* status);
  * the next 8 bits are the Minor Revision.
  * The 12 least significant bits are the Build Number.
  *
+ * @param[out] status the error code, or 0 for success
  * @return FPGA Revision number.
  */
 int64_t HAL_GetFPGARevision(int32_t* status);
@@ -74,6 +76,7 @@ HAL_RuntimeType HAL_GetRuntimeType(void);
 /**
  * Gets the state of the "USER" button on the roboRIO.
  *
+ * @param[out] status the error code, or 0 for success
  * @return true if the button is currently pressed down
  */
 HAL_Bool HAL_GetFPGAButton(int32_t* status);
@@ -81,6 +84,7 @@ HAL_Bool HAL_GetFPGAButton(int32_t* status);
 /**
  * Gets if the system outputs are currently active
  *
+ * @param[out] status the error code, or 0 for success
  * @return true if the system outputs are active, false if disabled
  */
 HAL_Bool HAL_GetSystemActive(int32_t* status);
@@ -88,6 +92,7 @@ HAL_Bool HAL_GetSystemActive(int32_t* status);
 /**
  * Gets if the system is in a browned out state.
  *
+ * @param[out] status the error code, or 0 for success
  * @return true if the system is in a low voltage brown out, false otherwise
  */
 HAL_Bool HAL_GetBrownedOut(int32_t* status);
@@ -98,7 +103,7 @@ HAL_Bool HAL_GetBrownedOut(int32_t* status);
  * The created handle does not need to be freed.
  *
  * @param channel the channel number
- * @return        the created port
+ * @return the created port
  */
 HAL_PortHandle HAL_GetPort(int32_t channel);
 
@@ -112,13 +117,14 @@ HAL_PortHandle HAL_GetPort(int32_t channel);
  *
  * @param module  the module number
  * @param channel the channel number
- * @return        the created port
+ * @return the created port
  */
 HAL_PortHandle HAL_GetPortWithModule(int32_t module, int32_t channel);
 
 /**
  * Reads the microsecond-resolution timer on the FPGA.
  *
+ * @param[out] status the error code, or 0 for success
  * @return The current time in microseconds according to the FPGA (since FPGA
  * reset).
  */
@@ -133,10 +139,12 @@ uint64_t HAL_GetFPGATime(int32_t* status);
  * bottom 32 bits of the timestamp and expanding it, you will be off by
  * multiples of 1<<32 microseconds.
  *
+ * @param[in] unexpandedLower 32 bit FPGA time
+ * @param[out] status the error code, or 0 for success
  * @return The current time in microseconds according to the FPGA (since FPGA
- * reset) as a 64 bit number.
+ *         reset) as a 64 bit number.
  */
-uint64_t HAL_ExpandFPGATime(uint32_t unexpanded_lower, int32_t* status);
+uint64_t HAL_ExpandFPGATime(uint32_t unexpandedLower, int32_t* status);
 
 /**
  * Call this to start up HAL. This is required for robot programs.
@@ -160,7 +168,7 @@ uint64_t HAL_ExpandFPGATime(uint32_t unexpanded_lower, int32_t* status);
  *
  * @param timeout the initialization timeout (ms)
  * @param mode    the initialization mode (see remarks)
- * @return        true if initialization was successful, otherwise false.
+ * @return true if initialization was successful, otherwise false.
  */
 HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode);
 

hal/src/main/native/include/hal/I2C.h

@@ -24,7 +24,8 @@ extern "C" {
  * Opens the port if necessary and saves the handle.
  * If opening the MXP port, also sets up the channel functions appropriately.
  *
- * @param port The port to open, 0 for the on-board, 1 for the MXP.
+ * @param[in] port    The port to open, 0 for the on-board, 1 for the MXP.
+ * @param[out] status Error status variable. 0 on success.
  */
 void HAL_InitializeI2C(HAL_I2CPort port, int32_t* status);
 
@@ -35,6 +36,8 @@ void HAL_InitializeI2C(HAL_I2CPort port, int32_t* status);
  * over each transaction.
  *
  * @param port The I2C port, 0 for the on-board, 1 for the MXP.
+ * @param deviceAddress The address of the register on the device to be
+ *                      read/written.
  * @param dataToSend Buffer of data to send as part of the transaction.
  * @param sendSize Number of bytes to send as part of the transaction.
  * @param dataReceived Buffer to read data into.
@@ -52,9 +55,10 @@ int32_t HAL_TransactionI2C(HAL_I2CPort port, int32_t deviceAddress,
  *   transaction is complete.
  *
  * @param port The I2C port, 0 for the on-board, 1 for the MXP.
- * @param registerAddress The address of the register on the device to be
- * written.
- * @param data The byte to write to the register on the device.
+ * @param deviceAddress The address of the register on the device to be
+ *                      written.
+ * @param dataToSend The byte to write to the register on the device.
+ * @param sendSize Number of bytes to send.
  * @return >= 0 on success or -1 on transfer abort.
  */
 int32_t HAL_WriteI2C(HAL_I2CPort port, int32_t deviceAddress,
@@ -68,7 +72,7 @@ int32_t HAL_WriteI2C(HAL_I2CPort port, int32_t deviceAddress,
  *   you to read consecutive registers on a device in a single transaction.
  *
  * @param port The I2C port, 0 for the on-board, 1 for the MXP.
- * @param registerAddress The register to read first in the transaction.
+ * @param deviceAddress The register to read first in the transaction.
  * @param count The number of bytes to read in the transaction.
  * @param buffer A pointer to the array of bytes to store the data read from the
  * device.

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

@@ -22,8 +22,8 @@ extern "C" {
 /**
  * Initializes an interrupt.
  *
- * @param watcher true for synchronous interrupts, false for asynchronous
- * @return        the created interrupt handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return the created interrupt handle
  */
 HAL_InterruptHandle HAL_InitializeInterrupts(int32_t* status);
 
@@ -37,11 +37,12 @@ void HAL_CleanInterrupts(HAL_InterruptHandle interruptHandle);
 /**
  * In synchronous mode, waits for the defined interrupt to occur.
  *
- * @param interruptHandle the interrupt handle
- * @param timeout        timeout in seconds
- * @param ignorePrevious if true, ignore interrupts that happened before
- * waitForInterrupt was called
- * @return               the mask of interrupts that fired
+ * @param[in] interruptHandle the interrupt handle
+ * @param[in] timeout         timeout in seconds
+ * @param[in] ignorePrevious  if true, ignore interrupts that happened before
+ *                            waitForInterrupt was called
+ * @param[out] status         Error status variable. 0 on success.
+ * @return the mask of interrupts that fired
  */
 int64_t HAL_WaitForInterrupt(HAL_InterruptHandle interruptHandle,
                              double timeout, HAL_Bool ignorePrevious,
@@ -54,8 +55,9 @@ int64_t HAL_WaitForInterrupt(HAL_InterruptHandle interruptHandle,
  * bottom 32 bits of the timestamp.  If your robot has been running for over 1
  * hour, you will need to fill in the upper 32 bits yourself.
  *
- * @param interruptHandle the interrupt handle
- * @return                timestamp in microseconds since FPGA Initialization
+ * @param[in] interruptHandle the interrupt handle
+ * @param[out] status         Error status variable. 0 on success.
+ * @return timestamp in microseconds since FPGA Initialization
  */
 int64_t HAL_ReadInterruptRisingTimestamp(HAL_InterruptHandle interruptHandle,
                                          int32_t* status);
@@ -67,8 +69,9 @@ int64_t HAL_ReadInterruptRisingTimestamp(HAL_InterruptHandle interruptHandle,
  * bottom 32 bits of the timestamp.  If your robot has been running for over 1
  * hour, you will need to fill in the upper 32 bits yourself.
  *
- * @param interruptHandle the interrupt handle
- * @return                timestamp in microseconds since FPGA Initialization
+ * @param[in] interruptHandle the interrupt handle
+ * @param[out] status         Error status variable. 0 on success.
+ * @return timestamp in microseconds since FPGA Initialization
  */
 int64_t HAL_ReadInterruptFallingTimestamp(HAL_InterruptHandle interruptHandle,
                                           int32_t* status);
@@ -76,10 +79,13 @@ int64_t HAL_ReadInterruptFallingTimestamp(HAL_InterruptHandle interruptHandle,
 /**
  * Requests interrupts on a specific digital source.
  *
- * @param interruptHandle     the interrupt handle
- * @param digitalSourceHandle the digital source handle (either a
- * HAL_AnalogTriggerHandle or a HAL_DigitalHandle)
- * @param analogTriggerType   the trigger type if the source is an AnalogTrigger
+ * @param[in] interruptHandle     the interrupt handle
+ * @param[in] digitalSourceHandle the digital source handle (either a
+ *                                HAL_AnalogTriggerHandle or a
+ *                                HAL_DigitalHandle)
+ * @param[in] analogTriggerType   the trigger type if the source is an
+ *                                AnalogTrigger
+ * @param[out] status             Error status variable. 0 on success.
  */
 void HAL_RequestInterrupts(HAL_InterruptHandle interruptHandle,
                            HAL_Handle digitalSourceHandle,
@@ -91,9 +97,10 @@ void HAL_RequestInterrupts(HAL_InterruptHandle interruptHandle,
  *
  * Note that both edges triggered is a valid configuration.
  *
- * @param interruptHandle the interrupt handle
- * @param risingEdge      true for triggering on rising edge
- * @param fallingEdge     true for triggering on falling edge
+ * @param[in] interruptHandle the interrupt handle
+ * @param[in] risingEdge      true for triggering on rising edge
+ * @param[in] fallingEdge     true for triggering on falling edge
+ * @param[out] status         Error status variable. 0 on success.
  */
 void HAL_SetInterruptUpSourceEdge(HAL_InterruptHandle interruptHandle,
                                   HAL_Bool risingEdge, HAL_Bool fallingEdge,
@@ -104,7 +111,8 @@ void HAL_SetInterruptUpSourceEdge(HAL_InterruptHandle interruptHandle,
  *
  * This will release both rising and falling waiters.
  *
- * @param interruptHandle the interrupt handle to release
+ * @param[in] interruptHandle the interrupt handle to release
+ * @param[out] status         Error status variable. 0 on success.
  */
 void HAL_ReleaseWaitingInterrupt(HAL_InterruptHandle interruptHandle,
                                  int32_t* status);

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

@@ -26,6 +26,7 @@ extern "C" {
  * A notifier is an FPGA controller timer that triggers at requested intervals
  * based on the FPGA time. This can be used to make precise control loops.
  *
+ * @param[out] status Error status variable. 0 on success.
  * @return the created notifier
  */
 HAL_NotifierHandle HAL_InitializeNotifier(int32_t* status);
@@ -38,13 +39,13 @@ HAL_NotifierHandle HAL_InitializeNotifier(int32_t* status);
  * Giving the HAL notifier thread real-time priority helps ensure the user's
  * real-time Notifiers, if any, are notified to run in a timely manner.
  *
- * @param realTime Set to true to set a real-time priority, false for standard
- *                 priority.
- * @param priority Priority to set the thread to. For real-time, this is 1-99
- *                 with 99 being highest. For non-real-time, this is forced to
- *                 0. See "man 7 sched" for more details.
- * @param status   Error status variable. 0 on success.
- * @return         True on success.
+ * @param[in] realTime Set to true to set a real-time priority, false for
+ *                     standard priority.
+ * @param[in] priority Priority to set the thread to. For real-time, this is
+ *                     1-99 with 99 being highest. For non-real-time, this is
+ *                     forced to 0. See "man 7 sched" for more details.
+ * @param[out] status  Error status variable. 0 on success.
+ * @return True on success.
  */
 HAL_Bool HAL_SetNotifierThreadPriority(HAL_Bool realTime, int32_t priority,
                                        int32_t* status);
@@ -52,8 +53,9 @@ HAL_Bool HAL_SetNotifierThreadPriority(HAL_Bool realTime, int32_t priority,
 /**
  * Sets the name of a notifier.
  *
- * @param notifierHandle the notifier handle
- * @param name name
+ * @param[in] notifierHandle the notifier handle
+ * @param[in] name name
+ * @param[out] status Error status variable. 0 on success.
  */
 void HAL_SetNotifierName(HAL_NotifierHandle notifierHandle, const char* name,
                          int32_t* status);
@@ -63,7 +65,8 @@ void HAL_SetNotifierName(HAL_NotifierHandle notifierHandle, const char* name,
  *
  * This will cause any call into HAL_WaitForNotifierAlarm to return.
  *
- * @param notifierHandle the notifier handle
+ * @param[in] notifierHandle the notifier handle
+ * @param[out] status Error status variable. 0 on success.
  */
 void HAL_StopNotifier(HAL_NotifierHandle notifierHandle, int32_t* status);
 
@@ -72,7 +75,8 @@ void HAL_StopNotifier(HAL_NotifierHandle notifierHandle, int32_t* status);
  *
  * Note this also stops a notifier if it is already running.
  *
- * @param notifierHandle the notifier handle
+ * @param[in] notifierHandle the notifier handle
+ * @param[out] status Error status variable. 0 on success.
  */
 void HAL_CleanNotifier(HAL_NotifierHandle notifierHandle, int32_t* status);
 
@@ -81,8 +85,9 @@ void HAL_CleanNotifier(HAL_NotifierHandle notifierHandle, int32_t* status);
  *
  * Note that this time is an absolute time relative to HAL_GetFPGATime()
  *
- * @param notifierHandle the notifier handle
- * @param triggerTime    the updated trigger time
+ * @param[in] notifierHandle the notifier handle
+ * @param[in] triggerTime    the updated trigger time
+ * @param[out] status        Error status variable. 0 on success.
  */
 void HAL_UpdateNotifierAlarm(HAL_NotifierHandle notifierHandle,
                              uint64_t triggerTime, int32_t* status);
@@ -92,7 +97,8 @@ void HAL_UpdateNotifierAlarm(HAL_NotifierHandle notifierHandle,
  *
  * This does not cause HAL_WaitForNotifierAlarm to return.
  *
- * @param notifierHandle the notifier handle
+ * @param[in] notifierHandle the notifier handle
+ * @param[out] status Error status variable. 0 on success.
  */
 void HAL_CancelNotifierAlarm(HAL_NotifierHandle notifierHandle,
                              int32_t* status);
@@ -105,8 +111,9 @@ void HAL_CancelNotifierAlarm(HAL_NotifierHandle notifierHandle,
  * loops using this function should exit. Failing to do so can lead to
  * use-after-frees.
  *
- * @param notifierHandle the notifier handle
- * @return               the FPGA time the notifier returned
+ * @param[in] notifierHandle the notifier handle
+ * @param[out] status        Error status variable. 0 on success.
+ * @return the FPGA time the notifier returned
  */
 WPI_NODISCARD
 uint64_t HAL_WaitForNotifierAlarm(HAL_NotifierHandle notifierHandle,

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

@@ -21,10 +21,11 @@ extern "C" {
 /**
  * Initializes a PWM port.
  *
- * @param portHandle the port to initialize
- * @param allocationLocation    the location where the allocation is occuring
- * (can be null)
- * @return           the created pwm handle
+ * @param[in] portHandle the port to initialize
+ * @param[in] allocationLocation  the location where the allocation is occuring
+ *                                (can be null)
+ * @param[out] status             Error status variable. 0 on success.
+ * @return the created pwm handle
  */
 HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
                                         const char* allocationLocation,
@@ -33,7 +34,8 @@ HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
 /**
  * Frees a PWM port.
  *
- * @param pwmPortHandle the pwm handle
+ * @param[in] pwmPortHandle the pwm handle
+ * @param[out] status       Error status variable. 0 on success.
  */
 void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle, int32_t* status);
 
@@ -41,7 +43,7 @@ void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle, int32_t* status);
  * Checks if a pwm channel is valid.
  *
  * @param channel the channel to check
- * @return        true if the channel is valid, otherwise false
+ * @return true if the channel is valid, otherwise false
  */
 HAL_Bool HAL_CheckPWMChannel(int32_t channel);
 
@@ -50,12 +52,13 @@ HAL_Bool HAL_CheckPWMChannel(int32_t channel);
  *
  * All values are in milliseconds.
  *
- * @param pwmPortHandle  the PWM handle
- * @param maxPwm         the maximum PWM value
- * @param deadbandMaxPwm the high range of the center deadband
- * @param centerPwm      the center PWM value
- * @param deadbandMinPwm the low range of the center deadband
- * @param minPwm         the minimum PWM value
+ * @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_SetPWMConfig(HAL_DigitalHandle pwmPortHandle, double maxPwm,
                       double deadbandMaxPwm, double centerPwm,
@@ -69,12 +72,13 @@ void HAL_SetPWMConfig(HAL_DigitalHandle pwmPortHandle, double maxPwm,
  *
  * Values are in raw FPGA units.
  *
- * @param pwmPortHandle  the PWM handle
- * @param maxPwm         the maximum PWM value
- * @param deadbandMaxPwm the high range of the center deadband
- * @param centerPwm      the center PWM value
- * @param deadbandMinPwm the low range of the center deadband
- * @param minPwm         the minimum PWM value
+ * @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_SetPWMConfigRaw(HAL_DigitalHandle pwmPortHandle, int32_t maxPwm,
                          int32_t deadbandMaxPwm, int32_t centerPwm,
@@ -87,12 +91,13 @@ void HAL_SetPWMConfigRaw(HAL_DigitalHandle pwmPortHandle, int32_t maxPwm,
  * Values are in raw FPGA units. These units have the potential to change for
  * any FPGA release.
  *
- * @param pwmPortHandle  the PWM handle
- * @param maxPwm         the maximum PWM value
- * @param deadbandMaxPwm the high range of the center deadband
- * @param centerPwm      the center PWM value
- * @param deadbandMinPwm the low range of the center deadband
- * @param minPwm         the minimum PWM value
+ * @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,
@@ -103,8 +108,9 @@ void HAL_GetPWMConfigRaw(HAL_DigitalHandle pwmPortHandle, int32_t* maxPwm,
  * Sets if the FPGA should output the center value if the input value is within
  * the deadband.
  *
- * @param pwmPortHandle     the PWM handle
- * @param eliminateDeadband true to eliminate deadband, otherwise false
+ * @param[in] pwmPortHandle     the PWM handle
+ * @param[in] eliminateDeadband true to eliminate deadband, otherwise false
+ * @param[out] status           Error status variable. 0 on success.
  */
 void HAL_SetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
                                  HAL_Bool eliminateDeadband, int32_t* status);
@@ -112,8 +118,9 @@ void HAL_SetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
 /**
  * Gets the current eliminate deadband value.
  *
- * @param pwmPortHandle the PWM handle
- * @return              true if set, otherwise false
+ * @param[in] pwmPortHandle the PWM handle
+ * @param[out] status       Error status variable. 0 on success.
+ * @return true if set, otherwise false
  */
 HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
                                      int32_t* status);
@@ -124,8 +131,9 @@ HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
  * The values are in raw FPGA units, and have the potential to change with any
  * FPGA release.
  *
- * @param pwmPortHandle the PWM handle
- * @param value         the PWM value to set
+ * @param[in] pwmPortHandle the PWM handle
+ * @param[in] value         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);
@@ -136,8 +144,9 @@ void HAL_SetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t value,
  * The values range from -1 to 1 and the period is controlled by the PWM Period
  * and MinHigh registers.
  *
- * @param pwmPortHandle the PWM handle
- * @param value         the scaled PWM value to set
+ * @param[in] pwmPortHandle the PWM handle
+ * @param[in] speed         the scaled PWM value to set
+ * @param[out] status       Error status variable. 0 on success.
  */
 void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed,
                      int32_t* status);
@@ -148,8 +157,9 @@ void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed,
  * The values range from 0 to 1 and the period is controlled by the PWM Period
  * and MinHigh registers.
  *
- * @param pwmPortHandle the PWM handle
- * @param value         the positional PWM value to set
+ * @param[in] pwmPortHandle the PWM handle
+ * @param[in] position      the positional PWM value to set
+ * @param[out] status       Error status variable. 0 on success.
  */
 void HAL_SetPWMPosition(HAL_DigitalHandle pwmPortHandle, double position,
                         int32_t* status);
@@ -161,7 +171,8 @@ void HAL_SetPWMPosition(HAL_DigitalHandle pwmPortHandle, double position,
  * from just setting a 0 speed, as this will actively stop all signaling on the
  * channel.
  *
- * @param pwmPortHandle the PWM handle.
+ * @param[in] pwmPortHandle the PWM handle.
+ * @param[out] status       Error status variable. 0 on success.
  */
 void HAL_SetPWMDisabled(HAL_DigitalHandle pwmPortHandle, int32_t* status);
 
@@ -171,8 +182,9 @@ void HAL_SetPWMDisabled(HAL_DigitalHandle pwmPortHandle, int32_t* status);
  * The values are in raw FPGA units, and have the potential to change with any
  * FPGA release.
  *
- * @param pwmPortHandle the PWM handle
- * @return              the current raw PWM value
+ * @param[in] pwmPortHandle the PWM handle
+ * @param[out] status       Error status variable. 0 on success.
+ * @return the current raw PWM value
  */
 int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t* status);
 
@@ -181,8 +193,9 @@ int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t* status);
  *
  * The values range from -1 to 1.
  *
- * @param pwmPortHandle the PWM handle
- * @return              the current speed PWM value
+ * @param[in] pwmPortHandle the PWM handle
+ * @param[out] status       Error status variable. 0 on success.
+ * @return the current speed PWM value
  */
 double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status);
 
@@ -191,23 +204,26 @@ double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status);
  *
  * The values range from 0 to 1.
  *
- * @param pwmPortHandle the PWM handle
- * @return              the current positional PWM value
+ * @param[in] pwmPortHandle the PWM handle
+ * @param[out] status       Error status variable. 0 on success.
+ * @return the current positional PWM value
  */
 double HAL_GetPWMPosition(HAL_DigitalHandle pwmPortHandle, int32_t* status);
 
 /**
  * Forces a PWM signal to go to 0 temporarily.
  *
- * @param pwmPortHandle the PWM handle.
+ * @param[in] pwmPortHandle the PWM handle.
+ * @param[out] status       Error status variable. 0 on success.
  */
 void HAL_LatchPWMZero(HAL_DigitalHandle pwmPortHandle, int32_t* status);
 
 /**
  * Sets how how often the PWM signal is squelched, thus scaling the period.
  *
- * @param pwmPortHandle the PWM handle.
- * @param squelchMask   the 2-bit mask of outputs to squelch
+ * @param[in] pwmPortHandle the PWM handle.
+ * @param[in] squelchMask   the 2-bit mask of outputs to squelch
+ * @param[out] status       Error status variable. 0 on success.
  */
 void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask,
                            int32_t* status);
@@ -215,6 +231,7 @@ void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask,
 /**
  * Gets the loop timing of the PWM system.
  *
+ * @param[out] status Error status variable. 0 on success.
  * @return the loop time
  */
 int32_t HAL_GetPWMLoopTiming(int32_t* status);
@@ -224,6 +241,7 @@ int32_t HAL_GetPWMLoopTiming(int32_t* status);
  *
  * This time is relative to the FPGA time.
  *
+ * @param[out] status Error status variable. 0 on success.
  * @return the pwm cycle start time
  */
 uint64_t HAL_GetPWMCycleStartTime(int32_t* status);