/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

#pragma once

#include <stdint.h>

#include "HAL/Handles.h"

extern "C" {
HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle port_handle,
                                        int32_t* status);
void HAL_FreePWMPort(HAL_DigitalHandle pwm_port_handle, int32_t* status);

bool HAL_CheckPWMChannel(uint8_t pin);

void HAL_SetPWMConfig(HAL_DigitalHandle pwm_port_handle, double maxPwm,
                      double deadbandMaxPwm, double centerPwm,
                      double deadbandMinPwm, double minPwm, int32_t* status);
void HAL_SetPWMConfigRaw(HAL_DigitalHandle pwm_port_handle, int32_t maxPwm,
                         int32_t deadbandMaxPwm, int32_t centerPwm,
                         int32_t deadbandMinPwm, int32_t minPwm,
                         int32_t* status);
void HAL_GetPWMConfigRaw(HAL_DigitalHandle pwm_port_handle, int32_t* maxPwm,
                         int32_t* deadbandMaxPwm, int32_t* centerPwm,
                         int32_t* deadbandMinPwm, int32_t* minPwm,
                         int32_t* status);
void HAL_SetPWMEliminateDeadband(HAL_DigitalHandle pwm_port_handle,
                                 uint8_t eliminateDeadband, int32_t* status);
uint8_t HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwm_port_handle,
                                    int32_t* status);
void HAL_SetPWMRaw(HAL_DigitalHandle pwm_port_handle, uint16_t value,
                   int32_t* status);
void HAL_SetPWMSpeed(HAL_DigitalHandle pwm_port_handle, float speed,
                     int32_t* status);
void HAL_SetPWMPosition(HAL_DigitalHandle pwm_port_handle, float position,
                        int32_t* status);
void HAL_SetPWMDisabled(HAL_DigitalHandle pwm_port_handle, int32_t* status);
uint16_t HAL_GetPWMRaw(HAL_DigitalHandle pwm_port_handle, int32_t* status);
float HAL_GetPWMSpeed(HAL_DigitalHandle pwm_port_handle, int32_t* status);
float HAL_GetPWMPosition(HAL_DigitalHandle pwm_port_handle, int32_t* status);
void HAL_LatchPWMZero(HAL_DigitalHandle pwm_port_handle, int32_t* status);
void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwm_port_handle,
                           uint32_t squelchMask, int32_t* status);
uint16_t HAL_GetLoopTiming(int32_t* status);
}