
== HAL Reference

All modules have `-rt_prio` and `frt_prio` HAL "pins" and these are not
listed here.


=== io

- fan
- state
- fault
- out0
- out1
- out2
- in0
- in1
- ind0
- ind1
- ind0n
- ind1n
- th0
- th1
- CTX
- CRX
- C12
- C36
- C54
- cmd_remap
- swd_remap
- DIO
- CK
- fb0g
- fb0y
- fb1g
- fb1y
- cmdg
- cmdy
- fb0
- fb1
- fbd0
- fbd1
- fbd0n
- fbd1n
- fbth0
- fbth1
- fb0a
- fb0b
- fb0z
- fb1a
- fb1b
- fb1z
- fbsd

=== hv

- d_cmd
- q_cmd
- pos
- vel
- en
- phase_mode
- cmd_mode
- r
- l
- psi
- cur_p
- cur_i
- cur_ff
- cur_ind
- max_y
- max_cur
- dc_volt
- d_fb
- q_fb
- abs_cur
- hv_temp
- mot_temp
- core_temp
- fault
- y
- u_fb
- v_fb
- w_fb
- rev
- com_error
- pwm_volt
- uart_sr
- uart_dr
- crc_error
- timeout
- scale


=== enc_cmd

- res
- pos
- a
- b
- fault
- mode
- remap


=== o_fb

- a
- b


=== sserial

- error
- crc_error
- connected
- timeout
- pos_cmd
- pos_cmd_d
- pos_fb
- vel_fb
- current
- scale
- in0
- in1
- in2
- in3
- fault
- out0
- out1
- out2
- out3
- enable
- index_clear
- index_out
- pos_advance


=== encm

- pos
- error
- state
- dma


=== adc

- sin
- cos
- sin3
- cos3
- quad
- sin1
- cos1
- res_en
- sin_gain
- cos_gain
- sin_offset
- cos_offset
- send_step
- offset0
- offset1
- offset2
- offset3
- offset4
- offset5
- offset6
- offset7
- gain0
- gain1
- gain2
- gain3
- gain4
- gain5
- gain6
- gain7


=== enc_fb

- res
- ires
- pos
- abs_pos
- state
- index
- a
- b
- ipos
- sin
- cos
- quad
- oquad
- oquadoff
- qdiff
- error
- amp
- ccr3
- indexprint


=== conf

- r
- l
- j
- psi
- polecount
- out_rev
- high_mot_temp
- max_mot_temp
- phase_time
- phase_cur
- max_vel
- max_acc
- max_force
- max_dc_cur
- max_ac_cur
- mot_fb_polecount
- mot_fb_offset
- mot_fb_rev
- mot_fb_res
- joint_fb_polecount
- joint_fb_offset
- joint_fb_rev
- joint_fb_res
- com_fb_polecount
- com_fb_offset
- com_fb_rev
- com_fb_res
- cmd_rev
- cmd_res
- max_dc_volt
- max_hv_temp
- max_pos_error
- high_dc_volt
- low_dc_volt
- high_hv_temp
- fan_hv_temp
- fan_mot_temp
- g
- pos_p
- vel_p
- vel_i
- vel_g
- cur_p
- cur_i
- cur_ff
- cur_ind
- max_sat


=== res

- pos
- amp
- quad
- poles
- min_amp
- vel
- sin
- cos
- enable
- error
- state
- tim_oc


=== sim

- amp
- freq
- sin
- msin
- sin2
- msin2
- sin3
- msin3
- square
- vel
- res
- offset


=== term

- wave0
- wave1
- wave2
- wave3
- wave4
- wave5
- wave6
- wave7
- offset0
- offset1
- offset2
- offset3
- offset4
- offset5
- offset6
- offset7
- gain0
- gain1
- gain2
- gain3
- gain4
- gain5
- gain6
- gain7
- send_step
- con


=== curpid

- en
- cmd_mode
- id_cmd
- iq_cmd
- id_fb
- iq_fb
- ac_current
- ud
- uq
- max_cur
- pwm_volt
- rd
- rq
- ld
- lq
- psi
- ff
- kp
- ki
- kind
- vel
- id_error
- iq_error


=== svm

- u
- v
- w
- udc
- su
- sv
- sw
- cmode
- mode
- enu
- env
- enw


=== dq

- mode
- u
- v
- w
- pos
- polecount
- a
- b
- y
- d
- q


=== idq

- mode
- d
- q
- pos
- polecount
- a
- b
- u
- v
- w


=== vel

- pos_in
- pos_out
- vel
- acc
- w
- d
- g
- h
- j
- lp
- torque
- vel_ff
- en
- pos_error


=== rev

- in
- out
- in_d
- out_d
- rev


=== hal_test

- rt_wait
- frt_wait


=== dc

- uq
- u
- v
- w

=== ypid

- pos_ext_cmd
- pos_fb
- pos_error
- vel_ext_cmd
- vel_fb
- vel_cmd
- vel_error
- vel_min
- enable
- out
- pos_p
- vel_p
- vel_i
- vel_ff
- max_vel
- max_acc
- max_out
- vel_sat
- out_sat
- saturated


=== fault

- en
- state
- fault
- en_out
- en_fb
- en_pid
- fb_ready
- cmd_error
- mot_fb_error
- com_fb_error
- joint_fb_error
- hv_error
- hv_temp
- mot_temp
- max_hv_temp
- max_mot_temp
- high_hv_temp
- high_mot_temp
- fan_hv_temp
- fan_mot_temp
- scale
- dc_volt
- min_dc_volt
- high_dc_volt
- max_dc_volt
- dc_cur
- high_dc_cur
- max_dc_cur
- pos_error
- max_pos_error
- sat
- max_sat
- mot_brake
- dc_brake
- hv_fan
- mot_fan
- print
- brake_release


=== pid

- pos_ext_cmd
- pos_fb
- pos_error
- vel_ext_cmd
- vel_fb
- vel_cmd
- vel_error
- acc_ext_cmd
- acc_cmd
- torque_ext_cmd
- torque_cmd
- torque_cor_cmd
- torque_sum
- friction
- damping
- load
- enable
- pos_en
- vel_en
- acc_en
- torque_en
- pos_p
- vel_p
- vel_i
- vel_g
- acc_g
- g
- j
- max_vel
- max_torque
- min_torque
- max_usr_vel
- max_usr_acc
- max_usr_torque
- vel_sat
- acc_sat
- torque_sat
- saturated


=== spid

- cmd
- fb
- en
- kp
- ki
- kd
- ksd
- kdi
- ksdi
- kff0
- kff1
- offset
- min_output
- max_output
- max_error
- output
- error
- sat


=== pe

- udc
- idc
- ud
- uq
- id
- iq
- torque
- vel
- r
- j
- cap
- e_el
- e_kin
- p_el_dc
- p_el_ac
- p_m
- p_t


=== pmsm

- psi
- r
- ld
- lq
- polecount
- vel
- ud
- uq
- indd
- indq
- id
- iq
- psi_d
- psi_q
- torque
- drop_q
- drop_d
- drop_v
- drop_exp

=== pmsm_limits

- psi
- r
- ld
- lq
- polecount
- ac_volt
- next_max_cur
- next_max_torque
- next_min_cur
- next_min_torque
- max_cur
- max_torque
- min_cur
- min_torque
- abs_max_cur
- abs_max_torque
- abs_max_vel
- iq
- indq


=== pmsm_ttc

- psi
- polecount
- ac
- pc
- nc
- ae
- pe
- ne
- pos
- t
- g
- torque
- cur


=== dc_limits

- psi
- r
- ld
- lq
- ac_volt
- next_max_cur
- next_max_torque
- next_min_cur
- next_min_torque
- max_cur
- max_torque
- min_cur
- min_torque
- abs_max_cur
- abs_max_torque
- abs_max_vel
- iq
- vel


=== dc_ttc

- psi
- torque
- cur


=== acim_ttc

- mode
- torque_n
- cur_n
- slip_n
- polecount
- torque
- vel
- id
- iq
- freq
- slip
- pos


=== uvw

- u
- v
- w
- led
- p0
- p1
- p2
- p3
- p4
- p5
- p6
- p7
- pos
- rpos
- state


=== fanuc

- C1
- C2
- C4
- C8
- pos


=== fb_switch

- polecount
- pos_fb
- vel_fb
- com_fb
- joint_fb
- state
- cmd_pos
- mot_pos
- mot_abs_pos
- mot_polecount
- mot_offset
- mot_state
- mot_rev
- mot_fb_no_offset
- mot_abs_fb_no_offset
- com_pos
- com_abs_pos
- com_polecount
- com_offset
- com_state
- com_rev
- joint_pos
- joint_abs_pos
- joint_offset
- joint_state
- joint_rev
- joint_fb_no_offset
- mot_joint_ratio
- phase_time
- phase_cur
- id
- current_com_pos
- en


=== reslimit

- pos_in
- pos_out
- res


=== iit

- brake_r
- brake
- air_temp
- mot_air_res
- mot_cap
- mot_tau
- mot_temp
- mot_max_temp
- mot_res
- mot_psi
- mot_real_res
- mot_real_psi
- mot_cont_cur
- id
- iq
- flow


=== vel_int

- pos_in
- pos_out
- vel_in
- vel_out
- wd
- error


=== linrev

- scale
- cmd_in
- cmd_out
- cmd_d_in
- cmd_d_out
- fb_in
- fb_out
- fb_d_in
- fb_d_out
- rev_clear
- rev


=== psi

- vel
- dc_volt
- u
- v
- w
- polecount
- drop
- psi
- max_psi


=== stp

- target
- pos
- pos_in
- pos_out
- vel_in
- vel_out
- acc_out
- max_vel
- max_acc
- dtg


=== uf

- un
- fn
- f_cmd
- f_fb
- pos
- ud
- max_acc
- min_acc


=== ramp

- vel_ext_cmd
- vel_fb
- max_torque
- torque_fb
- scale
- max_acc
- vel_cmd


=== scale

- in0
- out0
- in1
- out1
- scale


=== idx_home

- mot_state
- fb
- fb_abs
- index_en
- index_clear
- pos_out


=== move

- fwd
- rev
- scale
- out
