## 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