🔗 Interfaces in libhal

What are Interfaces?

An interface is like a contract between different parts of your program. It defines what methods a class must implement, without specifying how they should work. This is powerful because it lets you:

• Write code that works with any hardware that follows the interface
• Switch hardware without changing your application code
• Test your code more easily

For example, if you write code using the hal::input_pin interface, it will work with any microcontroller that provides an implementation of that interface.

Available Interfaces

Digital I/O

Input PinOutput PinAwaitable Pin

hal::input_pin

Reads the state of a digital pin (HIGH or LOW). Used for:

• Reading button presses
• Detecting digital signals
• Reading logic levels

hal::output_pin

Controls digital outputs (HIGH or LOW). Used for:

• Controlling LEDs
• Sending digital signals
• Setting logic levels

hal::awaitable_pin

Waits for a pin's state to transition. Used for:

• Detecting button presses
• Responding to external signals
• Event-driven programming

Analog Interfaces

ADC 16-bitADC 24-bitDAC 16-bitPWM ChannelPWM Group Manager

hal::adc16

Converts analog signals to 16-bit digital values. Used for:

• Reading sensor values
• Measuring voltages
• Processing analog inputs

hal::adc24

Converts analog signals to 24-bit digital values. Used for:

• High-precision sensor readings
• Precise voltage measurement
• Processing high-resolution analog inputs

hal::dac16

Converts 16-bit digital values to analog signals. Used for:

• Generating analog voltages
• Controlling analog devices
• Audio output

hal::pwm16_channel

Generates square waves with controllable duty cycle. Used for:

• Motor speed control
• LED brightness control
• Signal generation

hal::pwm_group_manager

Manages frequency for multiple PWM channels. Used for:

• Controlling frequency of PWM groups
• Synchronizing multiple channels

Time Management

Steady Clock

hal::steady_clock

Provides consistent time measurements. Used for:

• Measuring durations
• Timing operations
• Creating delays

Communication Protocols

SPI ChannelI2CSerialAwaitable SerialCAN

hal::spi_channel

Fast, synchronous communication protocol with manual chip select. Used for:

• Communicating with displays
• Reading memory chips
• High-speed sensor data

hal::i2c

Two-wire communication protocol. Used for:

• Connecting multiple sensors
• Reading small devices
• Low-speed communication

hal::serial

Asynchronous serial communication with buffering. Used for:

• Bi-directional communication with a single device
• Communication with computers
• UART, RS232, RS485 protocols

hal::awaitable_serial

Serial communication with RX event notifications. Used for:

• Awaiting receive events
• Idle detection on RX line
• Coroutine-based serial handling

hal::can with hal::can_message

Robust communication bus protocol. Used for:

• Automotive systems
• Industrial networks
• Multi-device communication

Motion Control

MotorBasic ServoFeedback ServoVelocity ServoTorque ServoVeltor Servo

hal::motor

Controls open-loop rotational actuators. Used for:

• Basic motor control
• Fan control
• Simple actuators

hal::basic_servo

Controls servo position without feedback. Used for:

• Simple positional control
• Basic servo applications

hal::feedback_servo

Controls servo with position and motion feedback. Used for:

• Precise positioning with feedback
• Detecting motion status
• Position-aware servo control

hal::velocity_servo

Controls servo with variable velocity. Used for:

• Speed-controlled positioning
• Velocity-based servo applications

hal::torque_servo

Controls servo with torque feedback. Used for:

• Force-sensitive applications
• Load-aware servo control

hal::veltor_servo

Controls servo with velocity and torque feedback. Used for:

• Advanced servo control
• Force and speed-aware applications

Sensors

Temperature SensorAccelerometerGyroscopeMagnetometerDistance SensorRotation SensorCurrent SensorVoltage SensorAngular Velocity Sensor

hal::temperature_sensor

Measures temperature. Used for:

• Environmental monitoring
• System protection
• Process control

hal::accelerometer

Measures acceleration in X, Y, Z axes. Used for:

• Motion detection
• Orientation sensing
• Vibration monitoring

hal::gyroscope

Measures angular velocity in X, Y, Z axes. Used for:

• Navigation
• Stabilization
• Motion tracking

hal::magnetometer

Measures magnetic field strength in X, Y, Z axes. Used for:

• Compass heading
• Position detection
• Metal detection

hal::distance_sensor

Measures linear distance. Used for:

• Object detection
• Range finding
• Proximity sensing

hal::rotation_sensor

Measures angular position (revolutions). Used for:

• Motor position feedback
• Device orientation tracking
• Angle measurement

hal::current_sensor

Measures electrical current flow in circuits. Used for:

• Calculating battery state of charge
• Measuring system power consumption
• Motor force/torque estimation

hal::volt_sensor

Measures voltage differences in circuits. Used for:

• Battery voltage monitoring
• Supply voltage measurement
• Power supply diagnostics

hal::angular_velocity_sensor

Measures angular velocity (degrees per second). Used for:

• Rotational speed measurement
• Rotation rate sensing

⏳ Coming Soon

GPS

Interface not yet available

Will provide location, time, and velocity data from GPS signals.