The HAL abstracts the pin mappings. Instead of manually calculating ADC trigger delays, you simply call HAL_setupPWM() and HAL_setupADCs() . This layer works by reading the target’s device tree (via board files) and configuring registers.

. It provides a unified set of software infrastructure, libraries, and tools that support both sensored and sensorless control solutions. Texas Instruments Key Components & Features Foundational Software : Built on top of

: A collection of highly optimized math and control functions, including: : For fixed-point mathematical operations. Digital Control Library (DCL) : High-performance PID and compensator functions.