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--- eeros_architecture:hal:configuration_file [2017/06/29 15:52] – [Available Keywords] graf
+++ eeros_architecture:hal:configuration_file [2019/08/14 14:13] (current) – [Available Keywords] graf
@@ Line 26: / Line 26: @@
                        "minOut": -10.0,	"maxOut":  10.0 },
                    ],
+          "safe": 0.0,
           "unit": "V"
         }
@@ Line 39: / Line 40: @@
 ===== Type =====
-A subdevice must contain a ''type'' key. This type must coincide with the subdevice type of the hardware library in use. Some subdevices contain channels of different types, e.g. a subdevice might hold several digital i/o's. Some will work as inputs while some other will be outputs. In this case you define the subdevice as being of type ''DigIn''. I single input channel inherits its type from the subdevice. If it is an output you can redefine the type for the channel.
+A subdevice must contain a ''type'' key. This type must coincide with the subdevice type of the hardware library in use. Some subdevices contain channels of different types, e.g. a subdevice might hold several digital i/o's. Some will work as inputs while some other will be outputs. In this case you define the subdevice as being of type ''DigIn''. A single input channel inherits its type from the subdevice. If it is an output you can redefine the type for the channel.
 <code>
   "subdevice5": {
@@ Line 57: / Line 58: @@
 ===== Scale and Range =====
-Channels carrying an analog signal must be assigned a ''scale'' and ''range'' key. With these values the HAL is able to translate between the analog signal and its digital value as this digital value is necessary when accessing the hardware converter (counter, adc, dac). For examples in how to setup the scale and range properly see [[eeros_architecture:hal:scaling|]].
+Channels carrying an analog signal or channels with counter inputs must be assigned a ''scale'' and ''range'' key. With these values the HAL is able to translate between the analog signal and its digital value as this digital value is necessary when accessing the hardware converter (counter, adc, dac). For examples in how to setup the scale and range properly see [[eeros_architecture:hal:scaling|]]. There are cases where the HAL should account for several stages on a scalable input or output, see [[eeros_architecture:hal:scaling_multi|]].
+===== Safe Value for Analog Output =====
+An analog output can have an associated //safe// value. If a //NAN// of //INF// value would be written to its output, the output value will instead be set to its //safe// value. This helps to guarantee that a drive will not get out of control. //NAN// or //INF// can occur, if a connection between blocks is open, if a block does not run or if an algorithm within a block produces this result due to an error. If the configuration does not specify a //safe// value, it is set to //NAN//.
 ===== Available Keywords =====
 ^ Keyword ^ Type ^ Remarks ^
@@ Line 78: / Line 81: @@
 | scale | double | scale value to set scale of scalable in-/output directly, do not mix with scale object! |
 | offset | double | offset value to set offset of scalable in-/output directly |
+| safe | double | safe value, used for scalable outputs|
 | unit | string | unit of this in-/output, used for scalable in-/outputs|
+| additionalArguments | string | used for communicating with ROS, see [[hardware_libraries#ros|ROS]], configuration file for ROS see [[config_ros]]|