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--- eeros_architecture:hal:hardware_libraries [2017/11/20 18:00] – [Available Subdevices] graf
+++ eeros_architecture:hal:hardware_libraries [2021/10/24 10:23] (current) – [CANopen] ursgraf
@@ Line 1: / Line 1: @@
 ====== Hardware Libraries ======
-The eeros framework uses various hardware libraries to access the underlying hardware. Currently we support the libraries listed below. In order to use them you have to check them out, compile and install them, see [[getting_started:compile_eeros|]]. If you need further hardware not listed below go to [[for_developers:wrapper_lib|]]. It is important to notice that for each of the specific hardware libraries you need a wrapper library for eeros.
+The eeros framework uses various hardware libraries to access the underlying hardware. Currently we support the libraries listed below. If you need further hardware not listed below go to [[for_developers:wrapper_lib|]]. It is important to notice that for each of the specific hardware libraries you need a wrapper library for eeros.
 [{{ :eeros_architecture:hal:wrapperlibs_concept.png?350 |//Every hardware library needs its specific eeros wrapper library//}}]
@@ Line 9: / Line 9: @@
 [[http://www.flink-project.ch/|flink]] stands for fast link. It is a efficient and standardized way to communicate with hardware functions implemented in a FPGA. The wrapper library can be found in [[https://github.com/eeros-project/flink-eeros]].
-===== Simulator =====
+===== Beaglebone Blue =====
-The simulator offers digital and analog inputs and outputs. It offers to run simple example and test programs without the need of external hardware, see [[getting_started:tutorials:start|]]. The wrapper library can be found in [[https://github.com/eeros-project/sim-eeros]]. \\
+The [[https://beagleboard.org/blue|Beaglebone Blue]] is a small robotics computer. It allows to directly connect several small motors. The wrapper library can be found in [[https://github.com/eeros-project/bbblue-eeros]]. Therein, you can find a complete example of hardware configuration file using all the available pins, see [[https://github.com/eeros-project/bbblue-eeros/blob/master/HwConfigBBBlue.json]]
-Currently the simulator encompasses a reflect device: \\
-[{{ :eeros_architecture:hal:simdevicehierarchy.png?400 | //The available subdevices of the simulator//}}]
-The input channels of subdevice 0 are output on the channels of subdevice 1 and similarly the same is true for subdevices 2 and 3. Every signal on input channel 0 to 10 is "reflected" onto its corresponding output channel 0 to 10.
 ===== ROS =====
 [[http://www.ros.org/|ROS]] is a collection of tools, libraries, and conventions to write robot control software. The wrapper library can be found in [[https://github.com/eeros-project/ros-eeros]].
+===== Simulator =====
+See [[eeros_architecture:hal:hardware_libraries_sim|]].
+===== EtherCAT =====
+EtherCAT is a real-time capable fieldbus. The complete EtherCAT documentation (including library to interface with with EEROS) can be found on [[https://wiki.bu.ost.ch/infoportal/embedded_systems/ethercat/start|OST Infoportal]].
+===== CANopen=====
+CANopen a fieldbus. The library and its documentation can be found on [[https://gitlab.ost.ch/tech/inf/public/canopenlib]].