eeros_architecture:hal:start
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eeros_architecture:hal:start [2017/04/30 10:40] – graf | eeros_architecture:hal:start [2017/11/30 19:42] – [Hardware Abstraction Layer] graf | ||
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====== Hardware Abstraction Layer ====== | ====== Hardware Abstraction Layer ====== | ||
The HAL provides an interface between the robot control system (consisting of control system, safety system, and sequencer) and the hardware of the robot. Any signal from a hardware input or output must pass through the HAL. | The HAL provides an interface between the robot control system (consisting of control system, safety system, and sequencer) and the hardware of the robot. Any signal from a hardware input or output must pass through the HAL. | ||
+ | * [[eeros_architecture: | ||
* [[eeros_architecture: | * [[eeros_architecture: | ||
+ | * [[eeros_architecture: | ||
+ | * [[eeros_architecture: | ||
+ | * [[eeros_architecture: | ||
* [[eeros_architecture: | * [[eeros_architecture: | ||
* [[eeros_architecture: | * [[eeros_architecture: | ||
+ | * [[eeros_architecture: | ||
+ | * [[eeros_architecture: | ||
===== Configuration of the HAL ===== | ===== Configuration of the HAL ===== | ||
The inputs and outputs of the system are given by a specific hardware setup. This can vary widely among different systems. To account for many possible hardware settings we use a configuration file. This file describes the current hardware together with the necessary library to access them, see [[Configuration File]]. | The inputs and outputs of the system are given by a specific hardware setup. This can vary widely among different systems. To account for many possible hardware settings we use a configuration file. This file describes the current hardware together with the necessary library to access them, see [[Configuration File]]. | ||
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Now, you can pass the configuration file with | Now, you can pass the configuration file with | ||
< | < | ||
- | $ ./ | + | $ ./ |
- | $ ./ | + | $ ./ |
- | $ ./ | + | $ ./ |
- | $ ./ | + | $ ./ |
</ | </ | ||
This call causes the following actions: | This call causes the following actions: | ||
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* these objects will be registered in the HAL manager | * these objects will be registered in the HAL manager | ||
===== Available HAL Objects ===== | ===== Available HAL Objects ===== | ||
- | All input objects of the HAL have a common type base type '' | + | All input objects of the HAL have a common type base type '' |
The following functions are available: | The following functions are available: | ||
<code cpp> | <code cpp> |
eeros_architecture/hal/start.txt · Last modified: 2019/03/26 11:39 by gehrig