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--- eeros_architecture:safety_system:hal [2015/03/30 15:17] – external edit 127.0.0.1
+++ eeros_architecture:safety_system:hal [2017/04/15 20:35] (current) – removed graf
@@ Line 1: / Line 1: @@
-====== Hardware Abstraction Layer (HAL) ======
-<box 100% green>
-The safety system and the HAL are strongly coupled together. Make sure that your inputs and outputs in the HAL are all handled by your safety system.
-</box>
-===== Getting the HAL ====
-Make an instance of the HAL with the following line:
-<code c>
-  HAL& hal = HAL::instance();
-</code>
-===== Inputs and Outputs =====
-All input and output should be observed by the safety system. The safety system alone decides if an input or output can be applied or not.
-=== Define inputs and outputs ===
-To access the digital I/O hardware within the comedi framework, you have to define the inputs and outputs and add them to the HAL.
-<code c>
-  ComediDevice* comedi0 = new ComediDevice("/dev/comedi0");
-  ComediDevice* comedi1 = new ComediDevice("/dev/comedi1");
-  hal.addSystemInput(new ComediFqd("q0", comedi0, 11, 8, 10, 9, 6.28318530718 / (4 * 4096.0), 0, 0));
-  hal.addSystemOutput(new ComediDigOut("watchdog", comedi1, 2, 22));
-  hal.addSystemOutput(new ComediDigOut("enable0", comedi0, 2, 24));
-  hal.addSystemOutput(new ComediDigOut("brake0", comedi1, 2, 4, true));
-</code>
-  * **Note:** The class //SystemInput<T>// and //SystemOutput<T>// are template classes. If you define an input or an output as a boolean or  a double, it should also be a boolean (on or off) or a double (e.g. voltage) on the hardware.