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--- getting_started:tutorials:hal1 [2017/05/08 13:24] – created graf
+++ getting_started:tutorials:hal1 [2021/03/31 16:35] (current) – ursgraf
@@ Line 1: / Line 1: @@
 ====== Using the HAL with comedi or flink ======
-In the EEROS library you will find a directory with examples. Open a shell in the build directory of your EEROS library and run ''examples/hal/halTest2''. The system uses real hardware inputs and output. The hardware could be [[eeros_architecture:hal:hardware_libraries#comedi|]] or [[eeros_architecture:hal:hardware_libraries#flink|]]. You also need to install the necessary wrapper library, see [[getting_started:install_wrapper|]]. The following command will run the example
+In the EEROS library you will find a directory with examples. For this example see [[https://github.com/eeros-project/eeros-framework/blob/master/examples/hal/HalTest2.cpp|HalTest2.cpp]].
+The system uses real hardware inputs and output. The hardware could be [[eeros_architecture:hal:hardware_libraries#comedi|]] or [[eeros_architecture:hal:hardware_libraries#flink|]]. You also need to install the necessary wrapper library, see [[getting_started:install_wrapper|]].
+Open a shell in the build directory of your EEROS library and run
 <code>
 $ ./halTest2 -c HalTest2ConfigComedi.json  // for comedi
 $ ./halTest2 -c HalTest2ConfigFlink.json  // for flink
 </code>
-This examples creates a small control system with a couple of peripheral input and output blocks as shown below.
-[{{ :getting_started:tutorials:haltest1.png?300 |//Control system of the test program// }}]
-The dashed lines denote the feedback of the signals by the simulator. \\
-The main sequence alters the values on digital and analog outputs periodically. A seperate periodic task logs the digital and analog inputs.
-  * The state on the digital output 0 is reflected by the simultor to the digital input 0. The control system connects this input to the digital output 1, which in turn is reflected by the simulator to digital input 1. However, the second reflection is ''inverted'' and we get the logical inversion of digital output 0. The value of digital input 0 changes every 5 seconds.
-  * A constant value is output to analog output 0 and 2. These values change every 10 seconds. Both are reflected onto analog inputs 0 and 2.
+This examples creates a small control system with a couple of peripheral input and output blocks.
+The main sequence alters the values on digital and analog outputs periodically. It also logs the digital and analog inputs.