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--- getting_started:tutorials:hal3 [2017/05/11 10:56] – graf
+++ getting_started:tutorials:hal3 [2026/05/13 10:55] (current) – ursgraf
@@ Line 1: / Line 1: @@
-====== Reading from a XBox Controller or a Space Navigator ======
+====== Using the HAL with the GPIO Subsystem ======
-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/controlsystem/xBoxTest''.
+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/HalTest4.cpp|HalTest4.cpp]].
-This examples reads and outputs periodically all 8 buttons and 8 axis of a XBox controller. Further, the safety system checks for the button 'X' to be pressed. This causes a level change. As soon as the button is released the safety system changes back to the first level. \\
-If you connect several such controller you have to check in ''/dev/input/'' for the controller of your choice and adapt the program accordingly.
-----
+The system either uses real hardware inputs and output or makes use of a simulated gpio device. You need to install the necessary wrapper library for gpio, see [[getting_started:install_wrapper|]].
-There is a second example demonstrating the use of a space navigator. Open a shell in the build directory of your EEROS library and run ''examples/controlsystem/spaceNavigatorTest''.
-This examples reads and outputs periodically the 3 position and 3 rotation axis together with the state of the 2 buttons of a space navigator mouse. Further, the safety system checks for the left button to be pressed. This causes a level change. As soon as the button is released the safety system changes back to the first level.
+When using a simulated gpio device, make sure to load the kernel driver first and then create the device with
+<code>
+$ sudo modprobe gpio-sim
+$ sudo mkdir /sys/kernel/config/gpio-sim/ofagpio
+$ sudo mkdir /sys/kernel/config/gpio-sim/ofagpio/bank0
+$ echo 32 | sudo tee /sys/kernel/config/gpio-sim/ofagpio/bank0/num_lines
+$ echo 1 | sudo tee /sys/kernel/config/gpio-sim/ofagpio/live
+</code>
+Make sure that your local user has access to the device file.
+<code>
+$ sudo chown $USER:$USER /dev/gpiochip0
+</code>
+Open a shell in the build directory of your EEROS library and run
+<code>
+$ ./examples/hal/halTest4 -c HalTest4ConfigGpio.json
+</code>
+It will start in safety level //slOne// and mirror the digital input channel 1 to output channel 0. You can check this behavior with
+<code>
+$ echo pull-up | sudo tee /sys/devices/platform/gpio-sim.0/gpiochip0/sim_gpio1/pull
+</code>
+or
+<code>
+$ echo pull-down | sudo tee /sys/devices/platform/gpio-sim.0/gpiochip0/sim_gpio1/pull
+</code>
+while reading the state of channel 0 with
+<code>
+$ cat /sys/devices/platform/gpio-sim.0/gpiochip0/sim_gpio0/value
+</code>
+Next, change the state of channel 16. This is a critical input in the safety system and causes a transition to safety level //slTwo// when pulled up.
+<code>
+$ echo pull-up | sudo tee /sys/devices/platform/gpio-sim.0/gpiochip0/sim_gpio16/pull
+</code>
+To change back to //slOne// change the level back to '0'.
+<code>
+$ echo pull-down | sudo tee /sys/devices/platform/gpio-sim.0/gpiochip0/sim_gpio16/pull
+</code>