On Mon, 11 Mar 2019 08:32:58 +0000 Steve Better <[email protected]> wrote:
> Hello, everyone, > > I am curious about the principle of the HAL. I know that a HAL component > consists of threads and PINs which are in the Linux kernel space. EMC_MOT is > in the Linux kernel space too? How do the threads and PINs were wrapped? Is a > HAL component the same with the kernel module .ko? Andy explained the pins. Pins are created during initialization by calling a function with among other things a string with the name used in the *.hal and a pointer to shared memory location. A thread are a function called periodically. It copy data using the pointer created above to/from the shared memory location. The peridically called function also have to make sure whatever purpose of component is get done. Nicklas Karlsson _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
