HAL Basics

The command loadrt loads a real time HAL component. Real time component functions need to be added to a thread to be updated at the rate of the thread. You cannot load a non-realtime component into the realtime space.

The addf command adds a function to a real-time thread. If the StepConf wizard was used to create the configuration, two threads have been created (``base-thread`` and ``servo-thread``).

addf adds function functname to thread threadname. Default is to add the function in the order they are in the file. If position is specified, adds the function to that spot in the thread. A negative position indicates the position with respect to the end of the thread. For example 1 is start of thread, -1 is the end of the thread, -3 is third from the end.

For some functions it is important to load them in a certain order, like the parport read and write functions. The function name is usually the component name plus a number. In the following example the component or2 is loaded and show function shows the name of the or2 function.

You have to add a function from a HAL real time component to a thread to get the function to update at the rate of the thread. Usually there are two threads as shown in this example. Some components use floating point math and must be added to a thread that supports floating point math. The FP indicates if floating point math is supported in that thread.

The command loadusr loads a non-realtime HAL component. Non-realtime programs are their own separate processes, which optionally talk to other HAL components via pins and parameters. You cannot load realtime components into non-realtime space.

Flags können eine oder mehrere der folgenden sein:

Auf Deutsch bedeutet es loadusr wartet auf Name Spindel Komponente gs2_vfd mit Namen Spindel.

The command net creates a connection between a signal and one or more pins. If the signal does not exist net creates the new signal. This replaces the need to use the command newsig. The optional direction arrows <=, => and <=> make it easier to follow the logic when reading a net command line and are not used by the net command. The direction arrows must be separated by a space from the pin names.

In the above example home-x is the signal name, joint.0.home-sw-in is a Direction IN pin, <= is the optional direction arrow, and parport.0.pin-11-in is a Direction OUT pin. This may seem confusing but the in and out labels for a parallel port pin indicates the physical way the pin works not how it is handled in HAL.

Ein Pin kann mit einem Signal verbunden werden, wenn er die folgenden Regeln beachtet:

Derselbe Signal-Name kann in mehreren Netzbefehlen verwendet werden, um zusätzliche Pins zu verbinden, solange die obigen Regeln beachtet werden.

This example shows the signal xStep with the source being stepgen.0.out and with two readers, parport.0.pin-02-out and parport.0.pin-08-out. Basically the value of stepgen.0.out is sent to the signal xStep and that value is then sent to parport.0.pin-02-out and parport.0.pin-08-out.

Since the signal xStep contains the value of stepgen.0.out (the source) you can use the same signal again to send the value to another reader. To do this just use the signal with the readers on another line.

An I/O pin like encoder.N.index-enable can be read or set as allowed by the component.

The command setp sets the value of a pin or parameter. The valid values will depend on the type of the pin or parameter. It is an error if the data types do not match.

Some components have parameters that need to be set before use. Parameters can be set before use or while running as needed. You cannot use setp on a pin that is connected to a signal.

The command sets sets the value of a signal.

Es ist ein Fehler, wenn:

The command unlinkp unlinks a pin from the connected signal. If no signal was connected to the pin prior running the command, nothing happens. The unlinkp command is useful for trouble shooting.

The following commands are depreciated and may be removed from future versions. Any new configuration should use the net command. These commands are included so older configurations will still work.

Ein Bitwert ist ein Ein oder Aus.

A float is a floating point number. In other words the decimal point can move as needed.

Weitere Informationen über Gleitkommazahlen finden Sie unter:

https://en.wikipedia.org/wiki/Floating_point

Eine s32-Zahl ist eine ganze Zahl, die einen negativen oder positiven Wert haben kann.

Eine "u32"-Zahl ist eine ganze Zahl, die nur positiv ist.

The and2 component is a two input and-gate. The truth table below shows the output based on each combination of input.

The not component is a bit inverter.

The or2 component is a two input or-gate.

The xor2 component is a two input xor (exclusive or)-gate.

The weighted sum converts a group of bits into an integer. The conversion is the sum of the weights of the bits present plus any offset. It’s similar to binary coded decimal but with more options. The hold bit interrupts the input processing, so that the sum value no longer changes.

Creates groups of ``weighted_sum``s, each with the given number of input bits (size).

Um die "weighted_sum" zu aktualisieren, muss der "process_wsums" an einen Thread angehängt werden.

Which updates the weighted_sum component.

In the following example, a copy of the AXIS HAL configuration window, bits 0 and 2 are TRUE, they have no offset. The weight (weight) of bit 0 is 1, that of bit 2 is 4, so the sum is 5.