On Mon, 11 Mar 2019 at 08:34, Steve Better <[email protected]> wrote:
> 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? The pins are pointers to a shared memory space. When you connect pins together you make them both point at the same address in shared memory so they both see the same value. In LinuxCNC the HAL components are kernel modules if you are running the RTAI realtime kernel, as that is a requirement of that realtime system. with a preemp-rt kernel build the components are .so files. I don't know what Machinekit does, their approach to RTAI / Xenomai / preempt-rt was different last time I looked (several years ago) -- atp "A motorcycle is a bicycle with a pandemonium attachment and is designed for the especial use of mechanical geniuses, daredevils and lunatics." — George Fitch, Atlanta Constitution Newspaper, 1916 _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
