Thanks a lot for your explanations, Andy. Perhaps I should learn something about the the kernel module.
Best wishes! On 3/11/19 6:36 PM, andy pugh wrote: > 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) > _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
