1  [[cha:hal-components]]
  2  
  3  = HAL Components
  4  
  5  == Commands and Userspace Components
  6  
  7  All of the commands in the following list have man pages. 
  8  Some will have expanded descriptions, some will have limited descriptions. 
  9  Also, all of the components listed below have man pages.
 10  From these two lists you know what components exist, 
 11  and you can use 'man n name' to get additional information. 
 12  To view the information in the man page, in a terminal window type: 
 13  
 14  ----
 15  man axis (or perhaps 'man 1 axis' if your system requires it.)
 16  ----
 17  
 18  
 19  axis:: AXIS LinuxCNC (The Enhanced Machine Controller) Graphical User Interface.
 20  axis-remote:: AXIS Remote Interface.
 21  comp:: Build, compile and install LinuxCNC HAL components.
 22  gladevcp:: Virtual Control Panel for LinuxCNC based on Glade, Gtk and HAL widgets.
 23  gs2:: HAL userspace component for Automation Direct GS2 VFD's.
 24  halcmd:: Manipulate the Enhanced Machine Controller HAL from the command line.
 25  hal_input:: Control HAL pins with any Linux input device, including USB HID devices.
 26  halmeter:: Observe HAL pins, signals, and parameters.
 27  halrun:: Manipulate the Enhanced Machine Controller HAL from the command line.
 28  halsampler:: Sample data from HAL in realtime.
 29  halstreamer:: Stream file data into HAL in real time.
 30  halui:: Observe HAL pins and command LinuxCNC through NML.
 31  io:: Accepts NML I/O commands, interacts with HAL in userspace.
 32  iocontrol:: Accepts NML I/O commands, interacts with HAL in userspace.
 33  linuxcnc:: LinuxCNC (The Enhanced Machine Controller).
 34  pyvcp:: Virtual Control Panel for LinuxCNC.
 35  shuttle:: control HAL pins with the ShuttleXpress and ShuttlePRO devices made by Contour Design.
 36  
 37  [[sec:realtime-components]]
 38  
 39  == Realtime Components List
 40  
 41  Some of these will have expanded descriptions from the man pages. Some
 42  will have limited descriptions. All of the components have man pages.
 43  From this list you know what components exist and can use 'man n name' to
 44  get additional information in a terminal window.
 45  
 46  [NOTE]
 47  If the component requires a floating point thread that is usually the slower
 48  servo-thread.
 49  
 50  === Core LinuxCNC components
 51  
 52  motion:: (((motion)))Accepts NML motion commands, interacts with HAL in realtime.
 53  
 54  axis:: (((axis)))Accepts NML motion commands, interacts with HAL in realtime.
 55  
 56  classicladder:: (((classicladder)))Realtime software PLC based on ladder logic.
 57  See <<cha:classicladder,ClassicLadder>> chapter for more information.
 58  
 59  gladevcp:: (((gladevcp)))Displays Virtual Control Panels built with GTK/Glade.
 60  
 61  threads:: (((threads)))Creates hard realtime HAL threads.
 62  
 63  === Logic and Bitwise components
 64  
 65  and2:: (((and2)))Two-input AND gate. For out to be true both inputs must be true.
 66  
 67  not:: (((not)))Inverter.
 68  
 69  or2:: (((or2)))Two-input OR gate.
 70  
 71  xor2:: (((xor2)))Two-input XOR (exclusive OR) gate.
 72  
 73  debounce:: (((debounce)))Filter noisy digital inputs. <<sec:debounce, Description>>
 74  
 75  edge:: (((edge)))Edge detector.
 76  
 77  flipflop:: (((flipflop)))D type flip-flop.
 78  
 79  oneshot:: (((oneshot)))One-shot pulse generator.
 80  
 81  logic:: (((logic)))General logic function component.
 82  
 83  lut5:: (((lut5)))A 5-input logic function based on a look-up table. <<sec:lut5,Description>>
 84  
 85  match8:: (((match8)))8-bit binary match detector.
 86  
 87  select8:: (((select8)))8-bit binary match detector.
 88  
 89  === Arithmetic and float-components
 90  
 91  abs:: [[sub:abs]](((abs)))Compute the absolute value and sign of the input signal.
 92  
 93  blend:: (((blend)))Perform linear interpolation between two values.
 94  
 95  comp:: (((comp)))Two input comparator with hysteresis.
 96  
 97  constant:: (((constant)))Use a parameter to set the value of a pin.
 98  
 99  sum2:: (((sum2)))Sum of two inputs (each with a gain) and an offset.
100  
101  counter:: (((counter)))Counts input pulses (deprecated).
102  Use the <<sec:encoder, encoder>> component. 
103  
104  updown:: (((updown)))Counts up or down, with optional limits and wraparound behavior.
105  
106  ddt:: (((ddt)))Compute the derivative of the input function.
107  
108  deadzone:: (((deadzone)))Return the center if within the threshold.
109  
110  hypot:: (((hypot)))Three-input hypotenuse (Euclidean distance) calculator.
111  
112  mult2:: (((mult2)))Product of two inputs.
113  
114  mux16:: (((mux16)))Select from one of sixteen input values.
115  
116  mux2:: (((mux2)))Select from one of two input values.
117  
118  mux4:: (((mux4)))Select from one of four input values.
119  
120  mux8:: (((mux8)))Select from one of eight input values.
121  
122  near:: (((near)))Determine whether two values are roughly equal.
123  
124  offset:: (((offset)))Adds an offset to an input, and subtracts it from the feedback value.
125  
126  integ:: (((integ)))Integrator.
127  
128  invert:: (((invert)))Compute the inverse of the input signal.
129  
130  wcomp:: (((wcomp)))Window comparator.
131  
132  weighted_sum:: (((weighted_sum)))Convert a group of bits to an integer.
133  
134  biquad:: (((biquad)))Biquad IIR filter
135  
136  lowpass:: (((lowpass)))Low-pass filter
137  
138  limit1:: (((limit1)))Limit the output signal to fall between min and max. footnote:[When the input
139  is a position, this means that the 'position' is limited.]
140  
141  limit2:: (((limit2)))Limit the output signal to fall between min and max.
142  Limit its slew rate to less than maxv per second. footnote:[When the input
143  is a position, this means that 'position' and 'velocity' are limited.]
144  
145  limit3:: (((limit3)))Limit the output signal to fall between min and max.
146  Limit its slew rate to less than maxv per second.
147  Limit its second derivative to less than MaxA per second squared. footnote:[When
148  the input is a position, this means that the 'position', 'velocity', and
149  'acceleration' are limited.]
150  
151  maj3:: (((maj3)))Compute the majority of 3 inputs.
152  
153  scale:: (((scale)))Applies a scale and offset to its input.
154  
155  === Type conversion
156  
157  conv_bit_s32:: (((conv_bit_s32)))Convert a value from bit to s32.
158  
159  conv_bit_u32:: (((conv_bit_u32)))Convert a value from bit to u32.
160  
161  conv_float_s32:: (((conv_float_s32)))Convert a value from float to s32.
162  
163  conv_float_u32:: (((conv_float_u32)))Convert a value from float to u32.
164  
165  conv_s32_bit:: (((conv_s32_bit)))Convert a value from s32 to bit.
166  
167  conv_s32_float:: (((conv_s32_float)))Convert a value from s32 to float.
168  
169  conv_s32_u32:: (((conv_s32_u32)))Convert a value from s32 to u32.
170  
171  conv_u32_bit:: (((conv_u32_bit)))Convert a value from u32 to bit.
172  
173  conv_u32_float:: (((conv_u32_float)))Convert a value from u32 to float.
174  
175  conv_u32_s32:: (((conv_u32_s32)))Convert a value from u32 to s32.
176  
177  === Hardware Drivers
178  
179  hm2_7i43:: (((hm2_7i43)))HAL driver for the Mesa Electronics 7i43 EPP Anything IO board with
180  HostMot2.
181  
182  hm2_pci:: (((hm2_pci)))HAL driver for the Mesa Electronics 5i20, 5i22, 5i23, 4i65, and 4i68
183  Anything I/O boards, with HostMot2 firmware.
184  
185  hostmot2:: (((hostmot2)))HAL driver for the Mesa Electronics HostMot2 firmware.
186  
187  mesa_7i65:: (((7i65)))Support for the Mesa 7i65 eight-axis servo card.
188  
189  pluto_servo:: (((pluto_servo)))Hardware driver and firmware for the Pluto-P parallel-port FPGA, for
190  use with servos.
191  
192  pluto_step:: (((pluto_step)))Hardware driver and firmware for the Pluto-P parallel-port FPGA, for
193  use with steppers.
194  
195  thc:: (((torch height control)))Torch Height Control using a Mesa THC card.
196  
197  serport:: (((serport)))Hardware driver for the digital I/O bits of the 8250 and 16550 serial port.
198  
199  === Kinematics
200  
201  kins:: (((kins)))kinematics definitions for LinuxCNC.
202  
203  gantrykins:: (((gantrykins)))A kinematics module that maps one axis to multiple joints.
204  
205  genhexkins:: (((genhexkins)))Gives six degrees of freedom in position and orientation (XYZABC).
206  The location of the motors is defined at compile time.
207  
208  genserkins:: (((genserkins)))Kinematics that can model a general serial-link manipulator with up to
209  6 angular joints.
210  
211  maxkins:: (((maxkins)))Kinematics for a tabletop 5 axis mill named 'max' with tilting head (B axis) and
212  horizontal rotary mounted to the table (C axis).
213  Provides UVW motion in the rotated coordinate system.
214  The source file, maxkins.c, may be a useful starting point for other 5-axis systems.
215  
216  tripodkins:: (((tripodkins)))The joints represent the distance of the controlled point from three
217  predefined locations (the motors), giving three degrees of freedom in
218  position (XYZ).
219  
220  trivkins:: (((trivkins)))There is a 1:1 correspondence between joints and axes. Most standard
221  milling machines and lathes use the trivial kinematics module.
222  
223  pumakins:: (((pumakins)))Kinematics for PUMA-style robots.
224  
225  rotatekins:: (((rotatekins)))The X and Y axes are rotated 45 degrees compared to the joints 0 and 1.
226  
227  scarakins:: (((scarakins)))Kinematics for SCARA-type robots.
228  
229  === Motor control
230  
231  at_pid:: (((at_pid)))Proportional/integral/derivative controller with auto tuning.
232  
233  pid:: Proportional/integral/derivative controller. <<sec:pid,Description>>
234  
235  pwmgen:: (((pwmgen)))Software PWM/PDM generation. <<sec:pwmgen,Description>>
236  
237  encoder:: (((encoder)))Software counting of quadrature encoder signals. <<sec:encoder,Description>>.
238  
239  stepgen:: (((stepgen)))Software step pulse generation. <<sec:stepgen,Description>>.
240  
241  === BLDC and 3-phase motor control
242  
243  bldc_hall3:: (((bldc_hall3)))3-wire Bipolar trapezoidal commutation BLDC motor driver using Hall sensors.
244  
245  clarke2:: (((clarke2)))Two input version of Clarke transform.
246  
247  clarke3:: (((clarke3)))Clarke (3 phase to cartesian) transform.
248  
249  clarkeinv:: (((clarkeinv)))Inverse Clarke transform.
250  
251  === Other
252  
253  charge_pump:: (((charge_pump)))Creates a square-wave for the 'charge pump' input of some controller boards.
254  The 'Charge Pump' should be added to the base thread function. When enabled the output is on for one period and off for one period. To calculate the frequency of the output 1/(period time in seconds x 2) = hz. For example if you have a base period of 100,000ns that is 0.0001 seconds and the formula would be 1/(0.0001 x 2) = 5,000 hz or 5 Khz.
255  
256  encoder_ratio:: (((encoder_ratio)))An electronic gear to synchronize two axes.
257  
258  estop_latch:: (((estop_latch)))ESTOP latch.
259  
260  feedcomp:: (((feedcomp)))Multiply the input by the ratio of current velocity to the feed rate.
261  
262  gearchange:: (((gearchange)))Select from one of two speed ranges.
263  
264  [[sec:ilowpass]] (((ilowpass)))
265  
266  ilowpass:: While it may find other applications,
267  this component was written to create smoother motion while jogging with an MPG.
268  +
269  In a machine with high acceleration, a short jog can behave almost like a step
270  function. By putting the ilowpass component between the MPG encoder counts
271  output and the axis jog-counts input, this can be smoothed.
272  +
273  Choose scale conservatively so that during a single session there will never
274  be more than about 2e9/scale pulses seen on the MPG. Choose gain according
275  to the smoothing level desired. Divide the axis.N.jog-scale values by scale.
276  
277  joyhandle:: (((joyhandle)))Sets nonlinear joypad movements, deadbands and scales.
278  
279  knob2float:: (((knob2float)))Convert counts (probably from an encoder) to a float value.
280  
281  minmax:: (((minmax)))Track the minimum and maximum values of the input to the outputs.
282  
283  sample_hold:: (((sample_hold)))Sample and Hold.
284  
285  sampler:: (((sampler)))Sample data from HAL in real time.
286  
287  siggen:: Signal generator. <<sec:siggen,Description>>.
288  
289  sim_encoder:: (((sim_encoder)))Simulated quadrature encoder. <<sec:simulated-encoder,Description>>.
290  
291  sphereprobe:: (((sphereprobe)))Probe a pretend hemisphere.
292  
293  steptest:: (((steptest)))Used by Stepconf to allow testing of acceleration and velocity values for an axis.
294  
295  streamer:: (((streamer)))Stream file data into HAL in real time.
296  
297  supply:: (((supply)))Set output pins with values from parameters (deprecated).
298  
299  threadtest:: (((threadtest)))Component for testing thread behavior.
300  
301  time:: (((time)))Accumulated run-time timer counts HH:MM:SS of 'active' input.
302  
303  timedelay:: (((timedelay)))The equivalent of a time-delay relay.
304  
305  timedelta:: (((timedelta)))Component that measures thread scheduling timing behavior.
306  
307  toggle2nist:: (((toggle2nist)))Toggle button to nist logic.
308  
309  toggle:: (((toggle)))Push-on, push-off from momentary pushbuttons.
310  
311  tristate_bit:: (((tristate_bit)))Place a signal on an I/O pin only when enabled, similar to a tristate
312  buffer in electronics.
313  
314  tristate_float:: (((tristate_float)))Place a signal on an I/O pin only when enabled, similar to a tristate
315  buffer in electronics.
316  
317  
318  
319  watchdog:: (((watchdog)))Monitor one to thirty-two inputs for a 'heartbeat'.
320  
321  
322  == HAL API calls
323  ....
324  hal_add_funct_to_thread.3hal
325  hal_bit_t.3hal
326  hal_create_thread.3hal
327  hal_del_funct_from_thread.3hal
328  hal_exit.3hal
329  hal_export_funct.3hal
330  hal_float_t.3hal
331  hal_get_lock.3hal
332  hal_init.3hal
333  hal_link.3hal
334  hal_malloc.3hal
335  hal_param_bit_new.3hal
336  hal_param_bit_newf.3hal
337  hal_param_float_new.3hal
338  hal_param_float_newf.3hal
339  hal_param_new.3hal
340  hal_param_s32_new.3hal
341  hal_param_s32_newf.3hal
342  hal_param_u32_new.3hal
343  hal_param_u32_newf.3hal
344  hal_parport.3hal
345  hal_pin_bit_new.3hal
346  hal_pin_bit_newf.3hal
347  hal_pin_float_new.3hal
348  hal_pin_float_newf.3hal
349  hal_pin_new.3hal
350  hal_pin_s32_new.3hal
351  hal_pin_s32_newf.3hal
352  hal_pin_u32_new.3hal
353  hal_pin_u32_newf.3hal
354  hal_ready.3hal
355  hal_s32_t.3hal
356  hal_set_constructor.3hal
357  hal_set_lock.3hal
358  hal_signal_delete.3hal
359  hal_signal_new.3hal
360  hal_start_threads.3hal
361  hal_type_t.3hal
362  hal_u32_t.3hal
363  hal_unlink.3hal
364  intro.3hal
365  undocumented.3hal
366  ....
367  
368  == RTAPI calls
369  ....
370  EXPORT_FUNCTION.3rtapi
371  MODULE_AUTHOR.3rtapi
372  MODULE_DESCRIPTION.3rtapi
373  MODULE_LICENSE.3rtapi
374  RTAPI_MP_ARRAY_INT.3rtapi
375  RTAPI_MP_ARRAY_LONG.3rtapi
376  RTAPI_MP_ARRAY_STRING.3rtapi
377  RTAPI_MP_INT.3rtapi
378  RTAPI_MP_LONG.3rtapi
379  RTAPI_MP_STRING.3rtapi
380  intro.3rtapi
381  rtapi_app_exit.3rtapi
382  rtapi_app_main.3rtapi
383  rtapi_clock_set_period.3rtapi
384  rtapi_delay.3rtapi
385  rtapi_delay_max.3rtapi
386  rtapi_exit.3rtapi
387  rtapi_get_clocks.3rtapi
388  rtapi_get_msg_level.3rtapi
389  rtapi_get_time.3rtapi
390  rtapi_inb.3rtapi
391  rtapi_init.3rtapi
392  rtapi_module_param.3rtapi
393  RTAPI_MP_ARRAY_INT.3rtapi
394  RTAPI_MP_ARRAY_LONG.3rtapi
395  RTAPI_MP_ARRAY_STRING.3rtapi
396  RTAPI_MP_INT.3rtapi
397  RTAPI_MP_LONG.3rtapi
398  RTAPI_MP_STRING.3rtapi
399  rtapi_mutex.3rtapi
400  rtapi_outb.3rtapi
401  rtapi_print.3rtap
402  rtapi_prio.3rtapi
403  rtapi_prio_highest.3rtapi
404  rtapi_prio_lowest.3rtapi
405  rtapi_prio_next_higher.3rtapi
406  rtapi_prio_next_lower.3rtapi
407  rtapi_region.3rtapi
408  rtapi_release_region.3rtapi
409  rtapi_request_region.3rtapi
410  rtapi_set_msg_level.3rtapi
411  rtapi_shmem.3rtapi
412  rtapi_shmem_delete.3rtapi
413  rtapi_shmem_getptr.3rtapi
414  rtapi_shmem_new.3rtapi
415  rtapi_snprintf.3rtapi
416  rtapi_task_delete.3rtpi
417  rtapi_task_new.3rtapi
418  rtapi_task_pause.3rtapi
419  rtapi_task_resume.3rtapi
420  rtapi_task_start.3rtapi
421  rtapi_task_wait.3rtapi
422  ....
423