#LyX 1.3 created this file. For more info see http://www.lyx.org/
\lyxformat 221
\textclass book
\language english
\inputencoding auto
\fontscheme default
\graphics default
\paperfontsize default
\spacing single 
\papersize Default
\paperpackage a4
\use_geometry 0
\use_amsmath 0
\use_natbib 0
\use_numerical_citations 0
\paperorientation portrait
\secnumdepth 3
\tocdepth 3
\paragraph_separation indent
\defskip medskip
\quotes_language english
\quotes_times 2
\papercolumns 1
\papersides 1
\paperpagestyle default

\layout Chapter

HAL Components
\layout Section

Commands and Userspace Components
\layout Standard

Some of these will have expanded descriptions from the man pages.
 Some will have limited descriptions.
 All of the components have man pages.
 From this list you know what components exist and can use man n name to
 get additional information.
 For example in a terminal window type 
\family typewriter 
\series bold 
man 1 axis 
\family default 
\series default 
to view the information in the man page.
\layout List
\labelwidthstring 00.00.0000

axis-remote.1 = AXIS Remote Interface
\layout List
\labelwidthstring 00.00.0000

axis.1 = AXIS EMC (The Enhanced Machine Controller) Graphical User Interface
\layout List
\labelwidthstring 00.00.0000

bfload.1 = A program for loading a Xilinx Bitfile program into the FPGA of
 an Anything I/O board from Mesa
\layout List
\labelwidthstring 00.00.0000

comp.1 = Build, compile and install EMC HAL components
\layout List
\labelwidthstring 00.00.0000

emc.1 = EMC (The Enhanced Machine Controller)
\layout List
\labelwidthstring 00.00.0000

hal_input.1 = control HAL pins with any Linux input device, including USB
 HID devices
\layout List
\labelwidthstring 00.00.0000

hal_joystick.1 = control HAL pins with a joystick
\layout List
\labelwidthstring 00.00.0000

halcmd.1 = manipulate the Enhanced Machine Controller HAL from the command
 line
\layout List
\labelwidthstring 00.00.0000

halmeter.1 = observe HAL pins, signals, and parameters
\layout List
\labelwidthstring 00.00.0000

halrun.1 = manipulate the Enhanced Machine Controller HAL from the command
 line
\layout List
\labelwidthstring 00.00.0000

halsampler.1 = sample data from HAL in realtime
\layout List
\labelwidthstring 00.00.0000

halstreamer.1 = stream file data into HAL in real time
\layout List
\labelwidthstring 00.00.0000

halui.1 = observe HAL pins and command EMC through NML
\layout List
\labelwidthstring 00.00.0000

io.1 = accepts NML I/O commands, interacts with HAL in userspace
\layout List
\labelwidthstring 00.00.0000

iocontrol.1 = accepts NML I/O commands, interacts with HAL in userspace
\layout List
\labelwidthstring 00.00.0000

pyvcp.1 = Virtual Control Panel for EMC2
\layout Section

Realtime components and kernel modules
\layout Standard

Some of these will have expanded descriptions from the man pages.
 Some will have limited descriptions.
 All of the components have man pages.
 From this list you know what components exist and can use man n name to
 get additional information.
\layout List
\labelwidthstring 00.00.0000

abs.9 = Compute the absolute value and sign of the input signal
\layout List
\labelwidthstring 00.00.0000

and2.9 = Two-input AND gate
\layout List
\labelwidthstring 00.00.0000

at_pid.9 = proportional/integral/derivative controller with auto tuning
\layout List
\labelwidthstring 00.00.0000

axis.9 = accepts NML motion commands, interacts with HAL in realtime
\layout List
\labelwidthstring 00.00.0000

biquad.9 = Biquad IIR filter
\layout List
\labelwidthstring 00.00.0000

blend.9 = Perform linear interpolation between two values
\layout List
\labelwidthstring 00.00.0000

blocks.9 = Old style HAL blocks (deprecated)
\layout List
\labelwidthstring 00.00.0000

charge_pump.9 = Create a square-wave for the ācharge pumpā input of some
 controller boards
\layout List
\labelwidthstring 00.00.0000

clarke2.9 = Two input version of Clarke transform
\layout List
\labelwidthstring 00.00.0000

clarke3.9 = Clarke (3 phase to cartesian) transform
\layout List
\labelwidthstring 00.00.0000

clarkeinv.9 = Inverse Clarke transform
\layout List
\labelwidthstring 00.00.0000

classicladder.9 = Realtime software plc based on ladder logic
\layout List
\labelwidthstring 00.00.0000

comp.9 = Two input comparator with hysteresis
\layout List
\labelwidthstring 00.00.0000

constant.9 = Use a parameter to set the value of a pin
\layout List
\labelwidthstring 00.00.0000

conv_bit_s32.9 = Convert a value from bit to s32
\layout List
\labelwidthstring 00.00.0000

conv_bit_u32.9 = Convert a value from bit to u32
\layout List
\labelwidthstring 00.00.0000

conv_float_s32.9 = Convert a value from float to s32
\layout List
\labelwidthstring 00.00.0000

conv_float_u32.9 = Convert a value from float to u32
\layout List
\labelwidthstring 00.00.0000

conv_s32_bit.9 = Convert a value from s32 to bit
\layout List
\labelwidthstring 00.00.0000

conv_s32_float.9 = Convert a value from u32 to bit
\layout List
\labelwidthstring 00.00.0000

conv_s32_u32.9 = Convert a value from s32 to u32
\layout List
\labelwidthstring 00.00.0000

conv_u32_bit.9 = Convert a value from u32 to bit
\layout List
\labelwidthstring 00.00.0000

conv_u32_float.9 = Convert a value from u32 to float
\layout List
\labelwidthstring 00.00.0000

conv_u32_s32.9 = Convert a value from u32 to s32
\layout List
\labelwidthstring 00.00.0000

counter.9 = counts input pulses (deprecated)
\layout List
\labelwidthstring 00.00.0000

ddt.9 = Compute the derivative of the input function
\layout List
\labelwidthstring 00.00.0000

deadzone.9 = Return the center if within the threshold
\layout List
\labelwidthstring 00.00.0000

debounce.9 = filter noisy digital inputs, for more information see 
\begin_inset LatexCommand \ref{sec:Debounce}

\end_inset 


\layout List
\labelwidthstring 00.00.0000

edge.9 = Edge detector
\layout List
\labelwidthstring 00.00.0000

encoder.9 = software counting of quadrature encoder signals, for more information
 see 
\begin_inset LatexCommand \ref{sec:Encoder}

\end_inset 


\layout List
\labelwidthstring 00.00.0000

encoder_ratio.9 = an electronic gear to synchronize two axes
\layout List
\labelwidthstring 00.00.0000

estop_latch.9 = ESTOP latch
\layout List
\labelwidthstring 00.00.0000

flipflop.9 = D type flip-flop
\layout List
\labelwidthstring 00.00.0000

freqgen.9 = software step pulse generation
\layout List
\labelwidthstring 00.00.0000

genhexkins.9 = kinematics definitions for emc2
\layout List
\labelwidthstring 00.00.0000

hypot.9 = Three-input hypotenuse (Euclidean distance) calculator
\layout List
\labelwidthstring 00.00.0000

integ.9 = Integrator
\layout List
\labelwidthstring 00.00.0000

kins.9 = kinematics definitions for emc2
\layout List
\labelwidthstring 00.00.0000

knob2float.9 = Convert counts (probably from an encoder) to a float value
\layout List
\labelwidthstring 00.00.0000

limit1.9 = Limit the output signal to fall between min and max
\layout List
\labelwidthstring 00.00.0000

limit2.9 = Limit the output signal to fall between min and max
\layout List
\labelwidthstring 00.00.0000

limit3.9 = Limit the output signal to fall between min and max
\layout List
\labelwidthstring 00.00.0000

logic.9 = 
\layout List
\labelwidthstring 00.00.0000

lowpass.9 = Low-pass filter
\layout List
\labelwidthstring 00.00.0000

lut5.9 = Arbitrary 5-input logic function based on a look-up table
\layout List
\labelwidthstring 00.00.0000

m7i43_hm2.9 = RTAI driver for the Mesa 7i43 EPP Anything IO board with HostMot2
 firmware
\layout List
\labelwidthstring 00.00.0000

maj3.9 = Compute the majority of 3 inputs
\layout List
\labelwidthstring 00.00.0000

match8.9 = 8-bit binary match detector
\layout List
\labelwidthstring 00.00.0000

minmax.9 = Track the minimum and maximum values of the input to the outputs
\layout List
\labelwidthstring 00.00.0000

motion.9 = accepts NML motion commands, interacts with HAL in realtime
\layout List
\labelwidthstring 00.00.0000

mult2.9 = Product of two inputs
\layout List
\labelwidthstring 00.00.0000

mux2.9 = Select from one of two input values
\layout List
\labelwidthstring 00.00.0000

mux4.9 = Select from one of four input values
\layout List
\labelwidthstring 00.00.0000

not.9 = Inverter
\layout List
\labelwidthstring 00.00.0000

offset.9 = Adds an offset to an input, and subtracts it from the feedback
 value
\layout List
\labelwidthstring 00.00.0000

oneshot.9 = one-shot pulse generator
\layout List
\labelwidthstring 00.00.0000

or2.9 = Two-input OR gate
\layout List
\labelwidthstring 00.00.0000

pid.9 = proportional/integral/derivative controller, for more information
 see 
\begin_inset LatexCommand \ref{sec:PID}

\end_inset 


\layout List
\labelwidthstring 00.00.0000

pluto_servo.9 = Hardware driver and firmware for the Pluto-P parallel-port
 FPGA, for use with servos
\layout List
\labelwidthstring 00.00.0000

pluto_step.9 = Hardware driver and firmware for the Pluto-P parallel-port
 FPGA, for use with steppers
\layout List
\labelwidthstring 00.00.0000

pwmgen.9 = software PWM/PDM generation, for more information see 
\begin_inset LatexCommand \ref{sec:PWMgen}

\end_inset 


\layout List
\labelwidthstring 00.00.0000

rotatekins.9 = kinematics definitions for emc2
\layout List
\labelwidthstring 00.00.0000

sample_hold.9 = Sample and Hold
\layout List
\labelwidthstring 00.00.0000

sampler.9 = sample data from HAL in real time
\layout List
\labelwidthstring 00.00.0000

scale.9 = 
\layout List
\labelwidthstring 00.00.0000

select8.9 = 8-bit binary match detector
\layout List
\labelwidthstring 00.00.0000

serport.9 = Hardware driver for the digital I/O bits of the 8250 and 16550
 serial port
\layout List
\labelwidthstring 00.00.0000

siggen.9 = signal generator, for more information see 
\begin_inset LatexCommand \ref{sec:Siggen}

\end_inset 


\layout List
\labelwidthstring 00.00.0000

sim_encoder.9 = simulated quadrature encoder, for more information see 
\begin_inset LatexCommand \ref{sec:Simulated-Encoder}

\end_inset 


\layout List
\labelwidthstring 00.00.0000

stepgen.9 = software step pulse generation, for more information see 
\begin_inset LatexCommand \ref{sec:Stepgen}

\end_inset 


\layout List
\labelwidthstring 00.00.0000

steptest.9 = Used by Stepconf to allow testing of acceleration and velocity
 values for an axis
\layout List
\labelwidthstring 00.00.0000

streamer.9 = stream file data into HAL in real time
\layout List
\labelwidthstring 00.00.0000

sum2.9 = Sum of two inputs (each with a gain) and an offset
\layout List
\labelwidthstring 00.00.0000

supply.9 = set output pins with values from parameters (deprecated)
\layout List
\labelwidthstring 00.00.0000

threads.9 = creates hard realtime HAL threads
\layout List
\labelwidthstring 00.00.0000

threadtest.9 = 
\layout List
\labelwidthstring 00.00.0000

timedelta.9 = 
\layout List
\labelwidthstring 00.00.0000

toggle.9 = push-on, push-off from momentary pushbuttons
\layout List
\labelwidthstring 00.00.0000

tripodkins.9 = kinematics definitions for emc2
\layout List
\labelwidthstring 00.00.0000

tristate_bit.9 = Place a signal on an I/O pin only when enabled, similar
 to a tristate buffer in electronics
\layout List
\labelwidthstring 00.00.0000

tristate_float.9 = Place a signal on an I/O pin only when enabled, similar
 to a tristate buffer in electronics
\layout List
\labelwidthstring 00.00.0000

trivkins.9 = kinematics definitions for emc2
\layout List
\labelwidthstring 00.00.0000

updown.9 = Counts up or down, with optional limits and wraparound behavior
\layout List
\labelwidthstring 00.00.0000

wcomp.9 = Window comparator
\layout List
\labelwidthstring 00.00.0000

weighted_sum.9 = convert a group of bits to an integer
\layout List
\labelwidthstring 00.00.0000

xor2.9 = Two-input XOR (exclusive OR) gate
\the_end