Re: Re[4]: Lathe & Mill

[Paul <paul.corner-at-tesco.net>]

Hi Richard

The Hardware Abstraction Layer (or driver) is linked to one of the binaries 
built from emcmot.c at compile time. A quick look at the Makefile in 
emc/src/emcmot will show how the list is built up for stgmod.o, as an example.

A couple of things to watch out for when writing any HAL that is to be used 
in realtime or kernel space - Linking to external C libraries is a big no no. 
C++ is also guaranteed to lead to failure. Stick to plain C and only use 
built in functions or kernel calls and everything should work.
Having said that, The HAL should only consist of very basic routines that do 
nothing more than read and write to the interface hardware.

Regards, Paul.


On Thursday 07 Nov 2002 11:18 am, Richard wrote:
> How does the correct hardware handling layer get linked in, or
> does Linux do live linking?.