HAL

A basic abstraction layer for Hardware IO, such as GPIO, PWM and more. The actual implementation is provided in the form of BACKENDS, each providing different functionalities and supporting different hardware platform (e.g. Raspberry PI, Beaglebone Black, etc.).

The following are the available backends:

• bbb-usermode-sysfs: a usermode implementation using sysfs for Beaglebone Black.

Available for use in native code or with Java via JNI bindings.

Usage

Basic Example LED

#include <hal.h>

int main() {
    hal_env_t* env;
    hal_error_t status;
    
    status = hal_init(&env);
    if (HAL_IS_ERROR(status)) {
        return 1;
    }

    hal_handle_t handle;
    status = hal_open(env, "P8_12", HAL_TYPE_DIGITAL_OUTPUT, &handle);
    if (HAL_IS_ERROR(status)) {
        goto end;
    }
    
    for (int i = 0; i < 5; i++) {
        status = hal_dio_set(handle, HAL_DIO_HIGH);
        if (HAL_IS_ERROR(status)) {
            goto end;
        }
        
        usleep(10000);
        
        status = hal_dio_set(handle, HAL_DIO_LOW);
        if (HAL_IS_ERROR(status)) {
            goto end;
        }
        
        usleep(10000);
    }
end:
    hal_shutdown(env);
    return status;
}