Hart modules
The HART toolbox is implemented as a modular system. Thus new modules can be easily installed by copying the module content in a new folder to the module directory. Not used modules can be easily removed by deleting the module folder.
Modules for HART
| Module |
Operating System |
How to get it |
Comment |
| Total |
3 Modules available |
| base |
Linux / Windows |
provided with Hart toolbox |
Base module |
| comedi |
Linux |
provided with Hart toolbox |
DAQ-card access in real time |
| RTAI |
Linux |
provided with Hart toolbox |
Codegeneration for hard real time applications |
| sciencestim |
Linux |
Can be downloaded unter Downloads |
Realtime contol of a muscle stimulator. |
Coming soon
| Module |
Operating System |
How to get it |
Comment |
| ODE |
Linux / Windows |
not available now |
Scicos interface for the Open Dynamics Engine. |
| daqmx |
Windows |
not available now |
module for NI DAQ for Windows |
| wii |
Linux |
not available now |
WII module to access the the wii - controller |
| system information |
Linux |
not available now |
module to access the CPU load |
| xsens |
Linux |
not available now |
module to access xsens device |
| rtaudio |
Linux |
not available now |
module for soundcard access |
Block of the base module
| Block |
Input / Output |
|
Function |
| Total |
5 blocks available |
| RT_Sync |
3 outputs, 1 activation input |
|
Put this block somewhere in your scicos diagram to make the execution somewhat follow real time. Requires the sample time as the parameter. |
| filtfilt |
1 vector input, 1 vector output |
|
This block filters vectors. The vector can either filtered normally though a iir filter or using a zero-phase filtering. |
| par2ser |
1 vector input, 1 single output |
|
This block takes a vector as input and gives back the single entries of the vector. After the last entry is given out, a new vector is taken from the input. So this block converts parallel data to serial data. |
| ser2par |
1 single input, 1 vector output |
|
This block takes singles values as input and save them in a vector. When the last entry of the vector is writen, the vector is avaible on the output. So this block converts serial data to parallel data. |
| flagtest |
variable inputs |
|
This block can be used to understand the flag system of scicos. The block prints every action to the terminal. Take a look at the source code of this block. |
Block of the comedi module
| Block |
Input / Output |
|
Function |
| Total |
7 blocks available |
| Comedi DO |
1 input, 1 activation input |
|
This block changes a bit of one digital channel of a daq-card, which is supported by comedi. |
| Comedi DI |
1 ouput, 1 activation input |
|
This block get the status of one bit of one digital channel of a daq-card, which is supported by comedi. |
| Comedi D/A |
1 input, 1 activation input |
|
This block changes the analog output of one channel of a daq-card, which is supported by comedi. |
| Comedi A/D |
1 output, 1 activation output |
|
This block provides the analog input of one channel of a daq-card, which is supported by comedi. |
| Comedi ENC |
1 output, 1 activation output |
|
This block counts incomming pulses and can be used to monitor a encoder. |
| Comedi NI Counter |
1 output, 1 activation output |
|
This block is a little more general then the comedi ENC block. |
| Comedi pwm |
1 input, 1 activation output |
|
This block is a special pwm-block. You have to change the source code in order to change the function for your needs. |
Block of the RTAI module
| Block |
Input / Output |
|
Function |
| Total |
7 blocks available |
| Sine |
1 output, 1 activation input |
|
Generates a sin signal |
| square |
1 ouput, 1 activation input |
|
generates a square signal |
| step |
1 Output, 1 activation input |
|
Generates a step |
| ext data |
1 output, 1 activation input |
|
Gives out ascii data from a file |
| Scope |
1 Input, 1 activation input |
|
Can be used for data visualisation in QRtaiLab |
| Meter |
1 Input, 1 activation input |
|
Can be used for data visualisation in QRtaiLab |
| Led |
1 input, 1 activation input |
|
Can be used for data visualisation in QRtaiLab |
| Log |
1 input, 1 activation input |
|
Can be used for data saving in QRtaiLab |
This module adds a menu entry for code generation to scicos. So it is easy possible to generate hard realtime code.
This is a scicos module to the sciencemode protocol. More information is available on the website.
The ScienceMode is a communication protocol which allows external control of multichannel electrical stimulators. The protocol supports two stimulators:
