Could someone explain or point me to documentation that explains the  
following:

1.What does the motion controller do? Is is part of HAL? How is it  
built? I see that the file motion.c has a 'main' function but the  
Makefile does not link it, only compiles it to an object file. How is  
this object file used?

2. It's unclear to me if there is one or more shared memory 'areas'. I  
had originally understood that only one shared memory area existed  
that all user space and kernel space programs communicated through.

3. Why use NML? Why not use just shared memory? Is NML an attempt at  
standardizing communication between software entities, i.e.  
user-kernel, user-user, kernel-kernel?

Thanks for your patience in advance.

-Rich




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