OpenHAL

[hardware][abstraction][layer]

macOS and LinuxWindows

macOS and Linux

$curl -LsSf https://sohanbhat.me/OpenHAL/install.sh | sh

Windows

PS>irm https://sohanbhat.me/OpenHAL/install.ps1 | iex

Then run openhal init and openhal start.

Get started Read the specification

How it works

Agent sends a request, and the OpenHAL hub checks the device file.

• Under the limit, shoulder to 20°, limit 30°. Arm moves.
• Over the limit, shoulder to 45°, limit 30°. Blocked.
• Needs approval, turn motors on. You approve, then Arm moves.

See a full example with a 3D printer

Safety model

• Risk levels

  High risk channels and actions stay read-only until a person confirms the limits. The rest work within the device's own range.

• One STOP

  One command puts every device in a safe state until a person lifts the stop.

• Everything logged

  Every request, stop and confirmation goes into an append-only audit log.

What OpenHAL works with

OpenHAL has 36 drivers tested on simulator, in these device families.

• Microcontrollers and maker boards

  openhal-firmwarefirmataesphomeserialrpi-gpiopi-i2c-spible

• 3D printers and CNC

  marlinmoonrakeroctoprintbambugrbl

• Lab instruments and automation

  scpipylabrobotmicromanagerseabreezesila2http

• Home and building

  homeassistantmqttmatterzigbee-zwaveknx

• Industrial buses

  modbusopcuacan

• Robotics and astronomy

  ros2lerobotalpacaindi

• Cameras, media and input

  uvcrpi-cameraonvifupnphidmidi

All 36 drivers

Run the demo

The demo runs on simulated devices, so nothing touches real hardware.

$ openhal demo

Send the requests in your browser

Read more

• Read the specification

  Every message, error and rule, in numbered versions such as v0.1.

• Read the docs

  Run the hub, create device files and add drivers.