HAL_CREATE_THREAD(3)

NAME
hal_create_thread - Create a HAL thread

SYNTAX

int hal_create_thread(const char* name, unsigned long period, int uses_fp)

int hal_thread_delete(const char* name)

ARGUMENTS

name
    The name of the thread.

period
    The interval, in nanoseconds, between iterations of the thread.

uses_fp
    Deprecated and ignored. All threads now unconditionally save and restore floating point state. This parameter will be removed in a future version.

DESCRIPTION

hal_create_thread establishes a realtime thread that will execute one or more HAL functions periodically.

All thread periods are rounded to integer multiples of the hardware timer period, and the timer period is based on the first thread created. Threads must be created in order, from the fastest to the slowest. HAL assigns decreasing priorities to threads that are created later, so creating them from fastest to slowest results in rate monotonic priority scheduling.

hal_delete_thread deletes a previously created thread.

REALTIME CONSIDERATIONS

Call only from realtime init code, not from other realtime or non-realtime code.

RETURN VALUE

Returns a HAL status code.

SEE ALSO

hal_export_funct(3)