hal_create_thread(3hal)

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
    Must be nonzero if a function which uses floating-point will be attached to this thread.

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 user space or realtime code.

RETURN VALUE
Returns a HAL status code.

SEE ALSO
hal_export_funct(3hal)