hal_create_thread

NAME

hal_create_thread — Create a HAL thread

SYNTAX

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

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.

cpu_id
Make the RTAPI layer bind this thread to a particular CPU core.

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.

Machinekit