hal_create_thread — Create a HAL thread
int hal_create_thread ( const char *name, unsigned long period, int uses_fp, int cpu_id)
int hal_thread_delete ( const char *name)
The name of the thread
The interval, in nanoseconds, between iterations of the thread
Must be nonzero if a function which uses floating-point will be attached to this thread.
Make the RTAPI layer bind this thread to a particular CPU core.
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.
Call only from realtime init code, not from user space or realtime code.
Returns a HAL status code.