hal_export_funct, hal_export_functf - create a realtime function callable from a thread
typedef void(hal_funct_t)(void arg, long period)
int hal_export_funct(const char* name, hal_funct_t funct, void* arg, int uses_fp, int reentrant, int comp_id)
name
The name of the function.
funct
The pointer to the function.
arg
The argument to be passed as the first parameter of funct.
uses_fp
Nonzero if the function uses floating-point operations, including assignment of floating point values with "=".
reentrant
If reentrant is non-zero, the function may be preempted and called again before the first call completes. Otherwise, it may only be added to one thread.
comp_id
A HAL component identifier returned by an earlier call to hal_init.
hal_export_funct makes a realtime function provided by a component available to the system. A subsequent call to hal_add_funct_to_thread can be used to schedule the execution of the function as needed by the system.
When this function is placed on a HAL thread, and HAL threads are started, funct is called repeatedly with two arguments: void arg is the same value that was given to *hal_export_funct, and long period is the interval between calls in nanoseconds.
Each call to the function should do a small amount of work and return.
Returns a HAL status code.
hal_create_thread(3hal), hal_add_funct_to_thread(3hal)