hal_export_funct3hal
Create a realtime function callable from a thread
Usage
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)
Arguments
- 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.
Overview
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.
Return value
Returns a HAL status code.
Releases
Unchanged in 2 releases since Debian 12 (Bookworm).