СИНОПСИС
#include <hal.h>
int hal_start_threads();
int hal_stop_threads();ОПИСАНИЕ
The hal_start_threads() function starts all threads that have been created. This is the point at which realtime functions start being called.
The hal_stop_threads() function stops all threads that were previously started by hal_start_threads(). It should be called before any component that is part of a system exits. Called from a non-realtime process, it returns once every thread has finished the functions it was running, so their code can be unloaded. Called from realtime code, it does not wait.
RETURN VALUE
Returns a HAL status code. hal_stop_threads() returns -ETIMEDOUT when a thread has not finished its functions within 1000 of its periods.