SYNOPSIS
#include <hal.h>
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);
int hal_export_functf(hal_funct_t funct, void *arg, int uses_fp, int reentrant, int comp_id, const char *fmt, ...);ARGUMENTS
- name
-
La función de la función.
- funct
-
El apuntador a la función.
- arg
-
The argument to be passed as the first parameter of funct.
- uses_fp
-
Deprecated and ignored. All threads now unconditionally save and restore floating point state. This parameter will be removed in a future version.
- 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(3).
- fmt, …
-
A printf-style format string and arguments
DESCRIPTION
The hal_export_funct() function makes a realtime function provided by a component available to the system. A subsequent call to hal_add_funct_to_thread(3) 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(), |
| 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.