SYNOPSIS
#include <hal.h>
int hal_init(const char *modname);ARGUMENTS
| modname |
The name of this HAL module. |
DESCRIPTION
The hal_init() function sets up HAL and RTAPI. It must be called by any module that intends to use the API, before any other RTAPI calls.
The modname argument must point to a string that identifies the module. The string may be no longer than HAL_NAME_LEN characters.
REALTIME CONSIDERATIONS
Call only from within non-realtime or init/cleanup code, not from realtime tasks.
RETURN VALUE
Returns a positive non-zero integer component ID on success. The component ID is used for subsequent calls to HAL and rtapi APIs. On failure, returns a negative errno value:
| -EINVAL |
The name argument was too long. |
| -EEXIST |
The component name already exists. |
| -EMFILE |
Too many modules (rtapi error). |
| -ENOMEM |
Failed to allocate memory for component registration. |
| -EPROTO |
HAL data version mismatch. |