NAME

       threads - creates hard realtime HAL threads

SYNOPSIS

       loadrt threads name1=name period1=period [fp1=<0|1>] [<thread-2-info>] [<thread-3-info>]

DESCRIPTION

       threads  is  used  to  create  hard  realtime  threads  which can execute HAL functions at
       specific intervals.  It is not a true HAL component,  in  that  it  does  not  export  any
       functions,  pins,  or parameters of its own.  Once it has created one or more threads, the
       threads stand alone, and the threads component can be unloaded without affecting them.  In
       fact,  it can be unloaded and then reloaded to create additional threads, as many times as
       needed.

       threads can create up to three realtime threads.  Threads must be created in  order,  from
       fastest  to  slowest.   Each  thread  is  specified  by three arguments.  name1 is used to
       specify the name of the first thread (thread 1).  period1 is used to specify the period of
       thread  1  in nanoseconds.  Both name and period are required.  The third argument, fp1 is
       optional, and is used to specify if thread 1 will be used to execute floating  point code.
       If  not  specified,  it  defaults  to 1, which means that the thread will support floating
       point.  Specify 0 to disable floating  point  support,  which  saves  a  small  amount  of
       execution  time  by  not  saving the FPU context.  For additional threads, name2, period2,
       fp2, name3, period3, and fp3 work exactly the  same.   If  more  than  three  threads  are
       needed, unload threads, then reload it to create more threads.

FUNCTIONS

       None

PINS

       None

PARAMETERS

       None

BUGS

       The  existence  of  threads  might be considered a bug.  Ideally, creation and deletion of
       threads would be done directly with halcmd commands,  such  as  "newthread  name  period",
       "delthread  name",  or  similar.   However,  limitations in the current HAL implementation
       require thread creation to take place in kernel space, and loading a component is the most
       straightforward way to do that.