/* test FP operations in RT tasks */#include <linux/module.h>#include <linux/kernel.h>#include <linux/version.h>#include <linux/cons.h>#include <asm/io.h>#include <rtl_sched.h>#include <math.h>RT_TASK mytask;RT_TASK task2;RT_TASK task3;void fun (int t){	int i = 0;	double f = 0;	while (1) {/* 		conpr(t == 1 ? "1" : "2"); */		i++;		f++;		if (i != f) {			conpr("Task "); conprn (t);			conpr(" FP error: i = "); conprn(i);			conpr("f = "); conprn(f); conpr("\n");			i = 0;			f = 0;		}		if (i > 200000) {			i = 0;			f = 0;		}		rt_task_wait();	}/* 	conpr("The RT-task has stopped.\n"); */}void ifun (int t){	int i=0;	while (1) {		if (i++ % 5000 == 0) {/* 			conpr("i"); */		}		rt_task_wait();	}}int init_module (void){	RTIME now = rt_get_time ();	rt_task_init (&mytask, fun, 1, 4000, 4);	rt_task_use_fp (&mytask, 1);	rt_task_make_periodic (&mytask, now + 1000, 3123);	rt_task_init (&task2, fun, 2, 4000, 5);	rt_task_use_fp (&task2, 1);	rt_task_make_periodic (&task2, now + 1000, 4767);	rt_task_init (&task3, ifun, 3, 4000, 3);	rt_task_make_periodic (&task3, now + 1000, 300);	return 0;}void cleanup_module (void){	rt_task_delete (&mytask);	rt_task_delete (&task2);	rt_task_delete (&task3);}