#include <linux/module.h>#include <linux/kernel.h>#include <rtl_fifo.h>#include <asm/rt_irq.h>#include <asm/rt_time.h>#include <rtl_sched.h>#include <asm/io.h>#include <linux/cons.h>#include "common.h"/* all of these parameters can be changed with insmod */int latency_oneshot = 25;int latency_periodic = 10;int minimize_jitter = 0;int skip = 10000;int period = 500;int periodic_mode = 0;MODULE_PARM(minimize_jitter,"i");MODULE_PARM(period,"i");MODULE_PARM(skip,"i");MODULE_PARM(periodic_mode,"i");RT_TASK tsk;RTIME min_diff;RTIME max_diff;RTIME expected;void fun(int t) {	RTIME diff,now;	int i;	struct sample samp;	if (minimize_jitter) {		r_cli(); /* Be careful with this! The task won't be preempted by anything else. This is probably only appropriate for small high-priority tasks. */	}	while (1) {                min_diff = 100000; max_diff = -100000;		for (i = 0; i < skip; i++) {			now = rt_get_time();			if (minimize_jitter) {				if (now < expected) {					rt_delay (expected - now);				}				now = rt_get_time();			}			diff = now - expected;			if (diff < min_diff) {				min_diff = diff;			}			if (diff > max_diff) {				max_diff = diff;			}			expected += period;			rt_task_wait();		}		samp.min = min_diff;		samp.max = max_diff;		rtf_put(0, &samp, sizeof(samp));	}}int init_module(void){	RTIME advance;	RTIME t;	min_diff = 1000000000;	max_diff = -1000000000;        conpr ("Starting measurement module\n");	rtf_create(0, 4000);	rt_task_init(&tsk, fun, 1, 3000, 1);	if (periodic_mode) {		t = rtl_set_periodic_mode (period);		if (t == RT_TIME_END) {			conpr("Setting periodic mode failed\n");			periodic_mode = 0;		}	}	if (periodic_mode) {		expected = t + 2 * period;		advance = latency_periodic;	} else {		rtl_set_oneshot_mode();		expected = rt_get_time() + 2 * period;		advance = latency_oneshot;	}	if (minimize_jitter) {		rt_task_make_periodic(&tsk, expected - advance, period);	} else {		rt_task_make_periodic(&tsk, expected, period);	}	return 0;}void cleanup_module(void){	rt_task_delete(&tsk);		rtf_destroy(0);}