#ifndef MODULE#define MODULE#endif#include <linux/module.h>#include <linux/kernel.h>#include <linux/version.h>#include <linux/errno.h>#include <linux/cons.h>#include <rtl_sched.h>#include <rtl_fifo.h>#include "control.h"RT_TASK tasks[2];static char *data[] = {"Frank ", "Zappa "};/* t -- the fifo number */void fun(int t) {	while (1) {/* 		conpr(t - 1 ? "0" : "1"); */		rtf_put(t, data[t - 1], 6);		rt_task_wait();	}}int my_handler(unsigned int fifo){	struct my_msg_struct msg;	int err;	RTIME now;//	conpr("h");	while ((err = rtf_get(3, &msg, sizeof(msg))) == sizeof(msg)) {		switch (msg.command) {			case START_TASK:				now = rt_get_time();				rt_task_make_periodic(&tasks[msg.task], now, msg.period);				break;			case STOP_TASK:				rt_task_suspend(&tasks[msg.task]);				break;			default:				return -EINVAL;		}	}	if (err != 0) {		return -EINVAL;	}	return 0;}#define DEBUG int init_module(void){	int c[3];	rtf_destroy(1);	rtf_destroy(2);	rtf_destroy(3); 	c[0] = rtf_create(1, 4000);	c[1] = rtf_create(2, 4000);	c[2] = rtf_create(3, 100);		/* input control channel */	printk("Fifo return 1=%d 2=%d 3=%d\n",c[0],c[1],c[2]);	rt_task_init(&tasks[0], fun, 1, 3000, 4);	rt_task_init(&tasks[1], fun, 2, 3000, 5);	rtf_create_handler(3, &my_handler); 	return 0;}void cleanup_module(void){#ifdef DEBUG	printk("%d\n", rtf_destroy(1));	printk("%d\n", rtf_destroy(2));	printk("%d\n", rtf_destroy(3));#else 	rtf_destroy(1);	rtf_destroy(2);	rtf_destroy(3);#endif	rt_task_delete(&tasks[0]);	rt_task_delete(&tasks[1]);}