#include <rtl.h>#include <time.h>#include <rtl_fifo.h>#include <pthread.h>#include <unistd.h>static pthread_t thread;static int fd_fifo;static void * start_routine(void *arg){	struct sched_param p;	p . sched_priority = 1;	pthread_setschedparam (pthread_self(), SCHED_FIFO, &p);	pthread_make_periodic_np (pthread_self(), gethrtime(), 500000000);	while (1) {		pthread_wait_np ();		write(fd_fifo, "test  ", 6);	}	return 0;}int init_module(void) {	fd_fifo = open("/dev/rtf0", O_NONBLOCK | O_CREAT);	if (fd_fifo < 0) {		rtl_printf("/dev/rtf0 open returned %d\n", fd_fifo);		return -1;	}	rtl_printf("ioctl on /dev/rtf0 (setting fifo size to 4000) returned %d\n",			ioctl(fd_fifo, RTF_SETSIZE, 4000));	return pthread_create (&thread, NULL, start_routine, 0);}void cleanup_module(void){	int ret;	pthread_delete_np (thread);	ret = close(fd_fifo);	rtl_printf ("rtl_fifo: close returned %d\n", ret);}