#include <rtl.h>#include <time.h>#include <pthread.h>pthread_t thread;void * start_routine(void *arg){	int ret;	hrtime_t abstime;	struct sched_param p;	p . sched_priority = 1;	pthread_setschedparam (pthread_self(), SCHED_FIFO, &p);	pthread_make_periodic_np (pthread_self(), clock_gethrtime(CLOCK_REALTIME), 4000000000LL);	while (1) {		pthread_wait_np ();		rtl_printf("I'm here; my arg is %p\n", arg);		ret = nanosleep(hrt2ts(500000000), NULL);		rtl_printf("    Here I come again (%d)\n", ret);		abstime = clock_gethrtime(CLOCK_REALTIME) + 1000000000;		ret = clock_nanosleep (CLOCK_REALTIME, TIMER_ABSTIME,			hrt2ts(abstime), NULL);		rtl_printf("and again (%d)\n", ret);		ret = clock_nanosleep (CLOCK_REALTIME, 0,				hrt2ts(1000000000), NULL);		rtl_printf("            and again still (%d)\n", ret);	}	return 0;}int init_module(void) {	return pthread_create (&thread, NULL, start_routine, 0);}void cleanup_module(void) {	pthread_delete_np (thread);}