#include <rtl.h>#include <time.h>#include <pthread.h>#ifndef CONFIG_RTL_CLOCK_GPOS#error CONFIG_RTL_CLOCK_GPOS required#endifstatic pthread_t thread;static int my_softirq;void * start_routine(void *arg){	hrtime_t abstime = clock_gethrtime(CLOCK_REALTIME) + 1000000000;	struct sched_param p;	p . sched_priority = 1;	pthread_setschedparam (pthread_self(), SCHED_FIFO, &p);	while (1) {		clock_nanosleep (CLOCK_REALTIME, TIMER_ABSTIME,			hrt2ts(abstime), NULL);		rtl_global_pend_irq(my_softirq);		abstime += 1000000000;	}	return 0;}static void my_handler(int irq,void *ignore,struct pt_regs *ignoreregs){	struct timeval tv;	int diff;	hrtime_t now = clock_gethrtime(CLOCK_GPOS);	hrtime_t linuxnow;	do_gettimeofday(&tv);	linuxnow = tv.tv_sec * (long long) 1000000000 + tv.tv_usec * 1000;	diff = now - linuxnow;	rtl_printf("diff = %d\n", diff);}int init_module(void){	pthread_create (&thread, NULL, start_routine, 0);	my_softirq = rtl_get_soft_irq(my_handler,"rtlinux test sofirq");	return 0;}void cleanup_module(void) {	rtl_free_soft_irq(my_softirq);	pthread_cancel (thread);	pthread_join (thread, NULL);}