/* * Written by Der Herr Hofrat, der.herr@hofr.at * (C) 2002 FSMLabs * License: GPL Version 2 */#include <rtl.h>#include <time.h>#include <pthread.h>#include "hello.h"extern struct shared_mem_struct* shared_mem;voidcleanup(void *arg){	printk("Cleanup handler called\n");}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);	pthread_cleanup_push(cleanup,0);	while (1) {		hrtime_t now;		pthread_wait_np ();		now = gethrtime();		rtl_printf("I'm here; my shared mem=%d\n", 			shared_mem->some_int);	}	pthread_cleanup_pop(0);	return 0;}