/* * RTLinux Hello World example * * Written by Michael Barabanov (baraban@fsmlabs.com) * Copyright (C) 1999-2000 Finite State Machine Labs Inc * Released under the terms of the GPL Version 2 * */#include <rtl_sync.h>#include <rtl.h>#include <time.h>#include <pthread.h>#include <rtl_debug.h>pthread_t thread = 0;pthread_t thread2 = 0;void * start_routine(void *arg){	int i;	struct sched_param p;	volatile pthread_t self;	self = pthread_self();	p . sched_priority = 1;	pthread_setschedparam (pthread_self(), SCHED_FIFO, &p);	pthread_make_periodic_np (pthread_self(), gethrtime(), 500000000);	if (((int) arg) == 1) {		breakpoint();	}	for (i = 0; i < 20; i ++) {		pthread_wait_np ();		rtl_printf("I'm here; my arg is %x\n", (unsigned) arg);	}	return 0;}int init_module(void){	pthread_create (&thread, NULL, start_routine, (void *) 1);	return pthread_create (&thread2, NULL, start_routine, (void *) 2);}void cleanup_module(void){	pthread_cancel (thread);	pthread_join (thread, NULL);	pthread_delete_np (thread2);}