/* * (C) Finite State Machine Labs Inc. 2000 business@fsmlabs.com * * Released under the terms of GPL 2. * Open RTLinux makes use of a patented process described in * US Patent 5,995,745. Use of this process is governed * by the Open RTLinux Patent License which can be obtained from * www.fsmlabs.com/PATENT or by sending email to * licensequestions@fsmlabs.com */#include <rtl.h>#include <rtl_fifo.h>#include <time.h>#include <pthread.h>pthread_t thread;int i = 0;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();		i++;		rtf_put(0, "I'm still here", strlen("I'm still here"));	}	return 0;}int init_module(void){	pthread_create(&thread, NULL, start_routine, 0);	rtf_create(0, 8192);	return 0;}void cleanup_module(void){	pthread_delete_np(thread);	rtf_destroy(0);}