samp.min = min_diff;

      samp.max = max_diff;

      write (fd_fifo, &samp, sizeof(samp));

} while (1);

return 0;

}

pthread_t background_threadid;

void *background_thread(void *param)

{

hrtime_t next = clock_gethrtime(CLOCK_REALTIME);

while (1) {

      hrtime_t t = gethrtime ();

      next += bperiod;

      /* the measurement task should preempt the following loop */

      while (gethrtime() < t + bperiod * 2 / 3);

      clock_nanosleep (CLOCK_REALTIME, TIMER_ABSTIME, hrt2ts(next), NULL);

}

}

int init_module(void)

{

pthread_attr_t attr;

struct sched_param sched_param;

int thread_status;

        int fifo_status;

rtf_destroy(0);

fifo_status = rtf_create(0, fifo_size);

if (fifo_status) {

      rtl_printf("RTLinux measurement test fail. fifo_status=%d\n",fifo_status);

      return -1;

}

rtl_printf("RTLinux measurement module on CPU %d\n",rtl_getcpuid());

pthread_attr_init (&attr);

if (rtl_cpu_exists(1)) {

      pthread_attr_setcpu_np(&attr, 1);

}

sched_param.sched_priority = 1;

pthread_attr_setschedparam (&attr, &sched_param);

rtl_printf("About to thread create\n");

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