[rtl] real time application with a periodic task

[Vidarte Ana]

Hello,

Can someone send me an example of a real time application with a periodic
task?

I have try the following:

#include <rtl.h>
#include <time.h>
#include <pthread.h>
#include <float.h>
#include "modelo.h"

pthread_t thread;

void * start_routine(void *arg)
{
        float salida;
        struct sched_param p;
        p . sched_priority = 1;
        pthread_setschedparam (pthread_self(), SCHED_FIFO, &p);

        pthread_make_periodic_np (pthread_self(), gethrtime(), 1000000);

        while (1) {
                Actualiza modelo():
                salida=Salida_modelo();
                pthread_wait_np ();
                rtl_printf("Salida %f\n", salida);
        }
        return 0;
}

int init_module(void) {
        Inicializa_modelo();
        return pthread_create (&thread, NULL, start_routine, 0);
}

void cleanup_module(void) {
        Finaliza_modelo();
        pthread_delete_np (thread);
}

But, the system crashes.

Ana.
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