> The reason we discovered, was stack corruption under following circumstances:
> 
> Create a thread from a running rtl - thread; then end this thread with 
> pthread_exit() or pthread_cancel(pthread_self()). The termination (or the 
> scheduling herafter) of the newly created thread corrupted the stack.
> 
> The same happend when we created a new thread from a fifo handler created in 
> the init_module()

Were you setting your own stacks for these threads?
If not, see the 'NOTES' section of the pthread_create() man page for rtlinux.
That may be the fix.

-Dave i.

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