/*The Feed back Task*/ void* rt_task_in_put (void *arg) { RT_TASK *task; task = rt_task_init(nam2num("rtl3"), 3, 4096, 0); iopl(3); rt_task_make_periodic(task, now + tick_period, tick_period); rt_make_hard_real_time(); while(!stop) { rt_speed=CPU_CLOCK*60/(float)cpu_clock_count; rtf_get(FIFO, &cpu_clock_count, sizeof(cpu_clock_count)); rt_task_wait_period(); /*Tc =5ms*/ } rt_make_soft_real_time(); rt_task_delete(task); }