[code:1]#include <rtl.h>
#include <time.h>
#include <pthread.h>
#include <rtl_printf.h>
#include <math.h>
#define PI 3.14159
#define DOT 10
pthread_t thread;
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(), 1000000000);
float increment, x = 0.0;
increment = 2.*PI/DOT;
while(1) {
pthread_wait_np();
rtl_printf("%f %f\n", x, x);