--- a/drivers/timers_xeno/timers_xeno.c	Thu Aug 10 17:57:33 2006 +0200
+++ b/drivers/timers_xeno/timers_xeno.c	Thu Aug 31 10:28:53 2006 +0200
@@ -1,5 +1,6 @@
 #include <stdlib.h>
-#include <unistd.h> 
+#include <unistd.h>
+#include <sys/mman.h>
 
 #include <native/task.h>
 #include <native/timer.h>
@@ -14,7 +15,6 @@
 
 RT_MUTEX CanFestival_mutex;
 RT_TASK timerloop_task;
-RT_ALARM timerloop_alarm;
 RTIME last_time_read;
 RTIME last_occured_alarm;
 RTIME last_alarm_set;
@@ -24,7 +24,6 @@
 void cleanup_all(void)
 {
 	rt_task_delete(&timerloop_task);
-	rt_alarm_delete(&timerloop_alarm);
 }
 void StopTimerLoop(void)
 {
@@ -62,15 +61,13 @@
 {
 	int ret;
 	stop_timer = 0;
+	char taskname[32];
+	snprintf(taskname, sizeof(taskname), "timerloop-%d", getpid());
 
-	ret = rt_alarm_create( &timerloop_alarm, NULL);
-	if (ret) {
-		printf("Failed to create timerloop_alarm, code %d\n",errno);
-		goto error;
-	}
-	
+	mlockall(MCL_CURRENT | MCL_FUTURE);
+
 	//create timerloop_task
-	ret = rt_task_create(&timerloop_task,"timerloop",0,50,0);
+	ret = rt_task_create(&timerloop_task, taskname, 0, 50, 0);
 	if (ret) {
 		printf("Failed to create timerloop_task, code %d\n",errno);
 		return;
@@ -102,10 +99,12 @@
 {
 	int ret;
 	static int id = 0;
-	char taskname[64];
-	sprintf(taskname,"canloop%d",id);
+	char taskname[32];
+	snprintf(taskname, sizeof(taskname), "canloop%d-%d", id, getpid());
 	id++;
 
+	mlockall(MCL_CURRENT | MCL_FUTURE);
+
 	//create timerloop_task
 	ret = rt_task_create(ReceiveLoop_task,taskname,0,50,0);
 	if (ret) {
@@ -125,9 +124,8 @@
 	rt_task_delete(Thread);
 }
 
-//#define max(a,b) a>b?a:b
 void setTimer(TIMEVAL value)
-{	
+{
 	last_alarm_set = (value == TIMEVAL_MAX) ? TIMEVAL_MAX : last_time_read + value;
 	rt_task_unblock(&timerloop_task);
 }