Xenomai coding

I have started playing with Xenomai

my first hello world code
//******************************hello.c***********************************************//
#include <linux/module.h> /* Needed by all modules */
#include <linux/kernel.h> /* Needed for KERN_ALERT */
int init_module(void) {
printk("<1>Hello world 1.\n");
return 0;
}
void cleanup_module(void) {
printk(KERN_ALERT "Goodbye world 1.\n");
}
MODULE_LICENSE("GPL"); //To access Xenomai symbols
//*************************Makefile**************************************************//

obj-m           := hello.o
KDIR            := /lib/modules/$(shell uname -r)/build
PWD             := $(shell pwd)
EXTRA_CFLAGS    := -I/usr/xenomai/include -I/usr/include/

all:
        $(MAKE) -C $(KDIR) SUBDIRS=$(PWD) modules
clean:
        $(MAKE) -C $(KDIR) SUBDIRS=$(PWD) clean

//**********************************************************************************//
-put proper taps or else it will show error
-after this I compile the code
$make
-there would be .ko file generated in the folder. after this load the module
$insmod hello.ko
$dmesg
$rmmod hello.ko
$dmesg
-check all the commands and see the changes in output

-I more code for testing
//********************************************************************************//
#include <native/task.h>

#define TASK_PRIO  99              /* Highest RT priority */
#define TASK_MODE  T_FPU|T_CPU(0)  /* Uses FPU, bound to CPU #0 */
#define TASK_STKSZ 4096            /* Stack size (in bytes) */

RT_TASK task_desc;

//
//you can use the cookie accordingly, as needed !!!
//
void task_body (void *cookie)

{
    //for (;;) {
    /* actual real-time code comes here */
    //}
}
int init_module (void)

{
    int err;
    err = rt_task_create(&task_desc,
                         "MyTaskName",
                         TASK_STKSZ,


                         TASK_PRIO,
                         TASK_MODE);
    if (!err)
        rt_task_start(&task_desc,&task_body,NULL);


}
void cleanup_module (void)
{

    //undo what you have done in init_module()

    rt_task_delete(&task_desc);
}
MODULE_LICENSE("GPL"); //To access Xenomai symbols

//********************************************************************************//
-We are done.Now in next post I would be working on timer API

enjoy........=)