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/usr/include/xenomai/rtai/rtai_timer.h is in libxenomai-dev 2.5.5.2-1ubuntu2.

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/**
 *
 * @note Copyright (C) 2004 Philippe Gerum <rpm@xenomai.org> 
 * @note Copyright (C) 2005 Nextream France S.A.
 *
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License as
 * published by the Free Software Foundation; either version 2 of the
 * License, or (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
 */

#ifndef _RTAI_XENO_TIMER_H
#define _RTAI_XENO_TIMER_H

#include <rtai/timer.h>

#endif /* !_RTAI_XENO_TIMER_H */