> I think I had more stuff I wanted to say, but this email is already long 
> enough and been sitting in Drafts for too long, so I'll just press "Send" now 
> ;-)
>
> Matthijs

Impressive analysis. Thanks.

BTW there is  some interesting B3/Xenomai/PRU stuff here as well: 
https://code.soundsoftware.ac.uk/projects/beaglert/repository




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