Hi BR, that's very useful information, thanks! My interest is ensuring I get a reliable 5 ms time step. A few ms lost here and there wouldn't be the end of the world, but a large delay, even of only occasionally, would really affect performance or worse. I wouldn't think the vanilla Karnel would come with any guarantees, but guessing the PREEMPT flag helps. If that's enough, and I can avoid having to recompile the Kernel to get a RT version (or grab a compiled one from somewhere, who knows where) I would be very happy.
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