If you're used to building kernels all the time, Xenomai on the Rockchip should be a non-issue. The Xenomai mailing list is really helpful too. It'd be best to start with PREEMPT-RT though and make sure that works first. If high latency is the only issue during testing (no kernel panics, errors, overruns, locks, nothing wrong with dmesg) then switch to Xenomai. Alec
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