Things seem to be working ok so far. The problem was we had left the  
kernel CONFIG_OPT_TIMING_PERIODIC on by mistake after doing a test.

Numbers are a little nicer but still higher than I'd like. The sound  
driver which has a single rtdm timer running and doing nothing brings  
irq0 handler up from 0.2% to 3.5%. That isn't too bad considering it's  
8000 Hz! With a few threads but with the system idle irq0 is up to  
8.4%. That's more than I'd like, though. :( It didn't get all the way  
to the motor test, so maybe there is another issue.


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