Hello,I wonder if using a periodic alarm with the rt_alarm_wait() function can suffer from drift in alarm expiration times when a kernel module or an ISR remains in a non-preemptible section for too long (upto 1 msec). Please note that I'm concerned with alarm expiration time drift not overruns. How does the behavior change when the task is declared periodic and triggered with rt_task_wait_period() ?
I'm using Xenomai 2.4.5 w/ kernel 18.104.22.168. best regards, -- alphan
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