Gilles Chanteperdrix wrote:
>>2. What to do so that the thread also run in highest priority?
> 
> 
> Use pthread_attr_setschedparam, or pthread_setschedparam.
> 

Start here and follow the links:

http://www.xenomai.org/documentation/branches/v2.3.x/html/api/group__posix__sched.html

-- 
                                                 Gilles Chanteperdrix

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