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"This article represents the results we obtained after implementing Xenomai RTDM kernel module. It also compares performance of the kernel-based solution with our previous user-space based approach. "
"Solution - Xenomai RTDM kernel module
It is well known, that moving into the kernel space could provide much better timing. We were trying to avoid this step as long as possible (because it is easier to develop and debug in the user space), but based on the results mentioned above it looks like we can not improve timing any more from the user space. So we decide to write kernel module. Xenomai offers convenient API to write real-time kernel space drivers which is called RTDM - Real-Time Driver Model (please see introduction paper and API documentation for more details)."