and not so bad:

$ /usr/xenomai/bin/latency 

RTT|  00:02:28  (periodic user-mode task, 1000 us period, priority 99)
RTH|----lat min|----lat avg|----lat max|-overrun|---msw|---lat best|--lat worst
RTD|      4.249|      5.124|     19.333|       0|     0|      0.833|     24.916
RTD|      4.333|      5.124|     21.124|       0|     0|      0.833|     24.916
RTD|      3.999|      5.124|     17.083|       0|     0|      0.833|     24.916
RTD|      4.083|      5.166|     18.083|       0|     0|      0.833|     24.916

it confirms the guesstimate that the beaglebone is roughly 2x as fast as the 
Raspberry

-m
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