I just posted to the Xenomai mailing list reporting some puzzling behaviour 
with respect to latency spikes.

There's some good feedback and advice coming in:

http://www.xenomai.org/pipermail/xenomai/2013-February/027675.html

in particular, give the "nohlt idle=poll" boot option a try; see Henri Roosen's 
reply



- Michael



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