Had an amazing sunset on the last day of my summer-holiday, with the sun basically shining up on the clouds from below. Lying on the couch watching Top Gear, I had to hurry outside with the camera once I noticed what was going on. Managed to get a few shots, although they don’t really do it justice.
As summer is upon Denmark (and holiday is upon me), I chose to spend the day at Egeskov Castle. Took the bike, which gave me a nice 2 hour ride in each direction. Weather was great, although a pure blue sky does look rather dull in a photo. I’ve had too many summers with bad weather in Denmark to be able to complain about that though ;)
– continued from part 2.
My first attempt at creating a 100 Hz real-time Linux kernel loop did not work as expected. After getting some good pointers from the linux-rt-users mailing list, and doing some further investigations myself, I decided to reimplement the loop using usleep_range() (further described here). This function basically just sleeps for a specified time (given a minimum and a maximum time to sleep), and thus does not need to have callbacks or similar specified. It should therefore be straight-forward to just create a new thread calling usleep_range() after each iteration, and then schedule it with the real-time scheduler.