The Open Source Automation Development Lab site has an article describing the use of the cyclictest utility to track down latency problems in a realtime kernel. "When cyclictest is invoked it creates a defined number of real-time threads of given priority and affinity. Every thread starts a loop during which a timed alarm is installed and waited for. Whenever the alarm wakes up the thread, the difference between the expected and the effective time is calculated and entered into a histogram with a granularity of one microsecond."

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