Hi, I would not say this is my absolute decision, but in the present state it seems that the erratic behavior is unlikely to happen. Anyway it is something that the ARM code must be able to deal with. It was running for about ten minutes, just a few samples missed (when I start a file transfer via sshfs), none of then was repeated. It will perform the control of a walking robot, as a academic experiment, and will run for about twenty seconds to one minute at each time. Just to record some data and for demonstration purposes. Of course, there is no control processing yet, so the final results will be worst. If so, there must be the case for a complete rewrite. Another thing I just found out, and that may have some influence, is that the ARM clock was set to 300MHz with the "ondemand" governator. I expect better results setting this to the maximum of 1000MHz.
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