Dan Henry wrote:
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The CMX kernel that Erik recommended has the best performance (based on my research several years ago) when preemptive multitasking is required. It had the lowest interrupt latency. However, the documentation was not so good, but maybe its better nowadays.

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at present CMX allows a download of their version5.3 manual.i reccommend that.its most crucial parts are quite naturally removed.but i think it offers enough insight for a possible user and also for somebody who wants to develope something inhouse.
regards
pranav