Let me reiterate, I don't think the PRU is a problem. But it's just about the many orders of magnitude in the real-time latency achievable with the PRU and achi

Let me reiterate, I don't think the PRU is a problem. But it's just about the many orders of magnitude in the real-time latency achievable with the PRU and achievable with the CPU under the default software stack. I shouldn't have to use the PRU for every problem that has some real-time requirements, I should be able to use the actual real-time abilities of the CPU. There are many benefits to being able to do so (e.g. portability, less effort). Real-time is not a binary thing, there's a whole spectrum. In many cases compiling real-time code is a non-issue.