On top of all that, remember that this project is doing that reliably enough to use as a disk while sharing CPU time with the rest of the system. It's not runn

On top of all that, remember that this project is doing that reliably enough to use as a disk while sharing CPU time with the rest of the system. It's not running on a RTOS or doing bare metal trickery, so achieving tight timing is really hard and you end up wasting a lot of CPU time just doing that.