In my past, with process control, these problems were solved by having Fast, Slow, and maybe medium speed loops based on a timer interrupt.? That ensures the fast loop is executed on a minimum cycle time, and any extra process capability is used to process the other loops.? The priority is self-evident.? This gives predictability (determinism) for things like high-speed digital and PID control that need either a fast response or deterministic responses.? Using time stamping is a way to improve deterministic response capabilities.? You still need to manage the process timing to ensure that all functions can be performed in the time required.? My way of thinking is using the RPi to implement 2 or three Nano equivalents with loop executions that are fast enough to do what is required.
73
Evan
AC9TU
