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Marc,
I believe you should be able to achieve less than 10ms in Linux. I'm not exactly sure, but could you please try these?
1. Check in kernel config whether CONFIG_NO_HZ=y is set. If so, disable it in menuconfig, so that the system will become tick-based and earlier it was configured as tickless.
2. See the value of CONFIG_HZ. By default it might be 100. Try to make it 1000. To do this directly editing the .config file might not be enough, you might have to go and edit arch/arm/Kconfig.
-Renjith
www.pathpartnertech.com