Listing 4: (a) RTLinux jitter test; (b) RTLinux jitter output.

(a)
timespec_add_ns(&ts_next_wakeup, PERIOD);
clock_nanosleep(CLOCK_REALTIME, TIMER_ABSTIME, &ts_next_wakeup, NULL);
clock_gettime(CLOCK_REALTIME, &ts_wakeup);

(b)
Scheduling Jitter: (96h 0m 0s test)
88.2 us