Listing 6: (a) RTLinux yield test; (b) RTLinux yield output.

(a)
Thread A
   clock_gettime(CLOCK_REALTIME, &start);
   sched_yield();
   sem_wait(&semaphore);
Thread B
   clock_gettime(CLOCK_REALTIME, &end);
   sem_post(&sem);

(b)
Thread Yield - Realtime thread to Realtime thread: (96h 0m 0s test)
24.9 us