Table 1: Accuracy of the nanosleep() system call.

Sleep Time Scheduler Average Min Max
1 µs SCHED_NORMAL 0.001999 0.001934 0.002064
1 µs SCHED_FIFO 0.001999 0.001933 0.002066
1 ms SCHED_NORMAL 0.003000 0.002401 0.018595
1 ms SCHED_FIFO 0.002999 0.002935 0.003061
5 ms SCHED_NORMAL 0.006997 0.006665 0.013211
5 ms SCHED_FIFO 0.006998 0.006712 0.007282
48 ms SCHED_NORMAL 0.049989 0.049568 0.052229
48 ms SCHED_FIFO 0.049991 0.049981 0.050002
1 s SCHED_NORMAL 1.001847 1.001249 1.015976
1 s SCHED_FIFO 1.001838 1.001842 1.001849