Overview

The MainUnit is a master for all system logic and control.
It's deployed on RPI4B board with OS:

System name :
- Linux raspberrypi 6.6.31-rt30-v8+ #1 SMP PREEMPT_RT
Hardware name:
- aarch64

The OS is patched with PREEMPT_RT - more about here linux_foundation_link.
To avoid building kernel from scratch, pre-prepared version was built. GitHub - remusmp/rpi-rt-kernel

The most important feature of the PREEMPT_RT patch, is that it that the scheduler can preemt almost every kernel operation.

As a consequence, the user (time critical) threads can now be treated with the higher priority.
In most cases, it allows to achieve 100us time resolution. More about it: linux_doc_link