On Fri, 2015-10-30 at 21:37 +0100, Richard Cochran wrote:

NAK.  We want to have the time stamp ASAP, because the delay between
the transmission of the Sync and its application in the servo
degrades or even spoils synchronization.  Think of an ARM SoC with
HZ=100.  Two jiffies are 20 milliseconds.

The workqueue is only used for delivering packets where the timestamp
was lost - if a timestamp is received, the packet is delivered
immediately. This patch may introduce a slight delay of the packets
where the timestamp never arrives, by these packets are properly not
very useful to the application anyway.

Stefan