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In short, settingsched_rt_runtime_usto-1can beextremely dangerous. A value of-1means no limit. In other words, a "run-away" real-time task will be permitted to monopolise a CPU which could (potentially) lock up a system. The default value forsched_rt_runtime_usis950000or0.95seconds....
I am running the above workload against varying sched_rt_runtime_us values (200 ms to 700 ms) keeping the sched_rt_period_us constant at 1000 ms. I have also experimented a little bit by decreasing the value of sched_rt_period_us (thus increasing the sched granularity) ...