Emu Os V2.0 __link__ -

Six IMU sensors → Kalman filter emulated in RISC-V soft core → motor control loop: achieved 1 kHz loop rate at 92% CPU utilization (v1.9 failed above 700 Hz).

addresses these gaps by:

(Incompatible changes: driver IRQ model, event timestamp field, and scheduler policy flags)

Physical drivers (I2C, SPI, UART, USB) and emulated peripheral models share the same UDM API, allowing transparent substitution of real sensors with emulated ones or vice versa.