> This means we get usleep_range(20000, 25000) for the worst case. > > Perhaps we want "ms <= 16" instead, thus getting usleep > usleep_range(16000, 20000) for the worst case? No? I read the timers-howto that ms <= 20 is for the min value. If you think 25ms is too much for max in that case, maybe we can find a better formula for max? My honest opinion is, it won't matter much in practice, though. Especially, since we are not busy-looping anymore...
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