Help wanted for testing and improving real time performance :)

Hi, i learned that NuttX is a RTOS.

Is there any document describing the design of real time mechanism in detail? I could search the key word \`real time\` from source code but these words seem scattered. Can i learn it from any specific arch or board with detailed design?

I\`d like to test the real time performance and try to improve it (I\`ll try my best). I\`ve learned from some papers that stress-ng could be the load to the system. Cyclictest and TACLe suits are usually used. Do i need to port these programs? Or are there already some test suits which could measure the real time performance?

Thanks a lot.