Use a Xenomai task for sampling instead of a sampling thread

[jorgeazevedo]

This can be done with the rt_block_io API, a custom program, anything really. Even Xenomai C++. But the rt_block_api would be a smart move. Maybe. I'd like to keep it decoupled. I'd LOVE to just to cat real-time analysis to it. Like

miniterm.d -p/dev/ttyUSB0 -b115200 | oscilloscope

Wouldn't that be wonderfull? With different channels separated by \t and each sampling period with \n, you'd get real time PIC measurements. That's be great.