I've tried with your patch and asking to do latency test with 1000ns but the result is still the same :(
Do you have any other ideas? I'm very lost in space :(
Thanks
Roberto

 root@domain.hid:~# latency -p1000
== Sampling period: 1000 us
== Test mode: periodic user-mode task
== All results in microseconds
[  156.780000] BUG: scheduling while atomic: sampling-1478/0x00000001/1480
[  156.790000] [<c002bef0>] (dump_stack+0x0/0x14) from [<c02ceb18>] (schedule+0x
60/0x7f0)
[  156.800000] [<c02ceab8>] (schedule+0x0/0x7f0) from [<c00882b4>] (xnshadow_har
den+0xd4/0x240)
[  156.810000] [<c00881e0>] (xnshadow_harden+0x0/0x240) from [<c0088a40>] (xnsha
dow_wait_barrier+0x104/0x11c)
[  156.820000]  r8:00000018 r7:00000000 r6:c33a4000 r5:c33a5fb0 r4:c4801410
[  156.820000] [<c008893c>] (xnshadow_wait_barrier+0x0/0x11c) from [<c0088a6c>]
(xnshadow_sys_barrier+0x14/0x18)
[  156.830000]  r5:c33a5fb0 r4:00000001
[  156.840000] [<c0088a58>] (xnshadow_sys_barrier+0x0/0x18) from [<c008882c>] (l
osyscall_event+0xcc/0x1dc)
[  156.850000] [<c0088760>] (losyscall_event+0x0/0x1dc) from [<c0073288>] (__ipi
pe_dispatch_event+0xd0/0x1c8)
[  156.860000] [<c00731b8>] (__ipipe_dispatch_event+0x0/0x1c8) from [<c002d1b8>]
 (__ipipe_syscall_root+0x80/0x130)
[  156.870000] [<c002d138>] (__ipipe_syscall_root+0x0/0x130) from [<c0027294>] (
vector_swi+0x74/0xb4)
[  156.880000]  r6:40032c94 r5:bef14c6c r4:00100000
[  156.880000] I-pipe: Detected illicit call from domain 'Xenomai'
[  156.880000]         into a service reserved for domain 'Linux' and below.
[  156.880000] [<c002bef0>] (dump_stack+0x0/0x14) from [<c00726fc>] (ipipe_check
_context+0xbc/0xdc)
[  156.880000] [<c0072640>] (ipipe_check_context+0x0/0xdc) from [<c02cf23c>] (sc
hedule+0x784/0x7f0)
[  156.880000]  r4:c3c79c40
[  156.880000] [<c02ceab8>] (schedule+0x0/0x7f0) from [<c00882b4>] (xnshadow_har
den+0xd4/0x240)
[  156.880000] [<c00881e0>] (xnshadow_harden+0x0/0x240) from [<c0088a40>] (xnsha
dow_wait_barrier+0x104/0x11c)
[  156.880000]  r8:00000018 r7:00000000 r6:c33a4000 r5:c33a5fb0 r4:c4801410
[  156.880000] [<c008893c>] (xnshadow_wait_barrier+0x0/0x11c) from [<c0088a6c>]
(xnshadow_sys_barrier+0x14/0x18)
[  156.880000]  r5:c33a5fb0 r4:00000001
[  156.880000] [<c0088a58>] (xnshadow_sys_barrier+0x0/0x18) from [<c008882c>] (l
osyscall_event+0xcc/0x1dc)
[  156.880000] [<c0088760>] (losyscall_event+0x0/0x1dc) from [<c0073288>] (__ipi
pe_dispatch_event+0xd0/0x1c8)
[  156.880000] [<c00731b8>] (__ipipe_dispatch_event+0x0/0x1c8) from [<c002d1b8>]
 (__ipipe_syscall_root+0x80/0x130)
[  156.880000] [<c002d138>] (__ipipe_syscall_root+0x0/0x130) from [<c0027294>] (
vector_swi+0x74/0xb4)
[  156.880000]  r6:40032c94 r5:bef14c6c r4:00100000
[  156.880000] Xenomai: fatal: bug at kernel/xenomai/nucleus/shadow.c:1128 (!irq
s_disabled_hw())
[  156.880000]  CPU  PID    PRI      TIMEOUT  STAT      NAME
[  156.880000]    0  0       -1      0        00400088  ROOT
[  156.880000]    0  1479     0      0        00300380  display-1478
[  156.880000] >  0  1480    99      0        00300180  sampling-1478
[  156.880000] Master time base: clock=2610156463
[  156.880000]
[  156.880000] [<c002b648>] (show_stack+0x0/0x48) from [<c00883c4>] (xnshadow_ha
rden+0x1e4/0x240)
[  156.880000] [<c00881e0>] (xnshadow_harden+0x0/0x240) from [<c0088a40>] (xnsha
dow_wait_barrier+0x104/0x11c)
[  156.880000]  r8:00000018 r7:00000000 r6:c33a4000 r5:c33a5fb0 r4:c4801410
[  156.880000] [<c008893c>] (xnshadow_wait_barrier+0x0/0x11c) from [<c0088a6c>]
(xnshadow_sys_barrier+0x14/0x18)
[  156.880000]  r5:c33a5fb0 r4:00000001
[  156.880000] [<c0088a58>] (xnshadow_sys_barrier+0x0/0x18) from [<c008882c>] (l
osyscall_event+0xcc/0x1dc)
[  156.880000] [<c0088760>] (losyscall_event+0x0/0x1dc) from [<c0073288>] (__ipi
pe_dispatch_event+0xd0/0x1c8)
[  156.880000] [<c00731b8>] (__ipipe_dispatch_event+0x0/0x1c8) from [<c002d1b8>]
 (__ipipe_syscall_root+0x80/0x130)
[  156.880000] [<c002d138>] (__ipipe_syscall_root+0x0/0x130) from [<c0027294>] (
vector_swi+0x74/0xb4)
[  156.880000]  r6:40032c94 r5:bef14c6c r4:00100000